Path planning method, system, device and storage medium for automatic operation of agricultural machinery

Abstract

The present application provides a path planning method, system, device and storage medium for automatic operation of agricultural machinery, the method comprising: obtaining the boundary point data and positioning margin of the initial field; determining the boundary of the target field according to the boundary point data, positioning margin and preset safety distance of the initial field; determining the current operation area according to the boundary of the target field, and polygonizing the current operation area based on the polygonization algorithm to obtain the area to be planned; performing path planning on the area to be planned to generate the target path trajectory. The present application helps to improve the security of the path planning results, and has good versatility for irregular fields.

Description

Technical Field

[0001] The present application relates to the field of agricultural machinery operations, and more specifically to a path planning method, system, electronic device and computer-readable storage medium for automatic operation of agricultural machinery. Background Art

[0002] In recent years, as agricultural production has entered a new stage of refinement and intelligence, unmanned agricultural machinery has received more and more attention due to its advantages such as high efficiency, low cost and comfort. In the research of unmanned agricultural machinery, how to automatically plan the operation path based on information such as agricultural machinery vehicle parameters, field environment and operation type is a key technology for unmanned agricultural machinery. At present, most path planning studies are mainly aimed at the operation path planning of regular plots under different evaluation indicators and different turning methods, and insufficient attention is paid to the safety and efficiency of the path planning results. There are few studies on operation planning of irregular plots, which lacks certain universality. Summary of the invention

[0003] In view of the above, it is necessary to provide a path planning method, system, electronic device and computer-readable storage medium for automatic operation of agricultural machinery.

[0004] In a first aspect, the present application provides a path planning method for automatic operation of agricultural machinery, comprising:

[0005] Obtain the boundary point data and positioning margin of the initial field;

[0006] Determine the boundary of the target field according to the boundary point data of the initial field, the positioning margin and the preset safety distance;

[0007] Determine the current operation area according to the boundary of the target field, and polygonize the current operation area based on a polygonization algorithm to obtain an area to be planned;

[0008] Perform path planning for the planned area and generate the target path trajectory.

[0009] In some embodiments, the positioning margin includes the distance between the on-board positioning equipment and the actual field boundary when the agricultural machinery is operated for the first time.

[0010] In some embodiments, the boundary point data of the initial field plot includes the latitude and longitude data of the boundary point of the field plot where the agricultural machinery is initially operated; and determining the boundary of the target field plot according to the boundary point data of the initial field plot, the positioning margin and the preset safety distance includes:

[0011] Convert the longitude and latitude data of the boundary points into plane projection coordinate data to obtain the closed field boundary;

[0012] Performing sparse processing and filtering processing on the boundary points of the closed field boundary to obtain a theoretical field boundary;

[0013] The target field boundary is determined according to the theoretical field boundary, the positioning margin and the safety distance.

[0014] In some embodiments, before polygonizing the current operating area based on a polygonization algorithm to obtain an area to be planned, the method further includes:

[0015] Acquire historical operation records, and determine historical operation areas according to the historical operation records;

[0016] Determine the remaining field area based on the historical operation area and the preset target field boundaries;

[0017] The current operation area is determined according to the remaining field area.

[0018] In some embodiments, the polygonization of the current operation area based on the polygonization algorithm to obtain the area to be planned includes:

[0019] According to preset agricultural machinery vehicle information and operation information, the shortest side length of the polygonization algorithm is determined and used as the target side length;

[0020] Determine an initial vertex on the boundary of the current operation area, and perform a traversal and circle drawing process on the current operation area according to the target side length to obtain a plurality of boundary intersection points;

[0021] The initial vertex and the plurality of boundary intersection points are sequentially connected to obtain the area to be planned.

[0022] In some embodiments, performing path planning on the planned area and generating a target path trajectory includes:

[0023] The initial polygon in the area to be planned is taken as a first-order polygon path, and each edge is translated inward by a preset target spacing to spirally calculate a multi-order polygon path until the entire area to be planned is covered to obtain a target path trajectory.

