WO2020181755A1

WO2020181755A1 - Areal point identification method, and point identification system for agricultural vehicle

Info

Publication number: WO2020181755A1
Application number: PCT/CN2019/107284
Authority: WO
Inventors: 徐兵; 齐家园; 姚远; 吴迪
Original assignee: 丰疆智能科技研究院(常州)有限公司
Priority date: 2019-03-11
Filing date: 2019-09-23
Publication date: 2020-09-17
Also published as: CN110081873A

Abstract

An areal point identification method and a system, the areal point identification method comprising the following steps: placing at least four position information collecting points on the edges of an agricultural field in a point creating manner (a); on the basis of the at least four position information collecting points, determining at least four corners of the agricultural field (b); and sequentially connecting the at least four corners to identify an operating area of the agricultural field (c). The point identification system identifies at least one operating area of an agricultural field by means of the areal point identification method, and plans at least one operating travel route on the basis of the operating area.

Description

Area management and recognition method and agricultural machinery management and recognition system

Technical field

The present invention relates to an area recognition method, in particular to an area dot recognition method and an agricultural machinery dot recognition system.

Background technique

With the development of precision positioning technology, remote sensing technology and intelligent information processing technology, precision agriculture has become a development trend. The precise positioning of farmland areas is the basis for precision agricultural applications such as intelligent driving seeding, unmanned agricultural machinery plant protection spraying, crop growth monitoring, and intelligent pest monitoring. In precision agriculture applications, when agricultural machinery is operating in a set farmland block, it needs to obtain accurate regional boundary information of the farmland block area in order to realize intelligent agricultural machinery operations, such as unmanned seeding, unmanned agricultural machinery to harvest crops, etc. .

At present, the geographic information of farmland parcels is basically collected manually, which is low in efficiency, high in cost, scattered in data distribution, inconsistent format, etc., so large-scale centralized management and updating cannot be realized. In the prior art, the way for agricultural machinery to divide and determine the work area is usually to extract farmland blocks from large-scale remote sensing images. However, this kind of farmland area recognition method in the prior art often has large errors, especially low recognition for plots with unclear farmland boundaries, which leads to large errors in agricultural machinery operations in farmland, and even causes agricultural machinery to travel. The path is wrong and the agricultural machinery is damaged. Another method of farmland area recognition in the prior art is to use the agricultural machinery in the driving process, the agricultural machinery recognizes by acquiring images of the farmland plots, and then divides and recognizes the work area of the farmland plots. However, this identification method is limited to a small area where agricultural machinery can collect data, and it is difficult to identify a large area of farmland. In addition, this method of identification may easily lead to incorrect identification of agricultural machinery due to the unclear boundary range.

In the existing farmland area recognition technology, the recognition of farmland blocks usually relies on color, texture and edge information, etc. However, due to factors such as different soil types of farmland blocks, different types of crops, and different crop growth stages, the farmland recognition is accurate. The degree is relatively low and cannot meet the needs of modern precision agriculture applications.

Existing techniques for identifying farmland areas mainly rely on algorithms to identify images to divide farmland areas, but it is difficult for irregular farmland plots, farmland plots with undefined boundaries, and plots with large crop coverage. Obtain accurate plot information through image recognition. Therefore, based on the prior art farmland plot identification method, it is difficult for smart agricultural machinery, especially unmanned agricultural machinery to work on the current farmland plots, to work out a driving route in line with the operation.

Summary of the invention

One of the main advantages of the present invention is to provide an area dot recognition method and agricultural machinery dot recognition system, wherein the area dot recognition method recognizes the operation area of the farmland in the farmland by dotting, thereby improving the accuracy of the farmland area recognition.

Another advantage of the present invention is to provide an area dot-recognition method and agricultural machinery dot-recognition system, wherein the area dot-recognition method is to set at least four location information collection points on the identified farmland in a dot-based manner, and obtain the position The location information of the information collection point is identified, and the farmland area is identified, which reduces the difficulty of location information collection.

Another advantage of the present invention is to provide an area dot recognition method and agricultural machinery dot recognition system, wherein the area dot recognition method is to set at least four positions on the border of the farmland by dotting according to the boundary type of the recognized farmland The information collection point identifies the workable area in the farmland area by acquiring the location information of the location information collection point, thereby increasing the rate of collection of the farm area information.

Another advantage of the present invention is to provide an area dot-recognition method and agricultural machinery dot-recognition system, wherein the area dot-recognition method is to obtain the operation area of the farmland by dots at the boundary of the identified farmland, so as to facilitate The operation area plans the walking path of the agricultural machine for the agricultural machine.

