A regional agricultural machinery cooperative operation path planning method

Abstract

The application discloses a kind of regional agricultural machinery cooperative operation path planning methods, it includes the following steps: establishing regional farmland model;Minimum turning radius of agricultural machinery is input, on the basis of regional farmland model, agricultural machinery cooperative operation path planning model is established;Simulated annealing algorithm is used to solve agricultural machinery cooperative operation path planning model;The operation path of each agricultural machine is output;The application can reduce the total length and time of turning path, improve work efficiency.

Description

Technical Field

[0001] This invention relates to the field of intelligent agricultural machinery operation control technology, and in particular to a method for regional agricultural machinery collaborative operation path planning. Background Technology

[0002] Currently, research on agricultural machinery path planning methods mainly focuses on single-machine operation path planning. These methods typically use irregularly shaped farmland as the operational scenario, studying the optimal operating direction of the machinery, determining its turning and field operation modes, and dividing the farmland into grid cells to study the optimal operating sequence of the machinery, reducing the number of turns and non-operational distances. Common machinery operation modes include zigzag, closed-ridge, open-ridge, and row-laying operations; turning modes mainly include U-shaped, bow-shaped, Ω-shaped, and fishtail-shaped turns. This method reduces the utilization rate of agricultural machinery and does not meet the requirements of large-scale field agricultural production.

[0003] Existing methods for planning collaborative agricultural machinery operation paths mainly rely on the traditional row-by-row operation approach. The operation areas allocated to each agricultural machine do not overlap, which is equivalent to simply merging the paths of single-machine operations to obtain multi-machine operation paths. This method significantly increases the total length of turning paths and the total turning time. Summary of the Invention

[0004] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0005] In view of the problems existing in the above and / or existing press designs, the present invention is proposed.

[0006] Therefore, the purpose of this invention is to provide a method for regional agricultural machinery collaborative operation path planning, which can significantly reduce the total length of turning paths and the total turning time, improve operation efficiency, and reduce operation consumption.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a method for regional agricultural machinery collaborative operation path planning, which includes the following steps:

[0008] Establish regional farmland models;

[0009] Input the minimum turning radius of the agricultural machinery, and establish a collaborative operation path planning model for agricultural machinery based on the regional farmland model;

[0010] The simulated annealing algorithm is used to solve the path planning model for cooperative agricultural machinery operations.

[0011] Output the operating path of each agricultural machine.

[0012] As a preferred embodiment of the regional agricultural machinery collaborative operation path planning method described in this invention, the specific steps for establishing the regional farmland model are as follows:

[0013] The number of areas set is equal to the number of agricultural machines;

[0014] The size of each area is determined based on the total number of work rows and the number of agricultural machines.

[0015] Determine the size of the overlapping area between regions while minimizing the constraints on each agricultural machine's choice of operating path within its respective area.

[0016] As a preferred embodiment of the regional agricultural machinery collaborative operation path planning method described in this invention, the method for selecting turning paths is as follows:

[0017] W=2r min The agricultural machinery enters the adjacent row to work in a U-shaped turn;

[0018] W>2r min The agricultural machinery enters the adjacent row to work by making an arc-shaped turn;

[0019] W<2r min When W=2r min When / Z (Z=1,2,3,…), the agricultural machinery enters the work row with a U-shaped turning path at an interval of Z-1 rows for operation, or the agricultural machinery enters the work row with an arc-shaped turning path at an interval not less than Z rows for operation; when r min / (Z+1)<W<2r min When / Z (Z=1,2,3,…), the agricultural machinery enters the work row with a bow-shaped turning path at interval Z rows to carry out the work.

[0020] Where, r min Where W is the minimum turning radius, Z is the working width, and Z is the number of working rows.

[0021] As a preferred embodiment of the regionalized agricultural machinery collaborative operation path planning method of the present invention, the agricultural machinery collaborative operation path planning model established based on the regionalized farmland model is as follows:

[0022] The optimization objectives are the total length of the turning path and the total turning time of multiple agricultural machines.

[0023] Each coordinate point can only be traversed once by one agricultural machine, and the sum of the number of coordinate points traversed by all agricultural machines equals the total number of coordinate points constituting the farmland.

