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

Abstract

The present invention discloses a method, device, electronic device, and storage medium for generating an operation path for an unmanned agricultural machine. The method comprises: when the turning radius of the agricultural machine, the width of the agricultural implement, and the position of the current linear operation path meet a first preset condition, generating a first asymmetric arc-shaped U-turn path on the current linear operation path based on the turning radius of the agricultural machine and multiple linear operation paths; when the turning radius of the agricultural machine and the position of the current linear operation path meet a second preset condition, generating a second asymmetric arc-shaped U-turn path on the current linear operation path based on the turning radius of the agricultural machine, the width of the agricultural implement, and multiple linear operation paths. Specifically, the technical solution of the present invention can solve the problem of unmanned agricultural machines exceeding farmland boundaries and missing plowing when turning along a pear-shaped U-turn path, thereby improving the coverage rate and land utilization rate of agricultural machinery operations, thereby improving the operating efficiency of unmanned agricultural machines, and eliminating the need for manual replanting or re-cultivation of missed land.

Description

Technical Field

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

[0002] Currently, most unmanned agricultural machinery uses a "F" (J)-shaped operation pattern for harvesting. When the turning radius of the machinery exceeds half the width of the implement, a pear-shaped U-turn is typically used to change direction or turn at the junction of two adjacent working lines.

[0003] However, the current "J-shaped" operation mode all adopts a pear-shaped U-turn path, which is wider on both sides. When the turning radius of the agricultural machinery exceeds the width of the agricultural implement, the first straight working edge and the last straight working edge are offset from the farmland working edge by half the width of the agricultural implement. The pear-shaped U-turn path will exceed the farmland working edge. If there are canals near the farmland working edge, the safety of unmanned agricultural machinery operations cannot be well guaranteed; if the maximum single-side width of the symmetrical center of the pear-shaped U-turn path is used as the turning radius of the agricultural machinery, the farmland will be missed, the operation coverage rate will be low, and the land utilization rate cannot be effectively improved. Summary of the Invention

[0004] The embodiments of the present invention provide an operation path generation method, device, equipment and storage medium for unmanned agricultural machinery, which can solve the problem of unmanned agricultural machinery exceeding the farmland boundary and missing plowing when turning along a pear-shaped turning path, improve the agricultural machinery operation coverage rate and land utilization rate, and thus improve the operation efficiency of the unmanned agricultural machinery. There is no need for manual replanting or re-cultivation of the missed land at a later time, and the situation of unmanned agricultural machinery exceeding the farmland boundary and falling into the canal or ditch is avoided, thereby ensuring the operation safety of the unmanned agricultural machinery.

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

[0006] Using a preset length as the offset, the boundary closest to the unmanned agricultural machine in the farmland is offset to obtain the starting path of the operation, and the turning radius of the agricultural machine is determined based on the maximum turning angle of the agricultural machine and the wheelbase of the front and rear wheels of the agricultural machine.

[0007] Taking the width of the implement as the equidistant offset and the operation starting path as the equidistant offset starting edge, the operation starting path is equidistantly offset to obtain multiple straight line operation paths;

[0008] When the turning radius of the agricultural machine, the width of the agricultural implement, and the position of the current linear working path meet a first preset condition, generating a first asymmetric arc-shaped U-turn path on the current linear working path based on the turning radius of the agricultural machine and the multiple linear working paths;

[0009] When the turning radius of the agricultural machinery, the width of the agricultural implement and the position of the current straight working path meet the second preset condition, a second asymmetric arc-shaped U-turn path is generated on the current straight working path based on the turning radius of the agricultural machinery and the multiple straight working paths, and the directions of the first asymmetric arc-shaped U-turn path and the second asymmetric arc-shaped U-turn path are opposite.

[0010] In a second aspect, an embodiment of the present invention provides a device for generating an operation path for an unmanned agricultural machine, the device comprising:

[0011] A determination module is used to offset the boundary of the farmland closest to the position of the unmanned agricultural machine by a preset length to obtain a starting operation path, and to determine 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;

[0012] An offset module is used to offset the working starting path equidistantly to obtain multiple straight working paths by taking the width of the agricultural implement as the equidistant offset amount and the working starting path as the equidistant offset starting edge;

[0013] a first generating module configured to generate a first asymmetric arc-shaped U-turn path on the current straight working path based on the turning radius of the agricultural machine and the plurality of straight working paths when the turning radius of the agricultural machine, the width of the agricultural implement, and the position of the current straight working path meet a first preset condition;

[0014] The second generation module is used to generate a second asymmetric arc-shaped U-turn path on the current straight working path based on the turning radius of the agricultural machinery and the multiple straight working paths when the turning radius of the agricultural machinery, the width of the agricultural implement and the position of the current straight working path meet a second preset condition, and the directions of the first asymmetric arc-shaped U-turn path and the second asymmetric arc-shaped U-turn path are opposite.

[0015] 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, an operation path generation method for an unmanned agricultural machinery as described in any one of the embodiments of the present invention is implemented.

[0016] 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 unmanned agricultural machine as described in any one of the embodiments of the present invention.

[0017] In an embodiment of the present invention, a preset length is used as an offset, and the boundary of the farmland boundary closest to the position of the unmanned agricultural machinery is offset to obtain an operation starting path, and 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; the width of the agricultural implement is used as an equidistant offset, and the operation starting path is used as an equidistant offset starting edge, and the operation starting path is equidistantly offset to obtain multiple straight-line operation paths; when the turning radius of the agricultural machinery, the width of the agricultural implement and the position of the current straight-line operation path meet a first preset condition, a first asymmetric arc-shaped U-turn path is generated on the current straight-line operation path based on the turning radius of the agricultural machinery and the multiple straight-line operation paths; when the turning radius of the agricultural machinery, the width of the agricultural implement and the position of the current straight-line operation path meet a second preset condition, a second asymmetric arc-shaped U-turn path is generated on the current straight-line operation path based on the turning radius of the agricultural machinery and the multiple straight-line operation paths, and the directions of the first asymmetric arc-shaped U-turn path and the second asymmetric arc-shaped U-turn path are opposite. That is, the technical solution of the present invention can generate a first asymmetric arc turning path on the current straight line operation path based on the turning radius of the agricultural machinery and multiple straight line operation paths, which is a connection between a straight line path and a first asymmetric arc path. The unmanned agricultural machinery is at the end point of the current straight line operation path. Since the unmanned agricultural machinery first drives along the straight line path to the end point of the straight line path and then directly turns around along the first asymmetric arc path, the unmanned agricultural machinery does not need to turn around in the direction of the adjacent farmland boundary parallel to the operation starting path, but only needs to turn around in the opposite direction of the adjacent farmland boundary parallel to the operation starting path. The unmanned agricultural machinery will not exceed the farmland boundary when turning around along the first asymmetric arc path; when the turning radius of the agricultural machinery, the width of the agricultural implement and the current position of the straight line operation path meet the first preset condition, the unmanned agricultural machinery will not exceed the farmland boundary when turning around along the first asymmetric arc path. When the position of the straight operation path meets the second preset condition, a second asymmetric arc-shaped turning path is generated on the current straight operation path based on the turning radius of the agricultural machinery and multiple straight operation paths. Since the unmanned agricultural machinery first turns according to the second asymmetric arc-shaped path, the unmanned agricultural machinery does not need to turn in the direction of the farmland boundary opposite to the operation starting path. After turning around, the unmanned agricultural machinery directly drives along the straight path to the starting point of the next straight operation path and will not exceed the farmland boundary. This solves the problem of unmanned agricultural machinery exceeding the farmland boundary and missing plowing when turning according to the pear-shaped turning path, improves the agricultural machinery operation coverage rate and land utilization rate, and thus improves the operation efficiency of the unmanned agricultural machinery. There is no need for manual replanting or re-cultivation of the missed land later, and avoids the situation where the unmanned agricultural machinery exceeds the farmland boundary and falls into the canal or ditch, thereby ensuring the operation safety of the unmanned agricultural machinery. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] 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.

