Method for determining flat ground path range, flat ground path planning method and related devices

Abstract

The embodiment of the present invention provides a method for determining the range of a leveling path, a method for planning a leveling path, and related devices, the method comprising: when the flatness of a plot of land in a current operating range meets a set condition, updating the current operating range to obtain a target operating range where the flatness of the plot of land does not meet the set condition; wherein the set condition is that the flatness of the plot of land in the current operating range is less than or equal to the expected flatness of the target operating plot. Compared with the prior art, the present invention can adjust the range of the leveling path in real time so that the determined target operating range includes the area to be leveled, reducing the risk of repeated leveling or missed leveling of the target operating plot, avoiding useless work of the leveling equipment in the area that does not need to be leveled, and improving the efficiency of the leveling operation.

Description

Technical Field

[0001] The present invention relates to the technical field of land leveling, and in particular to a method for determining a level ground path range, a level ground path planning method and related devices. Background Art

[0002] Land leveling is an important part of land development management and farmland water resources management. Mechanical equipment is often needed to level the inclined and uneven ground into a horizontal or sloped ground. The main purpose of land leveling is to facilitate operations such as farming, sowing, irrigation, drainage, fertilization, spraying and harvesting, which can promote intensive land use and large-scale operations; it can facilitate mechanized farming, improve agricultural production conditions, and accelerate the process of agricultural modernization.

[0003] At present, when users drive a grader to perform leveling work, they can often only estimate the area that needs to be operated based on observation. The estimated area is a fixed area, and the grader can only perform leveling operations in a fixed area. When the estimated leveling range is unreasonable, it is easy to miss leveling or double leveling, and the expected leveling effect cannot be achieved.

[0004] Therefore, how to reasonably adjust the planned path area and improve land leveling efficiency is a technical problem that needs to be solved. Summary of the invention

[0005] In view of this, the present invention provides a method for determining a level ground path range, a level ground path planning method and related devices. The present invention can adjust the level ground path range in real time to avoid missed leveling or repeated leveling, thereby improving the leveling efficiency.

[0006] In order to achieve the above object, the technical solution of the present invention is as follows:

[0007] In a first aspect, the present invention provides a method for determining a path range on flat ground, the method comprising: when the flatness of a plot of land in a current working range meets a set condition, updating the current working range to obtain a target working range whose flatness does not meet the set condition; wherein the set condition is that the flatness of the plot of land in the current working range is less than or equal to an expected flatness of a target working plot; and both the current working range and the target working range are located in the target working plot.

[0008] In a second aspect, the present invention provides a method for planning a leveling path, the method comprising: determining a target operating range based on the flatness of a target operating plot; the flatness of the plot of land in the target operating range does not meet a set condition; wherein the set condition is that the flatness of the plot of land in the target operating range is less than or equal to an expected flatness of the target operating plot; determining a target leveling path within the target operating range, the target leveling path being used to guide a leveling device to perform leveling operations within the target operating range.

[0009] In a third aspect, the present invention provides a device for determining a path range on flat ground, comprising: an updating module, for updating the current working range when the flatness of a plot of land in the current working range meets a set condition, so as to obtain a target working range whose flatness does not meet the set condition; wherein the set condition is that the flatness of the plot of land in the current working range is less than or equal to the expected flatness of the target working plot; and the current working range and the target working range are both located in the target working plot.

[0010] In a fourth aspect, the present invention provides a ground leveling path planning device, comprising: a determination module, used to determine a target operating range according to the flatness of a target operating plot; the flatness of the plot of land in the target operating range does not meet a set condition; wherein the set condition is that the flatness of the plot of land in the target operating range is less than or equal to the expected flatness of the target operating plot; determine a target ground leveling path within the target operating range, and the target ground leveling path is used to guide a leveling device to perform a leveling operation within the target operating range.

[0011] In a fifth aspect, the present invention provides a processing device, comprising one or more processors; a memory for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the method for determining a flat ground path range as described in the first aspect or the method for planning a flat ground path as described in the second aspect.

[0012] In a sixth aspect, the present invention provides a storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the method for determining a flat ground path range as described in the first aspect or the method for planning a flat ground path as described in the second aspect is implemented.

[0013] Compared with the prior art, any of the above technical solutions of the present invention can at least achieve the following technical effects:

[0014] The present invention updates the current operating range whose flatness satisfies the set conditions, that is, satisfies the flatness requirements, so that the flatness of the updated target operating range does not meet the flatness requirements. Compared with the method of controlling the leveling equipment to perform repeated leveling operations in a fixed range in the related art, the problem that the leveling equipment is prone to repeated leveling due to repeated leveling operations within a fixed range, and prone to missed leveling due to other areas not being leveled, can be solved, thereby avoiding useless operations and missed operations of the leveling equipment. In addition, it can be seen from the records of any of the above schemes of the present invention that the leveling equipment is required to level the target operating range only when the target operating range can be updated. Therefore, when the target operating range cannot be updated, it can be understood that the flatness of the entire target operating plot has met the requirements and does not need to be leveled, and the leveling equipment does not need to perform leveling operations. Therefore, the present invention can also avoid the useless operation of controlling the leveling equipment to enter the plot that has met the flatness requirements of the plot, which is conducive to improving the efficiency of agricultural operations.

[0015] Other features and advantages of the embodiments of the present invention will be described in the following description, and partly become apparent from the description, or be understood by practicing the embodiments of the present invention. The purposes and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 A schematic flow chart of a method for determining a flat ground path range provided by an embodiment of the present invention;

[0018] Figure 2 for Figure 1 An implementation of S104;

[0019] Figure 3 for Figure 2 An implementation method of S104-1;

[0020] Figure 4 A schematic flow chart of another method for determining a flat ground path range provided by an embodiment of the present invention;

[0021] Figure 5A A schematic diagram of a fan-shaped current operating range provided for the implementation of the present invention;

[0022] Figure 5B A schematic diagram of a circular current operating range provided for the implementation of the present invention;

[0023] Figure 6 A schematic flow chart of a flat ground path planning method provided by an embodiment of the present invention;

[0024] Figure 7 for Figure 6 An implementation of S202;

[0025] Figure 8 for Figure 7 An implementation method of S202-1;

[0026] Fig. 9 A schematic diagram of a scenario for generating candidate paths provided by an embodiment of the present invention;

[0027] Fig.10 A schematic diagram of a candidate arc path provided by an embodiment of the present invention;

[0028] Fig.11 for Figure 7 An implementation method of S202-2;

[0029] Fig.12 A schematic diagram of processing candidate paths provided by an embodiment of the present invention;

[0030] Fig.13 A functional module diagram of a device for determining a flat-ground path range provided by an embodiment of the present invention;

[0031] Fig.14 A functional module diagram of a flat ground path planning device provided by an embodiment of the present invention;

[0032] Fig.15 A structural block diagram of a processing device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0034] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. 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.

[0035] The main purpose of farmland leveling is to facilitate operations such as tillage, sowing, irrigation, drainage, fertilization, spraying and harvesting. By leveling, farmland can be made more suitable for cultivation, the terrain conditions of the farmland surface can be improved, the irrigation efficiency and uniformity of farmland irrigation can be improved, and the effect of saving water and increasing production can be achieved. In the past leveling process, before driving the leveling equipment to level the land, the leveler could only estimate the area that needed to be leveled by observation, and then plan the leveling path in the estimated area. The leveling equipment began to perform leveling operations within the estimated fixed range according to the planned path.

[0036] The inventor discovered during research that the above method has the following defects: on the one hand, due to lack of experience, the leveler may still perform leveling operations within the fixed range, even though the estimated flatness of the land in the fixed range may have reached the leveling requirements; on the other hand, there are areas to be leveled outside the fixed range, but the leveler only performs leveling operations within the fixed range, resulting in missed leveling. Therefore, due to the problem of repeated or missed leveling in the prior art, the leveling equipment may be in a state of doing useless work during the operation process, thereby reducing the leveling efficiency.

