WO2022116935A1

WO2022116935A1 - Path range determination method and apparatus, and path planning method and apparatus

Info

Publication number: WO2022116935A1
Application number: PCT/CN2021/133953
Authority: WO
Inventors: 吴泽龙; 郑立强
Original assignee: 广州极飞科技股份有限公司
Priority date: 2020-12-03
Filing date: 2021-11-29
Publication date: 2022-06-09

Abstract

A path range determination method, comprising: when a land flatness within the current operation range meets a set condition, updating the current operation range, so as to obtain a target operation range within which the land flatness does not meet the set condition, wherein the set condition comprises the land flatness within the current operation range being less than or equal to a desired flatness of a target plot of operation land. Comparing the present application with the prior art, a ground leveling path range can be adjusted in real time, such that a determined target operation range includes an area to be leveled, thereby reducing the risk of the leveling of a target plot of operation land being repeated or missed, preventing a ground leveling device from doing pointless work in an area which does not need to be leveled, and improving the ground leveling operation efficiency.

Description

Path range determination method and device, path planning method and device

technical field

The present application relates to the technical field of path determination of operating equipment, and in particular, to a path range determination method and device, and a path planning method and device.

Background of the Invention

Land leveling is an important part of land development management and farmland water resources management. It often requires mechanical equipment to level the inclined, uneven ground into a level or a ground with a certain slope. The main purpose of land leveling is to facilitate farming, sowing and irrigation. , drainage, fertilization, spraying and harvesting operations can promote the intensive use of land and large-scale management; it can facilitate mechanized farming, improve agricultural production conditions, and speed up the modernization process of agriculture.

At present, when users drive a grader to perform leveling work, they often can only estimate the area that needs to be operated based on observations. The estimated area is a fixed area, and the leveling equipment can only perform leveling operations in a fixed area. When the estimated leveling range is unreasonable, leakage and re-leveling are likely to occur, and the expected leveling effect cannot be achieved.

Therefore, how to adjust the planned route area reasonably and improve the efficiency is a technical problem that needs to be solved.

SUMMARY OF THE INVENTION

In view of this, the present application provides a path range determination method and device, and a path planning method and device. The present application can adjust the leveling path range in real time, avoid the phenomenon of missing leveling or double leveling, and improve the leveling efficiency.

In a first aspect, the present application provides a method for determining a path range, the method comprising: when the flatness of a plot in the current operating range satisfies a set condition, updating the current operating range to obtain a plot whose flatness does not meet all requirements. The target operation range of the set conditions; wherein, the set conditions include that the flatness of the plot in the current operation range is less than or equal to the expected flatness of the target operation plot; the current operation range and the target The work scopes are all located in the target work plots.

In a second aspect, the present application provides a path planning method, the method comprising: determining a target operation scope according to the land flatness of the target operation area; the land flatness of the target operation area does not meet a set condition; wherein , the setting conditions include that the flatness of the target operating area is less than or equal to the expected flatness of the target operating area; determining a target flat path within the target operating area, and the target flat path is used for The work equipment is guided to perform leveling work within the target work range.

In a third aspect, the present application provides a path range determination device, the device comprising: an update module configured to update the current operation range when the flatness of the plot in the current operation range meets a set condition, so as to obtain the flatness of the plot The target operation range whose degree does not meet the set condition; wherein, the set condition includes that the flatness of the plot in the current operation range is less than or equal to the expected flatness of the target operation plot; the current operation range and the target operation range are located in the target operation plot.

In a fourth aspect, the present application provides a path planning device, the device comprising: a determination module configured to determine a target operation range according to the land flatness of the target operation area; the land flatness of the target operation area does not meet the required setting conditions; wherein, the setting conditions include that the flatness of the target operation area is less than or equal to the expected flatness of the target operation area; determining the target level path within the target operation area, the target The leveling path is used to guide the work equipment to perform leveling work within the target work range.

In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the method in any one of the foregoing embodiments.

In a sixth aspect, an embodiment of the present application provides a work equipment control unit, including a processor and a memory, the memory stores machine-readable instructions, and the processor is configured to execute the machine-readable instructions to implement the method in any one of the foregoing embodiments .

In a seventh aspect, an embodiment of the present application provides a work equipment, including: a body; a power device installed on the body to provide power for the work equipment; and a work equipment control unit; the work equipment control unit includes a processor and a memory, and the memory Machine-readable instructions are stored for execution by the processor to implement the method of any of the preceding embodiments.

Compared with the prior art, any of the above technical solutions of the present application can at least achieve the following technical effects.

In the present application, the flatness of the plot satisfies the set condition, that is, the current operating range that meets the flatness requirement is updated, so that the plot flatness of the updated target operating range does not meet the flatness requirement. Compared with the control in the related art The way that leveling equipment (also known as work equipment) performs repeated leveling operations in a fixed area can solve the problem that the leveling equipment is prone to heavy leveling due to repeated leveling operations within a fixed range, and it is easy to appear because other areas are not leveled. The problem of leakage and leveling can be avoided, thereby avoiding useless operations and missed operations on the leveling equipment. In addition, it can be seen from the description of any one of the above solutions in this application that the leveling equipment is required to level the target operating range only when the target operating range can be updated. Therefore, when the target operating range cannot be updated, it can be understood that If the flatness of the entire target operation plot has met the requirements and does not need to be flattened, the leveling equipment does not need to perform the leveling operation. Therefore, the application can also avoid the useless operation of controlling the leveling equipment to enter the plot that has met the requirements of the flatness of the plot. Conducive to improving the efficiency of agricultural operations.

Compared with the prior art, the present application has the following beneficial effects. In a path generation method provided by the present application, when generating a leveling path of a grader, the plot boundary of an operation plot is first indented into a reliable boundary, and then a plurality of candidate paths of the operation plot are processed according to the reliable boundary , obtain at least one alternate path of the grader on the plot to be operated, and each alternate path is within the reliable boundary; then calculate the work efficiency of each alternate path through all discrete points corresponding to each alternate path, and calculate the work efficiency from Find the optimal flat path among multiple candidate paths. Compared with the prior art, the present application determines the leveling path by calculating the working efficiency of each alternate path, so that when the grader works according to the leveling path, the optimal land leveling efficiency can be achieved and has good practicability.

In the embodiment of the present application, when the work equipment is located in the dead zone, the path parameters of the work equipment are updated, and then the escape path of the work equipment can be determined according to the updated path parameters, wherein the end point of the escape path is outside the dead zone. Since the end point of the escape path is located outside the dead zone, the working equipment can move out of the dead zone by moving along the escape path. Therefore, the embodiments of the present application can achieve the beneficial effect of effectively removing the working equipment from the dead zone.

Brief Description of Drawings

FIG. 1 is a schematic flowchart of a method for determining a path range on flat ground provided by an embodiment of the present application.

FIG. 2 shows an implementation of 104 in FIG. 1 .

FIG. 3 shows an implementation of 104-1 in FIG. 2 .

FIG. 4 is a schematic flowchart of a method for determining a path range on flat ground provided by another embodiment of the present application.

FIG. 5A is a schematic diagram of the current working range of the sector provided by an embodiment of the present application.

FIG. 5B is a schematic diagram of a circular current working range provided by an embodiment of the present application.

FIG. 6 is a schematic flowchart of a method for planning a path on flat ground provided by an embodiment of the present application.

FIG. 7 shows an implementation of 202 in FIG. 6 .

FIG. 8 shows an implementation of 202-1 in FIG. 7 .

FIG. 9 is a schematic diagram of a scenario for generating a candidate path according to an embodiment of the present application.

FIG. 10 is a schematic diagram of an arc candidate path according to an embodiment of the present application.

FIG. 11 shows an implementation of 202-2 in FIG. 7 .

FIG. 12 is a schematic diagram of processing candidate paths according to an embodiment of the present application.

FIG. 13 shows a schematic flowchart of a method for generating a flat path provided by an embodiment of the present application.

FIG. 14 shows an example diagram of a reliable boundary provided by an embodiment of the present application.

FIG. 15 shows an example diagram of an alternate path provided by an embodiment of the present application.

FIG. 16 is a schematic flowchart of step S105 in the method for generating a flat path shown in FIG. 13 .

FIG. 17 is a schematic flowchart of sub-step S1053 in step S105 shown in FIG. 16 .

FIG. 18 shows an example diagram of a discrete work area provided by an embodiment of the present application.

FIG. 19 is a schematic flowchart of sub-step S1054 in step S105 shown in FIG. 16 .

FIG. 20 shows an example diagram of the height of the discrete work area provided by the embodiment of the present application.

FIG. 21 shows a schematic flowchart of a method for generating a flat path provided by another embodiment of the present application.

FIG. 22 shows a schematic flowchart of a method for generating a flat path provided by another embodiment of the present application.

FIG. 23 is a structural block diagram of a work equipment control unit provided by an embodiment of the present application.

FIG. 24 shows a structural block diagram of the working equipment provided by the embodiment of the present application.

FIG. 25 shows a flowchart of a method for planning a path out of a dead zone provided by an embodiment of the present application.

FIG. 26 is a schematic diagram 1 of an application scenario of the path planning method for leaving the dead zone provided by the embodiment of the present application.

FIG. 27 is a schematic diagram 2 of an application scenario of the path planning method for leaving the dead zone provided by the embodiment of the present application.

FIG. 28 is a schematic diagram 3 of an application scenario of the path planning method for leaving the dead zone provided by the embodiment of the present application.

FIG. 29 shows a flowchart of a method for planning a path out of a dead zone provided by another embodiment of the present application.

FIG. 30 is a schematic diagram 4 of an application scenario of the path planning method for leaving the dead zone provided by the embodiment of the present application.

FIG. 31 is a schematic diagram 5 of an application scenario of the path planning method for leaving the dead zone provided by the embodiment of the present application.

FIG. 32 is a specific flowchart of S220 of the method shown in FIG. 25 .

FIG. 33 is a schematic diagram 6 of an application scenario of the path planning method for leaving the dead zone provided by the embodiment of the present application.

FIG. 34 is a functional block diagram of an apparatus for determining a path range provided by an embodiment of the present application.

FIG. 35 is a functional block diagram of a path planning apparatus provided by an embodiment of the present application.

FIG. 36 is a structural block diagram of a work equipment control unit according to an embodiment of the present application.

MODES OF IMPLEMENTING THE INVENTION

In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of the present application, but not all of the embodiments. The components of the embodiments of the present application generally described and illustrated in the drawings herein may be arranged and designed in a variety of different configurations.

Thus, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the application as claimed, but is merely representative of selected embodiments of the application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

The main purpose of farmland leveling is to facilitate operations such as farming, sowing, irrigation, drainage, fertilization, spraying and harvesting. Through leveling, the farmland land is more suitable for farming, which can improve the topography of the farmland surface and improve farmland irrigation efficiency and irrigation uniformity. , to achieve the effect of saving water and increasing production. In the previous leveling process, before driving the leveling equipment (also known as work equipment) for leveling work, the leveling operator often could only estimate the area that needs to be leveled by observation, and then plan the leveling path in the estimated area. , the leveling equipment starts to perform leveling operations within the estimated fixed range area according to the planned path.

However, the above method has the following drawbacks. On the one hand, due to lack of experience, the flatness of the land in the estimated fixed area may have reached the leveling requirements, but the leveling operator still performs the leveling operation within the fixed area, and the phenomenon of repeated leveling occurs. On the other hand, there is an area to be leveled outside the fixed range, but the leveling operator only performs the leveling operation within the fixed range, and the phenomenon of level leakage occurs. Due to the problem of heavy leveling or leakage leveling, the leveling equipment may be in a state of useless work all the time during the operation, which reduces the leveling efficiency.

In order to solve the above technical problems, an embodiment of the present application proposes a method for determining a path range for leveling (also known as a method for determining a path range), which can adjust the current operating range of the leveling equipment in real time. When the degree of flatness meets the set conditions, it indicates that leveling is not required in the current operating range, which reduces the risk of re-leveling. At this time, the current operating range is expanded so that the flatness of the plots in the adjusted range does not meet the set conditions, and it is considered that The adjusted current operation range includes the area to be leveled, and the current operation area at this time is used as the target operation area. When the target operation area is leveled, the area to be leveled can be leveled, reducing the risk of leakage. In particular, during the adjustment process, if the flatness of the plot in the current operating range has always met the set conditions, it means that the entire target operating plot does not need to be flattened, and it can be avoided to control the entry of the leveling equipment to meet the flatness requirements of the plot. The useless operation of the land is conducive to improving the efficiency of agricultural operations.

In order to facilitate the understanding of the implementation process of the method for determining the range of a flat path provided by the embodiment of the present application, an example is described below with reference to FIG. 1 . FIG. 1 is a schematic flowchart of a method for determining a path range on flat ground provided by an embodiment of the present application. As shown in FIG. 1 , the method for determining a path range on flat ground provided by this embodiment of the present application includes the following steps.

104. When the flatness of the plot in the current operating range meets the set condition, update the current operating range to obtain a target operating range whose flatness of the plot does not meet the set condition. Wherein, the setting condition includes that the flatness of the plot in the current operating range is less than or equal to the expected flatness of the target operating plot.

In the embodiment of the present application, the flatness of the plot represents the degree of unevenness of the target operation plot, reflects the fluctuation of the surface of the target operation plot, and is an index for optimizing and estimating the quality of farmland cultivation. In order to achieve the effect of land leveling, different plots have different requirements for the flatness of the plots, which can be understood as the expected flatness of the plots for different operation requirements can be different. For example, the flatness of the farmland that needs to be irrigated must be at least 3 cm, that is, the height difference of the land cannot exceed 3 cm; the flatness of some rough farmland for planting crops can reach 5 cm. It can be seen from this that the expected flatness can be set according to the operation requirements or according to the experiment.

In addition, the flatness of the target operation plot can be obtained by processing the images surveyed and mapped by the UAV, or obtained by other methods in the related art that can achieve the flatness of the terrain plot, which is not limited in the embodiments of the present application. .

In this embodiment of the present application, the target operation range refers to a range obtained during the process of updating the current operation range and including at least one area to be leveled in the target operation plot. The determined target operation range can be used to plan a leveling path; the leveling path is used to guide the leveling equipment to level the area to be leveled within the target operation range.

It can be understood that when the flatness of the plot in the target operation area does not meet the set conditions, that is, the flatness of the plot in the target operation area is greater than the expected flatness, it indicates that the target operation area includes the area to be leveled, so that the target operation area is The flatness of the land becomes worse, which means that the land within the current scope of operation after expansion needs to be flattened.

In the embodiment of the present application, the target operation scope is the scope that does not exceed the target operation plot. It can be understood that both the current operation scope and the target operation scope are located in the target operation plot.