[0019] Figure 1 A schematic flow chart of a method for generating an operation path for an unmanned agricultural machine according to an embodiment of the present invention;

[0020] Figure 2 A schematic diagram of an operating path of an unmanned agricultural machine provided in an embodiment of the present invention;

[0021] Figure 3a A schematic diagram of a first asymmetric arc-shaped U-turn path provided by an embodiment of the present invention;

[0022] Figure 3b A schematic diagram of a second asymmetric arc-shaped U-turn path provided by an embodiment of the present invention;

[0023] Figure 4 A schematic diagram of a process for generating a first asymmetric arc-shaped U-turn path in a method for generating an operation path of an unmanned agricultural machine provided in an embodiment of the present invention;

[0024] Figure 5 Another schematic diagram of a first asymmetric arc-shaped U-turn path provided by an embodiment of the present invention;

[0025] Figure 6 A schematic diagram of a process for generating a second asymmetric arc-shaped U-turn path in a method for generating an operation path of an unmanned agricultural machine provided in an embodiment of the present invention;

[0026] Figure 7 Another schematic diagram of a second asymmetric arc-shaped U-turn path provided by an embodiment of the present invention;

[0027] Figure 8 Another flowchart of a method for generating an operation path for an unmanned agricultural machine provided by an embodiment of the present invention;

[0028] Figure 9 A schematic diagram of a symmetrical arc-shaped U-turn path provided by an embodiment of the present invention;

[0029] Figure 10 A schematic diagram of an operation path of an unmanned agricultural machine generated by the operation path generation method of an unmanned agricultural machine provided by an embodiment of the present invention;

[0030] Figure 11 A schematic structural diagram of an operating path generating device for an unmanned agricultural machine provided in an embodiment of the present invention;

[0031] Figure 12 A schematic structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0032] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0033] Figure 1 A flow chart of a method for generating an operation path for an unmanned agricultural machine provided in an embodiment of the present invention is provided. This method can be executed by a device for generating an operation path for an unmanned agricultural machine provided in an embodiment of the present invention. The device can be implemented in software and / or hardware. In a specific embodiment, the device can be integrated into an electronic device, such as a computer or a server. The following embodiments will be described using the device integrated into an electronic device as an example. Figure 1 , the method may specifically include the following steps:

[0034] Step 101: offset the boundary of the farmland closest to the position of the unmanned agricultural machine by a preset length to obtain a starting operation path, and determine 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.

[0035] The preset length may be half the width of the agricultural implement; the width of the agricultural implement may be understood as the operating width of the agricultural implement of the unmanned agricultural machinery.

[0036] In an optional embodiment, the farmland boundary typically has multiple boundaries. The boundary closest to the unmanned agricultural machine can be offset by a preset length to obtain the starting operation path. The maximum turning angle and the front and rear wheelbase of the agricultural machine can then be obtained through the agricultural machine operating software. These maximum turning angle and the front and rear wheelbase of the agricultural machine can be substituted into the agricultural machine turning radius calculation formula to calculate the agricultural machine turning radius. The calculation formula for the agricultural machine turning radius is as follows:

[0037] R = L / tan(δ);

[0038] 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.

[0039] Step 102 : Using the width of the implement as the equidistant offset and the operation starting path as the equidistant offset starting edge, the operation starting path is equidistantly offset to obtain a plurality of straight operation paths.

[0040] In an optional embodiment, the width of the agricultural implement can be used as the equidistant offset, and the operation starting path can be used as the equidistant offset starting edge. The operation starting path can be offset according to the offset direction of the boundary closest to the position of the unmanned agricultural machinery in the farmland boundary to obtain a second straight line operation path, and then the second straight line operation path can be used as the equidistant offset starting edge to obtain a third straight line operation path. When the distance between the straight line operation path after the equidistant offset and the farmland boundary is less than the equidistant offset, the equidistant offset of the straight line operation path is stopped to obtain multiple straight line operation paths.

[0041] Step 103 : When the turning radius of the agricultural machine, the width of the agricultural implement, and the position of the current straight working path meet a first preset condition, a first asymmetric arc-shaped turning path is generated on the current straight working path based on the turning radius of the agricultural machine and the multiple straight working paths.

[0042] The first preset condition can be understood as the current linear working path's position not exceeding a preset length, and the position of the next linear working path after the current linear working path not exceeding a preset length. The position of the current linear working path can be understood as the distance between the adjacent farmland boundary parallel to the starting working path and the current linear working path; the position of the next linear working path after the current linear working path can be understood as the distance between the farmland boundary opposite the starting working path and the next linear working path after the current linear working path.

[0043] The first asymmetric arc-shaped U-turn path can be understood as an asymmetric arc-shaped path with the same arc direction as the equidistant offset direction. The first asymmetric arc-shaped U-turn path can include a first straight U-turn operation path parallel to the farmland boundary and a first asymmetric arc-shaped path. The first asymmetric arc-shaped path is connected with the first straight U-turn operation path. When the unmanned agricultural machinery reaches the end point of the current straight-line operation path, it can first drive along the first straight-line U-turn operation path to the end point of the straight-line path, and then turn directly along the first asymmetric arc-shaped path at the end point of the first straight-line U-turn operation path. Since the unmanned agricultural machinery first drives along the first straight-line U-turn operation path to the end point of the straight-line path, and then turns directly along the first asymmetric arc-shaped path, the unmanned agricultural machinery does not need to turn in the direction of the adjacent farmland boundary parallel to the operation starting path, but only needs to turn in the opposite direction of the adjacent farmland boundary parallel to the operation starting path. The unmanned agricultural machinery will not exceed the farmland boundary when turning along the first asymmetric arc-shaped path.

[0044] Assume that the width of the implement is w and the preset length is Because unmanned agricultural machinery is in operation, Figure 2 As shown, the distance from the starting path of the operation to the farmland boundary 1 is the preset length Except for the starting path of the operation, the interval distance between other straight operation paths is the width w of the agricultural implement, and the distance from the current straight operation path where the unmanned agricultural machine is located to the farmland boundary 1 is where n can represent the operation number of the current straight operation path, n = 1, 2, 3, …, N, and N represents the total number of straight operation paths; when the unmanned agricultural machine makes a U-turn using a pear-shaped U-turn path, since the turning radius of the pear-shaped U-turn path is R, the distance from the center point of the pear-shaped U-turn path to the farmland boundary 1 is The distance L3 from the arc path adjacent to the farmland boundary 1 in the pear-shaped U-turn path to the farmland boundary 1 is L3 = L2 - R. When the unmanned agricultural machine makes a U-turn according to a partial arc U-turn path in the pear-shaped U-turn path, due to the distance L3 from the arc path adjacent to the farmland boundary 1 in the pear-shaped U-turn path to the farmland boundary 1 being less than There will be a problem that part of the arc path exceeds the farmland boundary. Therefore, in order to avoid the problem that part of the arc path exceeds the farmland boundary when the unmanned agricultural machine makes a U-turn using a pear-shaped U-turn path, when the distance L3 from the arc path adjacent to the farmland boundary 1 in the pear-shaped U-turn path to the farmland boundary 1 does not exceed the preset length When That is And Then it can be obtained that L1 < R, that is, when the distance from the current straight operation path to the farmland boundary 1 does not exceed the preset length, a first non-symmetric arc U-turn path is generated. In this way, the unmanned agricultural machine first travels along the first straight U-turn operation path to the end point of the first straight U-turn operation path, and then makes a U-turn directly according to the first non-symmetric arc path. Then the unmanned agricultural machine does not need to turn towards the farmland boundary 1 side, but only needs to turn in the direction of the farmland boundary 2 according to the first non-symmetric arc path to complete the U-turn, which can solve the problem that part of the arc path exceeds the farmland boundary when the unmanned agricultural machine makes a U-turn using a pear-shaped U-turn path.