Another advantage of the present invention is to provide an area dot recognition method and agricultural machinery dot recognition system, wherein the area dot recognition method is to set at least one location information collection point on each corner of the farmland in a dot manner, and according to The location information collection points at the corners are used to determine the work area of the farmland. In other words, the agricultural machinery spotting recognition system sets the position information collection points in a dotted manner at each corner of the farmland boundary, so as to determine the operation area of the farmland.

Another advantage of the present invention is to provide an area dot recognition method and agricultural machinery dot recognition system, wherein the agricultural machinery dot recognition system sets the position information collection points at the corners or corners of the farmland, and obtains the position The location information of the information collection point determines the work area of the farmland. Therefore, the agricultural machinery management system can accurately obtain the operation area of the farmland according to the boundary shape of the farmland, so as to plan an accurate operation route for the agricultural machinery.

Another advantage of the present invention is to provide an area spotting recognition method and agricultural machinery spotting recognition system, wherein the agricultural machinery spotting recognition system sets a position information collection point on at least one of the farmland in the virtual map in a way of spotting. Four corners are used to determine the operation area of the agricultural machine, which reduces labor and improves the operation speed.

Another advantage of the present invention is to provide an area spotting recognition method and agricultural machinery spotting recognition system, wherein the agricultural machinery spotting recognition system is operated by an operator along the border of the farmland with a position sensing device and operating the spotting method. The position sensing device further determines at least four corners of the farmland area, so as to determine the work area of the farmland.

Another advantage of the present invention is to provide an area dot recognition method and agricultural machinery dot recognition system, wherein the area dot recognition method is that a vehicle walks along the border of the farmland and determines the trajectory of the vehicle At least four corners of the farmland area to facilitate determining the operation area of the farmland.

Another advantage of the present invention is to provide an area dot recognition method and agricultural machinery dot recognition system, wherein the area dot recognition method is performed by at least one flying device, such as a drone, flying above the farmland, At least four corners of the farmland are determined in the air above the farmland, so as to determine the operation area of the farmland.

Another advantage of the present invention is to provide an area management recognition method and agricultural machinery management recognition system, wherein the agricultural machinery management recognition system obtains the operation area of the farmland by way of management, and plans based on the operation type of the agricultural machinery At least one agricultural machine working path is provided to be suitable for the agricultural machine to operate in the working area.

Other advantages and features of the present invention are fully embodied by the following detailed description and can be realized by the combination of means and devices specifically pointed out in the appended claims.

According to one aspect of the present invention, an area dot recognition method of the present invention that can achieve the foregoing objectives and other objectives and advantages, wherein the area dot recognition method includes the following steps:

(a) Set up at least four location information collection points on the border of a farmland by means of dots;

(b) Determine at least four corners of the farmland based on the at least four location information collection points; and

(c) Connecting the at least four corners in sequence to identify the work area of the farmland.

According to an embodiment of the present invention, in the step (a), the position information collection points are arranged along the border corresponding to the farmland, wherein the position information collection points are distributed on each of the borders of the farmland.

According to an embodiment of the present invention, in the step (a), at least one position information collection point is set at each corner of the farmland, and each corner is determined by the position information collection point s position.

According to an embodiment of the present invention, in the step (a), at least one position information collection point is set on each side line of the farmland boundary, and each position information collection point is determined by the position information collection point on the adjacent side line. The location of the border.

According to an embodiment of the present invention, in the step (a), a display device is operated, and the position information collection point corresponding to the farmland is set on the display device in a dotted manner.

According to an embodiment of the present invention, before the step (a), the area dot recognition method further includes the step of: acquiring at least one virtual map of the farmland, wherein the virtual map correspondingly displays the Regional information.

According to an embodiment of the present invention, in the above method, a display device is operated to set the location information collection point on the virtual map in a dotted manner.

According to an embodiment of the present invention, in the step (a), a position sensing device is carried to walk along the border of the farmland, and the position information of the border of the farmland is recorded to set the position information The collection point is at the border of the farmland.

According to an embodiment of the present invention, in the step (a), a vehicle is operated to walk along the border of the farmland and record the position information of the farmland border to set the position information collection point at The farmland boundary.

According to an embodiment of the present invention, in the step (a), an airplane is operated to walk along the border of the farmland and record the position information of the border of the farmland to set the position information collection point at The farmland boundary.

According to an embodiment of the present invention, the step (b) further includes the steps of: obtaining location data information corresponding to the location information point, and determining the geographic location data of the corner based on the location information data.