[0037] In order to solve the above technical problems, the inventors have proposed a method for determining the range of leveling paths after research. The method can adjust the current operating range of the leveling equipment in real time. When the flatness of the plots in the current operating range meets the set conditions, it indicates that no leveling is required in the initial range, thereby reducing the risk of re-leveling. At this time, the current operating range is expanded so that the flatness of the plots in the final adjusted range does not meet the set conditions. It is considered that the adjusted current operating range contains an area to be leveled. The current operating range at this time is used as the target operating range. When the target operating range is leveled, the area to be leveled can be leveled, thereby reducing the risk of missed leveling. In particular, if the flatness of the plots in the current operating range always meets the set conditions during the adjustment process, it indicates that the entire target operating plot does not need to be leveled. The useless operation of controlling the leveling equipment to enter a plot that has met the plot flatness requirements can be avoided, which is beneficial to improving the efficiency and plot flatness of agricultural operations.

[0038] Based on the above description, in order to facilitate understanding of the implementation process of the method for determining the flat ground path range provided by the embodiment of the present invention, please refer to Figure 1 , Figure 1 A schematic flow chart of a method for determining a flat ground path range provided by an embodiment of the present invention includes:

[0039] S104: When the flatness of the plot in the current operation range meets the set condition, the current operation range is updated to obtain a target operation range whose flatness does not meet the set condition, wherein the set condition is that the flatness of the plot in the current operation range is less than or equal to the expected flatness of the target operation plot.

[0040] In an embodiment of the present invention, the above-mentioned land flatness characterizes the degree of unevenness of the target operation land, reflects the fluctuation of the surface of the target operation land, and is an indicator for optimizing and estimating the quality of farmland cultivation. In order to achieve the land leveling effect, different plots have different requirements for land flatness. It can be understood that the expected flatness of plots with different operation requirements can be different. For example, the land flatness of farmland that needs to be irrigated must be at least 3 cm, that is, the height difference of the land cannot exceed 3 cm; the land flatness of some rough farmland for planting crops can reach 5 cm. It can be seen that the expected flatness can be set according to the operation requirements, or it can be set according to the experiment.

[0041] In addition, the flatness of the target operation plot can be obtained by processing the image mapped by the drone, or by other methods in the relevant technology that can achieve the acquisition of the flatness of the terrain plot, which is not limited in the embodiment of the present invention.

[0042] In an embodiment of the present invention, the above-mentioned target operating range is a range obtained during the update of the current operating range, which includes at least one area to be leveled in the target operating plot. The determined target operating range can be used to plan a leveling path; the leveling path is used to guide the leveling equipment to level the area to be leveled within the target operating range.

[0043] It can be understood that when the flatness of the land in the target operating range does not meet the set conditions, that is, the flatness of the land in the target operating range is greater than the expected flatness, it indicates that the target operating range contains an area to be leveled, which makes the flatness of the land in the target operating range worse. At this time, it means that the land in the expanded current operating range needs to be leveled.

[0044] It should be noted that, in the embodiment of the present invention, the target operating range is a range that does not exceed the target operating plot. It can be understood that the current operating range and the target operating range are both located in the target operating plot.

[0045] Therefore, in order to reduce the risk of re-leveling or missing leveling of the target operation plot and improve the leveling efficiency, the present invention first adjusts the current operation range in real time according to the plot flatness of the target operation plot. When the plot flatness of the current operation range meets the set conditions, it indicates that leveling is not required in the current operation range, thereby reducing the risk of re-leveling. At this time, the current operation range is expanded so that the plot flatness of the adjusted range does not meet the set conditions. It is considered that the adjusted current operation range contains an area to be leveled. The current operation range at this time is used as the target operation range. When the target operation range is leveled, the area to be leveled can be leveled, thereby reducing the risk of missing leveling. In particular, if the plot flatness of the current operation range always meets the set conditions during the adjustment process, it indicates that leveling is not required for the entire target operation plot. The useless operation of controlling the leveling equipment to enter a plot that has met the plot flatness requirements can be avoided, which is beneficial to improving the efficiency and plot flatness of agricultural operations.

[0046] Optionally, based on the above description, it can be known that a reasonable target operating range can be determined by evaluating the flatness of the plot, and path planning within the target operating range can complete the required land leveling of the area to be leveled. Therefore, in order to improve the accuracy of obtaining the target operating range and make the determined target operating range more reasonable, a method for determining the target operating range according to the flatness of the plot is given below, see Figure 2 , Figure 2 for Figure 1 In one implementation of S104, S104 may further include the following sub-steps:

[0047] S104-1. Determine the flatness of the plot in the current working range according to the elevation information of the plot in the current working range and the average height value of the target working plot where the current working range is located.

[0048] In the embodiment of the present application, the flatness of the plot refers to the degree of unevenness of the target operation plot, reflecting the height difference of the surface of the target operation plot. Therefore, the flatness of the plot in the current operation range can be determined based on the elevation information of the current operation range.

[0049] It is understandable that the elevation information corresponding to the current operating range can be obtained through any technology such as global positioning technology GPS (Global Positioning System, referred to as GPS) technology, digital surface model DSM (Digital Surface Model, referred to as DSM) technology, etc., and is not limited here.

[0050] It should be noted that in the process of obtaining the elevation information corresponding to the current working range, the elevation information corresponding to the target working plot where the current working range is located can be recorded. This can be understood as: the elevation information of the entire target working plot can be obtained first through GPS technology, DSM technology or other related technologies, and then the current working range can be determined from the target working plot based on the current position and turning radius of the leveling equipment, and the elevation information corresponding to the current working range that has been determined can be obtained from the elevation information of the target working plot.

[0051] In this way, in the subsequent process of expanding the current working range, the elevation information corresponding to the expanded area can be obtained from the elevation information of the target working plot, which is convenient for the subsequent calculation operation of the flatness of the plot of the expanded current working range.

[0052] S104-2. When the determined flatness of the current working range meets the set conditions, the current working range is expanded until the flatness of the target working range obtained by the expansion does not meet the set conditions; or, when the determined flatness of the current working range meets the set conditions, the current working range is translated until the flatness of the target working range obtained by the translation does not meet the set conditions.

[0053] In one possible scenario, when the flatness of the land in the current operating range is less than or equal to the expected flatness, it indicates that the land in the current operating range no longer needs to be leveled, and the current operating range can continue to be expanded. When the flatness of the land corresponding to the expanded current operating range is greater than the expected flatness, it indicates that the expanded current operating range includes the area to be leveled in the land, making the flatness of the land in the expanded current operating range worse, that is, greater than the expected flatness. At this time, it means that the land in the expanded current operating range needs to be leveled. Therefore, a path can be planned within the expanded current operating range (that is, the target operating range obtained), and the area to be leveled can be leveled, so that the leveling operation achieves the expected operating effect.

[0054] In another possible scenario, when the flatness of the plot of land in the current operating range is less than or equal to the expected flatness, in order to obtain the target operating range, the current operating range can be translated until the flatness of the plot of land in the target operating range obtained by translation does not meet the set conditions. In a possible implementation method: the current operating range can be divided into multiple sector-shaped areas with the current operating range as the center point, and then translated by a preset distance along the direction extending outward from the radius until the flatness of the plot of land in the target operating range obtained by translation does not meet the set conditions.

[0055] It should be noted that, in addition, if the expanded current operating range exceeds the target operating plot, the flatness of the plot of land in the expanded current operating range still meets the set conditions, which indicates that the entire target operating plot does not need to be leveled, and the leveling equipment can be prevented from performing useless operations on the land that already meets the flatness requirements.