[0045] At the same time, before generating the first non-symmetric arc U-turn path, it is also necessary to ensure that the distance from the arc path adjacent to the farmland boundary 2 in the pear-shaped U-turn path connected to the next straight operation path of the current straight operation path to the farmland boundary 2 exceeds the preset length, so as to ensure that when the unmanned agricultural machine makes a U-turn on the pear-shaped U-turn path connected to the next straight operation path, there will be no situation where part of the arc path in the pear-shaped U-turn path connected to the next straight operation path exceeds the boundary. The distance from the next straight operation path of the current straight operation path to the farmland boundary opposite to the operation starting path is L4 = s + (N - n)w, where s can be understood as the distance from the last straight operation path to the farmland boundary opposite to the operation starting path. For example, s can be The distance from the center point of the pear-shaped U-turn path on the next straight operation path of the current straight operation path to the farmland boundary 2 is The distance from the arc path adjacent to the farmland boundary 2 in the pear-shaped U-turn path to the farmland boundary 2 is L6=L5-R. If it is to be ensured that the unmanned agricultural machine does not go beyond the boundary when turning along the arc path adjacent to the farmland boundary 2 in the pear-shaped U-turn path on the next straight line operation path of the current straight line operation path, it is necessary to ensure that the length from the arc path adjacent to the farmland boundary 2 in the pear-shaped U-turn path to the farmland boundary 2 exceeds the preset length. Therefore, when generating the first asymmetric arc-shaped U-turn path, in order to ensure that the UAV does not go beyond the farmland boundary when turning along the arc path adjacent to the farmland boundary 2 in the pear-shaped U-turn path on the next straight line operation path of the current straight line operation path, then That is, s+(Nn)w>R, and L4=s+(Nn)w, then it can be concluded that L4>R, that is, the distance from the next straight line operation path of the current straight line operation path to the farmland boundary 2 opposite to the operation starting path exceeds the preset length, then the first preset condition can be And s+(Nn)w>R.

[0046] Therefore, in an optional embodiment, it is possible to determine whether the operation number of the current straight operation path, the width of the agricultural implement, the distance from the last straight operation path to the farmland boundary opposite to the operation starting path, the total number of straight operation paths and the turning radius of the agricultural machinery meet the first preset condition; when the operation number of the current straight operation path, the width of the agricultural implement, the distance from the last straight operation path to the farmland boundary opposite to the operation starting path, the total number of straight operation paths and the turning radius of the agricultural machinery meet the first preset condition, a straight path of the first asymmetric arc-shaped U-turn path is generated with the end point of the current straight operation path as the starting point, and after the straight path of the first asymmetric arc-shaped U-turn path is generated, at the end point of the straight path of the first asymmetric arc-shaped U-turn path, a first asymmetric arc-shaped U-turn path is generated based on the turning radius of the agricultural machinery and the current straight operation path.

[0047] For example, the first preset condition is: And s + (Nn)w > R, where R is the turning radius of the agricultural machinery on the pear-shaped U-turn path, w is the width of the agricultural implement, s represents the distance from the last straight operation path to the farmland boundary opposite to the operation starting path, N represents the total number of straight operation paths, and n represents the operation number of the current straight operation path.

[0048] Assuming that the total number of straight-line operation paths is N, the operation number of the current straight-line operation path is n, the width of the agricultural implement is w, the distance from the last straight-line operation path to the farmland boundary relative to the operation starting path is s, and the turning radius of the agricultural machinery is R, it can be determined whether n, w, s, N, and R meet the first preset condition. When it is determined that n, w, s, N, and R meet the first preset condition, a straight-line path of a first asymmetric arc-shaped U-turn path is generated with the end point of the current straight-line operation path as the starting point. After the straight-line path of the first asymmetric arc-shaped U-turn path is generated, at the end point of the straight-line path of the first asymmetric arc-shaped U-turn path, a first asymmetric arc-shaped U-turn path is generated based on the turning radius of the agricultural machinery and the current straight-line operation path, and the following is obtained: Figure 3a The first asymmetric arc-shaped U-turn path is shown.

[0049] For example, suppose The distance from the next straight line operation path of the current straight line operation path to the farmland boundary opposite to the operation starting path is Among them, the distance from the center point of the pear-shaped turning path on the next straight line operation path of the current straight line operation path to the farmland boundary 2 is The distance from the arc path adjacent to the farmland boundary 2 in the pear-shaped U-turn path to the farmland boundary 2 is L6=L5-R. If it is to be ensured that the unmanned agricultural machine does not go beyond the boundary when turning along the arc path adjacent to the farmland boundary 2 in the pear-shaped U-turn path on the next straight line operation path of the current straight line operation path, it is necessary to ensure that the length from the arc path adjacent to the farmland boundary 2 in the pear-shaped U-turn path to the farmland boundary 2 exceeds the preset length. Therefore, when generating the first asymmetric arc-shaped U-turn path, in order to ensure that the UAV does not go beyond the farmland boundary when turning along the arc path adjacent to the farmland boundary 2 in the pear-shaped U-turn path on the next straight line operation path of the current straight line operation path, then Right now and It can be concluded that L4>R, that is, the distance from the next straight line operation path of the current straight line operation path to the farmland boundary 2 opposite to the operation starting path exceeds the preset length. Therefore, When the first preset condition can be and

[0050] Where R is the turning radius of the agricultural machinery in the pear-shaped U-turn path, w is the width of the agricultural implement, N is the total number of straight operation paths, and n is the operation number of the current straight operation path.

[0051] Assuming that the total number of straight-line operation paths is N, the operation number of the current straight-line operation path is n, the width of the agricultural implement is w, and the turning radius of the agricultural machinery is R, it can be determined whether n, w, N, and R meet the first preset condition. When it is determined that n, w, N, and R meet the first preset condition, a straight-line path of a first asymmetric arc-shaped U-turn path is generated with the end point of the current straight-line operation path as the starting point. After the straight-line path of the first asymmetric arc-shaped U-turn path is generated, at the end point of the straight-line path of the first asymmetric arc-shaped U-turn path, a first asymmetric arc-shaped U-turn path is generated based on the turning radius of the agricultural machinery and the current straight-line operation path, and the following is obtained: Figure 3a The first asymmetric arc-shaped U-turn path is shown.

[0052] Step 104: When the turning radius of the agricultural machinery, the width of the agricultural implement, and the position of the current straight working path meet the second preset condition, a second asymmetric arc-shaped U-turn path is generated on the current straight working path based on the turning radius of the agricultural machinery and the multiple straight working paths. The directions of the first asymmetric arc-shaped U-turn path and the second asymmetric arc-shaped U-turn path are opposite.

[0053] The second preset condition may be understood as that the position of the current linear operation path exceeds the preset distance and the position of the next linear operation path after the current linear operation path does not exceed the preset distance.

[0054] The second asymmetric arc-shaped U-turn path can be understood as an asymmetric arc-shaped path with an arc direction opposite to the direction of the equidistant offset. The second asymmetric arc-shaped U-turn path may include a second straight-line U-turn operation path and a second asymmetric arc-shaped path parallel to the farmland boundary opposite to the operation starting path. The second asymmetric arc-shaped path is connected with the second straight-line U-turn operation path. When the unmanned agricultural machinery reaches the end point of the next straight-line operation path of the current straight-line operation path, it can first turn around according to the second asymmetric arc-shaped path and drive to the end point of the second asymmetric arc-shaped path. At the end point of the second asymmetric arc-shaped path, it can drive along the second straight-line U-turn operation path to the straight-line operation path connected to the second straight-line U-turn operation path. Since the unmanned agricultural machinery first turns around directly according to the second asymmetric arc-shaped path and then drives along the second straight-line U-turn operation path to the straight-line operation path, the unmanned agricultural machinery does not need to turn around according to the arc-shaped U-turn path in the direction of the farmland boundary opposite to the operation starting path. Therefore, the unmanned agricultural machinery will not turn over the boundary when turning around.

[0055] When the unmanned agricultural machine makes a U-turn on the pear-shaped U-turn path connected to the next straight operating path, the unmanned agricultural machine may go out of the boundary when making a U-turn along the arc path adjacent to the farmland boundary 2 in the pear-shaped U-turn path on the next straight operating path of the current straight operating path. This situation occurs because the distance from the arc path adjacent to the farmland boundary 2 to the farmland boundary 2 in the pear-shaped U-turn path connected to the next straight operating path of the current straight operating path does not exceed the preset length. As a result, the distance from the arc path adjacent to the farmland boundary 2 to the farmland boundary 2 does not exceed the preset length When the second asymmetric arc-shaped U-turn path is generated, the unmanned agricultural machine will first turn around directly along the second asymmetric arc-shaped path, and then drive along the second straight-line U-turn operation path to the straight-line operation path. The unmanned agricultural machine does not need to turn around in the direction of the farmland boundary opposite to the operation starting path, that is, the unmanned agricultural machine does not need to turn to the side of the farmland boundary 2. Therefore, the unmanned agricultural machine will not turn over the boundary when operating on the straight-line path. At the same time, before generating the second asymmetric arc-shaped U-turn path, it is also necessary to ensure that the length L3 of the arc path adjacent to the farmland boundary 1 in the pear-shaped U-turn path to the farmland boundary 1 exceeds the preset length. In this way, when the unmanned agricultural machinery turns along the pear-shaped turning path on the current straight operating path, the unmanned agricultural machinery will not go beyond the boundary when turning along the current straight operating path.

