A method for driving agricultural machinery in all-area operation

Abstract

The present invention discloses a method for driving an agricultural machine operation in a whole area, which comprises the following steps: (S1) acquiring the position information of a regular farmland; (S2) calculating the width and length of the farmland according to the position information of the farmland; (S3) inputting the operation width of the agricultural machine and dividing the farmland into a plurality of operation rows of equal width; (S4) numbering the midpoints of the two ends of the operation rows of the farmland according to rules and establishing a whole area farmland model; (S5) inputting the minimum turning radius and the number of agricultural machines and establishing a whole area agricultural machine cooperative operation path planning model based on the whole area farmland model; (S6) designing a whole area agricultural machine cooperative operation path planning algorithm and solving the agricultural machine cooperative operation path planning model; (S7) outputting the operation path and operation index of each agricultural machine; the present invention makes the operation tasks of each agricultural machine more balanced and the operation efficiency high.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent agricultural machinery operation control, and in particular to a full-area agricultural machinery operation driving method. Background Art

[0002] Agricultural machinery path planning is one of the key technologies of the agricultural machinery automatic driving system and the basis for realizing agricultural machinery path tracking control. Under complex and changeable agricultural environmental conditions, it can not only provide accurate guidance information for agricultural machinery, but also help improve the quality of agricultural machinery operations. As agricultural production develops towards scale, intensification and specialization, facing large-scale farmland, it is difficult for a single machine to complete the operation within the specified time, and the efficiency of a single machine operation is low. The collaborative operation of multiple machines can effectively ensure the completion of the operation task and facilitate the efficient management of agricultural affairs. On the basis of ensuring the safety, quality and accuracy of the operation, an optimal path is planned for each agricultural machine to reduce operation consumption and improve operation efficiency.

[0003] In the prior art, the traditional row-by-row operation method is equivalent to simply merging the paths of single-machine operations to obtain a multi-machine operation path. This method greatly increases the total length of the turning path and the total turning time. The multi-machine collaborative operation path is planned by traditional algorithms and heuristic algorithms. Traditional algorithms are difficult to solve the problem of large data scale, heuristic algorithms are prone to fall into local optimality, and the algorithm path finding is highly random, making it difficult to obtain an operation path that meets the characteristics of agricultural machinery operations. The optimization target of the multi-machine collaborative operation planning method is not perfect, and the operation balance rate is not included in the optimization range, resulting in unequal interests between the operation tasks of agricultural machinery and the operators, which reduces the utilization rate of agricultural machinery. Summary of the invention

[0004] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0005] The present invention is proposed in view of the above-mentioned and / or existing problems in the control of existing agricultural machinery operations.

[0006] Therefore, an object of the present invention is to provide a full-area agricultural machinery operation driving method, which reduces operation consumption and improves operation efficiency through the coordinated operation of agricultural machinery in the full area.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions: a method for driving a full-area agricultural machine operation, which comprises the following steps:

[0008] (S1) obtaining location information of regular farmland;

[0009] (S2) calculating the width and length of the farmland according to the location information of the farmland;

[0010] (S3) inputting the working width of the agricultural machine and dividing the farmland into a number of working rows of equal width;

[0011] (S4) numbering the midpoints of the two ends of the farmland operation row according to a rule to establish a farmland model for the entire region;

[0012] (S5) inputting the minimum turning radius of the agricultural machinery and the number of agricultural machinery, and establishing a path planning model for coordinated operation of agricultural machinery in the entire region based on the farmland model of the entire region;

[0013] (S6) designing a path planning algorithm for coordinated operation of agricultural machinery in the entire region, and solving a path planning model for coordinated operation of agricultural machinery;

[0014] (S7) Outputting the operation path and operation index of each agricultural machine.

[0015] As a further improvement of the present invention, in (S1), a GPS differential positioning device is used to obtain the coordinates of the four vertices of the target farmland.

[0016] As a further improvement of the present invention, in (S4), the specific steps of establishing the path planning model for coordinated operation of agricultural machinery in the entire region are:

[0017] (S401) Define variables

[0018]

[0019] Among them, X pi is the decision variable for whether the p-th agricultural machine traverses the coordinate point i;

[0020] R p ={i|X pi =1};

[0021] Among them, Rp is the set of coordinate points traversed by the pth agricultural machine, which constitutes the operation path of the agricultural machine;

[0022]

[0023] (S402) setting three different objective functions, including objective function 1, objective function 2 and objective function 3;

[0024] (S403) Set constraint conditions.

