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
CN112015176AActive Publication Date: 2020-12-01HEFEI UNIV OF TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
HEFEI UNIV OF TECH
Publication Date
2020-12-01

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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.
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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

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