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Reciprocating path planning method and device and electronic equipment

A path planning and round-trip technology, applied in the direction of navigation computing tools, etc., can solve the problems of relying on manual participation, insufficient automation, and restricting agricultural automation, so as to promote development and ensure safety.

Active Publication Date: 2020-10-09
GUANGZHOU XAIRCRAFT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The round-trip path planning strategy used in the prior art has the problem of insufficient automation
In other words, most of the round-trip path planning strategies in the prior art require human participation, especially when planning paths for irregularly shaped plots, it is more dependent on human participation
This will restrict the advancement of agricultural automation

Method used

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  • Reciprocating path planning method and device and electronic equipment
  • Reciprocating path planning method and device and electronic equipment
  • Reciprocating path planning method and device and electronic equipment

Examples

Experimental program
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Effect test

Embodiment approach

[0098] As an implementation manner, the formula can be used according to the second abscissa value, the path traversal direction and the preset distance:

[0099] x le =x pe +T w ×D / 2;

[0100] Calculate the first abscissa value of the point to be determined. where x le is the first abscissa value of the point to be determined, x pe is the second abscissa value. T w is a value representing the path traversal direction, optionally, when the path traversal direction is the positive direction of the abscissa axis, T w =1, when the path traversal direction is the negative direction of the abscissa axis, T w =-1. D stands for quarter preset spacing.

[0101] S102-1-2, under the first abscissa value, acquire the first ordinate value of the point to be determined.

[0102] In some embodiments, under the first abscissa value, the ordinate value corresponding to the point whose minimum distance from the first inspection side does not exceed a preset value can be obtained as ...

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Abstract

The embodiment of the invention provides a reciprocating path planning method and device and electronic equipment, and relates to the technical field of path planning. The method can be applied to polygonal operation land parcels. Specifically, the reciprocating path planning method comprises the step of confirming a first inspection edge and a second inspection edge in the advancing direction ofa current straight line segment; and determining a straight line terminal point of the current straight line segment based on the turning radius of operation equipment and a preset distance, so that aturning track taking the straight line terminal point as a starting point does not exceed the first inspection edge and the second inspection edge. Therefore, high-safety path planning can be realized in a full-automatic manner even in the case of land parcels with irregular shapes, and the development of agricultural automation is promoted.

Description

technical field [0001] The present invention relates to the technical field of path planning, in particular to a round-trip path planning method, device and electronic equipment. Background technique [0002] In the process of agricultural automation, operating equipment that can move and perform autonomous operations plays an important role. For the above-mentioned operating equipment, path planning is very important, which determines the effective operating range of the operating equipment on the operating plot. A round-trip path is a path that improves the effective working range better than other paths. [0003] The round-trip path planning strategy used in the prior art has the problem of insufficient automation. In other words, most of the round-trip path planning strategies in the prior art require human participation, especially when path planning for irregularly shaped plots is more dependent on human participation. This will restrict the advancement of agricultu...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 吴泽龙
Owner GUANGZHOU XAIRCRAFT TECH CO LTD
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