[0025] As a further improvement of the present invention, in (S402), the objective function 1 is specifically:

[0026]

[0027] Among them, Yp is the driving path length of the pth agricultural machine; Y tp is the turning path length of the pth agricultural machine; Y ts is the total length of the turning paths of multiple machines, is the distance between the qth coordinate point and the q+1th coordinate point traversed by the pth agricultural machine;

[0028] The objective function 2 is specifically:

[0029]

[0030] Taking into account the difference between the straight-line speed and the turning speed of agricultural machinery, and ignoring the slight change in the speed of agricultural machinery during the turning process,

[0031]

[0032] Among them, T fm is the total travel time of multiple machines; T pm is the total driving time of the pth agricultural machine; T sp is the turning time of the pth agricultural machine; T tm is the total turning time of multiple aircraft, v t is the turning speed of the agricultural machinery, β p is the number of operation rows traversed by the pth agricultural machine;

[0033] The objective function three is specifically:

[0034]

[0035] minμ is the minimum job balance rate, Y p’ is the driving path length of the p'th agricultural machine, and p' is the serial number of the agricultural machine.

[0036] As a further improvement of the present invention, the constraint condition is

[0037] Among them, n pq represents the decision variable of the pth agricultural machine traversing the qth coordinate point; N is the number of coordinate points constituting the farmland;

[0038] n q ≥2;

[0039]

[0040]

[0041] Among them, X pi is the decision variable for whether the pth agricultural machine traverses the coordinate point i, n q is the number of coordinate points traversed by each agricultural machine, α p(q) is the qth coordinate point traversed by the pth agricultural machine, R p is the set of coordinate points traversed by the pth agricultural machine, and i is the sequence number of the coordinate point.

[0042] As a further improvement of the present invention, the full-area agricultural machinery collaborative operation path planning algorithm specifically includes the following steps:

[0043] (S601) calculating a distance matrix D;

[0044] (S602) Initialize parameters, set the number of agricultural machines m, the number of coordinate points constituting the farmland N, the virtual point set Q, the total number of coordinate points M = N + m-1; the current operation path τ and the new operation path τ′; the distance set δ between adjacent coordinate points of the current operation path and the distance set δ′ between adjacent coordinate points of the new operation path, where the number of elements is p; the cumulative length set F of the current operation path; the coordinate point sets Φ1~Φ1 that have been traversed at each layer M , the number of initial backtracking coordinate points h = 5;

[0045] (S603) p=q=i=1;

[0046] (S604) Randomly select a coordinate point c from V i As a starting point, c i satisfy And c i ∈V, store it in the traversal sequence τ and the set Φ q ;

[0047] (S605) assign the value after q+1 to the new q;

[0048] (S606) The next coordinate point that the agricultural machinery traverses is N+1-c i , store it in the traversal sequence τ and the set Φ q , calculate the coordinate point c i and N+1-c i The distance between them is stored in δ(p);

[0049] (S607) Determine whether the number of elements in τ is M. If so, it proves that a complete operation path has been obtained. Calculate the cumulative length set F of the current operation path according to δ, calculate the number n of virtual points in the last h coordinate points in τ, and then enter the backtracking phase. The backtracking ends and goes to step (S610); if not, continue to traverse downward;

[0050] (S608)N+1-c i Is it from set H1? If so, assign the value after q+1 to the new q, and the next coordinate point c i+1 satisfy And {c i+1∈{H1∪Q}}, stored in τ and Φ q , go to the next step, if not, assign the value after q+1 to the new q, the next coordinate point c i+1 satisfy And {c i+1 ∈{H2∪Q}}, stored in τ and Φ q , go to the next step;

[0051] (S609) Determine c i+1 Does it belong to the set Q? If so, assign the value after q+1 to the new q and traverse the next coordinate point c i+2 , which satisfies {c i+2 ∈H1|N+1-c i ∈H1} or {c i ∈H2|N+1-c i ∈H2}, stored in τ and Φ q , assign the value after p+1 to the new p, and the value after i+2 to the new i, and return to step (S605); if not, assign the value after p+1 to the new p, and calculate the coordinate point N+1-c i+1 and c i+1 The distance between them is stored in δ(p), and the value after p+1 is assigned to the new p, and the value after i+1 is assigned to i, and then go to step (S605);

[0052] (S610) Determine whether h is equal to M-1. If so, continue to determine whether the number of elements in Φ1 is N. If so, it means that all traversal processes have been completed and the optimal operation path and its length are output; if not, it means that the original starting point needs to be updated and return to step (S603).

