Unmanned rice transplanter operation path planning method, system, equipment and medium

Abstract

The invention discloses an unmanned rice transplanter operation path planning method, system and device and a medium, and relates to the technical field of agricultural machinery, and the method comprises the steps: obtaining boundary vertex coordinates of a to-be-transplanted field, and generating an internal reciprocating operation part boundary line through a boundary retraction method; and calculating the operation row number and the target row spacing according to the operation row number and the target row spacing, generating an intersection point of a seedling claw reciprocating operation straight line and a target boundary, performing extension and projection to obtain an internal reciprocating operation part operation path line, performing external expansion correction on an internal boundary line to form an outer ring sealing path, and combining the outer ring sealing path into a final path set. The single pair of seedling claws can be used as a minimum unit, unmanned seedling transplanting operation can be completed in any special-shaped field at a time, the invalid driving mileage is remarkably reduced, and the operation efficiency and quality are improved.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to a method, system, equipment and medium for planning the operation path of an unmanned rice transplanter. Background Technology

[0002] Mechanized rice transplanting has been widely adopted, but path planning still uses a simplified model of "rows of seedlings and rectangular fields." For irregularly shaped fields such as trapezoids, polygons, and non-right-angled lines commonly found in actual production, existing solutions reveal the following shortcomings: There are many missed planting blind spots: the entire row of seedlings cannot be completely covered at the acute angle or short side, forming triangular blanks, which require manual replanting.

[0003] Repeated crushing: The rectangular grid is forcibly applied to the slanted side, causing multiple overlapping drives, which repeatedly crushes the seedlings and reduces the greening rate.

[0004] Long ineffective mileage: The fixed edge of the field is wrapped around the boundary, which has a large turning radius and frequent reversing at the field, significantly increasing fuel consumption and working time.

[0005] Low level of automation: The above-mentioned defects mean that manual driving is still required after the operation to re-insert, re-press, or adjust the path, making it difficult to achieve a closed loop of full automation.

[0006] Although GNSS-based straight-line navigation or local optimization algorithms have emerged in recent years, their smallest planning unit is still a row of seedlings. They cannot dynamically adjust row spacing, start and stop points, and edge-binding strategies according to the scale of "single pair of seedlings". Therefore, efficiency and coverage cannot be achieved in irregularly shaped fields. Summary of the Invention

[0007] The technical problem to be solved by this invention is to address the shortcomings of existing technologies. Specifically, it provides a method, system, equipment, and medium for planning the operation path of an unmanned rice transplanter, as detailed below: 1) In a first aspect, the present invention provides a method for planning the operation path of an unmanned rice transplanter, the specific technical solution of which is as follows: Obtain the boundary vertex coordinates of the field to be transplanted, and based on the boundary vertex coordinates, determine the intersection point after translating the boundary line by the boundary shrinkage method to obtain the boundary line of the internal reciprocating operation section. The number of work rows and the target row spacing are determined based on the boundary line of the internal reciprocating work section, and the intersection point of the seedling claw reciprocating work line and the target boundary determined by the boundary line of the internal reciprocating work section is generated based on the number of work rows and the target row spacing. Based on the intersection of the boundary line of the internal reciprocating operation section and the target boundary, determine the list of left and right intersection points of the center line of the seedling claw, and determine the start / stop position of the seedling claw on the operation line according to the projection position of the left and right intersection points on the center line of the seedling claw. Based on the start / stop positions on the work line and the number of seedling claws on the rice transplanter, the projection point of each seedling claw on the center line of the rice transplanter is determined. The set of projection points represents the work path of the internal reciprocating work section. The boundary line of the internal reciprocating work section is expanded by a preset width to obtain the inner and outer path points. The inner and outer path points are corrected to generate the inner and outer closed-loop paths. The inner and outer closed-loop paths are used as the final path set of the rice transplanter for path planning.

[0008] The beneficial effects of the unmanned rice transplanter operation path planning method provided by this invention are as follows: The boundary line of the internal reciprocating operation section is generated in one go by the boundary shrinkage-intersection method. The number of operation rows and the target row spacing are dynamically calculated with a single pair of seedling claws as the smallest unit. The reciprocating operation line of the seedling claws intersects the irregular boundary precisely to obtain a list of left and right intersection points. Then, the start and stop positions of each seedling claw are determined in one go by center line projection. Subsequently, the center operation path line is generated at equal intervals. Then, the boundary line is expanded outward according to the preset width and corrected for acute and obtuse angles respectively. The inner and outer ring sealing paths are obtained quickly and synchronously. In this way, blind spots of missed planting are eliminated in irregular fields, repeated rolling is prevented, and idle rotation at the field ends is reduced, so as to achieve high coverage, zero manual replanting, and fully unmanned high-efficiency rice transplanting operation.

[0009] Based on the above solution, the present invention can be further improved as follows.

[0010] Furthermore, the boundary contraction method specifically includes: Based on the boundary vertex coordinates of the field to be transplanted, a list of boundary point order is generated in either counterclockwise or clockwise order. According to the preset direction and preset translation distance, each boundary point in the boundary point sequence list is translated inward one by one to obtain the translated boundary point set. The intersection points of the translated boundary lines are determined from the set of boundary points, and the intersection points are connected in sequence to obtain the inward-shrinking boundary lines.