Therefore, in order to reduce the risk of re-leveling or leakage of the target operation plot and improve the efficiency of leveling, the present application firstly adjusts the current operation range in real time according to the plot flatness of the target operation plot. If the flatness satisfies the set conditions, it means that leveling is not required in the current operating range, which reduces the risk of re-leveling. At this time, the current operating range is expanded so that the flatness of the plots in the adjusted range does not meet the set conditions, then it is considered that The adjusted current operation range includes the area to be leveled, and the current operation area at this time is used as the target operation area. When the target operation area is leveled, the area to be leveled can be leveled, reducing the risk of leakage. In particular, during the adjustment process, if the flatness of the plot in the current operating range has always met the set conditions, it means that the entire target operating plot does not need to be flattened, and it can be avoided to control the entry of the leveling equipment to meet the flatness requirements of the plot. The useless operation of the land is conducive to improving the efficiency of agricultural operations.

Based on the above description, it can be seen that a reasonable target operation scope can be determined by evaluating the flatness of the plot, and the path planning within the target operation scope can complete the required land leveling in the area to be leveled. Based on this, in order to improve the accuracy of obtaining the target operating range and make the determined target operating range more reasonable, an implementation method for determining the target operating range according to the flatness of the plot is given below, see FIG. 2 . FIG. 2 shows an implementation of 104 in FIG. 1 . Specifically, 104 includes the following steps.

104-1, according to the parcel elevation information of the current operation range and the average height value of the target operation parcel, determine the flatness of the parcel in the current operation range.

In the embodiment of the present application, the flatness of the plot represents the degree of unevenness of the target operation plot, and reflects the height difference of the target operation plot's surface. Therefore, the ground of the current operation scope can be determined according to the elevation information of the current operation scope. Block flatness.

The elevation information corresponding to the current operating range can be obtained by any technology such as global positioning technology GPS (Global Positioning System, GPS), digital surface model DSM (Digital Surface Model, DSM) technology, which is not limited here.

In the process of obtaining the elevation information corresponding to the current operation scope, the elevation information corresponding to the target operation plot where the current operation scope is located may be recorded. This can be understood as: the elevation information of the entire target operation plot can be obtained through GPS technology, DSM technology or other related technologies, and then the current operation range can be determined from the target operation plot based on the current position and turning radius of the leveling equipment. , and obtain the obtained elevation information corresponding to the current operation range from the elevation information of the target operation plot.

Then, in the subsequent process of expanding the current operation range, the elevation information corresponding to the enlarged area can be obtained from the elevation information of the target operation plot, thereby facilitating the subsequent calculation of the flatness of the plot in the expanded current operation scope. operate.

104-2. When the determined land flatness of the current operation scope meets the set conditions, expand the current operation scope until the expanded target operation scope does not meet the set conditions; or, when it is determined When the flatness of the plot in the current operating range satisfies the set condition, the current operating range is translated until the flatness of the plot in the target operating range obtained by the translation does not meet the set condition.

That is to say, 104-2 can be understood as: when the flatness of the plot in the current operating range satisfies the set condition, the current operating range is expanded and/or shifted until the obtained flatness of the plot in the target operating range does not satisfy the set condition. Set conditions.

In a possible scenario, when the flatness of the plot in the current operation scope is less than or equal to the expected flatness, the land representing the current operation scope no longer needs to be leveled, and the current operation scope can continue to be expanded. When the flatness of the plot corresponding to the enlarged current operating range is greater than the expected flatness, it means that the enlarged current operating range includes the area to be flattened in the plot, so that the flatness of the plot in the enlarged current operating range becomes Poor, that is, greater than the expected flatness, at this time, it means that the land within the expanded current operating range needs to be leveled. Therefore, a path can be planned within the expanded current operation range (ie, the obtained target operation range), and the area to be leveled can be leveled, so that the leveling operation can achieve the expected operation effect.

In another possible scenario, when the flatness of the plot in the current operating range is less than or equal to the expected flatness, in order to obtain the target operating range, the current operating range can be translated until the land in the target operating range obtained by translation is flat. does not meet the set conditions. In a possible implementation: the current operating range can be divided into a plurality of fan-shaped areas with the center point of the current operating range, and then, along the direction extending outwards from the radius, translate a preset distance until the land of the target operating range obtained by translation is flat. does not meet the set conditions.

In addition, if the expanded current operation area exceeds the target operation area, and the flatness of the expanded current operation area still meets the set conditions, it means that the entire target operation area does not need to be leveled, which can avoid the need for leveling equipment to Useless work is carried out on the plots that have already met the requirements for the flatness of the plots.

In order to improve the accuracy of the obtained land flatness and make the target operation range determined according to the land flatness more reasonable, a possible implementation method of obtaining the land flatness according to the elevation information is given below, see Figure 3. FIG. 3 is a schematic flowchart of an implementation manner of step 104-1 provided by an embodiment of the present application. That is, 104-1 includes the following steps.

104-1-1. Acquire the elevation values of multiple sampling locations within the current operating range (that is, the respective elevation values of multiple sampling locations).

In the embodiment of the present application, in order to obtain the respective elevation values of the multiple sampling positions corresponding to the current operation area, the current operation area may be preprocessed. For example, in order to conveniently and accurately evaluate the land flatness of the entire operation plot, the minimum peripheral area including the current operation range can be obtained in advance, and then multiple measurement positions are randomly determined in the minimum peripheral area and obtained. For the respective elevation values, the above-mentioned minimum peripheral area can be any one of the circumscribed quadrilateral, circumscribed arc, etc. of the current operating range. Optionally, in practical applications, the minimum circumscribed rectangle may be used to determine the minimum circumscribed area, thereby optimizing the entire calculation process and saving calculation time.

Since the minimum peripheral area of the initial area includes not only the flatness of the plots within the current operating range, but also part of the flatness of the plots outside the current operating range, the target can be fully considered when adjusting the current operating range. The flatness of other areas of the operation plot enables the initial area to gradually include the area to be flattened during the expansion process, thereby making the determined target operation range more reasonable.

104-1-2. Determine the flatness of the plot according to the elevation values of the multiple sampling locations and the average height value of the target operation plot. That is, the flatness of the plot in the current operating range is determined according to the respective elevation values of the multiple sampling locations and the average height value of the target operating plot.

For example, assuming that M measurement positions are randomly obtained, the elevation values corresponding to these M measurement positions can be expressed as h _j , j=1, 2, 3...M, and h _j represents the jth The elevation value corresponding to the measurement location. Wherein, the reference height (such as the average height value) of the entire plot is H, and the flatness of the plot corresponding to the current operation range can be calculated by methods such as the average flatness of the plot, or the flatness of the worst plot. For example, in the scenario of the example, when the user expects to evaluate the overall leveling effect of the target operation plot, the average parcel levelness can be calculated; when the user expects to evaluate the worst effect of the parcel leveling among the target operation parcels, it can be calculated Worst plot flatness.

The formula for calculating the average land flatness can be shown in the following relation.

The calculation formula of the worst land flatness can be shown in the following relation.

Among them, M represents the number of measurement locations, MH represents the worst land flatness or average land flatness, h _j represents the elevation value corresponding to the jth measurement location, and H represents the target The average height value of the job plot.

Through the above process, the flatness of the plot in the current operating range can be accurately obtained, and then the current operating range can be adjusted according to the flatness of the plot in the current operating range, so that the flatness of the plot corresponding to the adjusted target operating range is gradually larger than the target operating plot. The desired leveling even if the adjusted target work area includes the area to be leveled in the target work lot. The leveling equipment can then complete the leveling operation of the area to be leveled within the target operation range, so that the target operation plot can meet the desired leveling requirements.

Optionally, in some possible embodiments, the current working range in the above-mentioned embodiment may be the initial working range of the leveling equipment when the current operation starts, or the initial working range of the leveling equipment in the current operation. The target job scope after update processing. Wherein, the shape of the current working range can be one of polygon, circle and sector. In order to be able to use a unified update rule to adjust the current job scope, a scope parameter used to measure the current job scope can be determined according to the shape of the current job scope. When the current job scope is the initial job scope, a possible implementation manner of determining the scope parameter of the current job scope is given below. It can be understood that a way to obtain the initial operating range is given, see FIG. 4 . FIG. 4 shows a schematic flowchart of a method for determining a flat path range provided by another embodiment of the present application, and the method includes the following steps.

101. Determine the range parameter of the current working range according to the current position of the leveling equipment and the turning radius of the leveling equipment.

Wherein, when the shape of the current operation scope is a polygon, the scope parameter includes the minimum length and the minimum width, or the scope parameter includes the minimum inscribed circle radius of the initial operation scope. The minimum length and the minimum working width (also known as the minimum width) are both greater than or equal to the turning diameter of the leveling equipment, and the minimum inscribed circle radius is greater than or equal to the turning diameter of the leveling equipment.

When the shape of the current operating range is a circle or a sector, the range parameter includes a radius, which is greater than or equal to the turning diameter of the grade equipment.

Thus, through the step 101, the initial operating range can be determined directly based on the current position and turning radius of the leveling equipment, independent of the user's operation, so that the obtained initial operating range can meet the requirements of flexible folding of the leveling equipment.

In some embodiments, the initial work range may be a current work range randomly estimated by the graders in the target work plot before planning the grader path according to the actual work scenario. However, because some graders have The relationship between the initial operating range and the equipment parameters of the leveling equipment may not be understood, so that the estimated initial operating range is too small to meet the flexible folding requirements of the leveling equipment. Therefore, in order to at least solve this technical problem, in some embodiments, the computing device that executes the method for determining the range of a leveling path in the embodiments of the present application may also perform a calculation on the initial working range estimated by the leveling operator based on the equipment parameters of the leveling equipment. auto-adjust. The equipment parameters may include, but are not limited to, the current position of the leveling equipment and the turning radius of the leveling equipment. Correspondingly, based on the equipment parameters of the leveling equipment, the initial operating range estimated by the leveling operator is automatically adjusted, including: adjusting the initial operating range according to the turning radius of the leveling equipment, or the current position and turning radius, so that the final initial operating range is obtained. The working range can meet the needs of flexible folding of the leveling equipment.

It can be seen from the above that the initial operating range obtained by human estimation may not meet the requirements for flexible folding of the leveling equipment. Therefore, in order to realize the initial operating range determined for the first time, the requirements for flexible folding of the leveling equipment can be satisfied. In the embodiment, through step 101, the initial operating range may not be determined by the leveling worker, but automatically determined by the computing device that executes the method for determining the leveling path range in the embodiment of the present application, without relying on human operation, and avoiding the initial operation caused by manual estimation. The determination of the working range is not accurate, and the phenomenon that the flexible operation of the leveling equipment cannot be satisfied occurs.

In some possible embodiments, when the leveling equipment operates on the target operation plot, it is often desirable to be able to flexibly turn back to complete the leveling of the entire plot. Therefore, in order to be able to plan the leveling equipment in the current operating scope, the flexible folding mechanism can be planned. For the path, for the current working range in the shape of a polygon, its minimum width and minimum length can be set to be greater than or equal to the minimum turning diameter of the grade equipment; and for the current working range in the shape of a circle or a sector, its range parameter can be a radius , and in order to ensure that the leveling equipment can be flexibly turned back within a fan-shaped or circular range, the radius can be set to be greater than or equal to the minimum turning diameter of the leveling equipment. Assuming that the minimum turning radius of the ground equipment is estimated to be TR, the radius r≥2TR. In addition, for the current working range in the shape of a sector, the range parameter of the current working range may further include the center angle. Generally speaking, the center angle may be a positive integer less than or equal to 360 degrees.

The turning radius in the above may be the minimum turning radius of the grade equipment.

Optionally, in an actual leveling scene, different shapes of current working ranges can be planned according to the working properties of different leveling equipment. Combined with the actual operation scenarios, the current operation range adjustment schemes for the two scenarios are introduced below.

scene one

Please refer to FIG. 5A . FIG. 5A is a schematic diagram of the current operating range of the sector provided by an embodiment of the present application. When the shape of the current work range is a sector, the range parameter of the work range not only includes the radius, but also includes the central angle, where the central angle is a positive integer less than 360 degrees. Based on this, a method for updating the target operation scope by expanding the current operation scope is given below, that is, a possible method of step 104-2 includes the following steps.

104-2a. Expand the radius and central angle of the current operating range according to preset rules.

In this embodiment of the present application, the preset rule may be one of an addition rule, a multiplication rule, and an exponential rule, or a combination of at least two of them. The following takes the application of one of the addition rule, the multiplication rule, and the exponential rule as an example to introduce the adjustment method of the sector operation range.

For example, suppose that the center angle of the current operating range of the sector is θ (0<θ<2π), the length of the radius is r, the expected flatness is H ^* , the flatness of the plot corresponding to the current operating range of the sector is MH, and the updated The radius of the target operating range is r ^* .

Addition rule: Let Δr be the incremental value of the radius, Δr>0, Δr is greater than or equal to the width of the shovel of the leveling equipment, the radius of the current working range of the sector can be expanded according to the following relationship.

Multiplication rule: let l be the incremental value of the radius, l>1, the radius of the current working range of the sector can be expanded according to the following relational formula.

Exponential rule: Let s be the incremental value of the radius, s>1, the radius length of the current operating range of the sector can be expanded according to the following relational formula.

While expanding the radius, the center angle can also be appropriately increased. For example, the angle can be expanded according to the following relationship, where θ ^* is the updated arc angle value,

to set an upper bound.

When the radius length of the current working range of the sector does not change any more, the target working range can be determined according to the determined radius length and the center angle. The state that the radius of the current operating range of the sector does not change can be triggered by the following event: the flatness of the plot corresponding to the current operating range of the enlarged sector is greater than the expected flatness, which indicates that the enlarged current operating range is within the The flatness of the land becomes worse, and the area includes the area to be flattened. Therefore, the radius of the current operating area that can trigger the sector will no longer change.

scene two

Please refer to FIG. 5B . FIG. 5B is a schematic diagram of a circular current working range provided by an embodiment of the present application. When the shape of the current work range is a circle, the range parameter of the current work range contains the radius. Based on this, an implementation manner of expanding the scope of the current operation is given below, that is, another possible manner of step 104-2 includes the following steps.

104-2b. Expand the radius of the current operating range according to a preset rule.

When the current operating range is a circle, it can be known that the center angle is a fixed value θ (θ=2π). At this time, the radius can be expanded according to the addition rule, multiplication rule or exponential rule in scene 1. At this time, there is no need to adjust the center angle. When the radius length of the current working range of the circle no longer changes, the target working range can be determined according to the determined radius length and the center angle of the circle. Wherein, the state that the radius length of the current working range of the circle no longer changes may be triggered by the following event: the flatness of the plot corresponding to the current working range of the enlarged circle is greater than the expected smoothness.