[0024] In some embodiments, the target spacing includes the agricultural machinery operating width and a reserved distance.

[0025] In a second aspect, the present application provides a path planning system for automatic operation of agricultural machinery, comprising:

[0026] The data acquisition module is used to obtain the boundary point data and positioning margin of the initial field;

[0027] A region determination module is used to determine the boundary of the target field according to the boundary point data of the initial field, the positioning margin and the preset safety distance;

[0028] A polygonization module is used to determine the current operation area according to the boundary of the target field, and to perform polygonization processing on the current operation area based on a polygonization algorithm to obtain an area to be planned;

[0029] The path planning module is used to plan the path for the planned area and generate the target path trajectory.

[0030] In a third aspect, the present application provides an electronic device, comprising: a memory for storing a computer program; a processing system for executing the computer program stored in the memory, and when the computer program is executed, the processor is used to execute the path planning method for automatic operation of agricultural machinery.

[0031] In a fourth aspect, the present application provides a computer-readable storage medium, which includes computer instructions. When the computer instructions are executed on an electronic device, the electronic device executes the path planning method for automatic operation of agricultural machinery.

[0032] The present application obtains the boundary point data and positioning margin of the initial field plot, and then determines the boundary of the target field plot according to the boundary point data, positioning margin and preset safety distance of the initial field plot, wherein the set safety distance helps to improve the safety of subsequent path planning results; according to the boundary of the target field plot, the current operating area can be determined, and the current operating area is polygonized based on the polygonization algorithm to obtain the area to be planned, which has a certain versatility for irregular fields and facilitates the path planning of unplanned fields; further, path planning is performed on the area to be planned to generate a target path trajectory to realize automatic driving of agricultural machinery in regular or irregular fields, which has high applicability and good safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a flow chart of a path planning method for automatic operation of agricultural machinery in one embodiment of the present application;

[0034] Figure 2 This is a flow chart of step S102 of a method for path planning of automatic operation of agricultural machinery in one embodiment of the present application;

[0035] Figure 3a is a schematic diagram of a local field boundary before being processed by a filtering algorithm in an embodiment of the present application;

[0036] Figure 3b is a schematic diagram of a local field boundary after being processed by a filtering algorithm in an embodiment of the present application;

[0037] Figure 4 This is a flow chart of step S103 of a method for automatically operating an agricultural machine in accordance with an embodiment of the present application;

[0038] Figure 5a is a schematic diagram of a first-order polygonal path during path planning in one embodiment of the present application;

[0039] Figure 5b This is a schematic diagram of the first extension calculation during path planning in one embodiment of the present application;

[0040] Figure 5c This is a schematic diagram of the second extension calculation during path planning in one embodiment of the present application;

[0041] Figure 5d is a schematic diagram of a target path trajectory of path planning in an embodiment of the present application;

[0042] Figure 6 is a flow chart of a path planning method for automatic operation of agricultural machinery in another embodiment of the present application;

[0043] Figure 7 It is a principle block diagram of a path planning system for automatic operation of agricultural machinery in one embodiment of the present application;

[0044] Figure 8 It is a principle block diagram of an electronic device in one embodiment of the present application. DETAILED DESCRIPTION

[0045] The following will clearly and completely describe the technical solutions in the implementation mode of the present application in conjunction with the accompanying drawings in the implementation mode of the present application. Obviously, the described implementation mode is only a part of the implementation mode of the present application, rather than the entire implementation mode.

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0047] It should be further noted that, in this article, the terms "comprises", "includes" or any other variations 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 includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0048] In this application, "at least one" means one or more, and "more than one" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0049] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0050] See also Figure 1 The present application provides a path planning method for automatic operation of agricultural machinery, which may include the following steps:

[0051] S101, obtaining the boundary point data and positioning margin of the initial field.

