CN116592881A - Agricultural navigation path planning system for automatic driving vehicle and method thereof - Google Patents
Agricultural navigation path planning system for automatic driving vehicle and method thereof Download PDFInfo
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- 238000010276 construction Methods 0.000 claims abstract description 20
- 238000013480 data collection Methods 0.000 claims abstract description 8
- 230000008569 process Effects 0.000 claims description 9
- 239000002420 orchard Substances 0.000 description 6
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/485—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an optical system or imaging system
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Abstract
The invention discloses an agricultural navigation path planning system and method for an automatic driving vehicle. The system comprises: the system comprises an agricultural land data collection component, an agricultural land construction dividing component, a basic path planning component, a land parcel dividing component and an agricultural land navigation path merging component. And the agricultural land data collection component is used for collecting agricultural land information by driving the vehicle to drive around the outermost ridge of the agricultural land for one circle. The agricultural land construction dividing component divides the agricultural land starting ridge, the ending ridge, the far-land head, the near-land head, the ridge number and the turning anchor point positions based on the average ridge width, the turning anchor point positions and the turning radius of the vehicle. The basic path planning component plans a continuous travel route of the vehicle on different basic plots in a manner that spans at least one ridge and excludes repeated travel on the same ridge. The plot dividing component divides the farm into a plurality of basic plots and a final plot in order from a starting ridge in units of a basic ridge number comprising at least 5 ridges. The agricultural land navigation path merging component connects all basic plots with the navigation path of the last plot end to end in sequence so as to obtain an automatic driving navigation map of the vehicle in the agricultural land.
Description
Technical Field
The present disclosure relates to a vehicle navigation method and system. More particularly, the present disclosure relates to an agricultural navigation path planning system for an autonomous vehicle and a method thereof.
Background
With the large-scale agricultural planting, the demands of agricultural mechanization and agricultural intellectualization are increasing. There is therefore a need to achieve the intellectualization of agricultural machinery in large-scale agricultural planting, which makes it possible to achieve the automatic driving of vehicles in large-scale agricultural lands a so-called real demand.
The automatic agricultural vehicle needs a navigation map containing block boundaries, ridge widths and turning ranges when entering an orchard. The existing technology for obtaining the corresponding map is obtained from a GIS system, and also comprises the steps of marking the tree forming and stopping of each ridge through RTK-GNSS, carrying out map building, and guiding the vehicle to advance through the running of a laser stay wire. However, in the practical application process, the method obtained from the GIS system often requires the latest satellite map, careful imaging positioning calibration, and often has insufficient precision, and cannot meet the centimeter-level navigation requirement. The method for stopping dotting on each ridge by using the RTK-GNSS has higher precision, but the workload of the method is very large for a large-scale (ten thousand mu) orchard, and a lot of manpower is needed for drawing. The method of laser stay wire requires corresponding equipment deployment, and also requires huge manpower, and cannot be applied in a large scale with low cost. These methods are less user-friendly for normal users and present a very high technical hurdle for non-professional users.
Therefore, with the growing popularity of large-scale planting today, if a technology exists for common farmers, the farmer does not need to operate by professional technicians, and the user of the agricultural machinery autonomously completes the establishment of the navigation map, the use process of the user is simple and direct, the accurate RTK mark does not need to be repeated, the cost for obtaining a navigation map can be greatly reduced, and the planning system for the agricultural land navigation map for the automatic driving agricultural vehicle is urgently needed by the user.