[0056] The second preset condition may be: And s+(Nn)w <R。

[0057] Therefore, in an optional embodiment, it is possible to determine whether the operation number of the current straight operation path, the width of the agricultural implement, the distance from the last straight operation path to the farmland boundary opposite to the operation starting path, the total number of straight operation paths and the turning radius of the agricultural machinery meet the second preset condition; when the operation number of the current straight operation path, the width of the agricultural implement, the distance from the last straight operation path to the farmland boundary opposite to the operation starting path, the total number of straight operation paths and the turning radius of the agricultural machinery meet the second preset condition, a straight path of a second asymmetric arc-shaped U-turn path is generated with the end point of the current straight operation path as the starting point, and after the straight path of the second asymmetric arc-shaped U-turn path is generated, a second asymmetric arc-shaped U-turn path is generated at the end point of the straight path of the second asymmetric arc-shaped U-turn path based on the turning radius of the agricultural machinery and the current straight operation path.

[0058] For example, the second preset condition is And s + (N - n)w < R, where R is the turning radius of the agricultural machine for the pear-shaped turning path, w is the width of the agricultural implement, s represents the distance from the last straight operation path to the farmland boundary opposite to the operation starting path, N represents the total number of straight operation paths, and n represents the operation number of the current straight operation path.

[0059] Assume that the total number of straight operation paths is N, the operation number of the current straight operation path is n, the width of the agricultural implement is w, the distance from the last straight operation path to the farmland boundary opposite to the operation starting path is s, and the turning radius of the agricultural machine is R. It can be judged whether n, w, s, N, and R meet the second preset condition. When it is determined that n, w, s, N, and R meet the second preset condition, taking the end point of the current straight operation path as the starting point, generate the straight-line path of the second asymmetric arc turning path. After generating the straight-line path of the second asymmetric arc turning path, at the end point of the straight-line path of the second asymmetric arc turning path, generate the second asymmetric arc path of the second asymmetric arc turning path based on the turning radius of the agricultural machine and the current straight operation path, and obtain the second asymmetric arc turning path as shown in Figure 3a the second asymmetric arc turning path shown.

[0060] Again, for example, assume The second preset condition is: And where R is the turning radius of the agricultural machine for the pear-shaped turning path, w is the width of the agricultural implement, N represents the total number of straight operation paths, and n represents the operation number of the current straight operation path.

[0061] Assume that the total number of straight operation paths is N, the operation number of the current straight operation path is n, the width of the agricultural implement is w, and the turning radius of the agricultural machine is R. It can be judged whether n, w, N, and R meet the second preset condition. When it is determined that n, w, N, and R meet the second preset condition; when the turning radius of the agricultural machine, the width of the agricultural implement, and the position of the current straight operation path meet the second preset condition, when the turning radius of the agricultural machine, the width of the agricultural implement, and the position of the current straight operation path meet the second preset condition, taking the end point of the current straight operation path as the starting point, generate the second asymmetric arc path in the second asymmetric arc turning path. After generating the second asymmetric arc path of the second asymmetric arc turning path, at the end point of the second asymmetric arc path of the second asymmetric arc turning path, generate the straight-line path of the second asymmetric arc turning path based on the turning radius of the agricultural machine and the next straight operation path of the current straight operation path, and obtain the second asymmetric arc turning path as shown in Figure 3b the second asymmetric arc turning path shown.

[0062] In the embodiments of the present invention, the problem of unmanned agricultural machinery exceeding the farmland boundary and missing plowing when turning along the pear-shaped turning path is solved, the agricultural machinery operation coverage rate and land utilization rate are improved, and the operation efficiency of the unmanned agricultural machinery is improved. There is no need for manual replanting or re-cultivation of the missed land at a later time, and the situation of unmanned agricultural machinery exceeding the farmland boundary and falling into the canal or ditch is avoided, thereby ensuring the operation safety of the unmanned agricultural machinery.

[0063] The following further describes the method for generating an operation path for an unmanned agricultural machine provided by an embodiment of the present invention. Figure 4 As shown, Figure 4 A schematic flow chart of generating a first asymmetric arc-shaped U-turn path in a method for generating an operation path for an unmanned agricultural machine provided in an embodiment of the present invention may specifically include the following steps:

[0064] Step 401 : Taking the end point of the current straight line operation path as the starting point, the current straight line operation path is extended by a preset distance to obtain a first straight line U-turn operation path.

[0065] The first straight-line U-turn operation path may be understood as a straight-line path in the first asymmetric arc-shaped U-turn path.

[0066] For example, Figure 5 As shown, with the end point A of the current straight working path ZA as the starting point, the current straight working path is extended by a preset distance to obtain a first straight U-turn working path X1.

[0067] Step 402 : Determine the end point of the first straight-line U-turn operation path as the first end point, and generate a first perpendicular line of the first straight-line U-turn operation path with the first end point as the foot of the perpendicular.

[0068] For example, Figure 5 As shown, the end point B of the first straight-line U-turn operation path is determined as the first end point, and the first end point B is used as the foot of the perpendicular to generate a first perpendicular line BO1 of the first straight-line U-turn operation path.

[0069] Step 403: Determine the point on the first vertical line that is at a distance from the first end point to the turning radius of the agricultural machinery as the first center of the circle, and generate a first arc with a radius of the turning radius of the agricultural machinery with the first center of the circle as the center and the first end point as the starting point. Also, generate a first auxiliary circle with a radius of twice the turning radius of the agricultural machinery with the first center of the circle as the center.

[0070] For example, Figure 5 As shown, the point O1 on the first vertical line, which is at a distance from the first end point B by the turning radius of the agricultural machine, is determined as the first circle center. With the first circle center O1 as the circle center and the first end point B as the starting point, a first arc with a radius of the turning radius of the agricultural machine is generated ( Figure 5 The arc BE in the figure is a partial arc of the first arc), and the first auxiliary circle with a radius twice the turning radius of the agricultural machinery is generated with the first circle center O1 as the circle center ( Figure 5 The first auxiliary circle is not shown. Figure 5 Only partial arcs C11 and C12 of the first auxiliary circle are shown.

[0071] In step 404 , a linear operation path adjacent to the current linear operation path among the plurality of linear operation paths is translated in a direction away from the current linear operation path using the turning radius of the agricultural machine as a translation amount to obtain a first auxiliary straight line.

[0072] For example, Figure 5 As shown, with the turning radius R of the agricultural machine as the translation amount, the linear operating path adjacent to the current linear operating path among the multiple linear operating paths is translated in a direction away from the current linear operating path to obtain the first auxiliary straight line L1.

[0073] Step 405: Determine the intersection of the first auxiliary circle and the first auxiliary straight line as the second circle center, and generate a second arc with a radius equal to the turning radius of the agricultural machine clockwise with the second circle center as the circle center.

[0074] For example, Figure 5 As shown, the intersection point O2 of the first auxiliary circle and the first auxiliary straight line L1 is determined as the second circle center, and a second arc with a radius equal to the turning radius of the agricultural machine is generated clockwise with the second circle center O2 as the circle center ( Figure 5 The arc EF in FIG. 1 is a partial arc of the second arc).

[0075] Step 406 : generating a first asymmetric arc-shaped U-turn path on the current linear working path based on the first arc, the second arc, the first linear U-turn working path, and a linear working path adjacent to the current linear working path among the plurality of linear working paths.

