Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Field operation path planning method and device for unmanned tractor

A technology of unmanned driving and path planning, applied in the direction of mechanical equipment, combustion engines, internal combustion piston engines, etc., can solve the problems of less research on irregular plot operation planning, lack of versatility, etc., to ensure global optimality and The effect of local real-time

Active Publication Date: 2020-12-01
HEFEI UNIV OF TECH
View PDF10 Cites 12 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, most path planning researches mainly focus on the operation path planning of regular plots under different evaluation indicators and different turning methods. There are few researches on irregular plots, which lack certain versatility, and for plots with obstacles There is no relevant complete and systematic research and analysis on path planning

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Field operation path planning method and device for unmanned tractor
  • Field operation path planning method and device for unmanned tractor
  • Field operation path planning method and device for unmanned tractor

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0049] The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0050] Such as figure 1 The overall flow chart shown in the figure takes an irregular farmland in China and a certain type of wheeled unmanned tractor with a minimum turning radius r of 5m as an example to construct a field operation path.

[0051] 1. Pretreatment of farmland plots

[0052] Select the operating range w of the operating tools as 12m. If there is a large obstacle such as a lake with a width greater than two operating widths inside the plot, it will have a great impact on the overall consumption and re-cultivation rate. At this time, it is necessary to follow the large obstacle The plot is divided into several sub-plots according to the boundary of the obje...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a method for planning a field operation path of an unmanned tractor. The method comprises the following steps: A, preprocessing a farmland plot; B, acquiring position information of each vertex of the plot, and performing plot geometric modeling; C, planning a global path by adopting an offline global path planning algorithm, and generating an expected path; D, presetting asafe distance between the tractor and an obstacle before driving, driving the unmanned tractor according to the expected path and analyzing the current working environment in real time, and judging whether to plan a local path or not by combining a perception sensor to obtain obstacle information; E, calling an online local path algorithm for path planning, and allowing the unmanned tractor to travel according to the local path until the unmanned tractor avoids obstacles; and F, allowing the unmanned tractor to keep running on the expected path. The invention also discloses a device for realizing the method. According to the field operation path planning method and device for the unmanned tractor, the full-area coverage of a land parcel can be achieved, high universality and a good obstacle avoidance effect are achieved, and the re-ploughing rate and the missing ploughing rate can be effectively reduced.

Description

technical field [0001] The invention relates to the technical field of unmanned tractors, in particular to a method and device for planning a field operation path of an unmanned tractor. Background technique [0002] In recent years, in order to promote the implementation of precision agriculture, improve resource utilization and labor productivity, and reduce unnecessary human resources, unmanned tractors have become a research hotspot in recent years. In the research of unmanned tractors, how to determine the path planning of field operations is an urgent problem to be solved. Reasonable field operation path planning will help improve the operation accuracy of agricultural machinery operations, reduce the input of human resources and unnecessary soil compaction, reduce the rate of missing tillage and re-cultivation, and help to obtain a good obstacle avoidance effect and thus achieve optimal work efficiency. [0003] The path planning of unmanned tractors can be divided ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0219Y02T10/40
Inventor 张炳力程啸宇程进李傲伽张成标
Owner HEFEI UNIV OF TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com