WO2023207022A1

WO2023207022A1 - Path planning method and system for automatic operation of agricultural machinery, and device and storage medium

Info

Publication number: WO2023207022A1
Application number: PCT/CN2022/129948
Authority: WO
Inventors: 桑燕五; 孙钡; 关悦; 秦硕; 吴迪
Original assignee: 丰疆智能软件科技(南京)有限公司
Priority date: 2022-04-24
Filing date: 2022-11-04
Publication date: 2023-11-02
Also published as: CN115617029A

Abstract

A path planning method and system for an automatic operation of agricultural machinery, and a device and a storage medium. The method comprises: acquiring boundary point data and a positioning margin of an initial farmland block (S101); determining a target farmland block boundary according to the boundary point data and the positioning margin of the initial farmland block and a preset safety distance (S102); determining the current operation area according to the target farmland block boundary, and performing polygonization processing on the current operation area on the basis of a polygonization algorithm, so as to obtain an area to be planned (S103); and performing path planning on the area to be planned, so as to generate a target path trajectory (S104). The present application is conducive to improving the safety of a path planning result, and has relatively good universality for irregular farmland blocks.

Description

Path planning methods, systems, equipment and storage media for automatic agricultural machinery operations

This application requires the priority of the Chinese patent application submitted to the China Patent Office on April 24, 2022, with the application number 202210449246.1 and the invention title "Path Planning Method, System, Equipment and Storage Medium for Automatic Agricultural Machinery Operation", and its entire content incorporated herein by reference.

Technical field

The invention relates to the technical field of agricultural machinery operation, and specifically relates to a path planning method, system, electronic equipment and computer-readable storage medium for automatic agricultural machinery operation.

Background technique

In recent years, as agricultural production has entered a new stage of refinement and intelligence, unmanned agricultural machinery has received more and more attention due to its advantages such as high efficiency, low cost and comfort. In the research of unmanned agricultural machinery, how to automatically plan the operation path based on information such as agricultural machinery vehicle parameters, field environment, and operation type is a key technology for unmanned agricultural machinery. At present, most path planning research mainly focuses on the operation path planning of regular land parcels under different evaluation indicators and different turning methods, and does not pay enough attention to the safety and efficiency of the path planning results. There is less research on the operation planning of irregular land parcels. Lack of certain versatility.

Contents of the invention

In view of the above, it is necessary to provide a path planning method, system, electronic equipment and computer-readable storage medium for automatic agricultural machinery operation.

In a first aspect, the present invention provides a path planning method for automatic agricultural machinery operation, including:

Obtain the boundary point data and positioning margin of the initial field;

Determine the target field boundary according to the boundary point data, positioning margin and preset safety distance of the initial field;

Determine the current operation area according to the target field boundary, and polygonize the current operation area based on the polygonization algorithm to obtain the area to be planned;

Perform path planning in the area to be planned and generate target path trajectories.

In some embodiments, the positioning margin includes the distance between the vehicle-mounted positioning device and the actual field boundary when the agricultural machinery first operates.

In some embodiments, the boundary point data of the initial field block includes the boundary point longitude and latitude data of the agricultural machinery initial operation field; the boundary point data of the initial field block, positioning margin and preset safety Distance to determine target field boundaries, including:

Convert the longitude and latitude data of the boundary points into plane projection coordinate data to obtain the closed field boundary;

Perform sparse processing and filtering processing on the boundary points of the closed field boundary to obtain the theoretical field boundary;

According to the theoretical field boundary, the positioning margin and the safety distance, the target field boundary is determined.

In some embodiments, before polygonizing the current working area based on the polygonization algorithm to obtain the area to be planned, the method further includes:

Obtain historical operation records and determine the historical operation area based on the historical operation records;

Determine the remaining field areas based on the historical operation area and preset target field boundaries;

According to the remaining field area, the current operation area is determined.

