Operation path planning method, device and system

Abstract

The present disclosure relates to a method, device, and system for planning an operation path, and relates to the field of assisted driving technology for agricultural machinery. The operation path planning method includes: planning a first operation path for performing a first operation on a target area, wherein the first operation path includes multiple non-intersecting linear operation sections; after a vehicle completes the first operation on the target area according to the first operation path, detecting whether there are any uneven plots in the target area; and if there are any uneven plots in the target area, planning a second operation path for performing a second operation on the uneven plots. The above method can improve agricultural operation efficiency, reduce agricultural operation fuel consumption, and ensure agricultural operation results.

Description

Technical Field

[0001] The present disclosure relates to the technical field of agricultural machinery assisted driving, and in particular to an operation path planning method, device and system. Background Art

[0002] In recent years, the intelligentization of agricultural machinery has developed rapidly, and assisted driving technology has played an important role in various agricultural production processes. The application of this technology has greatly reduced the labor intensity of drivers.

[0003] Harrowing is a type of topsoil cultivation performed with a harrow. It is usually carried out after plowing, before sowing, or in early spring to conserve moisture. It has the functions of loosening the soil, retaining moisture, and increasing soil temperature.

[0004] The harrowing path planning method in the related art has problems such as low harrowing efficiency, high harrowing fuel consumption, and difficulty in ensuring the harrowing effect. Summary of the Invention

[0005] The present disclosure provides a method, device and system for operation path planning.

[0006] According to a first aspect of the present disclosure, a work path planning method is provided, comprising: planning a first work path for performing a first operation on a target area, the first work path comprising a plurality of non-intersecting straight work sections; after a vehicle completes the first operation on the target area according to the first work path, detecting whether there is any uneven ground in the target area; and, if there is an uneven ground in the target area, planning a second work path for performing a second operation on the uneven ground.

[0007] In some embodiments, the second working path includes one or more non-intersecting straight working sections, and the straight working sections included in the second working path are not parallel to the straight working sections included in the first working path.

[0008] In some embodiments, the straight working section included in the second working path is perpendicular to the straight working section included in the first working path.

[0009] In some embodiments, detecting whether there are uneven plots in the target area includes: dividing the target area into multiple plot units; judging whether the plot units are flat based on the posture information of the vehicle on each plot unit during the first operation; and determining that there are uneven plots in the target area when there is at least one group of continuous uneven plot units and the number of the continuous uneven plot units is greater than or equal to a preset threshold.

[0010] In some embodiments, the posture information of the vehicle on each plot unit includes the roll angle of the vehicle at two matching operation trajectory points, and judging whether the plot unit is flat based on the posture information of the vehicle on each plot unit during the first operation includes: judging whether the plot unit is flat based on the roll angle of the vehicle at two matching operation trajectory points, wherein the two matching operation trajectory points are located on two adjacent straight operation sections in the first operation path, and the line connecting the two matching operation trajectory points is perpendicular to the two adjacent straight operation sections.

[0011] In some embodiments, judging whether the plot unit is flat based on the roll angle of the vehicle at two matching operation trajectory points includes: when the sum of the absolute values ​​of the roll angles of the vehicle at the two matching operation trajectory points is greater than or equal to a first angle threshold, and the difference between the absolute values ​​of the roll angles of the vehicle at the two matching operation trajectory points is less than or equal to a second angle threshold, confirming that the plot unit is uneven; otherwise, confirming that the plot unit is flat.

[0012] In some embodiments, detecting whether there is an uneven land in the target area further includes: determining the preset threshold value according to the width of the agricultural implement provided on the vehicle and the side length of the land unit along the working direction.

[0013] In some embodiments, the preset threshold is positively correlated with the width of the agricultural implement, and the preset threshold is negatively correlated with the side length of the plot unit along the working direction.

[0014] In some embodiments, determining the preset threshold value based on the width of the agricultural implement provided on the vehicle and the side length of the plot unit along the working direction includes: determining the ratio of the width of the agricultural implement to the side length of the plot unit along the working direction; rounding the ratio, and using the result of the rounding operation as the preset threshold value.

[0015] In some embodiments, planning a second operation path for performing a second operation on the uneven land includes: in the presence of an uneven land, planning a second operation path for performing a second operation on the uneven land based on boundary contour information of the uneven land and the width of the agricultural implements provided on the vehicle.

[0016] In some embodiments, planning a second operation path for performing a second operation on the uneven plot includes: in the case where there are multiple uneven plots, determining the distance between the vehicle and each uneven plot based on the vehicle position information after completing the first operation and the position information of each uneven plot; determining the operation order of the multiple uneven plots based on the distance between the vehicle and each uneven plot; and planning a second operation path for performing the second operation on all uneven plots based on the operation order, the boundary contour information of each uneven plot, and the width of the agricultural implements set on the vehicle.

[0017] In some embodiments, planning a first operation path for the first operation on a target area includes: obtaining boundary contour information of the target area; determining an operation planning baseline based on the boundary contour information of the target area; and determining multiple non-intersecting straight operation sections based on the operation planning baseline and the width of the agricultural implements installed on the vehicle.

[0018] In some embodiments, the planning of the first operation path for the first operation in the target area also includes: determining the vehicle turning path between the two adjacent straight operation sections based on the position information of the two adjacent straight operation sections in the first operation path and the turning radius of the vehicle.

