CN117008608A - Unmanned transplanter operation path planning method and system - Google Patents
Unmanned transplanter operation path planning method and system Download PDFInfo
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Abstract
The invention provides a method and a system for planning an operation path of an unmanned rice transplanter, wherein the method comprises the following steps: collecting geographical information and barrier information of a field to be transplanted; constructing a transplanting operation map based on field geographic information and barrier information; rasterizing the seedling transplanting operation map to obtain an operation raster pattern; planning a working path on a working grid graph based on a backtracking method; and controlling the unmanned rice transplanter to operate according to the planned operation path. According to the invention, the operation path is planned on the operation grid chart by a backtracking method, the obstacle is automatically avoided, the continuity of transplanting operation is realized, the repeated operation of the transplanting machine on the field is prevented, and the damage of the unmanned transplanting machine to crops in the seedling field is reduced.
Description
Technical Field
The invention relates to the technical field of intelligent control, in particular to a method and a system for planning an operation path of an unmanned transplanting machine.
Background
The main grain in asia is rice. The people eat the rice as the day, and the quality of rice planting influences the safety of grains. In recent years, as the urban development is accelerated, more and more people are rushing into the city. And a lot of manpower is required for rice transplanting, which results in shortage of manpower. Meanwhile, the field often presents barriers such as trees, cement piers or tree roots in the farmland, and the rice transplanter needs to avoid the barriers in the automatic operation.
The prior art CN201911011775 provides a full-path planning method of the unmanned rice transplanter, which is used for carrying out block planning on a working area through a Beidou/GPS navigation positioning device to carry out rice transplanting. The prior art CN201911011775 lacks path continuity planning for farmlands based on obstructions in the farmlands. Therefore, a method for planning an operation path for avoiding the obstacle by the unmanned rice transplanter is needed.
Disclosure of Invention
The embodiment of the invention provides a method for planning an operation path of an unmanned rice transplanter, which comprises the following steps:
collecting geographical information and barrier information of a field to be transplanted;
constructing a transplanting operation map based on field geographic information and barrier information;
rasterizing the seedling transplanting operation map to obtain an operation raster pattern;
planning a working path on a working grid graph based on a backtracking method;
and controlling the unmanned rice transplanter to operate according to the planned operation path.
Preferably, planning a job path on the job raster graph based on a backtracking method; comprising the following steps:
determining an inoperable grid and an operable grid at the operation grid map based on the field geographic information and the obstacle information;
determining an initial grid on the operation grid map based on the initial position of the unmanned transplanter;
converting the job raster pattern into a first matrix;
based on the first matrix and the initial grid, performing path exploration by using a backtracking method to obtain a second matrix;
and projecting the second matrix onto the operation grid chart, and planning an operation path of the unmanned rice transplanter according to the numerical value of the second matrix.
Preferably, converting the job raster pattern into a first matrix; comprising the following steps:
marking the matrix element of the first matrix corresponding to the non-operational grid as-1;
marking the first matrix element corresponding to the non-marked operable grid adjacent to the initial matrix element as 0 based on the initial matrix element marking of the first matrix corresponding to the initial grid as 1;
marking a first matrix element corresponding to an adjacent untagged actionable grid of the actionable grid marked 0 as 1;
marking a first matrix element corresponding to an adjacent untagged actionable grid of the actionable grid marked 1 with 0;
and by analogy, after all grids in the operation grid graph are marked completely, a first matrix is obtained.
Preferably, path exploration is performed based on the first matrix and the initial grid to obtain a second matrix; comprising the following steps:
counting the number of matrix elements marked as 1 and the number of matrix elements marked as 0 in the first matrix;
judging whether the difference between the number of matrix elements with the mark of 1 and the number of matrix elements with the mark of 0 is 1;
if the phase difference is 1, searching in the path direction based on the initial matrix element to obtain a second matrix;
if the phase difference is not 1, the first matrix is split into an adjustment first matrix and an adjustment first edge matrix, wherein the number of matrix elements with the mark of 1 and the number of matrix elements with the mark of 0 are different by 1, and then the adjustment first matrix and the adjustment first edge matrix are respectively searched in the path direction and combined to obtain a second matrix.
Preferably, if the phase difference is 1, searching in the path direction based on the initial matrix element to obtain a second matrix; comprising the following steps:
taking a matrix element mark of a second matrix corresponding to the initial matrix element as 1 and taking the initial matrix element as a starting point, and moving the corresponding matrix element of the operation grid on the first matrix in the up-down left-right direction;
if the motion is not possible to move to a certain matrix element, judging whether the motion reaches an end point, and if the motion reaches the end point, stopping the motion; if the end point is not reached, one step is retracted, and the device continues to move in other directions until the device moves to the end point;
and calculating the moving steps of the corresponding matrix elements of all the operable grids, adding 1 as a certain matrix element value corresponding to the second matrix, and obtaining the second matrix.
