A harrowing path planning method, device, equipment and storage medium

Abstract

The embodiment of the application discloses a harrowing path planning method, device, equipment and storage medium. The technical scheme provided by the embodiment of the application determines an initial path, an intermediate path and an end path based on a target land block, determines a planned path according to the initial path, the intermediate path and the end path, and generates a harrowing path on the target land block according to the planned path. The harrowing path is more suitable for the shape of the target land block, and effectively improves the harrowing path planning effect.

Description

Technical Field

[0001] This application relates to the field of path planning technology, and in particular to a method, apparatus, device and storage medium for harrowing path planning. Background Technology

[0002] In agricultural operations, tractors equipped with harrows are often used to harrow the soil before sowing to loosen and level the target plot. Traditional harrowing requires tractor drivers to drive within the target plot according to experience and rules, performing multiple passes on uneven or rough areas. On the one hand, this manual harrowing method is highly random, easily resulting in uneven soil distribution and inconsistent harrowing results. On the other hand, large-scale harrowing operations tire the driver, increasing labor costs. Therefore, the need for automated harrowing operations is becoming increasingly urgent.

[0003] Before automated harrowing operations can begin, harrowing path planning is required. This involves planning a harrowing path that avoids collisions with the plot boundaries for the automated tractor to follow. Currently, harrowing path planning is generally done for regular plots and cannot be performed on irregular plots, resulting in poor harrowing performance. Summary of the Invention

[0004] This application provides a method, apparatus, device, and storage medium for harrowing path planning, in order to solve the technical problem that harrowing path planning cannot be applied to irregular plots and the harrowing path effect is poor in related technologies, thereby improving the harrowing path planning effect.

[0005] In a first aspect, embodiments of this application provide a method for harrowing path planning, comprising:

[0006] The initial path is determined based on the modified bounding rectangle of the target plot. The start and end points of the initial path are located at different vertices of the modified bounding rectangle, which is obtained by expanding the minimum bounding rectangle of the target plot.

[0007] Multiple intermediate paths are determined based on the slope of the initial path, the set working width, and the moving reference edge set on the corrected circumscribed rectangle;

[0008] The ending path is determined based on the modified bounding rectangle of the target plot, and the planned path is determined based on the initial path, the intermediate path, and the ending path.

[0009] A harrowing path is generated on the target plot based on the planned path.

[0010] In a second aspect, embodiments of this application provide a tillage path planning device, including a first path module, a second path module, a third path module, and a path generation module, wherein:

[0011] The first path module is configured to determine an initial path based on a modified bounding rectangle of the target plot. The starting point and ending point of the initial path are respectively located at different vertices of the modified bounding rectangle, which is obtained by expanding the minimum bounding rectangle of the target plot.

[0012] The second path module is configured to determine multiple intermediate paths based on the slope of the initial path, the set working width, and the set moving reference edge on the corrected circumscribed rectangle.

[0013] The third path module is configured to determine the ending path based on the modified bounding rectangle of the target plot, and to determine the planned path based on the initial path, the intermediate path, and the ending path.

[0014] The path generation module is configured to generate a harrowing path on the target plot based on the planned path.

[0015] In a third aspect, embodiments of this application provide a tillage path planning device, including: a memory and one or more processors;

[0016] The memory is used to store one or more programs;

[0017] When the one or more programs are executed by the one or more processors, the one or more processors implement the harrowing path planning method as described in the first aspect.

[0018] In a fourth aspect, embodiments of this application provide a storage medium for storing computer-executable instructions, which, when executed by a computer processor, are used to perform the harrowing path planning method as described in the first aspect.

