CN117268390A - Minimum unit interplanting path planning method for improving working efficiency of agricultural machinery - Google Patents
Minimum unit interplanting path planning method for improving working efficiency of agricultural machinery Download PDFInfo
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- CN117268390A CN117268390A CN202311152977.0A CN202311152977A CN117268390A CN 117268390 A CN117268390 A CN 117268390A CN 202311152977 A CN202311152977 A CN 202311152977A CN 117268390 A CN117268390 A CN 117268390A
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000003971 tillage Methods 0.000 claims abstract description 19
- 238000013461 design Methods 0.000 claims abstract description 14
- 238000009499 grossing Methods 0.000 claims description 6
- 238000009342 intercropping Methods 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000000295 complement effect Effects 0.000 claims description 3
- 238000012163 sequencing technique Methods 0.000 claims description 3
- 238000012876 topography Methods 0.000 abstract description 2
- 230000004927 fusion Effects 0.000 abstract 1
- 238000004904 shortening Methods 0.000 abstract 1
- 230000001052 transient effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 5
- 238000011161 development Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012364 cultivation method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009313 farming Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
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Abstract
The invention discloses a method for shortening the multi-sensor fusion positioning initialization time in a minimum unit tillage path planning method for improving the working efficiency of an agricultural machine, which specifically comprises the following steps of: if the curvature abrupt change exists in the path, if the steering direction is restarted after the curvature abrupt change point is reached at the center of the rear axle, the angular velocity of the vehicle cannot be changed in a transient manner due to the dynamic characteristics inside the steering system. According to the invention, by means of scientific algorithm design, factors such as an operation path, topography, crop growth conditions and the like are comprehensively considered, a more reasonable path is planned, the problem of excessive idle driving mileage is avoided, and therefore the operation efficiency of the agricultural machinery is improved.
Description
Technical Field
The invention relates to the field of agricultural machinery operation path planning, in particular to a minimum unit interplanting path planning method for improving the working efficiency of an agricultural machinery.
Background
With the continuous improvement of the agricultural mechanization level, the operation efficiency of the agricultural machinery becomes a very important aspect in the agricultural development; the efficient agricultural machinery driving route is planned, so that the agricultural machinery operation efficiency can be greatly improved; with the development of unmanned technology, planning a high-efficiency agricultural machinery driving route has become a key technology of unmanned agricultural machinery;
in the prior art, unmanned agricultural machinery works to divide a land block into a working area and a to-be-turned area, but the traditional path planning method has two defects, namely the problem of unavoidable complex turning around, and the problem that the factors such as a working path, topography, crop growth conditions and the like cannot be comprehensively considered, so that a more reasonable path is planned, and the problem is caused. Work efficiency reduction due to excessive free mileage
Disclosure of Invention
The invention provides a minimum unit interplanting path planning method for improving the working efficiency of an agricultural machine, which aims to solve the technical problems in the background technology.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: the minimum unit interplanting path planning method for improving the working efficiency of the agricultural machinery comprises the following steps,
step S1, designing the total width number of a working area: the invention scans the whole working area plane by parallel lines, uses a width of one width as the width of the parallel lines, and calculates the total width number obtained after the whole plane scanning by a formula
Step S2, designing the minimum cultivation unit in a wide range: the total width of the interplanting is determined by the stepping width distance of the interplanting and the backing width distance of the interplanting, and the formula is as follows: n= 2*s-1, s is the number of steps and widths of the intercropping;
step S3, overall interplanting design of a working area: according to the invention, through the thought of the minimum interplanting unit, the whole working area is subjected to the interplanting design, the whole working area is firstly segmented based on the minimum interplanting unit, each working area is segmented by the total width of the minimum interplanting unit, and each working area is connected in a centrifugal interplanting mode, so that the total interplanting number of other interplanting units except the first minimum interplanting unit at the initial working stage is reduced by 1;
step S4: and generating a path track.
Preferably, in the formula of the total width number in step S1, D is the total width of the working area, i.e. the direction perpendicular to the movement direction of the main shaft is wide, D is a wide distance, N ceil The total width D is rounded up, and if the total width D cannot be divided by the width D, a width is increased to complement the residual area so as to ensure the coverage of the working area.