Preferably, if the phase difference is not 1, splitting the first matrix into an adjusted first matrix and an adjusted first edge matrix, wherein the number of matrix elements with the mark of 1 and the number of matrix elements with the mark of 0 are different by 1, and searching in the path direction based on the adjusted first matrix and the adjusted first edge matrix to obtain a second matrix; comprising the following steps:
splitting the first matrix into an adjusted first matrix with the difference of 1 between the number of matrix elements marked with 1 and the number of matrix elements marked with 0 and an adjusted first edge matrix;
wherein the first edge matrix is adjusted to be a one-dimensional matrix containing a set end point, and the first edge matrix does not contain corresponding matrix elements of the inoperable grid;
wherein, the adjusting end point of the first matrix and the starting point and the end point of the first edge matrix are the edge matrix elements of the first matrix;
searching the path direction of the first adjustment matrix to obtain the first adjustment matrix;
wherein, include:
the matrix element mark of the second matrix is adjusted to be 1 corresponding to the initial matrix element, and the corresponding matrix element of the operation grid on the first matrix is adjusted to move up and down, left and right by taking the initial matrix element as a starting point;
if the motion is not possible to move to a certain matrix element, judging whether the motion reaches an adjustment end point, and if the motion reaches the adjustment end point, stopping the motion; if the adjustment end point is not reached, one step is retracted, the movement in other directions is continued until the adjustment end point of the set adjustment first matrix is reached;
calculating the moving steps of the corresponding matrix elements of all the operable grids, adding 1 as a certain matrix element value corresponding to the second matrix to obtain an adjusted second matrix;
re-marking the starting point of the first edge matrix to be 1, and marking the starting point of the first edge matrix to the end point according to a sequence from the starting point of the first edge matrix to obtain a second edge matrix;
and combining the second matrix with the edge adjustment second matrix to obtain a second matrix.
Preferably, the second matrix is corresponding to the operation grid diagram to obtain an operation path of the unmanned transplanting machine; comprising the following steps:
sequentially connecting line segments by taking the initial matrix element as a starting point according to the corresponding matrix element value of the operable grid in the second matrix to obtain a second matrix planning route;
projecting the second matrix planned route to an operation grid diagram to obtain an operation path of the unmanned transplanting machine;
controlling the unmanned rice transplanter to operate according to the operation path;
when the unmanned rice transplanter finishes the operation of a certain area, the operable grid on the operation grid diagram corresponding to the certain area is converted into an inoperable grid;
all the operable grids on the work grid graph are converted into non-operable grids, and the unmanned rice transplanter completes the operation and exits the operation area.
Preferably, the unmanned transplanting machine operation path planning method further comprises the following steps:
clearing the obstacle based on the type of the obstacle and converting the inoperable grid into an operable grid in the operation grid graph;
wherein, based on the type of the obstacle, cleaning the obstacle and converting the non-operable grid into an operable grid in the operation grid graph; comprising the following steps:
constructing an obstacle clearance scheme database by using historical data;
the obstacle clearance scheme database comprises obstacle clearance schemes corresponding to the types of the obstacles;
inputting the acquired information of the obstacle into an obstacle clearance scheme database, and searching out a corresponding obstacle clearance scheme;
based on the obstacle clearing scheme, controlling the unmanned aerial vehicle to clear the obstacle;
after cleaning, the non-workable grid is converted into a workable grid in the work grid graph.
Preferably, the unmanned transplanting machine operation path planning method further comprises the following steps:
rechecking the field to be transplanted, judging whether all transplanting is completed, and if not, reseeding the unfinished area;
checking the field to be transplanted again, detecting whether all transplanting is completed, and if not, reseeding the unfinished area; comprising the following steps:
checking whether all the operable grids in the operation grid graph are changed into non-operable grids, if not, identifying that all the transplanting seedlings are not completed and obtaining field coordinates of the transplanting seedlings which are not completed and correspond to the operable grids;
if all the seedlings become non-operable grids, geographical information of the field is acquired for the second time, whether all the seedlings are transplanted is detected, if all the seedlings are detected to be incomplete, all the seedlings are identified as being incomplete, field coordinates of the incomplete seedlings are obtained, and otherwise all the seedlings are identified as being complete;
when the incomplete transplanting is identified, controlling the robot to reseed the field with the incomplete transplanting.