In some embodiments, the current work area is polygonized based on the polygonization algorithm to obtain the area to be planned, including:

According to the preset agricultural machinery vehicle information and operation information, determine the shortest side length of the polygonization algorithm and use it as the target side length;

Determine the initial vertex on the boundary of the current working area, and perform traversal and circle drawing processing on the current working area according to the target side length to obtain several boundary intersection points;

The initial vertex and the several boundary intersection points are connected in sequence to obtain the area to be planned.

In some embodiments, path planning is performed on the area to be planned and a target path trajectory is generated, including:

The initial polygon in the area to be planned is used as a first-order polygon path, and each edge is translated inward by the preset target spacing to spirally calculate the multi-order polygon path until the entire area to be planned is covered, and the target path trajectory is obtained.

In some embodiments, the target distance includes an agricultural machinery operating width and a reserve distance.

In a second aspect, the present invention provides a path planning system for automatic agricultural machinery operations, including:

The data acquisition module is used to obtain the boundary point data and positioning margins of the initial field;

Determine the area module, used to determine the target field boundary based on the boundary point data of the initial field, the positioning margin and the preset safety distance;

The polygonization module is used to determine the current operation area according to the boundary of the target field, and polygonize the current operation area based on the polygonization algorithm to obtain the area to be planned;

The path planning module is used to plan the path in the area to be planned and generate the target path trajectory.

In a third aspect, the present invention provides an electronic device, including: a memory for storing a computer program; and a processing system for executing the computer program stored in the memory. When the computer program is executed, the processing The device is used to execute the path planning method for automatic agricultural machinery operations.

In a fourth aspect, the present invention provides a computer-readable storage medium. The storage medium includes computer instructions. When the computer instructions are run on an electronic device, the electronic device causes the electronic device to execute the path planning of the automatic agricultural machinery operation. method.

This invention obtains the boundary point data and positioning margin of the initial field block, and then determines the target field boundary based on the boundary point data, positioning margin and preset safety distance of the initial field block, in which the set safety distance is Helps to improve the security of subsequent path planning results; according to the boundary of the target field, the current operation area can be determined, and the current operation area can be polygonized based on the polygonization algorithm to obtain the area to be planned, so that irregular fields can be processed It has certain versatility and is convenient for path planning without planned fields; further, path planning is carried out in the area to be planned and target path trajectories are generated to realize automatic driving of agricultural machinery in regular or irregular fields, with high applicability and good safety.

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting creative efforts.

Figure 1 is a flow chart of a path planning method for automatic agricultural machinery operation in an embodiment of the present invention;

Figure 2 is a flow chart of step S102 of the path planning method for automatic agricultural machinery operation in an embodiment of the present invention;

Figure 3a is a schematic diagram of local field boundaries before processing by the filtering algorithm in an embodiment of the present invention;

Figure 3b is a schematic diagram of local field boundaries processed by the filtering algorithm in an embodiment of the present invention;

Figure 4 is a flow chart of step S103 of the path planning method for automatic agricultural machinery operation in an embodiment of the present invention;

Figure 5a is a schematic diagram of a first-order polygon path during path planning in an embodiment of the present invention;

Figure 5b is a schematic diagram of the first extension calculation during path planning in an embodiment of the present invention;

Figure 5c is a schematic diagram of the second extension calculation during path planning in an embodiment of the present invention;

Figure 5d is a schematic diagram of the target path trajectory of path planning in an embodiment of the present invention;

Figure 6 is a flow chart of a path planning method for automatic agricultural machinery operation in another embodiment of the present invention;

Figure 7 is a functional block diagram of a path planning system for automatic agricultural machinery operation in one embodiment of the present invention;

FIG. 8 is a functional block diagram of an electronic device according to an embodiment of the present invention.

Detailed ways

The technical solutions in the implementation of the present invention will be clearly and completely described below with reference to the accompanying drawings in the implementation of the present invention. Obviously, the described implementation is only a part of the implementation of the present invention, rather than all implementations.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which the invention belongs. The terminology used herein in the description of the invention is for the purpose of describing specific embodiments only and is not intended to limit the invention.

