Method, device, electronic device and storage medium for generating operation path of agricultural machinery

Abstract

The present invention discloses a method, device, electronic device, and storage medium for generating an operation path for agricultural machinery. The method includes: determining the operation starting edge of the farmland operation edge based on the farmland operation edge and the position of the agricultural machinery; obtaining the width of the agricultural implement, and using the agricultural implement width as an equidistant offset and the operation starting edge as the equidistant offset starting edge, sequentially performing equidistant offsets on the remaining operation edges of the farmland operation edge to obtain a straight line operation path; and generating a U-turn operation path on the straight line operation path based on the straight line operation path, the maximum turning angle of the agricultural machinery, and the front and rear wheel wheelbases of the agricultural machinery, thereby obtaining the operation path of the agricultural machinery. That is, the technical solution of the present invention can generate different U-turn operation paths with a small number of reversing times on the straight line operation path based on the straight line operation path, the maximum turning angle of the agricultural machinery, and the front and rear wheel wheelbases of the agricultural machinery, thereby obtaining a variety of different agricultural machinery operation paths, thereby improving the operation efficiency of the agricultural machinery and increasing the flexibility of agricultural machinery operation path planning.

Description

Technical Field

[0001] The embodiments of the present invention relate to agricultural intelligent path planning technology, and in particular to a method, device, electronic device and storage medium for generating an operation path for agricultural machinery. Background Art

[0002] Currently, most farmers and operators of harvesters typically use a "U-shaped" operation pattern for harvesting. Reversing U-turns are commonly used to change direction or turn at the junction of two adjacent working lines. Reversing U-turns involve switching between adjacent straight paths, requiring the machine to reverse and perform other maneuvers.

[0003] However, the current "U-shaped" operation mode all uses reverse turning methods, which has many reversing times, high fuel consumption, and low operation efficiency. Moreover, as the number of harvesting times increases, the operation side becomes shorter and shorter. If the "U-shaped" operation mode is continued to be used for harvesting and the U-turn is achieved through reverse turning, the fuel consumption will be high. Summary of the Invention

[0004] The embodiments of the present invention provide a method, device, electronic device and storage medium for generating an operation path for agricultural machinery, which can generate different turning operation paths with fewer reversing times on a straight operation path, thereby obtaining a variety of different operation paths for agricultural machinery, reducing the number of reversing times and fuel consumption of agricultural machinery, reducing the operation cost of agricultural machinery, and thereby improving the operation efficiency of agricultural machinery. It provides an agricultural machinery operation path generation method that is more in line with the operation habits of agricultural machinery operators, and increases the flexibility of agricultural machinery operation path planning.

[0005] In a first aspect, an embodiment of the present invention provides a method for generating an operation path of an agricultural machine, the method comprising:

[0006] Determine the operation start edge of the farmland operation edge based on the farmland operation edge and the position of the agricultural machinery;

[0007] Obtaining the width of the farm implement, and using the width of the farm implement as an equidistant offset, using the operation starting edge as the equidistant offset starting edge, and sequentially performing equidistant offsets on the remaining operation edges of the farmland operation edge to obtain a straight operation path;

[0008] Based on the straight working path, the maximum turning angle of the agricultural machine and the wheelbase of the front and rear wheels of the agricultural machine, a U-turn working path is generated on the straight working path to obtain the working path of the agricultural machine.

[0009] In a second aspect, an embodiment of the present invention provides a device for generating an operation path for an agricultural machine, the device comprising:

[0010] An operation starting edge determination module is used to determine the operation starting edge of the farmland operation edge based on the farmland operation edge and the position of the agricultural machine;

[0011] An equidistant offset module is used to obtain the width of the farm implement, and use the width of the farm implement as the equidistant offset amount and the operation starting edge as the equidistant offset starting edge, and sequentially perform equidistant offsets on the remaining operation edges of the farmland operation edge to obtain a straight operation path;

[0012] The operation path generation module is used to generate a U-turn operation path on the straight operation path based on the straight operation path, the maximum turning angle of the agricultural machinery and the wheelbase of the front and rear wheels of the agricultural machinery to obtain the operation path of the agricultural machinery.

[0013] In a third aspect, an embodiment of the present invention further provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method for generating an agricultural machinery operation path as described in any one of the embodiments of the present invention is implemented.

[0014] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for generating an operation path of an agricultural machine as described in any one of the embodiments of the present invention.

[0015] In an embodiment of the present invention, the working starting edge of the farmland working edge is determined based on the farmland working edge and the position of the agricultural machinery; the width of the agricultural implement is obtained, and the width of the agricultural implement is used as the equidistant offset, and the working starting edge is used as the equidistant offset starting edge, and the remaining working edges of the farmland working edge are equidistantly offset in sequence to obtain a straight line working path; based on the straight line working path, the maximum turning angle of the agricultural machinery and the front and rear wheel wheelbase of the agricultural machinery, a U-turn working path is generated on the straight line working path to obtain the working path of the agricultural machinery. That is, the technical solution of the present invention determines the working starting edge of the farmland working edge based on the farmland working edge and the position of the agricultural machinery; obtains the width of the agricultural implement, and uses the width of the agricultural implement as the equidistant offset, and the working starting edge as the equidistant offset starting edge, and performs equidistant offsets on the remaining working edges of the farmland working edge in turn to obtain a straight line working path; based on the straight line working path, the maximum turning angle of the agricultural machinery and the wheelbase of the front and rear wheels of the agricultural machinery, different U-turn working paths with fewer reversing times are generated on the straight line working path, and a variety of different working paths of agricultural machinery are obtained, which reduces the reversing times and fuel consumption of agricultural machinery, reduces the operating cost of agricultural machinery, and thus improves the operating efficiency of agricultural machinery, solves the problem that all reversing U-turns in the U-shaped working path are used, and the high fuel consumption and low operating efficiency of agricultural machinery due to the large number of reversing times, provides an agricultural machinery working path generation method that is more in line with the working habits of agricultural machinery operators, and increases the flexibility of agricultural machinery working path planning. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 A schematic flow chart of a method for generating an operation path for agricultural machinery provided by an embodiment of the present invention;

[0018] Figure 2 A schematic diagram of a U-shaped operation path provided by an embodiment of the present invention;

[0019] Figure 3 A schematic diagram of an inter-row broadcasting operation path provided by an embodiment of the present invention;