[0076] In an optional embodiment, the first tangent point of the second arc and the first arc is determined, and the second tangent point of the second arc and a straight line working path adjacent to the current straight line working path among multiple straight line working paths is determined; the first straight line U-turn working path, the arc from the first end point to the first tangent point, and the arc between the first tangent point and the second tangent point are determined as the first asymmetric arc-shaped U-turn path.

[0077] For example, Figure 5 As shown, the first tangent point E of the second arc and the first arc is determined, and the second tangent point F of the second arc and a linear working path adjacent to the current linear working path among the multiple linear working paths is determined; the first linear U-turn working path X1, the arc BE from the first end point to the first tangent point, and the arc EF between the first tangent point and the second tangent point are determined as the first asymmetric arc-shaped U-turn path.

[0078] In this embodiment, the problem of unmanned agricultural machinery exceeding the farmland boundary and missing plowing when turning according to the pear-shaped turning path is solved, the agricultural machinery operation coverage rate and land utilization rate are improved, and the operation efficiency of the unmanned agricultural machinery is improved. There is no need for manual replanting or re-cultivation of the missed land at a later time, and the situation of unmanned agricultural machinery exceeding the farmland boundary and falling into the canal or ditch is avoided, thereby ensuring the operation safety of the unmanned agricultural machinery.

[0079] Figure 6 A schematic diagram of a process for generating a second asymmetric arc-shaped U-turn path in the method for generating an operation path of an unmanned agricultural machine provided in an embodiment of the present invention, such as Figure 6 As shown, the following steps may be specifically included:

[0080] Step 601: With the end point of the current linear working path as the foot of the perpendicular, a second perpendicular line of the current linear working path is generated, and a point on the second perpendicular line whose distance from the end point of the current linear working path is the turning radius of the agricultural machine is determined as the third circle center.

[0081] For example, Figure 7 As shown, with the end point A of the current straight working path as the foot of the perpendicular, a second perpendicular line AO3 of the current straight working path is generated, and the point O3 on the second perpendicular line whose distance from the end point of the current straight working path is the turning radius of the agricultural machinery is determined as the third center of the circle.

[0082] Step 602: Generate a third arc with a radius equal to the turning radius of the agricultural machine with the third circle center as the center, and generate a second auxiliary circle with a radius twice the turning radius of the agricultural machine with the third circle center as the center.

[0083] For example, Figure 7 As shown, with the third circle center O3 as the center, a third arc with a radius equal to the turning radius R of the agricultural machinery is generated ( Figure 7 The entire third arc is not shown. Figure 7 The arcs S31 and S32 in the figure are partial arcs in the third arc, and a second auxiliary circle with a radius twice the turning radius of the agricultural machinery is generated with the third circle center as the center. Figure 7 Not all second auxiliary circles are shown. Figure 7 The arcs C21 and C22 are partial arcs of the second auxiliary circle).

[0084] In step 603 , a linear operation path adjacent to the current linear operation path among the plurality of linear operation paths is translated in the direction of the current linear operation path using the turning radius of the agricultural machine as a translation amount to obtain a second auxiliary straight line.

[0085] For example, Figure 7 As shown, with the turning radius R of the agricultural machine as the translation amount, the linear operation path adjacent to the current linear operation path among the multiple linear operation paths is translated in the direction of the current linear operation path to obtain the second auxiliary straight line L2.

[0086] Step 604: Determine the intersection of the second auxiliary circle and the second auxiliary straight line as the fourth circle center, and generate a fourth arc with a radius equal to the turning radius of the agricultural machine with the fourth circle center as the circle center.

[0087] For example, Figure 7 As shown, the intersection point O4 of the second auxiliary circle and the second auxiliary straight line L2 is determined as the fourth circle center, and a fourth arc with a radius equal to the turning radius of the agricultural machine is generated with the fourth circle center O4 as the circle center ( Figure 7 The entire fourth arc is not shown. Figure 7 The arc GI in is a partial arc of the fourth arc).

[0088] Step 605 : Based on the third arc, the fourth arc, a linear working path adjacent to the current linear working path among the plurality of linear working paths, and the second auxiliary straight line, a second asymmetric arc-shaped U-turn path is generated on the current linear working path.

[0089] In an optional embodiment, the third tangent point of the third arc and the fourth arc is determined, and the fourth tangent point of the third arc and the current straight line working path is determined; the straight line working path adjacent to the current straight line working path among the multiple straight line working paths is extended until the straight line working path is tangent to the fourth arc, thereby obtaining a second straight line U-turn working path; the tangent point of the second straight line U-turn working path and the fourth arc is determined as the fifth tangent point; the second straight line U-turn working path, the arc between the fifth tangent point and the third tangent point, and the arc between the third tangent point and the fourth tangent point are determined as a second asymmetric arc-shaped U-turn path.

[0090] For example, Figure 7 As shown, the third tangent point G between the third arc and the fourth arc is determined, and the fourth tangent point H between the third arc and the current straight line operation path is determined ( Figure 7 The linear operation path adjacent to the current linear operation path among the multiple linear operation paths is extended until the linear operation path is tangent to the fourth arc, thereby obtaining a second linear U-turn operation path X2; the point of tangency between the second linear U-turn operation path X2 and the fourth arc is determined as the fifth tangency point I; the second linear U-turn operation path X2, the arc GI between the fifth tangency point and the third tangency point, and the arc GH between the third tangency point and the fourth tangency point are determined as a second asymmetric arc-shaped U-turn path.

[0091] In this embodiment, the problem of unmanned agricultural machinery exceeding the farmland boundary and missing plowing when turning according to the pear-shaped turning path is solved, the agricultural machinery operation coverage rate and land utilization rate are improved, and the operation efficiency of the unmanned agricultural machinery is improved. There is no need for manual replanting or re-cultivation of the missed land at a later time, and the situation of unmanned agricultural machinery exceeding the farmland boundary and falling into the canal or ditch is avoided, thereby ensuring the operation safety of the unmanned agricultural machinery.

[0092] Figure 8 Another flow chart of the method for generating an operation path for an unmanned agricultural machine provided by an embodiment of the present invention is as follows: Figure 8 As shown, the following steps may be specifically included:

[0093] Step 701: offset the boundary of the farmland closest to the position of the unmanned agricultural machine by a preset length to obtain a starting operation path, and determine 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.

[0094] In step 702 , the width of the implement is used as the equidistant offset and the operation starting path is used as the equidistant offset starting edge, and the operation starting path is equidistantly offset to obtain a plurality of straight operation paths.

[0095] Step 703 , determining whether the turning radius of the agricultural machine, the width of the agricultural implement, and the position of the current straight working path meet a first preset condition. If so, executing step 704 ; if not, executing step 705 .

[0096] Step 704 : Based on the turning radius of the agricultural machine and the multiple straight working paths, a first asymmetric arc-shaped U-turn path is generated on the current straight working path.

[0097] Step 705 , determining whether the turning radius of the agricultural machine, the width of the agricultural implement, and the position of the current straight working path meet a second preset condition. If so, executing step 706 ; if not, executing step 707 .

[0098] Step 706 : Based on the turning radius of the agricultural machine and the multiple straight working paths, a second asymmetric arc-shaped turning path is generated on the current straight working path.

[0099] Step 707 : With the end point of the current straight working path as the starting point, a symmetrical arc-shaped U-turn path is generated on the current straight working path based on the turning radius of the agricultural machine and the current straight working path.

[0100] Among them, the symmetrical arc turning path can be Figure 9 The pear-shaped U-turn path shown in the figure may also be other symmetrical arc-shaped U-turn paths, which is not specifically limited in this embodiment. The following embodiment takes the pear-shaped U-turn path as an example to further illustrate the generation process of the symmetrical arc-shaped U-turn path.

