Mechanical operation vehicle road number and operation area algorithm and system

Abstract

The invention relates to the technical field of mechanized operation vehicle road times and operation areas, and discloses a mechanized operation vehicle road times and operation area algorithm and system. By defining the mechanical operation vehicle as the working vehicle, the algorithm terms are simplified, the specifications of the discharge ports are assumed to be consistent, the calculation complexity is reduced, and the universality is improved. The space relation between the feeding face and the discharging face is determined, and a foundation is laid for calculation of the working range of the discharging port. By marking the bevel edge and the end point, a geometric model is constructed by using the intersection point of the extension line and the ground, and the vertical distance between the material edge and the ground is calculated. The effective working length of the discharge port is calculated by combining a similar triangle principle, and space mapping is completed by measuring the lengths of a plurality of key line segments to adapt to different working heights. And finally, the total effective working length of the discharge port is calculated, and data support is provided for path planning and efficiency analysis.

Description

Technical Field

[0001] The present invention relates to the technical field of the number of road trips and operating areas of mechanized working vehicles, and specifically to an algorithm and system for the number of road trips and operating areas of mechanized working vehicles. Background Art

[0002] Mechanized operation vehicles are a type of equipment that integrates automation technology, mechanical manufacturing technology, and information technology. They are widely used in agriculture, construction, sanitation, logistics, mining, and other fields. These vehicles have replaced traditional manual operations through efficient and precise working methods, which not only significantly improved operating efficiency, but also promoted the modernization of related industries. Mechanized operation vehicles are particularly widely used in agriculture, such as seeders, harvesters, and tillage machinery. These vehicles can achieve precise operations such as sowing, fertilizing, and harvesting in large areas of farmland, reducing the labor intensity of farmers while improving the efficiency and quality of agricultural production. By adopting advanced algorithms and control technologies, these vehicles can automatically plan the operation path, effectively cover the target area, and reduce resource waste.

[0003] The discharging module of a mechanized operation vehicle is usually composed of multiple discharging ports with similar structures, and these discharging ports generally have a certain geometric symmetry. Taking the discharging module composed of two isosceles trapezoidal metal plates and two parallelogram metal plates as an example, its main advantage is that the modular design can improve manufacturing efficiency and has good mechanical strength and durability. However, this structure also has some technical challenges in actual operation. Due to the complex shape of the discharging port, especially the vertical distance from the material edge to the ground of the unloading surface will change under different operating conditions, resulting in errors in the calculation of the effective operating width. When multiple discharging ports work at the same time, the effective operating widths of different discharging ports need to be coordinated and calculated. In the prior art, a simple addition or approximate estimation method is usually used, which is difficult to reflect the actual working state. In the prior art, the adjustment of the operating height of the discharging port is mostly a fixed value or a simple linear model, and it is impossible to dynamically adjust its height according to the relative position of different discharging ports to improve the working efficiency.

[0004] To this end, this case aims to propose a solution for calculating the effective operating length of the discharge port and dividing the path of the mechanized working vehicle when it is working. Summary of the invention

[0005] The present invention provides an algorithm and system for calculating the number of road trips and operating area of ​​a mechanized operating vehicle, which facilitates solving the problems mentioned in the above background technology.

[0006] The present invention provides the following technical solution: an algorithm for calculating the number of road trips and operating area of ​​a mechanized operating vehicle, comprising: Mechanized operation vehicles are recorded as work vehicles; Obtain the total number of discharge ports of the working vehicle, wherein all discharge ports of the working vehicle have the same specifications and are composed of two equal isosceles trapezoidal metal plates and two parallelogram metal plates, wherein the length of the long side of the parallelogram is equal to the waist length of the rectangle, and the length of the short side of the parallelogram is less than the length of the long side of the parallelogram, and the isosceles trapezoid close to the ground is recorded as the lower feeding surface, and the isosceles trapezoid far from the ground is recorded as the upper feeding surface; For any unloading surface of the discharge port, perform steps S1 to S9: S1. Obtain two oblique sides of the blanking surface, record them as the first oblique side of the blanking surface and the second oblique side of the blanking surface, record the end point of the first oblique side of the blanking surface closest to the ground as point A, and record the end point of the second oblique side of the blanking surface closest to the ground as point B; S2. When the working vehicle is working, the edge of the parallel edges of the material-discharging surface closest to the ground is recorded as the material-discharging edge, and the vertical distance from the material-discharging edge to the ground is measured and recorded as H; S3, respectively draw the extension lines of the first and second oblique sides of the blanking surface, record the intersection of the extension line of the first oblique side of the blanking surface and the ground as point C, record the intersection of the extension line of the second oblique side of the blanking surface and the ground as point D, and record the intersection of the extension line of the first oblique side of the blanking surface and the extension line of the second oblique side of the blanking surface as point E; S4. Draw a perpendicular line from point E to the ground, and record the intersection with the ground as Draw a perpendicular line from point A to the ground, and mark the intersection with the ground as point A1. Draw a perpendicular line from point B to the ground, and mark the intersection with the ground as point B1. Measure the length of line segment EE1 and mark it as H1. The length of line segment AA1 is equal to the length of line segment BB1, and both are equal to ; S5. Measure the length of line segment EC, record it as H2; S6. Calculate the length of line segment AC, denoted as H AC , H AC =H2×(H / H1); S7. Measure the length of line segment AB and record it as H3; S8. Calculate the length of line segment EA, H EA =H2-H AC =H2-H2×(H / H1); S9. Calculate the length of line segment CD, denoted as H CD , H CD =H3×(H2 / H EA ), the length of line segment CD is the effective length of the discharge port on the ground, and the length of line segment CD is recorded as the effective working length; Repeat steps S1 to S9 to calculate the effective working lengths of all discharge ports on the ground; The total effective working length of the discharge port is calculated based on the vertical distance from the material edge to the ground when the working vehicle is working.

[0007] Optionally, the total effective working length of the discharge port is calculated based on the vertical distance from the material edge to the ground of the material discharge surface when the working vehicle is working, specifically including: Determine the relative position of the effective working lengths of two adjacent discharge ports, wherein the relative position of the effective working lengths of the two adjacent discharge ports is specifically as follows: obtain two adjacent line segments of the effective working lengths, respectively recorded as line segment one and line segment two, obtain two endpoints of line segment one and line segment two that are closest to each other, respectively recorded as the closest point of line segment one and the closest point of line segment two, if the closest point of line segment one coincides with the closest point of line segment two, then line segment one and line segment two are recorded as intersecting; if the closest point of line segment one is on line segment two, then line segment one and line segment two are recorded as crossing; otherwise, line segment one and line segment two are recorded as separated; If the relative positions of the effective working lengths of two adjacent discharge ports intersect, the vertical distance from the material edge to the ground on the unloading surface is recorded as the effective working height of the discharge port when the working vehicle is in use; Set the distance unit of the blanking surface from the material edge; If the relative position of the effective working lengths of two adjacent discharge ports is an intersection, the vertical distance from the material edge to the ground of the discharge surface is adjusted to H-1×the moving distance unit of the discharge surface from the material edge, and the relative position of the effective working lengths of the two adjacent discharge ports at this time is determined. If the relative position of the effective working lengths of the two adjacent discharge ports is an intersection, the unit of H-1×the moving distance unit of the discharge surface from the material edge is recorded as the effective working height of the discharge port. If the relative position of the effective working lengths of the two adjacent discharge ports is an intersection, the vertical distance from the material edge to the ground of the discharge surface is continued to be adjusted until the relative position of the effective working lengths of the two adjacent discharge ports is an intersection, and the adjusted distance from the material edge to the ground of the discharge surface is recorded as the effective working height of the discharge port. If the relative positions of the effective working lengths of two adjacent discharge ports are separated, the vertical distance from the edge of the material to the ground of the material discharge surface is adjusted to H+1×the moving distance unit of the material discharge surface from the edge of the material, and the relative positions of the effective working lengths of the two adjacent discharge ports at this time are determined. If the relative positions of the effective working lengths of the two adjacent discharge ports are intersecting, H+1×the moving distance unit of the material discharge surface from the edge of the material is recorded as the effective working height of the discharge port. If the relative positions of the effective working lengths of the two adjacent discharge ports are separated, the vertical distance from the material edge of the material discharge surface to the ground is continued to be adjusted until the relative positions of the effective working lengths of the two adjacent discharge ports are intersecting, and the adjusted distance from the material edge of the material discharge surface to the ground is recorded as the effective working height of the discharge port.

[0008] Optionally, the total effective working length of the discharge port is calculated based on the vertical distance from the material edge to the ground of the material discharge surface when the working vehicle is working, specifically including: When the discharge port is at the effective working height, repeat steps S1 to S9 to calculate the effective working lengths of all discharge ports; Obtaining all side lengths of a target operating area, recording two equal long sides as a first long side and a second long side, and recording two equal short sides as a first short side and a second short side, respectively, wherein the target operating area is a rectangle; Obtain the starting edge and the edge parallel to the starting edge of the working vehicle in the target working area; If the starting edge and the edge parallel to the starting edge are the long edges of the target operation, the two long edges are recorded as the starting edge and the ending edge, and the two short edges are recorded as the boundary edges; If the starting edge and the edge parallel to the starting edge are the short edges of the target operation, the two short edges are recorded as the starting edge and the ending edge respectively, and the two long edges are recorded as the boundary edges.