[0020] Figure 4 A schematic diagram of a forward U-turn operation path provided by an embodiment of the present invention;

[0021] Figure 5 A schematic diagram of a reverse U-turn operation path provided by an embodiment of the present invention;

[0022] Figure 6 A schematic diagram of an agricultural machinery operation path generated by the agricultural machinery operation path generation method provided by an embodiment of the present invention;

[0023] Figure 7 Another flowchart of a method for generating an operation path for agricultural machinery provided by an embodiment of the present invention;

[0024] Figure 8 Another schematic diagram of a forward U-turn operation path provided by an embodiment of the present invention;

[0025] Figure 9 A schematic diagram of another forward U-turn operation path provided by an embodiment of the present invention;

[0026] Figure 10 A schematic structural diagram of an agricultural machinery operation path generating device provided by an embodiment of the present invention;

[0027] Figure 11 A schematic structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0028] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. Additionally, it should be noted that for the sake of description, only parts related to the present invention rather than all structures are shown in the accompanying drawings.

[0029] Figure 1 FIG. 4 is a schematic flowchart of a method for generating an operation path of an agricultural machine provided by an embodiment of the present invention. This method can be executed by an operation path generation device of an agricultural machine provided by an embodiment of the present invention, and this device can be implemented in a software and / or hardware manner. In a specific embodiment, this device can be integrated in an electronic device, such as a computer, a server, etc. The following embodiments will be described by taking this device integrated in an electronic device as an example. Referring to Figure 1 , the method specifically may include the following steps:

[0030] Step 101, determine the starting operation side of the farm operation side based on the farm operation side and the position of the agricultural machine.

[0031] Among them, the farm operation side can be understood as the boundary line of the farmland; the heading angle of the agricultural machine can be understood as the heading angle in the plane coordinate system converted from the Global Positioning System (GPS) heading of the agricultural machine sent by the satellite positioning system in real time combined with the calibration value; the starting operation side can be understood as the first operation side of the agricultural machine.

[0032] In an optional implementation manner, the operation side with the smallest distance from the position of the agricultural machine can be determined according to the position of the agricultural machine and the farm operation side, and then the operation side with the smallest distance from the position of the agricultural machine is determined as the starting operation side among the farm operation sides.

[0033] Exemplarily, the farm operation sides include operation side L1, operation side L2, operation side L3, and operation side L4, and the position of the agricultural machine is X. Among them, the distances between the four operation sides and the position of the agricultural machine are a, b, c, and d in sequence, and a < b < c < d, that is, the distance between operation side L4 and the position of the agricultural machine is the smallest. Therefore, operation side L4 with the smallest distance from the position of the agricultural machine can be determined as the starting operation side among the farm operation sides.

[0034] Step 102, obtain the width of the agricultural implement, and use the width of the agricultural implement as the equal-distance offset amount, and use the starting operation side as the equal-distance offset starting side, and perform equal-distance offset on the remaining operation sides of the farm operation side in sequence to obtain a straight-line operation path.

[0035] Among them, the width of the agricultural implement can be understood as the width of the agricultural implement.

[0036] In an optional embodiment, the width of the agricultural implement is used as the equidistant offset, and the operation starting edge is used as the equidistant offset starting edge, and the farmland operation edges are equidistantly offset in sequence to obtain a first straight line operation path, and the first straight line operation path includes multiple straight line operation edges; when the length of any straight line operation edge among the multiple straight line operation edges is less than the preset length, the width of the agricultural implement is used as the equidistant offset, and the straight line operation edges whose length is less than the preset length and parallel to the operation starting edge are equidistantly offset in sequence to obtain a second straight line operation path. Among them, the equidistant offset starting edge can be understood as the first operation edge to be equidistantly offset; the preset length can be understood as a preset N times of the width of the agricultural implement, and N can be a positive integer, for example, N can be 3. The first straight line operation path can be as follows Figure 2 The U-shaped working path shown in FIG. 1 and the second straight working path can be as follows: Figure 3 The longitudinal straight line operation paths (path 1, path 2, path 3, path 4, path 5 and path 6) in the cross-row sowing operation path are shown.

[0037] For example, if the farmland working edge is a quadrilateral, including working edge L1, working edge L2, working edge L3 and working edge L4, the working edge L4 among the farmland working edges is used as the working starting edge, the width of the farm implement is used as the equidistant offset, and the working starting edge (working edge L4) is used as the equidistant offset starting edge. The farmland working edges are equidistantly offset in sequence to obtain a first straight line working path, and the first straight line working path includes multiple straight line working edges; when the length of any straight line working edge among the multiple straight line working edges is less than 3 times the width of the farm implement, the width of the farm implement is used as the equidistant offset, and the straight line working edges whose length is less than the preset length and parallel to the working starting edge are equidistantly offset in sequence to obtain a second straight line working path.

[0038] Step 103 : Based on the straight working path, the maximum turning angle of the agricultural machine, and the wheelbase of the front and rear wheels of the agricultural machine, a U-turn working path is generated on the straight working path to obtain the working path of the agricultural machine.

[0039] The U-turn operation path can be understood as the turning operation path of the agricultural machinery. The U-turn operation path may include: Figure 4 The forward U-turn operation path shown and Figure 5 The reverse U-turn operation path shown, and the forward U-turn operation path can include a bow-shaped U-turn operation path and a pear-shaped U-turn operation path; the U-turn operation path can include a first U-turn operation path and a second U-turn operation path. The first U-turn operation path can be understood as the turning operation path corresponding to the first straight operation path, and the first U-turn operation path can be a reverse U-turn operation path; the second U-turn operation path can be understood as the turning operation path corresponding to the second straight operation path, and the second U-turn operation path can be a forward U-turn operation path.

