A kind of agricultural machinery automatic navigation path planning method and system
A technology for agricultural machinery and path planning, applied in navigation, surveying and navigation, navigation calculation tools, etc., can solve the problem of inability to generate paths in real time, achieve the effect of automatic path planning and improve work efficiency
Active Publication Date: 2022-07-19
SHANDONG UNIV OF TECH
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Problems solved by technology
At present, most of the path planning methods used in the market are based on pre-set paths, or use GIS, MAP maps, etc. to pre-plan artificially or automatically plan paths and import them into agricultural machinery before carrying out agricultural operations. Agricultural machinery cannot autonomously True real-time generation path
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[0068] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
[0069] In order to make the above objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.
[0070] The realization principle of the agricultural machinery automatic navigation path planning method of the present embodiment is as follows:
[0071] First, the operator needs to s...
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The invention discloses an automatic navigation path planning method and system for agricultural machinery. The automatic navigation path planning method for agricultural machinery includes: determining a plurality of operation paths from the starting point of each row of operations, the end point of each row of operations and the operation width; obtaining the current operation direction and current position of the agricultural machinery; calculating the current position of the agricultural machinery The offset from the current operating path; the offset determines whether the agricultural machinery deviates from the current operating path at the current position, and adjusts the traveling direction of the agricultural machinery; the current operating path, the current distance and the current angle adjust the traveling direction. The agricultural machinery detects the headland, and obtains the headland detection result; the operation path at the next moment is determined by the headland detection result, and returns to the steps of obtaining the current operation direction and current position of the agricultural machinery until the operation is completed. The invention can effectively realize the automatic path planning of the agricultural intelligent machinery when it operates automatically in the field, thereby improving the working efficiency.
Description
technical field [0001] The invention relates to the field of automatic control of agricultural machinery, in particular to a method and system for automatic navigation path planning of agricultural machinery. Background technique [0002] With the improvement of the level of modern science and technology and the country's requirements for the modernization of agriculture and rural areas. The modernization and intelligence of agricultural machinery is one of the important development directions. The automatic navigation of agricultural machinery is one of the key technologies for the automation and intelligence of modern agricultural machinery. In the process of agricultural machinery navigation, operation path planning is a key factor affecting work efficiency. At present, most of the path planning methods used on the market are mainly based on pre-set paths, or the pre-planned or automatically planned paths using GIS, MAP maps, etc. are imported into agricultural machiner...
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IPC IPC(8): G01C21/00G01C21/20
CPCG01C21/00G01C21/20
Inventor 印祥金诚谦李凡王艳鑫安家豪耿端阳杜娟
Owner SHANDONG UNIV OF TECH