[0009] Optionally, the total effective working length of the discharge port is calculated based on the vertical distance from the material edge to the ground of the material discharge surface when the working vehicle is working, specifically including: Get the length of the starting edge and the boundary edge; Get the effective working length of the discharge port; Get the maximum capacity of the working compartment of the working vehicle, denoted as R; Get the total number of discharge ports of the working vehicles, recorded as N; Get the set speed of the working vehicle when working, recorded as V; Get the number of materials discharged per unit time at the discharge port when the working vehicle is working, recorded as Q; When the working vehicle uses one discharge port to work, calculate the number of divisions of the starting edge of the target working area with 1 effective working length, the number of divisions = starting edge length / 1 effective working length; When the working vehicle uses two discharge ports to work, calculate the number of times the starting edge of the target working area is divided by 2 effective working lengths, and the number of divisions = starting edge length / 2 effective working lengths; When the working vehicle uses N discharge ports to work, calculate the number of divisions of the starting edge of the target working area by N effective working lengths, the number of divisions = starting edge length / N effective working lengths; Set an even number of discharge ports; When the number of divisions is an even number, the number of discharge port workings used by the corresponding working vehicle is obtained, and the number of discharge port workings used by the corresponding working vehicle is added to the even number set of discharge ports; Set a type of discharge port using a collection; Set up the second type of discharge port use collection; For any element in the even-numbered set of discharge ports; S10, calculating the time required for the working vehicle to travel the length of the boundary side, recorded as t, t=boundary length / V; S11, calculate the total amount of material discharged from the working discharge ports within the time t at the discharge speed V, recorded as T, T = number of working discharge ports × V × t; S12. If T>R, the number of discharge ports for this job is discarded; S13. If T≦R, and P×T>R, then add the number of discharge ports of the job to a class of discharge port usage set, where P is a real number greater than 1; S14. If 2×T≦R, and K×T>R, then the number of discharge ports of the job is added to the second-class discharge port usage set, where K is a real number greater than 2; Repeat steps S10 to S14 to traverse all elements in the even-numbered set of discharge ports.

[0010] Optionally, the total effective working length of the discharge port is calculated based on the vertical distance from the material edge to the ground of the material discharge surface when the working vehicle is working, specifically including: If the usage set of the first type of outlet is not an empty set, but the usage set of the second type of outlet is an empty set; Compare the elements in the set of outlet usage of a type, and obtain the largest element as the total number of outlet usage targets; Calculate the target total effective working length corresponding to the total number of target outlets used. Target total effective working length = target total number of outlets used × effective working length of a single outlet. Then the total effective working length of the outlets is equal to the target total effective working length. A driving strategy for the working vehicle is generated through the total effective working length of the discharge port.

[0011] Optionally, the generating of a driving strategy for a working vehicle according to the total effective working length of the discharge port specifically includes: Obtain the total number of target used discharge ports corresponding to the total effective working length of the discharge ports; Get the number of segmentations of the starting edge of the target operation area corresponding to the total number of target discharge ports; Mark each segmentation point of the starting edge, and draw vertical line segments from the segmentation point of the starting edge to the ending edge in sequence. The vertical line segments divide the target operation area into multiple target sub-areas. The target sub-areas are named as the first target sub-area, the second target sub-area, and the Mth target sub-area in the direction from one boundary edge to another boundary edge, where M is the total number of sub-areas. Get the midpoints of the two boundary edges respectively, connect them, and record the connecting line as the second terminal edge; The second terminating side divides all target sub-regions into two equal parts and names the divided sub-regions respectively; Starting from the divided sub-region close to the starting side, and in the direction from the first target sub-region to the Mth target sub-region, the divided sub-regions are sequentially named as the first divided sub-region, the second divided sub-region... the Mth divided sub-region; For the divided sub-region close to the terminating side, and in the direction from the Mth target sub-region to the first target sub-region, the divided sub-regions are sequentially named as the (M + 1)th divided sub-region, the (M + 2)th divided sub-region... the (M + M)th divided sub-region.

[0012] Optionally, generating a driving strategy for the first type of working vehicle through the total effective working length of the discharge port specifically includes: When i×2 < M or M < i×2 < 2×M; The working vehicle starts from the (i×2)th divided sub-region and operates in the direction from the starting side of the (i×2)th divided sub-region to the second terminating side of the (i×2)th divided sub-region; When the working vehicle reaches the second terminating side of the (i×2)th divided sub-region, the working vehicle turns to the second terminating side of the (i×2 + 1)th divided sub-region; Operate in the direction from the terminating side of the (i×2 + 1)th divided sub-region to the starting side of the (i×2 + 1)th divided sub-region; When the working vehicle reaches the starting side of the (i×2 + 1)th divided sub-region, feed the working bin of the working vehicle; When i×2 = M; The working vehicle starts from the (i×2)th divided sub-region and operates in the direction from the starting side of the (i×2)th divided sub-region to the second terminating side of the (i×2)th divided sub-region; When the working vehicle reaches the second terminating side of the (i×2)th divided sub-region, the working vehicle operates from the second terminating side of the (i×2)th divided sub-region to the terminating side of the (i×2)th divided sub-region; When the working vehicle reaches the terminating side of the (i×2)th divided sub-region, feed the working bin of the working vehicle; When i×2 = 2×M; The working vehicle starts from the (i×2)th divided sub-region and operates in the direction from the terminating side of the (i×2)th divided sub-region to the second terminating side of the (i×2)th divided sub-region; When the working vehicle reaches the second terminating side of the (i×2)th divided sub-region, the working vehicle operates from the second terminating side of the (i×2)th divided sub-region to the starting side of the first divided sub-region; When the working vehicle reaches the starting side of the first divided sub-region, end the operation; The i is the number of times the working vehicle works.

[0013] Optionally, when the work vehicle is working, the total effective working length of the discharge port is calculated based on the vertical distance from the discharge edge of the material discharge surface to the ground, specifically including: When the set of used secondary discharge ports is not an empty set; Compare the elements in the set of used secondary discharge ports, and obtain the largest element as the total number of target used discharge ports; Calculate the target total effective working length corresponding to the total number of target used discharge ports. The target total effective working length = the total number of target used discharge ports × the effective working length of a single discharge port, then the total effective working length of the discharge port is equal to the target total effective working length; Generate a secondary driving strategy for the work vehicle based on the total effective working length of the discharge port.

[0014] Optionally, generating a secondary driving strategy for the work vehicle based on the total effective working length of the discharge port specifically includes: Obtain the total number of target used discharge ports corresponding to the total effective working length of the discharge port; Obtain the number of divisions of the starting edge of the target operation area corresponding to the total number of target used discharge ports; Mark each division point of the starting edge, and sequentially draw perpendicular line segments from the division points of the starting edge to the ending edge. The perpendicular line segments divide the target operation area into multiple target sub-areas, and the target sub-areas are sequentially named the first target sub-area, the second target sub-area... the Mth target sub-area from one boundary edge to the other boundary edge, where M is the total number of sub-areas; When i × 2 < M; The work vehicle starts from the (i × 2 - 1)th target sub-area and operates in the direction from the starting edge to the ending edge of the (i × 2 - 1)th divided sub-area; When the work vehicle reaches the ending edge of the (i × 2 - 1)th divided sub-area, the work vehicle turns to the ending edge of the i × 2th target sub-area; Operate in the direction from the ending edge to the starting edge of the i × 2th target sub-area; When the work vehicle reaches the starting edge of the i × 2th target sub-area, add materials to the work bin of the work vehicle; When i × 2 = M; The work vehicle starts from the (i × 2 - 1)th target sub-area and operates in the direction from the starting edge to the ending edge of the (i × 2 - 1)th divided sub-area; When the work vehicle reaches the ending edge of the (i × 2 - 1)th divided sub-area, the work vehicle turns to the ending edge of the i × 2th target sub-area; Operate in the direction from the ending edge to the starting edge of the i × 2th target sub-area; When the work vehicle reaches the starting edge of the i × 2th target sub-area, end the operation; The i is the number of times the working vehicle works.

[0015] A system for implementing the algorithm for the number of road trips and operating area of ​​the mechanized working vehicle, comprising: Discharging module: The specifications of the discharging ports are the same. They are composed of two equal isosceles trapezoidal metal plates and two parallelogram metal plates. The length of the long side of the parallelogram is equal to the waist length of the rectangle, and the length of the short side of the parallelogram is less than the length of the long side of the parallelogram. The isosceles trapezoid close to the ground is recorded as the unloading surface, and the isosceles trapezoid far from the ground is recorded as the loading surface. Measurement module: used to measure the length of line segments; Calculation module: calculate the effective working length, the distance from the material edge to the ground of the material discharge surface as the effective working height of the discharge port, the effective working length of all discharge ports, the total effective working length of the discharge ports, and the number of divisions of the target working area.

