CN116481547B

CN116481547B - Route planning method, electronic device and storage medium

Info

Publication number: CN116481547B
Application number: CN202211106158.8A
Authority: CN
Inventors: 孙钡; 桑燕五; 陈东杰; 秦硕; 吴迪
Original assignee: Fengjiang Intelligent Shenzhen Co ltd
Current assignee: Fengjiang Intelligent Shenzhen Co ltd
Priority date: 2022-09-09
Filing date: 2022-09-09
Publication date: 2024-02-13
Anticipated expiration: 2042-09-09
Also published as: CN116481547A; WO2024051039A1

Abstract

The application provides a route planning method, electronic equipment and a storage medium, which are used for planning a driving route of an agricultural machine. The route planning method comprises the following steps: generating a plurality of first routes in the working area according to the datum line data, wherein the interval distance of the adjacent first routes is larger than or equal to the working width, and the first routes correspond to the straight-line driving routes of the agricultural machinery; calculating group capacity according to a first operation rule, the turning radius of the agricultural machinery and the operation width, wherein the group capacity corresponds to the number of first routes in a straight line group; grouping the plurality of first routes according to grouping rules and group capacity; generating a first order for the first routes in the straight line group according to a first order rule, wherein at least two first routes are arranged between two adjacent first routes in the order; according to the first ordering, a second route is connected between adjacent first routes in the ordering.

Description

Route planning method, electronic device and storage medium

Technical Field

The present application relates to the technical field of agricultural automation, and more particularly, to a route planning method, an electronic device, and a storage medium.

Background

In the agricultural field, when agricultural machinery is required to carry out agricultural operation, the agricultural machinery can reciprocate in a field along a preset linear track under the driving of a driver or the control of an automatic navigation suite, and can carry out agricultural operation on a specified farmland. Agricultural operations may include scarification, fertilization, harvesting, and the like. When the agricultural machine finishes running along one section of straight line track, the agricultural machine can turn around at a position close to the edge of the field, and then the agricultural machine continues running along the other straight line track parallel to the former section of straight line track, so that the full-coverage operation of the field is realized.

When the agricultural machine performs full-coverage operation in a field, in order to increase the area for performing agricultural operation in the field, the spacing distance between the operation areas on the field corresponding to the two sections of straight-line tracks respectively should be reduced when the agricultural machine travels along the two sections of adjacent straight-line tracks. In some cases, the turning radius of the agricultural machine is greater than the work width, which is related to the size of the implement on the agricultural machine. When the agricultural machine turns around, in order to reduce the interval distance between the operation areas respectively corresponding to the two adjacent linear tracks during operation of the agricultural machine, the agricultural machine can turn around after stopping, shifting, reversing and other operations when turning around and entering into the other linear track from one linear track. Therefore, there is a disadvantage in that the efficiency of the agricultural machine is low during the operation.

Disclosure of Invention

In view of the foregoing, it is necessary to provide a route planning method, an electronic device, and a storage medium, which can plan a turning route for an agricultural machine, so that the agricultural machine can travel across a plurality of straight travel routes when turning around, the planned turning route can enable the agricultural machine to turn around with sufficient turning space, reduce the situations of stopping and reversing when the agricultural machine automatically travels, and improve the smoothness of the agricultural machine automatically traveling and the efficiency of agricultural work.

In a first aspect, embodiments of the present application provide a route planning method for planning a driving route of an agricultural machine, the route planning method including: generating a plurality of first routes in the working area according to the datum line data, wherein the interval distance of the adjacent first routes is larger than or equal to the working width, and the first routes correspond to the straight-line driving routes of the agricultural machinery; calculating group capacity according to a first operation rule, the turning radius of the agricultural machinery and the operation width, wherein the group capacity corresponds to the number of first routes in a straight line group; grouping the plurality of first routes according to grouping rules and group capacity; generating a first order for the first routes in the straight line group according to a first order rule, wherein the first order corresponds to the running order of the agricultural machinery along a plurality of first routes, and at least two first routes are arranged between two adjacent first routes in the first order at intervals; and connecting a second route between adjacent first routes in the sequence according to the first sequence, wherein the second route corresponds to the turning-around driving route of the agricultural machine.

Optionally, grouping the plurality of first routes according to the grouping rules and the group capacity includes: acquiring a first route closest to an agricultural machine as a first reference route; and in response to the number of the first routes on both sides of the first reference route being greater than or equal to the group capacity, grouping the first routes on both sides of the first reference route, respectively, to generate a plurality of straight line groups.

Optionally, grouping the plurality of first routes according to the grouping rules and the group capacity includes: at least one straight line group is generated by grouping the first routes within the work area in response to the number of the first routes on at least one side of the first reference route being less than the group capacity.

Optionally, grouping the first routes on both sides of the first reference route respectively, and generating the plurality of straight line groups includes: grouping a first reference route and a first route positioned at a first side of the first reference route, wherein the first side is a side facing the first turning direction of the agricultural machinery; the first routes are grouped at a second side of the first reference route, wherein the second side is the side facing away from the first side.

Optionally, grouping the plurality of first routes according to the grouping rules and the group capacity includes: and outputting reminding information in response to the first route number in the operation area being smaller than the group capacity.

Optionally, the group capacity is odd, and the first operation rule includes: the group capacity is equal to the sum of two and one after the result of dividing the twice of the turning radius by the working width is rounded.

Optionally, grouping the plurality of first routes according to the grouping rules and the group capacity includes: in response to the presence of m first routes between the boundary of the work area and a line set near the boundary of the work area, determining (m+n) ₁ ) Whether or not it is odd, where n ₁ For group capacity, m<n ₁ The method comprises the steps of carrying out a first treatment on the surface of the In response to (m+n) ₁ ) Merging the m first routes to a linear group near the boundary of the work area, which is odd; in response to (m+n) ₁ ) For the even number, (m-1) first routes far from the boundary of the operation area are combined into a straight line group near the boundary of the operation area, and one first route near the boundary is set as a straight line group.

Optionally, the first ordering rule includes: sorting the i first routes into 1 st route and 1 st routeStrip, strip 2, strip->Strip, … …, ith strip, +.>Bars, where i is the number of first routes in the straight line group.

Optionally, the route planning method includes: generating an auxiliary area according to the operation area, wherein the shape of the auxiliary area is a minimum circumscribed quadrangle of the shape of the operation area; and acquiring coordinate data corresponding to one boundary of the auxiliary area as datum line data.

Optionally, the route planning method includes: obtaining boundary data, wherein the boundary data is coordinate data, and the boundary data corresponds to at least part of the boundary of the area to be operated; and generating a first driving area of the operation area according to the boundary reserved distance and the boundary data, wherein the boundary reserved distance is larger than the sum of one half of the operation width and the turning radius, and the first route is positioned in the first driving area.

Optionally, the route planning method includes: generating a region to be worked according to the boundary data; responding to the existence of a history area in the area to be operated, and acquiring a part except the history area in the area to be operated as a main area, wherein the main area comprises at least one sub-area; and acquiring the subarea with the largest area as a working area.

Optionally, the route planning method includes: and generating a second running area of the working area according to the boundary data and the working width, wherein the first running area is positioned in the second running area, the distance between the boundary of the second running area and the boundary corresponding to the boundary data is larger than one half of the working width, and the second route is positioned between the boundary of the second running area and the boundary of the first running area.

Optionally, the route planning method includes: and responding to automatic operation of the agricultural machinery on the edge receiving area, wherein the boundary reserved distance is equal to the sum of one half of the operation width and the turning radius, divided by the operation width, rounded, and multiplied by the operation width, and the edge receiving area is an interval area between the boundary of the first driving area and the boundary of the second driving area.

Optionally, the route planning method includes: and responding to the operation of the working personnel driving the agricultural machine to the border-receiving area, wherein the border-reserving distance is equal to the sum of one half of the operation width and the turning radius, and the border-receiving area is a spacing area between the border of the first driving area and the border of the second driving area.

Optionally, the route planning method includes: and generating a third route in the border-closing area according to the second operation rule, the driving end point of the first driving area and the second route.

Optionally, generating the third route in the border-receiving area according to the second operation rule, the driving end point of the first driving area and the second route includes: responding to automatic operation of the agricultural machinery on the edge receiving area, and calculating the number of turns n of the third route according to the turning radius, the operation width and the second operation rule ₂ The method comprises the steps of carrying out a first treatment on the surface of the Generating 2n in the border-out area according to the copy rule and the first route ₂ A first edging line, wherein n ₂ A first edging line is generated on the first side of the edging area, n ₂ A first edging line is generated on the second side of the edging area, and when n ₂ >1, the spacing distance between adjacent first routes positioned on one side of the edge receiving area is larger than or equal to the operation width; connecting the endpoints of the first routes in the operation area to generate two end trimming datum lines, wherein the two end trimming datum lines are respectively connecting lines of the first ends of the first routes and connecting lines of the second ends of the first routes; generating 2n in the trimming area according to the end trimming datum line ₂ A second edging line; and sequentially connecting the plurality of first edge receiving routes and the plurality of second edge receiving routes according to a second sequence to generate a third route, wherein the second sequence corresponds to the running sequence of the agricultural machinery along the plurality of first edge receiving routes and the plurality of second edge receiving routes.

Optionally, the replication rule includes: the first route near the boundary of the first side or the second side of the second driving area is taken as a side edging datum line, and the first distance is taken as a spacing distance, and n is copied to the two side edging datum lines respectively in the direction near the boundary of the second driving area ₂ Generating n ₂ A first edging line; wherein n is ₂ The first distance is greater than or equal to the work width for the number of turns.

Optionally, generating 2n in the trimming area based on the end trimming reference line ₂ The second edging line includes: copying primary end trimming datum lines along the direction of the first end of the first route and the direction of the second section by taking the second distance as a spacing distance to generate two second trimming routes, wherein the second distance is greater than or equal to one half of the working width; responsive to the number of turns n ₂ >1, determining the separation distance from the first distance, copying the orientation of the first end and the orientation of the second segment along the first path (n ₂ -1) generating (2 n) a secondary end trimming reference line ₂ -2) a second bordering line, wherein the first distance is greater than or equal to the working width and adjacent second bordering lines are spaced apart by a distance equal to the first distance.

Optionally, sequentially connecting the plurality of first edge receiving routes and the plurality of second edge receiving routes according to the second ordering, generating the third route includes: generating a second order for the plurality of first edging routes and the plurality of second edging routes according to the position of the driving end point and a second order rule, wherein the second order corresponds to the driving sequence of the agricultural machinery along the plurality of first edging routes and the plurality of second edging routes.

Optionally, the second ordering rule includes; acquiring a first border line closest to a driving end point as a second reference line; and according to the position relation between the second reference route and the driving end point, sequencing the plurality of first edge-closing routes and the plurality of second edge-closing routes along the clockwise or anticlockwise rotation direction and the direction approaching to the boundary of the second driving area to generate a second sequence.

Optionally, generating the third route in the border-receiving area according to the second operation rule, the driving end point of the first driving area and the second route includes: in response to a worker driving an agricultural machine to operate the border-receiving area, extending the boundary of the auxiliary area, and generating two first auxiliary lines and two second auxiliary lines, wherein the first auxiliary lines are positioned on one side of the first route, which is towards the first end, and one side of the second route, which is towards the second end; copying the second auxiliary lines along the direction approaching the boundary between the first side and the second side of the first driving area by taking the third distance as a spacing distance to generate a plurality of third auxiliary lines, wherein the third distance is larger than or equal to the working width; calculating a spacing distance according to a fourth distance, copying the first auxiliary line along the direction of the first end and the direction of the second end of the first route, and generating a plurality of fourth auxiliary lines, wherein the fourth distance is greater than or equal to one half of the working width; and acquiring the parts of the third auxiliary line and the fourth auxiliary line in the edge folding area to generate a third route.