[0052] Among them, the initial field refers to the field that requires initial operation of agricultural machinery. The type of agricultural machinery operation may be in the form of ploughing, sowing or harvesting, and the agricultural machinery may be a tractor, rotary tiller, rice transplanter or harvester, etc.; the boundary point data of the initial field refers to the position data of the positioning collection points or trajectory points on the boundary of the initial field; the boundary point data of the initial field includes the latitude and longitude data of the boundary points of the field where the agricultural machinery operates for the first time; the positioning margin includes the distance between the on-board positioning equipment and the actual field boundary when the agricultural machinery operates for the first time, wherein the actual field boundary refers to the actual boundary of the initial field.

[0053] Specifically, when performing the initial operation on a field, the agricultural machine is manually driven around the field, and the latitude and longitude data of the boundary points of the initial field are obtained using the vehicle-mounted positioning equipment and stored in the field operation database.

[0054] It should be noted that the positioning margin can be determined by the horizontal distance between the vehicle-mounted positioning equipment and the edge of the agricultural machinery body, and the horizontal distance between the edge of the agricultural machinery body and the actual field boundary, where the edge of the agricultural machinery body refers to the edge of the body closest to the actual field boundary.

[0055] S102: Determine the boundary of the target field according to the boundary point data of the initial field, the positioning margin and the preset safety distance.

[0056] Among them, the safety distance refers to the shortest distance between the edge of the agricultural machinery body and the actual field boundary.

[0057] Specifically, the latitude and longitude data of the boundary points of the initial field are converted into plane projection coordinate data by calculation, and then the closed boundary is obtained according to the projection coordinate data of the time series. Then, the positioning margin and the preset safety distance are considered to obtain the boundary of the target field.

[0058] Understandably, the target field boundary is retracted by a safe distance relative to the actual field boundary, which can ensure that the agricultural machinery vehicle does not exceed the actual field boundary during driving, and help improve the safety of subsequent path planning results.

[0059] S103, determining the current working area according to the boundary of the target field, and polygonizing the current working area based on a polygonization algorithm to obtain the area to be planned.

[0060] Specifically, if the current field belongs to the initial operation plan, the area determined by the boundary of the target field is used as the current operation area; then the current operation area is polygonized based on the polygonization algorithm to obtain a polygonal field area as the area to be planned; the area to be planned refers to the polygonal field area used for path planning.

[0061] S104: Perform path planning on the area to be planned and generate a target path trajectory.

[0062] Among them, the target path trajectory refers to the route to be operated by the agricultural machinery vehicle.

[0063] Specifically, the polygonal area to be planned is processed for path planning to obtain the operation route of the agricultural vehicle, so as to generate a driving path instruction and send it to the controller of the agricultural vehicle; wherein the driving path instruction may include information such as driving direction, distance, turning point and steering angle.

[0064] This embodiment obtains the boundary point data and positioning margin of the initial field, and then determines the boundary of the target field according to the boundary point data, positioning margin and preset safety distance of the initial field, wherein the set safety distance helps to improve the safety of subsequent path planning results; then, according to the boundary of the target field, the current working area can be determined, and the current working area is polygonized based on the polygonization algorithm to obtain the area to be planned, which has a certain versatility for irregular fields and facilitates the path planning of unplanned fields; further, path planning is performed on the area to be planned to generate a target path trajectory to realize automatic driving of agricultural machinery in regular or irregular fields, which has high applicability and good safety.

[0065] In some embodiments, see Figure 2In the path planning method for automatic operation of agricultural machinery of the present application, the step S102 of determining the boundary of the target field plot according to the boundary point data of the initial field plot, the positioning margin and the preset safety distance includes:

[0066] S201, converting the longitude and latitude data of the boundary points into plane projection coordinate data to obtain the closed field boundary.

[0067] Specifically, the longitude and latitude data of the boundary points are converted into plane projection coordinate data, and then the plane projection coordinates of the initial field boundary are connected in chronological order. It should be noted that if the starting point and the end point do not coincide, the starting point and the end point are connected to form a closed field boundary.