[0016] The present invention has the following beneficial effects: 1. By defining mechanized operation vehicles as working vehicles, concise and unified terms are provided for the description of subsequent algorithm steps. By describing the geometric structure and specification characteristics of the discharge port in detail, the algorithm has a geometric consistency assumption. This assumption simplifies the calculation complexity, making the algorithm universal and general when dealing with multiple discharge ports, while avoiding complex adjustments caused by specification differences. By clarifying the spatial relationship between the "loading surface" and the "lowering surface", it is helpful to accurately describe the working range and spatial parameters of the discharge port in simple terms in subsequent steps, improving the readability and comprehensibility of the algorithm. The calculation range is limited to the lowering surface of a single discharge port, providing a step-by-step processing idea for the calculation of the effective working length of multiple discharge ports. By clearly marking the hypotenuse and end point positions, especially the definitions of point A and point B, the subsequent calculation involving the intersection of the hypotenuse extension line and the ground has a clear starting point, ensuring the accuracy of the geometric analysis. By defining the vertical distance from the material edge and the ground, the spatial relationship between the discharge port and the ground is clearly described. This distance parameter is not only an important input for subsequent geometric calculations, but also reflects the actual operating height between the working vehicle and the ground, providing core basic data for the calculation of the effective working length. By extending the hypotenuse and determining the intersection position, a complete geometric model is formed. The positions of these intersections provide precise coordinate basis for the subsequent calculation of vertical line segments and the derivation of effective lengths, while making the algorithm logic more organized and operational. The lengths of multiple key line segments are defined and measured to form a mapping relationship from geometric space to plane space. The parameters of these line segments are not only used to describe the connection characteristics between the blanking surface and the ground, but also provide an accurate data input source for subsequent calculations, ensuring the integrity of the geometric analysis. By measuring the lengths of EE1, AA1, and EC, the length of AC is calculated in triangle EE1C using the principle of similar triangles. Measure the length of AB, and use similar triangles in triangle ECD to calculate the length of CD, which is the effective working length of the discharge port when the working vehicle is working. The method of similar triangles can adapt to the effective working length of the discharge port at different working heights. By calculating the total effective length based on core parameters, the overall quantitative evaluation of the working vehicle performance is finally achieved. This result provides key data support for vehicle optimization, operation path planning and work efficiency analysis.

[0017] 2. Clarify the relative relationship between the effective working lengths of adjacent discharge ports, which provides a logical basis for evaluating the overall coverage of the working vehicle. By obtaining the endpoints of the line segment and its nearest point, a concise and accurate spatial relationship description method is formed, which provides operability for the subsequent determination of geometric states such as "intersection", "crossing" and "separation", and effectively avoids calculation errors. When two adjacent effective working lengths intersect, the vertical distance from the edge of the material to the ground of the current unloading surface is the effective working height of the discharge port when the vehicle is working; when two adjacent effective working lengths intersect, it means that the vertical distance from the edge of the material to the ground of the current unloading surface is too far, resulting in the effective working length of the discharge port on the ground being too long. At this time, it is necessary to shorten the vertical distance from the edge of the material to the ground, thereby reducing the effective working length of the discharge port on the ground; when two adjacent effective working lengths are separated, it means that the vertical distance from the edge of the material to the ground of the current unloading surface is too close, resulting in the effective working length of the discharge port on the ground being too short. At this time, it is necessary to increase the vertical distance from the edge of the material to the ground, thereby increasing the effective working length of the discharge port on the ground. In this way, the effective working height of the discharge port can be determined.

[0018] 3. Repeat steps S1 to S9 to recalculate the effective working length of each discharge port, ensure that all discharge ports reach the optimal working state at the adjusted effective working height, clarify the boundary shape and size of the target operation area, and provide the basic conditions for geometric description. This step provides basic information for subsequent operation path planning by distinguishing between long and short sides, ensuring that the algorithm can be optimized according to the characteristics of the rectangular area, improving the efficiency and rationality of the operation path design, and establishing the initial direction and reference direction of the operation by locating the starting edge of the working vehicle and the edge parallel to it. This information provides a key basis for subsequent path planning and vehicle direction control, helps to achieve systematic coverage of working vehicles in the target area, avoids omissions or duplication of operations, and when the operation direction is along the long side of the target area, the vehicle's operating range and direction are standardized by marking the starting edge, ending edge and boundary edge. When the operation direction is along the short side of the target area, the vehicle's operating direction is adjusted by redefining the starting edge, ending edge and boundary edge.

[0019] 4. By obtaining the length of the starting edge and boundary edge of the target operation area, the specific size parameters of the operation space are provided. This operation lays the foundation for subsequent path division, segmentation quantity calculation and operation planning, which helps to ensure the rationality of path design and the accuracy of coverage. Clarifying the effective working length of the discharge port can ensure that accurate physical dimensions are used for calculation in path division. This step directly affects the accuracy of the number of segmentations, ensures the rationality of the operation planning, and improves the efficiency and uniformity of the work vehicle covering the target area. The maximum capacity of the work vehicle's work compartment is obtained. This parameter can prevent the vehicle from overloading during the operation, improve the operating safety and reliability of the work vehicle, and provide a basis for the reasonable distribution of the work load. The total number of discharge ports N is clear, and the work tasks can be flexibly allocated according to the needs, which improves the flexibility of the operation. The set speed V of the work vehicle directly affects the operation efficiency and time planning. The number of discharges Q of the discharge port per unit time is clear, which provides a basis for calculating the total discharge volume and judging whether it meets the needs of the target operation area. By controlling the number of different working discharge ports, all the number of situations where the starting edge of the target operation area is segmented can be calculated. For the even-number segmentation scenario, the number of matching discharge ports is extracted, which provides a data basis for subsequent optimization and screening. Since plowing and spreading fertilizer or sowing are carried out simultaneously in the actual farming process, the even-number segmentation scenario can provide a back-and-forth process of the work vehicle to ensure that the work vehicle will not cause damage to the area that has been operated. This process helps to improve the controllability of the segmentation results and ensure that the planned path is more in line with the actual operation needs. Two different categories of discharge port usage sets are set, and the number of discharge ports in the even-numbered set is analyzed one by one, which helps to accurately screen the elements that meet the conditions and lay the foundation for the subsequent optimization of the discharge strategy. The time required for the working vehicle to travel the length of the boundary edge can be calculated, and the total amount of materials required within this time can be calculated. By judging the relationship between the total amount of materials and the maximum capacity of the working vehicle's working bin, the elements in the even-numbered set of discharge ports are divided into different categories, and the number of discharge ports that meet the condition T>R is discarded. When T≦R and P×T>R, it means that this division method means that the materials in the material bin can meet the material usage of one segmentation unit, but cannot meet the usage of two or more segmentation units. The number of such discharge ports is added to the first-class discharge port usage set; when the materials in the material bin can meet the material usage of two or more segmentation units, the number of such discharge ports is added to the second-class discharge port usage set; the establishment of the first-class and second-class discharge port usage sets is conducive to the subsequent division of the target working area and the customization of the working vehicle driving strategy.

[0020] 5. By judging the status of the use set of the first and second type of discharge ports, the classification of the current operation requirements is clarified. If the first type set is not empty and the second type set is empty, it means that all the elements in the current discharge port even set are in the first type set. Selecting the largest number of discharge ports in the first type set as the target can reduce the number of trips in the first type driving strategy of the working vehicle and improve the working efficiency of the working vehicle. By multiplying the total number of target discharge ports by the effective working length of a single discharge port, the total effective working length is calculated, providing accurate physical parameters for the subsequent driving strategy generation. This step ensures the rationality of vehicle path planning and avoids resource waste and insufficient coverage. Using the total effective working length to generate a first type of driving strategy provides a specific path planning basis for the vehicle. This strategy can ensure the uniformity of coverage and operating efficiency of the operating area, while reducing redundancy and repetition in vehicle operations, and further improve the execution effect and economy of the overall system.

[0021] 6. By calculating the total number of discharge ports used by the target, the number of discharge ports that need to be opened when the working vehicle is working is clarified, ensuring the uniformity of coverage and the best utilization of resources in the working area. According to the total number of discharge ports used by the target, the number of divisions of the starting edge is calculated, and the working area is accurately refined to provide a clear geometric layout for subsequent work planning. The target working area is divided into multiple target sub-areas by vertical segments, and each sub-area is named to clarify the independence of each work unit. The partition operation can effectively organize the work process, ensure that the working vehicle is executed as planned in the target area, and improve the regional coverage accuracy and the operability of task allocation. The midpoint of the boundary edge is calculated and connected to generate the second terminal edge, which helps to further divide the working area and form a balanced working range. This geometric partitioning method provides symmetry and structure for the operation strategy, which is convenient for subsequent path optimization and load balancing adjustment. The target sub-area is equally divided by the second terminal edge, and the divided sub-areas are named, which is convenient for clarifying the responsibility area and driving path in scheduling and execution. The divided sub-areas close to the starting edge are named in sequence, and the order of partitions is established to facilitate the work vehicles to work in sequence. This naming method provides logic and traceability for task planning, helping to reduce the possibility of path confusion and multi-task conflicts. The sub-regions close to the terminal edge are named in reverse order, establishing a symmetrical relationship with the previous sub-regions, providing a balanced solution for task planning. This method helps to optimize vehicle scheduling paths, reduce turns and repeated coverage, and ultimately improve overall operation efficiency and execution accuracy.

[0022] 7. When the number of trips of the working vehicle satisfies the condition i×2 < M or M < i×2 < 2×M, it indicates that the working vehicle is in a normal working state at this time. At this time, the first trip of the working vehicle starts operating from the second divided sub-region, reaches the second termination edge of the third sub-region when turning to the third sub-region, and travels along the third divided sub-region to the starting point of the third divided sub-region. At this time, the working vehicle completes a work task and continues to operate in other divided sub-regions in this way; when the number of trips of the working vehicle satisfies the condition i×2 = M, at this time, the working vehicle reaches the last divided sub-region close to the starting edge. When the working vehicle reaches the second termination edge of the i×2th divided sub-region, it does not need to turn but continues to travel and operate towards the termination edge of the (i×2 + 1)th divided sub-region; when the number of trips of the working vehicle satisfies the condition i×2 = 2×M, it indicates that the working vehicle has reached the i×2th divided sub-region. At this time, the working vehicle needs to operate within the i×2th divided sub-region and then travel towards the starting edge of the first divided sub-region to complete the operation of the entire target operation area; such a path division avoids the working vehicle from causing secondary damage to the areas that have been operated on. At the same time, the working vehicle will return to the same traveling edge of the target operation area each time, which can reduce the来回穿梭 between the starting edge and the termination edge when refueling the working vehicle, improving the refueling efficiency.

