Lowest-oil-consumption motion path planning method of agricultural machine

A technology of motion path and agricultural machinery, applied in the direction of motor vehicles, transportation and packaging, non-electric variable control, etc., can solve the problem of failing to consider reducing fuel consumption, and achieve the effect of low fuel consumption

Inactive Publication Date: 2018-03-16
LUOYANG ZHONGKE LONGWANG INNOVATION TECH CO LTD
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  • Application Information

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Problems solved by technology

[0006] On the basis of the research conclusions of the mobile robot mentioned in the background technology, the present invention combines the characteristics of the agricultural machinery, and mainly solves the problem that the prior art scheme fails to consider reducing fuel consump

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  • Lowest-oil-consumption motion path planning method of agricultural machine
  • Lowest-oil-consumption motion path planning method of agricultural machine
  • Lowest-oil-consumption motion path planning method of agricultural machine

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Embodiment Construction

[0045] Since tractor-type agricultural machinery (hereinafter also referred to as agricultural machinery) has a minimum turning radius, parallel and straight-line reciprocating operations can reduce overlapping and omissions in operating areas. When working in a straight line, the speed and working width are almost unchanged, and the cost of turning, including deceleration and stopping, is naturally higher than that of straight driving. In addition, the turning path and the number of turns have a great impact on fuel consumption; therefore, the number of turns can be reduced to reduce fuel consumption.

[0046] combine figure 1 , implement the minimum fuel consumption movement path planning method for agricultural machinery, firstly use the aerial camera to take pictures of the schematic operation plot, and fit all the vertices, boundaries and obstacles of the operation plot through the edge detection of the digital image to make its 2D map, for A polygon and a polygon contain...

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Abstract

The invention, which relates to the data processing method in the automation field of agricultural machinery, provides a lowest-oil-consumption motion path planning method of an agricultural machine.According to the method, a polygonal map of a plot is obtained; feature of the polygonal map of the plot are determined; if the polygonal map is a non-convex polygon, the non-convex polygon is dividedinto convex polygons with the lowest number; and if so, no operation is done; an agricultural machine working spindle direction with the lowest turning number is determined in the convex shape when the agricultural machine works back and forth along parallel straight lines; and then a turning path corresponding to the turning number is determined and a corresponding track map is generated. Therefore, oil consumption minimization is realized in terms of the turning number minimization and an optimal path is obtained; with consideration of the oil consumption factor, the full-cover driving of the agricultural machine is realized; and a phenomenon that only a lowest-oil-consumption path being a straight line from a starting point to a target point is provided is avoided.

Description

technical field [0001] The invention relates to computer technology, in particular to a data processing method, and belongs to the field of agricultural machinery automation. Background technique [0002] In recent years, whether it is a highly industrialized developed country or a developing country in a period of rapid economic growth, the demand for energy is increasing day by day. With the development of agricultural mechanization in my country, the agricultural machinery industry is constantly maturing and improving. The types and quantities of agricultural machinery are gradually increasing, and the consumption of diesel and other energy sources is also increasing. However, the existing petroleum resources can no longer keep up with the consumption speed of human science and technology development. At the same time, petroleum resources are also non-renewable resources. As the country's demand for agricultural machinery that saves energy and reduces consumption increase...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0246G05D2201/0201
Inventor 万忠政郑明凯黄炎张志远
Owner LUOYANG ZHONGKE LONGWANG INNOVATION TECH CO LTD
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