[0068] S202, performing sparse processing and filtering processing on the boundary points of the closed field boundary to obtain a theoretical field boundary.

[0069] Among them, the theoretical field boundary refers to the field boundary after optimization.

[0070] Specifically, a thinning algorithm may be used to perform sparse processing on the boundary points of the closed field boundary, thereby reducing the amount of calculation for subsequent calculations; in this embodiment, the thinning algorithm may use the Douglas-Peucker algorithm.

[0071] Furthermore, the boundary points after sparse processing are processed by filtering algorithm to remove abnormal points caused by reversing of agricultural machinery vehicles or positioning errors, wherein the filtering algorithm processing specifically includes: constructing a grid on the closed field boundary after sparse processing so that it can cover all track points on the closed field boundary; wherein the size of the grid depends on the size of the closed field boundary; further, moving all track points to the center point of the grid where they are located; connecting the center points of all grids containing track points in sequence according to the order of the original track points to obtain a theoretical field boundary; such as Figure 3a Shown are the local field boundaries and Figure 3b Shown are local field boundaries after filtering.

[0072] S203, determining the target field boundary according to the theoretical field boundary, the positioning margin and the safety distance.

[0073] Specifically, since the collected boundary trajectory points of the initial field plot are actually the positions of the onboard positioning equipment of the agricultural machinery, when the agricultural machinery vehicle is driving along the boundary of the initial field plot, there is a positioning margin between the onboard positioning equipment and the actual field plot boundary. At the same time, the shortest distance between the edge of the agricultural machinery body and the actual field plot boundary, i.e., the safety distance, is considered to be set, and the theoretical field plot boundary after filtering is expanded outward by a specific distance, which is the specific distance = positioning margin - safety distance; further, the expanded theoretical field plot boundary is used as the target field plot boundary. It should be noted that the data of the target field plot boundary can be stored in the field operation database.

[0074] In some embodiments, see Figure 4 In the path planning method for automatic operation of agricultural machinery of the present application, the current operation area is polygonized based on the polygonization algorithm in step S103 to obtain the area to be planned, including:

[0075] S401. According to preset agricultural machinery vehicle information and operation information, determine the shortest side length of the polygonization algorithm and use it as the target side length; wherein the agricultural machinery vehicle information includes the length, width and turning radius of the agricultural machinery vehicle; the operation information includes the operation width and reserved distance.

[0076] Specifically, according to the length, width, turning radius, working width and reserved distance of the agricultural vehicle, the shortest side length of the polygon can be calculated by a spatial geometry algorithm.

[0077] S402, determining an initial vertex on the boundary of the current working area, and traversing and drawing a circle on the current working area according to the target side length to obtain a number of boundary intersection points.

[0078] Specifically, the current position of the agricultural machinery can be used as the initial vertex. It should be noted that the current position of the agricultural machinery is located on the boundary of the current working area. Draw a circle with the initial vertex P0 as the center and the target side length L as the radius. Among all the points where the circle intersects with the boundary of the current working area, select the first intersection point encountered starting from P0 and moving along the boundary in a clockwise direction as the next vertex P1. Draw a circle with P1 as the center and L as the radius. Among all the points where the circle intersects with the boundary of the current working area, select the first intersection point encountered starting from P1 and moving along the boundary in a clockwise direction as the next vertex P2. Repeat the above steps until the initial vertex P0 is traversed clockwise.

[0079] S403: Connect the initial vertex and several boundary intersection points in sequence to obtain the area to be planned.

[0080] Specifically, P0-P1-...-Pn-1-Pn-P0 are connected in sequence to form a polygonal area to be planned, where n is the number of circles.