[0053] Compared with the prior art, the present invention has the following technical effects: the present invention avoids multi-machine operation conflicts and optimizes the operation path balance rate by establishing a full-area collaborative operation path planning model, so that the operation tasks of each agricultural machine are more balanced and the agricultural machinery is further reasonably utilized; in the full-area multi-machine collaborative operation path planning algorithm, a number of constraints are set, a pruning strategy is added, and the number of backtracking coordinate points is set according to different situations, so as to shorten the time for finding the optimal operation path and improve the operation efficiency of the algorithm. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0055] Figure 1This is a schematic diagram of farmland in the entire region in the present invention.

[0056] Figure 2 This is the flow chart of the path planning algorithm for multi-machine collaborative operations in the entire area.

[0057] Figure 3 This is a full-area collaborative operation path trajectory diagram of the three agricultural machines in the present invention.

[0058] Figure 4 This is a full-area collaborative operation path trajectory diagram of the four agricultural machines in the present invention.

[0059] Figure 5 This is a comparison chart of operating indicators between the full-area collaborative operation of three and four agricultural machines in the present invention and the traditional multi-machine row-by-row operation mode.

[0060] Figure 6 It is a comparison chart of operation indicators of the full-area collaborative operation of three and four agricultural machines and the single-machine operation mode in the present invention.

[0061] Figure 7 This is a comparison chart of the operating efficiency of the full-area collaborative operation of three or four agricultural machines in the present invention and the traditional multi-machine row-by-row operation mode and single-machine operation mode. DETAILED DESCRIPTION

[0062] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0063] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0064] 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 term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0065] Example 1

[0066] Reference Figure 1 , which is the first embodiment of the present invention, provides a full-area agricultural machinery operation driving method, which uses dynamic tests to implement dynamic stress and dynamic displacement tests on the fuselage, and adjusts the simulation model according to the dynamic load to ensure the dynamic accuracy index of the design.

[0067] A method for driving a full-area agricultural machine operation comprises the following steps:

[0068] (S1) obtaining the location information of the regular farmland, and using a GPS differential positioning device to obtain the coordinates of the four vertices of the target farmland;

[0069] (S2) calculating the width and length of the farmland according to the location information of the farmland;

[0070] (S3) inputting the working width of the agricultural machine and dividing the farmland into a number of working rows of equal width;

[0071] (S4) numbering the midpoints of the two ends of the farmland operation row according to a rule to establish a farmland model for the entire region;

[0072] (S5) inputting the minimum turning radius of the agricultural machinery and the number of agricultural machinery, and establishing a path planning model for coordinated operation of agricultural machinery in the entire region based on the farmland model of the entire region;

[0073] The specific steps to establish the path planning model for coordinated operation of agricultural machinery in the whole region are:

[0074] (S501) Define variables

[0075]

[0076] Among them, X pi is the decision variable for whether the p-th agricultural machine traverses the coordinate point i;

[0077] R p ={iX pi =1};

[0078] Among them, Rp is the set of coordinate points traversed by the pth agricultural machine, which constitutes the operation path of the agricultural machine;

[0079]

[0080] (S502) setting three different objective functions, including objective function 1, objective function 2 and objective function 3;

[0081] The objective function is specifically:

[0082]

[0083] Y p is the driving path length of the pth agricultural machine; Y tp is the turning path length of the pth agricultural machine; Y ts is the total length of the turning paths of multiple machines, is the distance between the qth coordinate point and the q+1th coordinate point traversed by the pth agricultural machine;

[0084] The second objective function is specifically:

[0085]

[0086] Taking into account the difference between the straight-line speed and the turning speed of agricultural machinery, and ignoring the slight change in the speed of agricultural machinery during the turning process,

[0087]

[0088] Among them, T fm is the total travel time of multiple machines; T pm is the total driving time of the pth agricultural machine; T sp is the turning time of the pth agricultural machine; T tm is the total turning time of multiple aircraft, v t is the turning speed of the agricultural machinery, β p is the number of operation rows traversed by the pth agricultural machine;

[0089] The objective function three is specifically:

[0090]

[0091] minμ is the minimum job balance rate, Y p’ is the travel path length of the p'th agricultural machine, and p' is the serial number of the agricultural machine;

[0092] (S503) Setting constraints:

[0093] Among them, n pq represents the decision variable of the pth agricultural machine traversing the qth coordinate point; N is the number of coordinate points constituting the farmland;

[0094] n q ≥2;

[0095]

[0096]

[0097] Among them, X pi is the decision variable for whether the pth agricultural machine traverses the coordinate point i, n q is the number of coordinate points traversed by each agricultural machine, α p (q) is the qth coordinate point traversed by the pth agricultural machine, R p is the set of coordinate points traversed by the pth agricultural machine, and i is the sequence number of the coordinate point;

[0098] The operating characteristics of agricultural machinery are:

[0099]

[0100] (S6) Designing a path planning algorithm for coordinated operation of agricultural machinery in the entire region and solving a path planning model for coordinated operation of agricultural machinery;

[0101] The path planning algorithm for cooperative operation of agricultural machinery in the whole area specifically includes the following steps:

[0102] (S601) calculating a distance matrix D;

[0103] (S602) Initialize parameters, set the number of agricultural machines m, the number of coordinate points constituting the farmland N, the virtual point set Q, the total number of coordinate points M = N + m-1; the current operation path τ and the new operation path τ′; the distance set δ between adjacent coordinate points of the current operation path and the distance set δ′ between adjacent coordinate points of the new operation path, where the number of elements is p; the cumulative length set F of the current operation path; the coordinate point sets Φ1~Φ1 that have been traversed at each layer M , the number of initial backtracking coordinate points h = 5;

[0104] (S603) p=q=i=1;

[0105] (S604) Randomly select a coordinate point c from V i As a starting point, c i satisfy And c i ∈V, store it in the traversal sequence τ and the set Φ q ;

[0106] (S605) assign the value after q+1 to the new q;

[0107] (S606) The next coordinate point that the agricultural machinery traverses is N+1-c i , store it in the traversal sequence τ and the set Φ q , calculate the coordinate point c i and N+1-c i The distance between them is stored in δ(p);

[0108] (S607) Determine whether the number of elements in τ is M. If so, it proves that a complete operation path has been obtained. Calculate the cumulative length set F of the current operation path according to δ, calculate the number n of virtual points in the last h coordinate points in τ, and then enter the backtracking phase. The backtracking ends and goes to step (S610); if not, continue to traverse downward;

[0109] The backtracking phase specifically includes the following steps:

[0110] (S607-1) Determine whether n is 1. If so, delete the last h coordinate points in τ and update it to a new operation path τ'. Determine whether τ'(Mh) is in the set Q. If so, g = (hn) / 2, and go to step (S607-2). If not, g = (hn) / 2, assign the value after g+1 to the new g, and go to step (S607-3); if not, assign the value after h+1 to the new h, delete the last h coordinate points in τ, and update it to a new operation path τ'. Determine whether τ'(Mh) is in the set Q. If so, g = (hn) / 2, assign the value after g+2 to the new g, and go to step (S607-4). If not, g = (hn) / 2, assign the value after g+3 to the new g, and go to step (S607-4);

[0111] (S607-2) Delete the last g elements in F and δ, update the new adjacent coordinate point distance set δ' and F', and the next coordinate point is τ'(M-h+1), {τ′(M-h+1)∈H θ |τ′(Mh)∈H θ ,θ=1,2} and And store it in τ' and Φ M-h+1 , the next coordinate point is τ' (M-h+2) = N+1-τ'(M-h+1), and is stored in τ' and Φ M-h+2 , calculate the distance between the coordinate points τ'(M-h+1) and τ'(M-h+2), store it in δ'(Nm-g+1), update F', F'(Nm-g+1)=F (Nmg)+δ'(Nm-g+1), determine whether F'(Nm-g+1) is not less than F(Nm), if so, go to step (S607-5), if not, go to step (S607-7);

[0112] (S607-3) Delete the last g elements in F and δ, update the new adjacent coordinate point distance set δ' and F', and the next coordinate point is τ'(M-h+1), {τ′(M-h+1)∈H θ ∪Q|τ′(Mh)∈H θ ,θ=1,2} and And store it in τ' and Φ M-h+1 , determine whether τ'(M-h+1) is in the set Q, if so, go to step (S607-8), if not, go to step (S607-10);

[0113] (S607-4) Delete the last g elements in F and δ, update the adjacent coordinate point distance set δ' and F', assign h to h", assign the value after h"-1 to the new h", and the next coordinate point is τ' (Mh"), {τ′(Mh")∈H θ|τ′(Mh″-2)∈H θ ,θ=1,2} and And store it in τ' and Φ M-h” , go to step (S607-6);