Disclosure of Invention
To this end, in order to solve the above-mentioned technical problems, the inventors of the present disclosure have recognized that a large-scale farm has a local repeatability characteristic, and thus have provided a farm navigation path planning system for an autonomous vehicle, comprising: the agricultural land data collection assembly is used for driving the vehicle to drive around the outermost ridge land of the agricultural land for one circle from the starting point of the starting ridge, and acquiring the longitude and latitude information of the agricultural land, the width of the starting ridge, the traveling direction angle of the vehicle, the steering anchor point position of the vehicle and the size of the agricultural land by taking the starting point of the vehicle as a reference point; the agricultural land construction dividing component takes the initial ridge width as the average ridge width of the agricultural land, and divides the construction of the agricultural land based on the obtained steering anchor point positions and the turning radius of the vehicle at each anchor point position, wherein the construction comprises the initial ridge, the final ridge, the far-end land, the near-end land, the ridge quantity and the steering anchor point positions; the basic path planning assembly is used for planning continuous travelling routes of the vehicles on different basic plots according to a mode of at least crossing one ridge and excluding repeated travelling on the same ridge aiming at basic plots with different basic ridge numbers under the condition that the pitch of adjacent ridges is smaller than the turning radius of the vehicles; the land parcel dividing component divides the land parcel into a plurality of basic land parcel in order from the initial ridge by taking the basic ridge number containing at least 5 ridges as a unit, and takes the land parcel with the last remainder ridge number as the last land parcel or takes the land parcel with the last remainder ridge number with the remainder less than 5 as the last land parcel under the condition that the basic ridge number cannot be divided by the total ridge number of the land parcel; and the agricultural land navigation path merging component selects basic plots with basic ridge numbers of the agricultural lands, and connects all basic plots with navigation paths of the last plots end to end in sequence so as to obtain an automatic driving navigation map of the vehicle in the agricultural lands, wherein the ridge number of the last plots is more than 5 and less than twice the selected basic ridge numbers.
An agricultural navigation path planning system for an autonomous vehicle according to the present disclosure, wherein the navigation path planning component plans a navigation map of an autonomous vehicle in the agricultural land in a row-by-row continuous travel manner with an adjacent row pitch greater than or equal to a vehicle turning radius.
An agricultural navigation path planning system for an autonomous vehicle according to the present disclosure, wherein the navigation path planning component orders the planned proceeding routes in a basic plot 0, 2, 4, 1, and 3 ridges when the number of ridges of the basic plot is 5, and directly enters the 0 th ridge of the next basic plot from the 3 rd ridge of the current basic plot when entering the next basic plot.
An agricultural navigation path planning system for an autonomous vehicle according to the present disclosure, wherein the navigation path planning component orders the planned proceeding routes in a basic plot 0, 2, 5, 3, 1, 4, and 6 th ridge when the number of ridges of the basic plot is 7, and directly proceeds from the 6 th ridge of the current basic plot to the 0 th ridge of the next basic plot when proceeding to the next basic plot.
An agricultural navigation path planning system for an autonomous vehicle according to the present disclosure, wherein the navigation path planning component orders the planned proceeding routes in a basic plot 0, 2, 5, 7, 4, 1, 3, 6, and 8 ridges when the number of ridges of the basic plot is 9, and directly enters the 0 th ridge of the next basic plot from the 8 th ridge of the current basic plot when entering the next basic plot.
An agricultural navigation path planning system for an autonomous vehicle according to the present disclosure, wherein the number of basic ridges of a basic parcel continuous travel route planned by the basic path planning component includes at least: 5 ridges, 6 ridges, 7 ridges, 8 ridges and 9 ridges.
An agricultural navigation path planning system for an autonomous vehicle according to the present disclosure, wherein the basic path planning component plans a continuous travel route of the vehicle on different basic plots for each different basic plot by a ridge number span that is no less than a minimum ridge number greater than a turning radius of the vehicle and excludes repeated travel on the same ridge.
An agricultural navigation path planning system for an autonomous vehicle according to the present disclosure, wherein the number of ridges of a basic plot divided by the plot division component is at least 1 ridge more than twice the minimum number of ridges.