[0024] As a preferred embodiment of the regionalized agricultural machinery collaborative operation path planning method described in this invention, when the farmland is divided into 3 or 4 regions, the agricultural machinery collaborative operation path planning model is specifically as follows:

[0025] Define decision variables. ;

[0026] ;

[0027] ;

[0028] ;

[0029] Where, x ij Z is the decision variable for whether there is a line connecting coordinate points i and j. f Z represents the length of the agricultural machinery travel path in each of the three areas of farmland; r N represents the length of the agricultural machinery travel path in each of the four areas of farmland; f N represents the number of coordinate points traversed by the agricultural machinery in each of the three regions of farmland; r d represents the number of coordinate points traversed by the agricultural machinery in each of the four regions of farmland; ij This represents the distance between coordinate points i and j;

[0030] Establish the objective function.

[0031] Objective function one,

[0032] ;

[0033] Where Z is the total distance traveled by multiple machines; m is the number of agricultural machines; Z p Z is the total length of the travel path of the p-th agricultural machine; dp Z is the total length of the working path of the p-th agricultural machine; tp Z is the total length of the turning path of the p-th agricultural machine; ts This represents the total length of the turning path for multiple aircraft.

[0034] Objective function two,

[0035] ;

[0036] Among them, T p T represents the total travel time of the p-th agricultural machine; wp T represents the total operating time of the p-th agricultural machine; tp T represents the total turning time of the p-th agricultural machine; ts The total turning time for multiple machines is denoted by m, where m is the number of agricultural machines.

[0037] ;

[0038] Among them, v t β is the turning speed of the agricultural machinery. p Let p be the number of operation rows traversed by the p-th agricultural machine.

[0039] As a preferred embodiment of the regional agricultural machinery collaborative operation path planning method of the present invention, the agricultural machinery collaborative operation path planning model further includes the following constraints.

[0040] ;

[0041] ;

[0042] ;

[0043] ;

[0044] ;

[0045] Where N' is the number of coordinate points contained in the operation path of a farm machine, y(q) is the q-th coordinate point traversed by the farm machine. When q is odd, the coordinate point of the next traversal of the farm machine is determined and unique, that is, the coordinate point at the other end of the operation line; when q is even, the coordinate point of the next traversal of the farm machine is selected from the set of coordinate points located at the same end of the field; θ is the code of the two ends of the farmland, with values ​​of 1 and 2, H(θ) is the set of coordinate points constituting the ends of the farmland, n is the number of vertical coordinate points, V is the total set of coordinate points constituting the farmland, and Q is the set of coordinate points of the operation path of a farm machine.

[0046] Compared with the prior art, the present invention has the following technical effects: the total length of the turning path and the total turning time of the agricultural machinery planned using the present invention are significantly reduced, the operating efficiency is greatly increased, which is conducive to reducing operating costs and improving the operating efficiency and utilization rate of agricultural machinery; it can be applied to the automatic driving technology of agricultural machinery in smart field agriculture. Attached Figure Description

[0047] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0048] Figure 1 This is a diagram of the U-shaped turning path in this invention;

[0049] Figure 2 This is a diagram of the bow-shaped turning path in this invention;

[0050] Figure 3 This is a schematic diagram of farmland in three regions of this invention;

[0051] Figure 4 This is a schematic diagram of farmland in four regions of this invention;

[0052] Figure 5 This is a flowchart of the simulated annealing algorithm in this invention;

[0053] Figure 6 This is a diagram showing the regional collaborative operation path of the three agricultural machines in this invention;

[0054] Figure 7 This is a diagram showing the regional collaborative operation path of the four agricultural machines in this invention;

[0055] Figure 8 This is a comparison chart of the operational indicators of the regional collaborative operation of 3 and 4 agricultural machines in this invention and the traditional multi-machine row-by-row operation method;

[0056] Figure 9 This is a comparison chart of the operational indicators for regional collaborative operation and single-machine operation modes of 3 and 4 agricultural machines in this invention;

[0057] Figure 10 This is a comparison chart of the operational efficiency of 3 and 4 agricultural machines working in different areas in this invention, compared with the traditional multi-machine row-by-row operation method and single-machine operation method. Detailed Implementation

[0058] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0059] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0060] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0061] Example 1

[0062] Reference Figure 1 and Figure 2This is the first embodiment of the present invention. This embodiment provides a method for planning the collaborative operation path of agricultural machinery in different regions. It uses dynamic testing to realize the dynamic stress and dynamic displacement test of the machine body, and adjusts the simulation model according to the dynamic load to ensure the dynamic accuracy index of the design.