[0114] (S607-5) Assign the value after h+e to the new h, delete the last h coordinate points in τ, update to the new operation path τ', and determine whether τ'(Mh) is in the set Q. If so, assign the value after g+1 to the new g, and go to step (S607-2). If not, assign the value after g+2 to the new g, and go to step (S607-3);

[0115] (S607-6) Assign the value after h"-1 to the new h", and the next coordinate point is τ'(Mh")=N+1-τ'(Mh"-1), and store it in τ' and Φ M-h” , assign the value after g-1 to the new g, calculate the distance between the coordinate points τ'(Mh"-1) and τ'(Mh"), update F', F'(Nmg)=F'(Nm-g+1)+δ'(Nmg); determine whether g is 0, if not 0, determine whether F'(Nm-g+1) is not less than F(Nm), if so, go to step (S607-5), if not, go to step (S607-19), if 0, go to step (S607-20);

[0116] (S607-7) h is assigned to h', and the value after h'-4 is assigned to h'. The next coordinate point is τ'(Mh'), {τ'(Mh')∈H θ ∪Q|τ′(Mh′-1)∈H θ ,θ=1,2} and And store it in τ′ and Φ M-h′ ,, go to step (S607-15);

[0117] (S607-8) The next coordinate point τ'(M-h+2), {τ'(M-h+2)∈H θ |τ′(Mh)∈H θ ,θ=1,2} and And store it in τ' and Φ M-h+2 , the next coordinate point τ'(M-h+3)=N+1-τ'(M-h+2), and store it in τ' and Φ M-h+3 , calculate the distance between the coordinate points τ'(M-h+2) and τ'(M-h+3), store it in δ'(Nm-g+1), and update F', F'(Nm-g+1) = F(Nmg) + δ'(Nm-g+1);

[0118] (S607-9) Determine whether F'(Nm-g+1) is not less than F(Nm). If so, go to step (S607-11); if not, go to step (S607-7);

[0119] (S607-10) Assign g to g', assign the value after g'-1 to the new g', assign h to h', calculate the distance between the coordinate points τ'(Mh) and τ'(M-h+1), store it in δ'(Nmg), update F', F'(Nmg)=F'(Nm-g+1)+δ'(Nmg), determine whether F'(Nmg) is not less than F(Nm), if so, go to step (S607-9), if not, assign the value after h'-2 to the new h', the next coordinate point is τ'(Mh)=N+1-τ'(Mh-1), and store it in τ' and Φ M-h’ , assign the value after g'-1 to g', calculate the distance between the coordinate points τ'(Mh-1) and τ'(Mh-), store it in δ'(Nm-g'), update F', F'(Nm-g')=F'(Nm-g'-1)+δ'(Nm-g'), determine whether F'(Nm-g') is not less than F(Nm), if so, go to step (S610), if not, go to step (S607-15);

[0120] (S607-11) Let e=2, assign the value after h+e to the new h, delete the last h coordinate points in τ, update to the new operation path τ', and determine whether τ'(Mh) is in the set Q. If so, let e=3 and go to step (S607-13); if not, assign the value after g+1 to the new g and go to step (S607-13);

[0121] (S607-12) assign h to h', and assign the value after h'-4 to h';

[0122] (S607-13) The next coordinate point τ'(M-h'), {τ'(Mh')∈H θ ∪Q|τ′(Mh′-1)∈H θ ,θ=1,2} and And store it in τ' and Φ M-h’ , go to step (S607-15);

[0123] (S607-14) Assign the value after g+1 to the new g, and go to step (S607-3);

[0124] (S607-15) Determine whether τ'(M-h') exists in set Q. If so, assign the value after h'-1 to h'. The next coordinate point is τ'(M-h'). {τ'(Mh')∈H θ|τ′(Mh′-2)∈H θ ,θ=1,2} and And store it in τ' and Φ M-h’ , and then assign the value after h'-1 to h' which is far away. The next coordinate point is τ'(M-h')=N+1-τ'(M-h'-1), which is stored in τ' and Φ M-h’ , if not, go to step (S607-16);

[0125] (S607-16) Assign the value after g'-1 to g', calculate the distance between the coordinate points τ'(M-h'-1) and τ'(M-h'), store it in δ'(Nm-g'), update F', F'(Nm-g') = F'(Nm-g'-1) + δ'(Nm-g'), and go to step (S607-17);