[0081] In some embodiments, in the path planning method for automatic operation of agricultural machinery of the present application, step S104 is to perform path planning for the area to be planned and generate a target path trajectory, including: taking the initial polygon in the area to be planned as a first-order polygon path, and translating each edge inward by a preset target spacing to spirally calculate a multi-order polygon path until the entire area to be planned is covered to obtain the target path trajectory. Among them, the target spacing includes the operating width of the agricultural machinery and the reserved distance, the operating width of the agricultural machinery refers to the longitudinal width of the agricultural machinery when it is operating; the reserved distance refers to the longitudinal spacing between the two paths when the agricultural machinery is operating back and forth.

[0082] In a specific embodiment, performing path planning on the planned area and generating a target path trajectory specifically includes:

[0083] 1. Initialize the path planning trajectory points to be empty: [];

[0084] 2. Put the planned area P0-P1-...-Pn-1-Pn-P0 into the path planning trajectory points: [P0, P1, P2,..., Pn-1, Pn] in sequence, and get the following Figure 5a The first-order polygon path shown;

[0085] 3. Move point P0 in the direction of Pn by a distance w to obtain P01, where the moving distance w is the target distance. Further, move the P0-P1 line segment in the direction of P01 by a distance w to obtain P0'-P1', and then calculate the point P11 on P0'-P1' that is w away from the P1-P2 line segment, and put P01 and P11 into the path planning trajectory points: [P0-P1-...-Pn-1-Pn-P01-P11], as shown in Figure 5b As shown;

[0086] 4. Move the P1-P2 line segment in the direction of P11 by a distance w to obtain P1'-P2', and then calculate the point P21 on P1'-P2' that is w away from the P2-P3 line segment, and put P21 into the path planning trajectory point: [P0-P1-...-Pn-1-Pn-P01-P11-P21], such as Figure 5c As shown;

[0087] 5. Following steps 3 and 4, generate path planning trajectory points in sequence to obtain multi-order polygonal paths until the area to be planned is covered, thereby obtaining the target path trajectory, such as Figure 5d shown.

[0088] In some embodiments, see Figure 6 The path planning method for automatic operation of agricultural machinery of the present application may include:

[0089] S601, obtaining historical operation records, and determining historical operation areas according to the historical operation records;

[0090] S602, determining the remaining field area according to the historical operation area and the preset target field boundary;

[0091] S603, determining the current operation area according to the remaining field area;

[0092] S604, polygonizing the current operation area based on a polygonization algorithm to obtain an area to be planned;

[0093] S605: Perform path planning on the area to be planned and generate a target path trajectory.

[0094] It should be noted that the historical operation records are stored in a field operation database, and the field operation database can be deployed in electronic equipment such as a host computer or an agricultural machinery controller.

[0095] Specifically, if the field operation is interrupted and then continued, the historical operation record of the field can be imported from the field operation database. The historical operation record includes the historical operation point data and the historical operation width of the agricultural machinery, and the historical operation area can be calculated in combination with the spatial geometry algorithm. Furthermore, the coordinate data of the target field boundary is imported from the field operation database, and the historical operation area is subtracted from the area determined by the target field boundary to obtain the remaining field area, so that the remaining field area can be used as the current operation area.

[0096] It can be understood that step S604 can be calculated according to the specific step principles of steps S401-S403, and step S605 can be calculated according to the specific step principles of step S104, which will not be elaborated in this embodiment.

[0097] This embodiment can realize the interruption and continuation of agricultural production activities by storing and importing historical operation records, which is more flexible and convenient for improving the versatility of path planning, and can also reduce the rate of missed tillage and re-tillage.

[0098] This embodiment obtains the boundary point data and positioning margin of the initial field, and then determines the boundary of the target field according to the boundary point data, positioning margin and preset safety distance of the initial field, wherein the set safety distance helps to improve the safety of subsequent path planning results; then, according to the boundary of the target field, the current working area can be determined, and the current working area is polygonized based on the polygonization algorithm to obtain the area to be planned, which has a certain versatility for irregular fields and facilitates the path planning of unplanned fields; further, path planning is performed on the area to be planned to generate a target path trajectory to realize automatic driving of agricultural machinery in regular or irregular fields, which has high applicability and good safety.