[0040] In an optional embodiment, the first end point of the first current working straight line can be used as the foot of the perpendicular to draw a perpendicular to the first current working straight line to obtain a first perpendicular line; the turning radius of the agricultural machinery is determined according to the maximum turning angle of the agricultural machinery and the wheelbase of the front and rear wheels of the agricultural machinery; the first center of a circle whose distance from the first end point is the turning radius of the agricultural machinery is determined on the first perpendicular line, and a first arc path with a radius of the turning radius of the agricultural machinery is generated clockwise with the first end point as the starting point; a first auxiliary circle with a radius of twice the turning radius of the agricultural machinery is generated clockwise with the first center of the circle as the center; the next working straight line adjacent to the current working straight line is offset in the generation direction of the first arc path with the turning radius of the agricultural machinery as the offset; the intersection of the auxiliary straight line and the first auxiliary circle is determined as the second center of the circle, and a second arc path with a radius of the turning radius of the agricultural machinery is generated clockwise with the second center of the circle as the center and the end point of the first arc path as the starting point; the working straight line and the two arc paths between the first arc path, the end point of the second arc path and the first end point are determined as the first U-turn working path. Then determine the second end point of the second current operation straight line; determine the turning radius of the agricultural machinery based on the maximum turning angle of the agricultural machinery and the wheelbase of the front and rear wheels of the agricultural machinery; take the second end point as the starting point, and generate a second U-turn operation path based on the turning radius and width of the agricultural machinery.

[0041] Specifically, the maximum turning angle and the wheelbase of the front and rear wheels of the agricultural machinery can be obtained through the agricultural machinery operating software, and the maximum turning angle and the wheelbase of the front and rear wheels of the agricultural machinery can be substituted into the calculation formula of the agricultural machinery turning radius to calculate the turning radius of the agricultural machinery. The calculation formula of the turning radius of the agricultural machinery is as follows:

[0042] R = L / tan(δ);

[0043] Among them, R can be understood as the turning radius of the agricultural machinery, L can be understood as the wheelbase of the front and rear wheels of the agricultural machinery, and δ can be understood as the maximum turning angle of the agricultural machinery.

[0044] For example, assuming that the first current operation line is Figure 5 AB in the figure, where the first end point of the first current working line AB is B. With the first end point B of the first current working line as the foot of the perpendicular, a perpendicular line is drawn to the first current working line to obtain a first perpendicular line O1C. The turning radius of the agricultural machine is determined to be R based on the maximum turning angle of the agricultural machine and the wheelbase of the front and rear wheels of the agricultural machine. A first circle center O1 is determined on the first perpendicular line O1C, with a distance from the first end point equal to the turning radius R of the agricultural machine. A first circular arc path BD is generated clockwise with a radius equal to the turning radius of the agricultural machine, starting from the first end point B. A first auxiliary circle with a radius twice the turning radius of the agricultural machine is generated clockwise with the first circle center O1 as the center, as shown in the following example: Figure 5As shown, arc CO2 is a partial arc in the first auxiliary circle; with the turning radius R of the agricultural machinery as the offset, the next working straight line BC adjacent to the first current working straight line AB is offset in the direction of the generation of the first arc path to obtain the auxiliary straight line XY; the intersection O2 of the auxiliary straight line XY and the first auxiliary circle is determined as the second circle center, and with the second circle center O2 as the circle center and the end point D of the first arc path as the starting point, a second arc path DE with a radius of the agricultural machinery turning radius R is generated clockwise; the working straight line BE between the first arc path BD, the end point of the second arc path and the first end point and the second arc path DE are determined as the first U-turn working path. Then, the second end point of the second current working straight line is determined; the turning radius of the agricultural machinery is determined based on the maximum turning angle of the agricultural machinery and the wheelbase of the front and rear wheels of the agricultural machinery; with the second end point as the starting point, a turning radius is generated based on the turning radius and the width of the agricultural machinery. Figure 4 The second U-turn operation path in the shape of an arch is obtained as follows Figure 6 The working path of the agricultural machinery shown.

[0045] In this embodiment, the working starting edge of the farmland working edge is determined based on the farmland working edge and the position of the agricultural machinery; the width of the agricultural implement is obtained, and the width of the agricultural implement is used as the equidistant offset, and the working starting edge is used as the equidistant offset starting edge, and the remaining working edges of the farmland working edge are equidistantly offset in sequence to obtain a straight line working path; based on the straight line working path, the maximum turning angle of the agricultural machinery and the wheelbase of the front and rear wheels of the agricultural machinery, different U-turn working paths with fewer reversing times are generated on the straight line working path, and a variety of different working paths of agricultural machinery are obtained, which reduces the reversing times and fuel consumption of agricultural machinery, reduces the operating cost of agricultural machinery, and thus improves the operating efficiency of agricultural machinery, solves the problem that all reversing U-turns in the U-shaped working path are used, and the high fuel consumption and low operating efficiency of agricultural machinery due to the large number of reversing times are solved, provides an agricultural machinery working path generation method that is more in line with the working habits of agricultural machinery operators, and increases the flexibility of agricultural machinery working path planning.

[0046] The following further describes the method for generating an operation path of an agricultural machine provided by an embodiment of the present invention. Figure 7 As shown, Figure 7 This is another flowchart of a method for generating an operation path for agricultural machinery provided by an embodiment of the present invention, which may specifically include the following steps:

[0047] Step 201 : determining the operation start edge of the farmland operation edge based on the farmland operation edge and the position of the agricultural machine.

[0048] Step 202 , obtain the width of the farm implement, use the width of the farm implement as the equidistant offset, use the operation starting edge as the equidistant offset starting edge, and perform equidistant offsets on the farmland operation edges in sequence to obtain a first straight operation path, which includes multiple straight operation edges.

[0049] In step 203, it is determined whether the length of any one of the plurality of linear working edges is less than a preset length. If the length of any one of the plurality of linear working edges is not less than the preset length, step 204 is executed; if the length of any one of the plurality of linear working edges is less than the preset length, step 205 is executed.

[0050] In step 204 , the farmland working edges are sequentially equidistantly offset using the implement width as the equidistant offset amount and the working starting edge as the equidistant offset starting edge to obtain a first straight working path. The first straight working path includes a plurality of straight working edges.

[0051] Step 205 , using the width of the implement as an equidistant offset, the straight working edges that are shorter than a preset length and parallel to the working starting edge are sequentially equidistantly offset to obtain a second straight working path.

[0052] In step 206 , a first perpendicular line is drawn to the first current operating straight line with the first end point of the first current operating straight line as the foot of the perpendicular line.

[0053] Step 207 : determining the turning radius of the agricultural machine according to the maximum turning angle of the agricultural machine and the wheelbase of the front and rear wheels of the agricultural machine.

[0054] Step 208 : determining on the first perpendicular line the first center of a circle whose distance from the first end point is equal to the turning radius of the agricultural machine, and generating a first arc path with a radius equal to the turning radius of the agricultural machine in a clockwise direction with the first end point as the starting point.