[0019] This application embodiment determines the initial path, intermediate path, and end path based on the modified circumscribed rectangle of the target plot, determines the planned path based on the initial path, intermediate path, and end path, and generates a harrowing path on the target plot based on the planned path. The harrowing path is more suitable for the shape of the target plot, effectively improving the harrowing path planning effect. Attached Figure Description

[0020] Figure 1 This is a flowchart of a harrowing path planning method provided in an embodiment of this application;

[0021] Figure 2 This is a schematic diagram of an initial path provided in an embodiment of this application;

[0022] Figure 3 This is a schematic diagram of a modified circumscribed rectangle provided in an embodiment of this application;

[0023] Figure 4 This is a schematic diagram of an initial path determination process provided in an embodiment of this application;

[0024] Figure 5 This is a schematic diagram of an initial path provided in an embodiment of this application;

[0025] Figure 6 This is a schematic diagram of an intermediate path provided in an embodiment of this application;

[0026] Figure 7 This is a schematic diagram of an intermediate path determination process provided in an embodiment of this application;

[0027] Figure 8 This is a schematic diagram of an intermediate path provided in an embodiment of this application;

[0028] Figure 9 This is a schematic diagram of a planned path provided in an embodiment of this application;

[0029] Figure 10 This is a flowchart of another tillage path planning method provided in the embodiments of this application;

[0030] Figure 11 This is a schematic diagram of the shortest edge path under different boundary shapes provided in the embodiments of this application;

[0031] Figure 12 This is a schematic diagram of a clipping path display provided in an embodiment of this application;

[0032] Figure 13 This is a schematic diagram of a harrowing path display provided in an embodiment of this application;

[0033] Figure 14 This is a schematic diagram of the structure of a harrowing path planning device provided in an embodiment of this application;

[0034] Figure 15 This is a structural schematic diagram of a tillage path planning device provided in an embodiment of this application. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this application clearer, specific embodiments of this application will be described in further detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely for explaining this application and not for limiting it. It should also be noted that, for ease of description, only the parts relevant to this application are shown in the drawings, not all of them. Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe operations (or steps) as sequential processes, many of these operations can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations can be rearranged. The process can be terminated when its operation is completed, but additional steps not included in the drawings may also be present. The above processes can correspond to methods, functions, procedures, subroutines, subroutines, etc.

[0036] Figure 1 A flowchart of a harrowing path planning method provided in this application embodiment is given. The harrowing path planning method provided in this application embodiment can be executed by a harrowing path planning device, which can be implemented by hardware and / or software and integrated into a harrowing path planning equipment.

[0037] The following description uses a tillage path planning device to perform tillage path planning as an example. (Reference) Figure 1 The harrowing path planning method includes:

[0038] S110: Determine the initial path based on the modified outer rectangle of the target plot. The start and end points of the initial path are located at different vertices of the modified outer rectangle. The modified outer rectangle is obtained by expanding the minimum outer rectangle of the target plot.

[0039] The target plot provided in this scheme can be understood as the plot requiring tillage path planning. The modified outer rectangle of the target plot is obtained by expanding the minimum outer rectangle of the target plot, and the expansion distance (compensation distance) of the minimum outer rectangle is consistent in all four directions. At this time, the center of the modified outer rectangle coincides with the center of the minimum outer rectangle. The minimum outer rectangle of the target plot can be understood as the outer rectangle with the smallest area among all the outer rectangles of the target plot. Optionally, the two sides (long side and short side) of the modified outer rectangle can be defined as the first rectangle side and the second rectangle side. In this scheme, the long side (i.e., the length of the modified outer rectangle) is defined as the first rectangle side, and the short side (i.e., the width of the modified outer rectangle) is defined as the second rectangle side. The side length of the first rectangle side is the first side length, and the side length of the second rectangle side is the second side length.