Preferably, as can be seen from the cultivation method in step S2, if the total width of the working area is 9 widths, the working area needs to be stepped to 5 widths, and one cultivation unit can be completed; the number of overlapping widths of the upper and lower boundaries is calculated, and the number is sequentially as follows: 0. 1, 3, 5, 7, 6, 4, 2 and 0, and the total empty mileage can be calculated to be 29 broad figures; if the total width of the working area is 9, splitting the working area into two smaller cover tillage units, for example, two cover tillage units with 3 width steps, and calculating the overlapping width times of the upper and lower boundaries, wherein the number of times is as follows: 0. 1, 3, 1, 3, 2, 0, the total empty mileage can be calculated to be 13 wide.
4. The minimum unit interplanting path planning method for improving the working efficiency of the agricultural machine according to claim 3, wherein the minimum unit interplanting path planning method is characterized in that: the step width number of the minimum plowing unit is obtained by calculating the ratio of the length of the fixed setting to the width through 2 times of the minimum turning radius of the vehicle, and the formula is as follows:wherein d is wide, R is the turning radius of the agricultural machinery, a is a fixed length, s ceil The value of a is set by user definition according to the requirement, and in principle, the value of a can ensure the calculation result n ceil And when the number of the turning points is larger than 2, turning around at the turning points can be avoided, and the turning-around working condition is avoided.
Preferably, in the step S3, the overall interplanting design of the working area includes the specific steps:
s3.1, if the total width number of the minimum set of more units is n, the first set of plowing units is n wide in the initial work, and then the total width number of each set of plowing units is n-1;
step S3.2, if the residual width is less than one of the cover tillage units, combining the residual width and the adjacent minimum cover tillage unit into the final cover tillage unit so as to ensure the coverage area of the working area;
in step S3.3, if the minimum number of steps of the tilling unit is N is 6 and the total number of widths is N is 178, it is known that the first tilling unit at the beginning of the operation is 11 total widths, that is, the number of widths is 11 total, and thereafter the total number of widths of all units is 10 total widths.
Preferably, the specific step of the step S3.3 is that the total minimum unit of the intercropping is m floor In order to round downwards, the remainder is 16 total plowing units with residual width numbers calculated by a formula, the remainder a is 7 width, the total of the total 16 total plowing units and the last plowing unit are combined into 17 total plowing units with the width, one of n=n/2 or n= (n+1)/2 can be divided, and the obtained N is the minimum stepping width number of the combined plowing units.
Preferably, in the step S4, the path track is generated, and the specific steps are as follows:
step S4.1, determining a starting point and a main shaft direction of vehicle movement, and determining an intersection point of the main shaft direction and upper and lower boundary lines of a working area, wherein the intersection point is a pseudo-path turning point;
step S4.2, translating the main axis direction of the starting point at intervals of a wide distance to obtain N extension parallel lines, wherein the N extension parallel lines are equal to the total designed wide number; sequentially recording intersection points of all the extension parallel lines and the upper and lower boundaries by taking the main axis direction of the starting point as a starting parallel line, and taking the intersection points as a pseudo-path turning point;
s4.3, sequentially sequencing intersection points of parallel lines and upper and lower boundaries according to the total finish design of the minimum finish scheme to obtain a path point sequence;
step S4.4, sequentially taking out the path points, carrying out interpolation on the two paths to obtain discrete points, namely straight-line driving path points, solving tangent arc formulas of two vertical straight lines at all turning positions by taking the turning radius R of the vehicle as an arc radius, taking out the interpolation points, namely turning driving path points, and finally stringing the straight line/turning driving path points together to obtain a final global path point set;
and S4.5, smoothing the path points by adopting smoothing algorithms such as osqp/spline fitting/spline interpolation and the like to serve as a global path track.
The beneficial effects of adopting above technical scheme are:
1. the path planning algorithm of the invention adopts the idea of minimum unit interplanting, divides the farmland into a plurality of small blocks, adopts the interplanting mode to operate in each small block, and adopts the centrifugal farming method to transfer among the small blocks, thereby avoiding the problem of complex turning around.
