Full path planning and breakpoint endurance method for unmanned rice transplanters

Abstract

The invention provides a full path planning and breakpoint endurance method for unmanned rice transplanters. According to the method, a vertex coordinate of an operated parcel of rice field is firstlyobtained, widths of the short edges and long edges are calculated, the operated parcel of rice field is divided into four parts and full path planning is carried out on each area; a distance from anoperation rice transplanter to the boundary of each area is calculated according to the boundary of the parcel of rice field of each divided area, a breakpoint endurance mode is started to eliminate the transplanted areas and a path is planned according to the obtained distances of the boundaries so that the rice transplanter can go to the boundary of a nearest parcel of rice field to fill the gaps with seedlings; meanwhile, a real-time distance between a seedling vehicle and the operation rice transplanter in each area and seedling supplementing is carried out on the rice transplanter according to the real-time distance; and finally, the rice transplanter is controlled to turn back to the original operation point according to the path started during the breakpoint endurance. According tothe method, the problem that rice transplanting cannot be carried out at the edges of the fields as the rice transplanters make turns at the edges of the fields is solved, and the conditions of seedling pressing caused by the rice transplanters and missing transplanting in the operation process are decreased, so that the operation efficiency is effectively improved.

Description

technical field [0001] The invention relates to a method for full path planning and breakpoint battery life of an unmanned rice transplanter, belonging to the field of intelligent agricultural equipment. Background technique [0002] my country is the largest rice planting country in the world, with a planting area of ​​about 30 million hectares. Transplanting rice seedlings is labor-intensive and seasonal, so it needs to be planted in time for farming. In recent years, with the large-scale transfer of rural labor to cities, the cost of manual rice transplanting has continued to increase, and due to the transfer of middle-aged labor to cities, most of the rural surplus labor is the elderly and women, with limited labor capacity. The contradiction between the shortage and the rush to plant rice has become more and more prominent. [0003] As the country invests more and more in agricultural automation and mechanization, more and more unmanned rice transplanters integrating ...

AI Technical Summary

Problems solved by technology

It realizes the completion of breakpoint battery life when performing automatic route tasks, which can effectively improve the operation efficiency and reduce the difficulty and cumbersomeness of the user's operation. The accuracy of breakpoint battery life in the range is very low and the error is large. According to this method, the breakpoint battery life of unmanned agricultural machinery operations will inevitably cause pressure loss on the transplanted seedlings of the rice transplanter, which is completely unsuitable for high precision requirements. Unmanned Rice Transplanter

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