[0019] In some embodiments, the method further includes: displaying the detection results of the uneven land to the user before planning the second operation path for the second operation on the uneven land, and receiving an instruction from the user to perform the second operation on the uneven land; and / or displaying at least one of the operation progress information during the first operation or the second operation, and the vehicle's posture information during the operation.

[0020] In some embodiments, the method further includes: controlling the vehicle to operate according to the first operating path or the second operating path.

[0021] According to a second aspect of the present disclosure, an operation path planning device is provided, comprising: a first planning module, configured to plan a first operation path for performing a first operation on a target area, the first operation path comprising a plurality of non-intersecting straight operation sections; a detection module, configured to detect whether there is an uneven plot in the target area after a vehicle completes the first operation on the target area according to the first operation path; and a second planning module, configured to plan a second operation path for performing a second operation on the uneven plot in the event that the uneven plot exists in the target area.

[0022] According to a third aspect of the present disclosure, an operation control system is provided, comprising: an operation path planning device as described above; and a control device configured to control a vehicle to perform an operation according to a first operation path or a second operation path planned by the operation path planning device.

[0023] In some embodiments, the operation control system also includes: an interactive display device, configured to display the detection results of the uneven land to the user before the operation path planning device plans a second operation path for performing a second operation on the uneven land, and to receive an instruction from the user to perform a second operation on the uneven land; and / or to display at least one of the operation progress information during the first operation or the second operation, and the vehicle's posture information during the operation.

[0024] According to a fourth aspect of the present disclosure, an electronic device is provided, comprising: a memory; and a processor coupled to the memory, wherein the processor is configured to execute the above-described operation path planning method based on instructions stored in the memory.

[0025] According to a fifth aspect of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored, and when the instructions are executed by a processor, the operation path planning method as described above is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0027] The present disclosure can be more clearly understood from the following detailed description with reference to the accompanying drawings, in which:

[0028] Figure 1 is a flowchart illustrating a method for planning a work path according to some embodiments of the present disclosure;

[0029] Figure 2 is a schematic diagram illustrating a process of planning a first operation path according to some embodiments of the present disclosure;

[0030] Figure 3 is a schematic diagram illustrating a first operation path according to some embodiments of the present disclosure;

[0031] Figure 4 is a flow chart illustrating detection of uneven ground according to some embodiments of the present disclosure;

[0032] Figure 5a is a schematic diagram illustrating the principle of detecting uneven ground according to some embodiments of the present disclosure;

[0033] Figure 5bis a schematic diagram illustrating an uneven plot according to some embodiments of the present disclosure;

[0034] Figure 6 is a schematic diagram illustrating a process of planning a second operation path according to some embodiments of the present disclosure;

[0035] Figure 7 is a schematic diagram illustrating a second operation path according to some embodiments of the present disclosure;

[0036] Figure 8 is a block diagram illustrating an operation path planning device according to some embodiments of the present disclosure;

[0037] Figure 9 is a block diagram illustrating a job control system according to some embodiments of the present disclosure;

[0038] Figure 10 is a block diagram illustrating an electronic device according to some embodiments of the present disclosure;

[0039] Figure 11 is a block diagram illustrating a computer system for implementing some embodiments of the present disclosure. DETAILED DESCRIPTION

[0040] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure.

[0041] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0042] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0043] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0044] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0045] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0046] Currently, there are two main methods of harrowing: straight harrowing and diagonal harrowing. Straight harrowing follows the direction of the furrow, turning back to harrow the next row at the end of the field. Diagonal harrowing involves harrowing each area of ​​the field in two intersecting paths, filling the furrows and breaking up large clods.

[0047] Comparing straight harrowing and diagonal harrowing, it was found that the actual harrowed area of ​​the same field by diagonal harrowing was about twice that of straight harrowing. Therefore, the efficiency of straight line operation is better than that of diagonal operation, but the flatness and soil fineness of diagonal operation are better than those of straight line operation.

[0048] Most related technologies use diagonal harrowing, which has issues such as low harrowing efficiency, high fuel consumption, and poor harrowing quality. In light of this, the present disclosure provides an operation path planning method, device, and system to improve agricultural operation efficiency, reduce fuel consumption, and ensure effective agricultural operations.

[0049] Figure 1 FIG. 1 is a flow chart illustrating a method for planning an operation path according to some embodiments of the present disclosure. Figure 1 As shown, the operation path planning method of the embodiment of the present disclosure includes:

[0050] Step S110: planning a first operation path for performing a first operation on a target area.

[0051] The first working path includes a plurality of non-intersecting straight working sections, for example, the first working path includes a plurality of parallel or nearly parallel straight working sections.

[0052] In some embodiments, the operation scenario is specifically a harrowing scenario. In the harrowing scenario, a first harrowing path for the target area is planned, and the target area is harrowed for the first time according to the first harrowing path. In addition, the operation scenario can also be a plowing scenario, or other scenarios that require similar operations on the target area.

[0053] Step S120: After the vehicle completes the first operation on the target area according to the first operation path, detect whether there is any uneven ground in the target area.

[0054] In some embodiments, while the vehicle is performing its first operation on the target area, a positioning module, such as a positioning board and an inertial measurement unit (IMU), collects the vehicle's position and posture information. This allows the vehicle to detect the presence of uneven terrain in the target area based on the vehicle's position and posture information after the vehicle completes its first operation on the target area according to the first operation path. For example, the vehicle's position and posture information may be recorded at specified time intervals or at specified distance intervals.