[0040] The initial path provided by this scheme includes multiple initial path segments. Each initial path segment has a consistent projection distance (the distance traversed along the direction of the first or second rectangular side) on either the first or second rectangular side. Adjacent initial path segments have opposite slopes. The start and end points of the initial path are located at different vertices of the modified circumscribed rectangle (e.g., the end point could be one of two opposite vertices along the long side of the modified circumscribed rectangle). When the start and end points are at different vertices, the initial path corresponds to different shapes (M-shaped or N-shaped), and the number of path segments contained in the initial path also varies (odd or even). The start and end points being at different vertices can be either adjacent vertices of the modified circumscribed rectangle (in which case the initial path is M-shaped) or diagonally opposite vertices of the modified circumscribed rectangle (in which case the initial path is N-shaped). Figure 2 The provided initial path diagram shows two different initial paths on the modified circumscribed rectangle S2, where L1 and L2 are the starting points of both paths, D0 is the ending point of both paths, D1 is the ending point of both paths, and D2 is the ending point of both paths. L3 is a path starting from D0 and defined by alternating slopes of 1 and -1. The starting and ending points of initial path L1 are located at adjacent vertices of the modified circumscribed rectangle S2, and L1 consists of four initial path segments, making it an M-shaped path. The starting and ending points of initial path L2 are located at opposite vertices of the modified circumscribed rectangle S2, and L2 consists of three initial path segments, making it an N-shaped path. Optionally, the initial path whose slope (the slope of the first initial path segment or the absolute value of the slope of each initial path segment) is closest to 1 can be determined from the initial paths of type M and type N and used as the initial path for harrowing path planning. That is, the path whose start and end points are on different vertices of the modified circumscribed rectangle and whose absolute value of the slope of the path segment is closer to 1 is used as the initial path.

[0041] In one possible embodiment, the modified bounding rectangle provided by this solution can be obtained by expanding the minimum bounding rectangle of the target plot based on the given turning radius of the working equipment. Therefore, the tillage path planning method provided by this solution further includes, before determining the initial path based on the modified bounding rectangle of the target plot:

[0042] S101: Determine the compensation distance based on the turning radius of the operating equipment.

[0043] S102: Expand the minimum bounding rectangle of the target plot based on the compensation distance to obtain the corrected bounding rectangle.

[0044] For example, when generating a harrowing path for a target plot, the compensation distance for the minimum bounding rectangle of the target plot is determined based on the turning radius of the operating equipment (agricultural machinery). (The minimum bounding rectangle of the target plot can be determined before or after determining the compensation distance.) Then, the minimum bounding rectangle of the target plot is expanded outwards based on this compensation distance to obtain a corrected bounding rectangle. Specifically, when expanding the minimum bounding rectangle, the boundary of the minimum bounding rectangle is offset outwards from its center using the compensation distance as the offset, resulting in the corrected bounding rectangle. The distance between the edge of the corrected bounding rectangle and the corresponding edge of the minimum bounding rectangle is the compensation distance.

[0045] It needs to be explained that when generating the planned path directly on the minimum bounding rectangle of the target plot, the generated planned path will be constrained within the minimum bounding rectangle. In areas where the plot boundary is close to the minimum bounding rectangle, the generated harrowing path will have a significant distance from the boundary of the minimum bounding rectangle, resulting in large unharrowed areas and affecting the harrowing quality. For example... Figure 3 The provided diagram shows a modified bounding rectangle. In the diagram, S1 (solid line rectangle) is the minimum bounding rectangle of the target plot S0. After expanding the minimum bounding rectangle, the modified bounding rectangle corresponding to S2 (dashed line rectangle) in the diagram is obtained.

[0046] This solution expands the minimum bounding rectangle to obtain a modified bounding rectangle, extending the planned path beyond the minimum bounding rectangle. This provides more optimization space for the generation of the harrowing path (e.g., path smoothing), increasing the coverage area of ​​the harrowing path on the target plot and improving harrowing quality. Furthermore, the compensation distance for the minimum bounding rectangle is determined based on the turning radius. When smoothing the path near the plot boundary close to the minimum bounding rectangle according to the turning radius of the operating equipment, the compensation distance can offset some of the offset of the smoothed path (curved path) towards the plot, making the smoothed path (curved path) closer to the plot boundary and effectively increasing the coverage area of ​​the harrowing path on the target plot.