The above addition rule, multiplication rule and exponent rule are only the implementation manners used for example in the embodiments of the present application, and their main function is to adjust the radius length, so that the adjusted radius length corresponds to the land flatness of the current operating range. Greater than the desired flatness of the target work plot to obtain a target work area that can be graded by the grading equipment.

It can be seen from the above description that the present application can adjust the path range of leveling in real time, so that the obtained range area includes at least one area to be leveled. In this way, after the leveling worker performs path planning within the real-time adjusted range, the leveling equipment can follow the The planned path is leveled in the area to be leveled, which reduces the risk of leaking or re-leveling, avoids the situation where the leveling equipment does useless work in the area that does not need to be leveled, and at the same time can avoid the phenomenon of double-leveling or leaking, which improves the leveling performance. work efficiency.

Based on the foregoing embodiments, it can be known that, based on the method for determining a path range on flat ground provided by the embodiments of the present application, a target operation range that does not meet the set conditions can be determined. Based on this, planning the leveling path within the determined target operation range can reduce the risk of double leveling or missing leveling. Therefore, the embodiments of the present application provide a leveling path planning method (also known as a path planning method) based on the determined target operating range, so as to improve the leveling efficiency, ensure that the leveling shovel is not empty or fully loaded, and reduce the energy consumption of the leveling equipment , to achieve the purpose of precise leveling.

Please refer to FIG. 6. FIG. 6 is a schematic flowchart of a method for planning a path on flat ground provided by an embodiment of the present application. Specifically, the flat ground path planning method provided by the embodiment of the present application includes the following steps.

201. Determine the target operation range according to the land flatness of the target operation land.

In the embodiment of the present application, the target operation range may be a range including at least one area to be leveled in the target operation plot, and the flatness of the plot in the target operation range does not meet the set condition. The setting condition includes that the flatness of the land in the target operation area is less than or equal to the expected flatness of the target operation land.

202. Determine a target leveling path within the target operation range, where the leveling path (also called a target leveling path) is used to guide the leveling equipment to perform leveling operations within the target operation range.

The leveling path planning method provided by the embodiment of the present application determines a target operation range including the area to be leveled in the target operation plot, and then within the target operation range, according to the operation information of the leveling equipment and the average height value of the target operation plot As a reference index to determine the target flat path, to determine the target flat path. This reduces the risk of leaking or re-leveling.

Optionally, in some possible implementation manners, the target operating range can be obtained by the method for determining the range of a leveling path provided in any of the above embodiments of the present application, so as to reduce the risk of re-leveling or leakage and avoid the need for leveling equipment to perform Do useless work in a flat area to improve the efficiency of leveling operations.

Optionally, in the process of planning a path, since the user does not know the location of the area to be leveled in advance, multiple round-trip movements are required to level the area to be leveled, which will inevitably reduce the leveling efficiency. At the same time, in the process of leveling, since the leveling operator cannot predict the amount of soil loaded by the leveling shovel during each operation, it is necessary to constantly turn around to check the amount of soil shoveled by the leveling shovel to prevent the leveling shovel from being overloaded or unloaded for a long time, increasing the labor intensity and cost. Therefore, in order to solve the above-mentioned technical problem, an implementation manner of determining the target flat path is given below, referring to FIG. 7 . FIG. 7 is a schematic flowchart of an implementation manner of step 202 provided in this embodiment of the present application, that is, step 202 may include the following steps.

202-1. Within the target operation range, generate multiple candidate paths according to the current position and current direction of the leveling equipment.

Exemplarily, the path direction of the candidate path is consistent with the current direction of the ground equipment.

In some embodiments where the shape of the target working range is a sector or a circle, the range parameters of the target working range may include a radius length and a center angle. The method of generating the candidate path may be: taking the current position of the leveling equipment as the path starting point, and using the radius length as the path length to determine multiple path ending points, and the path between the path starting point and any path ending point can be a candidate path. The way to generate a candidate path can also be to take the current position of the leveling equipment as the starting point of the path, divide the center angle of the target operation range equally, and randomly obtain sampling points in the area corresponding to each equally divided angle, so that the sampling point position The distance from the current position is the radius length. In addition, candidate paths may also be generated in other manners according to actual requirements, which will not be repeated here.

In this embodiment of the present application, the generated candidate paths can be described by circular arcs or by B-spline curves that constrain the turning radius. B-spline curves are a sub-discipline of numerical analysis in mathematics. A special representation in , which can accurately describe the position of each point in the candidate path.

202-2. Calculate the work efficiency corresponding to each of the multiple candidate paths according to the average height value of the target operation plot and the load information of the leveling equipment.

In some possible embodiments, the load information of the leveling equipment refers to the amount of excavated and filled earth in the leveling shovel when the leveling equipment is in operation, and the load information of the leveling equipment may include the theoretical and actual earthwork carried by the leveling shovel. . When the leveling equipment moves according to different candidate paths, one or more of the areas to be leveled may be leveled, so that the elevation of the plot corresponding to the candidate path changes. Therefore, the greater the elevation change on the candidate path, the higher the level. The more leveling work the equipment needs to do, to a certain extent, it can also indicate that the leveling equipment is more efficient when moving along the candidate path.

The above process can be understood as follows: in an example, if the elevation value of the current working position of the leveling equipment is larger than the average height value, it indicates that the current working position needs to be leveled, and the soil at the current working position needs to be dug into the leveling shovel to avoid the Makes the current location's elevation value approximately match the average elevation value. Before digging soil into the shovel, the bearing capacity of the shovel also needs to be considered, so the difference between the amount of earth currently carried in the shovel and the theoretical capacity of the shovel can be calculated. If the difference is greater than or equal to the amount of earth that needs to be excavated at the current working position, all the soil that needs to be excavated at the current working position can be dug into the leveling shovel. The amount of earthwork is excavated at the current working position and the amount of earthwork that is consistent with the difference. It can be understood that in the situation that the current working position needs to be filled with soil, it is judged whether the actual amount of earthwork currently carried by the shovel is enough to fill the current working position, so that the elevation value of the current working position is consistent with the average height value. The method is: calculate The amount of earthwork that needs to be filled at the current working position. If the amount of earthwork to be filled is greater than or equal to the actual amount of earthwork currently carried by the shovel, fill all the earthwork actually carried in the current working position. If the amount of earthwork is less than the amount of earthwork actually carried by the shovel, the part of the amount of earthwork actually carried by the shovel that is consistent with the amount of earthwork that needs to be filled will be filled in the current working position. On the one hand, the above method can ensure that the leveling shovel is not empty or fully loaded, thereby reducing the energy consumption of the leveling equipment. On the other hand, the leveling equipment can determine the leveling method according to the elevation information of the current position, so as to achieve the purpose of precise leveling.

202-3. Determine a target flat ground path based on the respective corresponding work efficiencies of the multiple candidate paths.

In the embodiment of the present application, the above-mentioned work efficiency represents the amount of elevation change when the leveling equipment moves according to the candidate path. When the leveling equipment moves from the starting point of the candidate path to the end point of the leveling equipment, the elevation change of the terrain is different. The device works more efficiently when moving along this candidate path.

Based on the above description, it can be known that candidate paths can be generated through different implementations. To this end, a possible implementation is given below, referring to FIG. 8 . FIG. 8 is a schematic flowchart of an implementation manner of step 202-1 according to an embodiment of the present application, that is, a possible implementation manner of step 202-1 may include the following steps.

202-1-1. Acquire the positions of multiple boundary points in the target operation range (ie, the respective positions of the multiple boundary points).

In this embodiment of the present application, in order to obtain a relatively complete leveling path, the linear distance between any boundary position and the current position of the leveling equipment is equal to the length of the target operating range. In this way, the boundary point is quite located on the boundary that is far away from the current position of the leveling equipment in the target operation range, which can also facilitate the calculation of the position of the boundary point. Since the leveling shovel of the leveling equipment has a certain width value, in order to prevent the generated candidate paths from being too dense and causing the working areas of the leveling shovel to overlap, the distance between any two adjacent boundary point positions in this embodiment of the present application Can be greater than or equal to the grading blade width of the grading equipment to prevent too dense candidate paths. For example, the boundary points may be obtained at equal intervals, or the boundary points may be obtained at unequal intervals, which is not limited here.

202-1-2. Generate multiple candidate paths according to the current position of the leveling device and the positions of multiple boundary points.

In order to facilitate the understanding of the above-mentioned process of determining the target flat ground path, the following describes the above-mentioned process of generating a candidate path in detail by taking the target working range as a sector as an example.

Referring first to FIG. 9 , FIG. 9 shows a schematic diagram of a scenario for generating a candidate path according to an embodiment of the present application. For convenience of description, in the embodiment of the present application, the size of the central angle θ of the sector is 0<θ<π, and the size of the radius of the sector is r. Among them, r≥2TR>0, TR is the minimum turning radius of the grader. The method of acquiring sampling points can be acquired at equal intervals or at unequal intervals, which is not limited here, but it is necessary to ensure that the minimum distance between each sampling point is the distance threshold Δs. In order to prevent the generated candidate paths from being too dense, Δs is generally the width of the grader shovel. TR is the minimum turning radius of the grader.

Continuing to refer to FIG. 9 , after obtaining each boundary point, the user can calculate the position of each sampling point according to the radius length of the sector, the angle of the center of the circle, and the geometric relationship of the sector. Assuming that there are n boundary points, the distance between two adjacent boundary points Δs _i , i=0,1,...n-1, the corresponding arc angle between two adjacent boundary points can be expressed as Δθ _i , i=0,1,...n-1, assuming that each boundary point is not collected at equal intervals, then calculating the position of each boundary point can be implemented in the following manner.

The first step is to calculate the corresponding arc angle between adjacent boundary points, and the following relational formula can be obtained according to the knowledge of elementary geometry.

Among them, Δs _i is the distance between two adjacent boundary points, Δθ _i is the arc angle corresponding to the two adjacent boundary points, and r is the radius of the sector.

In the second step, let the position of the i-th boundary point be (x _i , y _i ), then according to the arc angle Δθ _i obtained in the first step and the geometric knowledge, the points on the sector arc can be described as the following relational.

Among them, (x _i , y _i ) is the position of the i-th boundary point, θ _i is the i-th center angle,

In particular, when the sector radius r is given, the center angle of the i-th boundary point can be directly set as θ _i , which reduces computation and storage.

After obtaining the position information of each boundary point through the above process, the current position of the leveling device can be used as the starting point of the path, and the boundary point can be used as the end point of the path to generate candidate paths with the same number as the number of boundary points. In this example, one of the boundary points in FIG. 9 is taken as an example below, and the generated candidate path is described in the form of an arc, see FIG. 10 . FIG. 10 is a schematic diagram of a circular arc path provided by an embodiment of the application.

Figure 10 shows the i-th arc path, then according to the knowledge of elementary geometry, the arc radius and arc angle can be obtained to satisfy the following relational expressions.

Among them, α _i corresponds to the arc angle of the i-th arc path, and r _pi corresponds to the arc radius of the i-th arc path. Let the abscissa of the center of the circle be x _ci , then when

, the abscissa of the center of the circle is: x _ci =-r _pi . when

, the abscissa of the center of the circle is: x _ci =r _pi . In particular, when

The candidate path is a straight path pointing in the positive direction of the Y-axis.

Through the above process, each candidate path can be stored in the form of an arc, which reduces the amount of calculation and storage.

Optionally, after obtaining the candidate paths within the target job scope, the work efficiency corresponding to each candidate path can be calculated, and then the candidate path corresponding to the maximum work efficiency or the maximum efficiency score can be determined as the target path. To this end, an implementation manner of calculating the work efficiency corresponding to multiple candidate paths according to the elevation information of the terrain within the target operation range and the load information of the leveling equipment is given below, as shown in FIG. 11 . FIG. 11 is a schematic flowchart of an implementation manner of step 202-2 provided by an embodiment of the present application. Step 202-2 may include the following steps.

202-2-1. Determine a plurality of sub-working areas corresponding to each candidate path based on the length and width of the grader.

In the embodiment of the present application, since the leveling shovel has a certain length and width, a work area is formed when the leveling equipment moves according to the candidate path. When the candidate path may be long, it is difficult to accurately measure the work efficiency when the grade equipment moves along the candidate path. Therefore, in the embodiment of the present application, the work area corresponding to each candidate path is divided into a plurality of sub-work areas, and then the corresponding elevation changes of the leveling equipment when operating in each sub-work area are calculated respectively, and finally the elevation in each sub-work area is calculated. The changes are superimposed together as the work efficiency corresponding to the candidate path. By dividing the sub-working area in this way, the accuracy of obtaining the work efficiency can be improved, thereby improving the reliability of the target flat path. For ease of understanding, an implementation manner of dividing the sub-job area is given below.

The first step is to randomly sample each candidate path with a certain interval to obtain N discrete points. The smaller the distance between adjacent discrete points, the more accurate the obtained elevation change, which can make the work efficiency determined. Also more precise. The number of N may be determined according to the length of the candidate path, which is not limited here.

The second step is to determine the N-1 rectangular area with the distance between adjacent discrete points as the width and the length of the flat shovel as the length. The size of the rectangular area can be determined according to the distance between adjacent discrete points and the length of the leveling shovel. In addition, the average height value in each rectangular area can be obtained according to any technology such as GPS technology and DSM technology.

The form of the multiple sub-job areas corresponding to the candidate paths obtained through the above process may be as shown in FIG. 12 , see FIG. 12 . FIG. 12 is a schematic diagram of processing candidate paths according to an embodiment of the present application. After each sub-working area of the candidate path is obtained, the elevation change corresponding to each sub-working area can be calculated.

202-2-2. Calculate the work efficiency of each candidate path according to the average height value of the target operation plot, the average height value of each sub-operation area, and the load information.

To facilitate understanding of the above process of calculating the work efficiency corresponding to the candidate path, please continue to refer to FIG. 9 . Assuming that the average height of the target work plot is H, the load information of the leveling equipment includes the full earthwork volume V _s of the shovel and the soil load V _ij when the leveling equipment is at the current position.

Set the initial value of the work efficiency of the leveling equipment to 0, and when the leveling equipment is at the starting point of the ith candidate path, the shovel contains V _i0 unit volume of soil, and after driving to the jth small rectangle of the ith candidate path , the estimated value of the average height of the soil in the jth small rectangle is h _ij , the area of the rectangle is s _ij , and there is V _ij-1 unit volume of soil in the shovel. Then it can be based on the average height value of the soil in the jth small rectangle, the average height value of the terrain within the target operating range, H, as well as the full load of the shovel V _s and the soil load V _ij-1 when the leveling equipment is at the current position The load information of the leveling equipment is calculated, and the work efficiency ei after the leveling equipment is leveled in the _jth small rectangle is calculated, as shown in the following assignment relationship.

e _i =e _i +Δh _ij

Among them, ei is the work efficiency of the leveling equipment when it completes one work area on the _ith candidate path, the initial value of _ei is 0, and Δh _ij is the jth sub-working area of the ith candidate path. Elevation change.