[0055] In some embodiments, according to Figure 4 The process shown detects whether there are uneven patches in the target area.

[0056] Step S130: When there is an uneven ground in the target area, a second operation path for performing a second operation on the uneven ground is planned.

[0057] In some embodiments, the second working path includes one or more non-intersecting straight-line working sections. For example, when the working scene is a harrowing scene, the second working path includes one or more non-intersecting straight-line harrowing sections (or linear harrowing routes).

[0058] In the disclosed embodiments, on the one hand, by making the first and second working paths include one or more non-intersecting straight working sections, both operations can be performed in a straight-line manner. Compared to intersecting working methods, this can greatly improve working efficiency and save vehicle fuel consumption. On the other hand, by detecting uneven ground and re-operating on the uneven ground when uneven ground is detected, the flatness of the ground after agricultural operation can be improved, ensuring the effectiveness of agricultural operation.

[0059] In some embodiments, the second working path includes one or more non-intersecting straight working sections, and the straight working sections included in the second working path are not parallel to the straight working sections included in the first working path.

[0060] In the disclosed embodiments, by ensuring that the first and second working paths include one or more non-intersecting linear working sections, both operations can be performed in a linear manner. This significantly improves operational efficiency and reduces vehicle fuel consumption compared to intersecting working methods. Furthermore, by ensuring that the linear working sections included in both paths are non-parallel, the leveling of uneven ground can be improved, effectively enhancing the flatness of the ground after the operation and enhancing operational effectiveness.

[0061] In some embodiments, the second working path includes one or more parallel or nearly parallel linear working segments, and the linear working segments included in the second working path are perpendicular or nearly perpendicular to the linear working segments included in the first working path. In the disclosed embodiments, by making the linear working segments included in both paths perpendicular or nearly perpendicular, the leveling of uneven land can be further improved, thereby making the land after the operation more flat, further improving agricultural operation results.

[0062] In some embodiments, the operation path planning method further includes: before planning a second operation path for performing a second operation on the uneven land, displaying the detection results of the uneven land to the user, and confirming receipt of the user's instruction to perform a second operation on the uneven land.

[0063] For example, the system displays the detection results of uneven ground to the user and asks the user through text or voice prompts whether to perform a second operation on the uneven ground. After receiving the user's confirmation to perform the second operation on the uneven ground, the system then plans the operation path for the uneven ground again. By displaying the detection results of uneven ground to the user and then planning the path for the second operation after receiving the user's confirmation, the system can improve the flexibility of the operation path planning process, interactivity with the user, and enhance the user experience.

[0064] In some embodiments, the operation path planning method further includes: displaying at least one of the operation progress information during the first operation or the second operation, and the position information of the vehicle during the operation.

[0065] For example, while the agricultural machine is automatically harrowing along a first operating path, the interactive display module displays the areas that have been harrowed and those that have not. Furthermore, at specified intervals, the current position of the agricultural machine and its roll angle are recorded and displayed. This information helps users understand the harrowing progress in a timely manner. Displaying the vehicle's position helps users detect deviations from the planned operating path and make timely adjustments.

[0066] In some embodiments, the operation path planning method further includes: controlling the vehicle to perform the operation according to the first operation path or the second operation path.

[0067] In the disclosed embodiment, the above steps can improve the agricultural operation efficiency of a vehicle (such as an agricultural machine), reduce vehicle fuel consumption, ensure the smoothness of the vehicle's agricultural operations, and reduce the driver's workload.

[0068] Figure 2FIG. 1 is a flow chart showing a process of planning a first operation path according to some embodiments of the present disclosure. Figure 2 As shown, the process of planning the first operation path in the embodiment of the present disclosure includes:

[0069] Step S111: Obtain boundary contour information of the target area.

[0070] In some embodiments, a positioning module installed on a vehicle collects boundary contour information of the target area. For example, the vehicle can be driven along the boundary of the target area, and the positioning module on the vehicle can collect coordinate information of boundary points at specified intervals. Simultaneously, while collecting the coordinate information of the boundary points, the vehicle can also perform operations such as harrowing the boundary of the target area to improve operational efficiency.

[0071] For example, the target area may be in a rectangular, trapezoidal, irregular, or other shapes.

[0072] In some embodiments, the target area is a rectangular area. In these embodiments, the acquired boundary contour information of the target area at least includes the coordinates of four vertices of the rectangular area.

[0073] Step S112: Determine the operation planning baseline based on the boundary contour information of the target area.

[0074] In some embodiments, when the target area is a rectangular area, the four sides of the rectangular area are determined according to the coordinates of the four vertices of the rectangular area, and the longest side of the four sides is used as the operation planning baseline.

[0075] Step S113: Determine a plurality of non-intersecting straight working sections according to the working plan baseline and the width of the agricultural implements installed on the vehicle.

[0076] In some embodiments, the work planning baseline extends horizontally, and a planned route parallel or nearly parallel to the work planning baseline is set at predetermined intervals in the longitudinal direction, and the planned route is used as a linear work segment. The predetermined interval is positively correlated with the width of the agricultural implement installed on the vehicle.

[0077] For example, straight working sections L1, L2, and L3 parallel to the working planning baseline are respectively set at 0.5W, 1.5W, and 2.5W away from the working planning baseline, where W is the width of the agricultural implements set on the vehicle.

[0078] In some embodiments, the process of planning the first operating path further includes: determining a vehicle turning path between the two adjacent linear operating sections based on position information of the two adjacent linear operating sections in the first operating path and a turning radius of the vehicle.