According to another aspect of the present disclosure, there is provided a method of planning an agricultural navigation path for an autonomous vehicle, comprising: acquiring the longitude and latitude information of the farmland, the width of the starting ridge, the traveling direction angle of the vehicle, the steering anchor point position of the vehicle and the farmland size by taking the starting point of the vehicle as a reference point in the process that the vehicle travels around the outermost ridge of the farmland from the starting point of the starting ridge through the farmland data collection assembly; dividing the construction of the farmland by taking the initial ridge width as the average ridge width of the farmland and dividing the construction of the farmland based on the obtained steering anchor point positions and the turning radius of the vehicle at each anchor point position, wherein the construction comprises the initial ridge, the final ridge, the far-field heads, the near-field heads, the ridge quantity and the steering anchor point positions; under the condition that the pitch of adjacent ridges is smaller than the turning radius of the vehicle, the basic path planning assembly is used for planning continuous travelling routes of the vehicle on different basic plots according to a mode of at least crossing one ridge and excluding repeated travelling on the same ridge aiming at basic plots with different basic ridge numbers; dividing the farmland into a plurality of basic plots by taking basic ridge numbers containing at least 5 ridges as units from the initial ridges in sequence through a plot dividing component, and merging plots with the last residual ridge number as the last plots or plots with the last residual ridge number with the remainder less than 5 as the last plots under the condition that the total ridge numbers of the farmland cannot divide the basic ridge numbers; and selecting basic plots with basic ridges of the agricultural lands through an agricultural land navigation path merging component, and connecting all basic plots with the navigation path of the last plot end to end in sequence to obtain an automatic driving navigation map of the vehicle in the agricultural lands, wherein the ridge number of the last plot is more than 5 and less than twice the selected basic ridges.
A method of planning an agricultural navigation path for an autonomous vehicle according to the present disclosure further comprises: and the navigation path planning component plans a navigation map of the automatic driving vehicle in the farmland according to a continuous travelling mode by ridges under the condition that the pitch of adjacent ridges is larger than or equal to the turning radius of the vehicle.
By adopting the agricultural navigation path planning system and the agricultural navigation path planning method for automatically driving the vehicle, the global navigation map can be automatically generated by collecting corresponding positioning data and sensor data in the process of driving the vehicle around a work site. The agricultural navigation path planning system and the agricultural navigation path planning method for the automatic driving vehicle are free from professional technician operation, so that an agricultural machine user can independently complete the establishment of a navigation map, the use process of the agricultural machine user is simple and direct, accurate RTK marks are not required to be repeatedly carried out, and the cost for obtaining a navigation map can be greatly reduced. The agricultural navigation path planning system and the method for automatically driving the vehicle also simultaneously provide a set of navigation path planning scheme, and a global path capable of covering the whole orchard ground is planned under the condition that the minimum turning radius of the vehicle is limited and can not be directly transferred into an adjacent ridge (at least one ridge is crossed). After the orchard map and the navigation path are obtained through the technology, the agricultural machinery can automatically drive in the same working area, so that the use and deployment of the automatic agricultural machinery become efficient.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
Fig. 1 is a schematic view of an application scenario according to the present disclosure.
Fig. 2 is a schematic diagram of an agricultural vehicle multi-source signal navigation system 100 according to the present disclosure.
Fig. 3 is a schematic diagram illustrating a point Yun Xinyuan generation assembly 120 of an agricultural vehicle multi-source signal navigation system 100 according to the present disclosure.
Fig. 4 is a flow chart illustrating a method of constructing a spatial structure frame for in-furrow vehicle positioning according to the present disclosure of the agricultural vehicle multi-source signal navigation system 100 according to the present disclosure.
Detailed Description
The present invention is described in further detail below with reference to examples and drawings to enable those skilled in the art to practice the same and to refer to the description.
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.
The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the present disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "responsive to a determination", depending on the context.
In order that those skilled in the art will better understand the present disclosure, the present disclosure will be described in further detail below with reference to the accompanying drawings and detailed description.
Fig. 1 is a schematic view of an application scenario according to the present disclosure. As shown in fig. 1, the agricultural vehicle may travel within a ridge of a ridged agricultural land. Because different farmlands have different areas and shapes, a user can invest a great deal of effort and expense to repeatedly construct a farm land map, and therefore, the map is acquired in a conventional GIS system or the tree forming and stopping mark of each ridge is marked by RTK-GNSS, the map is constructed, and the vehicle is guided to advance by the running of a laser stay wire, so that the map is uneconomical and realistic for common farmers.
