Path planning method for complex boundary farmland and farmland machine operation system

A path planning and agricultural machine technology, applied in two-dimensional position/channel control, climate change adaptation, etc., can solve the problems of low coverage and poor adaptability of path planning, achieve strong adaptability, meet agronomic requirements, and improve coverage The effect of rate and adaptability

Pending Publication Date: 2022-08-02
SOUTH CHINA AGRI UNIV +1
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Problems solved by technology

[0003] The present invention aims at overcoming at least one defect (deficiency) of the above-mentioned prior art, and provides a path planning method for farmland with complex borders, which is used to solve the problems of poor adaptability and low coverage rate of path planning for existing irregular border farmlands

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  • Path planning method for complex boundary farmland and farmland machine operation system
  • Path planning method for complex boundary farmland and farmland machine operation system
  • Path planning method for complex boundary farmland and farmland machine operation system

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Embodiment 1

[0060] like figure 1 and figure 2 As shown, this embodiment discloses a path planning method for farmland with complex boundaries, which is used to plan a working path for agricultural machines, including the following steps:

[0061] S1: Reconstruct the current farmland environment to obtain an initial farmland map, and then perform grid processing on the initial farmland map to obtain a path planning map;

[0062] S2: generate a parallel operation path on the path planning map;

[0063] S3: Generate a boundary surrounding operation path on the parallel operation path;

[0064] S4: The agricultural machine performs an operation on a predetermined route on the current farmland.

[0065] Wherein, in step S1, the specific steps of reconstructing the current farmland environment are:

[0066] S11: Scan the current farmland environment to obtain point coordinate information of the farmland boundary; specifically, the point coordinate information is the three-dimensional coord...

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Abstract

The invention discloses a path planning method for a complex boundary farmland and a farmland machine operating system, which are used for planning a working path for an agricultural machine, and comprise the following steps: S1, reconstructing a current farmland environment to obtain an initial farmland map, and then rasterizing the initial farmland map to obtain a path planning map; s2, generating parallel operation paths on the path planning map; s3, generating a boundary surrounding operation path on the parallel operation path; and S4, the agricultural machine performs operation on a preset path in the current farmland. According to the technical scheme, the path planning method is high in adaptability to the farmland with the complex boundary, path planning can be effectively carried out on the farmland with the complex boundary, the coverage rate and the adaptability can be improved in planning of the farmland with the complex boundary, and therefore the agricultural requirements are better met.

Description

technical field [0001] The present invention relates to the technical field of path planning methods, and more particularly, to a path planning method for farmland with complex boundaries and a farmland machine operating system. Background technique [0002] With the rapid development of the digital chassis technology of agricultural vehicles and the automatic navigation technology of agricultural machinery, the automation and intelligence of rice planting in large fields has taken shape; the existing path planning methods of agricultural robots mainly include the square path planning method and the polygonal path planning method. The path planning method, in which the square path planning method is suitable for the flat field in the north, and the polygon path planning method is suitable for the fields that are easy to be divided into polygons. Most of the fields in the south are distributed in the hilly areas, and the fields are scattered, irregular in size and complicated...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0274G05D2201/0201Y02A40/10
Inventor 杨文武龚从权罗熙霖钟勇崔恩楠陆键欣刘青海
Owner SOUTH CHINA AGRI UNIV
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