The invention also provides a system for planning the operation path of the unmanned transplanting machine, which comprises the following steps:
the information acquisition module is used for acquiring geographic information of a field block to be transplanted and information of an obstacle;
the operation map module is used for constructing a transplanting operation map based on field geographic information and information of obstacles;
the operation rasterization module is used for rasterizing the transplanting operation map to obtain an operation raster image;
the path planning module is used for planning a working path on the working grid graph based on a backtracking method;
and the control operation module is used for controlling the unmanned rice transplanter to operate according to the planned operation path.
The invention has the beneficial effects that:
according to the invention, the operation path is planned on the operation grid chart by a backtracking method, the obstacle is automatically avoided, the continuity of transplanting operation is realized, the repeated operation of the transplanting machine on the field is prevented, and the damage of the unmanned transplanting machine to crops in the seedling field is reduced.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a schematic diagram of a method for planning a working path of an unmanned transplanter in an embodiment of the invention;
FIG. 2 is a schematic diagram of a job trellis diagram converted into a first matrix in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of the transformation from a first matrix to a second matrix when the phase difference is 1 in the embodiment of the present invention;
FIG. 4 is a schematic diagram of a path plan obtained from a second matrix when the phase difference is 1 in an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating splitting of a first matrix when the phase difference is not 1 according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of the transformation from a split first matrix to a second matrix when the phase difference is not 1 according to the embodiment of the present invention;
FIG. 7 is a schematic diagram of a path plan obtained when the phase difference is not 1 according to an embodiment of the present invention;
fig. 8 is a schematic diagram of a system for planning a working path of an unmanned transplanting machine according to an embodiment of the invention.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
The embodiment of the invention provides a method for planning an operation path of an unmanned rice transplanter, which is shown in fig. 1 and comprises the following steps:
step 1: collecting geographical information and barrier information of a field to be transplanted;
step 2: constructing a transplanting operation map based on field geographic information and barrier information;
step 3: rasterizing the seedling transplanting operation map to obtain an operation raster pattern;
step 4: planning a working path on a working grid graph based on a backtracking method;
step 5: and controlling the unmanned rice transplanter to operate according to the planned operation path.
The working principle and the beneficial effects of the technical scheme are as follows:
firstly, collecting geographical information of a field to be transplanted and information of obstacles. Constructing a transplanting operation map, and marking information of a field outlet block and information of an obstacle on the transplanting operation map. And rasterizing the seedling transplanting operation map to obtain an operation raster pattern. And planning a working path on the working grid chart by using a backtracking method, and finally controlling the unmanned transplanting machine to perform transplanting operation according to the planned working path.
According to the embodiment of the invention, the operation path is planned on the operation grid chart by a backtracking method, the obstacle is automatically avoided, the continuity of transplanting operation is realized, the repeated operation of the transplanting machine on a field is prevented, and the damage of the unmanned transplanting machine to crops in a seedling field is reduced.
In one embodiment, step 4 comprises:
step 4.1: determining an inoperable grid and an operable grid at the operation grid map based on the field geographic information and the obstacle information;
step 4.2: determining an initial grid on the operation grid map based on the initial position of the unmanned transplanter;
step 4.3: converting the job raster pattern into a first matrix;
step 4.4: based on the first matrix and the initial grid, performing path exploration by using a backtracking method to obtain a second matrix;
step 4.5: and projecting the second matrix onto the operation grid chart, and planning an operation path of the unmanned rice transplanter according to the numerical value of the second matrix.
The working principle and the beneficial effects of the technical scheme are as follows:
and determining an inoperable grid and an operable grid in the operation grid chart according to the field geographic information and the obstacle information, so that the unmanned rice transplanter is convenient to operate under the control of a computer. Determining the starting position of the unmanned transplanting machine and converting the operation grid graph into a first matrix. As shown in fig. 2, "1" with slash ground is the position of the first matrix corresponding to the starting grid. And then searching the path by using a backtracking method to obtain a second matrix. The matrix elements of the positive integer in the second matrix represent the number of steps to reach the position from the start position. Therefore, the operation paths of the unmanned transplanting machine are planned according to the size of the positive integer.
According to the embodiment of the invention, the operation path is planned on the operation grid chart by a backtracking method, so that the connection of all the operable grids can be completed by one stroke, the rice transplanter is prevented from repeatedly walking on a field, and the shortest path of the rice transplanter is realized.
In one embodiment, step 4.3 comprises:
step 4.3.1: marking the matrix element of the first matrix corresponding to the non-operational grid as-1;
step 4.3.2: marking the first matrix element corresponding to the non-marked operable grid adjacent to the initial matrix element as 0 based on the initial matrix element marking of the first matrix corresponding to the initial grid as 1;
step 4.3.3: marking a first matrix element corresponding to an adjacent untagged actionable grid of the actionable grid marked 0 as 1;
step 4.3.4: marking a first matrix element corresponding to an adjacent untagged actionable grid of the actionable grid marked 1 with 0;
step 4.3.5: and after all the grids in the operation grid graph are marked, obtaining a first matrix.