[0011] Furthermore, the process for determining the intersection point of the target boundary is as follows: The operation parameters are determined based on the boundary line of the internal reciprocating operation section. The operation parameters include: the operation reference edge, the operation direction, and the entry point position. The width of the internal reciprocating operation is determined based on the boundary line of the internal reciprocating operation section and the operation parameters. The number of working rows and the target row spacing are determined based on the internal reciprocating operation width and the parameter information of the rice transplanter whose path to be planned. The intersection point of the target boundary point is determined based on the job parameters, the number of job rows, and the target row spacing.

[0012] Furthermore, the process of expanding the boundary line of the internal reciprocating operation section by a preset width to obtain the inner and outer path points, and then correcting the inner and outer path points to generate the inner and outer closed-loop paths, is as follows: Determine the initial inner and outer ring sealing path lines based on the inner and outer ring path points; The angle type of the non-right-angle boundary angle in the initial inner and outer sealing path is determined, and the path point is corrected according to the determination result to generate the inner and outer sealing path.

[0013] 2) In a second aspect, the present invention also provides an unmanned rice transplanter operation path planning system, the specific technical solution of which is as follows: The acquisition module is used to: acquire the boundary vertex coordinates of the field to be transplanted, and based on the boundary vertex coordinates, determine the intersection point after translating the boundary line by the boundary shrinkage method to obtain the boundary line of the internal reciprocating operation section; The first determining module is used to: determine the number of work rows and the target row spacing based on the boundary line of the internal reciprocating work section, and generate the intersection point of the seedling claw reciprocating work line and the target boundary determined by the boundary line of the internal reciprocating work section based on the number of work rows and the target row spacing; The second determining module is used to: determine the list of left intersection points and the list of right intersection points of the seedling claw centerline based on the intersection points of the boundary line of the internal reciprocating operation section and the target boundary, and determine the start / stop position of the seedling claw on the operation line according to the projection position of the left and right intersection points on the seedling claw centerline. The planning module is used to: determine the projection point of each seedling claw on the center line of the rice transplanter based on the start / stop position on the work line and the number of seedling claws of the rice transplanter. The set of projection points represents the work path of the internal reciprocating work section. The boundary line of the internal reciprocating work section is expanded outward by a preset width to obtain the inner and outer path points. The inner and outer path points are corrected to generate the inner and outer closed-loop paths. The inner and outer closed-loop paths are used as the final path set of the rice transplanter for path planning.

[0014] Based on the above solution, the present invention can be further improved as follows.

[0015] Furthermore, the boundary contraction method specifically includes: Based on the boundary vertex coordinates of the field to be transplanted, a list of boundary point order is generated in either counterclockwise or clockwise order. According to the preset direction and preset translation distance, each boundary point in the boundary point sequence list is translated inward one by one to obtain the translated boundary point set. The intersection points of the translated boundary lines are determined from the set of boundary points, and the intersection points are connected in sequence to obtain the inward-shrinking boundary lines.

[0016] Furthermore, the process for determining the intersection point of the target boundary is as follows: The operation parameters are determined based on the boundary line of the internal reciprocating operation section. The operation parameters include: the operation reference edge, the operation direction, and the entry point position. The width of the internal reciprocating operation is determined based on the boundary line of the internal reciprocating operation section and the operation parameters. The number of working rows and the target row spacing are determined based on the internal reciprocating operation width and the parameter information of the rice transplanter whose path to be planned. The intersection point of the target boundary point is determined based on the job parameters, the number of job rows, and the target row spacing.

[0017] Furthermore, the process of expanding the boundary line of the internal reciprocating operation section by a preset width to obtain the inner and outer path points, and then correcting the inner and outer path points to generate the inner and outer closed-loop paths, is as follows: Determine the initial inner and outer ring sealing path lines based on the inner and outer ring path points; The angle type of the non-right-angle boundary angle in the initial inner and outer sealing path is determined, and the path point is corrected according to the determination result to generate the inner and outer sealing path.

[0018] 3) In a third aspect, the present invention also provides an electronic device, the electronic device including a processor coupled to a memory, the memory storing at least one computer program, the at least one computer program being loaded and executed by the processor to enable the electronic device to perform any of the above methods.

[0019] 4) In a fourth aspect, the present invention also provides a computer-readable storage medium storing at least one computer program, which is loaded and executed by a processor to enable a computer to implement any of the above methods.

[0020] It should be noted that the beneficial effects of the technical solutions of the second to fourth aspects of the present invention and their corresponding possible implementations can be found in the above description of the technical effects of the first aspect and its corresponding possible implementations, and will not be repeated here. Attached Figure Description