[0063] A method for regional agricultural machinery collaborative operation path planning includes the following steps:

[0064] (S1) Obtain the location information of the regular farmland: Use a GPS differential positioning device to obtain the coordinates of the four vertices of the target farmland;

[0065] (S2) Calculate the width and length of the farmland based on its location information;

[0066] (S3) Input the working width of the agricultural machinery to divide the farmland into several working rows of equal width;

[0067] (S4) The midpoints of the two ends of the farmland operation row are numbered according to the rules. Specifically, the farmland operation row is simplified to the line connecting the midpoints of the two ends. The midpoints of the two ends of the farmland operation row are numbered to ensure that the coordinate points of the two ends of the farmland are consecutively numbered and that the sum of the coordinate point numbers of the two ends of all operation rows is equal.

[0068] (S5) Input the number of agricultural machines to be used and establish a regional farmland model;

[0069] The specific steps for establishing a regional farmland model are as follows:

[0070] (S501) The number of areas set is equal to the number of agricultural machines;

[0071] (S502) Determine the size of each area, i.e. the number of operating rows it contains, based on the total number of operating rows and the number of agricultural machines;

[0072] (S503) Determine the size of the overlapping area between areas, i.e. the number of work rows, while ensuring that the constraints on each agricultural machine in selecting its work path within its respective area are minimized.

[0073] (S504) Input the minimum turning radius of the agricultural machinery, and establish a collaborative operation path planning model for agricultural machinery based on the regional farmland model;

[0074] (S6) Input the minimum turning radius of the agricultural machinery. Based on the regional farmland model, establish a collaborative operation path planning model for agricultural machinery. Specifically,

[0075] (S601) Let the network be a directed graph G=(V,E,D), where V={1,2,…,N} represents the set of coordinate points that constitute the farmland operation rows, N is the total number of coordinate points that constitute the farmland, and E... ij={(i,j)|i,j∈V} represents the set of lines connecting any two coordinate points i and j in the farmland; where E ij ={∅|{i∈H1,j∈H2}∪{i∈H2,j∈H1}}, i+j≠N+1, indicating that when coordinate points i and j belong to two different sets H1 and H2 respectively and i and j are not located at opposite ends of the same work row, there is no connection between the two coordinate points; D=(d ij) Where D represents the distance matrix between coordinate points, d ij Let d represent the distance between coordinates i and j, and d ij =d ji Based on the traversal characteristics of agricultural machinery to coordinate points, in the distance matrix D, the distance between coordinate points that are not connected is set to 0, and the distance between the remaining coordinate points is set according to the operating parameters of the agricultural machinery.

[0076] (S602) The total length of the turning path and the total turning time of multiple agricultural machines are the optimization objectives;

[0077] Define decision variables. ;

[0078] ;

[0079] ; ;

[0080] Where, x ij Z is the decision variable for whether there is a line connecting coordinate points i and j. f Z represents the length of the agricultural machinery travel path in each of the three areas of farmland; r N represents the length of the agricultural machinery travel path in each of the four areas of farmland; f N represents the number of coordinate points traversed by the agricultural machinery in each of the three regions of farmland; r d represents the number of coordinate points traversed by the agricultural machinery in each of the four regions of farmland; ij This represents the distance between coordinate points i and j;

[0081] Establish the objective function.

[0082] Objective function one,

[0083] ;

[0084] Where Z is the total distance traveled by multiple machines; m is the number of agricultural machines; Z p Z is the total length of the travel path of the p-th agricultural machine; dp Z is the total length of the working path of the p-th agricultural machine; tp Z is the total length of the turning path of the p-th agricultural machine; tsThis represents the total length of the turning path for multiple aircraft.

[0085] Objective function two,

[0086] ;

[0087] Among them, T p T represents the total travel time of the p-th agricultural machine; wp T represents the total operating time of the p-th agricultural machine; tp T represents the total turning time of the p-th agricultural machine; ts The total turning time for multiple machines is denoted by m, where m is the number of agricultural machines.

[0088] ;

[0089] Among them, v t β is the turning speed of the agricultural machinery. p Let p be the number of operation rows traversed by the p-th agricultural machine.

[0090] (S603) Each coordinate point can only be traversed once by one agricultural machine, and the sum of the number of coordinate points traversed by all agricultural machines is equal to the total number of coordinate points constituting the farmland.