According to an embodiment of the present invention, the step (c) further includes the step of: sequentially connecting the adjacent corners to form a closed closed area to determine the operating range of the operating area according to the present invention On the other hand, the present invention further provides an agricultural machinery management and identification system, including:

A dotting module, wherein the dotting module sets at least four location information collection points on the border of a farmland in a dotted manner to record the position of the work area in the farmland; and

An area recognition module, wherein the area recognition module recognizes at least four corners of the farmland based on each of the geographic location information, and recognizes a work area of the farmland based on the positions of the corners of the farmland .

According to an embodiment of the present invention, the dotting module further includes a dot information collection module, a dot recording module, and an information feedback module, wherein the dot information collection module collects geographic location information of the dot position, wherein the dot The recording module records the geographic location information, and transmits the geographic location information of each dot location to the area identification module through the information feedback module.

According to an embodiment of the present invention, the area recognition module further includes a dot position recognition module and a boundary recognition module, wherein the dot position recognition module recognizes the dot position based on the dot position information fed back by the dot module , Wherein the boundary recognition module recognizes and plans the operation area of the farmland based on the position information of the dots.

According to an embodiment of the present invention, the agricultural machinery management recognition system further includes a path planning module, wherein the path planning module plans at least one operation travel route of the agricultural machinery based on the operation area identified by the area recognition module, For the agricultural machinery to operate according to the operating route in the operating area.

Through the understanding of the following description and the drawings, the further objectives and advantages of the present invention will be fully embodied.

These and other objectives, features and advantages of the present invention are fully embodied by the following detailed description, drawings and claims.

Description of the drawings

FIG. 1 is a schematic diagram of the method process of an area dot recognition method according to the first preferred embodiment of the present invention.

Fig. 2A is a schematic diagram of a scene of the area dot recognition method according to the above preferred embodiment of the present invention.

Fig. 2B is a schematic diagram of another scene of the area dot recognition method according to the above preferred embodiment of the present invention.

FIG. 3 is a schematic diagram of another scene of the area dot recognition method according to the above-mentioned preferred embodiment of the present invention.

FIG. 4 is a schematic diagram of another scene of the area dot recognition method according to the above-mentioned preferred embodiment of the present invention.

FIG. 5 is a schematic diagram of another scene of the area dot recognition method according to the above-mentioned preferred embodiment of the present invention.

Fig. 6 is a system schematic block diagram of an agricultural machinery management identification system according to the above preferred embodiment of the present invention.

Fig. 7A is a schematic diagram of a driving path of an agricultural machine obtained by the system of the agricultural machinery management identification system according to the above preferred embodiment of the present invention based on the planning of the farm operation area, wherein the agricultural machine is a rice transplanter.

Fig. 7B is a schematic diagram of a driving path of an agricultural machine obtained by the system of the agricultural machine management identification system according to the above-mentioned preferred embodiment of the present invention based on the planning of the farm work area, wherein the agricultural machine is a harvester.

detailed description

The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments in the following description are only examples, and those skilled in the art can think of other obvious variations. The basic principles of the present invention defined in the following description can be applied to other embodiments, modifications, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the present invention.

Those skilled in the art should understand that, in the disclosure of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", " The orientation or positional relationship indicated by "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention And to simplify the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, so the above terms should not be understood as limiting the present invention.

It can be understood that the term "a" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, while in other embodiments, The number can be multiple, and the term "one" cannot be understood as a restriction on the number.

As shown in FIGS. 1 to 6 of the accompanying drawings of the specification of the present invention, an area dot recognition method and agricultural machinery dot recognition system according to the first preferred embodiment of the present invention are explained in the following description. The area management method is suitable for identifying at least one work area 200 in the farmland 100 in a farmland 100, wherein the work area 200 of the farmland 100 recognized by the agricultural machinery management system is provided to a Agricultural machinery for the agricultural machinery to plan at least one travel path based on the work area 200. The area dot recognition method is to set at least four location information collection points 201 on the farmland 100 in a dot manner, and determine the work area 200 based on the positional relationship of the location information collection points 201. Preferably, in the first preferred embodiment of the present invention, the area dot recognition method is to identify at least four corners 202 of the farmland 100 by dotting, so as to determine the operation of the farmland 100 Area 200.

As shown in Fig. 1, the area dot recognition method includes the following steps:

(a) At least four location information collection points 201 are set on the border of the farmland 100 in a dotted manner;

(b) Determine at least four corners 202 of the farmland 100 based on the at least four location information collection points 201; and

(c) Connect the at least four corners 202 sequentially to identify the work area 200 of the farmland 100.

It is worth mentioning that in the first preferred embodiment of the present invention, the agricultural machinery dot recognition system recognizes that the shape of the work area 200 is formed based on the boundary of the farmland 100 through the dot recognition method. . Exemplarily, when the number of the location information collection points 201 is four, the shape of the work area 200 recognized by the dot recognition method is a quadrilateral. Therefore, the number of position information collection points 201 can be set according to the boundary shape of the farmland 100 to determine the number of the corners 202 of the farmland 100, and the farmland 100 can be identified based on the corners 202. The shape and scope of the work area 200. Correspondingly, the trilateral work area or the work area of other polygons can also be recognized through the area recognition method.