[0079] In the disclosed embodiment, the above steps can adaptively determine the first operation path based on the boundary contour information of the target area, thereby improving the applicability of the operation path planning method. Furthermore, the above steps can minimize the total length of the path traversed by the first operation, thereby helping to improve operation efficiency and reduce vehicle fuel consumption.

[0080] Figure 3 is a schematic diagram illustrating a first operation path according to some embodiments of the present disclosure. Figure 3 As shown, the target area is a rectangular area ABCD, which is the field to be harrowed.

[0081] In some embodiments, a driver may drive the vehicle around the field boundary in the order of A → B → C → D to collect boundary data. For example, a positioning module provided on the vehicle may be used to collect the coordinates of at least four vertices of the rectangular area, while simultaneously harrowing the field boundary area.

[0082] In some embodiments, after collecting the coordinates of the boundary points of the rectangular area ABCD, the lengths of the four sides of the rectangle are determined based on the coordinates of the four vertices of the rectangular area, and the longest side is used as the operation planning baseline. For example, side AD is used as the operation planning baseline, and then multiple straight operation sections parallel to the operation planning baseline are generated based on the width of the agricultural implement. For example, Figure 3 The straight working section 1-2, the straight working section 3-4, the straight working section 5-6, and the straight working section 7-8 are shown.

[0083] In some embodiments, a vehicle U-turn path is planned based on the positions of two adjacent straight working sections and the turning radius of the vehicle. Figure 3 The vehicle U-turn paths shown are 2-3, 4-5, and 6-7.

[0084] In the disclosed embodiment, by adopting a linear harrowing operation mode and planning the first operation path through the above steps, the shortest possible harrowing path can be obtained, thereby improving the operation efficiency of the vehicle's first harrowing operation and reducing fuel consumption.

[0085] Figure 4 FIG. 1 is a flow chart illustrating detection of uneven ground according to some embodiments of the present disclosure. Figure 4 As shown, the process of detecting uneven land in the embodiment of the present disclosure includes:

[0086] Step S121: Divide the target area into multiple plot units.

[0087] In some embodiments, the target area is divided into a plurality of rectangular parcel units.

[0088] For example, the target area is divided into a plurality of rectangular plot units of equal size, or the target area is divided into a plurality of rectangular plot units of unequal size.

[0089] For example, Figure 5a As shown in FIG, the target area is divided into multiple plot units, with the specified distance interval as the length of the rectangular plot unit and the distance between two adjacent straight working sections as the width of the rectangular plot unit. Thus, multiple plot units including plot units S1, S2, S3, S4, and S5 are obtained.

[0090] Step S122: judging whether the land unit is flat based on the position information of the vehicle on each land unit during the first operation.

[0091] In some embodiments, the vehicle's position information on each plot unit includes the vehicle's roll angle at two matching work trajectory points. In these embodiments, step S122 includes determining whether the plot unit is flat based on the vehicle's roll angle at the two matching work trajectory points. The two matching work trajectory points are located on two adjacent linear work sections in the first work path, and the line connecting the two matching work trajectory points is perpendicular to the two adjacent linear work sections.

[0092] For example, Figure 5a As shown, for the plot unit S1, according to the matching operation trajectory point P corresponding to the plot unit 11 The roll angle and P 21 Roll angle, to determine whether the plot unit is flat, where the matching operation trajectory point P 11 Located on the straight working section 1-2, matching the working track point P 21 Located on the straight working section 3-4, and P 11 and P 21 The line connecting the two is perpendicular to the straight working sections 1-2 and 3-4. For the plot unit S2, according to the matching working track point P corresponding to the plot unit, 12 The roll angle and P 22 Roll angle, judge whether the plot unit is flat; for plot unit S3, according to the matching operation trajectory point P corresponding to the plot unit 13 The roll angle and P 23 The rolling angle is used to determine whether the land unit is flat.

[0093] In some embodiments, whether a plot unit is flat is determined as follows: whether the sum of the absolute values ​​of the rolling angles of the vehicle at two matching operating trajectory points is greater than or equal to a first angle threshold; when the sum of the absolute values ​​of the rolling angles of the vehicle at two matching operating trajectory points is greater than or equal to the first angle threshold, the plot unit is confirmed to be uneven; otherwise, the plot unit is confirmed to be flat.

[0094] In some embodiments, whether a plot unit is flat is determined as follows: whether the sum of the absolute values ​​of the roll angles of the vehicle at two matching operating trajectory points is greater than or equal to a first angle threshold; whether the difference between the absolute values ​​of the roll angles of the vehicle at the two matching operating trajectory points is less than or equal to a second angle threshold; when the sum of the absolute values ​​of the roll angles of the vehicle at the two matching operating trajectory points is greater than or equal to the first angle threshold, and the difference between the absolute values ​​of the roll angles of the vehicle at the two matching operating trajectory points is less than or equal to the second angle threshold, it is confirmed that the plot unit is uneven; otherwise, it is confirmed that the plot unit is flat.

[0095] For example, Figure 5a As shown, the following formula is used to determine whether the plot unit S1 is an uneven plot:

[0096] |θ 11 |+|θ 21 |>>α1

[0097] |θ 11 |-|θ 21 |≤α2

[0098] Among them, θ 11 Point P 11 Roll angle, θ 21 Point P 21 Roll angle, α1 is the first angle threshold, and α2 is the second angle threshold.