For this purpose the present disclosure provides an agricultural scenario as shown in fig. 2. Fig. 2 is a schematic diagram illustrating an example of an application according to the present disclosure. As shown in fig. 2, the vehicle 100 is first driven by the driver in a normal driving state into the first ridge in the plot, the whole ridge is opened to turn to the ground, the vehicle turns from the last ridge to the last ridge along the ground, turns to the other side ground after the last ridge is opened, turns to the first ridge from the first ridge, and stops at the vicinity of the starting position to complete the user operation part of the map construction. Subsequently, as shown in fig. 2, GNSS latitude and longitude position information during driving of the user is obtained using the system of the present disclosure. After the original longitude and latitude information is subjected to distance downsampling (1 m), discrete sparse longitude and latitude points which are uniformly distributed on a formal path are obtained. The forward direction angle of the vehicle is calculated from the position difference of the down-sampled points. Distance downsampling ensures that the calculation is stable and error-free in the direction of progression through position differentiation. Then, by traversing the forward direction data of the vehicle, 4 steering anchor points shown in fig. 2 are obtained according to the change of the forward direction angle, and the driving track is divided into four sections, namely a starting ridge, a far ground head, a ending ridge and a near ground head, through the steering anchor points. And the starting ridge direction is taken as the x-axis direction of the map coordinate system, the starting point is taken as the origin of the coordinate system, and the map coordinate system is established. The turning radius of the vehicle is generally known, for example, as R, and the range within the R range is measured in the near/far head track, and is determined as the head range. Thus, a sufficient turning range is provided for the vehicle to flow out of the ground. And establishing position information of the ridges according to the width W of each ridge in the range from the starting ridge +W/2 to the ending ridge-W/2 by taking the ridge width measured or identified in the starting ridge as an average ridge width W, namely dividing the farmland into a plurality of ridges from the starting ridge to the ending ridge according to the average ridge width. Therefore, by combining the map origin point and the map direction, each ridge of the forming stop points can obtain a navigation map. It should be noted that the farmland is not necessarily rectangular, and the specific shape is a shape generated according to the actual running track, so that each ridge is not necessarily a straight line, and the ridges are generally parallel.
Fig. 3 is a schematic diagram of an agricultural navigation path planning system 300 for an autonomous vehicle according to the present disclosure. Specifically, as shown in fig. 3, an agricultural navigation path planning system for an autonomous vehicle 100 includes: an agricultural data collection component 310, an agricultural construction division component 320, a base path planning component 330, a plot division component 340, and an agricultural navigation path merging component 350. First, the agricultural land data collection assembly 310 obtains the agricultural land longitude and latitude information, the starting ridge width, the vehicle traveling direction angle, the vehicle steering anchor point position, and the agricultural land size by driving the vehicle to travel around the outermost ridge of the agricultural land from the starting point of the starting ridge as a reference point. Specifically, GNSS latitude and longitude position information during driving of the user is obtained. After the original longitude and latitude information is subjected to distance downsampling (1 m), discrete sparse longitude and latitude points which are uniformly distributed on a formal path are obtained. The forward direction angle of the vehicle is calculated from the position difference of the down-sampled points. Distance downsampling ensures that the calculation is stable and error-free in the direction of progression through position differentiation. The farm configuration dividing component 320 then takes the starting ridge width as the average ridge width of the farm and divides the configuration of the farm, including starting ridge, ending ridge, far-end, near-end, number of ridges, and turning anchor locations, based on the obtained turning anchor locations and turning radii of the vehicle at each anchor location. Specifically, the agricultural construction dividing component 320 obtains 4 steering anchor points as shown in fig. 2 according to the change of the angle of the forward direction by traversing the forward direction data of the vehicle, and divides the travel track into four segments, namely, a start ridge, a far ground head, a stop ridge and a near ground head, through the steering anchor points. And the starting ridge direction is taken as the x-axis direction of the map coordinate system, the starting point is taken as the origin of the coordinate system, and the map coordinate system is established. The turning radius of the vehicle is generally known, for example, as R, and the range within the R range is measured in the near/far head track, and is determined as the head range. Thus, a sufficient turning range is provided for the vehicle to flow out of the ground. By merely making the vehicle travel one turn around the outer ring of the farm land, a usable farm land map is constructed. And ready for subsequent agricultural navigation path planning.