[0021] Other features, objects, and advantages of the invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is one of the flowcharts illustrating an unmanned rice transplanter operation path planning method according to an embodiment of the present invention; Figure 2 This is a second flowchart illustrating an unmanned rice transplanter operation path planning method according to an embodiment of the present invention; Figure 3 This is a schematic diagram of field division for an unmanned rice transplanter operation path planning method according to an embodiment of the present invention; Figure 4 This is a schematic diagram illustrating the adjustment of row spacing in an unmanned rice transplanter operation path planning method according to an embodiment of the present invention; Figure 5 This is a schematic diagram showing the intersection of the seedling claw control line and the boundary in an unmanned rice transplanter operation path planning method according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the extension of the seedling claw control line in an embodiment of the unmanned rice transplanter operation path planning method of the present invention; Figure 7 This is a schematic diagram of the rice transplanter claw control line projected onto the machine centerline in an embodiment of the unmanned rice transplanter operation path planning method of the present invention. Figure 8 This is a schematic diagram of a method for extracting the closed-loop path line of a rice transplanter according to an embodiment of the present invention for planning the operation path of an unmanned rice transplanter; Figure 9 This is a schematic diagram illustrating the principle of adjusting the inner ring sealing path point of a rice transplanter according to an embodiment of the present invention for a method of planning the operation path of an unmanned rice transplanter; Figure 10 This is a schematic diagram illustrating the principle of adjusting the outer ring path points of a rice transplanter in an embodiment of the present invention for a method of planning the operation path of an unmanned rice transplanter. Figure 11 This is a structural framework diagram of an electronic device according to the present invention. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0023] To facilitate understanding of this scheme, the symbols appearing in this scheme will be uniformly explained here, and will not be repeated hereafter: A, B, C: Three consecutive vertices in the boundary point sequence list, used for right-hand rule to determine the direction of circumvention; Pi: The i-th original vertex in the boundary point sequence list; Pi-1, Pi+1: Pi's predecessor and successor vertices; PiPi-1, PiPi+1: Vectors pointing from Pi to Pi-1 and Pi+1 respectively; ni: The direction vector of the unit angle bisector pointing from vertex Pi to the inside of the polygon; D: Preset translation distance, D = 2 × machine width + safety distance; Pi′: The point corresponding to Pi after it is translated D along ni; Pi′Pi+1′: The straight line segment connecting two adjacent points in the boundary point set after translation; W: Internal reciprocating working width, which is the vertical distance from the working reference edge to its farthest boundary on the opposite side; 2d: Minimum interpolation distance, fixed at twice the width of the seedling tray; r: original line spacing; N0: Theoretical number of rows, N0 = floor(W / (2d)); Δ: Width allowance, Δ = W - N0·2d; N: The final number of job lines; r′: Target row spacing, the step size used for actual translation after margin adjustment; P: Candidate intersection points obtained by the current translation line and the boundary edge; P0, P1: The start and end points of the boundary edges; (P-P0)·(P1-P0): Vector dot product, used to determine whether the intersection point is within the line segment; |P1-P0|²: the squared magnitude of the boundary edge vector; Left intersection point list: A list of candidate intersection points for odd-numbered rows stored in order; Right intersection list: A list of candidate intersection points for even-numbered rows stored in order; θ: The angle between two adjacent outer expansion edges of the inner ring sealing path line, used to determine acute and obtuse angles; Machine width: The lateral working width of the rice transplanter; Safety distance: The minimum clearance between machinery and field ridges.

[0024] like Figure 1 As shown in the figure, an embodiment of the present invention provides a method for planning the working path of an unmanned rice transplanter, which includes the following steps: Step 1: Obtain the boundary vertex coordinates of the field to be transplanted. Based on the boundary vertex coordinates, determine the intersection point after translating the boundary line by the boundary shrinkage method, and obtain the boundary line of the internal reciprocating operation section. Step 2: Determine the number of work rows and the target row spacing based on the boundary line of the internal reciprocating work section, and generate the intersection point of the seedling claw reciprocating work line and the target boundary determined by the boundary line of the internal reciprocating work section based on the number of work rows and the target row spacing; Step 3: Based on the intersection of the boundary line of the internal reciprocating operation section and the target boundary, determine the list of left intersection points and the list of right intersection points of the seedling claw center line, and determine the start / stop position of the seedling claw on the operation line according to the projection position of the left and right intersection points on the seedling claw center line. Step 4: Based on the start / stop positions on the work line and the number of seedling claws on the rice transplanter, determine the projection point of each seedling claw on the center line of the rice transplanter. The set of projection points represents the work path of the internal reciprocating work section. Expand the boundary line of the internal reciprocating work section by a preset width to obtain the inner and outer path points. Correct the inner and outer path points to generate the inner and outer closed-loop paths. Use the inner and outer closed-loop paths as the final path set of the rice transplanter for path planning.

[0025] The beneficial effects of the unmanned rice transplanter operation path planning method provided by this invention are as follows: The boundary line of the internal reciprocating operation section is generated in one go by the boundary shrinkage-intersection method. The number of operation rows and the target row spacing are dynamically calculated with a single pair of seedling claws as the smallest unit. The reciprocating operation line of the seedling claws intersects the irregular boundary precisely to obtain a list of left and right intersection points. Then, the start and stop positions of each seedling claw are determined in one go by center line projection. Subsequently, the center operation path line is generated at equal intervals. Then, the boundary line is expanded outward according to the preset width and corrected for acute and obtuse angles respectively. The inner and outer ring sealing paths are obtained quickly and synchronously. In this way, blind spots of missed planting are eliminated in irregular fields, repeated rolling is prevented, and idle rotation at the field ends is reduced, so as to achieve high coverage, zero manual replanting, and fully unmanned high-efficiency rice transplanting operation.