[0023] 8. When the set of the use of the second type of discharge port is not an empty set, it indicates that there are elements in the even set of discharge ports that satisfy the division of the starting edge of the target operation area, and the capacity in the working bin of the working vehicle can meet the distance of the working vehicle traveling the lengths of two boundary edges. At this time, obtaining the maximum element in the set of the use of the second type of discharge port can reduce the division of the target operation area, reduce the number of trips of the working vehicle, and improve the working efficiency of the working vehicle. By calculating the target total effective working length corresponding to the total number of target use discharge ports, the division of the target operation area can be determined, and a second type of driving strategy can be generated according to the effective working length of the discharge port. In this way, strategies can be flexibly formulated, and two different driving strategies for the working vehicle can be generated for the effective working lengths of different discharge ports.

[0024] 9. By correlating the effective working length of the discharge port with the total number of target discharge ports to be used, the operating capacity of the working vehicle can be ensured to match the actual requirements of the target area. Determining the number of divisions on the starting edge according to the number of target discharge ports to be used helps to precisely divide the operating area into multiple small areas, ensuring that each area can be fully covered. By marking the division points and drawing perpendicular line segments towards the terminating edge, multiple sub-areas can be clearly defined. This zoning method helps to reasonably plan the operating path, ensuring that each sub-area can complete the operating tasks independently and efficiently. At the same time, it also helps with the monitoring and scheduling of the area during the operation. When the number of trips of the working vehicle satisfies the condition i×2 < M, the operation is carried out from the starting edge of the divided sub-area towards the terminating edge. This choice of operating path ensures that the working vehicle starts from the starting point of the target sub-area and operates orderly towards the terminating edge. Through the linear operation from the starting edge to the terminating edge, redundant route repetitions are avoided, improving the operating efficiency. At the same time, unnecessary driving distances and energy consumption are reduced. After the vehicle reaches the terminating edge, it turns to the terminating edge of the next target area. This operation helps to ensure the coherence of the direction during the operation. The clear division of the operating area avoids the repeated adjustment of the vehicle's path, ensuring that each sub-area completes the operating tasks within the shortest time. By adjusting the operating direction, it is ensured that the operation is carried out from the terminating edge of the target sub-area towards the starting edge. This reverse operation method effectively avoids omissions in the work within the area, ensuring comprehensive coverage of the operation. When the working vehicle completes the operation of the current sub-area and reaches the starting edge, the feeding operation can ensure that the vehicle will not be interrupted due to insufficient materials during the operation of the next sub-area. This optimizes the continuity of the operation process and improves the operating capacity and efficiency of the working vehicle. When the number of trips of the working vehicle satisfies the condition i×2 = M, it means that the working vehicle is at the last trip at this time. At this time, the traveling route of the working vehicle is the same as the previous working process. When it reaches the starting edge after turning, there is no need to add materials to the working bin anymore. At this time, the operation has been completed. When the operation is completed, the vehicle ends the operation after reaching the starting edge. This operation helps to clarify the sign of task completion, reduces the waste of operation time, and is convenient for starting the next operation or carrying out maintenance work. Description of the Drawings

[0025] Figure 1 Schematic diagram of the discharge port of the present invention.

[0026] Figure 2 Schematic diagram of the material discharging surface of the present invention.

[0027] Figure 3 Schematic diagram of the target operating area of the present invention.

[0028] Figure 4 Schematic diagram of the first-class division of the target operating area of the present invention.

[0029] Figure 5It is a schematic diagram of a type of driving strategy for a working vehicle of the present invention.

[0030] Figure 6 It is a schematic diagram of the two-type segmentation of the target operation area of ​​the present invention.

[0031] Figure 7 It is a schematic diagram of two types of driving strategies for working vehicles of the present invention. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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 ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] Example, see Figure 1 and Figure 2 , an algorithm for calculating the number of road trips and operating area of ​​mechanized operation vehicles, including: Mechanized operation vehicles are recorded as work vehicles; Obtain the total number of discharge ports of the working vehicle, wherein all discharge ports of the working vehicle have the same specifications and are composed of two equal isosceles trapezoidal metal plates and two parallelogram metal plates, wherein the length of the long side of the parallelogram is equal to the waist length of the rectangle, and the length of the short side of the parallelogram is less than the length of the long side of the parallelogram, and the isosceles trapezoid close to the ground is recorded as the lower feeding surface, and the isosceles trapezoid far from the ground is recorded as the upper feeding surface; For any unloading surface of the discharge port, perform steps S1 to S9: S1. Obtain two oblique sides of the blanking surface, record them as the first oblique side of the blanking surface and the second oblique side of the blanking surface, record the end point of the first oblique side of the blanking surface closest to the ground as point A, and record the end point of the second oblique side of the blanking surface closest to the ground as point B; S2. When the working vehicle is working, the edge of the parallel edges of the material-discharging surface closest to the ground is recorded as the material-discharging edge, and the vertical distance from the material-discharging edge to the ground is measured and recorded as H; S3, respectively draw the extension lines of the first and second oblique sides of the blanking surface, record the intersection of the extension line of the first oblique side of the blanking surface and the ground as point C, record the intersection of the extension line of the second oblique side of the blanking surface and the ground as point D, and record the intersection of the extension line of the first oblique side of the blanking surface and the extension line of the second oblique side of the blanking surface as point E; S4. Draw a perpendicular line from point E to the ground, and record the intersection with the ground as Draw a perpendicular line from point A to the ground, and mark the intersection with the ground as point A1. Draw a perpendicular line from point B to the ground, and mark the intersection with the ground as point B1. Measure the length of line segment EE1 and mark it as H1. The length of line segment AA1 is equal to the length of line segment BB1, and both are equal to ; S5. Measure the length of line segment EC, record it as H2; S6. Calculate the length of line segment AC, denoted as H AC , H AC =H2×(H / H1); S7. Measure the length of line segment AB and record it as H3; S8. Calculate the length of line segment EA, H EA =H2-H AC =H2-H2×(H / H1); S9. Calculate the length of line segment CD, denoted as H CD , H CD =H3×(H2 / H EA ), the length of line segment CD is the effective length of the discharge port on the ground, and the length of line segment CD is recorded as the effective working length; Repeat steps S1 to S9 to calculate the effective working lengths of all discharge ports on the ground; The total effective working length of the discharge port is calculated based on the vertical distance from the material edge to the ground when the working vehicle is working.

[0034] By defining mechanized working vehicles as working vehicles, concise and unified terms are provided for the description of subsequent algorithm steps. By describing the geometric structure and specification characteristics of the discharge port in detail, the algorithm has a geometric consistency assumption. This assumption simplifies the calculation complexity, making the algorithm universal and general when dealing with multiple discharge ports, while avoiding complex adjustments caused by specification differences. By clarifying the spatial relationship between the "loading surface" and the "lowering surface", it is helpful to accurately describe the working range and spatial parameters of the discharge port in simple terms in subsequent steps, improving the readability and comprehensibility of the algorithm. The calculation range is limited to the lowering surface of a single discharge port, providing a step-by-step processing idea for the calculation of the effective working length of multiple discharge ports. By clearly marking the hypotenuse and end point positions, especially the definitions of point A and point B, the subsequent calculation involving the intersection of the hypotenuse extension line and the ground has a clear starting point, ensuring the accuracy of the geometric analysis. By defining the vertical distance from the material edge and the ground, the spatial relationship between the discharge port and the ground is clearly described. This distance parameter is not only an important input for subsequent geometric calculations, but also reflects the actual operating height between the working vehicle and the ground, providing core basic data for the calculation of the effective working length. By extending the hypotenuse and determining the intersection position, a complete geometric model is formed. The positions of these intersections provide precise coordinate basis for the subsequent calculation of vertical line segments and the derivation of effective lengths, while making the algorithm logic more organized and operational. The lengths of multiple key line segments are defined and measured to form a mapping relationship from geometric space to plane space. The parameters of these line segments are not only used to describe the connection characteristics between the blanking surface and the ground, but also provide an accurate data input source for subsequent calculations, ensuring the integrity of the geometric analysis. By measuring the lengths of EE1, AA1, and EC, the length of AC is calculated in triangle EE1C using the principle of similar triangles. Measure the length of AB, and use similar triangles in triangle ECD to calculate the length of CD, which is the effective working length of the discharge port when the working vehicle is working. The method of similar triangles can adapt to the effective working length of the discharge port at different working heights. By calculating the total effective length based on core parameters, the overall quantitative evaluation of the working vehicle performance is finally achieved. This result provides key data support for vehicle optimization, operation path planning and work efficiency analysis.