[0099] In the embodiment of the present disclosure, by using the roll angle information of two matching operation trajectory points corresponding to the plot unit to detect whether the plot unit is flat, the accuracy and effectiveness of the plot unit flatness detection can be improved.

[0100] Step S123: when there is at least one group of continuous uneven land units and the number of the continuous uneven land units is greater than or equal to a preset threshold, it is determined that there is an uneven land in the target area.

[0101] For example, if a group of continuous uneven land units exists in the target area after the first operation, and the number of units in this group of continuous uneven land units is greater than or equal to a preset threshold, then the group of uneven land units is determined to constitute an uneven land block. Therefore, there is no uneven land block in the target area.

[0102] For example, suppose that after the first operation, the target area contains two groups of continuous uneven land units. One group, C1, consists of S1, S2, and S3, while the other group, C2, consists of S5. Furthermore, assuming a preset threshold of 2, since the number of uneven land units in C1 is greater than the preset threshold, C1 is determined to constitute an uneven land parcel. Since the number of uneven land units in C2 is less than the preset threshold, C2 is determined not to constitute an uneven land parcel. Therefore, there is a single uneven land parcel in the target area, namely, the uneven land parcel consisting of S1, S2, and S3.

[0103] For example, Figure 5b As shown, it is detected that there are two uneven plots in the target area, namely rectangular area a1b1c1d1 and rectangular area a2b2c2d2.

[0104] In some embodiments, the preset threshold is determined as follows: the preset threshold is determined based on the width of the agricultural implement installed on the vehicle and the side length of the plot unit along the working direction. Figure 5a For the plot unit S1 in , the side length along the working direction is the side length parallel to the side of the straight working section 1-2.

[0105] In some embodiments, the preset threshold is positively correlated with the width of the agricultural implement, and the preset threshold is negatively correlated with the side length of the plot unit along the working direction.

[0106] In some embodiments, the preset threshold is determined by: determining the ratio of the width of the agricultural implement to the side length of the plot unit along the working direction; performing a rounding operation on the ratio, and using the rounding result as the preset threshold.

[0107] In the disclosed embodiment, by confirming the presence of an uneven plot when multiple consecutive plot units are uneven, and the number of consecutive uneven plot units is greater than or equal to a preset threshold, the accuracy and reliability of uneven plot detection can be further improved, thereby facilitating subsequent targeted re-operation on the uneven plot, thereby improving work efficiency and results. Furthermore, by using the width of the agricultural implement and the side length of the plot unit along the working direction to determine the preset threshold, the detection results of uneven plots are made more reliable and more practical, thereby helping to further improve work efficiency and results.

[0108] Figure 6 FIG. 1 is a flow chart showing a process of planning a second operation path according to some embodiments of the present disclosure. Figure 6As shown, the process of planning the second operation path in the embodiment of the present disclosure includes sub-process 1 for planning a path for one uneven plot, and sub-process 2 for planning a path for multiple uneven plots. Sub-process 1 includes step S131, and sub-process 2 includes steps S132 to S134.

[0109] Step S131: planning a second operation path for uneven ground.

[0110] In some embodiments, when there is an uneven plot in the target area, a second operation path for performing a second operation on the uneven plot is planned based on boundary contour information of the uneven plot and the width of the agricultural implement installed on the vehicle.

[0111] For example, if after the first operation, the target area contains uneven land (a1b1c1d1), the edge of this land unit (e.g., edge a1b1) that is perpendicular to the linear working section of the first operation is used as the operation planning baseline. Then, based on this operation planning baseline and the width of the agricultural implements installed on the vehicle, one or more linear working sections that are parallel or nearly parallel to the operation planning baseline are determined. The linear working sections included in the second operation path are perpendicular to the linear working sections included in the first operation path.

[0112] By planning the second working path as follows, you can obtain the shortest possible working path, thereby helping to improve the efficiency of the second operation. At the same time, by making the straight working sections of the second working path perpendicular to the straight working sections of the first working path, it helps to level uneven land and further improve the flatness of the land after the operation.

[0113] Step S132: Determine the distance between the vehicle and each uneven ground block based on the vehicle position information after the first operation is completed and the position information of each uneven ground block.

[0114] For example, Figure 7 As shown in the figure, assuming the target area is rectangular area ABCD, after the first operation is completed in the target area, there are uneven ground 1 (i.e., rectangular area a1b1c1d1) and uneven ground 2 (i.e., rectangular area a2b2c2d2), and the vehicle's position after the first operation is point p1. The distance from the vehicle's position p1 to uneven ground 1 and the distance from the vehicle's position p1 to uneven ground 2 can be calculated.

[0115] Step S133: Determine the operation order of the plurality of uneven plots according to the distance between the vehicle and each uneven plot.

[0116] In some embodiments, the operation is performed on each uneven ground block in order of the distance between the vehicle and each uneven ground block from small to large. Figure 7 As shown, assuming that the distance from the vehicle to the uneven plot 1 (i.e., the rectangular area a1b1c1d1) is smaller than the distance from the vehicle to the uneven plot 2 (i.e., the rectangular area a2b2c2d2), the operation sequence of the uneven plots satisfies: first operate on the uneven plot 1, and then operate on the uneven plot 2.

[0117] Step S134: planning a second operation path for all uneven plots according to the operation sequence, the boundary contour information of each uneven plot, and the width of the agricultural implements installed on the vehicle.