It should be further noted that, as used herein, the terms "comprises," "comprises," or any other variations thereof are intended to cover 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 other elements not expressly listed or inherent in such process, method, article or apparatus. Without further limitation, an element defined by the statement "comprises a..." does not exclude the presence of additional identical elements in a process, method, article or apparatus that includes that element.

In the present invention, "at least one" means one or more, and "plurality" means two or more than two. "And/or" describes the association of associated objects, indicating that there can be three relationships. For example, A and/or B can mean: A exists alone, A and B exist simultaneously, and B exists alone, where A, B Can be singular or plural. The terms "first", "second", "third", "fourth", etc. (if present) in the description, claims and drawings of the present invention are used to distinguish similar objects, rather than to Describe a specific order or sequence.

In the embodiments of the present invention, words such as “exemplary” or “for example” are used to represent examples, illustrations or explanations. Any embodiment or design described as "exemplary" or "such as" in the embodiments of the invention is not to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the words "exemplary" or "such as" is intended to present the concepts in a concrete manner.

Please refer to Figure 1. The invention provides a path planning method for automatic agricultural machinery operation, which may include the following steps:

S101. Obtain the boundary point data and positioning margin of the initial field.

Among them, the initial field refers to the field that requires initial operation of agricultural machinery. The type of agricultural machinery operation can be plowing, sowing or harvesting, etc. The agricultural machinery can be a tractor, rotary tiller, rice transplanter or harvester, etc.; the boundary point of the initial field The position data refers to the position data of the positioning collection point or trajectory point on the boundary of the initial field block; the boundary point data of the initial field block includes the longitude and latitude data of the boundary point of the agricultural machinery's initial operation; the positioning margin includes the vehicle-mounted data during the first operation of the agricultural machinery. The distance between the positioning device and the actual field boundary, where the actual field boundary refers to the actual boundary of the initial field.

Specifically, during the initial operation of the field, the agricultural machinery is manually driven around the field, and the vehicle-mounted positioning equipment is used to obtain the longitude and latitude data of the boundary points of the initial field and store it in the field operation database.

It should be noted that the positioning margin can be determined by the horizontal distance of the vehicle-mounted positioning device relative to the edge of the agricultural machinery body, and the horizontal distance of the edge of the agricultural machinery body relative to the actual field boundary, where the edge of the agricultural machinery body refers to the edge closest to the actual field boundary. Body edge.

S102. Determine the boundary of the target field based on the boundary point data of the initial field, the positioning margin and the preset safety distance.

Among them, the safety distance refers to the shortest distance between the edge of the agricultural machinery body and the actual field boundary.

Specifically, the longitude and latitude data of the boundary points of the initial field are converted into plane projection coordinate data through calculation, and then the closed boundary is obtained based on the time series projection coordinate data, and then the positioning margin and the preset safety distance are considered, so that we can get Target field boundaries.

Understandably, the target field boundary is reduced by a safe distance relative to the actual field boundary, which can ensure that the agricultural machinery vehicle will not exceed the actual field boundary during driving, which helps to improve the safety of subsequent path planning results.

S103. Determine the current operation area based on the target field boundary, and polygonize the current operation area based on the polygonization algorithm to obtain the area to be planned.

Specifically, if the current field belongs to the initial operation plan, the area determined by the target field boundary is regarded as the current operation area; then the current operation area is polygonized based on the polygonization algorithm to obtain the polygonal field area and serve as the area to be planned ;The area to be planned refers to the polygonal field area used for path planning.

S104. Perform path planning in the area to be planned and generate a target path trajectory.

Among them, the target path trajectory refers to the to-be-operated route of the agricultural machinery vehicle.