[0035] The total effective working length of the discharge port is calculated based on the vertical distance from the material edge to the ground when the working vehicle is working, specifically including: Determine the relative position of the effective working lengths of two adjacent discharge ports, wherein the relative position of the effective working lengths of the two adjacent discharge ports is specifically as follows: obtain two adjacent line segments of the effective working lengths, respectively recorded as line segment one and line segment two, obtain two endpoints of line segment one and line segment two that are closest to each other, respectively recorded as the closest point of line segment one and the closest point of line segment two, if the closest point of line segment one coincides with the closest point of line segment two, then line segment one and line segment two are recorded as intersecting; if the closest point of line segment one is on line segment two, then line segment one and line segment two are recorded as crossing; otherwise, line segment one and line segment two are recorded as separated; If the relative positions of the effective working lengths of two adjacent discharge ports intersect, the vertical distance from the material edge to the ground on the unloading surface is recorded as the effective working height of the discharge port when the working vehicle is in use; Set the distance unit of the blanking surface from the material edge; If the relative position of the effective working lengths of two adjacent discharge ports is an intersection, the vertical distance from the material edge to the ground of the discharge surface is adjusted to H-1×the moving distance unit of the discharge surface from the material edge, and the relative position of the effective working lengths of the two adjacent discharge ports at this time is determined. If the relative position of the effective working lengths of the two adjacent discharge ports is an intersection, the unit of H-1×the moving distance unit of the discharge surface from the material edge is recorded as the effective working height of the discharge port. If the relative position of the effective working lengths of the two adjacent discharge ports is an intersection, the vertical distance from the material edge to the ground of the discharge surface is continued to be adjusted until the relative position of the effective working lengths of the two adjacent discharge ports is an intersection, and the adjusted distance from the material edge to the ground of the discharge surface is recorded as the effective working height of the discharge port. If the relative positions of the effective working lengths of two adjacent discharge ports are separated, the vertical distance from the edge of the material to the ground of the material discharge surface is adjusted to H+1×the moving distance unit of the material discharge surface from the edge of the material, and the relative positions of the effective working lengths of the two adjacent discharge ports at this time are determined. If the relative positions of the effective working lengths of the two adjacent discharge ports are intersecting, H+1×the moving distance unit of the material discharge surface from the edge of the material is recorded as the effective working height of the discharge port. If the relative positions of the effective working lengths of the two adjacent discharge ports are separated, the vertical distance from the material edge of the material discharge surface to the ground is continued to be adjusted until the relative positions of the effective working lengths of the two adjacent discharge ports are intersecting, and the adjusted distance from the material edge of the material discharge surface to the ground is recorded as the effective working height of the discharge port.

[0036] Clarifying the relative relationship between the effective working lengths of adjacent discharge ports provides a logical basis for evaluating the overall coverage of the working vehicle. By obtaining the endpoints of the line segment and its nearest point, a concise and accurate method for describing spatial relationships is formed, which provides operability for the subsequent determination of geometric states such as "intersection", "crossing" and "separation", and effectively avoids calculation errors. When two adjacent effective working lengths intersect, the vertical distance from the material edge to the ground of the current material discharge surface is the effective working height of the discharge port when the working vehicle is in operation; when two adjacent effective working lengths intersect, it means that the vertical distance from the material edge to the ground of the current material discharge surface is too far, resulting in the effective working length of the discharge port on the ground being too long. At this time, the vertical distance from the material edge to the ground needs to be shortened to reduce the effective working length of the discharge port on the ground; when two adjacent effective working lengths are separated, it means that the vertical distance from the material edge to the ground of the current material discharge surface is too close, resulting in the effective working length of the discharge port on the ground being too short. At this time, the vertical distance from the material edge to the ground needs to be increased to increase the effective working length of the discharge port on the ground. In this way, the effective working height of the discharge port can be determined.

[0037] Reference Figure 3 The total effective working length of the discharge port is calculated based on the vertical distance from the material edge to the ground when the working vehicle is working, specifically including: When the discharge port is at the effective working height, repeat steps S1 to S9 to calculate the effective working lengths of all discharge ports; Obtaining all side lengths of a target operating area, recording two equal long sides as a first long side and a second long side, and recording two equal short sides as a first short side and a second short side, respectively, wherein the target operating area is a rectangle; Obtain the starting edge and the edge parallel to the starting edge of the working vehicle in the target working area; If the starting edge and the edge parallel to the starting edge are the long edges of the target operation, the two long edges are recorded as the starting edge and the ending edge, and the two short edges are recorded as the boundary edges; If the starting edge and the edge parallel to the starting edge are the short edges of the target operation, the two short edges are recorded as the starting edge and the ending edge respectively, and the two long edges are recorded as the boundary edges.

[0038] Repeat steps S1 to S9 to recalculate the effective working length of each discharge port, ensure that all discharge ports reach the optimal working state at the adjusted effective working height, clarify the boundary shape and size of the target operation area, and provide the basic conditions for geometric description. This step provides basic information for subsequent operation path planning by distinguishing between long and short sides, ensuring that the algorithm can be optimized for the characteristics of the rectangular area, improving the efficiency and rationality of the operation path design, and establishing the initial direction and reference direction of the operation by locating the starting edge of the working vehicle and the edge parallel to it. This information provides a key basis for subsequent path planning and vehicle direction control, helps to achieve systematic coverage of working vehicles in the target area, avoids missing or repeated operations, and when the operation direction is along the long side of the target area, the vehicle's operating range and direction are standardized by marking the starting edge, ending edge and boundary edge. When the operation direction is along the short side of the target area, the vehicle's operating direction is adjusted by redefining the starting edge, ending edge and boundary edge.

[0039] The total effective working length of the discharge port is calculated based on the vertical distance from the material edge to the ground when the working vehicle is working, specifically including: Get the length of the starting edge and the boundary edge; Get the effective working length of the discharge port; Get the maximum capacity of the working compartment of the working vehicle, denoted as R; Get the total number of discharge ports of the working vehicles, recorded as N; Get the set speed of the working vehicle when working, recorded as V; Get the number of materials discharged per unit time at the discharge port when the working vehicle is working, recorded as Q; When the working vehicle uses one discharge port to work, calculate the number of divisions of the starting edge of the target working area with 1 effective working length, the number of divisions = starting edge length / 1 effective working length; When the working vehicle uses two discharge ports to work, calculate the number of times the starting edge of the target working area is divided by 2 effective working lengths, and the number of divisions = starting edge length / 2 effective working lengths; When the working vehicle uses N discharge ports to work, calculate the number of divisions of the starting edge of the target working area by N effective working lengths, the number of divisions = starting edge length / N effective working lengths; Set an even number of discharge ports; When the number of divisions is an even number, the number of discharge port workings used by the corresponding working vehicle is obtained, and the number of discharge port workings used by the corresponding working vehicle is added to the even number set of discharge ports; Set a type of discharge port using a collection; Set up the second type of discharge port use collection; For any element in the even-numbered set of discharge ports; S10, calculating the time required for the working vehicle to travel the length of the boundary side, recorded as t, t=boundary length / V; S11, calculate the total amount of material discharged from the working discharge ports within the time t at the discharge speed V, recorded as T, T = number of working discharge ports × V × t; S12. If T>R, the number of discharge ports for this job is discarded; S13. If T≦R, and P×T>R, then add the number of discharge ports of the job to a class of discharge port usage set, where P is a real number greater than 1; S14. If 2×T≦R, and K×T>R, then the number of discharge ports of the job is added to the second-class discharge port usage set, where K is a real number greater than 2; Repeat steps S10 to S14 to traverse all elements in the even-numbered set of discharge ports.

[0040] By obtaining the length of the starting edge and boundary edge of the target operation area, the specific size parameters of the operation space are provided. This operation lays the foundation for subsequent path division, segmentation quantity calculation and operation planning, which helps to ensure the rationality of path design and the accuracy of coverage. Clarifying the effective working length of the discharge port can ensure that accurate physical dimensions are used for calculation in path division. This step directly affects the accuracy of the number of segmentations, ensures the rationality of the operation planning, and improves the efficiency and uniformity of the work vehicle covering the target area. The maximum capacity of the work vehicle's work compartment is obtained. This parameter can prevent the vehicle from overloading during the operation, improve the operating safety and reliability of the work vehicle, and provide a basis for the reasonable distribution of the work load. The total number of discharge ports N is clear, and the work tasks can be flexibly allocated according to the needs, which improves the flexibility of the operation. The set speed V of the work vehicle directly affects the operation efficiency and time planning. The number of discharges Q of the discharge port per unit time is clear, which provides a basis for calculating the total discharge volume and judging whether it meets the needs of the target operation area. By controlling the number of different working discharge ports, all the number of situations where the starting edge of the target operation area is segmented can be calculated. For the even-numbered segmentation scenario, the number of matching discharge ports is extracted, which provides a data basis for subsequent optimization and screening. Since plowing and spreading fertilizer or sowing are carried out simultaneously in the actual farming process, the even-numbered segmentation scenario can provide a back-and-forth process of the work vehicle to ensure that the work vehicle will not cause damage to the area that has been operated. This process helps to improve the controllability of the segmentation results and ensure that the planned path is more in line with the actual operation needs. Two different categories of discharge port usage sets are set, and the number of discharge ports in the even-numbered set is analyzed one by one, which helps to accurately screen the elements that meet the conditions and lay the foundation for the subsequent optimization of the discharge strategy. The time required for the working vehicle to travel the length of the boundary edge can be calculated, and the total amount of materials required within this time can be calculated. By judging the relationship between the total amount of materials and the maximum capacity of the working vehicle's working bin, the elements in the even-numbered set of discharge ports are divided into different categories, and the number of discharge ports that meet the condition T>R is discarded. When T≦R and P×T>R, it means that this division method means that the materials in the material bin can meet the material usage of one segmentation unit, but cannot meet the usage of two or more segmentation units. The number of such discharge ports is added to the first-class discharge port usage set; when the materials in the material bin can meet the material usage of two or more segmentation units, the number of such discharge ports is added to the second-class discharge port usage set; the establishment of the first-class and second-class discharge port usage sets is conducive to the subsequent division of the target working area and the customization of the working vehicle driving strategy.

[0041] The total effective working length of the discharge port is calculated based on the vertical distance from the material edge to the ground when the working vehicle is working, specifically including: If the usage set of the first type of outlet is not an empty set, but the usage set of the second type of outlet is an empty set; Compare the elements in the set of outlet usage of a type, and obtain the largest element as the total number of outlet usage targets; Calculate the target total effective working length corresponding to the total number of target outlets used. Target total effective working length = target total number of outlets used × effective working length of a single outlet. Then the total effective working length of the outlets is equal to the target total effective working length. A driving strategy for the working vehicle is generated through the total effective working length of the discharge port.