Optionally, calculating the separation distance according to the fourth distance, copying the first auxiliary line along the direction of the first end and the direction of the second end of the first route, respectively, and generating the plurality of fourth auxiliary lines includes: respectively copying the first auxiliary line once along the direction of the first end and the direction of the second end of the first route by taking the fourth distance as the interval distance to obtain two fourth auxiliary lines; and calculating the interval distance according to the third distance and the fourth distance, and respectively copying the first auxiliary lines for a plurality of times along the direction of the first end and the direction of the second end of the first route to obtain a plurality of fourth auxiliary lines.

In a second aspect, embodiments of the present application provide an electronic device, including: a memory for storing a computer program; a processor for executing a computer program stored in the memory, the processor being adapted to perform a route planning method as in any of the above, when the computer program is executed.

In a third aspect, embodiments of the present application provide a storage medium comprising a computer program which, when run on an electronic device, causes the electronic device to perform a route planning method as any one of the above.

According to the route planning method, the electronic equipment and the storage medium, the second route crossing the first routes can be planned and generated, so that the agricultural machinery can run across the first routes when turning around, sufficient turning space is provided for turning around of the agricultural machinery by planning the second route, the situations of stopping and reversing when the agricultural machinery automatically runs can be reduced, and the smoothness of the automatic running of the agricultural machinery and the efficiency of agricultural operation can be improved.

Drawings

Fig. 1 is a schematic diagram of an electronic device according to an embodiment of the present application.

Fig. 2 is a flow chart of a route planning method according to an embodiment of the present application.

Fig. 3 is a flow chart of a route planning method according to another embodiment of the present application.

Fig. 4 is a flow chart of a route planning method according to another embodiment of the present application.

Fig. 5 is an effect diagram of a route planning method according to an embodiment of the present application.

Fig. 6 is a flow chart of a route planning method according to another embodiment of the present application.

Fig. 7 is a flow chart of a route planning method according to another embodiment of the present application.

Fig. 8 is a flow chart of a route planning method according to another embodiment of the present application.

Fig. 9 is a flow chart of a route planning method according to another embodiment of the present application.

Fig. 10A is an effect diagram of a route planning method according to another embodiment of the present application.

Fig. 10B is an effect diagram of a route planning method according to another embodiment of the present application.

Fig. 11 is a flow chart of a route planning method according to another embodiment of the present application.

Fig. 12 is a flow chart of a route planning method according to another embodiment of the present application.

Fig. 13 is a flow chart of a route planning method according to another embodiment of the present application.

Fig. 14 is a flow chart of a route planning method according to another embodiment of the present application.

Description of the main reference signs

Electronic device 100

Processor 10

Memory 20

Computer program 21

Detailed Description

The technical solutions in the implementation manner of the present application will be clearly and completely described below with reference to the drawings in the implementation manner of the present application, and it is obvious that the described implementation manner is only a part of the implementation manner of the present application, not all the implementation manners.

Referring to fig. 1, fig. 1 is a schematic diagram of an electronic device 100 according to an embodiment of the present application. It will be appreciated that in one application scenario, the electronic device 100 may be communicatively connected to an agricultural machine (not shown), and the electronic device 100 is configured to plan a travel route for the agricultural machine when performing an agricultural operation. The agricultural machinery can automatically run according to the planned running route.

It is understood that an agricultural machine is a mechanical device that may perform one or more agricultural work functions. Agricultural work functions may include scarification, seeding, harvesting, fertilization, and the like.

It is to be understood that the communication connection may be a wireless connection implemented by a wireless network or the like, or may be a wired connection implemented by a data line, an electric wire or the like, which is not limited in the embodiments of the present application.

For example, the electronic device 100 may be communicatively coupled to an agricultural machine via a 3/4/5G carrier network.

For example, the electronic device 100 may be communicatively coupled to the agricultural machinery via Bluetooth.

Referring to the figure, in the present embodiment, an electronic device 100 may include a processor 10 and a memory 20. The processor 10 and the memory 20 may be connected by a communication bus and may be communicatively coupled to each other.

The processor 10 may be a general purpose Central Processing Unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the above program schemes.

The Memory 20 may be, but is not limited to, a read-Only Memory (ROM) or other type of static storage device that can store static information and instructions, a random access Memory (random access Memory, RAM) or other type of dynamic storage device that can store information and instructions, or an electrically erasable programmable read-Only Memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), a compact disc (Compact Disc Read-Only Memory) or other optical disk storage, optical disk storage (including compact disc, laser disc, optical disc, digital versatile disc, blu-ray disc, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. The memory 20 may be stand alone and be coupled to the processor 10 via a bus. The memory 20 may also be integrated with the processor 10.

The memory 20 is for storing an executing computer program 21 and the processor 10 is for executing the computer program 21 stored in the memory 20. The computer program 21 stored in the memory 20 may perform the route planning method.

For example, the electronic device 100 may be an automatic navigation kit installed on an agricultural machine, and the electronic device 100 may plan a travel route of the agricultural machine and assist the agricultural machine in achieving automatic travel along the planned route.

For example, the electronic device 100 may be a server, and the electronic device 100 may plan a driving route of the agricultural machine and output the planned driving route to the agricultural machine.

It will be appreciated that the processor 10 may perform a route planning method to plan a travel route for agricultural operations by an agricultural machine.

Referring to fig. 2, fig. 2 is a flowchart of a route planning method according to an embodiment of the present application.

In one embodiment, the route planning method may include the following steps S21 to S28:

step S21: and acquiring equipment information and working information of the agricultural machinery.

It is understood that the electronic device 100 may be communicatively coupled to an external device (not shown). The worker may store the work information and the equipment information of the agricultural machine in the external equipment before the route planning method is executed, and the processor 10 may acquire the work information and the equipment information from the external equipment when executing step S21.

It is understood that the equipment information of the agricultural machine may be information related to a model, a specification, an operable type, etc. of the agricultural machine, and the equipment information may include at least one of objective information such as a turning radius, a mounting tool width, an equipment length, and an equipment width.

It is understood that the work information of the agricultural machine may be information related to safety and a work mode when the agricultural machine performs agricultural work, and the work information may include at least one of work width, safety distance, edging selection information, history information, reference line data, edging information, first turning direction, boundary data, and the like.

It is understood that the device information and the operational information may be related. For example, the job width in the work information may be the same as the mounting implement width in the equipment information. The mounting machine can be a machine which is arranged on the agricultural machine and used for realizing agricultural operation. When the types of the tools mounted on the agricultural machine are different, the types of agricultural operations which can be performed by the agricultural machine are different.

It will be appreciated that embodiments of the present application are not limited in the type of external device. For example, the external device may be a server, and the worker may transmit and store the work information and the device information in the server through the personal device. For another example, the external device may be a personal device of a worker, and the worker may input device information and work information of the agricultural machine on the personal device, or read information in an external read-only storage medium by the personal device, so that the personal device obtains the device information and the work information of the agricultural machine; the personnel may then output the work information and equipment information for the agricultural machine to the processor 10 by manipulating the personal device. The personal device may be, but not limited to, a smart phone, a tablet computer, a personal computer, etc., and may be the electronic device 100 having a man-machine interaction function, an information processing function, and an information transmission function.

It is understood that the boundary data may include coordinate data of a plurality of coordinate points. The coordinate system corresponding to the coordinate points and the coordinate data may be a coordinate system known in the prior art, which is not limited in the embodiment of the present application. For example, the coordinate system to which the coordinate data corresponds may be a geodetic coordinate system. For another example, the coordinate system to which the coordinate data corresponds may be a latitude and longitude coordinate system.

The boundary data may correspond to a boundary of the area to be worked, and the plurality of coordinate data included in the boundary data may correspond to a plurality of coordinate points, and the plurality of coordinate point connections may form a curve composed of a plurality of line segments, that is, form the boundary of the area to be worked.

The area to be worked may be a fuzzy area manually set by a worker before the agricultural work is performed. The area to be worked can comprise a field where the current agricultural machine needs to work, and can also comprise a field where the current agricultural machine does not need to work or a geographical area where the current agricultural machine does not need to travel.

It can be appreciated that the method for generating the boundary data corresponding to the area to be worked according to the embodiment of the present application is not limited. For example, the boundary data may be coordinate data of a coordinate point through which the agricultural machine is driven, recorded by the electronic device 100 or an external device, when the worker manually drives the agricultural machine to travel around a field currently requiring agricultural work, other than the field currently requiring agricultural work. For another example, the boundary data may be coordinate data of a coordinate point through which the agricultural machine is driven, recorded by the electronic device 100 or an external device, when the agricultural machine is driven manually by a worker and the agricultural machine is driven along the boundary of a field in which agricultural work is required.

It will be appreciated that the external device may be communicatively connected to the agricultural machine and a positioning system (not shown in the figures), so as to obtain coordinate data corresponding to the location of the agricultural machine at different time nodes. For example, the positioning system may be a global positioning system (Global Positioning System, GPS). As another example, the positioning system may be a Beidou satellite navigation system (BeiDou Navigation Satellite System, BDS).

It can be understood that before the route planning method provided in the embodiment of the present application is executed, a worker may first select a field block that needs to perform an agricultural operation, and then drive the agricultural machine to travel along a field boundary or around the field block in the field block, and the external device may acquire coordinate data of a plurality of coordinate points corresponding to the travel track of the agricultural machine through the positioning system, and output the acquired coordinate data as boundary data to the processor 10.

Step S22: and generating a region to be worked according to the boundary data.

It will be appreciated that after the processor 10 acquires the boundary data, a plurality of coordinate points may be generated according to a plurality of coordinate data included in the boundary data, and a curve may be generated by connecting the plurality of coordinate points one by one. The processor 10 may generate the area to be worked with the generated curve as a boundary of the area to be worked.

In one scenario, when a worker drives an agricultural machine to generate boundary data, the start and end points of the agricultural machine's travel may be located at different locations. After the processor 10 acquires the boundary data, the processor 10 may determine whether the coordinate data in the first order and the coordinate data in the last order are the same among the plurality of sets of coordinate data included in the boundary data; if not, the processor 10 may connect the coordinate point corresponding to the first coordinate data and the coordinate point corresponding to the last coordinate data when generating the to-be-operated area, so that the boundary of the generated to-be-operated area is a closed area.

It will be appreciated that the plurality of coordinate data included in the boundary data may be ordered in the chronological order of the generation time when the processor 10 obtains the boundary data. At this time, the coordinate data positioned at the first is the coordinate data generated earliest, namely, the coordinate data corresponding to the starting point when the agricultural machinery runs around the field or runs along the field boundary; and sequencing the coordinate data at the last position to obtain the coordinate data which is finally generated, namely the coordinate data corresponding to the end point when the agricultural machinery runs around the field or runs along the field boundary.

Step S23: and generating a working area in the area to be worked according to the boundary reservation distance and the boundary data.

In this embodiment, the working information may further include a boundary reservation distance. The boundary reservation distance may correspond to a separation distance between a starting point at which the agricultural machine starts turning around and a boundary of the field, in a space occupied when the agricultural machine turns around at a position in the field near the boundary.

It will be appreciated that the work area may correspond to an area in the field where no agricultural work is being performed and where an agricultural work is required in the planning of the staff.