In the actual work scenario, if the elevation value of the jth sub-working area is larger than the average height value, the leveling shovel needs to dig the soil at the current position into the leveling shovel to reduce the elevation value of the j-th sub-working area to the same as the average. The height values are approximately the same, and the change in elevation is the elevation value of the current location minus the average height value. If the elevation value in the j-th sub-working area is smaller than the average height value, the leveling shovel needs to fill the soil in the leveling shovel into the current position, so that the elevation value of the j-th sub-working area is increased to be approximately the same as the average height value, The elevation change is the average elevation minus the elevation of the current location. If the elevation value of the current position is consistent with or approximately the same as the average height value, where the approximate consistency can be expressed as the absolute value of the difference between the elevation value of the current position and the average height value is less than the preset elevation threshold, then the jth sub-working area will not be Flattening is required, with zero elevation change. The elevation threshold can be obtained according to experience or experiments, and will not be repeated here. Therefore, when calculating the elevation change in the j-th sub-working area, the calculation can be divided into the following scenarios.

scene one

The elevation value in the j-th sub-working area is less than the average height value, that is, when h _ij ≤ H, the amount of earth in the shovel can be used to increase the elevation value in the j-th sub-working area, so that the The elevation value is reduced to approximately the same as the average elevation value. Therefore, the amount of elevation change in the j-th sub-working area can be calculated according to the following relational expression.

Among them, |Hh _ij |s _ij represents the amount of earthwork that needs to be added in the jth sub-working area, and V _ij-1 represents the accumulated earthwork volume in the leveling shovel when the leveling equipment enters the j-th sub-working area, that is, the current amount of earthwork in the leveling shovel. The amount of earthwork carried. When V _ij-1 ≥ |Hh _ij |s _ij , it means that the earthwork currently carried in the shovel is greater than the earthwork required in the jth sub-working area, then the leveling equipment can use the current soil-carrying capacity to give the jth sub-working area Fill soil so that the elevation value h _ij of the j-th sub-working area increases to be consistent with the average height value H. At this time, the elevation change in the j-th sub-working area is |Hh _ij |. When V _ij-1 <|Hh _ij |s _ij , it means that the earthwork currently carried in the shovel is less than the earthwork required in the jth sub-working area, then the leveling equipment needs to use all the earthwork currently carried for the jth sub-working area. Fill the sub-working area with soil, so that the elevation value h _ij of the j-th sub-working area is increased to be consistent with the average height value H. At this time, the elevation change in the j-th sub-working area is

scene two

The elevation value in the j-th sub-working area is greater than the average height value, that is, when h _ij ≥ H, it indicates that the elevation value h _ij in the j-th sub-working area needs to be reduced to be consistent with the average height value H. Therefore, according to the following relational formula Calculate the elevation change in the jth sub-working area.

Among them, |Hh _ij |s _ij represents the amount of earthwork that needs to be reduced in the jth sub-working area, and V _ij-1 represents the accumulated earthwork volume in the leveling shovel when the leveling equipment enters the j-th sub-working area, that is, the current amount of earthwork in the leveling shovel. The amount of earthwork carried. When V _ij-1 +|Hh _ij |s _ij ≤V _s , it indicates that the sum of the earthwork currently carried by the shovel and the earthwork to be reduced in the jth sub-working area is less than the full-load earthwork quantity of the shovel V _s , it means that the shovel is fully loaded. If the shovel still has space to carry the soil, the amount of earth that the leveling equipment can excavate in the jth sub-working area is |Hh _ij |s _ij , so that the elevation value h _ij is reduced to be consistent with the average height value H, at this time, the jth sub-work area The elevation change in the working area is |Hh _ij |. When V _ij-1 +|Hh _ij |s _ij >V _s , it indicates that the total amount of earthwork currently carried in the shovel and the amount of earthwork to be reduced in the jth sub-working area is greater than the full-loaded earthwork amount of the shovel V _s . Dig up the soil in the jth sub-working area directly |Hh _ij |s _ij so much earthwork, because it is bound to exceed the carrying capacity of the leveling shovel and cause damage to the leveling shovel. Therefore, at this time in the jth sub-working area can The amount of earthwork excavated is the amount of earthwork that the target shovel can still carry, namely

Through the above process, the corresponding elevation changes of the leveling equipment when operating in each sub-working area of each candidate path are calculated, and finally the elevation changes in each sub-working area are superimposed as the work efficiency corresponding to the candidate path. This form of dividing the sub-working area can improve the accuracy of work efficiency, thereby improving the reliability of the target level path.

Optionally, after each calculation of the elevation change in the current sub-working area, in order to be able to complete the estimation of the elevation change in the next sub-working area, it is also necessary to calculate the current soil volume in the shovel. The following is for the above scenario. Scenario 1 and Scenario 2 give a specific method for calculating the amount of earthwork currently carried by the shovel.

Scenario 1: When the elevation value in the jth sub-working area is less than or equal to the average height value, that is, when h _ij ≤ H, the method for calculating the amount of earthwork currently carried by the shovel can be as follows.

Scenario 2: The elevation value in the jth sub-working area is greater than or equal to the average height value, that is, when h _ij ≥ H, the method for calculating the amount of earthwork currently carried by the shovel can be as follows.

Through the above method, for each candidate path, the total elevation change of the candidate path can be obtained by accumulating until the last rectangle, and then the work efficiency corresponding to the candidate path can be obtained.

In one embodiment, the candidate path with the maximum work efficiency can be directly used as the target flat path.

In another embodiment, in order to improve the reliability of the obtained target flat ground path, a corresponding efficiency score may also be obtained based on the work efficiency of each candidate path, and the candidate path with the highest efficiency score may be used as the target flat ground path . An implementation of calculating the efficiency score according to the elevation change is given below.

Step 1. Determine the efficiency score corresponding to each candidate path according to the work efficiency corresponding to each candidate path.

Step 2. Determine the candidate path with the highest efficiency score as the target flat path.

In this embodiment of the present application, the efficiency score of each path can be evaluated by constructing a score map. The score map can be one of an identity map, a mean map, and a weighted map. For example, suppose the corresponding efficiency score of the ith candidate path is E _i .

When the mapping is an identity mapping, the efficiency score can be calculated according to the following relationship.

E _i =e _i

When the mapping is mean mapping, the efficiency score can be calculated according to the following relationship.

Among them, E _i is the efficiency score of the ith candidate path, e _i is the corresponding work efficiency when the leveling equipment works on the ith candidate path to complete the work area, M _i is the determination of multiple sub-systems on the ith candidate path The number of discrete points or the length of the i-th candidate path selected during operation.

When the mapping is a weighted mapping, the efficiency score can be calculated according to the following relation.

Among them, E _i is the efficiency score of the i-th candidate path, e _i is the corresponding work efficiency when the leveling equipment works on the i-th candidate path to complete the work area, and λ ₁ and λ ₂ are preset weighting coefficients respectively. It should be noted that, in addition to the above mapping methods, there are other mapping methods, which will not be introduced one by one here. The target flat path obtained based on the mapping method is the path with the highest efficiency score.

When a user drives a grader to perform leveling work, he often can only perform land leveling based on the observation and estimation of the leveling operator, which is prone to overlap and omission of operations. At the same time, it is necessary to constantly turn around to check the amount of soil to be shoveled, so as to prevent the motor grader from being overloaded or empty for a long time. This method requires the user to do a lot of work, which requires a lot of manpower and time. Therefore, before using a grader for land leveling operations, it is necessary to plan a suitable operation route to reduce operation time and save labor costs.

Traditional agricultural machinery working routes, such as continuous S route, spanning S route, spiral route and diagonal route, can realize automatic path planning, but cannot take into account the land leveling efficiency during grader operation.

The path planning methods in the field of mobile robots, for example, the unit decomposition method represented by Trapezoidal, Boustrophedon, etc., the inner spiral coverage method, the grid method represented by template model and potential field method, etc. The heuristic algorithms represented by , etc. are all aimed at obstacle avoidance problems. These path planning methods are still mainly based on line scanning for the planning of full coverage paths, and are not suitable for graders that need to consider terrain elevation and forklift load.

In order to solve the above problem, the embodiment of the present application determines the leveling path by calculating the working efficiency of multiple backup paths, so that the grader can achieve the optimal land leveling efficiency when working according to the leveling path, which will be described in detail below.

Referring to FIG. 13 , FIG. 13 shows a schematic flowchart of a method for generating a flat path provided by an embodiment of the present application. The method for generating a leveling path is applied to a processing device for controlling a leveler to perform leveling work, and the processing device may include, but is not limited to, a control module of the leveler itself, and an automatic driving device for agricultural machinery. The flat path generation method includes the following steps.

S101 , performing indentation processing on the plot boundary of the plot to be operated to obtain a reliable boundary of the plot to be operated. For example, the parcel boundary of the to-be-operated parcel (also known as the target operation parcel) corresponding to the target operation range is indented to obtain a reliable boundary of the to-be-operation parcel.

The parcel boundary may include all parcel boundary lines and all parcel boundary vertices of the parcel to be operated, and the parcel boundary vertex refers to the intersection point where each parcel boundary line in the parcel to be operated intersects. The land parcel boundary can be obtained by those skilled in the art in any available manner, for example, manual field measurement, fixed-point mapping with a surveyor, surveying and mapping drone mapping, etc., or measurement based on radar or satellite remote sensing.

In one embodiment, after the plot boundary of the plot to be operated is obtained, the plot boundary can be indented, for example, the center point of the plot boundary is found first, and then based on the center point, the plot boundary is set according to a certain By reducing the proportion of , a reliable boundary of the plot to be operated can be obtained. It is also possible to move each plot boundary vertex of the to-be-operated plot by the same distance into the to-be-operated plot to obtain the reliable boundary vertex corresponding to each plot boundary vertex, and then connect each reliable boundary vertex in turn to obtain A reliable boundary of the plot to be operated can be obtained.

In another embodiment, the method of performing indentation processing on the plot boundary of the to-be-operated plot to obtain a reliable boundary of the to-be-operated plot may include: moving each plot boundary line in parallel into the to-be-operated plot Preset indentation distance to obtain reliable boundaries. Among them, the preset retraction distance is greater than or equal to the sum of twice the minimum turning radius of the grader and the shovel width of the grader.

That is, the preset retraction distance satisfies the following formula.

d≥2×TR+W

Among them, d represents the preset retraction distance, TR represents the minimum turning radius of the grader, and W represents the shovel width of the grader.

The preset retraction distance is set in the above manner to ensure that the subsequent grader has enough turning space during the operation. For example, please refer to Fig. 14, the solid line frame is the plot boundary, and the dotted line box is the reliable boundary. The reliable boundary can be obtained by moving each plot boundary line parallel to the plot to be operated by a distance d.

S102, acquiring multiple candidate paths of the grader on the plot to be operated.

The candidate path refers to the planned operation route of the grader in the plot to be operated with the current position of the grader as the starting point. The candidate paths may be planned by those skilled in the art in any possible manner, for example, genetic algorithm, gradient descent method, etc., which will not be repeated here.

S103: Process the multiple candidate paths to obtain at least one backup path of the grader on the plot to be operated. where each alternate path is within the reliable boundary.

Since the candidate path is the operation route of the grader in the plot to be operated, and the reliable boundary is obtained by shrinking the plot boundary of the plot to be operated, it may appear that part of the candidate path is within the reliable boundary, and another part of the candidate path is within the reliable boundary. Some cases are outside the reliable boundary. In order to ensure the safety of the grader in the actual operation process, it is necessary to process multiple candidate paths to obtain at least one backup path of the grader on the plot to be operated, so that each backup path is within the reliable boundary.

As an embodiment, the method of processing multiple candidate paths to obtain at least one backup path of the grader on the plot to be operated may be: adjusting each candidate path to obtain the backup path corresponding to each candidate path paths so that each alternate path is within the reliability boundary.

Taking a candidate path as an example, when adjusting the candidate path, the part of the candidate path beyond the reliable boundary can be deleted, and then the parts within the reliable boundary can be connected into a continuous path to obtain the candidate path. The alternate path corresponding to the path. Alternatively, when adjusting the candidate path, you can first discretize the candidate path into several discrete points, and then start from the starting point of the candidate path (that is, the current position of the grader) to determine whether each discrete point is one by one. Within the reliable boundary, once a discrete point is found to be beyond the reliable boundary, the last discrete point and the path part before it are retained, and the rest are deleted, that is, the path part after the last discrete point is deleted. Details are given below.

Therefore, step S103 may include the following sub-steps: S1031 , acquiring any target candidate path among the multiple candidate paths.

S1032, discretize the target candidate path into a plurality of discrete points.

Wherein, the distance between two adjacent discrete points is not less than the resolution of the discrete elevation map of the plot to be operated. The discrete elevation map includes multiple discrete coordinate points and the respective elevation values of the multiple discrete coordinate points. The discrete coordinate point can include the longitude and latitude of the point. The discrete elevation map can be obtained through a three-dimensional map, a point cloud map, or a contour and It is converted from a two-dimensional map, etc., and the following takes a three-dimensional map as an example for description.

The three-dimensional map can be saved in the form of three-dimensional voxels, or can be saved in the form of recording the elevation data of each plane point in each grid. Each point in the three-dimensional map has location information, and the location information is the three-dimensional coordinates of each point, including longitude, latitude, altitude, and the like.

The way to obtain the discrete elevation map by using the three-dimensional map can be: first, adopting an equal interval method to determine a plurality of discrete coordinate points in the plot to be operated, for example, to determine a discrete coordinate point every 1m in the plot to be operated; then , in the three-dimensional map, query the average terrain height within a circle with the current discrete coordinate point as the center and a preset radius (for example, 1.5m), and use the average terrain height as the elevation value of the current discrete coordinate point.

The discrete elevation map can also be obtained by manual surveying and mapping. For example, a discrete coordinate point is taken every 1m in the plot to be operated, and then a circle with the discrete coordinate point as the center and a preset radius (for example, 1.5m) is measured. The average terrain height within the range, and the average terrain height is used as the elevation value of the discrete coordinate point.

S1033, starting from the starting point of the target candidate path, and determining whether the discrete points are within the reliable boundary one by one, wherein the starting point is within the reliable boundary.

S1034 , if the current discrete point is not within the reliable boundary, delete the part of the path after the previous discrete point of the current discrete point to obtain a backup path corresponding to the target candidate path.