[0026] It should be noted that the rice-planting field refers to the farmland that is about to be planted with rice seedlings but has not yet been planted with rice. Its boundary is described by the vertex coordinates. The soil inside meets the conditions for mechanized transplanting (tillage completed and light irrigation), but the seedlings have not yet been planted. Mechanized transplanting needs to be completed in one go after the unmanned rice transplanter has completed its path planning.

[0027] In another embodiment of this solution, the specific implementation process of step 1 is as follows: After obtaining the coordinates of the boundary vertices of the field to be transplanted, connect them end to end in the collection order to form a closed polygon. Use the right-hand rule to calculate the cross product of three consecutive points to determine the direction of the vertex: if the cross product is positive, it is counterclockwise, and if it is negative, it is clockwise. Based on this, unify the vertex order. Then, translate each side inward along the normal direction of the polygon by an inward distance of "twice the width of the machine + safety distance" to obtain the equation of the translation line of each side. Find the intersection of two adjacent translation lines in turn. Connect all the intersection points in the original vertex order to form the boundary line of the internal reciprocating operation section, and complete the boundary inward shrinkage process.

[0028] In another embodiment of this solution, step 2 is specifically implemented as follows: Using any edge of the field as the reference edge, the working direction (perpendicular to or parallel to the reference edge) is selected. Along this working direction, the vertex furthest from the field entrance is found within the set of boundary lines of the internal reciprocating working section (the boundary lines of the internal reciprocating working section are the set of vertices of a new polygon obtained by reintersecting adjacent inward-shrinking edges after the entire field boundary is recessed inward by a fixed distance (twice the machine width + safety distance); the closed polyline connecting these points defines the core area where the rice transplanter performs "back-and-forth straight" operations, while the loop outside the area is used for subsequent encirclement. Therefore, these lines are both the boundary coordinates of the internal reciprocating working area and the sole geometric basis for subsequent calculations of the reference line, row count, intersection list, and center path line). A line parallel to the reference edge is drawn through this point as the initial reference line, and the maximum perpendicular distance between this line and the opposite boundary is calculated to obtain the internal working width W. The controllable width of a single motor of the rice transplanter is taken as... The total width of the two seedling trays is 2d, which is the minimum interpolation distance. First, calculate the theoretical number of rows N0=floor(W / (2d)) based on the original row spacing r, and the margin Δ=W-N0·2d. If Δ>2d / 2, then let the number of rows N=N0+1 and update the target row spacing with the new row spacing r′=W / N. Otherwise, keep N=N0 and r′=2d. The initial baseline is translated inward by r′ N-1 times. After each translation, the intersection with each edge formed by the boundary line of the internal reciprocating operation section is calculated. It is determined whether the intersection point falls within the line segment. If the intersection point P satisfies the vector dot product 0≤(P-P0)·(P1-P0)≤|P1-P0|² and the cross product is zero, then save the point, determine the list of left intersection points and the list of right intersection points of the seedling claw center line, and determine the start / stop position of the seedling claw on this operation line according to the projection position of the left and right intersection points on the seedling claw center line. Finally, all the intersection points of the seedling claw reciprocating operation line and the target boundary are obtained.

[0029] In another embodiment of this solution, step 3 is implemented as follows: Using the polygon formed by the boundary lines of the internal reciprocating operation section as a reference, two parallel lines offset to the left and right by half the width d of the seedling claw are first taken on each row to be planned as seedling claw control lines. These control lines are then intersected with the corresponding edges of the boundary lines of the inner reciprocating operation section on both sides, resulting in the left intersection point set {P_Li} and the right intersection point set {P_Ri}. After connecting P_Li and P_Ri in the same row to form the seedling claw operation line, the direction vector between this line and the machine centerline is calculated. This direction vector is then determined using the vector projection formula t = [ The formulas (P_Li-O)·v] / |v|² and t=[(P_Ri-O)·v] / |v|² (where O is the starting point of the centerline and v is the direction vector of the centerline) project P_Li and P_Ri onto the centerline respectively, resulting in a list of projection points, which are the list of left intersection points and the list of right intersection points. The parameter t value of the projection point is used as the travel distance along the centerline, with the smaller t value being the starting position of the row and the larger t value being the stopping position. This simultaneously determines the precise start / stop coordinates of the seedling claw on the working line, completing the generation of the path line for the center reciprocating operation.

[0030] In another embodiment of this solution, step 4 is implemented as follows: Based on the start / stop position intervals already determined on the work line, the interval is divided into n-1 equal segments according to the number n pairs of seedling claws simultaneously involved in transplanting, with a step length ΔL = 2d (d is the width of a single seedling tray). Starting from the starting point, the coordinates of each segment are calculated sequentially, and offset to the left and right by d along the centerline normal to obtain the left and right seedling claw control points for each pair of seedling claws. Then, these two sets of control points are vertically projected back to the machine's centerline. The projection formula adopts the original description in the manual: "Construct vector → Calculate parameters → Obtain projection point coordinates". All projection points are arranged in row order to form the path line of the central reciprocating operation section. After establishing the centerline, each edge of the inner reciprocating operation section boundary line is translated along its outer normal direction by "machine width + safety distance" to obtain the initial outer expansion edge. The intersection of adjacent outer expansion edges is used to obtain the outer circle vertices. At the same time, the acute angle vertices are extended along the angle bisector by the width of the seedling claw, while the obtuse angle vertices are kept at their original length. After correction, they are connected to form the inner and outer circle sealing path lines respectively. Finally, the path lines of the central reciprocating operation section and the inner and outer circle sealing path lines are merged in the order of inner to outer, and uniformly converted into the agricultural machinery GNSS trajectory format to obtain the final path set for the unmanned rice transplanter to execute in one go.