In the above-mentioned area dot recognition method, the position information collection point 201 is set on the border of the farmland 100 in a dotting manner, wherein the position information collection point 201 is used to determine the work area 200 of the farmland 100 The four corners 202. It is understandable that the location information point 201 is arranged on the border of the farmland 100 in a manner surrounding the periphery of the farmland 100 to pass the position of the location information collection point 201 or pass the location information collection point 201 extends to determine the corner 202 of the farmland 100.

Preferably, in the first preferred embodiment of the present invention, at least one of the location information collection points 201 is arranged in the corner 202 of each farmland 100 in a dotted manner. In other words, the area dot recognition method is to set the position information collection point 201 at the position of the corner 202 in a dotted manner, wherein the position information collection point 201 locates each of the farmland 100 Position information data of the corner 202. Optionally, the location information collection point 201 may also be set at other locations on the border of the farmland 100.

Exemplarily, at least one position information collection point 201 is arranged on each side line 203 of the farmland 100 in a dotted manner. At the straight line boundary of the farmland 100, two or more location information collection points 201 are set in a dotted manner, wherein the line of the location information collection points 201 can determine the boundary range of the farmland 100, Thus, the corner 202 of the farmland 100 is determined. The corner 202 of the farmland 100 is determined by the extension line of any two adjacent position information collection points 201.

It can be understood that, in the first preferred embodiment of the present invention, the manner of setting the location information collection point 201 is merely exemplary here, and not limited.

As shown in FIG. 2A and FIG. 2B, the first preferred embodiment of the area dot recognition method according to the above-mentioned preferred embodiment of the present invention is shown. The area dot recognition method is to determine the at least four corners 202 of the farmland by a display device 300, and determine the work area 200 based on the positions of the at least four corners 202.

In detail, before step (a), the method for identifying area dots further includes the step of acquiring at least one piece of map information of the farmland 100, wherein the map information correspondingly displays the area information of the farmland 100. The map information of the farmland 100 is displayed by the display device 300 and uniquely corresponds to the farmland 100. In other words, any point displayed on the virtual map displayed by the display device 300 uniquely corresponds to the position of a point of the farmland 100. Preferably, in the first preferred embodiment of the present invention, the display device 300 is a touch screen display device, wherein operating the display device 300 displays the virtual map corresponding to the farmland 100, and based on the display The device 300 sets the location information collection point 201 in the virtual map.

Correspondingly, after acquiring the virtual map information, the area dot recognition method further includes the following steps: operating the display device 300 to set the location information collection point 201 on the virtual map in a dot manner. Each location information collection point 201 in the virtual map uniquely corresponds to an information collection point at a corresponding location in the farmland 100. In other words, in the first preferred embodiment of the present invention, by operating the display device 300, the location information collection point 201 is set in the farmland 100 in the manner of dots on the virtual map of the display device 300.

It is worth mentioning that, by operating the display device 300, each of the location information points 201 obtained based on the dots on the virtual map has unique corresponding location data information. The location data information of the location information collection point 201 is acquired so as to determine the position of the corner 202 of the farmland 100 and to identify the boundary of the work area 200. Correspondingly, in the first preferred embodiment of the present invention, the step (b) of the area dot recognition method further includes the steps of: acquiring the location data information corresponding to the location information point 201, and based on the location The information data determines the position of the corner 202.

Preferably, in the first preferred embodiment of the area dot recognition method of the present invention, the display device 300 is operated, and the corner 202 corresponding to the farmland 100 is selected in the virtual map to dot The position information collection point 201 is set at each corner 202 of the farmland. In other words, in the display device 300, the location of the location information collection point 201 coincides with the corner 202 of the farmland 100. In the display device 300, each corner 202 of the farmland 100 is determined based on the location of the location information collection point 201. This corresponds to step (b) in the first preferred embodiment of the present invention.

In step (c) of the area dot recognition method of the present invention, the location information collection points 201 set in the virtual map of the display device 300 are sequentially connected to each other to form a closed closed area, wherein The closed area is the work area 200 of the farmland 100. The line formed by connecting any two adjacent position information collection points 201 on the virtual map displayed by the display device 300 corresponds to the line between the corresponding two corners 202 in the farmland 100 The edge 203 of the work area 200. The side lines 203 of the work area 200 are sequentially connected to the corners 202 to form a closed work area.