[0047] In one embodiment, the compensation distance provided by this solution can be determined based on the following compensation distance determination formula:

[0048]

[0049] Wherein, radius is the turning radius of the working equipment. The turning radius provided in this scheme can be the minimum turning radius of the working equipment. This scheme determines the compensation distance through a compensation distance determination formula. The compensation distance determination formula estimates the turning angle of adjacent paths with an included angle of 90°. The distance of inward shrinkage after fitting adjacent paths through a quarter circle is used as the compensation distance, which better offsets part of the smooth path's offset into the plot. The smooth path is closer to the plot boundary, effectively increasing the coverage area of ​​the harrowing path on the target plot.

[0050] Optionally, the minimum bounding rectangle can be determined using methods such as rotational caliper algorithms, convex hull algorithms, edge detection algorithms, and angle search algorithms. For example, an angle search algorithm can be used to determine the simple bounding rectangles of the target plot at multiple rotation angles, and the simple bounding rectangle with the smallest area can be identified as the minimum bounding rectangle. Specifically, the simple bounding rectangle can be determined based on the maximum and minimum values ​​of the target plot on the vertical and horizontal axes at the corresponding rotation angles; that is, the simple bounding rectangle is the bounding rectangle of the target plot with its sides parallel to the vertical or horizontal axis at the corresponding rotation angle.

[0051] In one possible embodiment, such as Figure 4 As shown in the schematic diagram of the initial path determination process, the harrowing path planning method provided in this solution is characterized by determining the initial path based on the modified circumscribed rectangle of the target plot, including steps S111-S114:

[0052] S111: Determine the estimated number of path segments based on the first and second side lengths of the modified circumscribed rectangle of the target plot.

[0053] For example, the estimated number of path segments is determined based on the first side length of the first rectangle side and the second side length of the second rectangle side of the modified circumscribed rectangle of the target plot. For instance, assuming the longer side of the modified circumscribed rectangle is used as the first rectangle side and the shorter side as the second rectangle side, the estimated number of path segments can be determined according to a set slope. For example, starting from the initial path starting point set in the modified circumscribed rectangle, multiple estimated line segments are determined in alternating positive and negative values ​​of the set slope (the last estimated line segment passing through the second rectangle side can be ignored, i.e., the number of estimated line segments is rounded down). The number of these estimated line segments can be used as the estimated number of paths.

[0054] In one embodiment, when determining the estimated number of path segments based on the first and second side lengths of the modified circumscribed rectangle of the target plot, the harrowing path planning method provided in this solution can round down the ratio of the first and second side lengths of the modified circumscribed rectangle of the target plot to obtain the estimated number of path segments.

[0055] For example, the ratio of the first side length and the second side length of the modified bounding rectangle of the target plot is calculated, and this ratio is rounded down to obtain the estimated number of path segments. Optionally, the estimated number of path segments can be determined based on the following formula:

[0056]

[0057] in, To estimate the number of path segments, l1 is the length of the first side, and l2 is the length of the second side. This indicates rounding down. This method accurately determines the estimated number of path segments by rounding down the ratio of the first side length to the second side length, effectively improving the calculation efficiency of the estimated path segment number and thus improving the efficiency of harrowing path planning.

[0058] S112: Determine the initial number of path segments based on the estimated number of path segments, the length of the first side, and the length of the second side.

[0059] S113: Determine the initial path slope based on the length of the first and second sides of the initial path segment.

[0060] For example, the initial number of path segments within the modified bounding rectangle is determined based on the estimated number of path segments determined above and the first side length of the first rectangle side and the second side length of the second rectangle side in the modified bounding rectangle.

[0061] For example, based on the estimated initial segment number, two types of estimated initial paths are determined. One estimated initial path has the number of path segments as the estimated initial segment number, and the other estimated initial path has the number of path segments as the estimated initial segment number + 1. The estimated slope on the corrected bounding rectangle is estimated according to the number of path segments corresponding to the two estimated initial paths. The number of path segments corresponding to the estimated initial path with the estimated slope closest to the set slope used in determining the estimated path segment number is determined as the initial path segment number. In this case, the initial path segment number is either the estimated initial segment number or the initial segment number + 1.