[0118] In some embodiments, the boundary contour information of each uneven plot is first identified to prepare for the second path planning. Then, according to the operation sequence, the corresponding operation planning baseline is determined based on the boundary contour information of each uneven plot. Then, based on the operation planning baseline and the width of the agricultural implement installed on the vehicle, a second operation path for the uneven plot is determined. The second operation path includes a straight line section perpendicular to the straight line section of the first operation path.

[0119] In the disclosed embodiment, by adopting a linear operation method and planning the second operation path according to the above steps, the shortest possible operation path can be obtained, thereby improving the efficiency of the vehicle's second operation and reducing fuel consumption. Furthermore, by making the operation direction of the second operation perpendicular to the operation direction of the first operation, it helps to improve the flatness of the land after the operation, further improving the operation effect.

[0120] Figure 8 is a block diagram illustrating an operation path planning device according to some embodiments of the present disclosure. Figure 8 As shown, the operation path planning device 800 of the embodiment of the present disclosure includes: a first planning module 810, a detection module 820, and a second planning module 830.

[0121] The first planning module 810 is configured to plan a first operation path for performing a first operation on a target area.

[0122] The first working path includes a plurality of non-intersecting straight working sections, for example, the first working path includes a plurality of parallel or nearly parallel straight working sections.

[0123] In some embodiments, the operation scenario is specifically a harrowing scenario. In the harrowing scenario, a first harrowing path for the target area is planned, and the target area is harrowed for the first time according to the first harrowing path. In addition, the operation scenario can also be a plowing scenario, or other scenarios that require similar operations on the target area.

[0124] The detection module 820 is configured to detect whether there is any uneven ground in the target area after the vehicle completes the first operation on the target area according to the first operation path.

[0125] In some embodiments, while the vehicle is performing its first operation on the target area, a positioning module, such as a positioning board and an inertial measurement unit (IMU), collects the vehicle's position and posture information. This allows the vehicle to detect whether there are any uneven areas in the target area based on the vehicle's position and posture information during the first operation after the vehicle completes the first operation on the target area according to the first operation path. For example, during the first operation, the vehicle's position and posture information is recorded at specified time intervals; or, during the first operation, the vehicle's position and posture information is recorded at specified distance intervals.

[0126] In some embodiments, the detection module 820 is configured to: divide the target area into multiple plot units; determine whether the plot unit is flat based on the posture information of the vehicle on each plot unit during the first operation; and determine that there are uneven plots in the target area when there is at least one group of continuous uneven plot units and the number of continuous uneven plot units is greater than or equal to a preset threshold.

[0127] The second planning module 830 is configured to plan a second operation path for performing a second operation on the uneven land when there is an uneven land in the target area.

[0128] In some embodiments, the second working path includes one or more non-intersecting straight-line working sections. For example, when the working scene is a harrowing scene, the second working path includes one or more non-intersecting straight-line harrowing sections (or linear harrowing routes).

[0129] In the disclosed embodiments, on the one hand, by making the first and second working paths include one or more non-intersecting straight working sections, both operations can be performed in a straight-line manner. Compared to intersecting working methods, this can greatly improve working efficiency and save vehicle fuel consumption. On the other hand, by detecting uneven ground and re-operating on the uneven ground when uneven ground is detected, the flatness of the ground after agricultural operation can be improved, ensuring the effectiveness of agricultural operation.

[0130] In some embodiments, the second working path includes one or more non-intersecting straight working sections, and the straight working sections included in the second working path are not parallel to the straight working sections included in the first working path.

[0131] In the disclosed embodiments, by ensuring that the first and second working paths include one or more non-intersecting linear working sections, both operations can be performed in a linear manner. This significantly improves operational efficiency and reduces vehicle fuel consumption compared to intersecting working methods. Furthermore, by ensuring that the linear working sections included in both paths are non-parallel, the leveling of uneven ground can be improved, effectively enhancing the flatness of the ground after the operation and enhancing operational effectiveness.

[0132] In some embodiments, the second working path includes one or more parallel or nearly parallel linear working segments, and the linear working segments included in the second working path are perpendicular or nearly perpendicular to the linear working segments included in the first working path. In the disclosed embodiments, by making the linear working segments included in both paths perpendicular or nearly perpendicular, the leveling of uneven land can be further improved, thereby making the land after the operation more flat, further improving agricultural operation results.

[0133] In the disclosed embodiment, the above device can improve the agricultural operation efficiency of a vehicle (such as an agricultural machine), reduce the vehicle's fuel consumption, ensure the smoothness of the vehicle's agricultural operation, and reduce the driver's workload.

[0134] Figure 9 is a block diagram illustrating a job control system according to some embodiments of the present disclosure. Figure 9 As shown, the operation control system 900 of the embodiment of the present disclosure includes: an operation path planning device 910 and a control device 920.

[0135] The operation path planning device 910 includes: Figure 8 The module shown is configured to plan an operation path for the target area.

[0136] The control device 920 is configured to control the vehicle to perform operations according to the first operation path or the second operation path planned by the operation path planning device 910. For example, the control module is mainly composed of a steering wheel motor, which plays a role in controlling the movement of the vehicle.

[0137] In some embodiments, the operation control system 900 also includes an interactive display device, which is configured to: display the detection results of the uneven land to the user before the operation path planning device 910 plans a second operation path for performing a second operation on the uneven land, and receive instructions issued by the user to perform a second operation on the uneven land.