[0031] Furthermore, the boundary contraction method specifically includes: Based on the boundary vertex coordinates of the field to be transplanted, a list of boundary point order is generated in either counterclockwise or clockwise order. According to the preset direction and preset translation distance, each boundary point in the boundary point sequence list is translated inward one by one to obtain the translated boundary point set. The intersection points of the translated boundary lines are determined from the set of boundary points, and the intersection points are connected in sequence to obtain the inward-shrinking boundary lines.

[0032] In another embodiment of this scheme, starting from the first collection point, the cross product of three consecutive points A, B, and C is calculated sequentially according to the right-hand rule. If the result is positive, the original order is maintained; if it is negative, the order of all vertices is reversed, resulting in a counter-clockwise list of boundary point sequences. For each point Pi in the list, the vectors PiPi-1 and PiPi+1 are formed by taking its preceding point Pi-1 and its following point Pi+1. The angle bisector direction vector ni after normalization of the two vectors is calculated and points to the inside of the polygon. ni is then multiplied by a preset translation distance D = 2 × the machine. The translation vector is obtained by adding the width and safety distance. Pi is moved along ni by D to obtain the translated boundary point Pi′. After traversing the set of translated boundary points, a straight line equation is obtained. For each pair of adjacent points Pi′ and Pi+1′ in the set, the intersection points of the two straight lines Pi′Pi+1′ and Pi+1′Pi+2′ are obtained in turn. If the intersection point is located in the positive direction of the extension of the two line segments, it is recorded directly. If it exceeds the direction, it is extended until it intersects. All intersection points are connected in the original index order to form the intersection points after the translation boundary line, thus completing the boundary shrinkage method.

[0033] Furthermore, the process for determining the intersection point of the target boundary is as follows: The operation parameters are determined based on the boundary line of the internal reciprocating operation section. The operation parameters include: the operation reference edge, the operation direction, and the entry point position. The width of the internal reciprocating operation is determined based on the boundary line of the internal reciprocating operation section and the operation parameters. The number of working rows and the target row spacing are determined based on the internal reciprocating operation width and the parameter information of the rice transplanter whose path to be planned. The intersection point of the target boundary point is determined based on the job parameters, the number of job rows, and the target row spacing.

[0034] It should be noted that, taking the boundary line of the internal reciprocating operation section as input, the side where the field entrance is located is set as the operation reference side, and its forward direction is defined as the operation direction. A line parallel to the operation reference side is drawn through the vertex farthest from the field entrance on the opposite side. The maximum perpendicular distance between this parallel line and the operation reference side is calculated to obtain the internal reciprocating operation width W. Taking twice the width of the seedling tray, 2d, in the rice transplanter parameter information as the minimum interpolation distance, the theoretical number of rows N0=floor(W / (2d)) is first calculated using the original row spacing r, and the margin Δ=W-N0·2d. If Δ>2 If d / 2, then let the number of rows N = N0 + 1 and update it with the target row spacing r′ = W / N; otherwise, keep N = N0 and r′ = 2d. Move the work reference edge inward along the vertical direction N-1 times with a step size of r′. After each translation, find the intersection with each edge formed by the boundary line of the internal reciprocating work part. Determine the intersection point within the line segment if 0 ≤ (P-P0)·(P1-P0) ≤ |P1-P0|² and the cross product is zero. If the condition is met, store it in the left intersection point list and the right intersection point list according to the odd and even rows respectively. Finally, the corresponding points in the two lists constitute the intersection point of the target boundary point.

[0035] Furthermore, the process of expanding the boundary line of the internal reciprocating operation section by a preset width to obtain the inner and outer path points, and then correcting the inner and outer path points to generate the inner and outer closed-loop paths, is as follows: Determine the initial inner and outer ring sealing path lines based on the inner and outer ring path points; The angle type of the non-right-angle boundary angle in the initial inner and outer sealing path is determined, and the path point is corrected according to the determination result to generate the inner and outer sealing path.

[0036] It should be noted that each edge of the inner circle path is translated along its outer normal direction by "machine width + safety distance" to obtain the initial outer expansion edge of the inner circle sealing path. The intersection of two adjacent outer expansion edges is used to obtain the sequence of outer expansion vertices. For each vertex, the unit vectors of the two sides before and after it are calculated, and the included angle θ is obtained by using the dot product. If θ < 90°, it is an acute angle. The vertex is extended along the direction of the bisection of the two vectors by the width of the seedling claw to completely cover the operation. If θ > 90°, it is an obtuse angle. The original vertex is kept unchanged to avoid excessive rolling, thus completing the path point correction for the non-right angle boundary angle. Finally, all the corrected vertices are connected in sequence to generate the outer circle sealing path.