Then, the base path planning component 330 plans a continuous travel route of the vehicle on different base plots for each different base plot in a manner that spans at least one plot and excludes repeated travel on the same plot, with the adjacent plot pitch being less than the vehicle turning radius. For example, in an agricultural land, typically the ridge spacing W is between 3.5-5 meters and the turning radius R of the agricultural tractor is around 3.5 meters. Because of the limitations of turning radius, ridge spacing, and land width, farm tractors often cannot be directly turned into adjacent ridges (R > W/2). Therefore, a ridge-crossing operation is needed, and the disclosure provides a simple ridge-crossing path planning method which can simultaneously realize the operation under the limit of at least crossing one ridge and can cover all ridges. Because less than 5 basic plots will not be able to travel without repeating the ridge-crossing in the case of ridge-crossing travel, the number of ridges per basic plot is at least 5 and above 5. Alternatively, if the ridge spacing or ridge pitch is greater than the vehicle turning radius and the low head range is greater than the vehicle turning radius, the ridge-by-ridge travel is directly performed without performing the ridge-crossing travel.
The planned travel paths of the basic plots of different basic ridge numbers will be different. Take at least one ridge as an example. If the number of ridges of the basic land is 5 ridges, the travelling order of the vehicle in the basic land is 0, 2, 4, 1 and 3, namely, the vehicle passes through the 0 th ridge, then spans the 1 st ridge, enters the 2 nd ridge, and enters the 4 th ridge from the 2 nd ridge directly, returns to the 1 st ridge and finally enters the 3 rd ridge in order that repeated travelling occurs among the following ridges. Therefore, the situation that the vehicle cannot turn around due to the fact that the vehicle must be crossed over the ridges is met, and the situation that the vehicle repeatedly travels on a certain ridge is prevented. If the number of ridges of the basic plot is 6, the order of ridges in which the vehicle travels in the one basic plot is "0, 2, 4, 1, 3, 5". If the number of ridges of the basic plot is 7 ridges, the order of ridges in which the vehicle travels in the one basic plot is "0, 2, 5, 3, 1, 4, 6". If the number of ridges of the basic plot is 8, the order of ridges in which the vehicle travels in the one basic plot is "0, 2, 5, 7, 4, 1, 3, 6". If the number of ridges of the basic plot is 9, the order of ridges in which the vehicle travels in the one basic plot is "0, 2, 5, 7, 4, 1, 3, 6, 8".
Alternatively, the base path planning component 330 thus plans a continuous travel route of the vehicle on different base plots for each different base plot in a manner that does not span less than the minimum number of plots greater than the turning radius of the vehicle and excludes repeated travel on the same plot. If the turning radius of the vehicle needs to span two ridges of land areas at a time, the minimum ridge number is 3, so that the basic land area at least comprises 7 ridges. Thus, in a basic plot of 7 ridges, the ridge order of the planned path is "0, 3, 6, 2, 5, 1, 7", "0, 3, 6, 1, 4, 2, 5", "0, 4, 1, 5, 2, 6, 3", or other suitable path order, so long as at least two ridges are spanned between adjacent ridge orders and no ridge is repeatedly traveled. Also, if the turning radius of the vehicle needs to span three plots at a time, the minimum number of plots is 4, so that the basic plot contains at least 9 plots. If the turning radius of the vehicle needs to span 4 ridges of land plots each time, the basic land plot will contain at least 9 ridges.
For the agricultural land, the parcel dividing component 340 divides the agricultural land into a plurality of basic parcels in order from the starting ridge with a basic ridge number of at least 5 ridges, and in the case that the total ridge number of the agricultural land cannot divide the basic ridge number evenly, takes the parcel of the last remainder ridge number as the last parcel or the parcel of the last remainder ridge number with the remainder less than 5 as the last parcel. Generally, for simplicity, basic plots are divided by a minimum number of basic ridges in the event that a vehicle turn is satisfied. For example, if a vehicle turns by crossing one ridge, the number of ridges of the basic land is 5 ridges of the basic land. Alternatively, more than 5 ridges, for example, 6-9 ridges, can be selected according to the user's own needs. It should be noted that if the number of ridges of the basic land is 5, the number of ridges of the remainder is necessarily less than 5, so that it is difficult to realize a cross-ridge turning without repeatedly advancing the ridges. For this purpose, the present disclosure combines the last basic plot with the remainder ridge to the last plot for path planning of the last plot. Alternatively, if the basic plot is greater than 5, then in the case where the remainder is also greater than or equal to 5, then the remainder ridge is not required to be combined with the last basic plot to be the last plot, but rather the remainder ridge is directly taken as the last plot.