The above sub-steps S1031 to S1034 are processes of processing any candidate path among the multiple candidate paths as a backup path. Therefore, after the sub-step S1034 is executed, the sub-step S1031 further includes:

Return to step S1031 until the backup path corresponding to each candidate path is obtained.

For example, please refer to Figure 15, taking candidate path 1 in the left figure as an example, A, B, C, D, and E are discrete points on the path, and A is the starting point, then starting from point A, determine whether each discrete point is one by one. Within the reliable boundary, after it is judged that point E is not within the reliable boundary, delete the part of the path after point D, the previous discrete point of point E, to obtain the backup path 1 as shown in the right figure.

As another implementation manner, step S103 may further include the following sub-steps.

S103a, delete all specific candidate paths among the multiple candidate paths to obtain the at least one backup path. Among them, some of the specific candidate paths are beyond the reliable boundary. This can be understood as: in multiple candidate paths, delete all candidate paths with some paths beyond the reliable boundary (that is, the aforementioned specific candidate paths), and retain other paths whose parts do not exceed the reliable boundary to obtain backup path.

S104: Acquire all discrete points corresponding to each backup path.

Each alternate path includes at least two discrete points, and the distance between two adjacent discrete points is not less than the resolution of the discrete elevation map of the plot to be operated. The resolution of the discrete elevation map refers to the interval (for example, 1 m) between two adjacent discrete coordinate points in the discrete elevation map. In an optional embodiment, in order to ensure the accuracy of the work efficiency calculated based on the discrete points, the distance between two adjacent discrete points may be set to not less than 1 m.

S105: Calculate the work efficiency of each backup path according to all discrete points corresponding to each backup path.

The working efficiency of the backup path refers to the land leveling efficiency of the motor grader when the motor grader is leveling the land according to the backup path. According to the content introduced in the above step S103, the multiple candidate paths are processed according to the reliable boundary, and after obtaining at least one backup path of the grader on the plot to be operated, it is necessary to calculate the work efficiency of each backup path, that is, to calculate the grader according to The land leveling efficiency when leveling the land for each alternate path.

Step S105 will be described in detail below. On the basis of FIG. 13 , please refer to FIG. 16 , step S105 may include the following sub-steps.

S1051: Obtain any target backup path among all backup paths.

S1052 , along the target backup path, take the distance between two adjacent discrete points as the width and the length of the shovel of the grader as the length to generate at least one discrete work area.

S1053, obtain the height value of each discrete operation area.

In some embodiments, the step of calculating the respective work efficiency of each alternate path according to all discrete points corresponding to each alternate path includes: generating at least one discrete work area according to all discrete points corresponding to each alternate path; The height value of the discrete operation area is relative to the height change value of the expected height of the plot to be operated, and the work efficiency of each alternate path is calculated, wherein the work efficiency represents the sum of the height change values of all discrete work areas corresponding to the alternate path.

Correspondingly, in some embodiments, the step of generating at least one discrete work area according to all discrete points corresponding to each alternate path includes: for each alternate path, using the alternate path as a target alternate path; along the target alternate path, At least one discrete work area is generated by taking the distance between two adjacent discrete points as the width and the length of the shovel of the working equipment as the length. In addition, the step of calculating the work efficiency of each alternate path based on the height change value of the height value of each discrete operation area relative to the expected height of the plot to be operated includes: based on the respective heights of each discrete operation area of the target alternate path The height change value of the value relative to the expected height value of the plot to be operated is calculated, and the work efficiency of the target alternate path is calculated, and then the respective work efficiency of each alternate path is obtained.

Taking a discrete operation area as an example, the height value of the discrete operation area can be determined in the following ways.

First, first, determine the circumscribed rectangle of the discrete work area; then, calculate the mean value of the elevation values of all discrete coordinate points in the circumscribed rectangle, and use the mean value as the height value of the discrete work area.

The second is to calculate the mean value of the elevation values of all discrete coordinate points in the discrete operation area, and use the mean value as the height value of the discrete operation area.

The third method is to determine the circumcircle of the discrete operation area; then, calculate the mean value of the elevation values of all discrete coordinate points in the circumscribed circle, and use the mean value as the height value of the discrete operation area.

On the basis of FIG. 16 , please refer to FIG. 17 , the sub-step S1053 may include the following sub-steps.

S1053-1: Generate a judgment area for each discrete operation area, where the judgment area is a circumscribed rectangle or a circumscribed circle of the discrete operation area.

S1053-2: Calculate the mean value of the elevation values of all discrete coordinate points in each evaluation area, and obtain the height value of the discrete operation area corresponding to each evaluation area.

That is to say, steps S1053-1 and S1053-2 describe a method for obtaining the height value of the discrete work area.

For example, please refer to FIG. 18 , the small solid line frame including points A and B in the figure is a discrete work area, the small dotted line frame is a judgment area, and the judgment area is the circumscribed rectangle of the discrete work area. That is, the length of the judgment area is the length of the discrete work area from left to right, and the width is the length of the discrete work area from top to bottom. In addition, since the judging area is rectangular, the elevation values of all discrete coordinate points in the judging area form a matrix, which is convenient for data storage.

Or, in another example, sub-step S1053 may include sub-step S1053a.

S1053a: Calculate the mean value of the elevation values of all discrete coordinate points in the discrete operation area to obtain the height value of the discrete operation area. That is to say, step S1053a describes an acquisition method of the height value of the discrete work area.

S1054, based on the height value of each discrete working area, calculate the working efficiency of the target backup path.

The above sub-steps S1051 to S1054 are the process of calculating the work efficiency of any one of the backup paths. Therefore, after the sub-step S1054 is executed, the step S105 further includes: returning to the execution of the sub-step S1051 until each backup path is obtained. work efficiency. This can be understood as: after returning to the execution sub-step S1051, the steps S1052-S1054 will be continuously executed until the working efficiency of each backup path is obtained.

Optionally, the work efficiency of the target alternate path can be calculated by evaluating the height variation of each discrete work area. The sub-step S1054 will be described in detail below. On the basis of FIG. 16 , please refer to FIG. 19 , the sub-step S1054 may include the following sub-steps. (It can also be understood that the step of calculating the working efficiency of the target backup path based on the height change value of the respective height values of each of the discrete working areas of the target backup path relative to the expected height value of the plot to be operated, includes the following steps .)

S1054-1: Obtain the work efficiency of the first discrete operation area, the expected height of the plot to be operated, and the height value of the second discrete operation area, where the second discrete operation area is a rear area adjacent to the first discrete operation area A discrete work area.

The desired height of the plot to be operated may be, but not limited to, the average height of the plot to be operated. Assuming that the work efficiency of the first discrete operation area is e _j-1 , the expected height of the plot to be operated is H, and the height of the second discrete operation area is h _j .

S1054-2, based on the expected height of the plot to be operated and the height value of the second discrete operation area, calculate the height variation value of the second discrete operation area.

Assuming that the height change value of the second discrete operation area is Δh _j , Δh _j can be determined by the relationship between the expected height H of the plot to be operated and the height value h _j of the second discrete operation area.

The process of calculating the height variation value of the second discrete operation area based on the expected height of the plot to be operated and the height value of the second discrete operation area may include the following steps.

The first step is to compare the height value of the second discrete operation area with the expected height of the plot to be operated, that is, compare H and h _j .

In the second step, when the height value of the second discrete operation area is less than or equal to the expected height of the plot to be operated, use the formula

Calculate the height change value for the second discrete work area. Among them, Δh _j represents the height change value of the second discrete operation area, H represents the expected height of the plot to be operated, h _j represents the height value of the second discrete operation area, and V _j-1 represents the grader to the first discrete operation area. The soil carrying volume in the rear shovel, s _j represents the area of the second discrete working area.

When h _j ≤ H, it indicates that the second discrete operation area is a soil pit, which needs to be filled by the grader during the operation. For example, please refer to the left picture in Figure 20. The jth discrete operation area in the figure is a soil pit, and the grader needs to level it during the operation process, so that the height value of the jth discrete operation area after leveling is close to the level to be operated. The desired height H of the plot.

V _j-1 ≥ |Hh _j |s _j represents: the soil volume in the shovel after the grader reaches the first discrete work area is greater than or equal to the soil volume required to fill the soil pit, that is, the soil in the shovel can fill this hole. Then fill the soil until the soil pit is filled, and the height of the second discrete operation area changes after the soil filling is: the height of the soil pit, that is, |Hh _j |.

V _j-1 <|Hh _j |s _j indicates that the volume of soil in the shovel after the grader reaches the first discrete working area is less than the volume of soil required to fill the soil pit, that is, the soil in the shovel cannot Fill this pit. Then fill the soil until all the soil in the shovel is filled into the soil pit, and the height change of the second discrete operation area after filling is: the volume of all the soil in the shovel divided by the area of the second discrete operation area, which is,

The third step, when the height value of the second discrete operation area is greater than the expected height of the plot to be operated, use the formula

Calculate the height change value of the second discrete work area, where V _s represents the maximum soil carrying volume of the shovel.

When h _j >H, it indicates that the second discrete work area is a soil bag, which needs to be leveled by the motor grader currently during the work process. For example, please refer to the right picture in Figure 20, the jth discrete operation area in the figure is a soil bag, and the grader needs to level it during the operation process, so that the height value of the jth discrete operation area after leveling is close to the work to be done. The desired height H of the plot.

V _j-1 +|Hh _j |s _j ≤V _s Characterization: The sum of the soil volume in the shovel after the grader reaches the first discrete operation area and the soil volume of this soil bag is less than or equal to the maximum band of the shovel. Soil volume, that is, the soil that the shovel can hold to level the bag. Then, until the soil bag is leveled, the height of the second discrete operation area changes as follows: the height of the soil bag, that is, |Hh _j |.

V _j-1 <|Hh _j |s _j indicates that the sum of the soil volume in the shovel after the grader reaches the first discrete operation area and the soil volume of this soil bag is greater than the maximum soil volume of the shovel, namely , the shovel cannot hold the soil to level the soil bag; then the shovel is shoveled until the shovel is full, and the height change of the second discrete working area after shoveling is: the volume of soil that the shovel can still hold divided by The area of the second discrete work area, i.e.,

S1054-3, summing the height variation value of the second discrete operation area and the work efficiency of the first discrete operation area to obtain the work efficiency of the second discrete operation area.

Assuming that the work efficiency of the second discrete work area is e _j , then e _j =e _j-1 +Δh _j .

S1054-4, calculate the soil carrying volume in the shovel after the grader reaches the second discrete operation area.

Assuming that the volume of soil carried in the shovel after the grader reaches the second discrete operation area is V _j-1 , the process of calculating the volume of soil carried in the shovel after the grader reaches the second discrete operation area may include the following steps .

In the first step, when the height value of the second discrete operation area is less than or equal to the expected height of the plot to be operated, use the formula

Calculate the soil-carrying volume in the shovel after the grader reaches the second discrete work area, where _Vj represents the soil-carrying volume in the shovel after the grader reaches the second discrete work area, and H represents the expectation of the plot to be operated Height, h _j represents the height value of the second discrete operation area, V _j-1 represents the soil volume in the shovel after the grader reaches the first discrete operation area, and s _j represents the area of the second discrete operation area.

When h _j ≤ H, it indicates that the second discrete operation area is a soil pit, and the grader fills it according to the content of sub-step S1054-2 during the operation.

If V _j-1 ≥ |Hh _j |s _j , it means that the soil in the shovel still remains after filling the soil hole, and the volume of the remaining soil is the volume of all the soil in the shovel minus the filling hole The volume of the graph, that is, V _j -|Hh _j |s _j .

If V _j-1 <|Hh _j |s _j , it means that the soil in the shovel has no remaining after filling the soil hole, which is 0.

In the second step, when the height value of the second discrete operation area is greater than the expected height of the plot to be operated, use the formula

Calculate the soil carrying volume in the shovel after the grader reaches the second discrete work area, where V _s represents the maximum carrying soil volume of the shovel.

When h _j >H, it indicates that the second discrete operation area is a soil bag, and the grader will level it according to the content of sub-step S1054-2 during the operation.

If V _j-1 +|Hh _j |s _j ≤V _s , it means that the shovel can hold the soil to level the soil bag. At this time, the volume of the total soil in the shovel is the original soil in the shovel. The sum of the volume of and the volume of this earth bag, namely, V _j +|Hh _j |s _j .

If V _j-1 +|Hh _j |s _j >V _s , it means that the shovel cannot hold the soil for leveling the soil bag. At this time, the volume of all soil in the shovel is the maximum band of the shovel. The soil volume, ie, V _s .

S1054-5: Determine whether the second discrete operation area is the last discrete operation area on the target backup path.

If yes, that is, the second discrete operation area is the last discrete operation area on the target backup path, then execute sub-step S1054-7; if not, that is, the second discrete operation area is not the last discrete operation area on the target backup path, then Substep S1054-6 is executed.

S1054-6, replace the first discrete operation area with the second discrete operation area. After that, return to executing sub-step S1054-1 until the second discrete operation area is the last discrete operation area on the target backup path, so as to obtain the work efficiency of the target backup path.

S1054-7, take the work efficiency of the second discrete work area as the work efficiency of the target backup path.

It should be pointed out that when the first discrete operation area is the first discrete operation area on the target backup path, the work efficiency of the first discrete operation area is the height change value of the first discrete operation area and the preset initial work efficiency. sum of values.

Optionally, the initial value of work efficiency is 0. That is, when the first discrete operation area is the first discrete operation area on the target alternate path, the work efficiency of the first discrete operation area is the height change value of the first discrete operation area, ie, e ₁ =Δh ₁ .

S106, according to the working efficiency of each backup path, determine a flat path (ie, a target flat path) from the multiple candidate paths.

After the work efficiency of each backup path is calculated according to the content of the above step S105, a grader path can be determined from the candidate paths corresponding to each backup path according to the work efficiency of each backup path, and the grader path can be a grader. The candidate path with the highest land leveling efficiency, for example, the candidate path corresponding to the backup path with the highest work efficiency is used as the leveling path.

In some other embodiments, the step of determining the target leveling path within the target operation scope includes: acquiring at least one backup path of the operating equipment in the plot to be operated corresponding to the target operation scope; obtaining all discrete paths corresponding to each backup path According to all the discrete points corresponding to each alternate path, the respective work efficiency of each alternate path is calculated; according to the respective work efficiency of each alternate path, the target flat ground path is determined from the alternate paths. That is to say, in this embodiment of the present application, it is not necessary to perform indentation processing on the parcel boundary of the parcel to be operated, and it is not necessary to obtain an alternate route based on the candidate route. That is, in the embodiment of the present application, it is sufficient to directly acquire at least one backup path of the operation equipment in the to-be-operated plot corresponding to the target operation range.