[0042] By judging the status of the use set of the first and second type of discharge ports, the classification of the current operation demand is clarified. If the first type set is not empty and the second type set is empty, it means that all the elements in the current discharge port even set are in the first type set. Selecting the largest number of discharge ports in the first type set as the target can reduce the number of trips in the first type driving strategy of the working vehicle and improve the working efficiency of the working vehicle. By multiplying the total number of target discharge ports by the effective working length of a single discharge port, the total effective working length is calculated, which provides accurate physical parameters for the subsequent driving strategy generation. This step ensures the rationality of vehicle path planning and avoids resource waste and insufficient coverage. Using the total effective working length to generate a first type of driving strategy provides a specific path planning basis for the vehicle. This strategy can ensure the uniformity of coverage and operating efficiency of the operating area, while reducing redundancy and repetition in vehicle operations, and further improve the execution effect and economy of the overall system.

[0043] Reference Figure 4 The total effective working length of the discharge port is used to generate a driving strategy for the working vehicle, which specifically includes: Obtain the total number of target used discharge ports corresponding to the total effective working length of the discharge ports; Get the number of segmentations of the starting edge of the target operation area corresponding to the total number of target discharge ports; Mark each segmentation point of the starting edge, and draw vertical line segments from the segmentation point of the starting edge to the ending edge in sequence. The vertical line segments divide the target operation area into multiple target sub-areas. The target sub-areas are named as the first target sub-area, the second target sub-area, and the Mth target sub-area in the direction from one boundary edge to another boundary edge, where M is the total number of sub-areas. Get the midpoints of the two boundary edges respectively, connect them, and record the connecting line as the second terminal edge; The second termination edge divides all target sub-regions into two equal parts, and names the divided sub-regions respectively; The sub-regions are named starting from the segmentation sub-region close to the starting edge, and are named the first segmentation sub-region, the second segmentation sub-region, and the Mth segmentation sub-region in sequence from the first target sub-region to the Mth target sub-region; The divided sub-regions near the termination edge are sequentially named the (M + 1)-th divided sub-region, the (M + 2)-th divided sub-region... the (M + M)-th divided sub-region in the direction from the M-th target sub-region to the first target sub-region.

[0044] By calculating the total number of target discharge outlets in use, the number of discharge outlets to be opened during the operation of the work vehicle is determined, ensuring uniform coverage within the operation area and the best utilization rate of resources. According to the total number of target discharge outlets in use, the number of divisions on the starting edge is calculated, and the operation area is precisely refined, providing a clear geometric layout for subsequent operation planning. The target operation area is divided into multiple target sub-regions by perpendicular line segments, and each sub-region is named, clarifying the independence of each operation unit. The zoning operation can effectively organize the operation process, ensure that the work vehicle executes according to the plan within the target area, and at the same time improve the regional coverage accuracy and the operability of task allocation. Calculating and connecting the midpoints of the boundary edges to generate the second termination edge helps to further divide the operation area and form a balanced operation scope. This geometric division method provides symmetry and structure for the operation strategy, facilitating subsequent path optimization and load balance adjustment. The target sub-regions are equally divided by the second termination edge, and the divided sub-regions are named, making it convenient to clarify the responsibility area and driving path during scheduling and execution. Naming the divided sub-regions near the starting edge in sequence establishes the order of zoning, facilitating the sequential operation of the work vehicle. This naming method provides logic and traceability for task planning, helping to reduce the possibility of path chaos and multi-task conflicts. Naming the divided sub-regions near the termination edge in reverse order establishes a symmetric relationship with the aforementioned divided regions, providing a balanced solution for task planning. This method helps to optimize the vehicle scheduling path, reduce turning and repeated coverage, and ultimately improve the overall operation efficiency and execution accuracy.

[0045] Refer to Figure 5 , the generation of a first type of driving strategy for the work vehicle through the total effective working length of the discharge outlet specifically includes: When i × 2 < M or M < i × 2 < 2 × M; The work vehicle starts from the (i × 2)-th divided sub-region and operates in the direction from the starting edge of the (i × 2)-th divided sub-region to the second termination edge of the (i × 2)-th divided sub-region; When the work vehicle reaches the second termination edge of the (i × 2)-th divided sub-region, the work vehicle turns to the second termination edge of the (i × 2 + 1)-th divided sub-region; Operate in the direction from the termination edge of the (i × 2 + 1)-th divided sub-region to the starting edge of the (i × 2 + 1)-th divided sub-region; When the work vehicle reaches the starting edge of the (i × 2 + 1)-th divided sub-region, add materials to the work bin of the work vehicle; When i × 2 = M; The work vehicle starts from the i×2 divided sub-region and operates in the direction from the starting edge of the i×2 divided sub-region to the second terminating edge of the i×2 divided sub-region; When the work vehicle reaches the second terminating edge of the i×2 divided sub-region, the work vehicle operates from the second terminating edge of the i×2 divided sub-region to the terminating edge of the i×2 divided sub-region; When the work vehicle reaches the terminating edge of the i×2 divided sub-region, the working bin of the work vehicle is fed with materials; When i×2 = 2×M; The work vehicle starts from the i×2 divided sub-region and operates in the direction from the terminating edge of the i×2 divided sub-region to the second terminating edge of the i×2 divided sub-region; When the work vehicle reaches the second terminating edge of the i×2 divided sub-region, the work vehicle operates from the second terminating edge of the i×2 divided sub-region to the starting edge of the first divided sub-region; When the work vehicle reaches the starting edge of the first divided sub-region, the operation ends; The i is the number of times the work vehicle works.

[0046] 10. When the number of trips of the work vehicle satisfies the condition i×2 < M or M < i×2 < 2×M, it means that the work vehicle is in a normal working state at this time. At this time, the first trip of the work vehicle starts operating from the second divided sub-region, reaches the second terminating edge of the third sub-region after turning at the second divided sub-region, and reaches the starting point of the third divided sub-region along the third divided sub-region. At this time, the work vehicle completes a work task and continues to operate in other divided sub-regions in this way; when the number of trips of the work vehicle satisfies the condition i×2 = M, at this time the work vehicle reaches the last divided sub-region close to the starting edge. When the work vehicle reaches the second terminating edge of the i×2 divided sub-region at this time, it does not need to turn, but continues to drive and operate towards the terminating edge of the i×2 + 1 divided sub-region; when the number of trips of the work vehicle satisfies the condition i×2 = 2×M, it means that the work vehicle reaches the i×2 divided sub-region. At this time, the work vehicle needs to operate in the i×2 divided sub-region and then drive and operate towards the starting edge of the first divided sub-region, thus completing the operation of the entire target operation area; such a path division avoids the work vehicle from causing secondary damage to the already operated area. At the same time, the work vehicle will return to the same traveling edge of the target operation area each time, which can reduce the back-and-forth shuttling between the starting edge and the terminating edge when feeding the work vehicle, improving the feeding efficiency.

[0047] The total effective working length of the discharge port is calculated according to the vertical distance from the material separation edge of the material discharge surface to the ground when the work vehicle is working, specifically including: When the set of used secondary discharge ports is not an empty set; Compare the elements in the set of secondary discharge ports used, and obtain the largest element as the total number of target discharge ports used; Calculate the total effective working length corresponding to the total number of target discharge ports used. The total effective working length = the total number of target discharge ports used × the effective working length of a single discharge port. Then, the total effective working length of the discharge ports is equal to the total effective working length of the target. Generate a secondary driving strategy for the working vehicle based on the total effective working length of the discharge ports.

[0048] When the set of secondary discharge ports used is not an empty set, it indicates that after the elements in the even-numbered discharge port set satisfy the division of the starting side of the target working area, the capacity in the working bin of the working vehicle can meet the distance of the working vehicle traveling the lengths of two boundary sides. At this time, obtaining the largest element in the set of secondary discharge ports used can reduce the division of the target working area, reduce the number of trips of the working vehicle, and improve the working efficiency of the working vehicle. By calculating the total effective working length of the target corresponding to the total number of target discharge ports used, the division of the target working area can be determined, and a secondary driving strategy can be generated based on the effective working length of the discharge ports. In this way, the strategy can be flexibly formulated, and two different driving strategies for the working vehicle can be generated for the effective working lengths of different discharge ports.

[0049] Refer to Figure 6 and Figure 7 The generation of the secondary driving strategy for the working vehicle based on the total effective working length of the discharge ports specifically includes: Obtain the total number of target discharge ports used corresponding to the total effective working length of the discharge ports; Obtain the number of divisions of the starting side of the target working area corresponding to the total number of target discharge ports used; Mark each division point of the starting side, and successively draw perpendicular line segments from the division points of the starting side to the ending side. The perpendicular line segments divide the target working area into multiple target sub-areas. Name the target sub-areas in the direction from one boundary side to the other boundary side as the first target sub-area, the second target sub-area... the Mth target sub-area, where M is the total number of sub-areas; When i×2 < M; The working vehicle starts from the (i×2 - 1)th target sub-area and operates in the direction from the starting side to the ending side of the (i×2 - 1)th divided sub-area; When the working vehicle reaches the ending side of the (i×2 - 1)th divided sub-area, the working vehicle turns to the ending side of the i×2th target sub-area; Operate in the direction from the ending side to the starting side of the i×2th target sub-area; When the working vehicle reaches the starting side of the i×2th target sub-area, add materials to the working bin of the working vehicle; When i×2 = M; The work vehicle starts from the (i×2 - 1)-th target sub-region and operates in the direction from the starting edge of the (i×2 - 1)-th divided sub-region to the terminating edge of the (i×2 - 1)-th divided sub-region; When the work vehicle reaches the terminating edge of the (i×2 - 1)-th divided sub-region, the work vehicle turns to the terminating edge of the i×2-th target sub-region; It operates in the direction from the terminating edge of the i×2-th target sub-region to the starting edge of the i×2-th target sub-region; When the work vehicle reaches the starting edge of the i×2-th target sub-region, the operation ends; The i represents the number of times the work vehicle works.