Since the base path planning component 330 has already performed path planning for at least 5 basic plots, the path planning for the last plot has also been included in the path planning for all kinds of basic plots planned by the base path planning component 330, and only selection is needed. For example, the base path planning component 330 has planned a path plan for a base parcel comprising 5-9 ridges, then if the number of ridges for the selected base parcel is 9, then the path plan for the base parcel having 7 ridges would be selected directly as the path plan for the last parcel if the number of ridges for the last parcel was 7.
Alternatively, if the turning radius of the vehicle needs to cover across two ridges, i.e., at least the 3 rd ridge is directly turned to achieve a conventional turn when the vehicle turns from the end of the 0 th ridge, then the basic plot set by the plot dividing assembly 340 includes at least 7 ridges. That is, the number of ridges of the basic plots divided by the plot dividing component is at least 1 ridge more than twice the minimum number of ridges.
Finally, the agricultural navigation path merge component 350 selects basic plots of the basic ridge numbers of the agricultural lands, and connects all basic plots with the navigation paths of the last plots end to end in sequence to obtain an automatic driving navigation map of the vehicle in the agricultural lands, wherein the ridge numbers of the last plots are greater than 5 and less than twice the selected basic ridge numbers.
For example, if the path sequence of the first basic plot with the number of ridges of 5 is "0, 2, 4, 1 and 3", after the ridges with the number of ridges of the first basic plot of "3" are traveled, the ridges with the number of ridges of the second basic plot of "0" are directly entered, and the above steps are repeated. And the situation that the two adjacent basic plots cannot turn is avoided. Alternatively, if the situation that the vehicle cannot turn exists in the case that two adjacent basic plots are connected end to end exists, the route sequence of the basic plots can be selected differently, so that after the first basic plot is completed, the sequence of the basic plots is selected differently from the sequence of the first basic plot, and the situation that the vehicle cannot turn in the adjacent basic plots is eliminated.
Fig. 4 is a flow diagram illustrating a method of planning an agricultural navigation path for an autonomous vehicle according to the present disclosure. As shown in fig. 4, first, at step S410, the agricultural land longitude and latitude information, the starting ridge width, the vehicle traveling direction angle, the vehicle turning anchor point position and the agricultural land size are obtained by taking the vehicle starting point as a reference point during one round of the vehicle traveling around the agricultural land outermost periphery ridge from the starting point of the starting ridge through the agricultural land data collecting component 310. Next, at step S420, the construction of the farm is divided by the farm construction dividing component 320 with the starting ridge width as the average ridge width of the farm, and based on the steering anchor point positions obtained and the turning radius of the vehicle at each anchor point position, the construction including the starting ridge, the ending ridge, the far-end, the near-end, the number of ridges, and the steering anchor point positions. Next, at step S430, a continuous travel route of the vehicle on the different base plots is planned by the base path planning component 330 for each different base plot number with the adjacent ridge pitch being less than the vehicle turning radius in a manner that spans at least one ridge and excludes repeated travel on the same ridge. Subsequently, at step S440, the agricultural land is divided into a plurality of basic plots in units of a basic ridge number including at least 5 ridges in order from the starting ridge by the plot dividing component 340, and in the case where the basic ridge number cannot be divided by the total ridge number of the agricultural land, the plot of the last remainder ridge number is regarded as the last plot or the plot of the last remainder ridge number having a remainder less than 5 is combined with the last basic plot as the last plot. Finally, at step S450, basic plots of the basic number of ridges of the agricultural land are selected by the agricultural land navigation path merging component 350, and all basic plots are connected end to end with the navigation path of the last plot in order to obtain an autopilot navigation map of the vehicle in the agricultural land, wherein the last plot number of ridges is greater than 5 and less than twice the selected basic number of ridges.
Optionally, the navigation path planning component plans a navigation map of the automatic driving vehicle in the farmland according to a continuous travelling mode of each ridge under the condition that the pitch of adjacent ridges is larger than or equal to the turning radius of the vehicle.