As shown in FIG. 2B, at least one location information collection point 201 is set in a dotted manner at each straight line boundary corresponding to the farmland 100 in the virtual map through the display device 300. Preferably, two or more position information collection points 201 are set in the virtual map at the straight line corresponding to the border of the farmland 100 in a dotted manner, for example, at both ends of the straight line at the border of the farmland. The location information collection points 201 are respectively set, wherein the line of the location information collection points 201 on the same boundary forms the edge 203 of the work area 200. It can be understood that the two adjacent edges 203 intersect to determine the corner 202. The location information data of the information collection point 201 set at the border of the farmland 100 is acquired to obtain the location information of the corner 202 and further the location area information of the work area 200 of the farmland 100.

Referring to FIG. 3 of the accompanying drawings of the specification of the present invention, the second preferred embodiment of the area dot recognition method according to the above-mentioned preferred embodiment of the present invention is explained in the following description. In the second preferred embodiment of the present invention, the area dot recognition method is to determine the corner 202 of the farmland 100 by dotting along the boundary line of the farmland through a position sensing device 204, Then the work area 200 of the farmland 100 is identified.

In detail, the operator carries the position sensing device 204 to walk around the boundary of the farmland 100, wherein the operator operates the position sensing device 204 to walk around the boundary of the work area of the farmland 100. The position sensing device 204 sets at least four position information collection points 201 in a dotted manner, and each of the position information collection points 201 records a piece of position information of a farmland boundary.

It is understandable that the position sensing device 204 is a sensor device with position measurement and information transmission functions, wherein the position sensing device 204 can be operated by an operator to measure the current location in the farmland. The position information of the position sensor 204 is described. The position sensing device 204 records or transmits the position information data at the position information collection point 201 to obtain the corner 202 of the farmland 100. Preferably, in the first preferred embodiment of the present invention, the position sensing device 204 is implemented as a remote control device with a position measurement function, wherein the operator carries the remote control device to walk along the border of the farmland 100 , And operate the remote control device to set at least four location information collection points 201 on the border of the farmland in the way of dots during walking, so as to determine the location of the farmland 100 according to the location data of the location information collection point 201 The position information of the corner 202 is described.

Further, based on the position information of the corner 202 of the farmland 100, the position information of the work area 200 of the farmland 100, the area information such as the workable range, the size of the boundary area, and the like are obtained.

Correspondingly, in the second preferred embodiment of the area dot recognition method of the foregoing preferred embodiment of the present invention, the step (a) of the foregoing method further includes the step of: being detected by the position sensing device 204 Carrying it while walking along the border of the farmland 100; and arranging the at least four position information collection points 201 on the border of the farmland in a dotted manner. It can be understood that the location information collection point 201 is set at the top corner of the farmland 100, or is set at the four periphery of the farmland 100 in a manner of surrounding the periphery of the farmland 100.

It is worth mentioning that in this preferred embodiment of the present invention, the position sensing device 204 is carried to the border of the farmland, and the position sensing device 204 collects and records the current position at a selected position. Data information. The position sensing device 204 collects and records data information at the selected position to realize the setting of the position information collection point 201, or the realization of the position information collection point 201 at the border of the farmland.

The step (b) of the above method further includes the following steps: recording and transmitting the location information data of the at least four location information collection points 201; and obtaining the data based on the location information data of the at least four location information collection points 201 Information data of the positions of the at least four corners 202 of the farmland 100. Similar to the first preferred embodiment described above, the four corners 202 are connected to form the work area 200 in the farmland 100 in a closed manner.

Referring to FIG. 4 of the accompanying drawings of the specification of the present invention, a third preferred embodiment of the area dot recognition method according to the above-mentioned preferred embodiment of the present invention is explained in the following description. In the second preferred embodiment of the present invention, the area dot recognition method is to determine the corner 202 of the farmland 100 by a vehicle 205 along the boundary line of the farmland by dotting, and then identify the location. The operation area 200 of the farmland 100 is described.

In detail, the vehicle 205 is driven to drive along the border of the farmland, and the at least four location information collection points 201 are set on the border of the farmland 100 in a dotted manner during the driving. The operator operates the vehicle 205 to walk around the boundary of the farmland 100 work area. The vehicle 205 sets at least four position information collection points 201 in a dotted manner, and each of the position information collection points 201 records a piece of position information of a farmland boundary. It is worth mentioning that in this preferred embodiment of the present invention, the vehicle 205 can be implemented as an agricultural vehicle, or as an automobile, an electric vehicle, an electric remote control vehicle, or other types of vehicles.