[0056] Optionally, in order to improve the accuracy of the obtained land flatness and make the target operation range determined according to the land flatness more reasonable, a possible implementation method for obtaining the land flatness according to the elevation information is given below. Figure 3 , Figure 3 A schematic flowchart of an implementation method of step S104-1 provided in an embodiment of the present invention, that is, S104-1 may also include the following sub-steps:

[0057] S104-1-1. Obtain elevation values ​​of multiple sampling locations within the current operating range.

[0058] In an embodiment of the present invention, in order to obtain the elevation values ​​of multiple sampling positions corresponding to the current working range, the current working range can be preprocessed. For example, in order to conveniently and more accurately evaluate the flatness of the entire working plot, the minimum outer area including the current working range can be obtained in advance, and then multiple measurement positions are randomly determined in the minimum outer area and the elevation values ​​of these multiple measurement positions are obtained. The above-mentioned minimum outer area can be any one of the circumscribed quadrilateral and circumscribed arc of the current working range. Preferably, in actual applications, the minimum circumscribed rectangle can be used to determine the minimum circumscribed area, which can optimize the entire calculation process and save calculation time.

[0059] It can be understood that since the minimum outer area of ​​the initial area includes not only the flatness of the land within the current operating range, but also part of the flatness of the land outside the current operating range, when adjusting the current operating range, the flatness of the land in other areas of the target operating land can be fully considered, so that the initial area can gradually include the area to be leveled during the expansion process, thereby making the determined target operating range more reasonable.

[0060] S104-1-2. Determine the flatness of the plot based on the elevation values ​​of multiple sampling locations and the average height value of the target operation plot.

[0061] For example, suppose M measurement locations are randomly obtained, and the elevation values ​​corresponding to these M measurement locations can be expressed as h j ,j=1,2,3.....M,h jIt represents the elevation value corresponding to the jth measurement position, where the base height of the entire plot (such as the average height value) is H. The flatness of the plot corresponding to the current working range can be calculated by methods such as average plot flatness or worst plot flatness. For example, in the example scenario, when the user wants to evaluate the overall flatness of the target working plot, the average plot flatness can be calculated; when the user wants to evaluate the worst flatness of the plot in the target working plot, the worst plot flatness can be calculated. The calculation formula of the average plot flatness can be shown as the following relationship:

[0062]

[0063] The calculation formula for the worst plot flatness can be shown as follows:

[0064]

[0065] Among them, M represents the number of measurement locations, MH represents the worst plot flatness or the average plot flatness, and h j It represents the elevation value corresponding to the jth measurement position, and H represents the average height value of the target operation site.

[0066] Through the above process, the flatness of the plot in the current working range can be accurately obtained, and then the current working range can be adjusted according to the flatness of the plot, so that the flatness of the plot corresponding to the adjusted target working range is gradually greater than the expected flatness of the target working plot, including the area to be leveled in the target working plot. The leveling equipment can then complete the leveling operation of the area to be leveled within the target working range, so that the target working plot meets the expected flatness requirements.

[0067] Optionally, in some possible embodiments, the current working range in the above embodiments may be the initial working range when the leveling equipment starts working in the current operation, or the target working range after the initial working range of the leveling equipment in the current operation is updated, wherein the shape of the current working range may be a polygon, a circle or a sector. In order to be able to use a unified update rule to adjust the current working range, the range parameters used to measure the current working range may be determined according to the shape of the current working range. When the current working range is the initial working range, a possible implementation method for determining the range parameters of the current working range is given below, which can be understood as providing a method for obtaining the initial working range, see Figure 4 , Figure 4 A schematic flow chart of another method for determining a flat ground path range provided by an embodiment of the present invention, the method may further include:

[0068] S101. Determine range parameters of a current operating range according to a current position of a land leveling device and a turning radius of the land leveling device.

[0069] Among them, when the shape of the current working range is a polygon, the range parameters include the minimum length and the minimum width, or the range parameters include the minimum inscribed circle radius of the initial working range; the minimum length and the minimum working width are both greater than or equal to the turning diameter of the leveling equipment, and the minimum inscribed circle radius is greater than or equal to the turning diameter of the leveling equipment.

[0070] The shape of the current working range is circular or sector-shaped, and the range parameters include a radius, which is greater than or equal to a turning diameter of the grading equipment.

[0071] Therefore, through step S101, the initial operating range can be determined directly based on the current position and turning radius of the leveling equipment without relying on the user's operation, so that the obtained initial operating range can meet the demand for flexible turning of the leveling equipment.

[0072] In some embodiments, the initial working range may be a current working range randomly estimated by the leveling worker in the target working area before planning the leveling path based on the actual working scenario. However, some leveling workers may not understand the relationship between the initial working range and the equipment parameters of the leveling equipment, resulting in the estimated initial working range being too small and unable to meet the needs of flexible folding of the leveling equipment. Therefore, in order to at least solve this technical problem, in some embodiments, the computing device that executes the leveling path range determination method of the embodiment of the present invention may also automatically adjust the initial working range estimated by the leveling worker based on the equipment parameters of the leveling equipment, wherein the equipment parameters may include but are not limited to: the current position of the leveling equipment and the turning radius of the leveling equipment; accordingly, the step of automatically adjusting the initial working range estimated by the leveling worker based on the equipment parameters of the leveling equipment may include: adjusting the initial working range according to the turning radius of the leveling equipment, or the current position and the turning radius, so that the final initial working range can meet the needs of flexible folding of the leveling equipment.

[0073] From the above, it can be seen that the initial working range obtained through manual estimation may not be able to meet the needs of flexible folding of the leveling equipment. Therefore, in order to achieve that the initial working range determined for the first time can meet the needs of flexible folding of the leveling equipment, in an embodiment of the present invention, through the step S101, the initial working range may not be determined by the leveling worker, but may be automatically determined by the computing device that executes the leveling path range determination method of the embodiment of the present invention, without relying on manual operation, thereby avoiding the inaccurate determination of the initial working range caused by manual estimation, which cannot meet the flexible operation of the leveling equipment.

[0074] In some possible embodiments, when the leveling equipment is working on the target working area, it is often expected to be able to flexibly turn back to complete the leveling of the entire area. Therefore, in order to be able to plan a path that can meet the flexible turning requirements of the leveling equipment in the current working range, for the current working range with a polygonal shape, its minimum width and minimum length can be set to be greater than or equal to the minimum turning diameter of the leveling equipment; and for the current working range with a circular or sector shape, its range parameter can be a radius, and in order to ensure that the leveling equipment can flexibly turn back within the sector or circular range, the radius can be set to be greater than or equal to the minimum turning diameter of the leveling equipment. Assuming that the minimum turning radius of the leveling equipment is estimated to be TR, the radius r ≥ 2TR. In addition, for the current working range with a sector shape, the range parameter of the current working range can also include the center angle of the circle. Generally speaking, the center angle of the circle can be a positive integer less than or equal to 360 degrees.

[0075] It should be noted that the turning radius mentioned above may be the minimum turning radius of the leveling equipment.

[0076] Optionally, in an actual leveling scenario, current operating ranges of different shapes may be planned according to the working properties of different leveling equipment. The following describes current operating range adjustment solutions for two scenarios in combination with actual operating scenarios.

[0077] Scene 1

[0078] See also Figure 5A , Figure 5A A schematic diagram of a sector-shaped current operating range provided in an embodiment of the present invention. When the shape of the current operating range is a sector, the range parameter of the operating range includes not only the radius but also the center angle; the center angle is a positive integer less than 360 degrees. Based on this, a method of expanding the current operating range to update the target operating range is given below, that is, a possible method of step S104-2 is:

[0079] S104-2a. Expand the radius and center angle of the current operating range according to preset rules.

[0080] In the embodiment of the present invention, the above-mentioned preset rule can be one of the addition rule, the multiplication rule, and the exponential rule, or a combination of at least two of them. The following uses the addition rule, the multiplication rule, and the exponential rule as examples to introduce the adjustment method for the fan-shaped operation range.