[0138] For example, the system displays the detection results of uneven ground to the user and asks the user through text or voice prompts whether to perform a second operation on the uneven ground. After receiving the user's confirmation to perform the second operation on the uneven ground, the system then plans the operation path for the uneven ground again. By displaying the detection results of uneven ground to the user and then planning the path for the second operation after receiving the user's confirmation, the system can improve the flexibility of the operation path planning process, interactivity with the user, and enhance the user experience.

[0139] In some embodiments, the interactive display device is further configured to display the operation progress information during the first operation or the second operation, as well as the position and posture information of the vehicle during the operation.

[0140] For example, while the agricultural machine is automatically harrowing along a first operating path, the interactive display module displays the areas that have been harrowed and those that have not. Furthermore, at specified intervals, the current position of the agricultural machine and its roll angle are recorded and displayed. This information helps users understand the harrowing progress in a timely manner. Displaying the vehicle's position helps users detect deviations from the planned operating path and make timely adjustments.

[0141] In some embodiments, the operation control system 900 further includes a positioning device configured to collect vehicle position information. For example, the positioning module primarily comprises a high-precision positioning board and an inertial measurement unit, which is used to accurately measure the position and attitude of the agricultural machinery.

[0142] In the disclosed embodiment, through the above operation control system, the agricultural operation efficiency of vehicles (such as agricultural machinery) can be improved and the vehicle fuel consumption can be reduced, while the smoothness of the vehicle's agricultural operations can be ensured and the driver's workload can be reduced.

[0143] Figure 10 is a block diagram illustrating an electronic device according to some embodiments of the present disclosure.

[0144] like Figure 10 As shown, electronic device 1000 includes a memory 1010 and a processor 1020 coupled to memory 1010. Memory 1010 is configured to store instructions for executing the corresponding embodiments of the work path planning method. Processor 1020 is configured to execute the work path planning method according to any of the embodiments of the present disclosure based on the instructions stored in memory 1010.

[0145] Figure 11 is a block diagram illustrating a computer system for implementing some embodiments of the present disclosure. Figure 11 As shown, computer system 1100 may be implemented as a general-purpose computing device. Computer system 1100 includes a memory 1110, a processor 1120, and a bus 1130 that connects various system components.

[0146] The memory 1110 may include, for example, system memory, non-volatile storage media, and the like. The system memory may store, for example, an operating system, application programs, a boot loader, and other programs. The system memory may include volatile storage media, such as random access memory (RAM) and / or cache memory. The non-volatile storage media may store, for example, instructions for executing at least one embodiment of the operation path planning method. Non-volatile storage media include, but are not limited to, disk storage, optical storage, flash memory, and the like.

[0147] The processor 1120 can be implemented using a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, or discrete hardware components such as discrete gates or transistors. Accordingly, each module, such as the first planning module, the detection module, and the second planning module, can be implemented by a central processing unit (CPU) executing instructions in a memory that execute corresponding steps, or by dedicated circuits that execute corresponding steps.

[0148] The bus 1130 may use any of a variety of bus architectures, including, but not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MCA) bus, and a Peripheral Component Interconnect (PCI) bus.

[0149] Computer system 1100 may also include input / output interfaces 1140, a network interface 1150, a storage interface 1160, and the like. These interfaces 1140, 1150, and 1160, as well as memory 1110 and processor 1120, may be connected via bus 1130. Input / output interfaces 1140 provide connection interfaces for input / output devices such as a display, mouse, and keyboard. Network interface 1150 provides connection interfaces for various networked devices. Storage interface 1160 provides connection interfaces for external storage devices such as floppy disks, USB flash drives, and SD cards.

[0150] Here, various aspects of the present disclosure are described with reference to flowcharts and / or block diagrams of methods, devices, and computer program products according to embodiments of the present disclosure. It should be understood that each block of the flowcharts and / or block diagrams, and combinations of blocks, can be implemented by computer-readable program instructions.

[0151] These computer-readable program instructions may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable device to produce a machine, so that the processor executes the instructions to produce means for implementing the functions specified in one or more blocks in the flowcharts and / or block diagrams.

[0152] These computer-readable program instructions may also be stored in a computer-readable memory, which cause the computer to operate in a specific manner to produce an article of manufacture, including instructions for implementing the functions specified in one or more blocks in the flowcharts and / or block diagrams.

[0153] The present disclosure can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects.

[0154] Through the operation path planning method, device and system in the above embodiments, it is possible to improve agricultural operation efficiency while ensuring agricultural operation results.

[0155] The method, apparatus, and system for planning a work path according to the present disclosure have been described in detail. To avoid obscuring the concepts of the present disclosure, some details known in the art have been omitted. Based on the above description, those skilled in the art will fully understand how to implement the technical solutions disclosed herein.

Claims

1. A method for planning an operation path, comprising: Planning a first operation path for performing a first operation on a target area, wherein the first operation path includes a plurality of non-intersecting straight operation sections; After the vehicle completes a first operation on the target area according to the first operation path, detecting whether there is any uneven ground in the target area includes: dividing the target area into a plurality of ground units; determining whether the ground units are flat based on the position information of the vehicle on each ground unit during the first operation; and determining that there is an uneven ground in the target area when there is at least one group of continuous uneven ground units and the number of the continuous uneven ground units is greater than or equal to a preset threshold; In the case where there is an uneven land in the target area, a second operation path is planned for performing a second operation on the uneven land.