Specifically, the polygonalized area to be planned is subjected to path planning processing to obtain the to-be-operated route of the agricultural machinery vehicle, so as to generate a driving path instruction and send it to the controller of the agricultural machinery vehicle; the driving path instruction may include driving direction, distance, and turning point. and information such as steering angle.

This embodiment obtains the boundary point data and positioning margin of the initial field, and then determines the target field boundary based on the boundary point data, positioning margin and preset safety distance of the initial field, in which the set safety distance It helps to improve the security of subsequent path planning results; then according to the boundary of the target field, the current operation area can be determined, and the current operation area can be polygonized based on the polygonization algorithm to obtain the area to be planned, thereby making the irregular fields It has certain versatility and is convenient for path planning without planned fields; further, path planning is carried out in the area to be planned and target path trajectories are generated to realize automatic driving of agricultural machinery in regular or irregular fields, with high applicability and good safety.

In some embodiments, please refer to Figure 2. In the path planning method for automatic agricultural machinery operation of the present invention, in step S102, the target field is determined based on the boundary point data of the initial field, the positioning margin and the preset safety distance. Block boundaries, including:

S201. Convert the boundary point longitude and latitude data into plane projection coordinate data to obtain the closed field boundary.

Specifically, the longitude and latitude data of the boundary points are converted into plane projection coordinate data through coordinate transformation, and then the plane projection coordinates of the initial field boundaries are connected in chronological order. It should be noted that if the starting point and the end point do not coincide, then the starting point and the end point are connected to form a closed field boundary.

S202. Perform sparse processing and filtering processing on the boundary points of the closed field boundary to obtain the theoretical field boundary.

Among them, the theoretical field boundary refers to the field boundary after optimization.

Specifically, a thinning algorithm can be used to sparse the boundary points of the closed field boundary, thereby reducing the amount of subsequent calculations; in this embodiment, the thinning algorithm can use the Douglas-Pook algorithm.

Further, the sparsely processed boundary points are processed by a filtering algorithm to eliminate abnormal points caused by agricultural machinery vehicle reversing or positioning errors. The filtering algorithm processing specifically includes: constructing a network on the sparsely processed closed field boundaries. grid so that it can cover all trajectory points on the boundary of the closed field; where the size of the grid depends on the size of the boundary of the closed field; further, all trajectory points are moved to the center point of the grid where they are located; according to the original In the order of the trajectory points, the center points of all grids containing the trajectory points are connected in sequence to obtain the theoretical field boundary; Figure 3a shows the local field boundary before filtering and Figure 3b shows the local field boundary after filtering boundary.

S203. Determine the target field boundary based on the theoretical field boundary, positioning margin and safety distance.

Specifically, since the collected boundary track points of the initial field are actually the position of the agricultural machinery vehicle-mounted positioning equipment, when the agricultural machinery vehicle travels along the boundary of the initial field, there is a positioning margin between the vehicle-mounted positioning equipment and the actual field boundary. , and at the same time, consider setting the shortest distance between the edge of the agricultural machinery body and the actual field boundary, that is, the safety distance, and expand the filtered theoretical field boundary outward by a specific distance, the specific distance = positioning margin - safety distance; further, The expanded theoretical field boundary is used as the target field boundary. It should be noted that the target field boundary data can be stored in the field operation database.

In some embodiments, please refer to Figure 4. In the path planning method for automatic agricultural machinery operation of the present invention, the current operation area is polygonized based on the polygonization algorithm in step S103 to obtain the area to be planned, including:

S401. According to the preset agricultural machinery vehicle information and operation information, determine the shortest side length of the polygonization algorithm and use it as the target side length; wherein, the agricultural machinery vehicle information includes the length, width and turning radius of the agricultural machinery vehicle; the operation information includes Working width and reserve distance.

Specifically, based on the length, width, turning radius, operating width and reserved distance of the agricultural machinery vehicle, the shortest side length of the polygon can be calculated through a spatial geometry algorithm.

S402. Determine the initial vertex on the boundary of the current working area, and perform a circle drawing process on the current working area according to the target side length to obtain several boundary intersection points.