[0101] In an optional embodiment, the end point of the current straight-line working path is taken as the foot of the perpendicular of the current straight-line working path, and a third perpendicular line is generated on the left side of the current straight-line working path. The point on the third perpendicular line whose distance from the end point of the current straight-line working path is the turning radius of the agricultural machinery is determined as the fifth center of the circle, and the end point of the current straight-line working path is taken as the starting point and the fifth center of the circle as the center of the circle to generate a fifth arc whose radius is the turning radius of the agricultural machinery; the end point of the adjacent straight-line working path of the current straight-line working path is determined as the second end point, and the second end point is taken as the foot of the perpendicular of the adjacent straight-line working path of the current straight-line working path, and a fourth perpendicular line is generated on the right side of the adjacent straight-line working path of the current straight-line working path, and the point on the fourth perpendicular line whose distance from the second end point is the turning radius of the agricultural machinery is determined as the fifth center of the circle. The sixth arc path 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; the third auxiliary circle with a radius twice the turning radius of the agricultural machinery is generated with the fifth circle center as the circle center, and the fourth auxiliary circle with a radius twice the turning radius of the agricultural machinery is generated with the sixth circle center as the circle center; the intersection point of the third auxiliary circle and the fourth auxiliary circle is determined, the intersection point is determined as the seventh circle center, and the seventh arc path with a radius equal to the turning radius of the agricultural machinery is generated with the seventh circle center as the circle center; the sixth tangent point of the seventh arc path and the fifth arc path is determined, and the seventh tangent point of the seventh arc path and the sixth arc path is determined, and the arc path between the sixth tangent point and the seventh tangent point below the center of the seventh arc path on the seventh arc path is deleted to obtain a symmetrical arc-shaped U-turn path.

[0102] For example, Figure 9 As shown, with the end point A of the current straight working path as the foot of the perpendicular to the current straight working path, a third perpendicular line AO5 located on the left side of the current straight working path is generated, and the point O5 on the third perpendicular line whose distance from the end point of the current straight working path is equal to the turning radius of the agricultural machinery is determined as the center of the fifth circle. With the end point A of the current straight working path as the starting point and the fifth circle center as the center, a fifth arc with a radius equal to the turning radius of the agricultural machinery is generated ( Figure 9 The entire fifth arc is not shown in the figure, and arc AF is a partial arc of the fifth arc); the end point J of the adjacent straight line operation path of the current straight line operation path is determined as the second end point, and the second end point J is used as the foot of the perpendicular to the adjacent straight line operation path of the current straight line operation path, and a fourth perpendicular line JO6 is generated on the right side of the adjacent straight line operation path of the current straight line operation path. The point O6 on the fourth perpendicular line, which is the distance from the second end point by the turning radius of the agricultural machinery, is determined as the sixth circle center, and a sixth arc path with a radius of the turning radius R of the agricultural machinery is generated with the second end point J as the starting point and the sixth circle center O6 as the circle center ( Figure 9 The entire sixth arc path is not shown in the figure, and the arc GJ is a partial arc path of the sixth arc path); a third auxiliary circle with a radius twice the turning radius of the agricultural machinery is generated with the fifth circle center O5 as the center ( Figure 9The entire third auxiliary circle is not shown, and the arcs C31 and C32 are partial arcs of the third auxiliary circle), and a fourth auxiliary circle with a radius twice the turning radius of the agricultural machinery is generated with the sixth circle center O6 as the center ( Figure 9 The entire fourth auxiliary circle is not shown in the figure, and arcs C41 and C42 are partial arcs of the fourth auxiliary circle); determine the intersection O7 of the third auxiliary circle C3 and the fourth auxiliary circle C4, determine the intersection O7 as the center of the seventh circle, and use the center of the seventh circle as the center to generate a seventh arc path with a radius equal to the turning radius of the agricultural machinery ( Figure 9 The seventh arc path is a circle with the seventh circle center as the center and a radius equal to the turning radius of the agricultural machinery); determine the sixth tangent point K ( Figure 9 The sixth tangent point K and point F are the same point), and the seventh tangent point M of the seventh arc path and the sixth arc path is determined ( Figure 9 The seventh tangent point M and point G are the same point), delete the arc path KM between the sixth tangent point and the seventh tangent point below the center of the seventh arc path, and obtain a symmetrical arc-shaped U-turn path.

[0103] By executing steps 701 to 707 of this embodiment, the following can be obtained: Figure 10 The working path of the unmanned agricultural machine shown includes a first asymmetric arc-shaped U-turn path, a pear-shaped U-turn path and a second asymmetric arc-shaped U-turn path.

[0104] In this embodiment, the problem of unmanned agricultural machinery exceeding the farmland boundary and missing plowing when turning according to the pear-shaped turning path is solved, the agricultural machinery operation coverage rate and land utilization rate are improved, and the operation efficiency of the unmanned agricultural machinery is improved. There is no need for manual replanting or re-cultivation of the missed land at a later time, and the situation of unmanned agricultural machinery exceeding the farmland boundary and falling into the canal or ditch is avoided, thereby ensuring the operation safety of the unmanned agricultural machinery.

[0105] Figure 11 This is a schematic diagram of the structure of the device for generating an operation path of an unmanned agricultural machine provided by an embodiment of the present invention. The device is suitable for executing the method for generating an operation path of an unmanned agricultural machine provided by an embodiment of the present invention. Figure 11 As shown, the device may specifically include:

[0106] Determination module 801 is configured to offset the boundary of the farmland closest to the position of the unmanned agricultural machine by a preset length to obtain a starting operation path, and determine 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;

[0107] An offset module 802 is configured to perform an equidistant offset on the working starting path using the width of the implement as an equidistant offset amount and the working starting path as an equidistant offset starting edge to obtain a plurality of straight working paths;

[0108] A first generating module 803 is configured to generate a first asymmetric arc-shaped U-turn path on the current straight working path based on the turning radius of the agricultural machine and the multiple straight working paths when the turning radius of the agricultural machine, the width of the agricultural implement, and the position of the current straight working path meet a first preset condition;

[0109] The second generation module 804 is used to generate a second asymmetric arc-shaped U-turn path on the current straight working path based on the turning radius of the agricultural machinery and the multiple straight working paths when the turning radius of the agricultural machinery, the width of the agricultural implement and the position of the current straight working path meet a second preset condition, and the directions of the first asymmetric arc-shaped U-turn path and the second asymmetric arc-shaped U-turn path are opposite.

[0110] Optionally, the first generating module 803 is specifically configured to:

[0111] Taking the end point of the current straight line operation path as the starting point, the current straight line operation path is extended by a preset distance to obtain a first straight line U-turn operation path;

[0112] Determine the end point of the first straight-line U-turn operation path as a first end point, and generate a first perpendicular line of the first straight-line U-turn operation path with the first end point as the foot of a perpendicular;

[0113] Determine a point on the first perpendicular line that is at a distance from the first end point by the turning radius of the agricultural machine as a first circle center, generate a first arc with a radius equal to the turning radius of the agricultural machine with the first circle center as the circle center and the first end point as the starting point, and generate a first auxiliary circle with a radius twice the turning radius of the agricultural machine with the first circle center as the circle center;

[0114] Using the turning radius of the agricultural machine as a translation amount, a linear operating path adjacent to the current linear operating path among the multiple linear operating paths is translated in a direction away from the current linear operating path to obtain a first auxiliary straight line;

[0115] Determine the intersection of the first auxiliary circle and the first auxiliary straight line as a second circle center, and generate a second arc with a radius equal to the turning radius of the agricultural machine clockwise with the second circle center as the circle center;

[0116] The first asymmetric arc-shaped U-turn path is generated on the current linear working path based on the first arc, the second arc, the first linear U-turn working path, and a linear working path adjacent to the current linear working path among the plurality of linear working paths.

[0117] Optionally, the first generating module 803 generates the first asymmetric arc-shaped U-turn path on the current straight line working path based on the first arc, the second arc, the first straight line U-turn working path, and a straight line working path adjacent to the current straight line working path among the multiple straight line working paths, including:

[0118] determining a first tangent point between the second arc and the first arc, and determining a second tangent point between the second arc and a linear operation path adjacent to the current linear operation path among the plurality of linear operation paths;

[0119] The first straight U-turn operation path, the arc from the first end point to the first tangent point, and the arc between the first tangent point and the second tangent point are determined as the first asymmetric arc-shaped U-turn path.