[0091] Constraints

[0092] ;

[0093] ;

[0094] ;

[0095] ;

[0096] This ensures that the task will only end after all points have been traversed;

[0097] Where N' is the number of coordinate points contained in the operation path of a farm machine, y(q) is the q-th coordinate point traversed by the farm machine. When q is odd, the coordinate point of the next traversal of the farm machine is determined and unique, that is, the coordinate point at the other end of the operation line; when q is even, the coordinate point of the next traversal of the farm machine is selected from the set of coordinate points located at the same end of the field; θ is the code of the two ends of the farmland, with values ​​of 1 and 2, H(θ) is the set of coordinate points constituting the ends of the farmland, n is the number of vertical coordinate points, V is the total set of coordinate points constituting the farmland, and Q is the set of coordinate points of the operation path of a farm machine.

[0098] (S7) Solve the agricultural machinery cooperative operation path planning model using the simulated annealing algorithm, specifically including the following steps;

[0099] (S701) Initialization: Initial temperature T i=T0 (sufficiently large); maximum number of iterations maxgen; initial state S k =S0, i.e., the initial operating path of the agricultural machinery; gen, the number of iterations at each temperature; temperature decay coefficient α; Boltzmann constant η;

[0100] (S702) Calculate the current temperature T i The energy of the lower solid C(S) k ), that is, the evaluation function—the length of the agricultural machinery operation path;

[0101] (S703) Use the exchange method (i.e., randomly select two positions on the path and then exchange the elements in these two positions) to generate a new state solution S. k+1 ;

[0102] (S704) Calculate the current temperature T i The energy of the lower solid C(S) k+1 );

[0103] (S705) Calculate the energy increment ∆C = C(S) k+1 )-C(S k );

[0104] (S706) According to the criterion of accepting the new state (which is the prior art) with a certain probability, if ∆C<0, then S is accepted. k+1 As the next current solution, otherwise, with probability exp(-∆C / ηT) i+1 Accept S k+1 As the next current solution; if S k+1 If accepted, the current solution is Sk+1; otherwise, the current solution remains unchanged at Sk.

[0105] (S707) Determine if the number of iterations has reached maxgen. If the condition is met, lower the temperature to T. i+1 =αT i Otherwise, the temperature remains unchanged;

[0106] (S708) Determine whether the maximum number of iterations maxgen has been reached. If it is, output the current state and energy value as the optimal solution and end the calculation; otherwise, return to step (S703).

[0107] (S8) Output the operating path of each agricultural machine.

[0108] The method for selecting the turning path is as follows:

[0109] W=2r min The agricultural machinery enters the adjacent row to work in a U-shaped turn;

[0110] W>2r min The agricultural machinery enters the adjacent row to work by making an arc-shaped turn;

[0111] W<2r min When W=2r min When / Z (Z=1,2,3,…), the agricultural machinery enters the work row with a U-shaped turning path at an interval of Z-1 rows for operation, or the agricultural machinery enters the work row with an arc-shaped turning path at an interval not less than Z rows for operation; when r min / (Z+1)<W<2r min When / Z (Z=1,2,3,…), the agricultural machinery enters the work row with a bow-shaped turning path at interval Z rows to carry out the work.

[0112] Where, r min Where W is the minimum turning radius, Z is the working width, and Z is the number of working rows.

[0113] The total length of the turning path and the total turning time of agricultural machinery planned using this invention are significantly reduced, and the operating efficiency is greatly increased. This helps to reduce operating costs and improve the operating efficiency and utilization rate of agricultural machinery. It can be applied to the automatic driving technology of agricultural machinery in smart field agriculture.

[0114] Example 2

[0115] Reference Figures 6-10 This is the second embodiment of the present invention. The difference between this embodiment and embodiment 1 is that this embodiment takes 18 rows of farmland as an example and uses scientific experimental methods to verify the technical effects of this application.

[0116] The farmland is divided into 18 rows according to the working width of the agricultural machinery, which is 2.6 m. Each row has a node at its midpoint, representing a coordinate point. The set of coordinate points constituting a row is denoted by V = {1, 2, ..., N}, where N is the total number of coordinate points. A row can be simplified as a line connecting the coordinate points at both ends of the row, as shown below. Figure 3 and Figure 4 The sequence is: 1→36, 2→35, 3→34…18→19. Since the agricultural machinery traverses the work rows sequentially, set V is adjusted to set H={a1,b1,a2,b2,…,aN / 2,bN / 2} according to the requirement that the coordinates at both ends of each work row form a group, where a… i +b i =N+1, a i and b i These are the coordinates of points located at points 1 and 2, respectively. Set H can be divided into two other sets, H1 and H2, where set H1 = {a1, a2, ..., a...} is formed by the coordinates of points located at point 1. N / 2 The set H2 = {b1, b2, ..., b} is composed of the coordinates of the points located at point 2. N / 2}