Specifically, the current position point of the agricultural machine can be used as the initial vertex. It should be noted that the current position point of the agricultural machine is located on the boundary of the current working area. Construct a circle with the initial vertex P0 as the center and the target side length L as the radius. Among all the points where the circle intersects with the boundary of the current working area, select starting from P0 and move along the boundary in a clockwise direction. The first point encountered The intersection point is regarded as the next vertex P1. Then make a circle with P1 as the center and L as the radius. From all the points where the circle intersects with the boundary of the current working area, select starting from P1 and move along the boundary in a clockwise direction. The first intersection point encountered is The next vertex P2. Repeat the above steps until the initial vertex P0 is traversed clockwise.

S403. Connect the initial vertex and several boundary intersection points in sequence to obtain the area to be planned.

Specifically, P0-P1-...-Pn-1-Pn-P0 are sequentially connected to form the polygonal area to be planned, where n is the number of circles.

In some embodiments, in the path planning method for automatic agricultural machinery operation of the present invention, step S104 is to perform path planning in the area to be planned and generate the target path trajectory, including: using the initial polygon in the area to be planned as a first-order polygon path, and Translate each edge inward by the preset target distance and spirally calculate the multi-order polygon path until the entire area to be planned is covered, and the target path trajectory is obtained. Among them, the target spacing includes the operating width of agricultural machinery and the reserved distance. The operating width of agricultural machinery refers to the longitudinal width of agricultural machinery when operating; the reserved distance refers to the longitudinal spacing between the two paths back and forth when agricultural machinery operates back and forth.

In a specific embodiment, path planning is performed on the area to be planned to generate a target path trajectory, which specifically includes:

1. The initial path planning trajectory point is empty: [];

2. Put the areas to be planned P0-P1-...-Pn-1-Pn-P0 into the path planning trajectory points in sequence: [P0, P1, P2,..., Pn-1, Pn], and get the following The first-order polygon path shown in Figure 5a;

3. Move the P0 point to the Pn direction by a distance w to obtain P01, where the moving distance w is the target distance. Further, move the P0-P1 line segment to the P01 direction by a distance w to obtain P0'-P1', then calculate the point P11 with a length w from the P1-P2 line segment on P0'-P1', and put P01 and P11 into the path Planning trajectory points: [P0-P1-...-Pn-1-Pn-P01-P11], as shown in Figure 5b;

4. Move the P1-P2 line segment to the P11 direction by a distance w to obtain P1'-P2', then calculate the point P21 with a length w from the P2-P3 line segment on P1'-P2', and put P21 into the path planning trajectory point :[P0-P1-...-Pn-1-Pn-P01-P11-P21], as shown in Figure 5c;

5. Follow steps 3 and 4 to generate path planning trajectory points in sequence to obtain a multi-order polygonal path until the area to be planned is covered, thereby obtaining the target path trajectory, as shown in Figure 5d.

In some embodiments, please refer to Figure 6. The path planning method for automatic agricultural machinery operation of the present invention may include:

S601. Obtain historical operation records and determine the historical operation area based on the historical operation records;

S602. Determine the remaining field areas based on the historical operation area and the preset target field boundaries;

S603. Determine the current operation area based on the remaining field area;

S604. Polygonize the current working area based on the polygonization algorithm to obtain the area to be planned;

S605. Perform path planning in the area to be planned and generate a target path trajectory.

It should be noted that historical operation records are stored in a field operation database, and the field operation database can be deployed in electronic equipment such as a host computer or an agricultural machinery controller.

Specifically, if the field operation is interrupted and then continued, the historical operation record of the field can be imported from the field operation database. The historical operation record includes historical operation point data and agricultural machinery historical operation width, and can be combined with the spatial geometry algorithm Calculate the historical operation area. Further, the coordinate data of the target field boundary is imported from the field operation database, and the historical operation area is subtracted from the area determined by the target field boundary to obtain the remaining field area, so that the remaining field area can be used as the current operation area.