The working principle and the beneficial effects of the technical scheme are as follows:
as shown in fig. 2, there are four obstacles in this embodiment. The first matrix A is finally obtained by marking the first matrix element corresponding to the adjacent untrimmed operable grid of the operable grid marked 0 as 1 and the first matrix element corresponding to the adjacent untrimmed operable grid of the operable grid marked 1 as 0, and so on as shown in FIG. 2.
Embodiments of the present invention convert a job trellis diagram into a first matrix,
in one embodiment, step 4.4 comprises:
step 4.4.1: counting the number of matrix elements marked as 1 and the number of matrix elements marked as 0 in the first matrix;
step 4.4.2: judging whether the difference between the number of matrix elements with the mark of 1 and the number of matrix elements with the mark of 0 is 1;
step 4.4.3: if the phase difference is 1, searching in the path direction based on the initial matrix element to obtain a second matrix;
step 4.4.4: if the phase difference is not 1, the first matrix is split into an adjustment first matrix and an adjustment first edge matrix, wherein the number of matrix elements with the mark of 1 and the number of matrix elements with the mark of 0 are different by 1, and then the adjustment first matrix and the adjustment first edge matrix are respectively searched in the path direction and combined to obtain a second matrix.
The working principle and the beneficial effects of the technical scheme are as follows:
the number of matrix elements marked 1 and the number of matrix elements marked 0 in the first matrix are counted. In this embodiment, the number of matrix elements of the first matrix a with a flag of 1 is 12, and the number of matrix elements with a flag of 0 is 13. The phase difference between the two is 1, and all the operable grids can be directly connected by one stroke through a backtracking method. However, if the number of matrix elements with the mark of 1 differs from the number of matrix elements with the mark of 0 by not 2, all the operable grids cannot be directly connected by one stroke by using the backtracking method, so that the first matrix can be split into a matrix with the phase of 1 and an edge matrix, and all the operable grids can be connected by two strokes by using the backtracking method.
According to the embodiment of the invention, whether the phase difference is 1 is judged by calculating the number of the matrix elements of the mark 1 and the number of the matrix elements of the mark 0 which are started by the initial matrix element, so that whether the first matrix is split or not is determined according to the number of the phase difference, and the application range of tracing rule route dividing is enlarged.
In one embodiment, step 4.4.3 comprises:
step 4.4.3.1: taking a matrix element mark of a second matrix corresponding to the initial matrix element as 1 and taking the initial matrix element as a starting point, and moving the corresponding matrix element of the operation grid on the first matrix in the up-down left-right direction;
step 4.4.3.2: if the motion is not possible to move to a certain matrix element, judging whether the motion reaches an end point, and if the motion reaches the end point, stopping the motion; if the end point is not reached, one step is retracted, and the device continues to move in other directions until the device moves to the end point;
step 4.4.3.3: and calculating the moving steps of the corresponding matrix elements of all the operable grids, adding 1 as a certain matrix element value corresponding to the second matrix, and obtaining the second matrix.
The working principle and the beneficial effects of the technical scheme are as follows:
in this embodiment, the initial matrix element is used as a starting point, and the trace back method is used to perform the path exploration, and if the path is unable to move and the destination is not reached, the path is retracted, and the exploration is continued in other directions until the destination is reached. And calculating the moving steps of the corresponding matrix elements of all the operable grids, adding 1 as a certain matrix element value corresponding to the second matrix, and obtaining a second matrix B.
As shown in fig. 3, the initial matrix element of the second matrix is "1" with a slash ground tint, and the matrix element corresponding to the end point is "26" with a grid ground tint. The positive integer numbers on the second matrix B represent the steps of the corresponding actionable grid walking on the unmanned transplanter, while a "-1" corresponds to an inoperable grid. As shown in fig. 4, a path is planned according to the number size of each matrix.
The embodiment of the invention performs path exploration on the condition of the phase difference of 1 by a backtracking method, realizes one-stroke connection of all operable grids, automatically avoids obstacles, and simultaneously conveniently plans the route of the unmanned rice transplanter according to the sequence of the steps.