It will be appreciated that the boundary reservation data may be calculated by the operator or the processor 10 before or during execution of the route planning method, depending on parameters such as turning radius, job width, etc. of the agricultural machine. The boundary reservation distance is greater than or equal to the sum of one half of the working width and the turning radius.

In the embodiment of the present application, the processor 10 may determine whether the agricultural machine automatically performs agricultural operations in an area located between two ends of the straight line and a boundary of the operation area after the agricultural machine travels along the straight line and the u-turn line in the field according to the edge receiving selection information in the working information. The edging means that agricultural operation is performed on an area located between two ends of a straight line route and the boundary of an operation area.

It should be noted that, in the embodiment of the present application, the equipment width of the agricultural machine is smaller than the width of the mounting tool, that is, the operation width of the agricultural machine may be equal to the maximum width occupied when the agricultural machine travels.

Referring to fig. 3, in some embodiments, the method for generating a working area in a to-be-worked area by the processor 10 may include the following steps S31 to S35:

step S31: determining whether a history area exists in the area to be operated, and responding to the existence of the history area in the area to be operated, and entering step S32; in response to the history area not existing in the area to be worked, step S33 is advanced.

It will be appreciated that the work information may also include historical data, which may be coordinate data. The history area may correspond to an area where the agricultural job has been completed without continuing the agricultural job, and the history data may correspond to a boundary of the history area. The processor 10 may determine whether a history area or a part of the history area exists in the area to be worked based on the boundary data and the history data.

Step S32: the portion other than the history area in the area to be worked is acquired as the main area, and the process proceeds to step S34.

Step S33: the area to be worked is acquired as the main area, and the process proceeds to step S34.

It will be appreciated that when there is a history area in the area to be worked, the processor 10 deletes the history area from the area to be worked to acquire the main area. The history area is an area where agricultural work has been performed, and route planning is not performed in the history area when the route specification method is performed in order to reduce energy waste and repeated work on the same area.

In some embodiments, after the processor 10 obtains the main area, filtering and smoothing may be performed on the boundary of the main area to improve the smoothness and smoothness of the boundary of the main area. The method of filtering and smoothing the boundary of the main region may include: thinning coordinate points on the boundary of the main area through a Targelas-Puck algorithm, and removing repeated coordinate points of the coordinate data; and processing the main region boundary which is not smooth after the thinning by using a B spline curve algorithm to obtain a continuous and smooth main region boundary.

Step S34: and acquiring a subarea with the largest area in the main area as a working area.

It will be appreciated that one or more sub-regions may be included in the main region. Wherein, there is a sub-area corresponding to the field where the operation is to be performed; one or more sub-areas may be present corresponding to non-passable areas in non-farmland areas within or outside the field, which may be areas that are not able to safely and successfully pass agricultural machinery due to the presence of obstructions or geological defects, etc.

It can be understood that when a worker drives the agricultural machine to obtain boundary data and encounters a position of a geological defect or a blocking object, the agricultural machine can bypass the position of the geological defect or the blocking object, and in the bypassing process, the agricultural machine may generate a driving state such as turning, reversing or turning around, and the like, and a part of a small subarea may be generated in a region to be worked. To reduce the impact of a blockage or the location of a geological defect when the agricultural machine is operating in a field, the processor 10 may only acquire the largest area sub-region of the main area as the operating area.

In one implementation, if there are multiple sub-regions in the main region, the processor 10 obtains the sub-region with the largest area as the job region. In another implementation, where only one sub-region exists in the main region and the main region is equivalent to the sub-region, the processor 10 may obtain the main region directly as the job region.

In some embodiments, in the sub-area with the largest area in the main area, there is a partial area that cannot meet the traffic condition of the agricultural machine, for example, there is a partial area with a width smaller than the operation width of the agricultural machine, and the processor 10 may delete the area in the sub-area that cannot be passed by the agricultural machine, and only acquire the sub-area after deleting the partial area as the operation area.

Step S35: a first travel zone and a second travel zone are planned within the work zone.

It is understood that the work area includes a first travel area and a second travel area, wherein the first travel area is located within the second travel area. The first travel area corresponds to an area along which the agricultural machine travels along a straight track while working in a field. The area between the boundary of the second travel area and the boundary of the first travel area is a border-out area. The edging area corresponds to an area when the agricultural machine turns around in the field and edging.

In the embodiment of the present application, after the first and second travel areas are planned, the processor 10 may plan the first and second routes in the first and second travel areas, respectively. The first route corresponds to a route of the agricultural machine which runs in a straight line in the field, and the second route corresponds to a route of the agricultural machine which turns around to another section of the first route after the agricultural machine finishes running of the first section of the first route. In an embodiment of the present application, the second route may connect two sections of the first route.

Referring to fig. 4, in some embodiments, a method for planning a first driving area and a second driving area in a working area may include the following steps S41 to S45:

Step S41: determining whether the agricultural machinery automatically receives edges according to the edge receiving selection information, responding to the automatic edge receiving operation of the agricultural machinery on the edge receiving area, and entering step S42; in response to the manual driving of the agricultural machine by the worker to harvest the edging areas, step S43 is entered.

It will be appreciated that the processor 10 may determine whether the operator preset edging operation mode is automatic edging by the agricultural machine or manual driving of the agricultural machine by the operator by obtaining edging selection information in the working information.

Step S42 calculates a boundary reservation distance according to the first formula, the job width, and the turning radius, and proceeds to step S44.

In this embodiment, the first formula is:

wherein d is a boundary reserved distance, r is a turning radius of the agricultural machine, w is an operation width of the agricultural machine, and the function ceil is used for rounding up the operation value.

Step S43: the boundary reservation distance is calculated according to the second formula, the job width, and the turning radius, and the process proceeds to step S44.

In this embodiment, the second formula is:

wherein d is the reserved distance of the boundary, r is the turning radius of the agricultural machine, and w is the operation width of the agricultural machine.

Step S44: and generating a first driving area of the working area according to the boundary reservation distance and the boundary of the working area.

It will be appreciated that the first travel zone corresponds to a zone along which the agricultural machine travels along a straight path when operating in a field. In an embodiment of the present application, the first driving area may include a plurality of first routes that are uniformly spaced, and the first routes are straight driving routes of the agricultural machine.

In some embodiments, the method for generating the first driving area may include: acquiring the center of an operation area; the center of the operation area is taken as a contraction center, the sum of the boundary reserved distance and the safety distance is taken as a contraction distance, and the boundary of the operation area is contracted; and generating a first driving area by taking the contracted boundary as the boundary of the first driving area.

It is understood that the boundary of the work area corresponds to a plurality of coordinate points, and the plurality of coordinate points correspond to coordinate data representing the positional relationship between the coordinate points and the coordinate axes. When the boundary of the contracted working area generates the first driving area, subtraction or division operation can be performed on a plurality of coordinate data corresponding to the boundary of the working area, and the subtraction or divisor when the operation is performed can be the sum of the boundary reserved distance and the safety distance or the numerical value obtained by scaling the sum of the boundary reserved distance and the safety distance.

It is understood that the safety distance may be a distance that a worker considers to be set according to experience or industry standard, and the embodiment of the present application does not limit the value of the safety distance.

Step S45: a second travel area of the work area is generated based on the work width and the boundary of the work area.

It is understood that the first travel zone is located in the second travel zone. The area between the boundary of the second traveling area and the boundary of the first traveling area corresponds to an area where the agricultural machine turns around while operating in the field. In the embodiment of the present application, the area between the boundary of the second driving area and the boundary of the first driving area is a edging area, and the edging area may include a plurality of second routes, where the second routes are turning-around driving routes of the agricultural machine. The second course may include at least two circular arc courses, and the second course may further include a straight line course between the two circular arc courses. The two sections of arc routes can be respectively two quarter arcs with turning radius as radius.

In some embodiments, the method for generating the second driving region may include: acquiring the center of an operation area; the center of the operation area is taken as a contraction center, and the sum of one half of the operation width and the safety distance is taken as a contraction distance, so that the boundary of the operation area is contracted; and generating a second driving area by taking the contracted boundary as the boundary of the second driving area.

In other embodiments, the method for generating the second driving area may include: acquiring the center of a first driving area; expanding the boundary of the first traveling area by taking the center of the first traveling area as an expansion center and taking the difference of subtracting one half of the operation width from the boundary reservation distance as an expansion distance; and generating a second driving area by taking the expanded boundary as the boundary of the second driving area.

It is understood that the boundary of the working area and the boundary of the first traveling area correspond to a plurality of coordinate points, and the plurality of coordinate points correspond to coordinate data representing the positional relationship between the coordinate points and the coordinate axes. When the second travel area is generated by contracting the boundary of the work area, subtraction or division may be performed on the plurality of coordinate data corresponding to the boundary of the work area, and the subtraction or divisor when performing the operation may be a value obtained by scaling the sum of one half of the work width and the safety distance or the sum of one half of the work width and the safety distance. When the boundary of the first travel area is enlarged to generate the second travel area, an addition or multiplication operation may be performed on a plurality of coordinate data corresponding to the boundary of the first travel area, and the addition or multiplier when performing the operation may be a value obtained by scaling a difference of the boundary reservation distance minus one half of the work width or a difference of the boundary reservation distance minus one half of the work width.

It is understood that the shapes of the to-be-worked area, the history area, the working area, the first traveling area, and the second traveling area are not limited, and the shapes of the to-be-worked area, the history area, the working area, the first traveling area, and the second traveling area may be the same or different. For example, as shown in fig. 5, the boundary with the rectangular icon at the corner is the boundary of the area to be worked S1, the boundary with the pentagonal icon at the corner is the boundary of the history area S2, the boundary with the triangular icon at the corner is the boundary of the main area and the boundary of the working area S3, the boundary with the diamond icon at the corner is the boundary of the second driving area S4, and the boundary with the circular icon at the corner is the boundary of the first driving area S5; the to-be-worked area S1, the history area S2, the working area S3, the first traveling area S5, and the second traveling area S4 may each be rectangular areas. For another example, the area to be worked may be a parallelogram area, the history area may be a triangle area, and two boundaries of the history area coincide with two adjacent boundaries of the area to be worked, and the working area, the first traveling area, and the second traveling area may be trapezoid areas.

For another example, the area to be worked, the history area, the working area, the first travel area, and the second travel area may each be irregularly shaped areas.

In this embodiment, when the route planning method is executed, step S45 is executed after step S44 is executed. In other embodiments, step S44 is performed after step S45 is performed when the route planning method is performed.

With continued reference to fig. 2, step S24: a plurality of first routes are generated within the first travel area based on the baseline data.

It will be appreciated that the reference line data may include a plurality of coordinate data corresponding to a plurality of coordinate points connected to form a straight line segment, and the processor 10 may copy the straight line segment corresponding to the plurality of reference line data in the first driving area based on the straight line segment to generate a plurality of first routes.

It is understood that, among the plurality of first routes, a separation distance between two adjacent first routes may be greater than or equal to the work width. Specifically, in order to provide coverage of agricultural operations on a field, a region area in a first travel area where the operation is not yet performed after the agricultural machine travels along a plurality of first routes and operates may be reduced, and a spacing distance between adjacent first routes may be equal to an operation width.

Referring to fig. 6, in some embodiments, the method of generating a plurality of first routes may include the following steps S61 to S67:

step S61: determining whether the acquired working information includes the reference line data, and proceeding to step S62 in response to the working information not including the reference line data; in response to the operation information including the reference line data, the process advances to step S64.