2. According to the invention, by means of scientific algorithm design, factors such as the operation path, the terrain, the crop growth condition and the like are comprehensively considered, a more reasonable path is planned, the problem of excessive idle driving mileage is avoided, and therefore, the operation efficiency of the agricultural machinery is improved.
Drawings
FIG. 1 is a block diagram of a path planning process according to the present invention;
FIG. 2 is a schematic view of a cultivation mode according to the present invention;
FIG. 3 shows the number of steps for the cultivation in the set of the present invention a relation diagram with the total set of cultivation number;
FIG. 4 is a graph showing a comparison of minimum unit interplanting and non-minimum unit interplanting planned paths of the present invention;
FIG. 5 is a simplified plan view of a minimum unit tillage combination according to the present invention;
FIG. 6 is a diagram of an example of minimum unit tillage planning in accordance with the present invention;
FIG. 7 is a diagram of a minimum unit plan global path point sequence in accordance with the present invention;
FIG. 8 is a diagram of a global path discrete point according to the present invention;
Detailed Description
The following detailed description of the embodiments of the invention, given by way of example only, is presented in the accompanying drawings to aid in a more complete, accurate and thorough understanding of the concepts and aspects of the invention, and to aid in its practice, by those skilled in the art.
As shown in fig. 1 to 8, the invention relates to a minimum unit set tillage path planning method for improving the working efficiency of an agricultural machine, which can avoid the problem of turning around, reduce the idle driving mileage, improve the working efficiency of the agricultural machine and provide powerful support for the development of intelligent agriculture.
In particular comprising the following steps of the method,
step S1, designing the total width number of a working area: the invention scans the whole working area plane by parallel lines, uses a width of one width as the width of the parallel lines, and calculates the total width number obtained after the whole plane scanning by a formula
Step S2, designing the minimum cultivation unit in a wide range: the total width of the interplanting is determined by the stepping width distance of the interplanting and the backing width distance of the interplanting, and the formula is as follows: n= 2*s-1, s is the number of steps and widths of the intercropping;
step S3, overall interplanting design of a working area: according to the invention, through the thought of the minimum interplanting unit, the whole working area is subjected to the interplanting design, the whole working area is firstly segmented based on the minimum interplanting unit, each working area is segmented by the total width of the minimum interplanting unit, and each working area is connected in a centrifugal interplanting mode, so that the total interplanting number of other interplanting units except the first minimum interplanting unit at the initial working stage is reduced by 1;
step S4: and generating a path track.
In the step S1 total width formula, D is the total width of the working area, namely, the direction perpendicular to the movement direction of the main shaft is wide, D is a wide distance, N ceil The total width D is rounded up, and if the total width D cannot be divided by the width D, a width is increased to complement the residual area so as to ensure the coverage of the working area.
According to the method of the cultivation in the step S2, if the total width of the working area is 9 widths, the working area needs to be stepped to 5 widths, and one cultivation unit can be completed; the number of overlapping widths of the upper and lower boundaries is calculated, and the number is sequentially as follows: 0. 1, 3, 5, 7, 6, 4, 2 and 0, and the total empty mileage can be calculated to be 29 broad figures; if the total width of the working area is 9, splitting the working area into two smaller cover tillage units, for example, two cover tillage units with 3 width steps, and calculating the overlapping width times of the upper and lower boundaries, wherein the number of times is as follows: 0. 1, 3, 1, 3, 2, 0, the total empty mileage can be calculated to be 13 wide.
The step width number of a minimum plowing unit is obtained by calculating the ratio of the length of fixed setting to the width through 2 times of the minimum turning radius of the vehicle, and the formula is as follows:wherein d is wide, R is the turning radius of the agricultural machinery, a is a fixed length, s ceil The value of a is set by user definition according to the requirement, and in principle, the value of a can ensure the calculation result n ceil And when the number of the turning points is larger than 2, turning around at the turning points can be avoided, and the turning-around working condition is avoided.