In one embodiment, step 4.4.4 comprises:
step 4.4.4.1: splitting the first matrix into an adjusted first matrix with the difference of 1 between the number of matrix elements marked with 1 and the number of matrix elements marked with 0 and an adjusted first edge matrix;
wherein the first edge matrix is adjusted to be a one-dimensional matrix containing a set end point, and the first edge matrix does not contain corresponding matrix elements of the inoperable grid;
wherein, the adjusting end point of the first matrix and the starting point and the end point of the first edge matrix are the edge matrix elements of the first matrix;
step 4.4.4.2: searching the path direction of the first adjustment matrix to obtain the first adjustment matrix;
wherein step 4.4.4.2 comprises:
step 4.4.4.2.1: the matrix element mark of the second matrix is adjusted to be 1 corresponding to the initial matrix element, and the corresponding matrix element of the operation grid on the first matrix is adjusted to move up and down, left and right by taking the initial matrix element as a starting point;
step 4.4.4.2.2: if the motion is not possible to move to a certain matrix element, judging whether the motion reaches an adjustment end point, and if the motion reaches the adjustment end point, stopping the motion; if the adjustment end point is not reached, one step is retracted, the movement in other directions is continued until the adjustment end point of the set adjustment first matrix is reached;
step 4.4.4.2.3: calculating the moving steps of the corresponding matrix elements of all the operable grids, adding 1 as a certain matrix element value corresponding to the second matrix to obtain an adjusted second matrix;
step 4.4.4.2.4: re-marking the starting point of the first edge matrix to be 1, and marking the starting point of the first edge matrix to the end point according to a sequence from the starting point of the first edge matrix to obtain a second edge matrix;
step 4.4.4.2.5: and combining the second matrix with the edge adjustment second matrix to obtain a second matrix.
The working principle and the beneficial effects of the technical scheme are as follows:
as shown in fig. 5, for example, the first matrix C, the values inside are:
since the number of matrix elements with a flag of 1 differs from the number of matrix elements with a flag of 0 by 2, all the operable grids cannot be completed in one stroke. Splitting the first matrix into two matrices is then adjusting the first matrix D and adjusting the first edge matrix E, respectively. E is a one-dimensional matrix containing set endpoints. The specific expression is
And (3) marking a matrix element mark of the second matrix corresponding to the initial matrix element as 1 by using a backtracking method, taking the initial matrix element as a starting point, moving the corresponding matrix element of the operable grid on the first matrix in the up-down left-right direction, and finally reaching a set adjustment end point of the first matrix. The adjustment end point of the adjustment first matrix set in the embodiment is to adjust the matrix element of the fifth row and the fifth column on the first matrix. And performing path exploration by using a backtracking method to respectively obtain an adjustment second matrix and an adjustment edge second matrix, and combining the adjustment second matrix and the adjustment edge second matrix to obtain a second matrix F. As shown in fig. 6, the initial point and the final end point of the second matrix of the adjustment edge in this embodiment belong to two end points of the second matrix of the adjustment edge, and the initial point number of the second matrix of the adjustment edge is the set end point number +1 of the second matrix of the adjustment edge, so that relay operation is conveniently performed on the second matrix of the adjustment edge.
The embodiment of the invention performs path exploration on the condition that the phase difference is not 1, realizes that two strokes are connected with all operable grids, avoids obstacles, and plans the route of the unmanned transplanting machine according to the sequence of the steps.
In one embodiment, step 4.5 comprises:
step 4.5.1: sequentially connecting line segments by taking the initial matrix element as a starting point according to the corresponding matrix element value of the operable grid in the second matrix to obtain a second matrix planning route;
step 4.5.2: projecting the second matrix planned route to an operation grid diagram to obtain an operation path of the unmanned transplanting machine;
step 4.5.3: controlling the unmanned rice transplanter to operate according to the operation path;
step 4.5.4: when the unmanned rice transplanter finishes the operation of a certain area, the operable grid on the operation grid diagram corresponding to the certain area is converted into an inoperable grid;
step 4.5.5: all the operable grids on the work grid graph are converted into non-operable grids, and the unmanned rice transplanter completes the operation and exits the operation area.
The working principle and the beneficial effects of the technical scheme are as follows:
and under the condition of the phase difference of 1, path exploration is carried out, for example, a second matrix B is sequentially connected according to the sizes of ' 1 ' to ' 2 ', ' 2 ' to ' 3 ' … … ', ' 25 ' to ' 26 ', as shown in fig. 4, a second matrix planning route is obtained, the second matrix planning route is projected into an operation grid diagram, an unmanned transplanting machine is controlled to operate according to the operation path, and when the unmanned transplanting machine completes corresponding operation, the corresponding operable grid is converted into an inoperable grid, so that a manager can observe and control the site on a computer platform conveniently. All the workable grids on the work grid graph are converted into non-workable grids, and the completion amount of the work is displayed, for example, when the 13 th grid is completed, the completion ratio of 50% is displayed on a computer, so that the manager can monitor in real time. When the unmanned rice transplanter completes the operation, the unmanned rice transplanter exits the operation area. And (3) performing path exploration on the condition that the phase difference is not 1, for example, a second matrix F is sequentially connected according to the sizes of '1' to '2', '2' to '3' … … and the sequence numbers, when the unmanned rice transplanter is connected to '19', preventing the unmanned rice transplanter from repeating operation when the unmanned rice transplanter is operated, firstly, driving the unmanned rice transplanter out of the edge, then entering into '20', sequentially connecting matrix elements in the second matrix of the adjusting edge until the end point is '24', and completing corresponding path planning.