[0062] Furthermore, the initial path slope is determined based on the number of initial path segments and the first and second side lengths. For example, assuming that each initial path segment generated subsequently according to the initial path segment number has a second distance (consistent with the second side length) in the direction parallel to the side of the second rectangle, and a first distance in the direction parallel to the side of the first rectangle (which can be determined based on the ratio of the first side length to the number of initial path segments), the initial path slope can be determined based on the ratio of the second distance to the first distance.

[0063] In one embodiment, the harrowing path planning method provided by this solution, when determining the initial number of path segments based on the estimated number of path segments, the first side length, and the second side length, includes:

[0064] S1121: Determine the first lateral distance of the first shape path in the direction of the first side length and the second lateral distance of the second shape path in the direction of the first side length based on the estimated number of path segments and the first side length. The number of path segments corresponding to the first shape path and the number of path segments corresponding to the second shape path differ by 1.

[0065] S1122: Determine the first estimated slope based on the second side length and the first lateral distance, and determine the second estimated slope based on the second side length and the second lateral distance.

[0066] S1123: Determine the correction amount based on the offset values ​​of the first and second estimated slopes relative to the preset slope.

[0067] S1124: Determine the initial number of path segments based on the estimated number of path segments and the correction amount.

[0068] For example, a first lateral distance of the first-shaped path along the first side length is determined based on the estimated number of path segments and the first side length, and a second lateral distance of the second-shaped path along the first side length is determined based on the estimated number of path segments and the first side length. The number of path segments corresponding to the first-shaped path and the number of path segments corresponding to the second-shaped path differ by 1. For instance, the first lateral distance can be determined by the ratio of the first side length to the estimated number of path segments, and the second lateral distance can be determined by adding 1 to the estimated number of path segments and then using the ratio of the first side length to the estimated number of path segments plus 1. The first and second lateral distances can be determined using the following lateral distance estimation formula:

[0069]

[0070]

[0071] Where d1 is the first lateral distance and d2 is the second lateral distance. To estimate the number of path segments, l1 is the length of the first side.

[0072] Furthermore, a first estimated slope is determined based on the second side length and the first lateral distance, and a second estimated slope is determined based on the second side length and the second lateral distance. For example, the ratio of the second side length to the first lateral distance can be used as the first estimated slope, and the ratio of the second side length to the second lateral distance can be used as the second estimated slope. The first and second estimated slopes can be determined using the following slope estimation formula:

[0073] k1 = 2 / d1

[0074] k2 = 2 / d2

[0075] Where k1 is the first estimated slope, k2 is the second estimated slope, l2 is the second side length, d1 is the first lateral distance, and d2 is the second lateral distance.

[0076] Furthermore, based on the offsets of the first and second estimated slopes relative to the preset slope, a correction amount is determined, and the initial number of path segments is determined based on the estimated number of path segments and the correction amount. For example, when the offset of the first estimated slope relative to the preset slope is greater than the offset of the second estimated slope relative to the preset slope, the correction amount is set to 1; when the offset of the first estimated slope relative to the preset slope is less than the offset of the second estimated slope relative to the preset slope, the correction amount is set to 0. After determining the correction amount, the sum of the estimated number of path segments and the correction amount is used as the initial number of path segments. The initial number of path segments can be determined based on the following formula:

[0077]

[0078] Where, N segment The initial number of path segments. To estimate the number of path segments, k1 is the first estimated slope, k2 is the second estimated slope, and I(|k1-1|>|k2-1|) is the indicator function for the correction amount. It outputs 1 when |k1-1|>|k2-1| is true, and outputs 0 otherwise. The formula for determining the number of initial path segments assumes that the preset slope is 1.

[0079] This scheme estimates a first and a second lateral distance along the first side length, and then estimates a first and a second predicted slope based on the second side length, the first lateral distance, and the second lateral distance. It also determines a correction amount based on the offset of the first and second predicted slopes relative to a preset slope. This effectively improves the accuracy and efficiency of determining the initial number of path segments based on the estimated number of path segments and the correction amount.