In some embodiments, acquiring at least one backup path of the operation equipment in the to-be-operated plot corresponding to the target operation range includes: performing indentation processing on the plot boundary of the to-be-operated plot to obtain the to-be-operated plot Reliable boundary; obtain multiple candidate paths of the operating equipment in the plot to be operated; obtain any target candidate path among the multiple candidate paths; discretize the target candidate path into multiple discrete points; start with the starting point of the target candidate path , determine whether multiple discrete points are within the reliable boundary one by one, where the starting point is within the reliable boundary; if the currently determined current discrete point is not within the reliable boundary, delete the part of the path after the previous discrete point of the current discrete point to obtain the target The backup path corresponding to the candidate path; returns to the step of obtaining any target candidate path among the multiple candidate paths, until the backup path corresponding to each candidate path is obtained.

In some embodiments, acquiring at least one backup path of the operation equipment in the plot to be operated corresponding to the target operation range includes: performing indentation processing on the plot boundary of the plot to be operated to obtain a reliable boundary of the plot to be operated ; delete all specific candidate paths in the multiple candidate paths to obtain at least one alternate path, wherein some of the specific candidate paths exceed the reliable boundary.

Referring to FIG. 21 , FIG. 21 shows a schematic flowchart of a method for generating a flat path provided by another embodiment of the present application. The method for generating a leveling path is applied to a processing device for controlling a leveler to perform leveling work, and the processing device may include, but is not limited to, a control module of the leveler itself, and an automatic driving device for agricultural machinery. The flat path generation method includes the following steps:

S201, at least one backup path of the grader on the plot to be operated is obtained, wherein the at least one backup path is obtained by processing multiple candidate paths of the grader on the plot to be operated, and each backup path is Within the reliable boundaries of the parcel.

S202: Acquire all discrete points corresponding to each backup path.

S203: Calculate the work efficiency of each backup path according to all discrete points corresponding to each backup path.

S204, according to the working efficiency of each backup path, determine a flat path from the multiple candidate paths.

Please refer to FIG. 22. FIG. 22 shows a schematic flowchart of a method for generating a flat path provided by another embodiment of the present application. The method for generating a leveling path is applied to a processing device for controlling a leveler to perform leveling work, and the processing device may include, but is not limited to, a control module of the leveler itself, and an automatic driving device for agricultural machinery. The flat path generation method includes the following steps:

S301, performing indentation processing on the plot boundary of the to-be-operated plot to obtain a reliable boundary of the to-be-operated plot.

S302, acquiring multiple candidate paths of the grader on the plot to be operated.

S303: Process the multiple candidate paths to obtain at least one backup path of the grader on the plot to be operated, wherein each backup path is within a reliable boundary.

S304, according to the working efficiency of each backup path, determine a flat path from the multiple candidate paths, wherein the working efficiency is calculated according to all discrete points corresponding to each backup path.

Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific processes of steps S201-S204 and the specific processes of steps S301-S304 described above can refer to the corresponding processes in the foregoing steps S101-S106, It is not repeated here.

When using the operation equipment to perform operations by purely manual operation, taking the use of a grader for land leveling as an example, the user must actually operate the grader and perform land leveling based on observations and estimates, which is prone to overlapping or omission of operations. Case. At the same time, users need to constantly turn around to check the amount of soil to be shoveled, so as to avoid overloading or no-loading for a long time, which increases labor intensity and cost, and reduces the efficiency of leveling. Obviously, this method cannot optimize the work efficiency of the grader.

When using the work equipment to work by working along a fixed path, taking the use of a grader for land leveling as an example, it can be pre-planned to work on the entire work plot (also known as the target work plot) before the grader works. the working path, and then the grader performs land leveling according to the working path. However, the paths planned by this method are usually continuous S routes, spanning S routes, spiral routes and diagonal routes, etc. These routes cannot improve the leveling efficiency of the grader and cannot reduce the operation time of the grader. Although this method has a certain effect of improving the flatness of the land, this method cannot control the load of the grader well, which will cause the grader to be easily damaged during operation. That is, this approach also fails to optimize the work efficiency of the motor grader.

In order to optimize the work efficiency of the operation equipment, it is necessary to consider applying the real-time path planning method to these operation equipment, but the current real-time path planning method can usually only be applied to mobile robots. Due to the difference in structure and operating mechanism between mobile robots and graders (for example, mobile robots can change their orientation directly in situ when changing orientation, while graders and other work equipment need to move and change orientation when changing orientation), The current real-time path planning methods cannot be directly applied to work equipment such as graders. Even if the current real-time path planning method is directly applied to these operating equipments, due to the particularity of the operation purpose, the operating equipment will fall into a dead zone and cannot perform the operation effectively.

A dead zone can be understood as an area where the work equipment cannot go out. For example, the dead-end area where the work equipment is unable to move forward or backward, or the work equipment is in an area where it is always spinning, or the work equipment will continue to return to the original position after a certain period of time during the operation, so An area in which to cycle back and forth.

In order to improve the above-mentioned various defects in the prior art, the embodiments of the present application propose a path planning method and a related device for getting out of the dead zone, which can effectively make the working equipment get out of the dead zone. It should be noted that the various defects existing in the above technical solutions in the prior art are the results obtained by the inventor after careful practical research. Therefore, the discovery process of the above-mentioned problems and the following examples of the present application are aimed at the above-mentioned problems. The solutions proposed for the problems should all be the contributions made by the inventor to the present application in the process of realizing the present application.

First, the embodiments of the present application provide a technical solution that can effectively make the working equipment escape from the dead zone. Please refer to FIG. 23 , which is a structural block diagram of a work equipment control unit provided by an embodiment of the present application. The work equipment control unit 130 may include: a memory 131 and a processor 132 . The memory 131, the processor 132 and the communication interface 134 may be directly or indirectly electrically connected to realize data transmission and interaction. For example, these elements may be electrically connected to each other through the bus 133 and/or signal lines.

The processor 132 may process information and/or data related to path planning out of the dead zone to perform one or more functions described herein. For example, the processor 132 may update the path parameters of the work equipment when the work equipment is located in the dead zone, and perform path planning for leaving the dead zone according to the above path parameters, which can effectively make the work equipment escape from the dead zone.

Wherein, the above-mentioned memory 131 may be, but is not limited to: solid state hard disk (Solid State Disk, SSD), mechanical hard disk (Hard Disk Drive, HDD), read only memory (Read Only Memory, ROM), programmable read only memory (Programmable read only memory) Read-Only Memory, PROM), Erasable Programmable Read-Only Memory (EPROM), Random Access Memory (RAM), Electrical Erasable Programmable Read- Only Memory, EEPROM) etc.

The above-mentioned processor 132 can be, but not limited to: a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; also can be, but not limited to: an application specific integrated circuit (Application Specific Integrated Circuit, ASIC) ), Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. Therefore, the above-mentioned processor 132 may be a device with signal processing capability.

The structure of the work equipment control unit 130 shown in FIG. 23 is only a schematic structure, and the work equipment control unit 130 may further include more or less components or modules than the structure shown in FIG. 23 different configurations or configurations. Also, each component shown in FIG. 23 may be implemented by hardware, software, or a combination of both. In addition, the work equipment control unit 130 provided by the present application may adopt different configurations or structures according to different requirements in practical applications. For example, the operation equipment control unit 130 provided in the present application may be the control core device of the operation equipment (such as a controller inside a motor grader, agricultural tractor, unmanned aerial vehicle, unmanned vehicle, unmanned boat, etc.), or it may be a Electronic devices with communication, computing and storage functions (such as servers, cloud platforms, computers, mobile phones, tablets, agricultural autopilots, etc.).

Therefore, when the work equipment control unit 130 provided by the embodiment of the present application is the control core component of the work equipment, the present application also provides a work equipment, which can effectively make the work equipment escape from the dead zone. Among them, because the type of operation equipment to which the method provided in this application is applied is not limited to graders, it can also be applied to operations such as agricultural tractors, drones, unmanned vehicles, various types of vehicles, and unmanned boats. equipment.

For easy understanding, please refer to FIG. 24 , which is a structural block diagram of a work equipment 100 provided in an embodiment of the application. The work equipment 100 may include a body 110 , a power equipment 120 and the above-mentioned work equipment control unit 130 . The type of work equipment 100 may be a motor grader.

Wherein, the power equipment 120 may be installed on the above-mentioned body 110 to provide power for the working equipment 100 . Since the working equipment can adopt the structure of a grader, the power equipment 120 can be a drive module (including an engine, a chassis, etc.) of the grader, and the body 110 can be the body of the grader. The memory 131 of the work equipment control unit 130 stores machine-readable instructions related to the path planning method out of the dead zone, and the processor 132 can execute the machine-readable instructions to update the path of the work equipment when the work equipment is located in the dead zone parameters, and determine whether to control the work equipment 100 to escape from the dead zone according to the above path parameters, which can effectively make the work equipment escape from the dead zone.

It should be noted that the structure shown in FIG. 24 is only an illustration, and the working equipment 100 may further include more or less components than those shown in FIG. 24 , or have different configurations from those shown in FIG. 24 .

Further, when the work equipment control unit 130 provided by the present application is an electronic device with communication, calculation and storage functions, these electronic devices can update the path parameters of the work equipment when the work equipment is located in the dead zone, and according to the path parameters To determine whether to control the work equipment 100 to escape from the dead zone, it can effectively make the work equipment escape from the dead zone, and realize the path planning method for the work equipment to escape from the dead zone provided by the present application.

Hereinafter, for ease of understanding, the following embodiments of the present application will take the work equipment 100 shown in FIG. 24 as an example, and in conjunction with the accompanying drawings, to describe the path planning method for leaving the dead zone provided by the embodiments of the present application.

Please refer to FIG. 25. FIG. 25 shows a flowchart of a method for planning a path out of a dead zone provided by an embodiment of the present application. The method for planning a path out of the dead zone may be applied to the above-mentioned work equipment control unit 130, and the method for planning a path out of the dead zone may include the following steps.

S210, when the working equipment is located in the dead zone, update the path parameters of the working equipment.

Exemplarily, step S210 is performed on the premise that, based on the path planning method mentioned in any of the above embodiments, a target level ground path within the target operation range is determined, and the operation of the operation equipment is guided based on the target level ground path.

In the embodiments of the present application, the above dead zone can be understood as a certain area where the work equipment cannot go out, for example, a dead end area where the work equipment cannot move forward or backward, or a certain area where the work equipment is always rotating An area, or a certain area where the working equipment will continue to return to its original position after a certain period of time during the operation, so as to cycle back and forth.

As shown in the sub-diagram "a" in FIG. 26 , the paths planned by the operation equipment 100 in real time are connected one by one into a circle. Or as shown in the "b" sub-diagram in Fig. 26, the segments of paths planned by the operation equipment 100 in real time are connected to form an "8" circle. In the "a" sub-figure shown in Fig. 26, the work equipment 100 rotates all the time in one area, and in the "b" sub-figure shown in Fig. 26, the work equipment 100 works cyclically in a dead zone. Therefore, in both the "a" subgraph and the "b" subgraph shown in FIG. 26 , the situation in which the work equipment 100 cannot be separated from the circulating work along the path may occur.

And, as shown in FIG. 27 , the work equipment 100 is too close to the boundary of the work lot, and the area corresponding to the path parameter is beyond the boundary of the work lot. At this time, when the operation equipment 100 determines the movement path according to the path parameters, since the area corresponding to the path parameters exceeds the boundary of the operation plot, the movement path determined by the operation equipment 100 according to the path parameters will also exceed the boundary, so that the operation equipment 100 cannot plan in real time In the next segment of the path, the work equipment 100 cannot move forward or backward at this time, and the work equipment 100 will stop working.

In this embodiment of the present application, the path parameters of the working equipment may include at least one of the following: a working range, a path direction, a path curvature, and the like.

Among them, the working range can be used to determine the moving path of the working equipment 100 . Taking the application scenario shown in FIG. 28 as an example, the operation plot 10 includes a plurality of black areas (the black area can be understood as the area where the operation equipment needs to perform operations, for example, the mound in the land leveling operation), the operation equipment 100 The scope of work is area S. The operation equipment 100 may determine a section of a movement path within the area S, and then perform operations along the movement path, and determine the next section of the movement path according to the operation range during the operation. That is to say, the operation equipment can continuously determine the moving path according to the operation scope, so as to achieve the purpose of planning the path section by section in real time for the operation.

S220: Determine the escape path of the working equipment according to the updated path parameters; the end point of the escape path is outside the dead zone.

Since the updated path parameters are inconsistent with the original path parameters, the operation equipment 100 may re-determine a new escape path (ie, update the original moving path) according to the updated path parameters, and the end point of the escape path may be located at the dead end. outside the area. Furthermore, since the end point of the escape path is located outside the dead zone, the work equipment 100 can be smoothly escaped from the dead zone along the escape path.

It should be understood that when the work equipment is located in the dead zone, the present application can update the path parameters of the work equipment, and then determine the escape path of the work equipment according to the updated path parameters, wherein the end point of the escape path is outside the dead zone. Since the end point of the escape path is located outside the dead zone, the working equipment can move out of the dead zone by moving along the escape path. Therefore, the embodiments of the present application can achieve the beneficial effect of effectively removing the working equipment from the dead zone.

In some possible embodiments, as shown in FIG. 29 , before S210 , the foregoing method embodiments may further include the following steps.

S200, according to the movement parameters of the working equipment, determine whether the working equipment is located in the dead zone.

It should be understood that during the operation of the operation equipment along the moving path, continuously executing S200 can determine whether the operation equipment is located in the dead zone according to the movement parameters of the operation equipment in real time, and when the operation equipment is located in the dead zone, timely control the operation equipment. out of the dead zone.

Further, S200 may include one of the following implementation manners.

Mode 1, when the working efficiency of the working equipment on the current working path is less than or equal to a preset value, it is determined that the working equipment is located in the dead zone.

Since the dead zone can be understood as a certain area that the work equipment cannot go out, that is to say, when the work equipment 100 is located in the dead zone, it will generate useless work if it continues to work. When planning the next path in real time, the work efficiency is 0. Therefore, whether or not the work equipment is located in the dead zone can be determined by the work efficiency of the work equipment on the moving path.

For example, when the work equipment 100 works along the moving path, the ratio of the amount of the work completed and the moving time can be used as the work efficiency of the work equipment on the moving path.

In some possible embodiments, the above-mentioned preset efficiency value may represent that the work efficiency of the work equipment working along the moving path is 0. That is to say, when the work equipment continues to work on the moving path, useless work will be generated, and at this time, the work equipment is located in the dead zone.

It should be understood that, since it can be determined whether the work equipment is located in the dead zone through the working efficiency of the work equipment on the moving path, it is unnecessary to make a judgment based on the specific motion state data of the work equipment in detail. Therefore, by executing the method 1, it can be determined simply and accurately whether the work equipment 100 is located in the dead zone.