[0055] Step 209 : With the first circle center as the center, generate a first auxiliary circle with a radius twice the turning radius of the agricultural machine in a clockwise direction.

[0056] In step 210 , the next working line adjacent to the first current working line is offset toward the direction of generating the first arc path using the turning radius of the agricultural machine as an offset to obtain an auxiliary straight line.

[0057] Step 211: Determine the intersection of the auxiliary straight line and the first auxiliary circle as the second circle center, and generate a second arc path with a radius equal to the turning radius of the agricultural machinery clockwise with the second circle center as the circle center and the end point of the first arc path as the starting point.

[0058] Step 212: Determine the first arc path, the end point of the second arc path, the operation straight line between the first end point, and the second arc path as a first U-turn operation path.

[0059] Step 213: Determine the second end point of the second current operation line.

[0060] Step 214 : determining the turning radius of the agricultural machine based on the maximum turning angle of the agricultural machine and the wheelbase of the front and rear wheels of the agricultural machine.

[0061] Step 215 : Taking the second end point as the starting point, a second U-turn operation path is generated based on the turning radius and width of the agricultural machine.

[0062] In an optional embodiment, when the turning radius of the agricultural machinery is greater than half of the width of the agricultural implement, the second end point is taken as the foot of the perpendicular to the second current working straight line, and a perpendicular line located on the left side of the second current working straight line is obtained, and the point on the second perpendicular line whose distance from the second end point is equal to the turning radius of the agricultural machinery is determined as the third circle center, and with the second end point as the starting point and the third circle center as the circle center, a third arc path with a radius equal to the turning radius of the agricultural machinery is generated counterclockwise; the end point of the adjacent working straight line of the second current working straight line is determined as the third end point, and with the third end point as the foot of the perpendicular to the adjacent working straight line of the second current working straight line, a perpendicular line located on the right side of the adjacent working straight line of the second current working straight line is obtained. The third perpendicular line is used, and the point on the third perpendicular line whose distance from the third end point to the turning radius of the agricultural machinery is determined as the fourth circle center, and with the third end point as the starting point and the fourth circle center as the circle center, a fourth arc path with a radius of the turning radius of the agricultural machinery is generated counterclockwise; the fifth circle center is obtained based on the third circle center and the fourth circle center, and with the fifth circle center as the circle center, a fifth arc path with a radius of the turning radius of the agricultural machinery is generated; the first tangent point of the fifth arc path and the third arc path is determined, and the second tangent point of the fifth arc path and the fourth arc path is determined; the arc path between the first tangent point and the second tangent point on the fifth arc path below the circle center of the fifth arc path is deleted to obtain a second U-turn operation path with a pear shape.

[0063] Specifically, a second auxiliary circle with a radius twice the turning radius of the agricultural machinery is generated with the third circle center as the circle center, and a third auxiliary circle with a radius twice the turning radius of the agricultural machinery is generated with the fourth circle center as the circle center; the intersection of the second auxiliary circle and the third auxiliary circle is determined, and the intersection is determined as the fifth circle center; with the fifth circle center as the circle center, a fifth arc path with a radius equal to the turning radius of the agricultural machinery is generated.

[0064] For example, Figure 8As shown, the second current working line is Q1Q2, and the second end point of the second current working line is Q2. When the turning radius of the agricultural machine is greater than half of the width of the agricultural implement, the second end point Q2 is used as the foot of the perpendicular to the second current working line, and a perpendicular line located on the left side of the second current working line is obtained to obtain the second perpendicular line O3Q2. The point O3 on the second perpendicular line O3Q2, which is the distance from the second end point to the agricultural machine turning radius R, is determined as the third circle center. With the second end point Q2 as the starting point and the third circle center O3 as the circle center, a third arc path Q2F with a radius equal to the turning radius of the agricultural machine is generated counterclockwise. The adjacent points of the second current working line are The end point Q4 of the working line Q3Q4 is determined as the third end point, and the third end point Q4 is used as the foot of the perpendicular to the adjacent working line of the second current working line. A perpendicular line is drawn to the right of the adjacent working line Q3Q4 of the second current working line to obtain a third perpendicular line O4Q4. The point O4 on the third perpendicular line whose distance from the third end point is equal to the turning radius of the agricultural machinery is determined as the fourth circle center. With the third end point Q4 as the starting point and the fourth circle center O4 as the circle center, a fourth arc path Q4G with a radius equal to the turning radius R of the agricultural machinery is generated counterclockwise. A second auxiliary circle with a radius twice the turning radius of the agricultural machinery is generated with the third circle center O3 as the circle center. Figure 8 The arc HI in the figure is a partial arc of the second auxiliary circle, and a third auxiliary circle with a radius twice the turning radius of the agricultural machinery is generated with the fourth circle center O4 as the center. Figure 8 The arc JK in the figure is a partial arc of the third auxiliary circle. The intersection point O5 of the second auxiliary circle and the third auxiliary circle is determined and used as the center of the fifth circle. A fifth arc path with a radius equal to the turning radius R of the agricultural machinery is generated with the center of the fifth circle O5 as the center. The first tangent point F of the fifth arc path with the third arc path is determined, and the second tangent point G of the fifth arc path with the fourth arc path is determined. The arc path EF between the first tangent point F and the second tangent point G, which are located below the center of the fifth arc path, is deleted from the fifth arc path to obtain a pear-shaped second U-turn operation path.

[0065] In an optional embodiment, when the turning radius of the agricultural machinery is less than or equal to half of the width of the agricultural implement, the second end point is used as the foot of the perpendicular to the second current working straight line, and a perpendicular line is drawn to the right of the second current working straight line to obtain a fourth perpendicular line, and the point on the fourth perpendicular line whose distance from the second end point is equal to the turning radius of the agricultural machinery is determined as the sixth circle center, and the second end point is used as the starting point and the sixth circle center is used as the circle center to generate a sixth arc path with a radius equal to the turning radius of the agricultural machinery in a clockwise direction; the end point of the adjacent working straight line of the second current working straight line is determined as the third end point, and the third end point is used as the foot of the perpendicular to the second current working straight line, and a perpendicular line is drawn to the left of the second current working straight line to obtain a fifth perpendicular line, and the distance from the fifth perpendicular line to the second end point is equal to the distance from the sixth circle center to the turning radius of the agricultural machinery. The point where the length of the third end point is the turning radius of the agricultural machinery is determined as the seventh center of the circle, and with the third end point as the starting point and the seventh center of the circle as the center, a seventh arc path with a radius of the turning radius of the agricultural machinery is generated counterclockwise; above the sixth center of the circle and the seventh center of the circle, a common tangent line of the sixth arc path and the seventh arc path is drawn, and the intersection of the common tangent line and the sixth arc path is determined as the fourth end point, and the intersection of the common tangent line and the seventh arc path is determined as the fifth end point; the arc between the second end point and the fourth end point in the sixth arc path, located above the sixth center of the circle, the common tangent line, and the arc between the fifth end point and the third end point in the seventh arc path, located above the seventh center of the circle, are determined as a second U-turn operation path with a bow shape.