[0081] For example, suppose the center angle of the current working range of the sector is θ (0<θ<2π), the radius length is r, and the expected flatness is H * , the flatness of the plot corresponding to the current sector operation range is MH, and the radius of the updated target operation range is r * .

[0082] Addition rule: Let Δr be the radius increment value, Δr>0, Δr is greater than or equal to the width of the shovel of the leveling equipment, and the radius of the current operating range of the sector can be expanded according to the following relationship:

[0083]

[0084] Multiplication rule: Let l be the radius increment value, l>1, the radius of the current operating range of the sector can be expanded according to the following relationship:

[0085]

[0086] Exponential rule: Let s be the radius increment value, s>1, the radius length of the current operating range of the sector can be expanded according to the following relationship:

[0087]

[0088] While enlarging the radius, the center angle can also be appropriately increased. For example, the angle can be enlarged according to the following relationship, where θ * is the updated arc angle value, To set the upper bound.

[0089]

[0090] When the radius length of the current operation range of the sector no longer changes, the target operation range can be determined based on the determined radius length and the center angle. The state where the radius of the current operation range of the sector no longer changes can be triggered by the following events: the flatness of the plot corresponding to the current operation range of the enlarged sector is greater than the expected flatness, which indicates that the flatness of the plot within the enlarged current operation range has deteriorated, and the area to be leveled is contained within the range. Therefore, the radius of the current operation range of the sector can be triggered to no longer change.

[0091] Scene 2

[0092] See also Figure 5B , Figure 5B A schematic diagram of a circular current operating range provided in an embodiment of the present invention. When the shape of the current operating range is a circle, the range parameter of the current operating range includes a radius. Based on this, a method for implementing the expansion of the current operating range is given below, that is, another possible method of step S104-2 is:

[0093] S104-2b. Expand the radius of the current operating range according to preset rules.

[0094] When the current operating range is a circle, it is known that the center angle of the circle is a fixed value θ (θ = 2π). At this time, the radius can be expanded according to the addition rule, multiplication rule or exponential rule in scenario 2. At this time, there is no need to adjust the center angle. When the radius length of the current operating range of the circle no longer changes, the target operating range can be determined based on the determined radius length and center angle. Among them, the state in which the radius length of the current operating range of the circle no longer changes can be triggered by the following events: the flatness of the plot corresponding to the current operating range of the expanded circle is greater than the expected flatness.

[0095] It should be noted that the above-mentioned addition rule, multiplication rule and exponential rule are merely implementation methods used for examples in the embodiments of the present invention. Their main function is to adjust the radius length so that the flatness of the plot in the current working range corresponding to the adjusted radius length is greater than the expected flatness of the target working plot, so as to obtain a target working range that allows the leveling equipment to perform leveling operations.

[0096] From the above description, it can be seen that the present invention can adjust the leveling path range in real time so that the obtained range area contains at least one area to be leveled. In this way, after the leveler performs path planning within the range adjusted in real time, the leveling equipment can level the area to be leveled according to the planned path, thereby reducing the risk of missed leveling or repeated leveling, avoiding the leveling equipment from doing useless work in areas that do not need to be leveled, and at the same time avoiding the phenomenon of repeated leveling or missed leveling, thereby improving the leveling operation efficiency.

[0097] Based on the above embodiments, it can be seen that the method for determining the leveling path range provided by the embodiment of the present invention can determine the target operating range that does not meet the set conditions. Based on this, planning the leveling path within the determined target operating range can reduce the risk of repeated leveling or missed leveling. Therefore, the embodiment of the present invention provides a leveling path planning method based on the determined target operating range to improve the leveling efficiency, ensure that the leveling shovel is not empty or fully loaded, reduce the energy consumption of the leveling equipment, and achieve the purpose of precise leveling.

[0098] See also Figure 6 , Figure 6 A schematic flow chart of a flat ground path planning method provided by an embodiment of the present invention includes:

[0099] S201. Determine a target operation range according to the flatness of the target operation plot.

[0100] In an embodiment of the present invention, the above-mentioned target operating range may be a range that includes at least one area to be leveled in the target operating plot, and the plot flatness of the target operating range does not meet the set condition; the set condition is that the plot flatness of the target operating range is less than or equal to the expected flatness of the target operating plot.

[0101] S202: Determine a target leveling path within a target operating range, where the leveling path is used to guide the leveling equipment to perform leveling operations within the target operating range.

[0102] The path planning method provided by the present invention determines a target operation range including the area to be leveled in the target operation plot, and then determines the target leveling path within the target operation range based on the operation information of the leveling equipment and the average height value of the target operation plot as reference indicators for determining the target leveling path. This can reduce the risk of missed leveling or repeated leveling.

[0103] Optionally, in some possible implementations, the above-mentioned target operating range can be obtained by a leveling path range determination method provided by any of the above-mentioned embodiments of the present invention, which can reduce the risk of repeated leveling or missed leveling, avoid the leveling equipment doing useless work in the range area that does not need to be leveled, and improve the leveling operation efficiency.

[0104] Optionally, in the process of planning the path, since the user does not know the location of the area to be leveled in advance, it is necessary to make multiple round trips to level the area to be leveled, which will inevitably reduce the leveling efficiency. At the same time, in the process of leveling, since the leveling operator cannot predict the amount of soil that the leveling shovel will carry during each operation, it is necessary to constantly turn around to check the amount of soil that the leveling shovel has shoveled to prevent the leveling shovel from being overloaded or empty for a long time, which increases the labor intensity and cost. Therefore, in order to solve the above technical problems, a method for determining the target leveling path is given below, see Figure 7 , Figure 7 A schematic flowchart of an implementation method of step S202 provided in an embodiment of the present invention, that is, step S202 may include:

[0105] S202-1. Generate multiple candidate paths within the target operation range according to the current position and current direction of the leveling equipment.

[0106] It can be understood that the path direction of the candidate path is consistent with the current direction of the flat ground device.

[0107] In some embodiments where the shape of the target operating range is a sector or a circle, the range parameters of the target operating range may include a radius length and a center angle. The candidate paths may be generated by taking the current position of the leveling device as the path starting point and determining multiple path end points with the radius length as the path length, and the path between the path starting point and any path end point may be a candidate path. The candidate paths may also be generated by taking the current position of the leveling device as the path starting point, evenly dividing the center angle of the target operating range, and randomly obtaining sampling points in the area corresponding to each evenly divided angle, so that the distance between the sampling point position and the current position is the radius length. In addition, the candidate paths may also be generated in other ways according to actual needs, which will not be repeated here.

[0108] In the implementation of the present invention, the generated candidate path can be described by an arc or a B-spline curve with a constrained turning radius. The B-spline curve refers to a special representation form in the mathematical sub-discipline of numerical analysis, which can accurately describe the position of each point in the candidate path.

[0109] S202-2. Calculate the work efficiency corresponding to each of the plurality of candidate paths according to the average height value of the target operation site and the load information of the leveling equipment.

[0110] In some possible embodiments, the load information of the leveling equipment refers to the amount of earthwork cut and filled in the leveling shovel when the leveling equipment is operating. The load information of the leveling equipment may include the theoretical load-bearing earthwork volume and the actual load-bearing earthwork volume of the leveling shovel. When the leveling equipment moves along different candidate paths, it may level one or more areas to be leveled, so that the elevation of the land corresponding to the candidate path changes. Therefore, the greater the elevation change on the candidate path, the more leveling work the leveling equipment needs to do, which can also indicate to a certain extent that the working efficiency of the leveling equipment is higher when moving along the candidate path.