Step S3, overall interplanting design of a working area, which comprises the following specific steps:
s3.1, if the total width number of the minimum set of more units is n, the first set of plowing units is n wide in the initial work, and then the total width number of each set of plowing units is n-1;
step S3.2, if the residual width is less than one of the cover tillage units, combining the residual width and the adjacent minimum cover tillage unit into the final cover tillage unit so as to ensure the coverage area of the working area;
in step S3.3, if the minimum number of steps of the tilling unit is N is 6 and the total number of widths is N is 178, it is known that the first tilling unit at the beginning of the operation is 11 total widths, that is, the number of widths is 11 total, and thereafter the total number of widths of all units is 10 total widths.
The step S3.3 comprises the specific steps of taking the total minimum unit of the interplanting asm floor In order to round downwards, the remainder is 16 total plowing units with residual width numbers calculated by a formula, the remainder a is 7 width, the total of the total 16 total plowing units and the last plowing unit are combined into 17 total plowing units with the width, one of n=n/2 or n= (n+1)/2 can be divided, and the obtained N is the minimum stepping width number of the combined plowing units.
The step S4, generating a path track, specifically comprises the following steps:
step S4.1, determining a starting point and a main shaft direction of vehicle movement, and determining an intersection point of the main shaft direction and upper and lower boundary lines of a working area, wherein the intersection point is a pseudo-path turning point;
step S4.2, translating the main axis direction of the starting point at intervals of a wide distance to obtain N extension parallel lines, wherein the N extension parallel lines are equal to the total designed wide number; sequentially recording intersection points of all the extension parallel lines and the upper and lower boundaries by taking the main axis direction of the starting point as a starting parallel line, and taking the intersection points as a pseudo-path turning point;
s4.3, sequentially sequencing intersection points of parallel lines and upper and lower boundaries according to the total finish design of the minimum finish scheme to obtain a path point sequence;
step S4.4, sequentially taking out the path points, carrying out interpolation on the two paths to obtain discrete points, namely straight-line driving path points, solving tangent arc formulas of two vertical straight lines at all turning positions by taking the turning radius R of the vehicle as an arc radius, taking out the interpolation points, namely turning driving path points, and finally stringing the straight line/turning driving path points together to obtain a final global path point set;
and S4.5, smoothing the path points by adopting smoothing algorithms such as osqp/spline fitting/spline interpolation and the like to serve as a global path track.
While the invention has been described above by way of example with reference to the accompanying drawings, it is to be understood that the invention is not limited to the particular embodiments described, but is capable of numerous insubstantial modifications of the inventive concept and solution; or the invention is not improved, and the conception and the technical scheme are directly applied to other occasions and are all within the protection scope of the invention.
Claims (7)
1. A minimum unit interplanting path planning method for improving the working efficiency of an agricultural machine is characterized by comprising the following steps of: in particular comprising the following steps of the method,
step S1, designing the total width number of a working area: the invention scans the whole working area plane by parallel lines, uses a width of one width as the width of the parallel lines, and calculates the total width number obtained after the whole plane scanning by a formula
Step S2, designing the minimum cultivation unit in a wide range: the total width of the interplanting is determined by the stepping width distance of the interplanting and the backing width distance of the interplanting, and the formula is as follows: n= 2*s-1, s is the number of steps and widths of the intercropping;
step S3, overall interplanting design of a working area: according to the invention, through the thought of the minimum interplanting unit, the whole working area is subjected to the interplanting design, the whole working area is firstly segmented based on the minimum interplanting unit, each working area is segmented by the total width of the minimum interplanting unit, and each working area is connected in a centrifugal interplanting mode, so that the total interplanting number of other interplanting units except the first minimum interplanting unit at the initial working stage is reduced by 1;
step S4: and generating a path track.
2. The minimum unit interplanting path planning method for improving working efficiency of agricultural machinery according to claim 1The method is characterized in that: in the formula of the total width of the step S1, D is the total width of the working area, namely, the direction perpendicular to the movement direction of the main shaft is wide, D is a wide distance, N ceil The total width D is rounded up, and if the total width D cannot be divided by the width D, a width is increased to complement the residual area so as to ensure the coverage of the working area.