By adopting the agricultural navigation path planning system and the agricultural navigation path planning method for automatically driving the vehicle, the global navigation map can be automatically generated by collecting corresponding positioning data and sensor data in the process of driving the vehicle around a work site. The agricultural navigation path planning system and the agricultural navigation path planning method for the automatic driving vehicle are free from professional technician operation, so that an agricultural machine user can independently complete the establishment of a navigation map, the use process of the agricultural machine user is simple and direct, accurate RTK marks are not required to be repeatedly carried out, and the cost for obtaining a navigation map can be greatly reduced. The agricultural navigation path planning system and the method for automatically driving the vehicle also simultaneously provide a set of navigation path planning scheme, and a global path capable of covering the whole orchard ground is planned under the condition that the minimum turning radius of the vehicle is limited and can not be directly transferred into an adjacent ridge (at least one ridge is crossed). After the orchard map and the navigation path are obtained through the technology, the agricultural machinery can automatically drive in the same working area, so that the use and deployment of the automatic agricultural machinery become efficient. More importantly, by combining the navigation map with the turning performance of the vehicle, different navigation maps are provided for different vehicles, so that the trouble of selecting different navigation maps by farmers, particularly different farm vehicles, are eliminated, the turning performance of the vehicle is different, and therefore, the personalized navigation map structure for different vehicles can be realized by adopting the technical means of the present disclosure.
While the basic principles of the present disclosure have been described above in connection with specific embodiments, it should be noted that all or any steps or components of the methods and apparatus of the present disclosure can be implemented in hardware, firmware, software, or combinations thereof in any computing device (including processors, storage media, etc.) or network of computing devices, as would be apparent to one of ordinary skill in the art upon reading the present disclosure.
Thus, the objects of the present disclosure may also be achieved by running a program or set of programs on any computing device. The computing device may be a well-known general purpose device. Thus, the objects of the present disclosure may also be achieved by simply providing a program product containing program code for implementing the method or apparatus. That is, such a program product also constitutes the present disclosure, and a storage medium storing such a program product also constitutes the present disclosure. It is apparent that the storage medium may be any known storage medium or any storage medium developed in the future.
It should also be noted that in the apparatus and methods of the present disclosure, it is apparent that the components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered equivalent to the present disclosure. The steps of executing the series of processes may naturally be executed in chronological order in the order described, but are not necessarily executed in chronological order. Some steps may be performed in parallel or independently of each other.
The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives can occur depending upon design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.
Claims (10)
1. An agricultural navigation path planning system for an autonomous vehicle, comprising:
the agricultural land data collection assembly is used for driving the vehicle to drive around the outermost ridge land of the agricultural land for one circle from the starting point of the starting ridge, and acquiring the longitude and latitude information of the agricultural land, the width of the starting ridge, the traveling direction angle of the vehicle, the steering anchor point position of the vehicle and the size of the agricultural land by taking the starting point of the vehicle as a reference point;
the agricultural land construction dividing component takes the initial ridge width as the average ridge width of the agricultural land, and divides the construction of the agricultural land based on the obtained steering anchor point positions and the turning radius of the vehicle at each anchor point position, wherein the construction comprises the initial ridge, the final ridge, the far-end land, the near-end land, the ridge quantity and the steering anchor point positions;
the basic path planning assembly is used for planning continuous travelling routes of the vehicles on different basic plots according to a mode of at least crossing one ridge and excluding repeated travelling on the same ridge aiming at basic plots with different basic ridge numbers under the condition that the pitch of adjacent ridges is smaller than the turning radius of the vehicles;
the land parcel dividing component divides the land parcel into a plurality of basic land parcel in order from the initial ridge by taking the basic ridge number containing at least 5 ridges as a unit, and takes the land parcel with the last remainder ridge number as the last land parcel or takes the land parcel with the last remainder ridge number with the remainder less than 5 as the last land parcel under the condition that the basic ridge number cannot be divided by the total ridge number of the land parcel; and
the agricultural land navigation path merging component selects basic plots with basic ridge numbers of the agricultural lands, and connects all basic plots with navigation paths of the last plots end to end in sequence so as to obtain an automatic driving navigation map of the vehicle in the agricultural lands, wherein the ridge number of the last plots is more than 5 and less than twice the selected basic ridge number.
2. An agricultural navigation path planning system for an autonomous vehicle according to claim 1, wherein the navigation path planning component plans a navigation map of an autonomous vehicle in the agricultural land in a row-by-row continuous travel with an adjacent row pitch greater than or equal to a vehicle turning radius.