It should also be understood that, through the above method 1, while determining whether the operation equipment 100 is located in the dead zone, it is also equivalent to determining whether the operation equipment 100 is working along the circular path or cannot plan the next path in real time.

Manner 2: When the distance between the current position of the operation equipment and the boundary of the operation plot is less than the second preset distance, and the current nose of the operation equipment faces the boundary of the operation plot, it is determined that the operation equipment is located in the dead zone.

When the work equipment 100 is too close to the boundary of the work field, the work equipment may be in a situation where it cannot move forward or backward, and in this case, the work equipment 100 is also in a dead zone and cannot escape. Therefore, it can be determined whether or not the working equipment 100 is located in the dead zone by the current posture of the working equipment on the moving path.

That is, when the distance between the current position of the operation equipment and the boundary of the operation plot is less than the second preset distance, and the current nose of the operation equipment faces the boundary of the operation plot, it means that the operation equipment 100 is too close to the boundary of the operation plot. At this time, the operation equipment The 100 cannot go forward or backward, and is in a dead zone.

As shown in FIG. 30 , assuming that the second preset distance is L, the current position of the operation equipment is P, and the current orientation is PA, obviously, the distance between the current position P of the operation equipment and the boundary of the operation plot of the operation equipment is less than L, and The current orientation PA of the working equipment points to the boundary of the working plot, and at this time, it can be determined that the working equipment is located in the dead zone.

It should be noted that, when the work equipment 100 is a grader, the above-mentioned second preset distance L needs to satisfy: L>d _min , d _min ≥W, d _min is the minimum safety distance, and W is the shovel width of the grader (It can also be understood as the working width); and, assuming that the minimum turning radius of the grader is TR, the above-mentioned second preset distance L can also be set as: L≧d _min +2×TR.

It should be understood that, since it can be determined whether the working equipment is located in the dead zone through the current posture of the working equipment, it is not necessary to make a judgment based on the specific motion state data of the working equipment. Therefore, through the method 2, it can be determined simply and accurately whether the work equipment 100 is located in the dead zone.

It should also be understood that by implementing the above-mentioned

methods

1 and 2, while determining whether the operation equipment 100 is located in the dead zone, it is also equivalent to determining whether the operation equipment 100 is in a situation where the next path cannot be planned in real time.

In some possible embodiments, when the above-mentioned path parameters include a work range, in the above-mentioned S210, the method of updating the path parameters of the work equipment may include: updating the work range of the work equipment in a setting manner.

Wherein, the setting method includes at least one of the following: translating the working range of the working device, and expanding the working range of the working device.

For example, the working range of the working device can be expanded according to a preset value, which can be a preset constant (eg, 3 meters, 4 meters, etc.), or the working width of the working device 100 .

Wherein, when the working equipment 100 is a grader, the preset value may also be the width of the grader shovel.

As shown in FIG. 31 , the figure shows the case where the work range of the work equipment is expanded, the original moving path is K1 , the original work range is area S, and the expanded work range is area S1 . In order to enable the working equipment 100 to escape from the dead zone, the original moving path can be updated according to the expanded working range, and the next moving path K2 can be determined, and the end point of the moving path K1 is outside the dead zone. Furthermore, the work equipment 100 can move the work along the moving path K2, and can escape from the dead zone.

In some other possible embodiments, when “expanding the working range of the working device according to the preset value”, the preset value may be greater than or equal to the working width of the working device. For example, if the radius of the working range is r, the working width of the working equipment is W, and the preset value is d (d≥W), then the radius of the working range can be expanded according to r`=r+d, and the expanded work The radius of the range is r`.

For another example, the current working range can be translated on the working map according to the set moving direction and moving step, so as to plan a path from the current position down to the shifted working range.

Further, when the above-mentioned path parameters include a work range, as shown in FIG. 32 , a possible implementation of the above-mentioned S220 may include the following steps:

S220-1: Determine at least one preselected path according to the updated operation scope. The endpoints of each preselected path are located outside the dead zone.

S220-2, determining the work efficiency of each preselected path.

As shown in FIG. 33 , assuming that the updated work range of the work equipment 100 is the area S1, a plurality of preselected moving paths may be determined in the area S, which are respectively “K1”, “K2”, and “K3”. These moving paths are located in the area S1, and the end point of each preselected path is located outside the dead zone. Then, the work equipment 100 may determine the work efficiency of "K1", "K2", and "K3" in combination with the actual terrain of the work plot and the work task.

As an implementation manner, the work efficiency of the preselected path may be determined by acquiring the first space volume of the bumps and concave blocks existing on the preselected path, and then acquiring the second volume of the convex blocks and concave blocks existing in the entire work plot. The space volume, according to the ratio between the first space volume and the second space volume, determines the operation efficiency. Among them, the convex block can be understood as a place with relatively high terrain in the operation plot, such as a small convex hull; the concave block can be understood as a place with relatively low terrain in the operation block, such as a pit.

S220-3, taking one of the preselected paths whose work efficiency meets the preset condition as the escape path.

Wherein, the preset condition includes at least one of the following: the work efficiency is greater than a preset threshold, and the work efficiency is the largest among all the determined work efficiencies.

In some possible embodiments, the above-mentioned preset threshold may represent that the work efficiency of the operation equipment on the preselected path is 0. In S220-3, since the determined escape path at least satisfies that the work efficiency is greater than the preset threshold or is in all The value of work efficiency in the preselected path is the largest. Therefore, in this embodiment, the preselected path with the highest work efficiency can be determined as the escape path according to the updated work range, so that the work equipment can not only escape from the dead zone, but also work with the highest work efficiency. Carry out work, thereby improving the work efficiency of the work equipment.

In some possible embodiments, when the above-mentioned path parameters include a path direction and a path curvature, in the above-mentioned S210, the way of updating the path parameters of the working equipment may include: according to the current position of the working equipment, the current nose orientation and the minimum turn Radius updates the path direction and path curvature of the current path of the work equipment. The path curvature may include a curvature used to represent each point or a preset number of points on the path, and the curvatures of these points may all be the same or may be different.

The current nose orientation is the running orientation of the work equipment. For example, when the work equipment is a grader, the current head orientation is the running orientation of the grader, or the orientation of the steering wheel of the grader.

Further, when the above-mentioned path parameters include a path direction and a path curvature, a possible implementation of the above-mentioned S220 may include the following steps: taking the current position of the working equipment as a starting point, and generating an arc segment including a turning arc according to the updated path direction and path curvature or A breakaway path containing turn arcs and straight segments.

Among them, the radius of curvature of the turning arc is greater than or equal to the minimum turning radius of the work equipment.

As shown in Figure 30, the distance between the current position P of the operation equipment and the boundary of the operation plot is less than the preset distance L, and the current direction PA points to the boundary of the operation plot. At this time, P can be used as the starting point, according to the path direction of the operation equipment and path curvature to generate breakaway path PQs that contain either turn arcs or both turn arcs and straight segments.

Optionally, the current position of the work equipment can be used as the starting point, and the escape path can be generated according to the straight line segment and/or the turning arc segment, wherein the radius of the turning arc segment is greater than or equal to the minimum turning radius of the work equipment, and the curvature of any point on the escape path is The radii are all larger than the minimum turning radius.

For example, the above-mentioned turning arc segment can be a circular arc segment, and multiple arc segments can be generated according to the circular arc segment and the straight line segment, including: circular arc segment, straight line segment-circular arc segment, circular arc segment-straight line segment, or the preceding three paths. Combine paths, and then select the escape path from these paths.

Furthermore, in the process of generating the escape path, the escape path is also generated with the position point outside the dead zone as the end point. As shown in Figure 30, the Q point is a position outside the dead zone.

Or, when the dead zone is an area formed by the plot boundary of the operation plot and the boundary line between the operation plot and the plot boundary that satisfies the preset distance, in the process of generating the escape path, it is also used with the plot boundary. The position points whose distance is greater than or equal to the first preset distance are the inflection points where the path direction deviates from the boundary of the plot to generate the escape path; wherein, the inflection point is the closest point on the escape path to the boundary of the plot.

In the embodiment of the present application, referring to FIG. 30 , the distance between the current position P of the working equipment and the boundary of the working plot is less than the preset distance L, and the current direction PA points to the boundary of the working plot, that is to say, the dead zone is at this time. It is an area formed by the parcel boundary of the operation parcel and the boundary line in the operation parcel that meets the preset distance from the parcel boundary. Further, a position point whose distance from the boundary of the plot is greater than or equal to the first preset distance can be used as the inflection point of the path direction away from the boundary of the plot to generate the escape path. For example, assuming that the first preset distance is D, then A point M can be determined as the inflection point at the distance D from the boundary of the plot, and then an escape path PQ including the inflection point and the end point is generated, where M is the inflection point of the escape path PQ, and the point M is the closest point on the escape path PQ to the boundary of the work plot. On the PQ, the points from point M to point Q are gradually away from the boundary of the operating plot.

Further, when the escape path is also generated with an inflection point, the length of the path segment between the end point of the path segment where the inflection point is located and the inflection point is greater than or equal to a preset length threshold. For example, if it is assumed that the preset length threshold is 4 meters, the line segment MQ from point M to point Q on PQ is ≥4 meters.

It should be understood that since the inflection point is the closest point to the boundary of the work plot on the breakaway path, the points between the inflection point and the end point on the breakaway path gradually move away from the boundary of the work plot, that is to say, the end of the breakaway path faces the deviation from the work. The boundary of the field, when the working equipment moves along the escape path to the end of the path, it can realize the direction reversal, and after the direction is reversed, it will no longer face the boundary of the work field. That is to say, it is assumed that the angle between the MQ section on the PQ and the boundary of the operation plot is θ, and if the included angle is greater than 0, it means that the direction of the MQ section deviates from the boundary of the operation plot; if the included angle is less than 0, the direction of the MQ section is towards the operation. For plot boundaries, 0≤θ≤ρ. Among them, ρ is a preset angle value, which can be obtained according to the experimental preset, so as to avoid that the curvature of the MQ section cannot meet the turning requirements of the operation equipment due to the excessively large included angle θ. It should be noted that, if the MQ segment is a curve, the above-mentioned included angle θ can be correspondingly expressed as the included angle between the tangent of the MQ segment and the boundary of the operating plot.

At this time, the work equipment 100 may determine the next segment of the moving path whose end point is outside the dead zone, and move along the next segment of the moving path to escape the dead zone.

Optionally, with regard to how to "take the current position of the working equipment as the starting point, and generate a breakaway path including a turning arc segment or a turning arc segment and a straight and/or turning arcs", "The breakaway path includes an inflection point and an end point, the turning point is the point on the turning path that is closest to the boundary of the work plot, and the points between the turning point and the end point on the breakaway path are gradually away from the boundary of the work plot", "The radius of the turning arc is greater than or equal to the minimum turning radius of the operating equipment, and the radius of curvature of any point on the escape path is greater than the minimum turning radius" as the constraint condition, and the path search algorithm is used to directly generate the escape path that satisfies the above constraints.

Further, when the operation of the operation equipment is a grader, in order to ensure that the grader can effectively complete the task of leveling the land when the method provided by the present application is applied, the above-mentioned S210 may be performed when the flatness of the operating plot is less than the preset flatness. when executed.

It should be understood that, in the above-mentioned method provided in this application, S210 will be further executed only when the flatness of the working plot is less than the preset flatness. Therefore, the method embodiment provided in this application can better ensure the flatness of the ground. The machine can complete the task of leveling the land safely, reliably, simply and efficiently.

The method embodiments of the present application are described in detail above, and the device embodiments of the present application are described in detail below. It should be understood that the descriptions of the method embodiments correspond to the descriptions of the apparatus embodiments. Therefore, for the parts not described in detail, reference may be made to the foregoing method embodiments.

In order to execute the above-mentioned embodiments of the path range determination method and corresponding steps in each possible manner to achieve corresponding technical effects, an implementation manner of a path range determination device is given below. Referring to FIG. 34 , FIG. 34 is an implementation of the present application. The example provides a functional block diagram of a path range determination device.

It should be noted that, the basic principle and the technical effect of a path range determination device provided in this embodiment are the same as the above-mentioned embodiments. For a brief description, the path range determination device 30 mentioned in this embodiment includes: updating Module 301.

The update module 301 is configured to update the current operation range when the flatness of the plot in the current operation range meets the set condition, so as to obtain the target operation range whose flatness of the plot does not meet the set condition; wherein, the set condition is the current operation The extent's parcel flatness is less than or equal to the desired flatness of the target job parcel.

In order to execute the above-mentioned embodiments of the path planning method and corresponding steps in each possible manner, so as to achieve corresponding technical effects, an implementation manner of a path planning apparatus is given below. Referring to FIG. 35 , FIG. 35 provides an embodiment of the present application. A functional block diagram of a path planning device.

It should be noted that the basic principle and technical effect of a path planning device provided in this embodiment are the same as those of the above-mentioned embodiment. For the sake of brief description, for the parts not mentioned in this embodiment, reference may be made to the above-mentioned implementation. corresponding content in the example. The path planning apparatus 40 includes: a determination module 401 .

The determination module 401 is used to determine the target operation range according to the land flatness of the target operation area; the land flatness of the target operation area does not meet the set condition; wherein, the set condition is that the land flatness of the target operation area is less than or equal to the expected flatness of the target operation plot; determine the target leveling path within the target operation area, and the leveling path is used to guide the leveling equipment to perform leveling operations within the target operation area.

It should be noted that the modules of the path planning device 40 may be stored in the memory in the form of software or firmware (Firmware) or solidified in the processor of any leveling equipment (also known as work equipment), and can be executed by the processor. Any one of the path range determination methods provided in the embodiments of the present application.

In addition, an embodiment of the present application further provides a work equipment control unit, including a processor and a memory. Referring to FIG. 36 , FIG. 36 is a structural block diagram of a work equipment control unit provided by an embodiment of the present application. The work equipment control unit 50 includes a memory 501 , a processor 502 and a communication interface 503 . The memory 501 , the processor 502 and the communication interface 503 are directly or indirectly electrically connected to each other to realize data transmission or interaction. For example, these elements may be electrically connected to each other through one or more communication buses or signal lines. Wherein, the processing device may be a control module configured on the leveling equipment itself, or may be an agricultural autopilot or other equipment used to control the operation of the leveling equipment, and the embodiment of the present application is not limited thereto.

The memory 501 can be used to store software programs and modules, such as program instructions/modules corresponding to the path range determination method or the path planning method provided by the embodiments of the present application, and the processor 502 executes the software programs and modules stored in the memory 501. Execute various functional applications and data processing. The communication interface 503 can be used for signaling or data communication with other node devices. The grading device 10 may have multiple communication interfaces 503 in this application.

