WO2023207022A1 - Procédé et système de planification de trajet pour une opération automatique de machinisme agricole, dispositif, et support de stockage - Google Patents

Procédé et système de planification de trajet pour une opération automatique de machinisme agricole, dispositif, et support de stockage Download PDF

Info

Publication number
WO2023207022A1
WO2023207022A1 PCT/CN2022/129948 CN2022129948W WO2023207022A1 WO 2023207022 A1 WO2023207022 A1 WO 2023207022A1 CN 2022129948 W CN2022129948 W CN 2022129948W WO 2023207022 A1 WO2023207022 A1 WO 2023207022A1
Authority
WO
WIPO (PCT)
Prior art keywords
boundary
area
field
agricultural machinery
path planning
Prior art date
Application number
PCT/CN2022/129948
Other languages
English (en)
Chinese (zh)
Inventor
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 (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 丰疆智能软件科技(南京)有限公司 filed Critical 丰疆智能软件科技(南京)有限公司
Publication of WO2023207022A1 publication Critical patent/WO2023207022A1/fr

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria

Definitions

  • 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.
  • unmanned agricultural machinery has received more and more attention due to its advantages such as high efficiency, low cost and comfort.
  • unmanned agricultural machinery 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.
  • 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.
  • the present invention provides a path planning method for automatic agricultural machinery operation, including:
  • the positioning margin includes the distance between the vehicle-mounted positioning device and the actual field boundary when the agricultural machinery first operates.
  • 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:
  • the target field boundary is determined.
  • the method before polygonizing the current working area based on the polygonization algorithm to obtain the area to be planned, the method further includes:
  • the current operation area is determined.
  • the current work area is polygonized based on the polygonization algorithm to obtain the area to be planned, including:
  • 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;
  • the initial vertex and the several boundary intersection points are connected in sequence to obtain the area to be planned.
  • 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.
  • the target distance includes an agricultural machinery operating width and a reserve distance.
  • 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
  • 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.
  • 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.
  • the processing system for executing the computer program stored in the memory.
  • the processing The device is used to execute the path planning method for automatic agricultural machinery operations.
  • the present invention provides a computer-readable storage medium.
  • the storage medium includes computer instructions.
  • the 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.
  • 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.
  • “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.
  • 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.
  • 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.
  • the invention provides a path planning method for automatic agricultural machinery operation, which may include the following steps:
  • 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.
  • 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.
  • 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.
  • the safety distance refers to the shortest distance between the edge of the agricultural machinery body and the actual field boundary.
  • 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.
  • 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.
  • 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.
  • the target path trajectory refers to the to-be-operated route of the agricultural machinery vehicle.
  • 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.
  • 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:
  • 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.
  • the theoretical field boundary refers to the field boundary after optimization.
  • 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.
  • 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.
  • the collected boundary track points of the initial field are actually the position of the agricultural machinery vehicle-mounted positioning equipment
  • the agricultural machinery vehicle travels along the boundary of the initial field
  • the specific distance positioning margin - safety distance
  • the expanded theoretical field boundary is used as the target field boundary.
  • the target field boundary data can be stored in the field operation database.
  • the current operation area is polygonized based on the polygonization algorithm in step S103 to obtain the area to be planned, including:
  • 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.
  • 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.
  • 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.
  • P0-P1-...-Pn-1-Pn-P0 are sequentially connected to form the polygonal area to be planned, where n is the number of circles.
  • 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.
  • 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.
  • path planning is performed on the area to be planned to generate a target path trajectory, which specifically includes:
  • the initial path planning trajectory point is empty: [];
  • the path planning method for automatic agricultural machinery operation of the present invention may include:
  • S602. Determine the remaining field areas based on the historical operation area and the preset target field boundaries
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • a computer program 804 is stored on the memory 802 .
  • 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.
  • CPU central processing unit
  • microprocessor or other data processing chip
  • 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.
  • 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.
  • a path planning program for automatic agricultural machinery operations is executed by the processor, the following steps are implemented:
  • 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;
  • the computer program can be stored in a non-volatile computer-readable storage.
  • the computer program when executed, may include the processes of the above method embodiments.
  • 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.
  • 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.
  • SRAM static RAM
  • DRAM dynamic RAM
  • SDRAM synchronous DRAM
  • DDRSDRAM double data rate SDRAM
  • ESDRAM enhanced SDRAM
  • SLDRAM synchronous chain Synchlink DRAM
  • Rambus direct RAM
  • DRAM direct memory bus dynamic RAM
  • RDRAM memory bus dynamic RAM