It is understandable that the vehicle 205 is a vehicle with position measurement and information transmission functions, wherein the vehicle 205 can be driven by an operator, and the current position information of the position sensor 204 is measured in the farmland . The vehicle 205 records or transmits the location information data at the location information collection point 201 for obtaining the corner 202 of the farmland 100. Preferably, in the first preferred embodiment of the present invention, the vehicle 205 is implemented as a remote control device with a position measurement function, wherein the operator carries the remote control device to walk along the border of the farmland 100 and During walking, the remote control device is operated to set at least four position information collection points 201 on the border of the farmland in a dotted manner, so as to determine the corners of the farmland 100 according to the position data of the position information collection point 201 202 location information.

Correspondingly, in the second preferred implementation of the area dot recognition method of the foregoing preferred embodiment of the present invention, the step (a) of the foregoing method further includes the step of: by driving the vehicle 205, and Walking along the border of the farmland 100; and arranging the at least four location information collection points 201 on the border of the farmland in a dotted manner. It can be understood that the location information collection point 201 is set at the top corner of the farmland 100, or is set at the four periphery of the farmland 100 in a manner of surrounding the periphery of the farmland 100.

Exemplarily, when the vehicle 205 travels along the border of the farmland, the location data information of the vehicle 205 or a location near the vehicle is collected and recorded based on any position on the border of the farmland 100. In the above-mentioned preferred embodiment of the present invention, the way of managing the vehicle 205 can be implemented as the vehicle 205 obtains geographic location data information at its own location, and transmits the obtained geographic location data information to the data processing unit , To obtain the position of the corner 202 of the farmland.

Referring to FIG. 5 of the accompanying drawings of the specification of the present invention, the fourth preferred embodiment of the area dot recognition method according to the above-mentioned preferred embodiment of the present invention is explained in the following description. In the second preferred embodiment of the present invention, the area dot recognition method is to use an airplane 206 to fly along the top of the farmland, and to determine the edge of the farmland 100 by dotting above the farmland. Corner 202, and then identify the work area 200 of the farmland 100.

In detail, the aircraft 206 is driven to fly along the border of the farmland, and the at least four location information collection points 201 are set on the border of the farmland 100 in a dotted manner during the flight. The operator operates the aircraft 206 to fly around the boundary of the farmland 100 operation area. The airplane 206 sets at least four position information collection points 201 in a dotted manner, and each of the position information collection points 201 records a piece of position information of a farmland boundary. Preferably, in this preferred embodiment of the present invention, the aircraft 206 can be implemented as an unmanned aircraft.

It is understandable that the aircraft 206 is a vehicle with position measurement and information transmission functions, wherein the aircraft 206 can be piloted by an operator, and the current position information of the position sensor 204 is measured in the farmland. . The aircraft 206 records or transmits the position information data at the position information collection point 201 for obtaining the corner 202 of the farmland 100. Preferably, in the first preferred embodiment of the present invention, the aircraft 206 is implemented as a remote control device with a position measurement function, wherein the operator carries the remote control device to walk along the border of the farmland 100 and During walking, the remote control device is operated to set at least four position information collection points 201 on the border of the farmland in a dotted manner, so as to determine the corners of the farmland 100 according to the position data of the position information collection point 201 202 location information.

Correspondingly, in the second preferred embodiment of the area dot recognition method of the foregoing preferred embodiment of the present invention, the step (a) of the foregoing method further includes the step of: being operated by the aircraft 206, and Flying along the border of the farmland 100; and arranging the at least four location information collection points 201 on the border of the farmland in a dotted manner. It can be understood that the location information collection point 201 is set at the top corner of the farmland 100, or is set at the four periphery of the farmland 100 in a manner of surrounding the periphery of the farmland 100.

Exemplarily, when the airplane 206 travels along the border of the farmland, the position data information of the airplane 206 or a location near the airplane is collected and recorded based on any position on the border of the farmland 100. In the above-mentioned preferred embodiment of the present invention, the way of managing the airplane 206 can be implemented as the airplane 206 obtains geographic location data information at its own location, and transmits the obtained geographic location data information to the data processing unit , To obtain the position of the corner 202 of the farmland.

As shown in FIG. 6, an agricultural machinery management system according to the first preferred embodiment of the present invention is explained in the following description. The agricultural machinery management system includes a management module 10, an area recognition module 20, and a path planning module 30. The dotting module 10 sets the at least four location information collection points 201 on the border of the farmland 100 and feeds back the location information data of each location information collection point 201 to the area identification module 20. The area recognition module 20 obtains the position information of the position information collection point 201 set by the dot module 10 to obtain at least four corners 202 of the farmland 100, and then recognizes the work in the farmland 100 Area 200. The path planning module 30 plans at least one operation route for the agricultural machine based on the type of the current agricultural machine, so that the agricultural machine can perform agricultural machine operations in the operation area 200 according to the operation route.