[0037] Example 1, such as Figure 2 As shown, the present invention provides a method for planning the working path of an unmanned rice transplanter, comprising the following steps: S1. Collect field boundary point information, connect the boundary points in the order of collection to construct field plots, and obtain information such as machine width, turning radius, and safety distance based on the agricultural machinery being operated; S2, such as Figure 3 As shown, the field is divided into two parts: the internal reciprocating operation section and the external enclosure operation section, specifically including: S21. Determine the order of boundary points based on the boundary information obtained in S1, specifically as follows: Let A, B, and C be the three boundary points of the field arranged in sequence. The vector can be calculated. Calculate the cross product of two vectors The direction of the cross product of vectors follows the right-hand rule, which is used to determine the direction around the boundary points. hour, Dot at To the left of the boundary points, arranged counterclockwise, when hour, Dot at To the right of the boundary points, arranged clockwise, when hour, Point and Same line.

[0038] S22. The boundary line of the internal reciprocating operation section is obtained by translating the original boundary line. Specifically: The translation direction is derived from S21. The translation distance is twice the width of the image plus a safety distance. Calculate the new vector , ,in If the angle is a vector, then the coordinates of the translated point are... , , This refers to the boundary line of the internal reciprocating operation section after translation. Calculate each translated boundary line using this method, and the intersection of adjacent boundary lines is the boundary line of the internal reciprocating operation section.

[0039] S3. Based on the work reference edge, work direction, and field entrance location, plan the internal work path, and plan the start and stop points for the seedling claw operation for the inclined boundary, specifically: S31. After selecting the reference edge, working direction, and entry point location, the working baseline at the farthest distance from the entry point can be obtained. Calculate the distance between this line and the boundary line of the internal reciprocating working section obtained in S2, and select the maximum distance as the width of the internal reciprocating working section. .

[0040] S32, such as Figure 4 As shown, the minimum number of rows per unit within the internal reciprocating work area is calculated as follows: To determine the minimum controllable interpolation distance of the rice transplanter's interpolation motor, generally, the same motor can control two interpolation arms, meaning the minimum distance is twice the width of the seedling tray. Then the number of rows of work .

[0041] There will usually be a surplus. When the remaining part is greater than Then reduce the row spacing so that the width of the central reciprocating work area is The number of rows in the seedling claw operation is an integer multiple of the number of rows in the operation. Increment by one; when the remaining part is less than one. Then increase the row spacing so that the width of the central reciprocating work area is The number of rows in the seedling claw operation is an integer multiple of the number of rows in the operation. constant.

[0042] S33, such as Figure 5 As shown, the method for generating the reciprocating straight line based on the seedling claw operation is as follows: Let the baseline vector be... Construct a vector by selecting any internal boundary point that does not intersect the baseline. The range of the cross product of the two vectors is the direction in which the baseline should be moved. From S32, the distance of the first movement is... Then the distance moved each time is Total movement Second-rate.

[0043] After each movement of the baseline, find the intersection point with each internal boundary. Determine whether it is in the current intersecting line segment. The method for determining this is as follows: in Let the vector represent the magnitude of the vector, and if the above conditions are satisfied, then let the vector represent the intersection point. Online segment Store this point within the loop. After that, store the intersection points separately in , Two lists.

[0044] S34, such as Figure 6 As shown, to improve the coverage of the operation along the sloping boundary line, the seedling claw operation line needs to be extended forward. The specific method is as follows: The two ends of the current work line are respectively , Move the current work line to the left and right respectively. The distance is calculated, and the intersection points with the current boundary line are obtained respectively. , The vectors are obtained respectively. Calculate the angle between vectors Select the intersection points with an angle less than 90° and project them onto the straight line. The top point is the new endpoint of the work line.

[0045] calculate Projecting a point onto a line On point The coordinate method is: constructing vectors Calculate parameters Then the projection point Coordinates are .

[0046] S35, such as Figure 7 As shown, to achieve unmanned operation of the rice transplanter, each seedling claw working line should be projected onto the center of the machine. The specific method is as follows: Based on the width of the equipment, calculate the current movement distance of the equipment's centerline: Project each point onto the center line of the machine.

[0047] S4. Generating the outer sealing path, the specific method is as follows: S41, such as Figure 8 As shown, the inner working line is designed to create a closed-loop path in the same direction as the reciprocating operation, with full coverage for reversing at turns. Each side is expanded outwards according to the sequence of the internal working areas: or The first edge is flush with the internal working area; the second edge... The starting point of the edge is the current edge expansion. Expanding outwards from the previous edge The intersection point, the endpoint is the outward expansion. The intersection point with the reciprocating operation area; the last edge is the outward expansion. The intersection point.

[0048] S42, such as Figure 9 As shown, path points at non-right-angle locations on the inner ring are corrected to improve safety and coverage. When the included angle is acute, the work line needs to be extended by projection for full coverage (small compaction); when the included angle is obtuse, the work line is not extended (small clearance), as extending at obtuse angles would result in excessive compaction. The specific implementation method is as follows: Record the current path line , Construct vectors Calculate the angle between vectors According to the angle The distance the path line needs to be extended is calculated based on the size. : Method for calculating the coordinates of the extended point: Construct vector Now it is necessary to put The point extends along the vector direction new distance Point, calculation unit vector ,but .

[0049] S43, such as Figure 10 As shown, the outer path line is adjusted as follows: depending on whether the inner and outer working directions are the same or opposite, the outer path points are regenerated and sorted. For coverage of non-right-angle turns, the starting point needs to be moved inward by a certain distance so that the machine is within the field area. Although this method may leave some fields unworked, it ensures the safety of machine operation.