[0126] (S607-17) Determine whether g' is 0. If it is 0, determine whether F'(Nm-g') is not less than F (Nm). If so, go to step (S607-11). If not, set F(Nm) = F'(Nm-g') and go to step (S610); if not, assign the value after h'-1 to h', and the next coordinate point is τ'(M-h'), {τ'(Mh')∈H θ ∪Q|τ′(Mh′-1)∈H θ ,θ=1,2} and And store it in τ' and Φ M-h’ , determine whether τ'(M-h') is in the set Q, if not, go to step (S607-18); if it is, assign the value after h'-1 to the new h', the next coordinate point τ'(M-h'), {τ'(Mh')∈H θ |τ′(Mh′-2)∈H θ ,θ=1,2} and Stored in τ' and Φ M-h’ , go to step (S607-21);

[0127] (S607-18) Assign the value after g'-1 to the new g', calculate the distance between the coordinate points τ'(M-h'-1) and τ'(M-h'), store it in δ'(Nm-g'), update F', F'(Nm-g') = F'(Nm-g'-1) + δ'(Nm-g'), and determine whether F'(Nm-g') is not less than F(Nm). If so, go to step (S607-11), if not, go to step (S607-21);

[0128] (S607-19) Assign the value after h"-1 to h", the next coordinate point is τ'(Mh"), {τ'(Mh")∈H θ |τ′(Mh″-2)∈H θ ,θ=1,2} and And store it in τ' and Φ M-h” , assign the value after g-1 to the new g, calculate the distance between the coordinate points τ'(Mh"-1) and τ'(Mh"), store it in δ'(Nmg), update F', F'(Nmg) = F' (Nmg-11) + δ'(Nmg); determine whether F'(Nmg) is not less than F(Nm), if so, go to step (S607-5), if not, go to step (S607-6);

[0129] (S607-20) Determine whether F'(Nmg) is not less than F(Nm). If so, go to step (S607-5). If not, set F(Nm) = F'(Nmg) and go to step (S610).

[0130] (S607-21) Assign the value after h'-1 to the new h', the next coordinate point is τ'(M-h')=N+1-τ'(M-h'-1), and store it in τ' and Φ M-h’ , assign the value after g'-1 to the new g', calculate the distance between the coordinate points τ'(M-h'-1) and τ'(M-h'), store it in δ'(Nm-g'), update F', F'(Nm-g')=F'(Nm-g'-1)+δ'(Nm-g'), and go to step (S607-17);

[0131] (S608)N+1-c i Is it from set H1? If so, assign the value after q+1 to the new q, and the next coordinate point c i+1 satisfy And {c i+1 ∈{H1∪Q}}, stored in τ and Φ q , go to the next step, if not, assign the value after q+1 to the new q, the next coordinate point c i+1 satisfy And {c i+1 ∈{H2∪Q}}, stored in τ and Φ q , go to the next step;

[0132] (S609) Determine c i+1 Does it belong to the set Q? If so, assign the value after q+1 to the new q and traverse the next coordinate point c i+2 , which satisfies {c i+2 ∈H1|N+1-ci ∈H1} or {c i ∈H2|N+1-c i ∈H2}, stored in τ and Φ q , assign the value after p+1 to the new p, and the value after i+2 to the new i, and return to step (S605); if not, assign the value after p+1 to the new p, and calculate the coordinate point N+1-c i+1 and c i+1 The distance between them is stored in δ(p), and the value after p+1 is assigned to the new p, and the value after i+1 is assigned to i, and then go to step (S605);

[0133] (S610) Determine whether h is equal to M-1. If so, continue to determine whether the number of elements in Φ1 is N. If so, it means that all traversal processes have been completed, and the optimal operation path and its length are output; if not, it means that the original starting point needs to be updated, and return to step (S603);

[0134] (S7) Outputting the operation path and operation index of each agricultural machine.

[0135] The present invention avoids multi-machine operation conflicts and optimizes the operation path balance rate by establishing a full-area collaborative operation path planning model, so that the operation tasks of each agricultural machine are more balanced and the agricultural machinery is further reasonably utilized; in the full-area multi-machine collaborative operation path planning algorithm, several constraints are set, a pruning strategy is added, and the number of backtracking coordinate points is set according to different situations, so as to shorten the time for finding the optimal operation path and improve the operation efficiency of the algorithm.