[0066] For example, Figure 9 As shown, the second current working line is Q1Q2, and the second end point of the second current working line is Q2. When the turning radius of the agricultural machine is less than or equal to half of the width of the agricultural implement, the second end point Q2 is used as the foot of the perpendicular to the second current working line, and a perpendicular line located on the right side of the second current working line is drawn to obtain a fourth perpendicular line Q2O6. The point O6 on the fourth perpendicular line Q2O6, which is the distance from the second end point to the agricultural machine turning radius R, is determined as the sixth circle center. With the second end point Q2 as the starting point and the sixth circle center as the circle center, a sixth arc path with a radius of the agricultural machine turning radius is generated clockwise ( Figure 9 The middle arc path Q2L is a partial arc path in the sixth arc path); the end point Q4 of the adjacent working line Q3Q4 of the second current working line is determined as the third end point, the third end point Q4 is used as the foot of the perpendicular to the second current working line, and a fifth perpendicular line Q4O7 is drawn to the left of the second current working line. The point O7 on the fifth perpendicular line, the distance from the third end point Q4 to the agricultural machinery turning radius R, is determined as the seventh circle center. With the third end point as the starting point and the seventh circle center O7 as the circle center, a seventh arc path with a radius of the agricultural machinery turning radius is generated counterclockwise ( Figure 9The middle arc path Q4M is a partial arc path in the sixth arc path); a common tangent line of the sixth arc path and the seventh arc path is drawn above the sixth center and the seventh center, and the intersection point L of the common tangent line with the sixth arc path is determined as the fourth end point, and the intersection point M of the common tangent line with the seventh arc path is determined as the fifth end point; the arc Q2L above the sixth center between the second end point and the fourth end point in the sixth arc path, the common tangent line LM, and the arc Q4M above the seventh center between the fifth end point and the third end point in the seventh arc path are determined as a second U-turn operation path with a bow shape.

[0067] This implementation can determine the working starting edge of the farmland working edge based on the farmland working edge and the position of the agricultural machinery; obtain the width of the agricultural implement, and use the width of the agricultural implement as the equidistant offset, and the working starting edge as the equidistant offset starting edge, and perform equidistant offsets on the remaining working edges of the farmland working edge in turn to obtain a straight line working path; based on the straight line working path, the maximum turning angle of the agricultural machinery and the wheelbase of the front and rear wheels of the agricultural machinery, different U-turn working paths with fewer reversing times are generated on the straight line working path, and a variety of different working paths of agricultural machinery are obtained, which reduces the number of reversing times and fuel consumption of agricultural machinery, reduces the operating cost of agricultural machinery, and thus improves the operating efficiency of agricultural machinery, solves the problem that all reversing U-turns in the U-shaped working path are used, and the high fuel consumption and low operating efficiency of agricultural machinery due to the large number of reversing times, provides an agricultural machinery working path generation method that is more in line with the working habits of agricultural machinery operators, and increases the flexibility of agricultural machinery working path planning.

[0068] Figure 10 This is a structural diagram of an agricultural machinery operation path generation device provided by an embodiment of the present invention, which is suitable for executing the agricultural machinery operation path generation method provided by an embodiment of the present invention. Figure 10 As shown, the device may specifically include:

[0069] An operation starting edge determination module 701 is used to determine the operation starting edge of the farmland operation edge based on the farmland operation edge and the agricultural machine position;

[0070] The equidistant offset module 702 is configured to obtain the width of the farm implement, and use the width of the farm implement as the equidistant offset amount and the operation starting edge as the equidistant offset starting edge to sequentially perform equidistant offsets on the remaining operation edges of the farmland operation edge to obtain a straight operation path;

[0071] The operation path generation module 703 is used to generate a U-turn operation path on the straight operation path based on the straight operation path, the maximum turning angle of the agricultural machine, and the front and rear wheel wheelbase of the agricultural machine to obtain the operation path of the agricultural machine.

[0072] Optionally, the equidistant offset module 702 is specifically configured to:

[0073] Taking the width of the agricultural implement as the equidistant offset and the operation starting edge as the equidistant offset starting edge, the farmland operation edges are sequentially equidistantly offset to obtain a first straight line operation path, wherein the first straight line operation path includes a plurality of straight line operation edges;

[0074] When the length of any one of the plurality of linear working edges is less than a preset length, the width of the agricultural implement is used as an equidistant offset, and the linear working edges whose lengths are less than the preset length and are parallel to the working start edge are equidistantly offset in sequence to obtain a second linear working path.

[0075] Optionally, the first straight working path includes a first current working straight line, and the U-turn working path includes a first U-turn working path. The working path generating module 703 generates the U-turn working path on the straight working path based on the straight working path, the maximum turning angle of the agricultural machine, and the front and rear wheelbases of the agricultural machine, including:

[0076] Taking the first end point of the first current operating straight line as the foot of the perpendicular, a perpendicular line is drawn to the first current operating straight line to obtain a first perpendicular line;

[0077] determining a turning radius of the agricultural machine according to the maximum turning angle of the agricultural machine and the wheelbase of the front and rear wheels of the agricultural machine;

[0078] Determine on the first perpendicular line a first circle center whose distance from the first end point is equal to the turning radius of the agricultural machine, and generate a first arc path with a radius equal to the turning radius of the agricultural machine in a clockwise direction starting from the first end point;

[0079] Taking the first circle center as the center, a first auxiliary circle with a radius twice the turning radius of the agricultural machine is generated clockwise;

[0080] Using the turning radius of the agricultural machine as an offset, offset the next working straight line adjacent to the first current working straight line toward the direction of generating the first circular arc path to obtain an auxiliary straight line;

[0081] Determine the intersection of the auxiliary straight line and the first auxiliary circle as the second circle center, and generate a second arc path with a radius equal to the turning radius of the agricultural machine clockwise with the second circle center as the circle center and the end point of the first arc path as the starting point;

[0082] The first arc path, the end point of the second arc path, the operation straight line between the first end point, and the second arc path are determined as the first U-turn operation path.