In detail, the dotting module 10 further includes a dot information collection module 11, a dot recording module 12, and an information feedback module 13, wherein the dot information collection module 11 sets the position information collection point 201 at the The border of farmland. The dot information collection module 11 collects the geographic data information of the location corresponding to the location information collection point 201, and the dot recording module 12 records the geographic data information of the location information collection point 201. The information feedback module 13 feeds back the geographic data information corresponding to each of the location information collection points 201 to the area identification module 20, so that the area identification module 20 can determine the location information corresponding to the location information collection point 201 State the geographic location of Farmland 100.

In the agricultural machinery dot recognition system of the present invention, the dot module 10 is implemented as the display device 300 in the first preferred embodiment of the area dot recognition method, wherein the display device 300 is completed in the farmland The setting of the location information collection point 201 and the collection of corresponding geographic location information. The dotting module 10 is implemented as the position sensing device 204 in the second preferred embodiment of the above-mentioned area dotting recognition method, wherein the position sensing device 204 is carried by the operator and runs along the farmland. Walk on the border of 100. The position sensing device 204 is operated to collect the geographic position information of the farmland boundary to realize position management. The dot module 10 is implemented as the vehicle 205 in the third preferred embodiment of the above-mentioned area dot recognition method, and as the aircraft 206 in the fourth preferred embodiment, wherein the vehicle and The airplane 206 can collect the geographic location information of the farmland boundary, and record and transmit the collected geographic location information.

The area identification module 20 obtains the location information corresponding to each corner of the farmland 100 based on the geographic location data information of the location information collection points 201 fed back by the management module 10, and then identifies the farmland 100的工作area 200. In detail, the area recognition module 20 further includes a dot position recognition module 21, a side angle recognition module 22, and a boundary recognition module 20. The dot position identification module 21 calculates the position of the farmland 100 and the position of each position information collection point 201 based on the geographic location data information of each position information collection point 201 fed back by the dot module 10. The corner confirmation module 22 obtains the position of each corner 202 in the farmland 100 according to the geographic location information of each of the location information collection points 201 fed back by the dotting module 10 for the boundary identification The module 20 recognizes the work area 200 in the farmland 100 based on the position information of each corner 202.

As shown in FIGS. 7A and 7B, the path planning module 30 plans at least one work path for the agricultural machine operation based on the type of the agricultural machine. As shown in FIG. 7A, exemplarily, when the type of the agricultural machine is a rice transplanter, a cultivator and other agricultural equipment, the path planning module 30 plans a "ji"-shaped operation route for the agricultural machine, where The agricultural machinery can perform agricultural machinery operations in the operating area 200 of the farmland 100 according to the operating route. As shown in FIG. 7B, when the type of the agricultural machine is a harvester or a plant protection machine or other agricultural equipment, the path planning module 30 preferably plans a "back" type operation route for the agricultural machine, wherein the agricultural machine The agricultural operation may be performed in the operation area 200 of the farmland 100 according to the operation route.

Those skilled in the art should understand that the above description and the embodiments of the present invention shown in the accompanying drawings are only examples and do not limit the present invention. The purpose of the present invention has been completely and effectively achieved. The functions and structural principles of the present invention have been shown and explained in the embodiments. Without departing from the principles, the embodiments of the present invention may have any deformation or modification.

Claims

An area dot recognition method, wherein the area dot recognition method includes the following steps:

(a) Set up at least four location information collection points on the border of a farmland by means of dots;

(b) Determine at least four corners of the farmland based on the at least four location information collection points; and