[0136] Example 2

[0137] Reference Figure 2 to Figure 7 , which 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 verifies the technical effect of the present application by means of scientific experiments.

[0138] The operation indicators in this application include the duration of multi-machine collaborative operation in the whole area and the efficiency of multi-machine collaborative operation in the whole area. The duration of multi-machine collaborative operation in the whole area can be calculated by the following formula:

[0139]

[0140] Where, T em is the duration of multi-machine collaborative operation in the whole area; v s It is the linear operation speed of agricultural machinery;

[0141] The efficiency of multi-machine collaborative operation in the entire area can be calculated by the following formula:

[0142]

[0143] To improve the efficiency of multi-machine collaborative operations in the entire area.

[0144] Figure 3 and Figure 4 The following are the trajectory diagrams of the full-area collaborative operation paths of 3 and 4 agricultural machines respectively. It can be seen that the planned operation paths not only conform to the characteristics of agricultural machinery operations, but also avoid duplication, omission and conflict of operation paths. At the same time, the turning paths selected by the algorithm for the agricultural machinery are all U-shaped and bow-shaped, which reduces the turning distance and time of the agricultural machinery. The operation trajectories of the three agricultural machines are as follows: No. 1 agricultural machine: 1→36→33→4→7→30→27→10→13→24→21→16, No. 2 agricultural machine: 2→35→32→5→8→29→26→11→14→23→20→17, No. 3 agricultural machine: 3→34→31→6→9→28→25→12→15→22→19→18; The operation trajectories of the four agricultural machines are as follows: No. 1 agricultural machine: 27→10→13→24→21→16, No. 2 agricultural machine: 18→19→22→15→12→25→28→9→6→31→34→3, No. 3 agricultural machine: 36→1→4 →33→30→7, agricultural machinery No. 4: 2→35→32→5→8→29→26→11→14→23→20→17; It can be seen from the operation trajectory that on the basis of meeting the characteristics of agricultural machinery operations, not only the operation mode and turning path of agricultural machinery collaborative operation are optimized, but also the operation tasks of each agricultural machinery are made more balanced.

[0145] Figure 5 , Figure 6 , Figure 7 The following are comparison diagrams of operating indicators of full-area collaborative operation of 3 and 4 agricultural machines and traditional multi-machine row-by-row operation and single-machine operation, respectively. The operating indicators include total length of turning path, total turning time and operating efficiency. It can be seen from the figure that compared with traditional multi-machine row-by-row operation and single-machine operation, the total length of turning path and total turning time of 3 and 4 agricultural machines planned by the full-area collaborative operation path planning method designed by the present invention are greatly reduced, and the operating efficiency is greatly improved.

[0146] Compared with the prior art, the present invention avoids multi-machine operation conflicts and optimizes the operation path balance rate by establishing a full-area collaborative operation path planning model, so that the operation tasks of each agricultural machine are more balanced and the agricultural machinery is further rationally utilized; the full-area agricultural machinery collaborative operation path planning algorithm is designed to further reduce the total length of the turning path and the total turning time of the agricultural machinery, reduce the operation cost, and further improve the operation efficiency; it can be applied to the agricultural machinery automatic driving technology in large-scale smart agriculture.