It will be appreciated that in some scenarios, before the route planning method is executed, a worker may implement presetting of the baseline data by an external device, and output the baseline data and other working information to the processor 10 by the external device. The processor 10 can determine whether the acquired work information includes the reference line data by recognizing and analyzing the work information.

Step S62: and generating an auxiliary area according to the minimum circumscribed quadrangle of the operation area.

It will be appreciated that the working area may be a polygonal area with a straight line boundary, or an irregularly shaped area with a curved line boundary. The auxiliary area generated by the processor 10 is an area corresponding to the smallest circumscribed quadrangle of the operation area, and the boundary of the auxiliary area is four edges of the smallest circumscribed quadrangle of the operation area.

In other embodiments, step S62 may be replaced with generating the auxiliary area based on the minimum circumscribed quadrangle of the main area.

It will be appreciated that in some scenarios, the main region may comprise a plurality of sub-regions, and when there are a plurality of sub-regions in the main region, the processor 10 obtains the sub-region with the largest area as the job region. In this case, since the area of the main region is close to the area of the work region and the shape of the main region is close to the shape of the work region, the minimum circumscribed quadrangle generated from the main region is close to the minimum circumscribed quadrangle generated from the work region.

Step S63: and acquiring coordinate data corresponding to one boundary of the auxiliary area according to the selected side information as datum line data, and proceeding to step S65.

It is understood that the work information may include selvedge information. The side selection information may be information preset by a worker according to experience or industry standards before the route planning method is executed. The content of the side information may be that which boundary of the auxiliary area corresponds to the data is selected as the reference line database. For example, the content of the side selection information may be "shortest side", and the acquired reference line data is coordinate data corresponding to the shortest boundary among the auxiliary area boundaries. For another example, the content of the side selection information may be "longest side", and the acquired reference line data is coordinate data corresponding to the longest boundary among the auxiliary area boundaries.

It is understood that the embodiments of the present application do not limit the shape of the auxiliary area. When the shape of the main area or the working area is a parallelogram, the shape of the auxiliary area is the same as that of the main area or the working area, and the boundary of the auxiliary area coincides with the boundary of the main area or the working area. For example, as shown in fig. 5, the work area may be a rectangular area, and the auxiliary area coincides with the work area.

It will be appreciated that when the reference line data is not included in the working information, the processor 10 may generate a reference line data from the boundary of the working area or the main area after the generation of the working area or the main area.

Step S64: a straight line reference line is generated from the reference line data, and the process proceeds to step S65.

It is understood that the reference line data is coordinate data, a plurality of coordinate points can be generated from the reference line data, and the straight line reference line is a line connecting the plurality of coordinate points generated from the reference line data.

It will be appreciated that the processor 10 may displace the area to be worked or the area to be worked from the straight line reference line generated from the reference line data acquired when the working information is acquired, which is not limited in the embodiments of the present application.

Step S65: the straight line reference line is moved to a boundary closest to the straight line reference line in the first travel region.

It will be appreciated that when moving the straight line reference line to the boundary closest to the straight line reference line in the first travel region, the processor 10 may cause the moved straight line reference line to satisfy the following condition: one end of the straight line datum line is positioned on the boundary closest to the straight line datum line in the first driving area; the straight line reference line is located in the first travel area. Before moving the straight line reference line, the processor 10 may determine, as the target boundary, a boundary closest to the straight line reference line in the first driving region according to the reference line data and coordinate data corresponding to the boundary of the first driving region; the processor 10 may determine, according to the coordinate data of the two ends of the straight line reference line, that one end farthest from the target boundary is the target end; the processor 10 then moves the straight line reference line in a direction approaching the target boundary to move the target end onto the target boundary. When the target end is positioned on the target boundary, one end of the straight line datum line is positioned on the target boundary, and the straight line datum line is positioned in the first driving area.

In some scenes, when the inclination angle of the straight line reference line is equal to the inclination angle of the target boundary, the straight line reference line coincides with the target boundary after the straight line reference line moves to the target boundary. For example, when the first traveling area, the working area, and the main area are all rectangular areas, and the reference line data is the same as the coordinate data corresponding to a short edge boundary of the working area or the main area, the target boundary may be a short edge boundary of the first traveling area, and the straight line reference line coincides with the target boundary after moving to the target boundary.

Step S66: a plurality of reproduction lines are reproduced at intervals in a direction perpendicular to the straight line reference line with the working width as an interval distance.

It will be appreciated that the spacing distance between adjacent ones of the plurality of replication lines is equal to the working width, and that the plurality of replication lines are parallel.

In one implementation, a method of replicating N replication lines may include: copying the straight line datum line by taking the working width as the interval distance to generate a 1 st copying line; the line reference line is copied at a distance of 2 times the work width, and the 2 nd copy line … … is copied at a distance of N times the work width, and the nth line reference line is generated. Wherein N is a positive integer.

In another implementation, a method of copying N copy lines may include: copying the straight line datum line by taking the working width as the interval distance to generate a 1 st copying line; copying the 1 st copy line by taking the operation width as the interval distance to generate a 2 nd copy line; copying the 2 nd copy line by taking the operation width as the interval distance to generate the 3 rd copy line; … … the (N-1) -th copy line is copied at a distance of the work width to generate an N-th copy line. Wherein N is a positive integer.

Step S67: the part of the extension lines of the plurality of copying lines, which is positioned in the first driving area, is acquired as a plurality of first routes.

It will be appreciated that the plurality of first routes are each located within the first travel zone such that the agricultural machine travels a straight route only within the first travel zone. The lengths of the plurality of first routes may be the same or different, and embodiments of the present application are not limited thereto.

In other embodiments, when acquiring the N first routes, the processor 10 acquires the (n+1) extension lines of the replication lines intersecting the first driving area, deletes one replication line farthest from the straight line reference line from the plurality of replication lines, and acquires the portions of the N replication lines located in the first driving area as the first routes.

In still other embodiments, when acquiring the N first routes, the processor 10 acquires (N-1) first routes from the portion where the (N-1) copy line extension lines intersect the boundary of the first travel area and are located in the first travel area, and acquires 1 first route from the portion where the extension lines of the straight line reference lines are located in the first travel area, thereby completing the acquisition of the N first routes.

It is understood that after steps S61 to S67 are performed, a plurality of first routes may be generated within the first travel area, the straight line reference line generated in step S64 may be deleted, and the copy line not acquired as the first route and the portion of the copy line acquired as the first route that is located outside the first travel area may be deleted.

In some embodiments, processor 10 may determine whether the work width of the agricultural machine is less than twice the turning radius of the agricultural machine after the completion of the operations of steps S21 to S24, or at any time node during the execution of steps S21 to S24. After the operation of step S24 is completed, in response to the work width of the agricultural machine being greater than or equal to twice the turning radius of the agricultural machine, the processor 10 may connect the second routes between adjacent first routes, thereby generating a plurality of second routes equal to the number of first routes minus one. In response to the work width of the agricultural machine being less than twice the turning radius of the agricultural machine, the processor 10 may continue to perform steps S25 through S28.

It will be appreciated that when the working width of the agricultural machine is greater than or equal to twice the turning radius of the agricultural machine, the agricultural machine may turn around to another first route adjacent to the first route and continue traveling along the other first route after completion of traveling of the one first route. Because the operation width of the agricultural machine is larger than or equal to twice of the turning radius of the agricultural machine, the agricultural machine does not need to be switched from a forward running state to a reverse running state when turning around, and the agricultural machine can maintain the forward running state between the two first routes to finish turning around.

In other embodiments, after the completion of the operation of step S24, the processor 10 may continue to perform steps S25 to S28 in response to the width of the work of the agricultural machine being greater than or equal to twice the turning radius of the agricultural machine, or in response to the width of the work of the agricultural machine being less than twice the turning radius of the agricultural machine.

With continued reference to fig. 2, step S25: group capacity is calculated based on the first operational rule, the turning radius, and the job width.

It will be appreciated that the plurality of first routes may form a linear group and that the group capacity may correspond to the rated capacity of the first routes in a linear group. In the embodiment of the present application, the group capacity is an odd number.

In some embodiments, the first operational rule may include the formula:/>

wherein n is ₁ For group capacity, r is turning radius of agricultural machinery, w is working width of agricultural machinery, and the function ceil is used for matching the calculated valueAnd (5) rounding up.

Step S26: the plurality of first routes are grouped according to grouping rules and group capacity.

It will be appreciated that after grouping the plurality of first routes in step S26, at least one straight line group may be generated.

Referring to fig. 7, in some embodiments, the method for grouping the first route may include the following steps S71 to S76:

step S71: determining whether the number of first routes is less than the group capacity, and in response to the number of first routes being less than the group capacity, proceeding to step S72; in response to the number of the first routes being greater than or equal to the group capacity, step S73 is entered.

It is understood that in the embodiments of the present application, when the number of the first routes within the first travel area is smaller than the group capacity, the agricultural machine cannot complete the agricultural work on the first travel area by the automatic travel.

Step S72: and outputting the reminding information to external equipment.

It will be appreciated that when it is determined that the number of the first routes in the first driving area is smaller than the group capacity, that is, it is determined that the agricultural machine cannot complete the agricultural operation on the first driving area by the automatic driving, the processor 10 may output a reminding message to the external device to remind the operator that the field corresponding to the operation area cannot complete the agricultural operation by the automatic driving of the agricultural machine, and the operator may drive the agricultural machine to complete the agricultural operation in the operation area.

It will be appreciated that the embodiments of the present application are not limited to the content or form of the reminder information. For example, the alert message may be a voice audio with the content "the land is small and the function cannot be used". For another example, the reminding information may be an email, a short message or an application push information with text content of "the land is small and the function cannot be used".

Step S73: and acquiring a first route closest to the agricultural machinery as a first reference route.

It will be appreciated that when the route planning method is executed, the external device may acquire coordinate data of a location where the agricultural machine is located and output the coordinate data to the processor 10, and the processor 10 may determine a first route closest to the agricultural machine from the plurality of first routes according to the acquired coordinate data.

It will be appreciated that the agricultural machinery may be located within or outside the work area when the route planning method is performed, and embodiments of the present application are not limited in this regard.

Step S74: determining whether the number of the first routes on both sides of the first reference route is greater than or equal to the group capacity, and in response to the number of the first routes on both sides of the first reference route being greater than or equal to the group capacity, proceeding to step S75; in response to the number of first routes on at least one side of the first reference route being smaller than the group capacity, step S76 is entered.

It will be appreciated that when the first routes on both sides of the first reference line are equal to or greater than the group capacity, the agricultural machine may travel along the first routes on both sides of the first reference line sequentially from one end of the first reference line as a starting point. When the number of the first routes is smaller than the group capacity on one side of the first datum line, the agricultural machinery needs to change the starting point of running and then run along the first routes, so that the condition that the agricultural machinery runs through part of the field for many times is reduced, and the waste of energy and working hours when the agricultural machinery performs agricultural operation is reduced.

It will be appreciated that in embodiments of the present application, the first side is the side facing in a direction perpendicular to the first path, and the second side is the side facing in another direction perpendicular to the first path.

In some embodiments, step S74 may be replaced with: determining whether the number of the first routes on the side corresponding to the first datum line and the first turning direction and the number of the first routes on the side, deviating from the first turning direction, of the first datum line are larger than or equal to the group capacity, and entering step S75 corresponding to the group capacity being larger than or equal to the group capacity; in response to the first reference line and the number of first routes on the side corresponding to the first turning direction, or the number of first routes on the side of the first reference line away from the first turning direction being smaller than the group capacity, step S76 is performed.