[0080] In one embodiment, the initial path slope provided by this solution can be determined based on the following initial path slope calculation formula:

[0081] k = N segment ×l2 / l1

[0082] Where k is the initial path slope, N segment To estimate the number of path segments, l1 is the length of the first side, l2 is the length of the second side, and l1 ≥ l2. This scheme quickly determines the initial path slope using the initial path slope calculation formula, improving the efficiency and accuracy of initial path determination, and thus improving the efficiency and accuracy of harrowing path planning.

[0083] S114: Based on the slope of the initial path, determine the initial path starting from a vertex of the modified circumscribed rectangle, wherein the slopes of the first directed edges of adjacent edges in the initial path are opposite.

[0084] For example, the initial path is determined based on the initial path slope determined above. For instance, starting from the initial path starting point set in the modified circumscribed rectangle, multiple initial path segments are determined in alternating positive and negative values ​​of the initial path slope, until the initial path segments reach another vertex of the modified circumscribed rectangle. From these initial path segments, an initial path can be obtained that proceeds from the starting point to the endpoint by turning according to the positive and negative values ​​of the initial path slope, such as... Figure 5 As shown in the diagram of an initial path, S0 is the target plot and S1 is the minimum bounding rectangle of the target plot (the modified bounding rectangle is not shown in the diagram). The initial path L4 is obtained by starting from one vertex of the modified bounding rectangle according to the slope of the initial path (the diagram is described with an estimated number of path segments of 2 as an example).

[0085] This solution determines the estimated number of path segments by modifying the first and second side lengths of the circumscribed rectangle. It then uses this estimated number of segments to estimate the initial total number of path segments in the initial path. Based on this estimated number of segments, it estimates the slopes corresponding to different path shapes to determine the initial number of path segments and the initial path slope. The initial path is then determined based on this slope. The endpoint of the initial path reaches another vertex of the modified circumscribed rectangle, and the slope of the initial path is closer to the set slope. The resulting harrowing path has a slope that is closer to the set slope, better aligning with the path planning habits of the operating equipment. This results in a more regular harrowing path, effectively improving the efficiency and quality of harrowing path planning.

[0086] S120: Determine multiple intermediate paths based on the slope of the initial path, the set working width, and the moving reference edge set on the modified outer rectangle.

[0087] The working width refers to the width swept by the implements carried by the working equipment during mobile operation, and can be set according to the specific working equipment or the implements carried by it. The moving reference edge can be the rectangular edge of the initial path extending upwards along the direction of the corrected circumscribed rectangle. For example, when the initial path extends parallel to the first rectangular edge (long side), the moving reference edge can be the second rectangular edge (short side) connected to the end point of the initial path, and the movement direction on the moving reference edge is from one vertex to another. Optionally, the vertical distance of the hollowed-out rhomboid region of the formed intermediate path (e.g., the distance between opposite vertices in the rhomboid region) can be estimated based on the set working width, and then the vertical distance can be corrected according to the length of the moving reference edge to obtain the offset distance, so that after moving multiple times from one end point of the moving reference edge according to the offset distance, the other end point can be reached, and the distance between the two long sides corresponding to the rhomboid region is close to or consistent with the working width.

[0088] For example, multiple intermediate paths are determined based on the slope of the initial path determined above (e.g., the slope of the initial path segment corresponding to the starting point), the working width set by the operating equipment (agricultural machinery), and the moving reference edge set on the modified circumscribed rectangle.

[0089] For example, starting from the endpoint of the initial path, move along the reference edge. After each successful move, use that position as the starting point of an intermediate path and sequentially determine multiple intermediate path segments in alternating order of the slope of the initial path and negative slopes, until returning to the starting point of the intermediate path. This results in an intermediate path including the previously determined intermediate path segments. Continue moving along the reference edge to determine the next intermediate path, until reaching the reference edge, resulting in multiple intermediate paths on the corrected bounding rectangle. Figure 6 As shown in the provided diagram of an intermediate path, S2 is the corrected circumscribed rectangle, L4 is the initial path, L51 is the first intermediate path, D2 is the starting point of the initial path L4, and D3 is the ending point of the initial path L1. Starting from the ending point D3 of the initial path L4, the movement proceeds along the other endpoint of the shorter side of the corrected circumscribed rectangle, offsetting a distance to reach the starting point D4 of the first path. Multiple intermediate path segments are determined by alternating the slopes k and -k of the initial path until the movement returns to the starting point D4, resulting in an intermediate path L51 comprising the aforementioned intermediate path segments.