Wherein, the memory 501 may be, but not limited to, a random access memory (Random Access Memory, RAM), a read-only memory (Read Only Memory, ROM), a programmable read-only memory (Programmable Read-Only Memory, PROM), an erasable memory In addition to read-only memory (Erasable Programmable Read-Only Memory, EPROM), Electrical Erasable Programmable Read-Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc.

The processor 502 may be an integrated circuit chip with signal processing capability. The processor 502 can be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; it can also be a digital signal processor (Digital Signal Processing, DSP), dedicated integrated Circuit (Application Specific Integrated Circuit, ASIC), Field Programmable Gate Array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The memory 501 stores machine-executable instructions that can be executed by the processor 502 for any path scoping method or path planning method of the present application.

In an embodiment of the present application, there is also provided a work equipment, the work equipment includes: a body; a power device installed on the body and used to provide power for the work equipment; and a work equipment control unit, the work equipment control unit includes a processor and a memory, where the memory stores machine-readable instructions, and the processor is configured to execute the machine-readable instructions to implement the method described in any of the foregoing embodiments.

Embodiments of the present application further provide a storage medium on which a computer program is stored. For example, when the storage medium can be stored in the processor 502 shown in FIG. 36 , the computer program is executed by the processor 502 to achieve the foregoing implementation. Any path range determination method or path planning method in the method, the computer-readable storage medium can be, but not limited to, a U disk, a removable hard disk, a ROM, RAM, PROM, EPROM, EEPROM, a magnetic disk or an optical disk, etc. A medium on which program code is stored.

It should be noted that, in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any relationship between these entities or operations. any such actual relationship or sequence exists. Moreover, the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device that includes a list of elements includes not only those elements, but also includes not explicitly listed or other elements inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in the process, method, article, or device that includes the element.

The above are only preferred embodiments of the present application, and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application. It should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, no further definition and explanation are required in subsequent figures, Any changes or substitutions that can be easily conceived by any person skilled in the art within the technical scope disclosed in this application shall be covered by the protection scope of this application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

A path scoping method comprising:

When the flatness of the plot in the current operating range satisfies the set condition, update the current operating range to obtain a target operating range where the flatness of the plot does not meet the set condition;

Wherein, the setting conditions include that the flatness of the current operation area is less than or equal to the expected flatness of the target operation area; both the current operation area and the target operation area are located in the target operation area .
The method according to claim 1, wherein, when the flatness of the plot in the current operating range satisfies a set condition, the current operating range is updated to obtain a target that the flatness of the plot does not meet the set condition Scope of work, including:

determining the flatness of the plot of the current working range according to the plot elevation information of the current working range and the average height value of the target working plot;

When the flatness of the plot in the current operating range satisfies the set condition, the current operating range is expanded and/or shifted until the obtained flatness of the plot in the target operating range does not meet the set condition .
The method according to claim 2, wherein the determining the flatness of the plot in the current working range according to the plot elevation information of the current working range and the average height value of the target working plot comprises:

acquiring the respective elevation values of multiple sampling locations in the current operating range;

The flatness of the plot in the current operation range is determined according to the respective elevation values of the plurality of sampling locations and the average height value of the target operation plot.
According to the method according to any one of claims 1 to 3, the current working range is an initial working range of the working equipment when the working equipment starts working in the current operation, or is all the working equipment in the current operation. The target operation scope after the above-mentioned initial operation scope has been updated;

When the current operation scope is the initial operation scope, before the updating of the current operation scope, the method further includes:

Determine the range parameter of the current work range according to the current position of the work device and the turning radius of the work device; the shape of the current work range is one of polygon, circle and sector;

Wherein, when the shape of the current working range is a polygon, the range parameter includes a minimum length and a minimum width, or includes a minimum inscribed circle radius of the current working range; the minimum length and the minimum width are both greater than or equal to the turning diameter of the work equipment, and the minimum inscribed circle radius is greater than or equal to the turning diameter of the work equipment;

When the shape of the current working range is a circle or a sector, the range parameter includes a radius; the radius is greater than or equal to the turning diameter of the working equipment.
The method according to claim 4, wherein, when the shape of the current work range is a sector, the range parameter further includes a central angle; the central angle is a positive integer less than 360 degrees; for the current work The scope has been expanded to include:

Expand the radius and the central angle of the current operating range according to a preset rule;

When the shape of the current operating range is a circle, expanding the current operating range includes:

The radius of the current operating range is expanded according to the preset rule.
A path planning method, comprising:

Determine the target operation range according to the land flatness of the target operation area; the land flatness of the target operation area does not meet the set condition; the set condition includes that the land flatness of the target operation area is less than or equal to the desired flatness of the target operation plot;

A target leveling path within the target working range is determined, and the target leveling path is used to guide the working equipment to perform leveling work within the target working range.
The method according to claim 6 , wherein the target operating range is obtained according to the method for determining the range of a flat path according to any one of claims 2 to 5 .
The method according to claim 6 or 7, wherein the determining a target level path within the target operating range comprises:

Within the target operation range, multiple candidate paths are generated according to the current position and current direction of the operating equipment; the path direction of the candidate path is consistent with the current direction;

Calculate the work efficiency corresponding to each of the multiple candidate paths according to the average height value of the target work plot and the load information of the work equipment;

The target flat ground path is determined based on the respective corresponding work efficiencies of the multiple candidate paths.
The method according to claim 8, wherein generating a plurality of candidate paths according to the current position and current direction of the work equipment within the target work range, comprising:

obtaining the respective positions of multiple boundary points of the target operating range;

Wherein, the linear distance between the position of each of the multiple boundary points and the current position of the operation equipment is equal to the length of the target operation range, and the distance between any two adjacent boundary points is the spacing between them is greater than or equal to the width of the grader of the work equipment;

Based on the current position of the work equipment and the respective positions of the plurality of boundary points, the plurality of candidate routes whose route directions coincide with the current direction are generated.
The method according to claim 8 or 9, wherein the calculating the work efficiency corresponding to each of the multiple candidate paths according to the average height value of the target work plot and the load information of the work equipment comprises:

Determine a plurality of sub-working areas corresponding to each of the candidate paths based on the length and width of the grader;

The work efficiency of each of the candidate paths is calculated according to the average height value of the target operation plot, the average height value of each of the sub-operation areas, and the load information.
The method according to any one of claims 8 to 10, wherein the determining the target flat ground path based on the work efficiency corresponding to each of the multiple candidate paths comprises:

According to the respective work efficiencies corresponding to the multiple candidate paths, determine the respective efficiency scores of the multiple candidate paths;

The candidate path with the highest efficiency score is determined as the target flat path.
The method according to claim 6 or 7, wherein the determining a target level path within the target operating range comprises:

acquiring at least one backup path of the operation equipment in the plot to be operated corresponding to the target operation range;

Obtain all discrete points corresponding to each of the alternate paths;

Calculate the respective work efficiency of each of the alternate paths according to all discrete points corresponding to each of the alternate paths;

According to the respective work efficiency of each of the alternate paths, the target flat path is determined from the alternate paths.
The method of claim 12, wherein the step of calculating the respective work efficiency of each of the alternate paths according to all discrete points corresponding to each of the alternate paths comprises:

generating at least one discrete operation area according to all discrete points corresponding to each of the alternate paths;

Based on the height variation value of the height value of each discrete working area relative to the expected height of the to-be-operated plot, the working efficiency of each of the alternate paths is calculated, wherein the working efficiency represents all discrete paths corresponding to the alternate paths. The sum of the height changes of the work area.
The method of claim 13, wherein the step of generating at least one discrete operation area according to all discrete points corresponding to each of the alternate paths comprises:

For each of the alternate paths, use the alternate path as a target alternate path;

along the target backup path, taking the distance between two adjacent discrete points as the width and the length of the shovel of the working equipment as the length, to generate at least one discrete working area;

The step of calculating the work efficiency of each of the alternate paths based on the height change value of the height value of each discrete operation area relative to the expected height of the to-be-operated plot includes:

Based on the height change value of the respective height values of each of the discrete working areas of the target backup path relative to the expected height value of the to-be-operated plot, the working efficiency of the target backup path is calculated, and then each of the target backup paths is obtained. The respective working efficiencies of the alternate paths are described.
15. The method of claim 14, wherein the at least one discrete operation area includes a first discrete operation area and a second discrete operation area, the respective height of each of the discrete operation areas based on the target alternate path The height change value of the value relative to the expected height value of the to-be-operated plot to calculate the work efficiency of the target backup path, including:

Obtain the work efficiency of the first discrete operation area, the desired height of the to-be-operated plot, and the height value of the second discrete operation area, wherein the second discrete operation area is the same as the first discrete operation area The next discrete operation area adjacent to the operation area;

based on the expected height of the to-be-operated plot and the height value of the second discrete operation area, calculating a height change value of the second discrete operation area;

summing the height change value of the second discrete operation area and the work efficiency of the first discrete operation area to obtain the work efficiency of the second discrete operation area;

calculating the soil carrying volume in the shovel after the work equipment reaches the second discrete work area;

determining whether the second discrete job area is the last discrete job area on the target alternate path;

If the second discrete operation area is the last discrete operation area on the target backup path, taking the work efficiency of the second discrete operation area as the work efficiency of the target backup path;

If the second discrete operation area is not the last discrete operation area on the target alternate path, use the second discrete operation area to replace the first discrete operation area and return to the the desired height of the second discrete operation area and the height value of the second discrete operation area, and the step of calculating the height change value of the second discrete operation area until the second discrete operation area is the last discrete operation on the target alternate path area to obtain the working efficiency of the target backup path.
The method according to any one of claims 13 to 15, wherein the obtaining method of the height value of each discrete working area includes the first method or the second method;

The first way:

generating a corresponding judgment area for each of the discrete operation areas, wherein the judgment area includes a circumscribed rectangle or a circumscribed circle of the discrete operation area;

averaging the elevation values of all the discrete coordinate points in each of the judging areas to obtain the height values of the discrete work areas corresponding to each of the judging areas;

The second way:

Calculate the mean value of the elevation values of all discrete coordinate points in each of the discrete work areas to obtain the height value of each of the discrete work areas.
The method according to any one of claims 12 to 16, wherein the acquiring at least one backup path of the operation equipment in the plot to be operated corresponding to the target operation range comprises:

Perform indentation processing on the plot boundary of the to-be-operated plot to obtain a reliable boundary of the to-be-operated plot;

acquiring multiple candidate paths of the operating equipment within the to-be-operated plot;

Obtain any target candidate path in the multiple candidate paths;

discretizing the target candidate path into a plurality of discrete points;

Starting from the starting point of the target candidate path, determining whether the plurality of discrete points are within the reliable boundary one by one, wherein the starting point is located within the reliable boundary;

If the currently determined current discrete point is not within the reliable boundary, delete the part of the path after the previous discrete point of the current discrete point to obtain a backup path corresponding to the target candidate path;

Return to the step of obtaining any one target candidate path in the multiple candidate paths, until the backup path corresponding to each of the candidate paths is obtained;

or,

The acquiring at least one backup path of the operation equipment in the plot to be operated corresponding to the target operation scope includes:

Perform indentation processing on the plot boundary of the to-be-operated plot to obtain a reliable boundary of the to-be-operated plot;

All specific candidate paths in the plurality of candidate paths are deleted to obtain the at least one backup path, wherein some paths in the specific candidate paths exceed the reliable boundary.
The method according to any one of claims 6 to 17, wherein, after the determining the target level ground path within the target operation range, further comprising:

Instruct work equipment to operate based on the target level path;

When the work equipment is located in the dead zone, updating the path parameters of the work equipment;

An escape path of the work equipment is determined according to the updated path parameters, and the end point of the escape path is located outside the dead zone.
19. The method of claim 18, wherein the path parameters include a work scope; and the updating the path parameters of the work equipment comprises:

The working range of the working equipment is updated in a setting manner; the setting manner includes at least one of the following: translating the working scope of the working equipment, and expanding the working scope of the working equipment.
The method of claim 18, wherein the determining an escape path of the work equipment according to the updated path parameters comprises:

According to the updated operating range, at least one preselected path is determined; the end point of each preselected path is located outside the dead zone;

Determine the working efficiency of each preselected path;

One of the preselected paths whose work efficiency satisfies a preset condition is used as the escape path; the preset condition includes at least one of the following: the work efficiency is greater than a preset threshold, and the work efficiency is the largest among all the determined work efficiencies.
The method according to any one of claims 18 to 20, wherein the path parameters include path direction and path curvature; and the updating the path parameters of the work equipment comprises:

The path direction and path curvature of the current path of the work equipment are updated according to the current position of the work equipment, the current nose heading and the minimum turning radius.
The method according to any one of claims 18 to 21, wherein the updated path parameters include a path direction and a path curvature; and the determining an escape path of the working equipment according to the updated path parameters includes:

Taking the current position of the working equipment as a starting point, and according to the updated path direction and path curvature, generate an escape path including a turning arc segment or a turning arc segment and a straight line segment; wherein, the radius of curvature of the turning arc segment is greater than or equal to The minimum turning radius of the work equipment.
The method according to any one of claims 18 to 22, characterized in that before updating the path parameters of the working equipment when the working equipment is located in the dead zone, the method further comprises:

When the work efficiency of the work equipment on the current work path is less than or equal to a preset value, it is determined that the work equipment is located in the dead zone; or,

When the distance between the current position of the working equipment and the boundary of the working plot is less than the second preset distance, and the current nose of the working equipment faces the boundary of the working plot, it is determined that the working equipment is located in the dead zone.
A path range determination device, comprising:

an update module, configured to update the current operating range when the flatness of the plot in the current operating range satisfies the set condition, so as to obtain a target operating range where the flatness of the plot does not meet the set condition;

Wherein, the setting conditions include that the flatness of the current operation area is less than or equal to the expected flatness of the target operation area; both the current operation area and the target operation area are located in the target operation area .
A path planning device, comprising:

A determination module, configured to determine the target operation range according to the flatness of the target operation plot; the flatness of the target operation range does not meet the set condition; the set condition includes the plot of the target operation range The flatness is less than or equal to the expected flatness of the target working area; a target leveling path within the target working range is determined, and the target leveling path is used to guide the working equipment to perform leveling work within the target working range.
A computer-readable storage medium having a computer program stored thereon, the computer program implementing the method of any one of claims 1 to 23 when executed by a processor.
A work equipment control unit, comprising a processor and a memory, the memory storing machine-readable instructions, the processor for executing the machine-readable instructions to implement the method of any one of claims 1 to 23 .
A work equipment comprising:

body;

power equipment, mounted on the body, for powering the work equipment;

and a work equipment control unit; the work equipment control unit includes a processor and a memory, the memory storing machine-readable instructions, the processor for executing the machine-readable instructions to implement any one of claims 1 to 23 method described in item.