[0117] This invention designs a multi-machine collaborative operation path planning method for 3 and 4 agricultural machines in an 18-row farmland, dividing the 18-row farmland into 3 and 4 regions respectively, with overlapping areas between regions. Considering that each region contains a certain number of work rows, it is necessary not only to ensure that the assigned work tasks of the agricultural machines can be accommodated, but also to allow sufficient overlap between adjacent regions, thereby maximizing the possibility of the agricultural machines selecting work rows. Therefore, this invention chooses to include 12 work rows in each region.

[0118] The system is divided into three regions, each containing 12 job rows, using a set G. f Given the coordinates of points in storage area f, G1 = {1, 2, ..., 12, 25, 26, ..., 36}, and so on, G2 = {4, 5, ..., 15, 22, 23, ..., 33}, and G3 = {7, 8, ..., 18, 19, 20, ..., 30}.

[0119] The system is divided into four regions, each containing 12 rows. The coordinates of the regions are stored in a set Ir. Then, I1 = {1,2,…,12,25,26,…,36}, and so on. I2 = {3,4,…,14,23,24,…,34}, I3 = {5,6,…,16,21,22,…,32}, and I4 = {7,8,…,18,19,20,…,30}.

[0120] In step (S603), a constraint is added when the region is divided into 3 areas.

[0121] ;

[0122] ;

[0123] In the formula, P1, P2, and P3 are the sets of coordinate points that constitute the working paths of the three agricultural machines;

[0124] ;

[0125] ;

[0126] When divided into 4 areas

[0127] ;

[0128] ;

[0129] In the formula, K1, K2, K3, and K4 are the sets of coordinate points that constitute the working paths of the four agricultural machines;

[0130] ;

[0131] .

[0132] In step (S7), in the three regions, the operation paths of agricultural machines No. 1 and No. 3 are solved first, and the operation path of agricultural machine No. 2 is determined last; in the four regions, the operation paths of agricultural machines No. 1 and No. 4 are solved first, and the operation paths of agricultural machines No. 2 and No. 3 are determined last. This is because solving the operation paths with more constraints first helps to reduce the difficulty of solving and reduce the calculation time.

[0133] Figure 6 and Figure 7 The diagrams show the collaborative operation paths for 3 and 4 agricultural machines, respectively. After regional division, the overlapping paths of each machine are minimal, and the intersection points occur at different times within each machine's path, thus eliminating operational conflicts. The individual operation paths for the 3 machines are: Machine 1: 1→36→33→4→7→30→34→3→6→31→35→2; Machine 2: 11→26→29→8→14→23→27→10→5→32→28→9; Machine 3: 18→19→22→15→12→25→21→16→13→24→20→17. The individual operation paths for the 4 machines are: Machine 1: 1→36→33... →4→7→30→35→2→5→32, Farm machine No. 2: 11→26→29→8→3→34→31→6, Farm machine No. 3: 13→24→27→10→16→21→28→9, Farm machine No. 4: 18→19→22→15→12→25→20→17→14→23; From the above results, it can be seen that the working path of the farm machine conforms to the working characteristics, and the turning path is U-shaped and bow-shaped, which meets the path planning conditions.

[0134] The efficiency of multi-machine collaborative operation can be calculated using the following formula. v is the linear operating speed of the agricultural machinery, and N is the total number of coordinate points.

[0135] Figure 8 , Figure 9 and Figure 10 The figures show a comparison of operational indicators for regional collaborative operations with 3 and 4 agricultural machines, as well as traditional multi-machine row-by-row operations and single-machine operations. The operational indicators include the total length of the turning path, the total turning time, and the operational efficiency. As can be seen from the figures, compared with traditional multi-machine row-by-row operations and single-machine operations, the regional collaborative operation path planning method designed in this invention significantly reduces the total length of the turning path and the total turning time for 3 and 4 agricultural machines, and significantly increases the operational efficiency. This is beneficial for reducing operational costs and improving the operational efficiency and utilization rate of agricultural machines.

[0136] Compared with existing technologies, this invention reduces operational conflicts through regional collaborative operations. Based on this, it formulates a U-shaped and bow-shaped turning path selection strategy for agricultural machinery and applies it to the regional agricultural machinery collaborative operation path planning method. This significantly reduces the total length of the turning path and the total turning time of agricultural machinery, reduces operating costs, and further improves operating efficiency.