It is understandable that step S604 can be calculated based on the specific step principles of steps S401-S403, and step S605 can be calculated based on the specific step principles of step S104. This embodiment will not be described in detail here.

By storing and importing historical operation records, this embodiment can realize the interruption and continuation of agricultural production activities, making it more flexible and easy to improve the versatility of path planning. It can also reduce the missed plowing and re-ploughing rates.

This embodiment also provides a path planning system for automatic agricultural machinery operation. The path planning system for automatic agricultural machinery operation corresponds to the path planning method for automatic agricultural machinery operation in the above embodiment. As shown in Figure 7, the path planning system for automatic agricultural machinery operations includes:

The data acquisition module 701 is used to obtain the boundary point data and positioning margin of the initial field;

The determination area module 702 is used to determine the boundary of the target field based on the boundary point data of the initial field, the positioning margin and the preset safety distance;

The polygonization module 703 is used to determine the current operation area according to the target field boundary, and polygonize the current operation area based on the polygonization algorithm to obtain the area to be planned;

The path planning module 704 is used to perform path planning in the area to be planned and generate a target path trajectory.

For specific limitations on each step of the path planning method for automatic agricultural machinery operation, please refer to the limitations on the path planning system for automatic agricultural machinery operation mentioned above, and will not be described again here. In addition, it should be noted that each module in the above-mentioned path planning system for automatic agricultural machinery operation can be implemented in whole or in part by software, hardware, and combinations thereof. Each of the above modules may be embedded in or independent of the processor of the computer device in the form of hardware, or may be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

Referring to FIG. 8 , this embodiment also provides an electronic device. The electronic device can be a mobile terminal, a desktop computer, a notebook, a handheld computer, a server and other computing devices, and can also be integrated into the control part of an agricultural machine. The electronic device includes a processor 801, a memory 802 and a display 803. FIG. 8 shows some components of the electronic device, but it should be understood that implementation of all illustrated components is not required, and more or fewer components may be implemented instead.

The memory 802 may be an internal storage unit of the electronic device in some embodiments, such as a hard disk or memory of the electronic device. In other embodiments, the memory 802 can also be an external storage device of the electronic device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), or a secure digital (Secure Digital, SD) card equipped on the electronic device. Flash Card, etc. Further, the memory 802 may also include both an internal storage unit of the electronic device and an external storage device. The memory 802 is used to store application software and various types of data installed on the electronic device, such as program codes installed on the electronic device. The memory 802 may also be used to temporarily store data that has been output or is to be output. In one embodiment, a computer program 804 is stored on the memory 802 .

In some embodiments, the processor 801 may be a central processing unit (CPU), a microprocessor or other data processing chip, used to run the program code stored in the memory 802 or process data, such as executing a tree control. Rendering methods, etc.

In some embodiments, the display 803 may be an LED display, a liquid crystal display, a touch-controlled liquid crystal display, an OLED (Organic Light-Emitting Diode, organic light-emitting diode) touch device, etc. The display 803 is used to display information on the electronic device and to display a visual user interface. The components 801-803 of the electronic device communicate with each other via the system bus.

In one embodiment, when the processor 801 executes the computer program 804 in the memory 802, the following steps are implemented:

Obtain the boundary point data and positioning margin of the initial field;

Determine the target field boundary based on the initial field boundary point data, positioning margin and preset safety distance;

According to the boundary of the target field, the current operation area is determined, and the current operation area is polygonized based on the polygonization algorithm to obtain the area to be planned;

This embodiment also provides a computer-readable storage medium on which a path planning program for automatic agricultural machinery operations is stored. When the path planning program for automatic agricultural machinery operations is executed by the processor, the following steps are implemented:

Obtain the boundary point data and positioning margin of the initial field;

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage. In the media, when executed, the computer program may include the processes of the above method embodiments.