The embodiment of the invention plans the automatic driving route of the unmanned rice transplanter and projects the automatic driving route onto the operation grid chart, thereby being convenient for a manager to monitor the unmanned rice transplanter in real time, realizing automatic control and reasonably avoiding obstacles.
In one embodiment, the method for planning the operation path of the unmanned transplanting machine further comprises the following step 6: clearing the obstacle based on the type of the obstacle and converting the inoperable grid into an operable grid in the operation grid graph;
wherein, step 6 includes:
step 6.1: constructing an obstacle clearance scheme database by using historical data;
the obstacle clearance scheme database comprises obstacle clearance schemes corresponding to the types of the obstacles;
step 6.2: inputting the acquired information of the obstacle into an obstacle clearance scheme database, and searching out a corresponding obstacle clearance scheme;
step 6.3: based on the obstacle clearing scheme, controlling the unmanned aerial vehicle to clear the obstacle;
step 6.4: after cleaning, the non-workable grid is converted into a workable grid in the work grid graph.
The working principle and the beneficial effects of the technical scheme are as follows:
in the process of transplanting rice seedlings, the encountered obstacles can also be cleared according to the obstacle clearing schemes in the obstacle clearing scheme database. For example, the type of obstacle encountered in the case of transplanting rice seedlings is "tree root", the "tree root" is input into the obstacle clearing scheme database constructed from the history data, and the "tree root clearing scheme" is queried. And controlling the unmanned aerial vehicle to work on the grid where the obstacle is located by using a tree root removing scheme, and removing the tree root. When the root cleaning is completed, the non-workable grid is converted into a workable grid in the work grid graph. And re-planning the walking route of the unmanned transplanting machine for the updated operation grid diagram.
According to the embodiment of the invention, the obstacle clearing scheme database is constructed through the historical data, the obstacles are cleared, the land resources are fully utilized, and the maximum utilization of the resources is realized.
In one embodiment, the method for planning the operation path of the unmanned transplanting machine further comprises the step 7: rechecking the field to be transplanted, judging whether all transplanting is completed, and if not, reseeding the unfinished area;
wherein, step 7 includes:
step 7.1: checking whether all the operable grids in the operation grid graph are changed into non-operable grids, if not, identifying that all the transplanting seedlings are not completed and obtaining field coordinates of the transplanting seedlings which are not completed and correspond to the operable grids;
step 7.2: if all the seedlings become non-operable grids, geographical information of the field is acquired for the second time, whether all the seedlings are transplanted is detected, if all the seedlings are detected to be incomplete, all the seedlings are identified as being incomplete, field coordinates of the incomplete seedlings are obtained, and otherwise all the seedlings are identified as being complete;
step 7.3: when the incomplete transplanting is identified, controlling the robot to reseed the field with the incomplete transplanting.
The working principle and the beneficial effects of the technical scheme are as follows:
and (5) rechecking the field after the operation is finished, and checking whether all the transplanting is finished. First, the operation grid diagram is roughly checked on a computer screen for the first time, and whether the unfinished transplanting grid exists is checked. If the grid with the transplanting rice is still an operable grid, the sign is incomplete. And then the unmanned aerial vehicle acquires the geographical information of the transplanted field for the second time, so that the second fine check is realized, whether all the transplanting is completed is detected, and if the transplanting is detected to be incomplete, the field with the incomplete transplanting is identified. And obtaining corresponding geographic coordinates of the grid of the incomplete transplanting and the land block of the incomplete transplanting, and controlling the robot to reseed.
The embodiment of the invention carries out double rechecks on the field and reseeds on the unfinished field, thereby carrying out fine management on the field.
The invention also provides a system for planning the operation path of the unmanned rice transplanter, which is characterized by comprising the following steps:
the information acquisition module 1 is used for acquiring geographical information of a field block to be transplanted and information of an obstacle;
the operation map module 2 is used for constructing a transplanting operation map based on field geographic information and information of obstacles;
the operation rasterization module 3 is used for rasterizing the transplanting operation map to obtain an operation raster image;
the path planning module 4 is used for planning a working path on a working grid chart based on a backtracking method;
and the control operation module 5 is used for controlling the unmanned rice transplanter to operate according to the planned operation path.