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Guiding Agricultural Machines (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)

Abstract

Procédé et système de planification de trajet pour une opération automatique de machinisme agricole, dispositif, et support de stockage. Le procédé consiste à : acquérir des données de point limite et une marge de positionnement d'un bloc de terres agricoles initial (S101) ; déterminer une limite de bloc de terres agricoles cible en fonction des données de point de limite et de la marge de positionnement du bloc de terres agricoles initial et d'une distance de sécurité prédéfinie (S102) ; déterminer la zone d'opération courante en fonction de la limite de bloc de terres agricoles cible, et effectuer un traitement de polygonisation sur la zone d'opération courante sur la base d'un algorithme de polygonisation, de façon à obtenir une zone à planifier (S103) ; et effectuer une planification de trajet sur la zone à planifier, de façon à générer une trajectoire de trajet cible (S104). La présente invention permet d'améliorer la sécurité d'un résultat de planification de trajet, et présente une universalité relativement bonne pour des blocs de terres agricoles irréguliers.
PCT/CN2022/129948 2022-04-24 2022-11-04 Procédé et système de planification de trajet pour une opération automatique de machinisme agricole, dispositif, et support de stockage WO2023207022A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202210449246.1A CN115617029A (zh) 2022-04-24 2022-04-24 农机自动作业的路径规划方法、系统、设备及存储介质
CN202210449246.1 2022-04-24

Publications (1)

Publication Number Publication Date
WO2023207022A1 true WO2023207022A1 (fr) 2023-11-02

Family

ID=84857433

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/129948 WO2023207022A1 (fr) 2022-04-24 2022-11-04 Procédé et système de planification de trajet pour une opération automatique de machinisme agricole, dispositif, et support de stockage

Country Status (2)

Country Link
CN (1) CN115617029A (fr)
WO (1) WO2023207022A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117629221A (zh) * 2023-12-01 2024-03-01 上海联适导航技术股份有限公司 一种对角耙地路径规划方法

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116300976B (zh) * 2023-05-22 2023-07-21 汇智机器人科技(深圳)有限公司 一种机器人多任务作业规划方法、系统及其应用
CN117268401B (zh) * 2023-11-16 2024-02-20 广东碧然美景观艺术有限公司 一种动态围栏的园艺路径生成方法

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107992078A (zh) * 2017-12-15 2018-05-04 西安天问智能科技有限公司 一种植保无人机自主路径规划方法
JP2018073050A (ja) * 2016-10-27 2018-05-10 株式会社クボタ 走行経路生成装置
JP2018099112A (ja) * 2016-12-19 2018-06-28 株式会社クボタ 走行経路管理システム
CN109634276A (zh) * 2018-12-13 2019-04-16 中联重科股份有限公司 农用车辆无人驾驶控制方法、系统及该农用车辆
US20190239416A1 (en) * 2016-09-29 2019-08-08 Agro Intelligence Aps A system and a method for determining a trajectory to be followed by an agricultural work vehicle
CN112286189A (zh) * 2020-10-22 2021-01-29 广州极飞科技有限公司 一种作业路线规划方法、装置、无人设备和存储介质
CN112985401A (zh) * 2021-02-02 2021-06-18 上海华测导航技术股份有限公司 一种headline全路径规划和跟踪方法
US20210267115A1 (en) * 2020-03-02 2021-09-02 Stephen Filip Fjelstad Guidance systems and methods
CN113848880A (zh) * 2021-08-30 2021-12-28 中车大连电力牵引研发中心有限公司 一种基于改进Q-learning的农机路径优化方法