[0050] In the above embodiments, although the steps are numbered S1, S2, etc., they are only specific embodiments given by the present invention. Those skilled in the art can adjust the execution order of S1, S2, etc. according to the actual situation, which is also within the protection scope of the present invention. It can be understood that in some embodiments, some or all of the above embodiments may be included.

[0051] This invention also provides a path planning system for an unmanned rice transplanter, the specific technical solution of which is as follows: The acquisition module is used to: acquire the boundary vertex coordinates of the field to be transplanted, and based on the boundary vertex coordinates, determine the intersection point after translating the boundary line by the boundary shrinkage method to obtain the boundary line of the internal reciprocating operation section; The first determining module is used to: determine the number of work rows and the target row spacing based on the boundary line of the internal reciprocating work section, and generate the intersection point of the seedling claw reciprocating work line and the target boundary determined by the boundary line of the internal reciprocating work section based on the number of work rows and the target row spacing; The second determining module is used to: determine the list of left intersection points and the list of right intersection points of the seedling claw centerline based on the intersection points of the boundary line of the internal reciprocating operation section and the target boundary, and determine the start / stop position of the seedling claw on the operation line according to the projection position of the left and right intersection points on the seedling claw centerline. The planning module is used to: determine the projection point of each seedling claw on the center line of the rice transplanter based on the start / stop position on the work line and the number of seedling claws of the rice transplanter. The set of projection points represents the work path of the internal reciprocating work section. The boundary line of the internal reciprocating work section is expanded outward by a preset width to obtain the inner and outer path points. The inner and outer path points are corrected to generate the inner and outer closed-loop paths. The inner and outer closed-loop paths are used as the final path set of the rice transplanter for path planning.

[0052] It should be noted that the beneficial effects of the unmanned rice transplanter operation path planning system provided in the above embodiments are the same as those of the unmanned rice transplanter operation path planning method described above, and will not be repeated here. Furthermore, the system provided in the above embodiments is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the system can be divided into different functional modules according to the actual situation to complete all or part of the functions described above. In addition, the system and method embodiments provided in the above embodiments belong to the same concept, and their specific implementation process is detailed in the method embodiments, and will not be repeated here.

[0053] like Figure 11 As shown, an electronic device 300 according to an embodiment of the present invention includes a processor 320 coupled to a memory 310. The memory 310 stores at least one computer program 330, which is loaded and executed by the processor 320 to enable the electronic device 300 to implement any of the above-mentioned methods. Specifically: The electronic device 300 can vary considerably due to differences in configuration or performance. It may include one or more processors 320 (Central Processing Units, CPUs) and one or more memories 310. The memories 310 store at least one computer program 330, which is loaded and executed by the processors 320 to enable the electronic device 300 to implement the unmanned rice transplanter operation path planning method provided in the above embodiments. Of course, the electronic device 300 may also have wired or wireless network interfaces, a keyboard, and input / output interfaces for input and output. It may also include other components for implementing device functions, which will not be elaborated upon here.

[0054] An embodiment of the present invention provides a computer-readable storage medium storing at least one computer program, which is loaded and executed by a processor to enable a computer to implement any of the above-described methods.

[0055] Alternatively, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), magnetic tape, a floppy disk, and an optical data storage device, etc.

[0056] In an exemplary embodiment, a computer program product or computer program is also provided, which includes computer instructions stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the electronic device to perform any of the methods described above.

[0057] It should be noted that the terms "first" and "second" in the specification and claims of this application are used to distinguish similar objects and represent a limitation on a specific order or sequence. Where appropriate, the order of use for similar objects can be interchanged so that the embodiments of this application described herein can be implemented in an order other than that shown or described.

[0058] Those skilled in the art will recognize that this invention can be implemented as a system, method, or computer program product. Therefore, this disclosure can be specifically implemented in the following forms: it can be entirely hardware, entirely software (including firmware, resident software, microcode, etc.), or a combination of hardware and software, generally referred to herein as a "circuit," "module," or "system." Furthermore, in some embodiments, the invention can also be implemented as a computer program product contained in one or more computer-readable media, which includes computer-readable program code.

[0059] Any combination of one or more computer-readable media may be used. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus, or device.

[0060] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for planning the working path of an unmanned rice transplanter, characterized in that, include: Obtain the boundary vertex coordinates of the field to be transplanted, and based on the boundary vertex coordinates, determine the intersection point after translating the boundary line by the boundary shrinkage method to obtain the boundary line of the internal reciprocating operation section. The number of work rows and the target row spacing are determined based on the boundary line of the internal reciprocating work section, and the intersection point of the seedling claw reciprocating work line and the target boundary determined by the boundary line of the internal reciprocating work section is generated based on the number of work rows and the target row spacing. Based on the intersection of the boundary line of the internal reciprocating operation section and the target boundary, determine the list of left and right intersection points of the center line of the seedling claw, and determine the start / stop position of the seedling claw on the operation line according to the projection position of the left and right intersection points on the center line of the seedling claw. Based on the start / stop positions on the work line and the number of seedling claws on the rice transplanter, the projection point of each seedling claw on the center line of the rice transplanter is determined. The set of projection points represents the work path of the internal reciprocating work section. The boundary line of the internal reciprocating work section is expanded by a preset width to obtain the inner and outer path points. The inner and outer path points are corrected to generate the inner and outer closed-loop paths. The inner and outer closed-loop paths are used as the final path set of the rice transplanter for path planning.