In the embodiment of the application, the side corresponding to the first turning direction is the first side. The first turn direction may be a straight direction relative to the agricultural machine, such as a left direction, a right direction, a direction with the second side facing the first side, etc. The first turn direction may also be a circumferential direction, such as clockwise and counterclockwise.

Step S75: the first routes on both sides of the first reference route are respectively grouped to generate a plurality of straight line groups.

Referring to fig. 8, in some embodiments, a method for grouping first routes on both sides of a first reference route may include the following steps S81 and S82:

step S81: at least one straight line group is generated by grouping the first reference route and the first route positioned at the first side of the first reference route.

It will be appreciated that the processor 10 may take the first reference line as a first route, take the first route furthest from the first reference line on the first side as the last first route, and group the first reference line and the first route on the first side in sequence. The processor 10 may first select the (n) closest to the first reference route ₁ -1) forming a set of straight lines with the first line and then for n nearest to the first line in the first line with the first side ungrouped ₁ The first routes form a set of straight lines, and so on. Wherein n is ₁ Is a numerical value of group capacity.

Step S82: at least one straight line group is generated by grouping first routes located on a second side of the first reference route.

It will be appreciated that the processor 10 may take the first route closest to the first reference line as the first route and the first route furthest from the first reference line on the second side as the last first route, with the first routes on the second side being grouped in sequence. The processor 10 may first select n closest to the first reference route ₁ The first routes form a group of straight lines, and then n nearest to the first datum line in the first routes which are not grouped at the second side ₁ The first routes form a set of straight lines, and so on. Wherein n is ₁ Is a numerical value of group capacity.

With continued reference to fig. 7, step S76: at least one straight line group is generated by grouping first routes in a first travel area.

It will be appreciated that the processor 10 may take a first route away from the first side boundary of the first driving area as a first route, take a first route located at the first side boundary of the first driving area as a last first route, and group all the first routes in the first driving area in sequence. The processor 10 may select n furthest from the first side boundary of the first travel zone ₁ The first routes form a group of straight lines, and then n furthest from the first side boundary of the first driving area in the ungrouped first routes ₁ The first set of lines is in line with the set, and so on. Wherein n is ₁ Is a numerical value of group capacity.

Referring to fig. 9, in some cases, when the processor 10 executes steps S81 and S82, the number of the first routes located on the first side of the first reference line and the first reference line is not an integer multiple of the group capacity, or the number of the first routes located on the second side of the first reference line is not an integer multiple of the group capacity. In some scenarios, when the processor 10 performs step S76, the first route within the first travel area is not an integer multiple of the group capacity. In the above scenario, after the processor 10 groups the first routes into the z-th group, the processor 10 cannot divide the remaining first routes into a straight line group, where z is an integer quotient obtained by dividing the sum of the number of the first routes located on the first side of the first reference line and the first reference line by the group capacity, or an integer quotient obtained by dividing the number of the first routes located on the second side of the first reference line by the group capacity, or an integer quotient obtained by dividing the number of the first routes in the first driving area by the group capacity. In some embodiments, the route planning method may include the following steps S91 to S93. In the above scenario, the processor 10 may perform the following steps S91 to S93:

Step S91: determining whether the sum of the number of remaining first routes and the group capacity is odd in response to the number of remaining first routes less than the group capacity between the boundary of the first travel area and a line group near the boundary of the first travel area, and proceeding to step S92 in response to the sum being odd; in response to the sum being an even number, step S93 is entered.

It will be understood that when step S81 is performed and the number of the first routes and the first reference lines on the first side of the first reference line is not an integer multiple of the group capacity, the boundary of the first travel area in step S91 is the boundary of the first side of the first travel area, the straight line group near the boundary of the first travel area is the z-th group straight line group, and z is an integer quotient of the sum of the number of the first routes and the first reference lines on the first side of the first reference line divided by the group capacity in the above-described scenario.

When step S82 is performed and the number of the first routes located on the second side of the first reference line is not an integer multiple of the group capacity, the boundary of the first travel area in step S91 is the boundary of the second side of the first travel area, the straight line group near the boundary of the first travel area is the z-th straight line group, and z is an integer quotient of the number of the first routes located on the second side of the first reference line divided by the group capacity in the above scenario.

When step S76 is performed and the first route in the first travel area is not an integer multiple of the group capacity, the boundary of the first travel area in step S91 is the boundary of the first side of the first travel area, the straight line group near the boundary of the first travel area is the z-th straight line group, and z is the integer quotient of the number of the first routes in the first travel area divided by the group capacity in the above-mentioned scenario.

It is understood that in step S91, the number of remaining first routes is smaller than the number of group capacities.

Step S92: the remaining first routes are merged into a set of straight lines nearest the boundary of the first travel zone.

It can be appreciated that when the remaining m first routes and group capacity n ₁ When the sum of (2) is odd, the processor 10 may merge the remaining m first routes into the z-th group of straight lines such that the number of first routes in the z-th group of straight lines is (m+n) ₁ )。

Step S93: and merging (m-1) first routes farthest from the boundary of the first driving area from the rest m first routes to a linear group closest to the boundary of the working area, and setting 1 first routes closest to the boundary of the first driving area as the linear group.

It can be appreciated that when the remaining m first routes and group capacity n ₁ When the sum is even, the processor 10 may leaveThe (m-1) first routes closest to the z-th group among the remaining first routes are merged into the z-th group of straight lines, and the 1 first route farthest from the z-th group is set as a single group of straight lines.

It can be appreciated that in the embodiment of the present application, when the working width of the agricultural machine is less than twice the turning radius of the agricultural machine, the number of the first routes in the straight line groups is all odd, and the number of the first routes in at least one straight line group in the first driving area is greater than or equal to 5, and at most, the number of the first routes in two straight line groups is 1. When the number of the first routes in the straight line group is (2 n ₁ +1) and n ₁ >2, the agricultural machinery is arranged along (2 n) ₁ +1) when the first route is running, the agricultural machine can turn around and stride to a distance n from the original first route after running along the first route ₁ And the other first route of the first route is followed. Thus, the agricultural machinery can be operated by 2n ₁ The running of a group of straight line groups is completed by turning around again, turning around is carried out at the end point of the straight line groups once, and the interval between the distance of the crossing and the first route where the end point of the straight line groups is located is defined by n ₁ The first route is positioned on a first route of another straight line group, so that the agricultural machinery can run in a plurality of straight line groups. The agricultural machinery spans at least two first routes when the agricultural machinery turns around in the process of running along one straight line group and when the agricultural machinery turns around in the process of moving from the straight line group to the other straight line group.

With continued reference to fig. 2, step S27: and generating a first order for the first routes in the straight line group according to the first order rule.

It will be appreciated that the first ordering corresponds to the order in which the agricultural machine travels sequentially along the first plurality of routes as it travels along the set of straight lines. When the working width of the agricultural machine is smaller than twice the turning radius of the agricultural machine, at least two first routes are geographically separated from two adjacent first routes in the first order.

In some embodiments, the first ordering rule may include: sorting the i first routes into 1 st route and 1 st routeStrip, strip 2, strip->Strip, … …, ith strip, +.>Bars, where i is the number of first routes in the straight line group and i is an odd number greater than 3.

It will be appreciated that the order of the 1 st, 2 nd, 3 rd, … … th may correspond to the order of the plurality of first routes from the first reference line from near to far, or the order of the plurality of first routes from the second side boundary of the first travel zone from near to far. The order of the 1 st, 2 nd, 3 rd, … … th may correspond to the order in which the first route in a group of straight lines is divided into the group of straight lines.

It will be appreciated that when the agricultural machine is traveling along a plurality of first routes in a linear set in a first order, the agricultural machine is turned around to move from one first route to another first route, and the agricultural machine is crossing A first route.

Step S28: according to the first ordering, second routes are connected between adjacent first routes and between adjacent straight line groups in the ordering.

It is understood that in the embodiments of the present application, the second route is connected between the first end of the first route and the first end of the other first route, or between the second end of the first route and the second end of the other first route. The first end and the second end are respectively two ends facing back on the first route. The direction in which the first end faces is the opposite direction to the direction in which the second end faces, the direction in which the first end faces is perpendicular to the direction in which the first side is located, and the direction in which the second end faces is perpendicular to the direction in which the second side is located.

It is understood that the second route is generated within the border-out area. As shown in fig. 10A, the second route R2 may connect two first routes R1, and the second route R2 may include two quarter-arc routes, where a starting point of one arc route is a first end of one first route, and an ending point of the other arc route is a first end of the other first route; or the starting point of one section of arc route is the second end of one first route, and the ending point of the other section of arc route is the second end of the other first route. The two arc routes can be respectively two quarter arcs with turning radius as radius.

As shown in fig. 10A, the second route R2 may further include a straight route between two circular arc routes. The extension line of the straight line section is perpendicular to the extension line of the first route, and the straight line section is used for connecting the end point of one arc route and the starting point of the other arc route.

For example, when 7 first routes are included in a straight line group, the first order of the 7 first routes is 1 st, 5 th, 2 nd, 6 th, 3 rd, 7 th, 4 th. When the processor 10 generates a second route for the straight line group to connect the first route in the straight line group, the processor 10 connects the second route between the first end of the 1 st first route and the first end of the 5 th first route, connects the second route between the second end of the 5 th first route and the second end of the 2 nd first route, connects the second route between the first end of the 2 nd first route and the first end of the 6 th first route, connects the second route between the second end of the 6 th first route and the second end of the 3 rd first route, connects the second route between the first end of the 3 rd first route and the first end of the 7 th first route, and connects the second route between the second end of the 7 th first route and the second end of the 4 th first route.

It will be appreciated that the second route has one end as a starting point and the other end as an ending point. When one end of a first route is connected with a second route and one end of the first route is overlapped with the end of the second route, when the first route is connected with another second route adjacent to the other first route, the starting point of the other second route is overlapped with the other end of the first route.

It can be understood that after the first route in the straight line group is connected to the second route, one end of the 1 st first route and one end of the i th first route in the straight line group are not connected to other first routes in the straight line group through the second route. In the embodiment of the present application, one end of the 1 st first route, which is not connected to other first routes in the same straight line group, is defined as a start point of the straight line group, and one end of the i st first route, which is not connected to other first routes in the same straight line group, is defined as an end point of the straight line group. When the agricultural machine runs along the first route and the second route, the agricultural machine starts from the starting point of the straight line group, ends running along the straight line group after running to the ending point of the straight line group, and runs in parallel to the starting point of the other straight line group adjacent to the ending point, and starts running along the other straight line group.

It will be appreciated that the second route may also connect the end of one straight line group with the start of another adjacent straight line group. The processor 10 may determine the order in which the agricultural machine travels along the plurality of straight line groups according to the first turning direction of the agricultural machine after completing the connection of the second route to the plurality of first routes in each straight line group, and connect the second route between the adjacent straight line groups according to the order. The processor 10 may connect a second route between the end of the first ordered set of lines in the order and the start of the next ordered set of lines.

In the route planning method provided by the embodiment of the application, two first routes adjacent on the first sequence can be connected through the second route crossing the plurality of first routes, so that the agricultural machinery can be moved from one first route to the other first route only by turning around once when the first route and the second route run, the parking, reversing and the like of the agricultural machinery are reduced, the running time of the agricultural machinery is saved, and the running efficiency of the agricultural machinery and the agricultural operation efficiency are improved. The agricultural machinery runs along a plurality of first routes in the linear group according to the first sequencing, so that the full-coverage operation of the area corresponding to the linear group in the field can be realized, the land area of the field, which is not subjected to agricultural operation after the agricultural machinery runs along the first route and the second route, is reduced, and the running efficiency of the agricultural machinery and the agricultural operation efficiency are improved.