(c) Connecting the at least four corners in sequence to identify the work area of the farmland.
The area dot recognition method according to claim 1, wherein in the step (a), the location information collection points are arranged along the boundary corresponding to the farmland, wherein the location information collection points are distributed in the farmland Each said boundary.
The area dot recognition method according to claim 2, wherein in the step (a), at least one position information collection point is set at each of the corners of the farmland, and the position information collection point is used to determine The position of each corner.
The area dot recognition method according to claim 2, wherein in the step (a), at least one position information collection point is set on each side line of the farmland boundary, and the position information collection point is obtained through adjacent side lines. Points determine the location of each of the boundaries.
The area dot recognition method according to claim 3, wherein in the step (a), a display device is operated, and the position information collection point corresponding to the farmland is set on the display device in a dot manner .
The area dot recognition method according to claim 4, wherein in the step (a), a display device is operated, and the position information collection point corresponding to the farmland is set on the display device in a dot manner .
The area dot recognition method according to claim 5, wherein before the step (a), the area dot recognition method further comprises the step of: acquiring at least one virtual map of the farmland, wherein the virtual map is displayed correspondingly Output the regional information of the farmland.
The area dot recognition method according to claim 6, wherein before the step (a), the area dot recognition method further comprises the step of: acquiring at least one virtual map of the farmland, wherein the virtual map is displayed correspondingly Output the regional information of the farmland.
8. The area dot recognition method according to claim 8, wherein in the above method, a display device is operated to set the location information collection point on the virtual map in a dot method.
The area dot recognition method according to claim 3, wherein in the step (a), a position sensing device is carried along the border of the farmland by a position sensing device, and the position information of the border of the farmland is recorded to Setting the location information collection point at the farmland boundary.
The area dot recognition method according to claim 4, wherein in the step (a), a position sensing device is carried along the border of the farmland by a position sensing device, and the position information of the border of the farmland is recorded to Setting the location information collection point at the farmland boundary.
The area dot recognition method according to claim 3, wherein in the step (a), a vehicle is operated to walk along the border of the farmland, and the position information of the border of the farmland is recorded to set the The location information collection point is at the farmland boundary.
The area dot recognition method according to claim 4, wherein in the step (a), a vehicle is operated to walk along the border of the farmland and record the position information of the border of the farmland to set the The location information collection point is at the farmland boundary.
The area dot recognition method according to claim 3, wherein in the step (a), an airplane is operated to walk along the border of the farmland and record the position information of the farmland border to set the The location information collection point is at the farmland boundary.
The area dot recognition method according to claim 4, wherein in the step (a), an airplane is operated to walk along the border of the farmland and record the position information of the border of the farmland to set the The location information collection point is at the farmland boundary.
The area dot identification method according to claim 6, wherein said step (b) further comprises the steps of: obtaining location data information corresponding to said location information point, and determining the geographic location of said corner based on said location information data. Location data.
The area dot identification method according to claim 11, wherein said step (b) further comprises the steps of: obtaining location data information corresponding to said location information point, and determining the geographic location of said corner based on said location information data. Location data.
The area dot identification method according to claim 13, wherein said step (b) further comprises the steps of: obtaining location data information corresponding to said location information point, and determining the geographic location of said corner based on said location information data. Location data.
The area dot identification method according to claim 14, wherein said step (b) further comprises the steps of: obtaining location data information corresponding to said location information point, and determining the geographic location of said corner based on said location information data. Location data.
The area dot recognition method according to claim 16, wherein the step (c) further comprises the step of: sequentially connecting the adjacent corners to form a closed closed area to determine the work of the work area range.
The area dot recognition method according to claim 17, wherein the step (c) further comprises the step of: sequentially connecting the adjacent corners to form a closed closed area to determine the work of the work area range.
The area dot recognition method according to claim 18, wherein the step (c) further comprises the step of: sequentially connecting the adjacent corners to form a closed closed area to determine the work of the work area range.
The area dot recognition method according to claim 19, wherein the step (c) further comprises the step of: sequentially connecting the adjacent corners to form a closed closed area to determine the work of the work area range.
An agricultural machinery management system, characterized in that it includes:

A dotting module, wherein the dotting module sets at least four location information collection points on the border of a farmland in a dotted manner to record the position of the work area in the farmland; and

An area recognition module, wherein the area recognition module recognizes at least four corners of the farmland based on each of the geographic location information, and recognizes a work area of the farmland based on the positions of the corners of the farmland .
The agricultural machinery management system according to claim 24, wherein the management module further comprises a management information collection module, a management recording module, and an information feedback module, wherein the management information collection module collects geographic location information of the management location , Wherein the dot recording module records the geographic location information, and the information feedback module transmits the geographic position information of each dot location to the area identification module.
The agricultural machinery management system according to claim 25, wherein the area recognition module further comprises a dot position recognition module and a boundary recognition module, wherein the dot position recognition module is based on the dot position information fed back by the dot module The position of the dot is recognized, wherein the boundary recognition module recognizes and plans the operation area of the farmland based on the position information of the dot.
The agricultural machinery management system according to claim 24, wherein the agricultural machinery management system further comprises a path planning module, wherein the path planning module plans at least one agricultural machinery based on the work area identified by the area recognition module The operating route for the agricultural machinery to operate in the operating area according to the operating route.
The agricultural machinery management system according to claim 25, wherein the agricultural machinery management system further comprises a path planning module, wherein the path planning module plans at least one agricultural machinery based on the work area identified by the area recognition module The operating route for the agricultural machinery to operate in the operating area according to the operating route.
The agricultural machinery management system according to claim 26, wherein the agricultural machinery management system further comprises a path planning module, wherein the path planning module plans at least one agricultural machinery based on the work area identified by the area recognition module The operating route for the agricultural machinery to operate in the operating area according to the operating route.