[0120] Optionally, the second generating module 804 is specifically configured to:

[0121] Taking the end point of the current linear operation path as the foot of the perpendicular, generating a second perpendicular line to the current linear operation path, and determining a point on the second perpendicular line that is at a distance from the end point of the current linear operation path by the turning radius of the agricultural machine as the third circle center;

[0122] With the third circle center as the center, a third arc with a radius equal to the turning radius of the agricultural machine is generated, and with the third circle center as the center, a second auxiliary circle with a radius twice the turning radius of the agricultural machine is generated;

[0123] Using the turning radius of the agricultural machine as a translation amount, a linear operation path adjacent to the current linear operation path among the multiple linear operation paths is translated in the direction of the current linear operation path to obtain a second auxiliary straight line;

[0124] Determine the intersection of the second auxiliary circle and the second auxiliary straight line as a fourth circle center, and generate a fourth arc with a radius equal to the turning radius of the agricultural machine with the fourth circle center as the circle center;

[0125] A second asymmetric arc-shaped U-turn path is generated on the current linear working path based on the third arc, the fourth arc, a linear working path adjacent to the current linear working path among the plurality of linear working paths, and the second auxiliary straight line.

[0126] Optionally, the second generating module 804 generates a second asymmetric arc-shaped U-turn path on the current linear working path based on the third arc, the fourth arc, a linear working path adjacent to the current linear working path among the plurality of linear working paths, and the second auxiliary straight line, including:

[0127] Determining a third tangent point between the third arc and the fourth arc, and determining a fourth tangent point between the third arc and the current straight line operation path;

[0128] Extending a linear operating path adjacent to the current linear operating path among the plurality of linear operating paths until the linear operating path is tangent to the fourth arc, thereby obtaining a second linear U-turn operating path;

[0129] determining a tangent point between the second straight-line U-turn operation path and the fourth arc as a fifth tangent point;

[0130] The second straight U-turn operation path, the arc between the fifth tangent point and the third tangent point, and the arc between the third tangent point and the fourth tangent point are determined as the second asymmetric arc-shaped U-turn path.

[0131] Furthermore, the device further includes a third generating module, configured to:

[0132] When the turning radius of the agricultural machinery, the width of the agricultural implement and the position of the current straight working path do not meet the first preset condition and the turning radius of the agricultural machinery, the width of the agricultural implement and the position of the current straight working path do not meet the second preset condition, a symmetrical arc-shaped U-turn path is generated on the current straight working path based on the turning radius of the agricultural machinery and the current straight working path, with the end point of the current straight working path as the starting point.

[0133] Optionally, the third generation module is specifically configured to:

[0134] With the end point of the current linear working path as the foot of a perpendicular to the current linear working path, a third perpendicular line is generated on the left side of the current linear working path, a point on the third perpendicular line that is a distance from the end point of the current linear working path by the turning radius of the agricultural machine is determined as the center of a fifth circle, and with the end point of the current linear working path as the starting point and the fifth circle center as the center, a fifth arc is generated with a radius equal to the turning radius of the agricultural machine;

[0135] Determine the end point of the adjacent straight line working path of the current straight line working path as a second end point, and use the second end point as the foot of a perpendicular to the adjacent straight line working path of the current straight line working path, generate a fourth perpendicular line located to the right of the adjacent straight line working path of the current straight line working path, determine a point on the fourth perpendicular line that is a distance from the second end point by the turning radius of the agricultural machine as a sixth circle center, and use the second end point as a starting point and the sixth circle center as a circle center to generate a sixth arc path with a radius equal to the turning radius of the agricultural machine;

[0136] generating a third auxiliary circle with a radius twice the turning radius of the agricultural machine with the fifth circle center as the center, and generating a fourth auxiliary circle with a radius twice the turning radius of the agricultural machine with the sixth circle center as the center;

[0137] Determining an intersection point between the third auxiliary circle and the fourth auxiliary circle, determining the intersection point as a seventh circle center, and generating a seventh arc path with a radius equal to the turning radius of the agricultural machine with the seventh circle center as the circle center;

[0138] Determine the sixth tangent point between the seventh circular arc path and the fifth circular arc path, and determine the seventh tangent point between the seventh circular arc path and the sixth circular arc path, delete the arc path between the sixth tangent point and the seventh tangent point on the seventh circular arc path that is located below the center of the seventh circular arc path, and obtain the symmetrical arc-shaped U-turn path.

[0139] 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.

[0140] The device of this embodiment solves the problem of unmanned agricultural machinery exceeding the farmland boundary and missing plowing when turning along the pear-shaped turning path, improves the agricultural machinery operation coverage rate and land utilization rate, and thus improves the operation efficiency of the unmanned agricultural machinery. There is no need for manual replanting or re-cultivation of the missed land later, and the unmanned agricultural machinery is prevented from exceeding the farmland boundary and falling into the canal or ditch, thereby ensuring the operation safety of the unmanned agricultural machinery.

[0141] 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 operation path for an unmanned agricultural machine provided in any of the above embodiments is implemented.

[0142] 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 for an unmanned agricultural machine provided in any of the above embodiments.

[0143] Reference below Figure 12 , which shows a schematic structural diagram of a computer system 900 of an electronic device suitable for implementing an embodiment of the present invention. Figure 12 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.

[0144] like Figure 12 As shown, the computer system 900 includes a central processing unit (CPU) 901, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 902 or a program loaded from a storage unit 908 into a random access memory (RAM) 903. Various programs and data required for the operation of the computer system 900 are also stored in the RAM 903. The CPU 901, the ROM 902, and the RAM 903 are connected to each other via a bus 904. An input / output (I / O) interface 905 is also connected to the bus 904.

[0145] The following components are connected to the I / O interface 905: an input section 906 including a keyboard, a mouse, and the like; an output section 907 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 908 including a hard disk and the like; and a communication section 909 including a network interface card such as a LAN card or a modem. The communication section 909 performs communication processing via a network such as the Internet. A drive 910 is also connected to the I / O interface 905 as needed. A removable medium 911, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 910 as needed, so that computer programs read therefrom can be installed into the storage section 908 as needed.

[0146] 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 909, and / or installed from a removable medium 911. When the computer program is executed by the central processing unit (CPU) 901, the above-mentioned functions defined in the system of the present invention are performed.

[0147] 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.

[0148] 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.

[0149] 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 in a processor. For example, a processor may be described as including a determination module, an offset module, a first generation module, and a second generation module. The names of these modules do not, in some cases, limit the modules themselves.

[0150] 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:

[0151] Using a preset length as an offset, the boundary of the farmland boundary closest to the position of the unmanned agricultural machinery is offset to obtain the starting operation path, and 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; using the width of the agricultural implement as an equidistant offset and the starting operation path as the equidistant offset starting edge, the starting operation path is equidistantly offset to obtain multiple straight operation paths; when the turning radius of the agricultural machinery, the width of the agricultural implement and the position of the current straight operation path meet a first preset condition, based on the turning radius of the agricultural machinery and the multiple straight operation paths, a first asymmetric arc-shaped U-turn path is generated on the current straight operation path; when the turning radius of the agricultural machinery, the width of the agricultural implement and the position of the current straight operation path meet a second preset condition, based on the turning radius of the agricultural machinery and the multiple straight operation paths, a second asymmetric arc-shaped U-turn path is generated on the current straight operation path, and the directions of the first asymmetric arc-shaped U-turn path and the second asymmetric arc-shaped U-turn path are opposite.

[0152] According to the technical solution of the embodiments of the present invention, the problem of unmanned agricultural machinery exceeding the farmland boundary and missing plowing when turning along the pear-shaped turning path is solved, the agricultural machinery operation coverage rate and land utilization rate are improved, and the operation efficiency of the unmanned agricultural machinery is improved. There is no need for manual replanting or re-cultivation of the missed land at a later time, and the situation of unmanned agricultural machinery exceeding the farmland boundary and falling into the canal or ditch is avoided, thereby ensuring the operation safety of the unmanned agricultural machinery.

[0153] 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 for an unmanned agricultural machine, characterized in that: The method comprises: Using a preset length as the offset, the boundary closest to the unmanned agricultural machine in the farmland is offset to obtain the starting path of the operation, and the turning radius of the agricultural machine is determined based on the maximum turning angle of the agricultural machine and the wheelbase of the front and rear wheels of the agricultural machine. Taking the width of the implement as the equidistant offset and the operation starting path as the equidistant offset starting edge, the operation starting path is equidistantly offset to obtain multiple straight line operation paths; When the turning radius of the agricultural machine, the width of the agricultural implement, and the position of the current linear working path meet a first preset condition, generating a first asymmetric arc-shaped U-turn path on the current linear working path based on the turning radius of the agricultural machine and the multiple linear working paths; When the turning radius of the agricultural machinery, the width of the agricultural implement and the position of the current straight working path meet the second preset condition, a second asymmetric arc-shaped U-turn path is generated on the current straight working path based on the turning radius of the agricultural machinery and the multiple straight working paths, and the directions of the first asymmetric arc-shaped U-turn path and the second asymmetric arc-shaped U-turn path are opposite.