In some embodiments, the path planning method may further include the following step S29:

step S29: and generating a third route in the border-closing area according to the second operation rule, the driving end point of the first driving area and the second route.

It is understood that the third route corresponds to a route traveled by the agricultural machine when traveling within the border-receiving area to perform agricultural operations on the border-receiving area after the agricultural machine completes traveling of the first route and the second route.

Referring to fig. 11, in some embodiments, when it is determined that the agricultural machine automatically performs the edging operation on the edging area after the step S41 is performed, the method for generating the third route may include the following steps S111 to S115:

step S111: calculating the number of turns n of the third route according to the turning radius, the working width and the second operation rule ₂ 。

In this embodiment, the second operation rule may include the formula:

wherein n is ₂ For the number of turns, r is the turning radius of the agricultural machinery, w is the operation width of the agricultural machinery, and the function ceil is used for rounding up the operation value.

Step S112: generating 2n in the border-out area according to the copy rule and the first route ₂ And (5) a first edging line.

It is understood that the first borderline may be reproduced from two first routes closest to the first side boundary and the second side boundary in the second travel zone.

In some embodiments, the replication rules may include: the first route near the boundary of the first side and the second side of the second driving area is taken as a side edging datum line, and the first distance is taken as a spacing distance to copy n to the two side edging datum lines respectively in the direction near the boundary of the first side and the second side of the second driving area ₂ Generating n ₂ A first edging line, wherein n ₂ The first distance is greater than or equal to the work width for the number of turns.

It will be appreciated that in generating the first edging route, the processor 10 may first obtain the closest second travel zoneThe two first routes of the first side boundary and the second side boundary are two side trimming datum lines, and the two side trimming datum lines are duplicated respectively to make the side trimming datum line close to the boundary of the first side of the second driving area duplicate n along the direction far from the first driving area and close to the boundary of the first side of the second driving area ₂ A side trimming datum line is formed; copying a side edging reference line near the boundary of the second side of the second driving area in a direction away from the first driving area and near the boundary of the second side of the second driving area ₂ The side trimming datum line is obtained to obtain 2n ₂ And (5) a first edging line.

In some embodiments, the first distance is equal to the job width.

It can be understood that 2n is generated by copying with the job width as the interval distance ₂ After the first edging route is adopted, when the agricultural machine runs along the first edging route, the operation area of the agricultural machine is kept away from and is similar to the operation area when the agricultural machine runs along the first route, so that the condition that the agricultural machine repeatedly operates in an area for finishing agricultural operation can be reduced, the coverage area of the agricultural machine for agricultural operation is improved, the energy consumption waste of the agricultural machine is reduced, and the operation efficiency of the agricultural machine is improved.

In an implementation manner, a side edging datum line is copied to generate n ₂ The method for forming the first edging line may include: copying side edging datum lines with a first distance as an interval distance along a direction away from the first driving area and close to the first side or the second side boundary of the second driving area to generate a 1 st first edging line; reproducing the side trimming datum line with the first distance of 2 times as the interval distance to generate the 2 nd first trimming line … … with n ₂ The first distance is the interval distance, and the side edging datum line is copied to generate the nth ₂ And (5) a first edging line. Wherein n is ₂ Is a positive integer.

In another implementation, the side edging datum line is copied to generate n ₂ The method for forming the first edging line may include: copying the side trimming datum line by taking the first distance as the interval distance to generate a 1 st first trimming route; copying the 1 st first edge collecting route by taking the first distance as the interval distance to generate the 2 nd first edge collecting routeA wire; copying the 2 nd first edging route by taking the first distance as the interval distance to generate the 3 rd first edging route; … … reproducing the (n) th at the first distance as the interval distance ₂ -1) generating an nth border line ₂ And (5) a first edging line. Wherein n is ₂ Is a positive integer.

Step S113: and respectively connecting the first ends and the second ends of the plurality of first routes in the first driving area to generate two end edging datum lines.

It will be appreciated that the processor 10 may generate an end trimming reference line by connecting the first ends of the plurality of first routes; and connecting the second ends of the plurality of second routes, another end trimming datum line can be generated.

It will be appreciated that the end trimming reference line may be comprised of a plurality of line segments connected adjacent the first or second ends of the first path. After acquiring the edge trimming reference line, the processor 10 may perform smoothing processing and filtering processing on the edge trimming reference line.

It will be appreciated that the smoothed and filtered end trimming reference line may be perpendicular or nearly perpendicular to the first path.

Step S114: generating 2n in the trimming area according to the end trimming datum line ₂ And a second edging line.

It will be appreciated that the second edging route may be a route located in a direction towards the first end and towards the second end of the first route, the third route comprising the second edging route. The second route may be reproduced from the end trimming reference line.

Referring to fig. 12, the method for generating the second edging line may include the following steps S121 to S124:

step S121: and copying the primary end trimming datum line along the direction of the first end and the direction of the second end of the first route by taking the second distance as the interval distance to generate two second trimming routes.

It is understood that the second distance may be greater than or equal to one-half of the work width. In some embodiments, the second width is equal to one-half of the job width.

It will be appreciated that when the agricultural machine is traveling along a first route, the agricultural machine may travel along a second route connected to the first route at either the first end or the second end of the first route. The agricultural machine performs agricultural work while traveling along the first route and the second route. When the interval distance between the second side route and the first end or the second end of the first route is half of the operation width, the operation area is kept away from and is close to the operation area when the agricultural machine runs along the first route in the process that the agricultural machine runs along the second side route, so that the condition that the agricultural machine repeatedly operates on the area where the agricultural operation is completed can be reduced, the coverage area of the agricultural machine for agricultural operation is increased, the energy consumption waste of the agricultural machine is reduced, and the operation efficiency of the agricultural machine is improved.

Step S122: determining whether the number of turns is greater than one, and in response to the number of turns being greater than one, proceeding to step S123; in response to the number of turns being equal to one, the process advances to step S124.

It will be appreciated that when the number of turns is greater than one, the agricultural machine needs to travel around the first travel area multiple turns along the third path in a spiral, and the processor 10 needs to generate a second side route greater than two in number and a first side route greater than two in number.

Step S123: determining the separation distance from the first distance, copying the orientation of the first end and the orientation of the second end along the first path (n ₂ -1) generating (2 n) a secondary end trimming reference line ₂ -2) a second edging line.

It will be appreciated that after the step S114 is performed, a second border is generated by the first end of the first route and the second end of the first route. When step S116 is performed, the orientation of the first end and the orientation of the second end of the first route are generated (n ₂ -1) a second edging line. After the execution of step S116, the processor 10 generates 2n in total ₂ And a second edging line.

In one implementation, the end trimming datum line is copied, and the 2 nd to nth strips are generated on one side of the first end of the first path facing to the second end of the first path ₂ The method of the second edging line may include: in a direction away from the first driving area and toward the first end or the second end of the first route, the second distance and the first distance are copied as the interval distance Generating a 2 nd second edging line by the end edging datum line; reproducing the end trimming reference line with the second distance and the first distance 2 times as the interval distance, generating the 3 rd second trimming line … … with the second distance and (n) ₂ -1) generating an nth distance by taking the first distance as the interval distance and copying the end trimming reference line ₂ And a second edging line datum line. Wherein n is ₂ -1 is a positive integer greater than 1.

It will be appreciated that when step S114 is performed, the processor 10 has generated a 1 st second edging path on the side of the first path facing the first end and the second end, respectively.

In another implementation, the end trimming datum line is copied, and the 2 nd to nth strips are generated on one side of the first end of the first path facing to the second end facing to ₂ The method of the second edging line may include: copying the 1 st second edging route by taking the first distance as the interval distance to generate a 2 nd second edging route; copying the 2 nd second edging route by taking the first distance as the interval distance to generate the 3 rd second edging route; copying the 2 nd second edging route by taking the first distance as the interval distance to generate the 3 rd second edging route; … … reproducing the (n) th at the first distance as the interval distance ₂ -1) generating an nth border line ₂ And a second edging line. Wherein n is ₂ Is a positive integer greater than 1.

It will be appreciated that 2n is generated ₂ And in the second edging routes, the interval distance between the adjacent second edging routes is the first distance. The first distance is equal to the job width. When the agricultural machine runs along a second edging route, the working area of the agricultural machine is kept away from the position and is similar to the position of the agricultural machine when running along the other adjacent second edging route, or is kept away from the position and is similar to the position of the agricultural machine when running along the first route, so that the situation that the agricultural machine repeatedly works on the area where the agricultural operation is completed can be reduced, the coverage area of the agricultural machine for agricultural operation is increased, the energy consumption waste of the agricultural machine is reduced, and the working efficiency of the agricultural machine is improved.

Step S124: and generating a second order for the plurality of first bordering routes and the plurality of second bordering routes according to the driving end point of the first driving area and the second order rule.

In one implementation, after step S74 is performed, if the processor 10 determines that the number of the first routes on both sides of the first reference route is greater than or equal to the group capacity, the agricultural machine travels in the first travel area in the order of starting from the first reference route, sequentially traveling the linear groups on the first side of the first reference route in the order of from near to far from the first reference line, sequentially traveling the linear groups along the plurality of linear groups, then traveling the linear groups on the second side of the first reference line, and sequentially traveling the linear groups on the second side in the order of from near to far from the first reference line. After the agricultural machine finishes traveling along the straight line group at the second side of the first datum line, one end of a first route where the agricultural machine is located after traveling is the traveling end point of the first traveling area. The processor 10 may obtain coordinate data corresponding to a driving end point and a driving start point in the first driving area according to the first order of the first route in the straight line group and the driving order of the agricultural machine along the plurality of straight line groups.

It will be appreciated that when there is only one linear group on the first side of the first datum, the agricultural machine automatically travels along the linear group on the first side and then automatically travels to the linear group on the second side of the first datum and closest to the first datum, and continues to travel along the linear group on the second side. When only one straight line group exists on the second side of the first datum line, the agricultural machine runs along a plurality of first routes in the straight line group according to the first order, and finally the first route in the straight line groupThe end of the first route, which is not connected with the second route, is the end point of the first driving area, wherein i is the number of the first routes in the straight line group.

In another implementation, after step S74 is performed, if the processor 10 determines that the number of the first routes on at least one side of the first reference route is smaller than the group capacity, the agricultural machine travels in the first travel area in the order of starting from the first end or the second end of the first route closest to the second side of the first travel area, and sequentially travels along the plurality of linear groups of the first travel area in the order of distance from the boundary of the first side of the first travel area from far to near. After the agricultural machine runs along the straight line group closest to the boundary of the first side of the first running area, the first of the straight line group is finally The end of the first route, which is not connected with the second route, is the end point of the first driving area, wherein i is the number of the first routes in the straight line group.

In some embodiments, the second ordering rule may include: acquiring a first border line closest to a driving end point as a second reference line; and according to the position relation between the second reference route and the driving end point, sequencing the plurality of first edging routes and the plurality of second edging routes along the clockwise or anticlockwise rotation direction and the direction approaching to the boundary of the first driving area to generate a second sequencing.