The working principle and the beneficial effects of the technical scheme are as follows:
the information acquisition module 1 acquires geographical information of a field block to be transplanted and information of an obstacle. The operation map module 2 constructs a transplanting operation map, and marks the information of the field and the information of the obstacle on the transplanting operation map. The operation rasterization module 3 performs rasterization processing on the seedling transplanting operation map to obtain an operation raster image. The path planning module 4 plans a working path on the working grid chart by using a backtracking method, and the control working module 5 controls the unmanned rice transplanter to carry out rice transplanting operation according to the planned working path.
According to the embodiment of the invention, the operation path is planned on the operation grid chart by a backtracking method, the obstacle is automatically avoided, the continuity of transplanting operation is realized, the repeated operation of the transplanting machine on a field is prevented, and the damage of the unmanned transplanting machine to crops in a seedling field is reduced.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (10)
1. The unmanned rice transplanter operation path planning method is characterized by comprising the following steps:
collecting geographical information and barrier information of a field to be transplanted;
constructing a transplanting operation map based on field geographic information and barrier information;
rasterizing the seedling transplanting operation map to obtain an operation raster pattern;
planning a working path on a working grid graph based on a backtracking method;
and controlling the unmanned rice transplanter to operate according to the planned operation path.
2. The unmanned transplanting machine operation path planning method of claim 1, wherein the operation path planning on the operation raster image based on the backtracking method comprises:
determining an inoperable grid and an operable grid at the operation grid map based on the field geographic information and the obstacle information;
determining an initial grid on the operation grid map based on the initial position of the unmanned transplanter;
converting the job raster pattern into a first matrix;
based on the first matrix and the initial grid, performing path exploration by using a backtracking method to obtain a second matrix;
and projecting the second matrix onto the operation grid chart, and planning an operation path of the unmanned rice transplanter according to the numerical value of the second matrix.
3. The method for planning a working path of an unmanned transplanting machine according to claim 2, wherein converting the working raster pattern into a first matrix comprises:
marking the matrix element of the first matrix corresponding to the non-operational grid as-1;
marking the first matrix element corresponding to the non-marked operable grid adjacent to the initial matrix element as 0 based on the initial matrix element marking of the first matrix corresponding to the initial grid as 1;
marking a first matrix element corresponding to an adjacent untagged actionable grid of the actionable grid marked 0 as 1;
marking a first matrix element corresponding to an adjacent untagged actionable grid of the actionable grid marked 1 with 0;
and by analogy, after all grids in the operation grid graph are marked completely, a first matrix is obtained.
4. A method for planning a working path of an unmanned transplanting machine according to claim 3, wherein the path searching is performed based on the first matrix and the initial grid to obtain a second matrix, comprising:
counting the number of matrix elements marked as 1 and the number of matrix elements marked as 0 in the first matrix;
judging whether the difference between the number of matrix elements with the mark of 1 and the number of matrix elements with the mark of 0 is 1;
if the phase difference is 1, searching in the path direction based on the initial matrix element to obtain a second matrix;
if the phase difference is not 1, the first matrix is split into an adjustment first matrix and an adjustment first edge matrix, wherein the number of matrix elements with the mark of 1 and the number of matrix elements with the mark of 0 are different by 1, and then the adjustment first matrix and the adjustment first edge matrix are respectively searched in the path direction and combined to obtain a second matrix.
5. The method for planning a working path of an unmanned transplanting machine according to claim 4, wherein if the phase difference is 1, searching in the path direction based on the initial matrix element to obtain a second matrix comprises:
taking a matrix element mark of a second matrix corresponding to the initial matrix element as 1 and taking the initial matrix element as a starting point, and moving the corresponding matrix element of the operation grid on the first matrix in the up-down left-right direction;
if the motion is not possible to move to a certain matrix element, judging whether the motion reaches an end point, and if the motion reaches the end point, stopping the motion; if the end point is not reached, one step is retracted, and the device continues to move in other directions until the device moves to the end point;
and calculating the moving steps of the corresponding matrix elements of all the operable grids, adding 1 as a certain matrix element value corresponding to the second matrix, and obtaining the second matrix.