2. The method for planning the operation path of an unmanned rice transplanter according to claim 1, characterized in that, The boundary contraction method specifically includes: Based on the boundary vertex coordinates of the field to be transplanted, a list of boundary point order is generated in either counterclockwise or clockwise order. According to the preset direction and preset translation distance, each boundary point in the boundary point sequence list is translated inward one by one to obtain the translated boundary point set. The intersection points of the translated boundary lines are determined from the set of boundary points, and the intersection points are connected in sequence to obtain the inward-shrinking boundary lines.

3. The method for planning the operation path of an unmanned rice transplanter according to claim 1, characterized in that, The process of determining the intersection point of the target boundary is as follows: The operation parameters are determined based on the boundary line of the internal reciprocating operation section. The operation parameters include: the operation reference edge, the operation direction, and the entry point position. The width of the internal reciprocating operation is determined based on the boundary line of the internal reciprocating operation section and the operation parameters. The number of working rows and the target row spacing are determined based on the internal reciprocating operation width and the parameter information of the rice transplanter whose path to be planned. The intersection point of the target boundary point is determined based on the job parameters, the number of job rows, and the target row spacing.

4. The method for planning the operation path of an unmanned rice transplanter according to claim 1, characterized in that, The process of expanding the boundary line of the internal reciprocating operation section by a preset width to obtain the inner and outer path points, and then correcting the inner and outer path points to generate the inner and outer closed-loop paths is as follows: Determine the initial inner and outer ring sealing path lines based on the inner and outer ring path points; The angle type of the non-right-angle boundary angle in the initial inner and outer sealing path is determined, and the path point is corrected according to the determination result to generate the inner and outer sealing path.

5. A path planning system for an unmanned rice transplanter, characterized in that, include: The acquisition module is used to: acquire the boundary vertex coordinates of the field to be transplanted, and based on the boundary vertex coordinates, determine the intersection point after translating the boundary line by the boundary shrinkage method to obtain the boundary line of the internal reciprocating operation section; The first determining module is used to: determine the number of work rows and the target row spacing based on the boundary line of the internal reciprocating work section, and generate the intersection point of the seedling claw reciprocating work line and the target boundary determined by the boundary line of the internal reciprocating work section based on the number of work rows and the target row spacing; The second determining module is used to: determine the list of left intersection points and the list of right intersection points of the seedling claw centerline based on the intersection points of the boundary line of the internal reciprocating operation section and the target boundary, and determine the start / stop position of the seedling claw on the operation line according to the projection position of the left and right intersection points on the seedling claw centerline. The planning module is used to: determine the projection point of each seedling claw on the center line of the rice transplanter based on the start / stop position on the work line and the number of seedling claws of the rice transplanter. The set of projection points represents the work path of the internal reciprocating work section. The boundary line of the internal reciprocating work section is expanded outward by a preset width to obtain the inner and outer path points. The inner and outer path points are corrected to generate the inner and outer closed-loop paths. The inner and outer closed-loop paths are used as the final path set of the rice transplanter for path planning.

6. The unmanned rice transplanter operation path planning system according to claim 5, characterized in that, The boundary contraction method specifically includes: Based on the boundary vertex coordinates of the field to be transplanted, a list of boundary point order is generated in either counterclockwise or clockwise order. According to the preset direction and preset translation distance, each boundary point in the boundary point sequence list is translated inward one by one to obtain the translated boundary point set. The intersection points of the translated boundary lines are determined from the set of boundary points, and the intersection points are connected in sequence to obtain the inward-shrinking boundary lines.

7. The unmanned rice transplanter operation path planning system according to claim 5, characterized in that, The process of determining the intersection point of the target boundary is as follows: The operation parameters are determined based on the boundary line of the internal reciprocating operation section. The operation parameters include: the operation reference edge, the operation direction, and the entry point position. The width of the internal reciprocating operation is determined based on the boundary line of the internal reciprocating operation section and the operation parameters. The number of working rows and the target row spacing are determined based on the internal reciprocating operation width and the parameter information of the rice transplanter whose path to be planned. The intersection point of the target boundary point is determined based on the job parameters, the number of job rows, and the target row spacing.

8. The unmanned rice transplanter operation path planning system according to claim 5, characterized in that, The process of expanding the boundary line of the internal reciprocating operation section by a preset width to obtain the inner and outer path points, and then correcting the inner and outer path points to generate the inner and outer closed-loop paths is as follows: Determine the initial inner and outer ring sealing path lines based on the inner and outer ring path points; The angle type of the non-right-angle boundary angle in the initial inner and outer sealing path is determined, and the path point is corrected according to the determination result to generate the inner and outer sealing path.

9. An electronic device, characterized in that, The electronic device includes a processor coupled to a memory storing at least one computer program, which is loaded and executed by the processor to enable the electronic device to perform the method as described in any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one computer program, which is loaded and executed by a processor to enable the computer to perform the method as described in any one of claims 1 to 4.

Images