3. The minimum unit interplanting path planning method for improving the working efficiency of the agricultural machine according to claim 1, which is characterized in that: the method of the sleeve cultivation in the step S2 can be known that if the total width of the working area is 9 widths, the working area needs to be stepped to 5 widths, and one sleeve cultivation unit can be completed; the number of overlapping widths of the upper and lower boundaries is calculated, and the number is sequentially as follows: 0. 1, 3, 5, 7, 6, 4, 2 and 0, and the total empty mileage can be calculated to be 29 broad figures; if the total width of the working area is 9, splitting the working area into two smaller cover tillage units, for example, two cover tillage units with 3 width steps, and calculating the overlapping width times of the upper and lower boundaries, wherein the number of times is as follows: 0. 1, 3, 1, 3, 2, 0, the total empty mileage can be calculated to be 13 wide.
4. The minimum unit interplanting path planning method for improving the working efficiency of the agricultural machine according to claim 3, wherein the minimum unit interplanting path planning method is characterized in that: the step width number of the minimum plowing unit is obtained by calculating the ratio of the length of the fixed setting to the width through 2 times of the minimum turning radius of the vehicle, and the formula is as follows:wherein d is wide, R is the turning radius of the agricultural machinery, a is a fixed length, s ceil The value of a is set by user definition according to the requirement, and in principle, the value of a can ensure the calculation result n ceil And when the number of the turning points is larger than 2, turning around at the turning points can be avoided, and the turning-around working condition is avoided.
5. The minimum unit interplanting path planning method for improving the working efficiency of the agricultural machine according to claim 1, which is characterized in that: step S3, the overall interplanting design of the working area comprises the following specific steps:
s3.1, if the total width number of the minimum set of more units is n, the first set of plowing units is n wide in the initial work, and then the total width number of each set of plowing units is n-1;
step S3.2, if the residual width is less than one of the cover tillage units, combining the residual width and the adjacent minimum cover tillage unit into the final cover tillage unit so as to ensure the coverage area of the working area;
in step S3.3, if the minimum number of steps of the tilling unit is N is 6 and the total number of widths is N is 178, it is known that the first tilling unit at the beginning of the operation is 11 total widths, that is, the number of widths is 11 total, and thereafter the total number of widths of all units is 10 total widths.
6. The minimum unit interplanting path planning method for improving the working efficiency of the agricultural machine according to claim 5, which is characterized in that: the step S3.3 comprises the specific steps that the total minimum unit of the interplanting is m floor In order to round downwards, the remainder is 16 total plowing units with residual width numbers calculated by a formula, the remainder a is 7 width, the total of the total 16 total plowing units and the last plowing unit are combined into 17 total plowing units with the width, one of n=n/2 or n= (n+1)/2 can be divided, and the obtained N is the minimum stepping width number of the combined plowing units.
7. The minimum unit interplanting path planning method for improving the working efficiency of the agricultural machine according to claim 1, which is characterized in that: the step S4, generating a path track, specifically comprises the following steps:
step S4.1, determining a starting point and a main shaft direction of vehicle movement, and determining an intersection point of the main shaft direction and upper and lower boundary lines of a working area, wherein the intersection point is a pseudo-path turning point;
step S4.2, translating the main axis direction of the starting point at intervals of a wide distance to obtain N extension parallel lines, wherein the N extension parallel lines are equal to the total designed wide number; sequentially recording intersection points of all the extension parallel lines and the upper and lower boundaries by taking the main axis direction of the starting point as a starting parallel line, and taking the intersection points as a pseudo-path turning point;
s4.3, sequentially sequencing intersection points of parallel lines and upper and lower boundaries according to the total finish design of the minimum finish scheme to obtain a path point sequence;
step S4.4, sequentially taking out the path points, carrying out interpolation on the two paths to obtain discrete points, namely straight-line driving path points, solving tangent arc formulas of two vertical straight lines at all turning positions by taking the turning radius R of the vehicle as an arc radius, taking out the interpolation points, namely turning driving path points, and finally stringing the straight line/turning driving path points together to obtain a final global path point set;
and S4.5, smoothing the path points by adopting smoothing algorithms such as osqp/spline fitting/spline interpolation and the like to serve as a global path track.
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| CN118031977A (en) * | 2024-04-15 | 2024-05-14 | 睿羿科技(山东)有限公司 | Self-adaptive generation method for outdoor unmanned sweeper to traverse sweeping route |
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