6. The method for planning a working path of an unmanned transplanting machine according to claim 4, wherein if the phase difference is not 1, splitting the first matrix into an adjusted first matrix and an adjusted first edge matrix, the number of matrix elements with the mark of 1 and the number of matrix elements with the mark of 0 differ by 1, and searching in the path direction based on the adjusted first matrix and the adjusted first edge matrix to obtain a second matrix, comprising:
splitting the first matrix into an adjusted first matrix with the difference of 1 between the number of matrix elements marked with 1 and the number of matrix elements marked with 0 and an adjusted first edge matrix;
wherein the first edge matrix is adjusted to be a one-dimensional matrix containing a set end point, and the first edge matrix does not contain corresponding matrix elements of the inoperable grid;
wherein, the adjusting end point of the first matrix and the starting point and the end point of the first edge matrix are the edge matrix elements of the first matrix;
searching the path direction of the first adjustment matrix to obtain the first adjustment matrix;
wherein, include:
the matrix element mark of the second matrix is adjusted to be 1 corresponding to the initial matrix element, and the corresponding matrix element of the operation grid on the first matrix is adjusted to move up and down, left and right by taking the initial matrix element as a starting point;
if the motion is not possible to move to a certain matrix element, judging whether the motion reaches an adjustment end point, and if the motion reaches the adjustment end point, stopping the motion; if the adjustment end point is not reached, one step is retracted, the movement in other directions is continued until the adjustment end point of the set adjustment first matrix is reached;
calculating the moving steps of the corresponding matrix elements of all the operable grids, adding 1 as a certain matrix element value corresponding to the second matrix to obtain an adjusted second matrix;
re-marking the starting point of the first edge matrix to be 1, and marking the starting point of the first edge matrix to the end point according to a sequence from the starting point of the first edge matrix to obtain a second edge matrix;
and combining the second matrix with the edge adjustment second matrix to obtain a second matrix.
7. The method for planning a working path of an unmanned transplanting machine according to claim 5 or 6, wherein the step of mapping the second matrix to the working grid pattern to obtain the working path of the unmanned transplanting machine comprises the steps of:
sequentially connecting line segments by taking the initial matrix element as a starting point according to the corresponding matrix element value of the operable grid in the second matrix to obtain a second matrix planning route;
projecting the second matrix planned route to an operation grid diagram to obtain an operation path of the unmanned transplanting machine;
controlling the unmanned rice transplanter to operate according to the operation path;
when the unmanned rice transplanter finishes the operation of a certain area, the operable grid on the operation grid diagram corresponding to the certain area is converted into an inoperable grid;
all the operable grids on the work grid graph are converted into non-operable grids, and the unmanned rice transplanter completes the operation and exits the operation area.
8. The unmanned transplanting machine working path planning method of claim 7, further comprising:
clearing the obstacle based on the type of the obstacle and converting the inoperable grid into an operable grid in the operation grid graph;
wherein, based on the type of obstacle, clear up the obstacle and change the unable operation grid into the operation grid in the operation grid graph, include:
constructing an obstacle clearance scheme database by using historical data;
the obstacle clearance scheme database comprises obstacle clearance schemes corresponding to the types of the obstacles;
inputting the acquired information of the obstacle into an obstacle clearance scheme database, and searching out a corresponding obstacle clearance scheme;
based on the obstacle clearing scheme, controlling the unmanned aerial vehicle to clear the obstacle;
after cleaning, the non-workable grid is converted into a workable grid in the work grid graph.
9. The unmanned transplanting machine working path planning method of claim 8, further comprising:
rechecking the field to be transplanted, judging whether all transplanting is completed, and if not, reseeding the unfinished area;
the method comprises the steps of rechecking the field to be transplanted, detecting whether all transplanting is completed, and if not, reseeding the unfinished area, wherein the rechecking comprises the following steps:
checking whether all the operable grids in the operation grid graph are changed into non-operable grids, if not, identifying that all the transplanting seedlings are not completed and obtaining field coordinates of the transplanting seedlings which are not completed and correspond to the operable grids;
if all the seedlings become non-operable grids, geographical information of the field is acquired for the second time, whether all the seedlings are transplanted is detected, if all the seedlings are detected to be incomplete, all the seedlings are identified as being incomplete, field coordinates of the incomplete seedlings are obtained, and otherwise all the seedlings are identified as being complete;
when the incomplete transplanting is identified, controlling the robot to reseed the field with the incomplete transplanting.
10. An unmanned transplanter operation path planning system, comprising:
the information acquisition module is used for acquiring geographic information of a field block to be transplanted and information of an obstacle;
the operation map module is used for constructing a transplanting operation map based on field geographic information and information of obstacles;
the operation rasterization module is used for rasterizing the transplanting operation map to obtain an operation raster image;
the path planning module is used for planning a working path on the working grid graph based on a backtracking method;
and the control operation module is used for controlling the unmanned rice transplanter to operate according to the planned operation path.
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