[0111] The above process can be understood as follows: in one example, if the elevation value of the current working position of the leveling equipment is greater than the average height value, it indicates that the current working position needs to be leveled, and the soil at the current working position needs to be dug into the leveling shovel so that the elevation value of the current position is approximately consistent with the average height value. Before digging the soil into the leveling shovel, the carrying capacity of the leveling shovel needs to be considered. Therefore, the difference between the current amount of earth carried in the leveling shovel and the theoretical carrying capacity of the leveling shovel can be calculated. If the difference is greater than or equal to the amount of earth that needs to be dug at the current working position, all the soil that needs to be dug at the current working position can be dug into the leveling shovel. If the difference is less than the amount of earth that needs to be dug at the current working position, then the amount of earth consistent with the difference is dug at the current working position. It can be understood that, in the case where the current working position needs to be filled with soil, it is determined whether the current actual amount of soil carried by the leveling shovel is sufficient to fill the current working position, so that the elevation value of the current working position is consistent with the average height value. The method is: calculate the amount of soil that needs to be filled in the current working position. If the amount of soil that needs to be filled is greater than or equal to the current actual amount of soil carried by the leveling shovel, the current actual amount of soil carried will be filled in the current working position. If the amount of soil that needs to be filled is less than the current actual amount of soil carried by the leveling shovel, the part of the current actual amount of soil carried that is consistent with the amount of soil that needs to be filled will be filled in the current working position. On the one hand, the above method can ensure that the leveling shovel is not empty or fully loaded, thereby reducing the energy consumption of the leveling equipment. On the other hand, the leveling equipment can determine the leveling method according to the elevation information of the current position to achieve the purpose of precise leveling.

[0112] S202-3. Determine a target flat ground path based on the work efficiencies corresponding to the plurality of candidate paths.

[0113] In the embodiment of the present invention, the above-mentioned work efficiency characterizes the elevation change of the leveling equipment when it moves along the candidate path; when the leveling equipment moves from the starting point of the candidate path to the end point of the leveling equipment, the elevation change of the terrain is different, and a larger elevation change characterizes that the leveling equipment has done more leveling work and has a larger area leveled, and at the same time, it can be explained that the work efficiency of the leveling equipment when it moves along the candidate path is higher.

[0114] Optionally, based on the above description, it can be known that candidate paths can be generated through different implementations. To this end, a possible implementation is given below. Figure 8 , Figure 8 A schematic flowchart of an implementation of step S202-1 provided in an embodiment of the present invention, that is, a possible implementation of step S202-1 may be as follows:

[0115] S202-1-1. Obtain the positions of multiple boundary points of the target operation range.

[0116] In the embodiment of the present invention, in order to obtain a relatively complete leveling path, the straight-line distance between any boundary position and the current position of the leveling device is equal to the length of the target operating range. In this way, the boundary point is located at a boundary far away from the current position of the leveling device in the target operating range, which can also facilitate the calculation of the position of the boundary point. Since the leveling shovel of the leveling device has a certain width value, in order to prevent the generated candidate paths from being too dense and causing the working areas of the leveling shovel to overlap, the distance between any two adjacent boundary point positions in the embodiment of the present invention can be greater than or equal to the width of the leveling shovel of the leveling device to prevent the candidate paths from being too dense. The boundary points can be obtained at equal intervals or at unequal intervals, which is not limited here.

[0117] S202-1-2. Generate multiple candidate paths according to the current position of the leveling equipment and the positions of multiple boundary points.

[0118] To facilitate understanding of the above process of determining the target path, the process of generating the candidate paths is described in detail below by taking the target operation range as a fan as an example.

[0119] See first Fig. 9 , Fig. 9A schematic diagram of a scenario for generating candidate paths provided by an embodiment of the present invention, wherein, for the convenience of description, the embodiment of the present invention gives the size of the center angle θ of the sector as 0<θ<π, and the size of the sector radius as r, wherein r≥2TR>0, and TR is the minimum turning radius of the grader; the sampling points can be obtained at equal intervals or at unequal intervals, which is not limited here, but it is necessary to ensure that the minimum spacing between each sampling point is the spacing threshold Δs, wherein, in order to prevent the generated candidate paths from being too dense, Δs is generally the width value of the grader shovel. TR is the minimum turning radius of the grader.

[0120] Continue to see Fig. 9 After obtaining each boundary point, the user can calculate the position of each sampling point according to the radius length, center angle and geometric relationship of the sector. Assuming that there are n boundary points, the spacing between two adjacent boundary points is Δs i , i=0,1,...n-1, the arc angle between two adjacent boundary points can be expressed as Δθ i , i=0,1,...n-1, assuming that the boundary points are not collected at equal intervals, the position of each boundary point can be calculated in the following way:

[0121] The first step is to calculate the corresponding arc angles between adjacent boundary points. According to elementary geometry knowledge, we can get:

[0122]

[0123] Among them, Δs i is the distance between two adjacent boundary points, Δθ i is the arc angle between two adjacent boundary points, and r is the radius of the sector.

[0124] Step 2: Let the position of the i-th boundary point be (x i ,y i ), then according to the arc angle Δθ obtained in the first step i And from geometric knowledge, we know that the points on the sector arc can be described as:

[0125]

[0126] Among them, (x i ,y i ) is the position of the i-th boundary point, θ i is the i-th circle center angle, In particular, when the sector radius r is given, the center angle of the i-th sampling boundary point can be directly set to θ i , reducing computation and storage.

[0127] After obtaining the location information of each boundary point through the above process, the candidate path with the same number of boundary points can be generated with the current position of the leveling equipment as the path starting point and the boundary point as the path end point. In this example, Fig. 9 Take one of the boundary points in as an example, and describe the generated candidate path in the form of an arc, see Fig.10 , Fig.10 A schematic diagram of an arc path provided by an embodiment of the present invention.

[0128] Fig.10 represents the i-th arc path. According to elementary geometry knowledge, the arc radius and arc angle satisfy the following relationship:

[0129]

[0130] Among them, α i The arc angle corresponding to the i-th arc path, r pi The radius of the arc corresponding to the i-th arc path. Let the horizontal coordinate of the center of the circle be x ci , then when When the horizontal coordinate of the center of the circle is: ci =-r pi .when When the horizontal coordinate of the center of the circle is: ci =r pi In particular, when The candidate path is a straight line path pointing in the positive direction of the Y axis.

[0131] Through the above process, each candidate path can be stored in the form of an arc, reducing the amount of calculation and storage.

[0132] Optionally, after obtaining the candidate paths within the target operation range, the work efficiency corresponding to each candidate path can be calculated, and then the candidate path with the maximum work efficiency or the maximum efficiency score can be determined as the target path. To this end, the following is an implementation method for calculating the work efficiency corresponding to multiple candidate paths according to the elevation information of the terrain and the load information of the flat equipment within the target operation range, see Fig.11 , Fig.11 A schematic flowchart of an implementation of step S202-2 provided in an embodiment of the present invention, step S202-2 may include:

[0133] S202-2-1. Determine multiple sub-operation areas corresponding to each candidate path based on the length and width of the leveling shovel.

[0134] In the embodiment of the present invention, since the leveling shovel has a certain length and width, when the leveling equipment moves along the candidate path, a work area will be formed. When the candidate path may be long, it is difficult to accurately measure the work efficiency when the leveling equipment moves along the candidate path. Therefore, the present application divides the work area corresponding to each candidate path into multiple sub-operation areas, and then calculates the elevation change corresponding to the leveling equipment when operating in each sub-operation area, and finally superimposes the elevation change in each sub-operation area as the work efficiency corresponding to the candidate path. By dividing the sub-operation areas in this way, the accuracy of obtaining the work efficiency can be improved, thereby improving the credibility of the target leveling path. For ease of understanding, a method for implementing the division of sub-operation areas is given below:

[0135] The first step is to randomly sample at a certain interval on each candidate path to obtain N discrete points. The smaller the interval between adjacent discrete points, the more accurate the elevation change obtained, which can make the work efficiency determined more accurate. The number of N can be determined according to the length of the candidate path and is not limited here.