2. The operation path planning method according to claim 1, wherein: The second working path includes one or more non-intersecting straight working sections, and the straight working sections included in the second working path are not parallel to the straight working sections included in the first working path. 3 . The operation path planning method according to claim 2 , wherein the straight operation section included in the second operation path is perpendicular to the straight operation section included in the first operation path.

4. The operation path planning method according to claim 1, wherein: The position information of the vehicle on each plot unit includes a roll angle of the vehicle at two matching operation trajectory points, and judging whether the plot unit is level based on the position information of the vehicle on each plot unit during the first operation includes: Whether the plot unit is flat is determined based on the roll angle of the vehicle at two matching operation trajectory points, wherein the two matching operation trajectory points are located on two adjacent straight operation sections in the first operation path, and the line connecting the two matching operation trajectory points is perpendicular to the two adjacent straight operation sections.

5. The operation path planning method according to claim 4, wherein: Judging whether the land unit is flat according to the roll angle of the vehicle at two matching operation trajectory points includes: When the sum of the absolute values ​​of the vehicle's roll angles at the two matching operation trajectory points is greater than or equal to a first angle threshold, and the difference between the absolute values ​​of the vehicle's roll angles at the two matching operation trajectory points is less than or equal to a second angle threshold, it is determined that the plot unit is uneven; otherwise, it is determined that the plot unit is flat.

6. The operation path planning method according to claim 1, wherein: The detecting whether there is an uneven land in the target area further includes: The preset threshold is determined according to the width of the agricultural implement provided on the vehicle and the side length of the land unit along the working direction.

7. The operation path planning method according to claim 6, wherein: The preset threshold is positively correlated with the width of the agricultural implement, and the preset threshold is negatively correlated with the side length of the plot unit along the working direction.

8. The operation path planning method according to claim 6, wherein: Determining the preset threshold according to the width of the agricultural implement provided on the vehicle and the side length of the land unit along the working direction includes: Determining a ratio of a width of the agricultural implement to a side length of the plot unit along a working direction; A rounding operation is performed on the ratio, and a result of the rounding operation is used as the preset threshold.

9. The operation path planning method according to any one of claims 1 to 8, wherein: The planning of a second operation path for performing a second operation on the uneven land includes: In the case where there is an uneven land, a second operation path for performing a second operation on the uneven land is planned according to the boundary contour information of the uneven land and the width of the agricultural implement provided on the vehicle.

10. The operation path planning method according to any one of claims 1 to 8, wherein: The planning of a second operation path for performing a second operation on the uneven land includes: In the case where there are multiple uneven plots, determining the distance between the vehicle and each uneven plot based on the vehicle position information after completing the first operation and the position information of each uneven plot; determining an operation sequence for the plurality of uneven plots according to a distance between the vehicle and each uneven plot; A second operation path for performing a second operation on all the uneven land parcels is planned based on the operation sequence, the boundary contour information of each uneven land parcel, and the width of the agricultural implement provided on the vehicle.

11. The operation path planning method according to claim 1, wherein: Planning a first operation path for a first operation in a target area includes: Acquiring boundary contour information of the target area; Determining an operation planning baseline based on boundary contour information of the target area; A plurality of non-intersecting straight working sections are determined according to the operation planning baseline and the width of the agricultural implements installed on the vehicle.

12. The operation path planning method according to claim 11, wherein: The planning of the first operation path for the first operation in the target area further includes: A vehicle turning path between the two adjacent straight working sections is determined based on the position information of the two adjacent straight working sections in the first working path and the turning radius of the vehicle.

13. The operation path planning method according to claim 1, further comprising: Before planning the second operation path for performing the second operation on the uneven land, displaying the detection result of the uneven land to the user, and receiving the instruction from the user to perform the second operation on the uneven land; and / or, At least one of the operation progress information during the first operation or the second operation and the position information of the vehicle during the operation is displayed.

14. The operation path planning method according to claim 1, further comprising: The vehicle is controlled to operate according to a first operation path or a second operation path.

15. A work path planning device, comprising: A first planning module is configured to plan a first operation path for performing a first operation on a target area, wherein the first operation path includes a plurality of non-intersecting straight operation sections; The detection module is configured to detect whether there are any uneven plots in the target area after the vehicle completes a first operation on the target area according to the first operation path, including: dividing the target area into a plurality of plot units; determining whether the plot units are flat based on the position information of the vehicle on each plot unit during the first operation; and determining that there are uneven plots in the target area when there is at least one group of continuous uneven plot units and the number of the continuous uneven plot units is greater than or equal to a preset threshold; The second planning module is configured to plan a second operation path for performing a second operation on the uneven land if there is an uneven land in the target area.

16. A job control system comprising: The operation path planning device according to claim 15; The control device is configured to control the vehicle to perform operations according to the first operation path or the second operation path planned by the operation path planning device.

17. The job control system according to claim 16, further comprising: an interactive display device configured to display the detection result of the uneven land to a user before the operation path planning device plans a second operation path for performing a second operation on the uneven land, and to receive an instruction from the user to perform a second operation on the uneven land; And / or, at least one of the operation progress information during the first operation or the second operation and the position information of the vehicle during the operation is displayed.

18. An electronic device comprising: Memory; as well as A processor coupled to the memory, wherein the processor is configured to execute the operation path planning method according to any one of claims 1 to 14 based on instructions stored in the memory.

19. A computer-readable storage medium having computer program instructions stored thereon, wherein when the instructions are executed by a processor, the operation path planning method according to any one of claims 1 to 14 is implemented.

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