For example, as shown in fig. 10A, the side marked a is a first side, the side marked B is a second side, the side marked C is a side toward which the first end of the first route faces, and the side marked D is a side toward which the second end of the first route faces. When the travel terminal point E is located at the first end of the first route, the travel terminal point E is connected to the first borderline route L closest to the travel terminal point ₁ a is connected from the driving end point E to the first edge receiving route L ₁ a first end of the agricultural machine is directed from the driving end E to the first border-closing route L ₁ a, turning around in a anticlockwise direction in the running process of the first end of the first part. At this time, the second ranking may be generated by ranking the plurality of first bordering lines and the plurality of second bordering lines in the counterclockwise rotation direction and in order from the near to the far from the first travel region boundary.

For example, when the shortest route from the driving destination to the first border line closest to the driving destination is from the driving destination to the second end of the first border line, the agricultural machine needs to turn and turn clockwise during the driving from the driving destination to the second end of the first border line. At this time, the second ranking may be generated by ranking the plurality of first bordering lines and the plurality of second bordering lines in the clockwise rotation direction and in order from the near to the far from the first travel region boundary.

It will be appreciated that in the second ordering generated, the first bordering line is adjacent to the second bordering line.

For example, as shown in fig. 10A, the second ordering generated for the plurality of first bordering lines and the plurality of second bordering lines in the counterclockwise rotation direction and in the order from the near to the far from the second travel zone boundary may be: l (L) ₁ a、L ₂ a、L ₁ b、L ₂ b、L ₁ c、L ₂ c、L ₁ d、L ₂ d、L ₁ e。

It will be appreciated that, as shown in FIG. 10A, the first edging line L ₁ c is spaced from the first route R1 closest to the side of the B mark by a distance greater than the first border line L ₁ a is spaced from the first route R1 closest to the side of the B mark. I.e. a first edging line L ₁ c is spaced from the second side boundary of the first travel zone by a distance greater than the first borderline L ₁ a distance from the second side boundary of the first travel zone, thus, in the second order, the first bordering line L in the order from the closest to the first travel zone boundary ₁ c are arranged in the first edge receiving route L ₁ and a, after.

As shown in fig. 10A, a second edging line L ₂ c is greater than the distance between the second end of the first route and the first edge collecting route L ₂ a and the second end of the first route R1. I.e. the second edging line L ₂ c is spaced from the boundary of the first travel zone in the direction of the second end by a distance greater than the first bordering line L ₂ a is spaced from the boundary of the first travel zone at the second end facing upward. Thus, the first bordering line L in the second order according to the order from the near to the far from the first travel area boundary ₂ c are arranged in the first edge receiving route L ₂ and a, after.

With continued reference to fig. 11, step S115: and sequentially connecting the plurality of first edge receiving routes and the plurality of second edge receiving routes according to the second order, and generating a third route.

It will be appreciated that the processor 10 may sequentially connect the plurality of first bordering routes and the plurality of second bordering routes according to the second ordering to generate the third route. The third route includes a plurality of first edging routes, a plurality of second edging routes, and a curved segment connecting the first edging routes and the second edging routes.

It will be appreciated that embodiments of the present application are not limited in terms of the method of generating a curve segment between a first edging line and a second edging line. For example, a Bezier curve fit may be used to generate a curve segment between the first and second bordering lines.

It will be appreciated that after step S115 is performed, a smooth, completed and spiral third path may be generated.

It will be appreciated that after the third route is generated, the processor 10 may delete the end trimming reference line and the side trimming reference line.

In this embodiment, the agricultural machine automatically travels along the first route and the second route, and then automatically travels along the third route after completing the agricultural operation in the first travel area, thereby completing the automatic travel of the border-receiving area, and reducing the area in the operation area, which is not subjected to the agricultural operation. According to the planning of the first route, the second route and the third route, the situations of stopping and reversing the light when the agricultural machine automatically runs can be reduced, and the smoothness of the automatic running of the agricultural machine and the efficiency of agricultural operation are improved.

Referring to fig. 13, in other embodiments, when it is determined that the operator drives the agricultural machine to perform the edging operation on the edging area after the step S41 is performed, the method for generating the third route may include the following steps S131 to S134:

Step S131: the boundary of the auxiliary area is prolonged, and two first auxiliary lines and two second auxiliary lines are generated.

It will be appreciated that when the boundaries of the working area and the main area are parallelograms, the boundary of the auxiliary area coincides with the boundary of the working area or the boundary of the main area. In this case, the boundary of the extended auxiliary area is equivalent to the boundary of the factory work area or the main area.

In an embodiment of the present application, the first auxiliary line is located on a side toward which the first end of the first route faces and on a side toward which the second end faces. The second auxiliary line is positioned on the first side or the second side of the working area. As shown in fig. 13, the first auxiliary line is located at the side of the C mark and the side of the D mark, and the second auxiliary line is located at the side of the a mark and the side of the B mark.

Step S132: and copying the two second auxiliary lines along the direction close to the boundary of the first side and the second side of the first driving area by taking the third distance as a spacing distance to generate a plurality of third auxiliary lines.

It is understood that both second auxiliary lines are located outside the second driving area, and that both second auxiliary lines are located at the first side and the second side of the second area, respectively. When the processor 10 copies the second auxiliary line to generate a plurality of third auxiliary lines, two second auxiliary lines are respectively copied on the first side of the second driving area and the second side of the second driving area, and the copying directions are the direction of the first side towards the second side and the direction of the second side towards the first side respectively.

In one embodiment, the second auxiliary line is copied on one side of the second driving area to generate n ₃ The method of the third auxiliary line may include: copying the second auxiliary line at the side part with a third distance as a spacing distance along the direction close to the boundary of the first side or the second side of the first driving area to generate a 1 st third auxiliary line; reproducing the second auxiliary line with a third distance of 2 times as the spacing distance to generate a 2 nd third auxiliary line … … with n ₃ The third distance is multiplied by the spacing distance to copy the second auxiliary line to generate the nth ₃ And a third auxiliary line. Wherein n is ₃ Is a positive integer.

In another embodiment, the second auxiliary line is duplicated on one side of the second driving area to generate n ₃ The method of the third auxiliary line may include: copying the second auxiliary line with the third distance as the interval distance along the direction close to the boundary of the first side or the second side of the first driving area to generate a 1 st third auxiliary line; copying the 1 st third auxiliary line by taking the third distance as the interval distance to generate a 2 nd third auxiliary line; copying the 2 nd third auxiliary line by taking the third distance as the interval distance to generate the 3 rd third auxiliary line; … … reproducing the (n) th at a third distance ₃ -1) generating an nth auxiliary line ₃ And a third auxiliary line. Wherein n is ₃ Is a positive integer.

It is understood that the third distance may be greater than or equal to the work width. In some embodiments, the third width may be equal to the first width, equal to the job width.

Step S133: the spacing distance is determined according to the fourth distance, the first auxiliary line is duplicated along the direction of the first end and the direction of the second end of the first route, and a plurality of fourth auxiliary lines are generated.

It is understood that the two first auxiliary lines are located outside the second driving area, and the two first auxiliary lines are located on a side towards which the first end of the first route faces and a side towards which the second end faces, respectively. When the processor 10 copies the first auxiliary line to generate a plurality of fourth auxiliary lines, two first auxiliary lines are copied in the second traveling area on the side toward which the first end of the first route faces and on the side toward which the first end of the second route faces, respectively. The first auxiliary route is positioned on one side of the first end of the first route, and the copying direction is the direction of the first end of the first route towards the second end; the first auxiliary route is positioned on one side of the second end of the first route, and the copying direction is the direction of the second end of the first route towards the first end.

Referring to fig. 14, in some embodiments, the method for generating the fourth auxiliary line may include the following steps S141 and S142:

Step S141: and respectively copying the first auxiliary line once along the direction of the first end and the direction of the second end of the first route by taking the fourth distance as the interval distance to obtain two fourth auxiliary lines.

It is understood that the fourth distance may be greater than or equal to one-half of the work width. In some embodiments, the fourth distance may be equal to the second distance, which is equal to one-half of the job width.

Step S142: and calculating the interval distance according to the third distance and the fourth distance, and respectively copying the first auxiliary lines for a plurality of times along the direction of the first end and the direction of the second end of the first route to obtain a plurality of fourth auxiliary lines.

It will be appreciated that after the step S141 is performed, a fourth auxiliary line is generated in the direction of the first end or the direction of the second end of the first path. When step S142 is performed, the orientation of the first end or the orientation of the second end of the first route may be generated (n ₄ -1) a fourth auxiliary line. When step S142 is performed, n may be present in the direction of the first end of the first route toward the second end, or the direction of the second end toward the first end ₄ And a fourth auxiliary line.

It will be appreciated that, after the step S142 is performed, the distance between adjacent fourth auxiliary lines is equal to the third distance.

In one embodiment, the first auxiliary line is duplicated in the second driving area along the direction of the first end of the first route towards the second end, or the direction of the second section towards the first end, to generate n ₄ The method of the fourth auxiliary line may include: copying the first auxiliary line at the side part along the direction of the first end of the first route towards the second end or the direction of the second section towards the first end by taking the sum of the fourth distance and the third distance as the interval distance to generate a fourth auxiliary line 2; reproducing the first auxiliary line by the sum of the fourth distance and the third distance 2 times as the spacing distance to generate a 3 rd fourth auxiliary line … … by the sum of the fourth distance and (n) ₄ -1) copying the first auxiliary line with a third distance being the separation distance, generating the nth ₃ And a fourth auxiliary line. Wherein n is ₃ Is a positive integer greater than 1.

It will be appreciated that when step S142 is performed, the processor 10 has generated the 1 st fourth auxiliary route in the direction of the first end of the first route toward the second end and the direction of the second end toward the first end, respectively.

In another implementation, the first auxiliary line is duplicated in the second driving area along the direction of the first end of the first route towards the second end, or the direction of the second section towards the first end, to generate n ₄ The method of the fourth auxiliary line may include: copying the 1 st fourth auxiliary line along the direction of the first end of the first route towards the second end or the direction of the second section towards the first end by taking the third distance as the interval distance to generate the 2 nd fourth auxiliary line; copying the 2 nd fourth auxiliary line by taking the third distance as the interval distance to generate the 3 rd fourth auxiliary line; copying the 3 rd fourth auxiliary line by taking the third distance as the interval distance to generate a 4 th fourth auxiliary line; … … reproducing the (n) th at a third distance ₄ -1) a fourth auxiliary line,generating the nth ₄ And a fourth auxiliary line. Wherein n is ₄ Is a positive integer greater than 1.

With continued reference to fig. 12, step S134: and acquiring the parts of the third auxiliary line and the fourth auxiliary line in the edge folding area to generate a third route.

It will be appreciated that, as shown in fig. 10B, after the third auxiliary lines L3 and the fourth auxiliary lines L4 are generated, the processor 10 extracts portions of the third auxiliary lines L3 and the fourth auxiliary lines L4 located in the border-receiving area, so as to provide the assistance of the route guidance for the worker when the worker drives the agricultural machine to operate the border-receiving area.

It will be appreciated that after the third route is generated, the processor 10 may delete the first auxiliary line and the second auxiliary line.

In this embodiment, after the agricultural machine automatically travels along the first route and the second route and completes the agricultural operation in the first travel area, the worker may manually drive the agricultural machine to travel along the third route and complete the operation on the border-finishing area. When working in the border-closing area, the worker can drive the agricultural machine by taking the third route as a reference route, so that the area which does not pass through agricultural work in the working area is reduced. According to the planning of the first route, the second route and the third route, the situations of stopping and reversing the light when the agricultural machine automatically runs can be reduced, and the smoothness of the automatic running of the agricultural machine and the efficiency of agricultural operation are improved.