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20190239416A1 (en) * 2016-09-29 2019-08-08 Agro Intelligence Aps A system and a method for determining a trajectory to be followed by an agricultural work vehicle
JP2018073050A (ja) * 2016-10-27 2018-05-10 株式会社クボタ 走行経路生成装置
JP2018099112A (ja) * 2016-12-19 2018-06-28 株式会社クボタ 走行経路管理システム
CN107992078A (zh) * 2017-12-15 2018-05-04 西安天问智能科技有限公司 一种植保无人机自主路径规划方法
CN109634276A (zh) * 2018-12-13 2019-04-16 中联重科股份有限公司 农用车辆无人驾驶控制方法、系统及该农用车辆
US20210267115A1 (en) * 2020-03-02 2021-09-02 Stephen Filip Fjelstad Guidance systems and methods
CN112286189A (zh) * 2020-10-22 2021-01-29 广州极飞科技有限公司 一种作业路线规划方法、装置、无人设备和存储介质
CN112985401A (zh) * 2021-02-02 2021-06-18 上海华测导航技术股份有限公司 一种headline全路径规划和跟踪方法
CN113848880A (zh) * 2021-08-30 2021-12-28 中车大连电力牵引研发中心有限公司 一种基于改进Q-learning的农机路径优化方法

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117629221A (zh) * 2023-12-01 2024-03-01 上海联适导航技术股份有限公司 一种对角耙地路径规划方法

Also Published As

Publication number Publication date
CN115617029A (zh) 2023-01-17

Similar Documents

Publication Publication Date Title
WO2023207022A1 (fr) Procédé et système de planification de trajet pour une opération automatique de machinisme agricole, dispositif, et support de stockage
US11696524B2 (en) Robotic vehicle with adjustable operating area
CN109240284B (zh) 一种无人驾驶农机的自主路径规划方法及装置
US7689356B2 (en) Method and apparatus for creating curved swath patterns for farm machinery
US10194575B2 (en) System and method for automatically generating vehicle guidance waypoints and waylines
US11493923B2 (en) Path planning method and system for lawn mower
US20170090479A1 (en) System and method for using geo-fenced guidance lines
US11799806B2 (en) System, apparatus and method for automatic environmental data collection and analysis
CN110168466A (zh) 智能割草系统
CN113126613B (zh) 智能割草系统及其自主建图方法
JP2006220567A (ja) Ｇｐｓ付作業機での圃場位置認識システム
CN109670719A (zh) 一种农业设备的作业规划方法、装置及电子设备
JP6832881B2 (ja) 圃場管理システム
CN113115621A (zh) 智能割草系统及其自主建图方法
WO2020024226A1 (fr) Procédé et appareil de planification d'itinéraire pour une opération de tracé, procédé et appareil d'opération de tracé, ainsi que dispositif et support
CN113985882B (zh) 作业路径规划方法、装置、电子设备和存储介质
CN113741474B (zh) 一种无人驾驶矿车的停泊区域识别方法及装置
CN114097254B (zh) 根据机器收集的工作数据确定活动草趟
JP2019162053A (ja) 圃場登録装置
KR102673875B1 (ko) 작업 차량의 작업 경로 자동 생성 방법 및 시스템
CN116880480A (zh) 一种作业线生成方法、装置、设备及存储介质
CN113806377B (zh) 地图更新方法、设备及存储介质
US11678604B1 (en) Smart lawnmower with development of mowing policy and system and method for use of same
US12001182B1 (en) Smart lawnmower with realization of mowing policy and system and method for use of same
US20240210901A1 (en) Smart lawnmower with development of mowing policy and system and method for use of same

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22939839

Country of ref document: EP

Kind code of ref document: A1