3. An agricultural navigation path planning system for an autonomous vehicle according to claim 1, wherein the navigation path planning component orders its planned routes in a basic parcel 0 th, 2 nd, 4 th, 1 nd and 3 rd ridges when the number of ridges of the basic parcel is 5, and proceeds directly from the 3 rd ridge of the current basic parcel to the 0 th ridge of the next basic parcel when proceeding to the next basic parcel.
4. An agricultural navigation path planning system for an autonomous vehicle according to claim 1, wherein the navigation path planning component orders its planned route in a basic plot 0, 2, 5, 3, 1, 4, and 6 ridges when the number of ridges of the basic plot is 7, and proceeds directly from the 6 th ridge of the current basic plot to the 0 th ridge of the next basic plot when proceeding to the next basic plot.
5. An agricultural navigation path planning system for an autonomous vehicle according to claim 1, wherein the navigation path planning component orders its planned routes in a basic plot 0, 2, 5, 7, 4, 1, 3, 6, and 8 ridges when 9 ridges of the basic plot, and proceeds directly from the 8 th ridge of the current basic plot to the 0 th ridge of the next basic plot when entering the next basic plot.
6. An agricultural navigation path planning system for an autonomous vehicle according to claim 1, wherein the number of basic ridges of a basic parcel continuous travel route planned by the basic path planning component comprises at least: 5 ridges, 6 ridges, 7 ridges, 8 ridges and 9 ridges.
7. An agricultural navigation path planning system for an autonomous vehicle according to claim 1, wherein the base path planning component plans a continuous travel route of the vehicle on different base plots for each different base plot in a manner that does not span less than a minimum number of plots greater than a turning radius of the vehicle and excludes repeated travel on the same plot.
8. An agricultural navigation path planning system for an autonomous vehicle according to claim 7, wherein the number of basic plots divided by the plot dividing component is at least 1 more than twice the minimum number of plots.
9. A method of planning an agricultural navigational path for an autonomous vehicle, comprising:
acquiring the longitude and latitude information of the farmland, the width of the starting ridge, the traveling direction angle of the vehicle, the steering anchor point position of the vehicle and the farmland size by taking the starting point of the vehicle as a reference point in the process that the vehicle travels around the outermost ridge of the farmland from the starting point of the starting ridge through the farmland data collection assembly;
dividing the construction of the farmland by taking the initial ridge width as the average ridge width of the farmland and dividing the construction of the farmland based on the obtained steering anchor point positions and the turning radius of the vehicle at each anchor point position, wherein the construction comprises the initial ridge, the final ridge, the far-field heads, the near-field heads, the ridge quantity and the steering anchor point positions;
under the condition that the pitch of adjacent ridges is smaller than the turning radius of the vehicle, the basic path planning assembly is used for planning continuous travelling routes of the vehicle on different basic plots according to a mode of at least crossing one ridge and excluding repeated travelling on the same ridge aiming at basic plots with different basic ridge numbers;
dividing the farmland into a plurality of basic plots by taking basic ridge numbers containing at least 5 ridges as units from the initial ridges in sequence through a plot dividing component, and merging plots with the last residual ridge number as the last plots or plots with the last residual ridge number with the remainder less than 5 as the last plots under the condition that the total ridge numbers of the farmland cannot divide the basic ridge numbers; and
and selecting basic plots with the basic ridge numbers of the agricultural lands through an agricultural land navigation path merging component, and connecting all basic plots with the navigation paths of the last plots end to end in sequence to obtain an automatic driving navigation map of the vehicle in the agricultural lands, wherein the ridge number of the last plots is more than 5 and less than twice the selected basic ridge numbers.
10. The method of planning an agricultural navigational path for an autonomous vehicle of claim 9, further comprising:
and the navigation path planning component plans a navigation map of the automatic driving vehicle in the farmland according to a continuous travelling mode by ridges under the condition that the pitch of adjacent ridges is larger than or equal to the turning radius of the vehicle.
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| CN202210115780.9A CN116592881A (en) | 2022-02-07 | 2022-02-07 | Agricultural navigation path planning system for automatic driving vehicle and method thereof |
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