[0099] This embodiment also provides a path planning system for automatic operation of agricultural machinery, which corresponds one-to-one to the path planning method for automatic operation of agricultural machinery in the above embodiment. Figure 7 As shown, the path planning system for automatic operation of agricultural machinery includes:

[0100] The data acquisition module 701 is used to acquire the boundary point data and positioning margin of the initial field;

[0101] The region determination module 702 is used to determine the boundary of the target field according to the boundary point data of the initial field, the positioning margin and the preset safety distance;

[0102] The polygonization module 703 is used to determine the current operation area according to the boundary of the target field, and to perform polygonization processing on the current operation area based on the polygonization algorithm to obtain the area to be planned;

[0103] The path planning module 704 is used to perform path planning on the planned area and generate a target path trajectory.

[0104] For the specific definition of each step of the path planning method for automatic operation of agricultural machinery, please refer to the definition of the path planning system for automatic operation of agricultural machinery above, which will not be repeated here. In addition, it should be noted that each module in the above-mentioned path planning system for automatic operation of agricultural machinery can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0105] Reference Figure 8 This embodiment also provides an electronic device, which can be a computing device such as a mobile terminal, a desktop computer, a notebook, a palm computer, and a server, and can also be integrated into the control part of an agricultural machine. The electronic device includes a processor 801, a memory 802, and a display 803. Figure 8 Some components of the electronic device are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0106] In some embodiments, the memory 802 may be an internal storage unit of the electronic device, such as a hard disk or memory of the electronic device. In other embodiments, the memory 802 may also be an external storage device of the electronic device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device. Further, the memory 802 may also include both an internal storage unit of the electronic device and an external storage device. The memory 802 is used to store application software and various types of data installed in the electronic device, such as program codes installed in the electronic device. The memory 802 may also be used to temporarily store data that has been output or is to be output. In one embodiment, a computer program 804 is stored on the memory 802.

[0107] In some embodiments, the processor 801 may be a central processing unit (CPU), a microprocessor or other data processing chip, used to run program codes or process data stored in the memory 802, such as executing a rendering method of a tree control.

[0108] In some embodiments, the display 803 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, etc. The display 803 is used to display information on the electronic device and to display a visual user interface. The components 801-803 of the electronic device communicate with each other through a system bus.

[0109] In one embodiment, when the processor 801 executes the computer program 804 in the memory 802, the following steps are implemented:

[0110] Obtain the boundary point data and positioning margin of the initial field;

[0111] Determine the boundary of the target field according to the boundary point data of the initial field, the positioning margin and the preset safety distance;

[0112] According to the boundary of the target field, the current operation area is determined, and the current operation area is polygonized based on the polygonization algorithm to obtain the area to be planned;

[0113] Perform path planning for the planned area and generate the target path trajectory.

[0114] This embodiment further provides a computer-readable storage medium on which a path planning program for automatic operation of agricultural machinery is stored. When the path planning program for automatic operation of agricultural machinery is executed by a processor, the following steps are implemented:

[0115] Obtain the boundary point data and positioning margin of the initial field;

[0116] Determine the boundary of the target field according to the boundary point data of the initial field, the positioning margin and the preset safety distance;

[0117] According to the boundary of the target field, the current operation area is determined, and the current operation area is polygonized based on the polygonization algorithm to obtain the area to be planned;

[0118] Perform path planning for the planned area and generate the target path trajectory.

[0119] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing related hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods.

[0120] Any reference to memory, storage, database or other medium used in the embodiments provided in the present application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0121] It is obvious to those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and that the present application can be implemented in other specific forms without departing from the spirit or basic features of the present application. Therefore, no matter from which point of view, the above embodiments of the present application should be regarded as exemplary and non-restrictive, and the scope of the present application is defined by the attached claims rather than the above description, and therefore it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present application.