[0136] The second step is to determine N-1 rectangular areas with the spacing between adjacent discrete points as the width and the length of the flat shovel as the length. The area of ​​the rectangular area can be determined based on the spacing between adjacent discrete points and the length of the flat shovel. In addition, the average height value within each rectangular area can be obtained based on any technology such as GPS technology, DSM technology, etc.

[0137] The form of the multiple sub-operation areas corresponding to the candidate paths obtained through the above process can be as follows: Fig.12 As shown, see Fig.12 , Fig.12 A schematic diagram of processing a candidate path provided by an embodiment of the present invention, after obtaining each sub-operation area of ​​the candidate path, the elevation change corresponding to each sub-operation area can be calculated.

[0138] S202-2-2. Calculate the work efficiency of each candidate path according to the average height value of the target operation site, the average height value of each sub-operation area, and the load information.

[0139] To understand the above process of calculating the work efficiency of candidate paths, please continue to refer to Fig. 9 , assuming that the average height of the target operation plot is H, the load information of the leveling equipment includes the full load earthwork volume V s , and the soil load V when the leveling equipment is at the current position ij .

[0140] Assume that the initial value of the working efficiency of the leveling equipment is 0, and when the leveling equipment is at the starting point of the i-th candidate path, the shovel contains V i0The estimated average height of the mud in the jth small rectangle is h after the mud reaches the jth small rectangle of the i-th candidate path. ij , the area of ​​the rectangle is s ij , there is a V inside the shovel ij-1 unit volume of soil, the average height of the soil in the jth small rectangle, the average height of the terrain within the target operation range H, and the full load of the shovel V s and the soil load V when the grading equipment is at the current position ij-1 The load information of the leveling equipment is used to calculate the working efficiency e of the leveling equipment after leveling the jth small rectangle. i , as shown in the following assignment relation:

[0141] e i =e i +Δh ij

[0142] Among them, e i is the work efficiency of the leveling equipment when it completes one work area on the i-th candidate path, e i The initial value of Δh is 0, ij is the elevation change in the j-th sub-operation area of ​​the i-th candidate path.

[0143] In an actual operation scenario, if the elevation value in the jth sub-operation area is greater than the average height value, the leveling shovel needs to dig the soil in the current position into the leveling shovel so that the elevation value of the jth sub-operation area is reduced to approximately the same as the average height value, and the elevation change is the elevation value of the current position minus the average height value; if the elevation value in the jth sub-operation area is smaller than the average height value, the leveling shovel needs to fill the soil in the leveling shovel into the current position so that the elevation value of the jth sub-operation area is increased to approximately the same as the average height value, and the elevation change is the average height value minus the elevation value of the current position; if the elevation value of the current position is consistent or approximately consistent with the average height value, the approximate consistency can be expressed as the absolute value of the difference between the elevation value of the current position and the average height value is less than the preset elevation threshold, then the jth sub-operation area does not need to be leveled, and the elevation change is zero; the elevation threshold can be obtained based on experience or experiments, which will not be repeated here. Therefore, when calculating the elevation change in the jth sub-operation area, it can be divided into the following scenarios for calculation.

[0144] Scene 1

[0145] The elevation value in the jth sub-operation area is less than the average height value, that is, h ijWhen ≤H, the earthwork volume in the leveling shovel can be used to increase the elevation value in the jth sub-operation area so that the elevation value of the jth sub-operation area is reduced to approximately the same as the average height value. Therefore, the elevation change in the jth sub-operation area can be calculated according to the following relationship:

[0146]

[0147] Among them, |Hh ij |s ij Indicates the amount of earthwork that needs to be increased in the jth sub-operation area, V ij-1 represents the accumulated earth volume in the leveling shovel when the leveling equipment enters the jth sub-operation area, that is, the earth volume currently carried by the leveling shovel; when V ij-1 ≥|Hh ij |s ij , indicating that the current earth volume in the leveling shovel is greater than the earth volume required in the j-th sub-operation area, then the leveling equipment can use the current earth volume to fill the j-th sub-operation area, so that the elevation value h of the j-th sub-operation area ij Increase to the same as the average height value H, at this time, the elevation change in the jth sub-operation area is |Hh ij |; When V ij-1 <|Hh ij |s ij , indicating that the earthwork volume currently carried by the leveling shovel is less than the earthwork volume required in the j-th sub-operation area, then the leveling equipment needs to use all the earthwork volume currently carried to fill the j-th sub-operation area, so that the elevation value h of the j-th sub-operation area ij Increase to the same as the average height value H, then the elevation change in the jth sub-operation area is

[0148] Scene 2

[0149] The elevation value in the jth sub-operation area is greater than the average height value, that is, h ij ≥H, it indicates that the elevation value h in the jth sub-operation area needs to be ij The height is reduced to the same value as the average height H. Therefore, the elevation change in the jth sub-operation area can be calculated according to the following relationship:

[0150]

[0151] Among them, |Hh ij |s ij Represents the amount of earthwork that needs to be reduced in the jth sub-operation area, V ij-1 represents the accumulated earth volume in the leveling shovel when the leveling equipment enters the jth sub-operation area, that is, the earth volume currently carried by the leveling shovel; when V ij-1 +|Hhij |s ij ≤V s , indicating that the sum of the earthwork volume currently carried in the leveling shovel and the earthwork volume that needs to be reduced in the j-th sub-operation area is less than the full load volume V of the shovel s , it means that the leveling shovel still has space to carry soil, so the amount of soil that the leveling equipment can dig in the jth sub-operation area is |Hh ij |s ij , so that the elevation value h ij Reduced to the same level as the average height value H, at this time, the elevation change in the jth sub-operation area is |Hh ij |; When V ij-1 +|Hh ij |s ij >V s , indicating that the sum of the earthwork volume currently carried in the leveling shovel and the earthwork volume that needs to be reduced in the j-th sub-operation area is greater than the full load volume V of the shovel s At this time, the soil in the jth sub-operation area cannot be directly dug away |Hh ij |s ij Such a large amount of earthwork will inevitably exceed the carrying capacity of the flat shovel and cause damage to the flat shovel. Therefore, the amount of earthwork that can be excavated in the jth sub-operation area is the amount of earthwork that the target flat shovel can still carry, that is,

[0152] Through the above process, the corresponding elevation change of the leveling equipment when working in each sub-operation area of ​​each candidate path is calculated. Finally, the elevation change in each sub-operation area is superimposed together as the work efficiency corresponding to the candidate path. This form of dividing the sub-operation area can improve the accuracy of the work efficiency, thereby improving the credibility of the target leveling path.

[0153] Optionally, after calculating the elevation change in the current sub-operation area each time, in order to complete the estimation of the elevation change in the next sub-operation area, it is also necessary to calculate the current volume of soil in the leveling shovel. The following is a method for calculating the current volume of soil carried by the leveling shovel for the above scenarios 1 and 2:

[0154] Scenario 1: The elevation value in the jth sub-operation area is less than or equal to the average height value, that is, h ij When ≤H, the method for calculating the earthwork volume currently carried by the leveling blade can be as follows:

[0155]

[0156] Scenario 2: The elevation value in the jth sub-operation area is greater than or equal to the average height value, that is, h ij When ≥H, the method for calculating the earthwork volume currently carried by the leveling blade can be as follows:

[0157]

[0158] Through the above method, for each candidate path, the total elevation change of the candidate path can be obtained by accumulating until the last rectangle, and then the work efficiency corresponding to the candidate path can be obtained.

[0159] In one embodiment, the candidate path with the highest working efficiency may be directly used as the target flat ground path.