[0083] Optionally, the second straight working path includes a second current working straight line, and the U-turn working path includes a second U-turn working path. The working path generating module 703 generates the U-turn working path on the straight working path based on the straight working path, the maximum turning angle of the agricultural machine, and the front and rear wheelbases of the agricultural machine, including:

[0084] determining a second end point of the second current operating straight line;

[0085] determining a turning radius of the agricultural machine according to the maximum turning angle of the agricultural machine and the wheelbase of the front and rear wheels of the agricultural machine;

[0086] Taking the second end point as a starting point, the second U-turn operation path is generated based on the turning radius of the agricultural machine and the width of the agricultural machine.

[0087] Optionally, the operation path generation module 703 takes the second end point as a starting point and generates the second U-turn operation path based on the turning radius and the width of the agricultural machine, including:

[0088] When the turning radius of the agricultural machine is greater than half the width of the agricultural implement, a second perpendicular line is drawn to the left of the second current working straight line with the second end point as the foot of the perpendicular to the second current working straight line, and a point on the second perpendicular line whose distance from the second end point is equal to the turning radius of the agricultural machine is determined as the center of a third circle. A third arc path is generated counterclockwise with the second end point as the starting point and the third circle center as the center of the circle, and a radius equal to the turning radius of the agricultural machine is generated.

[0089] Determine the end point of the adjacent working line of the second current working line as a third end point, and use the third end point as the foot of the perpendicular to the adjacent working line of the second current working line. Draw a perpendicular line to the right of the adjacent working line of the second current working line to obtain a third perpendicular line. Determine a point on the third perpendicular line whose distance from the third end point is equal to the turning radius of the agricultural machine as a fourth circle center. Generate a fourth arc path with a radius equal to the turning radius of the agricultural machine counterclockwise, starting from the third end point and centered on the fourth circle center.

[0090] obtaining a fifth circle center based on the third circle center and the fourth circle center, and generating a fifth arc path with a radius equal to the turning radius of the agricultural machine with the fifth circle center as the circle center;

[0091] Determining a first tangent point between the fifth circular arc path and the third circular arc path, and determining a second tangent point between the fifth circular arc path and the fourth circular arc path;

[0092] The arc path between the first tangent point and the second tangent point on the fifth arc path, which are located below the center of the fifth arc path, is deleted to obtain the second U-turn operation path having a pear-shaped shape.

[0093] Optionally, the operation path generation module 703 obtains a fifth circle center based on the third circle center and the fourth circle center, and generates a fifth arc path with a radius equal to the turning radius of the agricultural machine with the fifth circle center as the circle center, including:

[0094] generating a second auxiliary circle with a radius twice the turning radius of the agricultural machine with the third circle center as the center, and generating a third auxiliary circle with a radius twice the turning radius of the agricultural machine with the fourth circle center as the center;

[0095] Determine an intersection point between the second auxiliary circle and the third auxiliary circle, and determine the intersection point as the fifth circle center;

[0096] With the fifth circle center as the circle center, a fifth arc path with a radius equal to the turning radius of the agricultural machine is generated.

[0097] Optionally, the operation path generation module 703 takes the second end point as a starting point and generates the second U-turn operation path based on the turning radius and the width of the agricultural machine, including:

[0098] When the turning radius of the agricultural machine is less than or equal to one-half of the width of the agricultural implement, a fourth perpendicular is drawn to the right of the second current working line with the second end point as the foot of the perpendicular to the second current working line, and a point on the fourth perpendicular line whose distance from the second end point is equal to the turning radius of the agricultural machine is determined as the center of a sixth circle. A sixth arc path is generated clockwise with the second end point as the starting point and the sixth circle center as the center, and a radius equal to the turning radius of the agricultural machine is generated.

[0099] Determine the end point of the adjacent working line of the second current working line as the third end point, use the third end point as the foot of the perpendicular to the second current working line, draw a perpendicular line to the left of the second current working line to obtain a fifth perpendicular line, determine a point on the fifth perpendicular line that is a distance from the third end point by the turning radius of the agricultural machine as the center of a seventh circle, and generate a seventh arc path counterclockwise with a radius equal to the turning radius of the agricultural machine, starting from the third end point and taking the seventh center point as the center of the circle;

[0100] Draw a common tangent line between the sixth arc path and the seventh arc path above the sixth center and the seventh center, determine the intersection of the common tangent line and the sixth arc path as the fourth endpoint, and determine the intersection of the common tangent line and the seventh arc path as the fifth endpoint;

[0101] The arc between the second end point and the fourth end point in the sixth arc path, the common tangent line, and the arc between the fifth end point and the third end point in the seventh arc path, located above the seventh center point, are determined as the second U-turn operation path having an arc shape.

[0102] Those skilled in the art will clearly understand that for the sake of convenience and brevity of description, only the division of the above-mentioned functional modules is used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the functional modules described above can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.

[0103] The device of this embodiment determines the working starting edge of the farmland working edge based on the farmland working edge and the position of the agricultural machinery; obtains the width of the agricultural implement, and uses the width of the agricultural implement as the equidistant offset, and the working starting edge as the equidistant offset starting edge, and performs equidistant offsets on the remaining working edges of the farmland working edge in sequence to obtain a straight line working path; based on the straight line working path, the maximum turning angle of the agricultural machinery and the wheelbase of the front and rear wheels of the agricultural machinery, different U-turn working paths with fewer reversing times are generated on the straight line working path, and a variety of different working paths of agricultural machinery are obtained, which reduces the reversing times and fuel consumption of the agricultural machinery, reduces the operating cost of the agricultural machinery, and thus improves the operating efficiency of the agricultural machinery, solves the problem that the reverse U-turn method is used in all U-shaped working paths, and the high fuel consumption and low operating efficiency of the agricultural machinery due to the large number of reversing times, provides an agricultural machinery working path generation method that is more in line with the working habits of agricultural machinery operators, and increases the flexibility of agricultural machinery working path planning.

[0104] An embodiment of the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the method for generating an agricultural machinery operation path provided in any of the above embodiments is implemented.