Claims

1. A path planning method for automatic operation of agricultural machinery, characterized in that: include: Obtain the boundary point data and positioning margin of the initial field; Determine the boundary of the target field according to the boundary point data of the initial field, the positioning margin and the preset safety distance; Determine the current operation area according to the boundary of the target field, and polygonize the current operation area based on a polygonization algorithm to obtain an area to be planned; Perform path planning for the planned area and generate the target path trajectory; The polygonization algorithm is used to polygonize the current operation area to obtain the area to be planned, including: According to preset agricultural machinery vehicle information and operation information, the shortest side length of the polygonization algorithm is determined and used as the target side length; Determine an initial vertex on the boundary of the current operation area, and perform a traversal and circle drawing process on the current operation area according to the target side length to obtain a plurality of boundary intersection points; The initial vertex and the plurality of boundary intersection points are sequentially connected to obtain the area to be planned.

2. The path planning method for automatic operation of agricultural machinery according to claim 1, characterized in that: The positioning margin includes the distance between the on-board positioning equipment and the actual field boundary when the agricultural machinery is operated for the first time.

3. The path planning method for automatic operation of agricultural machinery according to claim 1, characterized in that: The boundary point data of the initial field plot includes the latitude and longitude data of the boundary point of the field plot where the agricultural machinery is initially operated; the determining the boundary of the target field plot according to the boundary point data of the initial field plot, the positioning margin and the preset safety distance includes: Convert the longitude and latitude data of the boundary points into plane projection coordinate data to obtain the closed field boundary; Performing sparse processing and filtering processing on the boundary points of the closed field boundary to obtain a theoretical field boundary; The target field boundary is determined according to the theoretical field boundary, the positioning margin and the safety distance.

4. The path planning method for automatic operation of agricultural machinery according to claim 1, characterized in that: Before polygonizing the current operating area based on the polygonization algorithm to obtain the area to be planned, the method further includes: Acquire historical operation records, and determine historical operation areas according to the historical operation records; Determine the remaining field area based on the historical operation area and the preset target field boundaries; The current operation area is determined according to the remaining field area.

5. The path planning method for automatic operation of agricultural machinery according to claim 1, characterized in that: Perform path planning for the planned area and generate the target path trajectory, including: The initial polygon in the area to be planned is taken as a first-order polygon path, and each edge is translated inward by a preset target spacing to spirally calculate a multi-order polygon path until the entire area to be planned is covered to obtain a target path trajectory.

6. The path planning method for automatic operation of agricultural machinery according to claim 5, characterized in that: The target spacing includes the agricultural machinery operating width and the reserved distance.

7. A path planning system for automatic operation of agricultural machinery, characterized in that: include: The data acquisition module is used to obtain the boundary point data and positioning margin of the initial field; A region determination module is used to determine the boundary of the target field according to the boundary point data of the initial field, the positioning margin and the preset safety distance; A polygonization module is used to determine the current operation area according to the boundary of the target field, and to perform polygonization processing on the current operation area based on a polygonization algorithm to obtain an area to be planned; The path planning module is used to plan the path for the planned area and generate the target path trajectory; The polygonization algorithm is used to polygonize the current operation area to obtain the area to be planned, including: According to preset agricultural machinery vehicle information and operation information, the shortest side length of the polygonization algorithm is determined and used as the target side length; Determine an initial vertex on the boundary of the current operation area, and perform a traversal and circle drawing process on the current operation area according to the target side length to obtain a plurality of boundary intersection points; The initial vertex and the plurality of boundary intersection points are sequentially connected to obtain the area to be planned.

8. An electronic device, characterized in that: include: Memory for storing computer programs; A processor is used to execute the computer program stored in the memory. When the computer program is executed, the processor is used to execute the path planning method for automatic operation of agricultural machinery as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The storage medium includes computer instructions, and when the computer instructions are executed on the electronic device, the electronic device executes the path planning method for automatic operation of agricultural machinery as described in any one of claims 1-6.

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