Any reference to memory, storage, database or other media used in the various embodiments provided by the present invention may include non-volatile and/or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous chain Synchlink DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

It is obvious to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, from any point of view, the above-described embodiments of the present invention should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description, and it is therefore intended that All changes that fall within the meaning and scope of equivalent elements of the claims are included in the present invention.

Claims

A path planning method for automatic agricultural machinery operation, which is characterized by including:

Obtain the boundary point data and positioning margin of the initial field;

Determine the target field boundary according to the boundary point data, positioning margin and preset safety distance of the initial field;

Determine the current operation area according to the target field boundary, and polygonize the current operation area based on the polygonization algorithm to obtain the area to be planned;

Perform path planning in the area to be planned and generate target path trajectories.
The path planning method for automatic agricultural machinery operation according to claim 1, wherein the positioning margin includes the distance between the vehicle-mounted positioning device and the actual field boundary when the agricultural machinery first operates.
The path planning method for automatic operation of agricultural machinery according to claim 1, wherein the boundary point data of the initial field block includes the longitude and latitude data of the boundary point of the initial operation field of the agricultural machinery; Boundary point data, positioning margins and preset safety distances are used to determine the boundary of the target field, including:

Convert the longitude and latitude data of the boundary points into plane projection coordinate data to obtain the closed field boundary;

Perform sparse processing and filtering processing on the boundary points of the closed field boundary to obtain the theoretical field boundary;

According to the theoretical field boundary, the positioning margin and the safety distance, the target field boundary is determined.
The path planning method for automatic agricultural machinery operation according to claim 1, characterized in that, before polygonizing the current operation area based on the polygonization algorithm to obtain the area to be planned, the method further includes:

Obtain historical operation records and determine the historical operation area based on the historical operation records;

Determine the remaining field areas based on the historical operation area and preset target field boundaries;

According to the remaining field area, the current operation area is determined.
The path planning method for automatic agricultural machinery operation according to claim 1 or 4, characterized in that the current operation area is polygonized based on the polygonization algorithm to obtain the area to be planned, including:

According to the preset agricultural machinery vehicle information and operation information, determine the shortest side length of the polygonization algorithm and use it as the target side length;

Determine the initial vertex on the boundary of the current working area, and perform traversal and circle drawing processing on the current working area according to the target side length to obtain several boundary intersection points;

The initial vertex and the several boundary intersection points are connected in sequence to obtain the area to be planned.
The path planning method for automatic agricultural machinery operation according to claim 1, characterized in that, performing path planning on the area to be planned and generating a target path trajectory includes:

The initial polygon in the area to be planned is used as a first-order polygon path, and each edge is translated inward by the preset target spacing to spirally calculate the multi-order polygon path until the entire area to be planned is covered, and the target path trajectory is obtained.
The path planning method for automatic agricultural machinery operation according to claim 6, characterized in that the target distance includes an agricultural machinery operation width and a reserved distance.
A path planning system for automatic agricultural machinery operation, which is characterized by including:

The data acquisition module is used to obtain the boundary point data and positioning margins of the initial field;

Determine the area module, used to determine the boundary of the target field based on the boundary point data of the initial field, the positioning margin and the preset safety distance;

The polygonization module is used to determine the current operation area according to the boundary of the target field, and polygonize the current operation area based on the polygonization algorithm to obtain the area to be planned;

The path planning module is used to plan the path in the area to be planned and generate the target path trajectory.
An electronic device, characterized by including:

Memory, used to store computer programs;

A processing system, configured to execute the computer program stored in the memory. When the computer program is executed, the processor is configured to execute the path planning method for automatic agricultural machinery operation according to any one of claims 1-7. .
A computer-readable storage medium, characterized in that the storage medium includes computer instructions. When the computer instructions are run on an electronic device, the electronic device causes the electronic device to execute the method described in any one of claims 1-7. Path planning method for automatic agricultural machinery operation.