[0147] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A method for driving agricultural machinery in all areas, characterized by: It includes the following steps, (S1) obtaining location information of regular farmland; (S2) calculating the width and length of the farmland according to the location information of the farmland; (S3) inputting the working width of the agricultural machine and dividing the farmland into a number of working rows of equal width; (S4) numbering the midpoints of the two ends of the farmland operation row according to a rule to establish a farmland model for the entire region; (S5) inputting the minimum turning radius of the agricultural machinery and the number of agricultural machinery, and establishing a path planning model for coordinated operation of agricultural machinery in the entire region based on the farmland model of the entire region; (S6) designing a path planning algorithm for coordinated operation of agricultural machinery in the entire region, and solving a path planning model for coordinated operation of agricultural machinery; (S7) outputting the operation path and operation index of each agricultural machine; In (S4), the specific steps of establishing the path planning model for coordinated operation of agricultural machinery in the entire region are: (S401) Define variables Among them, X pi is the decision variable for whether the p-th agricultural machine traverses the coordinate point i; R p {iX pi [1}; Among them, Rp is the set of coordinate points traversed by the pth agricultural machine, which constitutes the operation path of the agricultural machine; (S402) setting three different objective functions, including objective function 1, objective function 2 and objective function 3; (S403) Setting constraints; m is the number of agricultural machinery; In (S402), the objective function 1 is specifically: Among them, Y p is the driving path length of the pth agricultural machine; Y tp is the turning path length of the pth agricultural machine; Y ts is the total length of the turning paths of multiple machines, is the distance between the qth coordinate point and the q+1th coordinate point traversed by the pth agricultural machine; The objective function 2 is specifically: Taking into account the difference between the straight-line speed and the turning speed of agricultural machinery, and ignoring the slight change in the speed of agricultural machinery during the turning process, Among them, T fm is the total travel time of multiple machines; T pm is the total driving time of the pth agricultural machine; T sp is the turning time of the pth agricultural machine; T tm is the total turning time of multiple aircraft, v t is the turning speed of the agricultural machinery, β p is the number of operation rows traversed by the pth agricultural machine; l1 is the length of a single operation row; The objective function three is specifically: minμ is the minimum job balance rate, Y p ' is the length of the travel path of the p'th agricultural machine, and p' is the serial number of the agricultural machine; The constraints are Among them, n pq represents the decision variable of the pth agricultural machine traversing the qth coordinate point; N is the number of coordinate points constituting the farmland; n q ≥2； Among them, X pi is the decision variable for whether the pth agricultural machine traverses the coordinate point i, n q is the number of coordinate points traversed by each agricultural machine, α p (q) is the qth coordinate point traversed by the pth agricultural machine, R p is the set of coordinate points traversed by the pth agricultural machine, and i is the sequence number of the coordinate point.

2. The method for driving an agricultural machine for full-area operation according to claim 1, characterized in that: In (S1), a GPS differential positioning device is used to obtain the coordinates of the four vertices of the target farmland.

3. The full-area agricultural machinery operation driving method according to claim 1 or 2, characterized in that: The full-area agricultural machinery collaborative operation path planning algorithm specifically includes the following steps: S601 calculates the distance matrix D; S602 Initialize parameters, set the number of agricultural machines m, the number of coordinate points constituting the farmland N, the virtual point set Q, the total number of coordinate points M = N + m-1; the current operation path τ and the new operation path τ′; the distance set δ between adjacent coordinate points of the current operation path and the distance set δ′ between adjacent coordinate points of the new operation path, where the number of elements is p; the cumulative length set F of the current operation path; the coordinate point sets Φ1~Φ1 that have been traversed at each layer M , the number of initial backtracking coordinate points h = 5; S603 p=q=i=1; S604 randomly selects a coordinate point c from V i As a starting point, c i satisfy And c i ∈V, store it in the current operation path τ and the traversed coordinate point set Φ q ; S605 assigns the value after q+1 to the new q; S606 The next coordinate point of the agricultural machinery traversal is N+1-c i , store it in the traversal sequence τ and the set Φ q , calculate the coordinate point c i and N+1-c i The distance between them is stored in δ(p); S607 determines whether the number of elements in τ is M. If so, it proves that a complete operation path has been obtained. The cumulative length set F of the current operation path is calculated according to δ, and the number n of virtual points in the last h coordinate points in τ is calculated. Then, the backtracking phase is entered, and the backtracking ends, and the process goes to step S610. If not, the process continues to traverse downward. S608 N+1-c i Is it from set H1? If so, assign the value after q+1 to the new q, and the next coordinate point c i+1 satisfy And {c i+1 ∈{H1∪Q}}, stored in τ and Φ q , go to the next step, if not, assign the value after q+1 to the new q, the next coordinate point c i+1 satisfy And {c i+1 ∈{H2∪Q}}, stored in τ and Φ q , go to step S609; S609 judgment c i+1 Does it belong to the set Q? If so, assign the value after q+1 to the new q and traverse the next coordinate point c i+2 , which satisfies {c i+2 ∈H1|N+1-c i ∈H1} or {c i ∈H2|N+1-c i ∈H2}, stored in τ and Φ q , assign the value after p+1 to the new p, and the value after i+2 to the new i, and return to step S605; if not, assign the value after p+1 to the new p, and calculate the coordinate point N+1-c i+1 and c i+1 The distance between them is stored in δ(p), and the value after p+1 is assigned to the new p, and the value after i+1 is assigned to i, and then the process goes to step S605; S610 determines whether h is equal to M-1. If so, it continues to determine whether the number of elements in Φ1 is N. If so, it means that all traversal processes have been completed and the optimal operation path and its length are output; if not, it means that the original starting point needs to be updated and returns to step S603.

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