2. The method according to claim 1, characterized in that The step of generating a first asymmetric arc-shaped U-turn path on the current straight working path based on the turning radius of the agricultural machine and the plurality of straight working paths includes: Taking the end point of the current straight line operation path as the starting point, the current straight line operation path is extended by a preset distance to obtain a first straight line U-turn operation path; Determine the end point of the first straight-line U-turn operation path as a first end point, and generate a first perpendicular line of the first straight-line U-turn operation path with the first end point as the foot of a perpendicular; Determine a point on the first perpendicular line that is at a distance from the first end point by the turning radius of the agricultural machine as a first circle center, generate a first arc with a radius equal to the turning radius of the agricultural machine with the first circle center as the circle center and the first end point as the starting point, and generate a first auxiliary circle with a radius twice the turning radius of the agricultural machine with the first circle center as the circle center; Using the turning radius of the agricultural machine as a translation amount, a linear operating path adjacent to the current linear operating path among the multiple linear operating paths is translated in a direction away from the current linear operating path to obtain a first auxiliary straight line; Determine the intersection of the first auxiliary circle and the first auxiliary straight line as a second circle center, and generate a second arc with a radius equal to the turning radius of the agricultural machine clockwise with the second circle center as the circle center; The first asymmetric arc-shaped U-turn path is generated on the current linear working path based on the first arc, the second arc, the first linear U-turn working path, and a linear working path adjacent to the current linear working path among the plurality of linear working paths.

3. The method according to claim 2, characterized in that The step of generating the first asymmetric arc-shaped U-turn path on the current linear working path based on the first arc, the second arc, the first linear U-turn working path, and a linear working path adjacent to the current linear working path among the plurality of linear working paths includes: determining a first tangent point between the second arc and the first arc, and determining a second tangent point between the second arc and a linear operation path adjacent to the current linear operation path among the plurality of linear operation paths; The first straight U-turn operation path, the arc from the first end point to the first tangent point, and the arc between the first tangent point and the second tangent point are determined as the first asymmetric arc-shaped U-turn path.

4. The method according to claim 2, characterized in that The step of generating a second asymmetric arc-shaped U-turn path on the current straight working path based on the turning radius of the agricultural machine and the plurality of straight working paths includes: Taking the end point of the current linear operation path as the foot of the perpendicular, generating a second perpendicular line to the current linear operation path, and determining a point on the second perpendicular line that is at a distance from the end point of the current linear operation path by the turning radius of the agricultural machine as the third circle center; With the third circle center as the center, a third arc with a radius equal to the turning radius of the agricultural machine is generated, and with the third circle center as the center, a second auxiliary circle with a radius twice the turning radius of the agricultural machine is generated; Using the turning radius of the agricultural machine as a translation amount, a linear operation path adjacent to the current linear operation path among the multiple linear operation paths is translated in the direction of the current linear operation path to obtain a second auxiliary straight line; Determine the intersection of the second auxiliary circle and the second auxiliary straight line as a fourth circle center, and generate a fourth arc with a radius equal to the turning radius of the agricultural machine with the fourth circle center as the circle center; A second asymmetric arc-shaped U-turn path is generated on the current linear working path based on the third arc, the fourth arc, a linear working path adjacent to the current linear working path among the plurality of linear working paths, and the second auxiliary straight line.

5. The method according to claim 4, characterized in that Generating a second asymmetric arc-shaped U-turn path on the current straight line working path based on the third arc, the fourth arc, a straight line working path adjacent to the current straight line working path among the plurality of straight line working paths, and the second auxiliary straight line includes: Determining a third tangent point between the third arc and the fourth arc, and determining a fourth tangent point between the third arc and the current straight line operation path; Extending a linear operating path adjacent to the current linear operating path among the plurality of linear operating paths until the linear operating path is tangent to the fourth arc, thereby obtaining a second linear U-turn operating path; determining a tangent point between the second straight-line U-turn operation path and the fourth arc as a fifth tangent point; The second straight U-turn operation path, the arc between the fifth tangent point and the third tangent point, and the arc between the third tangent point and the fourth tangent point are determined as the second asymmetric arc-shaped U-turn path.

6. The method according to claim 2, characterized in that The method further comprises: When the turning radius of the agricultural machinery, the width of the agricultural implement and the position of the current straight working path do not meet the first preset condition and the turning radius of the agricultural machinery, the width of the agricultural implement and the position of the current straight working path do not meet the second preset condition, a symmetrical arc-shaped U-turn path is generated on the current straight working path based on the turning radius of the agricultural machinery and the current straight working path, with the end point of the current straight working path as the starting point.

7. The method according to claim 6, characterized in that The step of generating a symmetrical arc-shaped U-turn path on the current straight working path based on the turning radius of the agricultural machine and the current straight working path and taking the end point of the current straight working path as the starting point includes: With the end point of the current linear working path as the foot of a perpendicular to the current linear working path, a third perpendicular line is generated on the left side of the current linear working path, a point on the third perpendicular line that is a distance from the end point of the current linear working path by the turning radius of the agricultural machine is determined as the center of a fifth circle, and with the end point of the current linear working path as the starting point and the fifth circle center as the center, a fifth arc is generated with a radius equal to the turning radius of the agricultural machine; Determine the end point of the adjacent straight line working path of the current straight line working path as a second end point, and use the second end point as the foot of a perpendicular to the adjacent straight line working path of the current straight line working path, generate a fourth perpendicular line located to the right of the adjacent straight line working path of the current straight line working path, determine a point on the fourth perpendicular line that is a distance from the second end point by the turning radius of the agricultural machine as a sixth circle center, and use the second end point as a starting point and the sixth circle center as a circle center to generate a sixth arc path with a radius equal to the turning radius of the agricultural machine; generating a third auxiliary circle with a radius twice the turning radius of the agricultural machine with the fifth circle center as the center, and generating a fourth auxiliary circle with a radius twice the turning radius of the agricultural machine with the sixth circle center as the center; Determining an intersection point between the third auxiliary circle and the fourth auxiliary circle, determining the intersection point as a seventh circle center, and generating a seventh arc path with a radius equal to the turning radius of the agricultural machine with the seventh circle center as the circle center; Determine the sixth tangent point between the seventh circular arc path and the fifth circular arc path, and determine the seventh tangent point between the seventh circular arc path and the sixth circular arc path, delete the arc path between the sixth tangent point and the seventh tangent point on the seventh circular arc path that is located below the center of the seventh circular arc path, and obtain the symmetrical arc-shaped U-turn path.

8. An operation path generating device for an unmanned agricultural machine, characterized in that: The device comprises: A determination module is used to offset the boundary of the farmland closest to the position of the unmanned agricultural machine by a preset length to obtain a starting operation path, and to determine 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; An offset module is used to offset the working starting path equidistantly to obtain multiple straight working paths by taking the width of the agricultural implement as the equidistant offset amount and the working starting path as the equidistant offset starting edge; a first generating module configured to generate a first asymmetric arc-shaped U-turn path on the current straight working path based on the turning radius of the agricultural machine and the plurality of straight working paths when the turning radius of the agricultural machine, the width of the agricultural implement, and the position of the current straight working path meet a first preset condition; The second generation module is used to generate a second asymmetric arc-shaped U-turn path on the current straight working path based on the turning radius of the agricultural machinery and the multiple straight working paths when the turning radius of the agricultural machinery, the width of the agricultural implement and the position of the current straight working path meet a second preset condition, and the directions of the first asymmetric arc-shaped U-turn path and the second asymmetric arc-shaped U-turn path are opposite.

9. 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 operation path for an unmanned agricultural machine according to any one of claims 1 to 7 is implemented.

10. 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 unmanned agricultural machine according to any one of claims 1 to 7 is implemented.

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