[0160] In another embodiment, in order to improve the credibility of the obtained target flat ground path, the corresponding efficiency score can be obtained by calculating the working efficiency of each candidate path, so that the candidate path with the highest efficiency score is used as the target flat ground path. The following is an implementation method for calculating the efficiency score according to the elevation change:

[0161] Step 1: determining an efficiency score corresponding to each candidate flat ground path according to the work efficiency corresponding to each candidate flat ground path;

[0162] Step 2: Determine the candidate flat ground path corresponding to the highest efficiency score as the target flat ground path.

[0163] In the embodiment of the present invention, the efficiency score of each path can be evaluated by constructing a score mapping. The score mapping can be one of an identity mapping, a mean mapping, and a weighted mapping. For example, assuming that the efficiency score corresponding to the i-th candidate path is E i :

[0164] When the mapping is an identity mapping, the efficiency score can be calculated according to the following relationship:

[0165] E i =e i

[0166] When the mapping is a mean mapping, the efficiency score can be calculated according to the following relationship:

[0167]

[0168] Among them, E i is the efficiency score of the i-th candidate path, e i is the work efficiency of the leveling equipment when it completes the entire work area on the i-th candidate path, M i is the number of discrete points selected when determining multiple sub-operation areas on the i-th candidate path or the length of the i-th candidate path.

[0169] When the mapping is a weighted mapping, the efficiency score can be calculated according to the following relationship:

[0170]

[0171] Among them, E i is the efficiency score of the i-th candidate path, e i is the work efficiency of the leveling equipment when it completes the entire work area on the i-th candidate path, and λ1 and λ2 are preset weighting coefficients. It should be noted that in addition to the above mapping method, there are other mapping methods, which will not be introduced here one by one. The target leveling path obtained based on the mapping method is the path with the largest efficiency score.

[0172] In order to implement the above-mentioned embodiments of the method for determining the range of a flat path and the corresponding steps in each possible manner to achieve the corresponding technical effects, an implementation method of a device for determining the range of a flat path is given below. Fig.13 , Fig.13 A functional module diagram of a device for determining a flat-ground path range provided by an embodiment of the present invention.

[0173] It should be noted that the basic principle and technical effects of the device for determining a path range on flat ground provided in this embodiment are the same as those of the above embodiments. For the sake of brief description, the device for determining a path range on flat ground 30 in this embodiment includes: an updating module 301 .

[0174] The updating module 301 is used to update the current working range when the flatness of the plot in the current working range meets the set conditions to obtain a target working range where the flatness of the plot does not meet the set conditions; wherein the set condition is that the flatness of the plot in the current working range is less than or equal to the expected flatness of the target working plot.

[0175] It is understandable that the update module 301 can be executed in conjunction with Figure 1 , Figure 2 , Figure 3 Each step in the process is performed to achieve the corresponding technical effect.

[0176] Optionally, the flat path range determination device 30 may further include: a determination module, the updating module 301 and the determination module may also be executed in collaboration Figure 4 Each step in the process is performed to achieve the corresponding technical effect.

[0177] It should also be noted that the module of the flat-ground path range determination device 30 can be stored in a memory in the form of software or firmware or fixed in a processor of any type of flat-ground equipment, and the processor can execute any type of flat-ground path range determination method provided in the embodiments of the present invention.

[0178] In order to execute the corresponding steps in the above-mentioned embodiments of the flat-ground path planning method and various possible methods to achieve the corresponding technical effects, an implementation method of a flat-ground path range determination device is given below, see Fig.14 , Fig.14 A functional module diagram of a device for determining a flat-ground path range provided by an embodiment of the present invention.

[0179] It should be noted that the basic principle and technical effects of the flat-ground path planning device provided in this embodiment are the same as those of the above-mentioned embodiments. For the sake of brief description, for the parts not mentioned in this embodiment, reference may be made to the corresponding contents in the above-mentioned embodiments. The flat-ground path planning device 40 includes: a determination module 401.

[0180] The determination module 401 is used to determine the target operating range according to the land flatness of the target operating plot; the land flatness of the target operating range does not meet the set condition; wherein the set condition is that the land flatness of the target operating range is less than or equal to the expected flatness of the target operating plot; determine the target leveling path within the target operating range, and the leveling path is used to guide the leveling equipment to perform leveling operations within the target operating range.

[0181] It is understandable that the determination module 401 can be executed in conjunction with Figure 6 , Figure 7 , Figure 8 , Fig.11 To achieve the corresponding technical effects.

[0182] It should be noted that the module of the flat-ground path planning device 40 can be stored in a memory in the form of software or firmware or fixed in a processor of any kind of flat-ground equipment, and the processor can execute any kind of flat-ground path range determination method provided in the embodiment of the present invention.

[0183] The embodiment of the present invention also provides a processing device, including a processor and a memory, see Fig.15 , Fig.15 An embodiment of the present invention provides a structural block diagram of a processing device, wherein the processing device 50 includes a memory 501, a processor 502, and a communication interface 503. The memory 501, the processor 502, and the communication interface 503 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other via one or more communication buses or signal lines. The processing device can be a control module configured in the leveling device itself, or it can be an agricultural machinery autopilot or other device for controlling the operation of the leveling device, but the embodiment of the present invention is not limited thereto.

[0184] The memory 501 can be used to store software programs and modules, such as program instructions / modules corresponding to the method for determining the range of a flat-ground path or the method for planning a flat-ground path provided in the embodiment of the present invention. The processor 502 executes the software programs and modules stored in the memory 501 to perform various functional applications and data processing. The communication interface 503 can be used to communicate signaling or data with other node devices. In the present invention, the leveling device 10 can have multiple communication interfaces 503.

[0185] Among them, the memory 501 can be but is not limited to, random access memory (Random Access Memory, RAM), read-only memory (Read Only Memory, ROM), programmable read-only memory (Programmable Read-Only Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only Memory, EPROM), electrically erasable read-only memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc.

[0186] The processor 502 may be an integrated circuit chip with signal processing capability. The processor 502 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The memory 501 stores machine executable instructions that can be executed by the processor 502 to implement any flat path range determination method or flat path planning method of the present invention.

[0187] The embodiment of the present invention further provides a storage medium on which a computer program is stored. For example, when the storage medium can be stored in Fig.15 In the processor 502 shown, when the computer program is executed by the processor 502, any of the methods for determining a flat-ground path range or the method for planning a flat-ground path in the aforementioned embodiments is implemented. The computer-readable storage medium may be, but is not limited to, a U disk, a mobile hard disk, a ROM, a RAM, a PROM, an EPROM, an EEPROM, a magnetic disk, or an optical disk, and other media that can store program codes.

[0188] 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. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0189] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention. It should be noted that similar numbers and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A method for determining a flat path range, characterized in that: The method comprises: When the flatness of the plot of land in the current operating range meets the set conditions, the current operating range is updated to obtain a target operating range where the flatness of the plot of land does not meet the set conditions; the current operating range is included in the target operating range; the determined target operating range is used to plan a leveling path when the location of the area to be leveled is unknown; The flat ground path is the one with the highest efficiency score among multiple candidate paths within the target operation range; and the method for generating multiple candidate paths includes: Acquire the positions of a plurality of boundary points of the target operating range; wherein the straight-line distance between the position of any one of the boundary points and the current position of the leveling device is equal to the length of the target operating range, and the distance between any two adjacent boundary points is greater than or equal to the width of the leveling blade of the leveling device; generate the plurality of candidate paths whose path directions are consistent with the current direction according to the current position of the leveling device and the positions of the plurality of boundary points; The working efficiency of each candidate path is the superposition value of the elevation changes of each sub-operation area on the candidate path; the elevation change of each sub-operation area is determined according to the average height value of the sub-operation area, the average height value of the terrain within the target operation range, the earthwork volume of the shovel full load and the earthwork volume when the leveling equipment is at the current position; Among them, the set condition is that the flatness of the plot of land in the current working range is less than or equal to the expected flatness of the target working plot; the current working range and the target working range are both located in the target working plot.