[0105] An embodiment of the present invention further provides a computer-readable medium having a computer program stored thereon, which, when executed by a processor, implements the method for generating an operation path of an agricultural machine provided in any of the above embodiments.

[0106] Reference below Figure 11 , which shows a schematic structural diagram of a computer system 800 of an electronic device suitable for implementing an embodiment of the present invention. Figure 11 The electronic device shown is only an example and should not limit the functions and scope of use of the embodiments of the present invention.

[0107] like Figure 11As shown, the computer system 800 includes a central processing unit (CPU) 801, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 802 or a program loaded from a storage unit 808 into a random access memory (RAM) 803. Various programs and data required for the operation of the computer system 800 are also stored in the RAM 803. The CPU 801, the ROM 802, and the RAM 803 are connected to each other via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0108] The following components are connected to the I / O interface 805: an input section 806 including a keyboard, a mouse, and the like; an output section 807 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 808 including a hard disk; and a communication section 809 including a network interface card such as a LAN card or a modem. The communication section 809 performs communication processing via a network such as the Internet. A drive 810 is also connected to the I / O interface 805 as needed. A removable medium 811, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 810 as needed, so that computer programs read therefrom can be installed into the storage section 808 as needed.

[0109] In particular, according to the embodiments disclosed in the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 809, and / or installed from a removable medium 811. When the computer program is executed by the central processing unit (CPU) 801, the above-mentioned functions defined in the system of the present invention are performed.

[0110] It should be noted that the computer-readable medium described in the present invention can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media can include, but are not limited to, an electrical connection having one or more conductors, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In the present invention, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. This propagated data signal can take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device. Program code embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wireline, optical fiber cable, RF, or any suitable combination thereof.

[0111] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the above-mentioned module, program segment, or a part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0112] The modules and / or units described in the embodiments of the present invention may be implemented in software or hardware. The modules and / or units described may also be provided within a processor. For example, a processor may be described as including a job start edge determination module, an equidistant offset module, and a job path generation module. The names of these modules do not, in some cases, limit the modules themselves.

[0113] As another aspect, the present invention further provides a computer-readable medium, which may be included in the device described in the above embodiments, or may exist independently without being incorporated into the device. The computer-readable medium carries one or more programs, and when the one or more programs are executed by the device, the device includes:

[0114] The starting edge of the farmland working edge is determined based on the farmland working edge and the position of the agricultural machinery; the width of the agricultural implement is obtained, and the width of the agricultural implement is used as the equidistant offset, and the starting edge of the working edge is used as the equidistant offset starting edge, and the remaining working edges of the farmland working edge are equidistantly offset in sequence to obtain a straight working path; based on the straight working path, the maximum turning angle of the agricultural machinery and the front and rear wheel wheelbase of the agricultural machinery, a U-turn working path is generated on the straight working path to obtain the working path of the agricultural machinery.

[0115] According to the technical solution of the embodiment of the present invention, the working starting edge of the farmland working edge is determined based on the farmland working edge and the position of the agricultural machinery; the width of the agricultural implement is obtained, and the width of the agricultural implement is used as the equidistant offset, and the working starting edge is used as the equidistant offset starting edge, and the remaining working edges of the farmland working edge are equidistantly offset in sequence to obtain a straight line working path; based on the straight line working path, the maximum turning angle of the agricultural machinery and the wheelbase of the front and rear wheels of the agricultural machinery, different U-turn working paths with fewer reversing times are generated on the straight line working path, and a variety of different working paths of agricultural machinery are obtained, the number of reversing times and fuel consumption of agricultural machinery are reduced, the operating cost of agricultural machinery is reduced, and then the operating efficiency of agricultural machinery is improved, and the problem that all reversing U-turn methods are used in the U-shaped working path, and the high fuel consumption and low operating efficiency of agricultural machinery due to the large number of reversing times is solved, and a method for generating an agricultural machinery working path that is more in line with the working habits of agricultural machinery operators is provided, thereby increasing the flexibility of agricultural machinery working path planning.

[0116] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A method for generating an operation path of an agricultural machine, characterized in that: The method comprises: Determine the operation start edge of the farmland operation edge based on the farmland operation edge and the position of the agricultural machinery; Obtaining the width of the farm implement, and using the width of the farm implement as an equidistant offset, using the operation starting edge as the equidistant offset starting edge, and sequentially performing equidistant offsets on the remaining operation edges of the farmland operation edge to obtain a straight operation path; Based on the straight working path, the maximum turning angle of the agricultural machine, and the wheelbase of the front and rear wheels of the agricultural machine, a U-turn working path is generated on the straight working path to obtain the working path of the agricultural machine; The method of using the width of the farm implement as the equidistant offset and the operation starting edge as the equidistant offset starting edge, and sequentially performing equidistant offsets on the remaining operation edges of the farmland operation edge to obtain a straight operation path includes: Taking the width of the agricultural implement as the equidistant offset and the operation starting edge as the equidistant offset starting edge, the farmland operation edges are sequentially equidistantly offset to obtain a first straight line operation path, wherein the first straight line operation path includes a plurality of straight line operation edges; When the length of any one of the plurality of linear working edges is less than a preset length, the width of the agricultural implement is used as an equidistant offset, and the linear working edges whose lengths are less than the preset length and are parallel to the working start edge are equidistantly offset in sequence to obtain a second linear working path.

2. The method according to claim 1, characterized in that The first straight working path includes a first current working straight line, the U-turn working path includes a first U-turn working path, and generating the U-turn working path on the straight working path based on the straight working path, the maximum turning angle of the agricultural machine, and the front and rear wheelbases of the agricultural machine includes: Taking the first end point of the first current operating straight line as the foot of the perpendicular, a perpendicular line is drawn to the first current operating straight line to obtain a first perpendicular line; determining a turning radius of the agricultural machine according to the maximum turning angle of the agricultural machine and the wheelbase of the front and rear wheels of the agricultural machine; Determine on the first perpendicular line a first circle center whose distance from the first end point is equal to the turning radius of the agricultural machine, and generate a first arc path with a radius equal to the turning radius of the agricultural machine in a clockwise direction starting from the first end point; Taking the first circle center as the center, a first auxiliary circle with a radius twice the turning radius of the agricultural machine is generated clockwise; Using the turning radius of the agricultural machine as an offset, offset the next working straight line adjacent to the first current working straight line toward the direction of generating the first circular arc path to obtain an auxiliary straight line; Determine the intersection of the auxiliary straight line and the first auxiliary circle as the second circle center, and generate a second arc path with a radius equal to the turning radius of the agricultural machine clockwise with the second circle center as the circle center and the end point of the first arc path as the starting point; The first arc path, the end point of the second arc path, the operation straight line between the first end point, and the second arc path are determined as the first U-turn operation path.

