一种耙地路径规划方法、装置、设备及存储介质
By identifying equally spaced candidate key points and performing clipping and smoothing processes in the harrowing path planning, the problem of multiple reconnections in the harrowing path is solved, achieving more efficient harrowing path planning.
CN116124145BActive Publication Date: 2026-07-17GUANGZHOU XAIRCRAFT TECH CO LTD
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- GUANGZHOU XAIRCRAFT TECH CO LTD
- Filing Date
- 2022-12-30
- Publication Date
- 2026-07-17
AI Technical Summary
Technical Problem
The existing harrowing path planning requires multiple reconnections, resulting in a large number of paths that turn around in place, leading to inconsistent harrowing results.
Method used
Based on the bounding rectangle of the target plot, multiple equally spaced candidate key points are determined. A planned path is generated by traversing all candidate key points in one go, and the path is trimmed and smoothed to reduce the number of paths that require turning around in place.
Benefits of technology
It effectively reduces the number of turning-around points in the harrowing path, improving the effectiveness and efficiency of harrowing path planning.
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Figure CN116124145B_ABST
Abstract
本申请实施例公开了一种耙地路径规划方法、装置、设备及存储介质。本申请实施例提供的技术方案通过基于目标地块的外接矩形确定多个等间距的候选关键点，并一次遍历所有候选关键点生成规划路径，基于目标地块对规划路径进行裁剪处理得到裁剪路径，并对裁剪路径进行平滑处理得到耙地路径，由于候选关键点的关键点数量满足设定的一次遍历条件，对候选关键点进行一次遍历即可得到连续的规划路径，不需要对规划路径进行重连操作，有效减少耙地路径中的原地掉头路径，提高耙地路径规划效果。
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