[0137] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A method for regional agricultural machinery collaborative operation path planning, characterized in that: It includes the following steps, Establish regional farmland models; Input the minimum turning radius of the agricultural machinery, and establish a collaborative operation path planning model for agricultural machinery based on the regional farmland model; The simulated annealing algorithm is used to solve the path planning model for cooperative agricultural machinery operations. Output the operating paths of each agricultural machine; When farmland is divided into 3 or 4 zones, the specific path planning model for cooperative agricultural machinery operations is as follows: Define decision variables. ; ； ； ； Where, x ij Z is the decision variable for whether there is a line connecting coordinate points i and j. f Z represents the length of the agricultural machinery travel path in each of the three areas of farmland; r N represents the length of the agricultural machinery travel path in each of the four areas of farmland; f N represents the number of coordinate points traversed by the agricultural machinery in each of the three regions of farmland; r d represents the number of coordinate points traversed by the agricultural machinery in each of the four regions of farmland; ij This represents the distance between coordinate points i and j; Establish the objective function. Objective function one, ； Where Z is the total distance traveled by multiple machines; m is the number of agricultural machines; Z p Z is the total length of the travel path of the p-th agricultural machine; dp Z is the total length of the working path of the p-th agricultural machine; tp Z is the total length of the turning path of the p-th agricultural machine; ts This represents the total length of the turning path for multiple aircraft. Objective function two, ； Among them, T p T represents the total travel time of the p-th agricultural machine; wp T represents the total operating time of the p-th agricultural machine; tp T represents the total turning time of the p-th agricultural machine; ts The total turning time for multiple machines is denoted by m, where m is the number of agricultural machines. ； Among them, v t β is the turning speed of the agricultural machinery. p Let p be the number of operation rows traversed by the p-th agricultural machine.

2. The method for regional agricultural machinery collaborative operation path planning as described in claim 1, characterized in that: The specific steps for establishing a regional farmland model are as follows: The number of areas set is equal to the number of agricultural machines; The size of each area is determined based on the total number of work rows and the number of agricultural machines. Determine the size of the overlapping area between regions while minimizing the constraints on each agricultural machine's choice of operating path within its respective area.

3. The method for regional agricultural machinery collaborative operation path planning as described in claim 2, characterized in that: The method for selecting the turning path is as follows: W=2r min The agricultural machinery enters the adjacent row to work in a U-shaped turn; W>2r min The agricultural machinery enters the adjacent row to work by making an arc-shaped turn; W<2r min When W=2r min When / Z (Z=1,2,3,…), the agricultural machinery enters the work row with a U-shaped turning path at an interval of Z-1 rows for operation, or the agricultural machinery enters the work row with an arc-shaped turning path at an interval not less than Z rows for operation; when r min / (Z+1)<W<2r min When / Z (Z=1,2,3,…), the agricultural machinery enters the work row with a bow-shaped turning path at interval Z rows to carry out the work. Where, r min Where W is the minimum turning radius, Z is the working width, and Z is the number of working rows.

4. The method for regional agricultural machinery cooperative operation path planning as described in any one of claims 1 to 3, characterized in that: Based on the regional farmland model, the agricultural machinery collaborative operation path planning model is established as follows: The optimization objectives are the total length of the turning path and the total turning time of multiple agricultural machines. Each coordinate point can only be traversed once by one agricultural machine, and the sum of the number of coordinate points traversed by all agricultural machines equals the total number of coordinate points constituting the farmland.

5. The method for regional agricultural machinery cooperative operation path planning as described in any one of claims 1 to 3, characterized in that: The agricultural machinery collaborative operation path planning model also includes the following constraints. ； ； ； ； ； Where N' is the number of coordinate points contained in the operation path of a farm machine, y(q) is the q-th coordinate point traversed by the farm machine. When q is odd, the coordinate point of the next traversal of the farm machine is determined and unique, that is, the coordinate point at the other end of the operation line; when q is even, the coordinate point of the next traversal of the farm machine is selected from the set of coordinate points located at the same end of the field; θ is the code of the two ends of the farmland, with values ​​of 1 and 2, H(θ) is the set of coordinate points constituting the ends of the farmland, n is the number of vertical coordinate points, V is the total set of coordinate points constituting the farmland, and Q is the set of coordinate points of the operation path of a farm machine.

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