Path planning method for automatic operation of agricultural machinery

A technology for path planning and operation, applied in instruments, data processing applications, forecasting, etc., to achieve the effect of increasing accuracy, reducing computing time, and reducing storage costs

Active Publication Date: 2021-09-07
深圳冰河导航科技有限公司
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0004] Based on this, an embodiment of the present invention provides a path planning method for automatic operation

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  • Path planning method for automatic operation of agricultural machinery
  • Path planning method for automatic operation of agricultural machinery
  • Path planning method for automatic operation of agricultural machinery

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[0067] 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, 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.

[0068] It should be noted that, if there are directional indications (such as up, down, left, right, front, back, top, bottom, etc.) involved in the embodiments of the present invention, the directional indications are only used to explain that in a certain posture ( As shown in the accompanying drawings), the relative positional relationship, movement situation, etc. between the various components, if the specific posture changes, the dir...

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Abstract

The invention discloses a path planning method for automatic operation of agricultural machinery, and belongs to the technical field of automatic driving of agricultural machinery. The path planning method for automatic operation of agricultural machinery comprises the following steps: (1) generating a global path point, and generating a global path of a whole operation plot; (2) dividing the whole operation plot into a plurality of connected units; (3) when the agricultural machine moves at adjacent global path points, the actually tracked path being a local path point, the local path point being generated by interpolation of a B spline, and the B spline taking the global path point as a node and taking a tangent vector near the global path point as a control point; and (4) in each unit, switching the sequence of the N operation lines in the unit by adopting a traveling salesman algorithm (TSP) to realize path updating and complete automatic operation. According to the planning method, the interpolation precision is improved, the calculation time of the TSP operation sequence is shortened, and the storage cost of the operation sequence is reduced.

Description

technical field [0001] The invention relates to the technical field of automatic driving of agricultural machinery, in particular to a path planning method for automatic operation of agricultural machinery. Background technique [0002] In the automatic driving project of agricultural machinery, trajectory planning plays a pivotal role. However, if the distance between the tracking points generated by the algorithm is too large, the tracking error of the agricultural machinery will be large; if the distance between the generated tracking points is small, the memory space required by the algorithm will be large. [0003] Trajectory planning is essentially a path optimization problem, that is, it is expected to find a shortest path that traverses all operating lines. There are many existing technologies for solving path optimization problems, such as Dijkstra algorithm, A* algorithm, Floyd algorithm, etc., but these methods are not suitable for automatic operation of agricult...

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Application Information

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IPC IPC(8): G06Q10/04G06Q10/06G06Q50/30
CPCG06Q10/047G06Q10/0633G06Q50/30
Inventor 崔红杰毛保松代顺治
Owner 深圳冰河导航科技有限公司
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