3. The method according to claim 1, characterized in that The second straight working path includes a second current working straight line, the U-turn working path includes a second U-turn working path, and generating the U-turn working path on the straight working path based on the straight working path, the maximum turning angle of the agricultural machine, and the front and rear wheelbases of the agricultural machine includes: determining a second end point of the second current operating straight line; determining a turning radius of the agricultural machine according to the maximum turning angle of the agricultural machine and the wheelbase of the front and rear wheels of the agricultural machine; Taking the second end point as a starting point, the second U-turn operation path is generated based on the turning radius of the agricultural machine and the width of the agricultural machine.

4. The method according to claim 3, characterized in that The step of generating the second U-turn operation path based on the turning radius and the width of the agricultural machine and taking the second end point as the starting point includes: When the turning radius of the agricultural machine is greater than half the width of the agricultural implement, a second perpendicular line is drawn to the left of the second current working straight line with the second end point as the foot of the perpendicular to the second current working straight line, and a point on the second perpendicular line whose distance from the second end point is equal to the turning radius of the agricultural machine is determined as the center of a third circle. A third arc path is generated counterclockwise with the second end point as the starting point and the third circle center as the center of the circle, and a radius equal to the turning radius of the agricultural machine is generated. Determine the end point of the adjacent working line of the second current working line as a third end point, and use the third end point as the foot of the perpendicular to the adjacent working line of the second current working line. Draw a perpendicular line to the right of the adjacent working line of the second current working line to obtain a third perpendicular line. Determine a point on the third perpendicular line whose distance from the third end point is equal to the turning radius of the agricultural machine as a fourth circle center. Generate a fourth arc path with a radius equal to the turning radius of the agricultural machine counterclockwise, starting from the third end point and centered on the fourth circle center. obtaining a fifth circle center based on the third circle center and the fourth circle center, and generating a fifth arc path with a radius equal to the turning radius of the agricultural machine with the fifth circle center as the circle center; Determining a first tangent point between the fifth circular arc path and the third circular arc path, and determining a second tangent point between the fifth circular arc path and the fourth circular arc path; The arc path between the first tangent point and the second tangent point on the fifth arc path, which are located below the center of the fifth arc path, is deleted to obtain the second U-turn operation path having a pear-shaped shape.

5. The method according to claim 4, characterized in that The obtaining of a fifth circle center based on the third circle center and the fourth circle center, and generating a fifth arc path having a radius equal to the turning radius of the agricultural machine with the fifth circle center as the circle center, includes: generating a second auxiliary circle with a radius twice the turning radius of the agricultural machine with the third circle center as the center, and generating a third auxiliary circle with a radius twice the turning radius of the agricultural machine with the fourth circle center as the center; Determine an intersection point between the second auxiliary circle and the third auxiliary circle, and determine the intersection point as the fifth circle center; With the fifth circle center as the circle center, a fifth arc path with a radius equal to the turning radius of the agricultural machine is generated.

6. The method according to claim 3, characterized in that The step of generating the second U-turn operation path based on the turning radius and the width of the agricultural machine and taking the second end point as the starting point includes: When the turning radius of the agricultural machine is less than or equal to one-half of the width of the agricultural implement, a fourth perpendicular is drawn to the right of the second current working line with the second end point as the foot of the perpendicular to the second current working line, and a point on the fourth perpendicular line whose distance from the second end point is equal to the turning radius of the agricultural machine is determined as the center of a sixth circle. A sixth arc path is generated clockwise with the second end point as the starting point and the sixth circle center as the center, and a radius equal to the turning radius of the agricultural machine is generated. Determine the end point of the adjacent working line of the second current working line as the third end point, use the third end point as the foot of the perpendicular to the second current working line, draw a perpendicular line to the left of the second current working line to obtain a fifth perpendicular line, determine a point on the fifth perpendicular line that is a distance from the third end point by the turning radius of the agricultural machine as the center of a seventh circle, and generate a seventh arc path counterclockwise with a radius equal to the turning radius of the agricultural machine, starting from the third end point and taking the seventh center point as the center of the circle; Draw a common tangent line between the sixth arc path and the seventh arc path above the sixth center and the seventh center, determine the intersection of the common tangent line and the sixth arc path as the fourth endpoint, and determine the intersection of the common tangent line and the seventh arc path as the fifth endpoint; The arc between the second end point and the fourth end point in the sixth arc path, the common tangent line, and the arc between the fifth end point and the third end point in the seventh arc path, located above the seventh center point, are determined as the second U-turn operation path having an arc shape.

7. A device for generating an operation path of an agricultural machine, characterized in that: The device comprises: An operation starting edge determination module is used to determine the operation starting edge of the farmland operation edge based on the farmland operation edge and the position of the agricultural machine; An equidistant offset module is used to obtain the width of the farm implement, and use the width of the farm implement as the equidistant offset amount and the operation starting edge as the equidistant offset starting edge, and sequentially perform equidistant offsets on the remaining operation edges of the farmland operation edge to obtain a straight operation path; an operation path generation module, configured to generate a U-turn operation path on the straight operation path based on the straight operation path, the maximum turning angle of the agricultural machine, and the wheelbase of the front and rear wheels of the agricultural machine, thereby obtaining an operation path for the agricultural machine; Wherein, the equidistant offset module is specifically used for: Taking the width of the agricultural implement as the equidistant offset and the operation starting edge as the equidistant offset starting edge, the farmland operation edges are sequentially equidistantly offset to obtain a first straight line operation path, wherein the first straight line operation path includes a plurality of straight line operation edges; When the length of any one of the plurality of linear working edges is less than a preset length, the width of the agricultural implement is used as an equidistant offset, and the linear working edges whose lengths are less than the preset length and are parallel to the working start edge are equidistantly offset in sequence to obtain a second linear working path.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the method for generating a working path for an agricultural machine according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method for generating a working path for an agricultural machine according to any one of claims 1 to 6 is implemented.

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