[0050] By corresponding the effective working length of the discharge port with the total number of target used discharge ports, it can ensure that the operation ability of the work vehicle matches the actual demand of the target area. Determining the number of divisions of the starting edge according to the number of target used discharge ports helps to accurately divide the operation area into multiple small areas, ensuring that each area can be fully covered. By marking the division points and making perpendicular line segments to the terminating edge, multiple sub-regions can be clearly defined. This zoning method helps to reasonably plan the operation path, ensuring that each sub-region can independently and efficiently complete the operation task, and also helps in the monitoring and scheduling of the area during the operation process. When the number of trips of the work vehicle satisfies the condition i×2 < M, it operates in the direction from the starting edge of the divided sub-region to the terminating edge. This choice of operation path ensures that the work vehicle starts from the starting point of the target sub-region and operates orderly towards the terminating edge. Through the linear operation from the starting edge to the terminating edge, redundant route repetitions are avoided, improving the operation efficiency, while reducing unnecessary driving distances and energy consumption. After the vehicle reaches the terminating edge, it turns to the terminating edge of the next target area, which helps to ensure the coherence of the direction during the operation process. The clear division of the operation area avoids the vehicle from repeatedly adjusting the path, ensuring that each sub-region completes the operation task in the shortest time. By adjusting the operation direction, it ensures that the operation is carried out from the terminating edge of the target sub-region to the starting edge. This reverse operation method effectively avoids missing work in the area and ensures comprehensive coverage of the operation. When the work vehicle completes the operation of the current sub-region and reaches the starting edge, the feeding operation can ensure that the vehicle will not be interrupted due to insufficient materials during the operation of the next sub-region. This optimizes the continuity of the operation process and improves the operation ability and efficiency of the work vehicle. When the number of trips of the work vehicle satisfies the condition i×2 = M, it means that the work vehicle is at the last trip at this time. At this time, the traveling route of the work vehicle is the same as the previous operation process. When it reaches the starting edge after turning, there is no need to add materials to the work bin anymore. At this time, the operation has been completed. When the operation is completed, the vehicle ends the operation after reaching the starting edge. This operation helps to clarify the sign of task completion, reduces the waste of operation time, and is convenient for starting the next operation or carrying out maintenance work.

[0051] This embodiment also provides a system for calculating the number of road trips and operating area of ​​a mechanized operating vehicle, including: Discharging module: The specifications of the discharging ports are the same. They are composed of two equal isosceles trapezoidal metal plates and two parallelogram metal plates. The length of the long side of the parallelogram is equal to the waist length of the rectangle, and the length of the short side of the parallelogram is less than the length of the long side of the parallelogram. The isosceles trapezoid close to the ground is recorded as the unloading surface, and the isosceles trapezoid far from the ground is recorded as the loading surface. Measurement module: used to measure the length of line segments; Calculation module: calculate the effective working length, the distance from the material edge to the ground of the material discharge surface as the effective working height of the discharge port, the effective working length of all discharge ports, the total effective working length of the discharge ports, and the number of divisions of the target working area.

[0052] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0053] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An algorithm for calculating the number of road trips and operating area of ​​a mechanized operating vehicle, characterized in that: include: Mechanized operation vehicles are recorded as work vehicles; Obtain the total number of discharge ports of the working vehicle, wherein all discharge ports of the working vehicle have the same specifications and are composed of two equal isosceles trapezoidal metal plates and two parallelogram metal plates, wherein the length of the long side of the parallelogram is equal to the waist length of the rectangle, and the length of the short side of the parallelogram is less than the length of the long side of the parallelogram, and the isosceles trapezoid close to the ground is recorded as the lower feeding surface, and the isosceles trapezoid far from the ground is recorded as the upper feeding surface; For any unloading surface of the discharge port, perform steps S1 to S9: S1. Obtain two oblique sides of the blanking surface, record them as the first oblique side of the blanking surface and the second oblique side of the blanking surface, record the end point of the first oblique side of the blanking surface closest to the ground as point A, and record the end point of the second oblique side of the blanking surface closest to the ground as point B; S2. When the working vehicle is working, the edge of the parallel edges of the material-discharging surface closest to the ground is recorded as the material-discharging edge, and the vertical distance from the material-discharging edge to the ground is measured and recorded as H; S3, respectively draw the extension lines of the first and second oblique sides of the blanking surface, record the intersection of the extension line of the first oblique side of the blanking surface and the ground as point C, record the intersection of the extension line of the second oblique side of the blanking surface and the ground as point D, and record the intersection of the extension line of the first oblique side of the blanking surface and the extension line of the second oblique side of the blanking surface as point E; S4. Draw a perpendicular line from point E to the ground, and record the intersection with the ground as Draw a perpendicular line from point A to the ground, and mark the intersection with the ground as point A1. Draw a perpendicular line from point B to the ground, and mark the intersection with the ground as point B1. Measure the length of line segment EE1 and mark it as H1. The length of line segment AA1 is equal to the length of line segment BB1, and both are equal to ; S5. Measure the length of line segment EC, record it as H2; S6. Calculate the length of line segment AC, denoted as H AC , H AC =H2×(H / H1); S7. Measure the length of line segment AB and record it as H3; S8. Calculate the length of line segment EA, H EA =H2-H AC =H2-H2×(H / H1); S9. Calculate the length of line segment CD, denoted as H CD , H CD =H3×(H2 / H EA ), the length of line segment CD is the effective length of the discharge port on the ground, and the length of line segment CD is recorded as the effective working length; Repeat steps S1 to S9 to calculate the effective working lengths of all discharge ports on the ground; The total effective working length of the discharge port is calculated based on the vertical distance from the material edge to the ground when the working vehicle is working.

2. The algorithm for calculating the number of road trips and the operating area of ​​a mechanized working vehicle according to claim 1 is characterized in that: The total effective working length of the discharge port is calculated according to the vertical distance from the material edge to the ground of the material discharge surface when the working vehicle is working, specifically including: Determine the relative position of the effective working lengths of two adjacent discharge ports, wherein the relative position of the effective working lengths of the two adjacent discharge ports is specifically as follows: obtain two adjacent line segments of the effective working lengths, respectively recorded as line segment one and line segment two, obtain two endpoints of line segment one and line segment two that are closest to each other, respectively recorded as the closest point of line segment one and the closest point of line segment two, if the closest point of line segment one coincides with the closest point of line segment two, then line segment one and line segment two are recorded as intersecting; if the closest point of line segment one is on line segment two, then line segment one and line segment two are recorded as crossing; otherwise, line segment one and line segment two are recorded as separated; If the relative positions of the effective working lengths of two adjacent discharge ports intersect, the vertical distance from the material edge to the ground on the unloading surface is recorded as the effective working height of the discharge port when the working vehicle is in use; Set the distance unit of the blanking surface from the material edge; If the relative position of the effective working lengths of two adjacent discharge ports is an intersection, the vertical distance from the material edge to the ground of the discharge surface is adjusted to H-1×the moving distance unit of the discharge surface from the material edge, and the relative position of the effective working lengths of the two adjacent discharge ports at this time is determined. If the relative position of the effective working lengths of the two adjacent discharge ports is an intersection, the unit of H-1×the moving distance unit of the discharge surface from the material edge is recorded as the effective working height of the discharge port. If the relative position of the effective working lengths of the two adjacent discharge ports is an intersection, the vertical distance from the material edge to the ground of the discharge surface is continued to be adjusted until the relative position of the effective working lengths of the two adjacent discharge ports is an intersection, and the adjusted distance from the material edge to the ground of the discharge surface is recorded as the effective working height of the discharge port. If the relative positions of the effective working lengths of two adjacent discharge ports are separated, the vertical distance from the edge of the material to the ground of the material discharge surface is adjusted to H+1×the moving distance unit of the material discharge surface from the edge of the material, and the relative positions of the effective working lengths of the two adjacent discharge ports at this time are determined. If the relative positions of the effective working lengths of the two adjacent discharge ports are intersecting, H+1×the moving distance unit of the material discharge surface from the edge of the material is recorded as the effective working height of the discharge port. If the relative positions of the effective working lengths of the two adjacent discharge ports are separated, the vertical distance from the material edge of the material discharge surface to the ground is continued to be adjusted until the relative positions of the effective working lengths of the two adjacent discharge ports are intersecting, and the adjusted distance from the material edge of the material discharge surface to the ground is recorded as the effective working height of the discharge port.

3. The algorithm for calculating the number of road trips and the operating area of ​​a mechanized operating vehicle according to claim 2, characterized in that: The total effective working length of the discharge port is calculated according to the vertical distance from the material edge to the ground of the material discharge surface when the working vehicle is working, specifically including: When the discharge port is at the effective working height, repeat steps S1 to S9 to calculate the effective working lengths of all discharge ports; Obtaining all side lengths of a target operating area, recording two equal long sides as a first long side and a second long side, and recording two equal short sides as a first short side and a second short side, respectively, wherein the target operating area is a rectangle; Obtain the starting edge and the edge parallel to the starting edge of the working vehicle in the target working area; If the starting edge and the edge parallel to the starting edge are the long edges of the target operation, the two long edges are recorded as the starting edge and the ending edge, and the two short edges are recorded as the boundary edges; If the starting edge and the edge parallel to the starting edge are the short edges of the target operation, the two short edges are recorded as the starting edge and the ending edge respectively, and the two long edges are recorded as the boundary edges.