2. The method for determining the range of a flat path according to claim 1, characterized in that: When the flatness of a plot of land in a current operating range meets a set condition, the step of updating the current operating range to obtain a target operating range in which the flatness of the plot of land does not meet the set condition comprises: Determine the flatness of the plot within the current operating range according to the elevation information of the plot within the current operating range and the average height value of the target operating plot within the current operating range; When the determined flatness of the current working range meets the set conditions, the current working range is expanded until the flatness of the target working range obtained by the expansion does not meet the set conditions; or, when the determined flatness of the current working range meets the set conditions, the current working range is translated until the flatness of the target working range obtained by the translation does not meet the set conditions.

3. The method for determining the range of a flat path according to claim 2, characterized in that: The step of determining the flatness of the plot in the current operating range according to the elevation information of the plot in the current operating range and the average height value of the target operating plot where the current operating range is located comprises: Obtaining elevation values ​​of multiple sampling locations within the current operating range; The flatness of the plot of land in the current working range is determined according to the elevation values ​​of the multiple sampling positions and the average height value of the target working plot.

4. The method for determining the leveling path range according to any one of claims 1 to 3, wherein the current operating range is an initial operating range of the leveling equipment when the leveling equipment starts working in the current operation, or a target operating range after the initial operating range of the leveling equipment in the current operation is updated; When the current operating range is the initial operating range, before updating the current operating range, the method further includes: Determine the range parameters of the current working range according to the current position of the leveling equipment and the turning radius of the leveling equipment; the shape of the current working range is polygonal, circular or sector-shaped; Wherein, when the shape of the current operating range is a polygon, the range parameters include a minimum length and a minimum width, or include a minimum inscribed circle radius of the current operating range; the minimum length and the minimum operating width are both greater than or equal to the turning diameter of the leveling equipment, and the minimum inscribed circle radius is greater than or equal to the turning diameter of the leveling equipment; When the shape of the current working range is circular or sector-shaped, the range parameter includes a radius; and the radius is greater than or equal to a turning diameter of the leveling equipment.

5. The method for determining the range of a flat path according to claim 4, characterized in that: When the shape of the current operating range is a sector, the range parameter further includes a center angle; the center angle is a positive integer less than 360 degrees; The current scope of operations is expanded to include: Expanding the radius and the center angle of the current operating range according to preset rules; When the shape of the current operating range is a circle, the current operating range is expanded, including: expanding the radius of the current operating range according to a preset rule. 6 . The method for determining a flat-ground path range according to claim 5 , wherein the preset rule is any one of the following or a combination of at least two of the following: an addition rule, a multiplication rule, and an exponential rule.

7. A method for planning a path on flat ground, characterized in that: The method comprises: The target operation range is determined according to the flatness of the target operation plot; the flatness of the plot of land in the target operation range does not meet the set condition; the set condition is that the flatness of the plot of land in the target operation range is less than or equal to the expected flatness of the target operation plot; the target operation range is obtained according to the method for determining the flat ground path range according to any one of claims 1 to 6; In the case where the location of the area to be leveled is unknown, determining a target leveling path within the target operating range, the target leveling path being used to guide the leveling equipment to perform leveling operations within the target operating range; the target leveling path being the one with the highest efficiency score among multiple candidate paths within the target operating range; The method for generating multiple candidate paths includes: Acquire the positions of a plurality of boundary points of the target operating range; wherein the straight-line distance between the position of any one of the boundary points and the current position of the leveling equipment is equal to the length of the target operating range, and the distance between any two adjacent boundary points is greater than or equal to the width of the leveling blade of the leveling equipment; generating the plurality of candidate paths whose path directions are consistent with the current direction according to the current position of the land leveling equipment and the positions of the plurality of boundary points; The working efficiency of each candidate path is the superposition value of the elevation changes of each sub-operation area on the candidate path; the elevation change of each sub-operation area is determined based on the average height value of the sub-operation area, the average height value of the terrain within the target working range, the amount of earthwork fully loaded by the shovel, and the amount of earthwork when the leveling equipment is at the current position.

8. The flat ground path planning method according to claim 7, characterized in that: The method for determining the working efficiency of each candidate path includes: A plurality of sub-operation areas corresponding to each candidate path are determined based on the length and width of the leveling blade.

9. The flat ground path planning method according to claim 7, characterized in that: The method for determining the target flat ground path includes: An efficiency score corresponding to each candidate path is determined according to the work efficiency corresponding to each candidate path.

10. A device for determining a path range on flat ground, characterized in that: include: An updating module is used to update the current operating range when the flatness of the plot of land in the current operating range meets the set condition, so as to obtain a target operating range whose flatness does not meet the set condition; the target operating range includes the current operating range; wherein the set condition is that the flatness of the plot of land in the current operating range is less than or equal to the expected flatness of the target operating plot; the current operating range and the target operating range are both located in the target operating plot; the determined target operating range is used to plan a leveling path when the location of the area to be leveled is unknown; The flat ground path is the one with the highest efficiency score among multiple candidate paths within the target operation range; and the method for generating multiple candidate paths includes: Acquire the positions of a plurality of boundary points of the target operating range; wherein the straight-line distance between the position of any one of the boundary points and the current position of the leveling device is equal to the length of the target operating range, and the distance between any two adjacent boundary points is greater than or equal to the width of the leveling blade of the leveling device; generate the plurality of candidate paths whose path directions are consistent with the current direction according to the current position of the leveling device and the positions of the plurality of boundary points; The working efficiency of each candidate path is the superposition value of the elevation changes of each sub-operation area on the candidate path; the elevation change of each sub-operation area is determined based on the average height value of the sub-operation area, the average height value of the terrain within the target working range, the amount of earthwork fully loaded by the shovel, and the amount of earthwork when the leveling equipment is at the current position.

11. A path planning device for flat ground, characterized in that: include: A determination module, used to determine a target operation range according to the flatness of the target operation plot; The flatness of the land in the target operating range does not meet the set condition; wherein the set condition is that the flatness of the land in the target operating range is less than or equal to the expected flatness of the target operating land; the target operating range is obtained according to the method for determining the flat ground path range according to any one of claims 1 to 6; In the case where the location of the area to be leveled is unknown, determining a target leveling path within the target operating range, the target leveling path being used to guide the leveling equipment to perform leveling operations within the target operating range; the target leveling path being the one with the highest efficiency score among multiple candidate paths within the target operating range; The method for generating multiple candidate paths includes: Acquire the positions of a plurality of boundary points of the target operating range; wherein the straight-line distance between the position of any one of the boundary points and the current position of the leveling device is equal to the length of the target operating range, and the distance between any two adjacent boundary points is greater than or equal to the width of the leveling blade of the leveling device; generate the plurality of candidate paths whose path directions are consistent with the current direction according to the current position of the leveling device and the positions of the plurality of boundary points; The working efficiency of each candidate path is the superposition value of the elevation changes of each sub-operation area on the candidate path; the elevation change of each sub-operation area is determined based on the average height value of the sub-operation area, the average height value of the terrain within the target working range, the amount of earthwork fully loaded by the shovel, and the amount of earthwork when the leveling equipment is at the current position.

12. A processing device, characterized in that: comprising one or more processors; A memory for storing one or more programs, which, when executed by the one or more processors, enables the one or more processors to implement the method for determining a flat-ground path range as described in any one of claims 1 to 6 or the method for planning a flat-ground path as described in claims 7 to 9.

13. A storage medium, characterized in that: A computer program is stored thereon, characterized in that when the computer program is executed by a processor, the method for determining a flat-ground path range as described in any one of claims 1 to 6 or the method for planning a flat-ground path as described in claims 7 to 9 is implemented.

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