According to the route planning method provided by the embodiment of the application, the second route crossing the first routes can be planned and generated, so that the agricultural machinery can run across the first routes when turning around, the planning of the second route provides sufficient turning space for turning around of the agricultural machinery, the situations of stopping and reversing when the agricultural machinery automatically runs can be reduced, and the smoothness of the automatic running of the agricultural machinery and the efficiency of agricultural operation can be improved. Meanwhile, the route planning method provided by the embodiment of the application can plan the third route which is driven when the agricultural machine performs agricultural operation on the edge receiving area, can improve the coverage rate of the agricultural machine in the agricultural operation area, and reduces the idle and waste area in the farmland land.

The electronic device 100 provided in the embodiments of the present application may perform the route planning methods shown in fig. 1 to 14. The electronic device 100 executes a route planning method to plan and generate a second route spanning multiple first routes, so that the agricultural machine can travel across the multiple first routes when turning around, the planning of the second route provides sufficient turning space for turning around of the agricultural machine, the situations of stopping and reversing when the agricultural machine automatically travels can be reduced, and the smoothness of the automatic travel of the agricultural machine and the efficiency of agricultural operation can be improved.

Based on the same conception, the present embodiment also provides a storage medium comprising the computer program 21, which when the computer program 21 is run on the electronic device 100, causes the electronic device 100 to execute the route planning method provided by the present embodiment.

It will be evident to those skilled in the art that the present 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 characteristics thereof. The above-described embodiments of the application 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

1. A route planning method for planning a travel route of an agricultural machine, the route planning method comprising:

generating a plurality of first routes in a working area according to the datum line data, wherein the interval distance between adjacent first routes is larger than or equal to the working width, and the first routes correspond to the straight running routes of the agricultural machinery;

calculating a group capacity according to a first operation rule, a turning radius of the agricultural machine and the operation width, wherein the group capacity corresponds to the number of the first routes in a straight line group;

grouping a plurality of first routes according to a grouping rule and the group capacity, wherein the grouping comprises the steps of obtaining the first route closest to the agricultural machinery as a first reference route, and respectively grouping the first routes on two sides of the first reference route to generate a plurality of straight line groups in response to the number of the first routes on two sides of the first reference route being greater than or equal to the group capacity;

generating a first order for the first routes in the straight line group according to a first order rule, wherein the first order corresponds to the order in which the agricultural machinery runs along a plurality of first routes, and at least two first routes are arranged between two adjacent first routes in the first order at intervals;

And connecting a second route between the adjacent first routes in the sequence according to the first sequence, wherein the second route corresponds to the turning-around driving route of the agricultural machinery.

2. The route planning method of claim 1 wherein said grouping a plurality of said first routes according to grouping rules and said group capacity comprises:

at least one of the rectilinear groups is generated by grouping the first routes within the work area in response to the number of the first routes on at least one side of the first reference route being less than the group capacity.

3. The route planning method of claim 1 wherein said grouping said first routes on either side of said first reference route, respectively, to generate a plurality of said sets of straight lines comprises:

grouping the first reference route and the first route positioned at a first side of the first reference route, wherein the first side is a side facing the first turning direction of the agricultural machine;

the first routes are grouped at a second side of the first reference route, wherein the second side is the side facing away from the first side.

4. The route planning method of claim 1 wherein said grouping a plurality of said first routes according to grouping rules and said group capacity comprises:

And outputting reminding information in response to the first route quantity in the operation area is smaller than the group capacity.

5. The route planning method of claim 1 wherein the group capacity is an odd number and the first operation rule comprises:

the group capacity is equal to the sum of two times and one after the result of dividing the twice turning radius by the working width is rounded.

6. The route planning method of claim 1 wherein said grouping a plurality of said first routes according to grouping rules and said group capacity comprises:

in response to the presence of m of the first routes between the boundary of the work area and one of the sets of lines near the boundary of the work area, determining (m+n) ₁ ) Whether or not it is odd, where n ₁ For the group capacity, m<n ₁ ；

In response to (m+n) ₁ ) Merging m of said first routes to said set of straight lines adjacent to the boundary of said work area, odd;

in response to (m+n) ₁ ) For even number, (m-1) said first routes distant from the boundary of said work area are merged into said straight line group close to the boundary of said work area, one of said first routes close to said boundary being set as one of said straight line groups.

7. The route planning method of claim 1 wherein the first ordering rule comprises:

sorting the i first routes into 1 st route and 1 st routeStrip, strip 2, strip->A strip(s),… … ith, (i) th->Bars, where i is the number of the first routes in the straight line group.

8. A route planning method according to claim 1, characterized in that the route planning method comprises:

generating an auxiliary area according to the operation area, wherein the shape of the auxiliary area is a minimum circumscribed quadrangle of the shape of the operation area;

and acquiring coordinate data corresponding to one boundary of the auxiliary area as the datum line data.

9. A route planning method according to claim 8, characterized in that the route planning method comprises:

obtaining boundary data, wherein the boundary data is coordinate data, and the boundary data corresponds to at least part of the boundary of the area to be worked;

and generating a first driving area of the working area according to the boundary reserved distance and the boundary data, wherein the boundary reserved distance is larger than the sum of one half of the working width and the turning radius, and the first route is positioned in the first driving area.

10. A route planning method according to claim 9, characterized in that the route planning method comprises:

generating the area to be worked according to the boundary data;

responding to the existence of a history area in the area to be worked, and acquiring a part except the history area in the area to be worked as a main area, wherein the main area comprises at least one sub-area;

and acquiring the subarea with the largest area as a working area.

11. A route planning method according to claim 9, characterized in that the route planning method comprises:

and generating a second running area of the working area according to the boundary data and the working width, wherein the first running area is positioned in the second running area, the distance between the boundary of the second running area and the boundary corresponding to the boundary data is larger than one half of the working width, and the second route is positioned between the boundary of the second running area and the boundary of the first running area.

12. A route planning method according to claim 11, characterized in that the route planning method comprises: and responding to the agricultural machinery to automatically operate a border-receiving area, wherein the border reservation distance is equal to the product of the sum of one half of the operation width and the turning radius divided by the operation width and rounded, and then the operation width, and the border-receiving area is an interval area between the border of the first driving area and the border of the second driving area.

13. A route planning method according to claim 11, characterized in that the route planning method comprises: and responding to the operation of the working personnel to the agricultural machinery on the edge receiving area, wherein the boundary reserved distance is equal to the sum of one half of the operation width and the turning radius, and the edge receiving area is a spacing area between the boundary of the first driving area and the boundary of the second driving area.

14. A route planning method according to claim 12 or 13, characterized in that the route planning method comprises:

and generating a third route in the edge receiving area according to a second operation rule, the driving end point of the first driving area and the second route.

15. The route planning method of claim 14 wherein generating a third route within the border-out region based on a second calculation rule, a travel end point of the first travel region, and the second route comprises:

responding to the automatic operation of the agricultural machinery on the edge receiving area, and calculating the number of turns n of the third route according to the turning radius, the operation width and the second operation rule ₂ ；

Generating 2n in the border-out area according to the copying rule and the first route ₂ A first edging line, wherein n ₂ The first edging line is generated on the first side of the edging area, n ₂ The first edging line is generated on the second side of the edging area, and when n ₂ >1, the spacing distance between the adjacent first routes, which is positioned at one side of the edge receiving area, is larger than or equal to the operation width;

connecting the end points of the first route in the working area to generate two end trimming datum lines, wherein the two end trimming datum lines are respectively connecting lines of the first ends of the first routes and connecting lines of the second ends of the first routes;

generating 2n in the trimming area according to the end trimming datum line ₂ A second edging line;

and sequentially connecting a plurality of first edge receiving routes and a plurality of second edge receiving routes according to a second sequence, and generating a third route, wherein the second sequence corresponds to the running sequence of the agricultural machinery along the plurality of first edge receiving routes and the plurality of second edge receiving routes.

16. A route planning method according to claim 15 wherein said duplication rules comprise:

using the first route near the boundary of the first side or the second side of the second driving area as a side edging datum line, using the first distance as a spacing distance, copying n to the two side edging datum lines respectively in the direction near the boundary of the second driving area ₂ Generating n ₂ The first edging line is striped;

wherein n is ₂ The first distance is greater than or equal to the work width for the number of turns.

17. The route planning method of claim 15 wherein said generating 2n in said edging zone is based on said end edging reference line ₂ The second edging line includes:

copying the end trimming datum line once along the direction of the first end and the direction of the second section of the first route by taking a second distance as a spacing distance to generate two second trimming routes, wherein the second distance is greater than or equal to one half of the working width;

in response to the number of turns n ₂ >1, determining a separation distance from the first distance, copying the orientation of the first end and the orientation of the second segment along the first path (n ₂ -1) generating (2 n) said end trimming reference line ₂ -2) said second bordering lines, wherein said first distance is greater than or equal to said working width, adjacent said second bordering lines being spaced apart by a distance equal to said first distance.

18. The route planning method of claim 16 wherein said sequentially connecting a plurality of said first border-out routes and a plurality of said second border-out routes according to a second ordering, generating said third route comprises:

Generating a second order for the plurality of first edging routes and the plurality of second edging routes according to the position of the driving end point and a second order rule, wherein the second order corresponds to the driving sequence of the agricultural machine along the plurality of first edging routes and the plurality of second edging routes.

19. A route planning method according to claim 18 wherein said second ordering rule comprises;

acquiring the first edge receiving route closest to the driving terminal point as a second reference route;

and according to the position relation between the second reference route and the driving end point, sequencing the plurality of first edge receiving routes and the plurality of second edge receiving routes along the clockwise or anticlockwise rotation direction and the direction approaching to the boundary of the second driving area to generate the second sequencing.

20. The route planning method of claim 14 wherein generating a third route within the border-out region based on a second calculation rule, a travel end point of the first travel region, and the second route comprises:

in response to a worker driving the agricultural machine to operate the border-closing area, extending the boundary of the auxiliary area, and generating two first auxiliary lines and two second auxiliary lines, wherein the first auxiliary lines are positioned on one side of the first route, which is towards the first end, and one side of the second route, which is towards the second end;

Copying the second auxiliary lines along a direction approaching a boundary positioned on the first side and the second side of the first driving area by taking a third distance as a spacing distance to generate a plurality of third auxiliary lines, wherein the third distance is larger than or equal to the working width;

calculating a spacing distance according to a fourth distance, copying the first auxiliary line along the direction of the first end of the first route and the direction of the second end of the first route, and generating a plurality of fourth auxiliary lines, wherein the fourth distance is greater than or equal to one half of the working width;

and acquiring the parts of the third auxiliary line and the fourth auxiliary line positioned in the trimming area, and generating the third route.

21. The route planning method of claim 20 wherein said calculating a separation distance from a fourth distance, replicating said first auxiliary line along an orientation of a first end and an orientation of a second end of said first route, respectively, and generating a plurality of fourth auxiliary lines comprises:

respectively copying the first auxiliary line once along the direction of the first end and the direction of the second end of the first route by taking the fourth distance as a spacing distance to obtain two fourth auxiliary lines;

and calculating a spacing distance according to the third distance and the fourth distance, and copying the first auxiliary line for a plurality of times along the direction of the first end and the direction of the second end of the first route respectively to obtain a plurality of fourth auxiliary lines.

22. An electronic device, comprising:

a memory for storing a computer program;

a processor for executing the computer program stored by the memory, which processor is adapted to perform the route planning method according to any one of claims 1 to 21 when the computer program is executed.

23. A storage medium comprising a computer program which, when run on an electronic device, causes the electronic device to perform the route planning method of any one of claims 1 to 21.