4. The algorithm for calculating the number of road trips and the operating area of ​​a mechanized operating vehicle according to claim 3 is characterized in that: The total effective working length of the discharge port is calculated according to the vertical distance from the material edge to the ground of the material discharge surface when the working vehicle is working, specifically including: Get the length of the starting edge and the boundary edge; Get the effective working length of the discharge port; Get the maximum capacity of the working compartment of the working vehicle, denoted as R; Get the total number of discharge ports of the working vehicles, recorded as N; Get the set speed of the working vehicle when working, recorded as V; Get the number of materials discharged per unit time at the discharge port when the working vehicle is working, recorded as Q; When the working vehicle uses one discharge port to work, calculate the number of divisions of the starting edge of the target working area with 1 effective working length, the number of divisions = starting edge length / 1 effective working length; When the working vehicle uses two discharge ports to work, calculate the number of times the starting edge of the target working area is divided by 2 effective working lengths, and the number of divisions = starting edge length / 2 effective working lengths; When the working vehicle uses N discharge ports to work, calculate the number of divisions of the starting edge of the target working area by N effective working lengths, the number of divisions = starting edge length / N effective working lengths; Set an even number of discharge ports; When the number of divisions is an even number, the number of discharge port workings used by the corresponding working vehicle is obtained, and the number of discharge port workings used by the corresponding working vehicle is added to the even number set of discharge ports; Set a type of discharge port using a collection; Set up the second type of discharge port use collection; For any element in the even-numbered set of discharge ports; S10, calculating the time required for the working vehicle to travel the length of the boundary side, recorded as t, t=boundary length / V; S11, calculate the total amount of material discharged from the working discharge ports within the time t at the discharge speed V, recorded as T, T = number of working discharge ports × V × t; S12. If T>R, the number of discharge ports for this job is discarded; S13. If T≦R, and P×T>R, then add the number of discharge ports of the job to a class of discharge port usage set, where P is a real number greater than 1; S14. If 2×T≦R, and K×T>R, then the number of discharge ports of the job is added to the second-class discharge port usage set, where K is a real number greater than 2; Repeat steps S10 to S14 to traverse all elements in the even-numbered set of discharge ports.

5. The algorithm for calculating the number of road trips and the operating area of ​​a mechanized operating vehicle according to claim 4, characterized in that: The total effective working length of the discharge port is calculated according to the vertical distance from the material edge to the ground of the material discharge surface when the working vehicle is working, specifically including: If the usage set of the first type of outlet is not an empty set, but the usage set of the second type of outlet is an empty set; Compare the elements in the set of outlet usage of a type, and obtain the largest element as the total number of outlet usage targets; Calculate the target total effective working length corresponding to the total number of target outlets used. Target total effective working length = target total number of outlets used × effective working length of a single outlet. Then the total effective working length of the outlets is equal to the target total effective working length. A driving strategy for the working vehicle is generated through the total effective working length of the discharge port.

6. The algorithm for calculating the number of road trips and the operating area of ​​a mechanized operating vehicle according to claim 5, characterized in that: The driving strategy of the working vehicle is generated by the total effective working length of the discharge port, specifically including: Obtain the total number of target used discharge ports corresponding to the total effective working length of the discharge ports; Get the number of segmentations of the starting edge of the target operation area corresponding to the total number of target discharge ports; Mark each segmentation point of the starting edge, and draw vertical line segments from the segmentation point of the starting edge to the ending edge in sequence. The vertical line segments divide the target operation area into multiple target sub-areas. The target sub-areas are named as the first target sub-area, the second target sub-area, and the Mth target sub-area in the direction from one boundary edge to another boundary edge, where M is the total number of sub-areas. Obtain the midpoints of the two boundary edges respectively and connect them. Denote the connecting line as the second termination edge; The second termination edge divides all the target sub-regions into two equal parts, and name the divided sub-regions respectively; Start naming from the divided sub-region close to the starting edge. In the direction from the first target sub-region to the Mth target sub-region, name the divided sub-regions as the first divided sub-region, the second divided sub-region... the Mth divided sub-region in sequence; For the divided sub-region close to the termination edge, in the direction from the Mth target sub-region to the first target sub-region, name the divided sub-regions as the (M + 1)th divided sub-region, the (M + 2)th divided sub-region... the (M + M)th divided sub-region in sequence.

7. The algorithm for calculating the number of road trips and the operating area of ​​a mechanized operating vehicle according to claim 6, characterized in that: The generation of the first type of driving strategy for the working vehicle through the total effective working length of the discharge port specifically includes: When i×2 < M or M < i×2 < 2×M; The working vehicle starts from the (i×2)th divided sub-region and operates in the direction from the starting edge of the (i×2)th divided sub-region to the second termination edge of the (i×2)th divided sub-region; When the working vehicle reaches the second termination edge of the (i×2)th divided sub-region, the working vehicle turns to the second termination edge of the (i×2 + 1)th divided sub-region; Operate in the direction from the termination edge of the (i×2 + 1)th divided sub-region to the starting edge of the (i×2 + 1)th divided sub-region; When the working vehicle reaches the starting edge of the (i×2 + 1)th divided sub-region, add materials to the working bin of the working vehicle; When i×2 = M; The working vehicle starts from the (i×2)th divided sub-region and operates in the direction from the starting edge of the (i×2)th divided sub-region to the second termination edge of the (i×2)th divided sub-region; When the working vehicle reaches the second termination edge of the (i×2)th divided sub-region, the working vehicle operates from the second termination edge of the (i×2)th divided sub-region to the termination edge of the (i×2)th divided sub-region; When the working vehicle reaches the termination edge of the (i×2)th divided sub-region, add materials to the working bin of the working vehicle; When i×2 = 2×M; The working vehicle starts from the (i×2)th divided sub-region and operates in the direction from the termination edge of the (i×2)th divided sub-region to the second termination edge of the (i×2)th divided sub-region; When the working vehicle reaches the second termination edge of the (i×2)th divided sub-region, the working vehicle operates from the second termination edge of the (i×2)th divided sub-region to the starting edge of the first divided sub-region; When the working vehicle reaches the starting edge of the first divided sub-region, end the operation; The i is the number of times the working vehicle works.

8. The algorithm for calculating the number of road trips and the operating area of ​​a mechanized operating vehicle according to claim 4, characterized in that: The calculation of the total effective working length of the discharge port according to the vertical distance from the material separation edge of the material discharge surface to the ground when the working vehicle is working specifically includes: If the set of the use of the second type of discharge port is not an empty set; Compare the elements in the set of the use of the second type of discharge port, and obtain the largest element as the total number of target used discharge ports; Calculate the target total effective working length corresponding to the total number of target used discharge ports. The target total effective working length = the total number of target used discharge ports × the effective working length of a single discharge port, then the total effective working length of the discharge port is equal to the target total effective working length; Generate the second type of driving strategy for the working vehicle through the total effective working length of the discharge port.

9. The algorithm for calculating the number of road trips and the operating area of ​​a mechanized operating vehicle according to claim 8, characterized in that: Generating the second-class driving strategy for the work vehicle through the total effective working length of the discharge port specifically includes: Obtaining the target total number of discharge ports corresponding to the total effective working length of the discharge port; Obtaining the number of divisions of the starting edge of the target working area corresponding to the target total number of discharge ports; Marking each division point of the starting edge, and successively making perpendicular line segments from the division points of the starting edge to the terminating edge. The perpendicular line segments divide the target working area into multiple target sub-areas. The target sub-areas are successively named the first target sub-area, the second target sub-area... the Mth target sub-area from one boundary edge to the other boundary edge, where M is the total number of sub-areas; When i×2 < M; The work vehicle starts from the (i×2 - 1)th target sub-area and operates in the direction from the starting edge to the terminating edge of the (i×2 - 1)th divided sub-area; When the work vehicle reaches the terminating edge of the (i×2 - 1)th divided sub-area, the work vehicle turns to the terminating edge of the (i×2)th target sub-area; Operate in the direction from the terminating edge to the starting edge of the (i×2)th target sub-area; When the work vehicle reaches the starting edge of the (i×2)th target sub-area, add materials to the working bin of the work vehicle; When i×2 = M; The work vehicle starts from the (i×2 - 1)th target sub-area and operates in the direction from the starting edge to the terminating edge of the (i×2 - 1)th divided sub-area; When the work vehicle reaches the terminating edge of the (i×2 - 1)th divided sub-area, the work vehicle turns to the terminating edge of the (i×2)th target sub-area; Operate in the direction from the terminating edge to the starting edge of the (i×2)th target sub-area; When the work vehicle reaches the starting edge of the (i×2)th target sub-area, end the operation; The i is the number of times the work vehicle works.

10. A system using the algorithm for calculating the number of road trips and working area of ​​a mechanized working vehicle according to claim 4, characterized in that: Including: Discharging module: The specifications of the discharge ports are the same, which are composed of two equal isosceles trapezoidal metal plates and two parallelogram metal plates. The long side length of the parallelogram is equal to the waist length of the rectangle, and the short side length of the parallelogram is less than the long side length of the parallelogram. The isosceles trapezoid close to the ground is recorded as the blanking surface, and the isosceles trapezoid far from the ground is recorded as the feeding surface; Measuring module: Used to measure the length of the line segment; Calculation module: Calculate the effective working length, the distance from the discharging edge of the blanking surface to the ground is recorded as the effective working height of the discharge port, the effective working lengths of all discharge ports, the total effective working length of the discharge port, and the number of divisions of the target working area.

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