[0090] In one possible embodiment, such as Figure 7 The provided flowchart illustrates an intermediate path determination process. The tillage path planning method provided in this solution, when determining multiple intermediate paths based on the slope of the initial path, the set working width, and the moving reference edge set on the modified circumscribed rectangle, includes:

[0091] S121: Determine the offset distance based on the slope of the initial path and the set working width.

[0092] S122: Based on the offset distance, determine multiple intermediate path starting points starting from a vertex of the moving reference edge set on the modified circumscribed rectangle.

[0093] S123: Generate intermediate paths based on the starting points of each intermediate path and the slope of the initial path, wherein the slopes of adjacent intermediate path segments are opposite.

[0094] For example, the offset distance is determined based on the slope of the initial path determined above and the set working width of the working equipment. In one embodiment, the offset distance provided by this solution can be determined based on the following offset distance determination formula:

[0095] d offset =l2 / count

[0096]

[0097]

[0098] Where, d offset l1 is the offset distance, l2 is the second side length of the corrected bounding rectangle, k is the slope of the initial path, and space is the set working width. To estimate the offset distance, count is the number of offsets determined based on the estimated offset distance and the second side length. This indicates rounding up. This solution uses an offset distance determination formula to quickly determine the offset distance, effectively improving the efficiency of harrowing path planning.

[0099] Furthermore, based on the determined offset distance, multiple intermediate path starting points are determined starting from a vertex of the moving reference edge set on the corrected circumscribed rectangle. For each intermediate path starting point, multiple intermediate path segments are determined by alternating positive and negative values ​​of the slope of the initial path, resulting in intermediate paths corresponding to each intermediate path starting point. Adjacent intermediate path segments have opposite slopes. Optionally, multiple intermediate paths can be determined based on each intermediate path starting point after initial determination, or intermediate paths can be determined one intermediate path starting point at a time, until the endpoint of the moving reference edge is reached according to the offset distance (this endpoint will serve as the starting point of the ending path). Figure 8 As shown in the provided intermediate path diagram, in Figure 5 Based on this, multiple intermediate paths are determined. In the figure, S0 is the target plot, S1 is the minimum bounding rectangle of the target plot (the modified bounding rectangle is not shown in the figure), L4 is the initial path, P11 is the starting point of the first intermediate path, and P12 is the starting point of the second intermediate path determined by moving P11 according to the offset distance. Multiple intermediate paths are determined according to the slope of each intermediate path starting point and the initial path, where L51 is the first intermediate path and L52 is the second intermediate path.

[0100] S130: Determine the ending path based on the modified circumscribed rectangle of the target plot, and determine the planned path based on the initial path, intermediate path, and ending path.

[0101] For example, the ending path is determined within the modified circumscribed rectangle of the target plot. The starting point of the initial path and the starting point of the ending path can be located at opposite vertices of the modified circumscribed rectangle, or at adjacent vertices. In one embodiment, the ending path can be determined with reference to the initial path. While moving along the reference edge to a vertex of the modified circumscribed rectangle during the intermediate path determination, multiple ending path segments are determined from that vertex, alternating between the slopes -k and k of the initial path, resulting in an ending path including these segments. Specifically, when the starting point of the initial path and the starting point of the ending path are opposite vertices of the modified circumscribed rectangle, rotating the initial path 180° around the center of the modified circumscribed rectangle causes the initial path and the ending path to coincide. When the starting point of the initial path and the starting point of the ending path are adjacent vertices of the modified circumscribed rectangle, the initial path and the ending path are symmetrical on the modified circumscribed rectangle.

[0102] After determining the initial path, multiple intermediate paths, and the final path, the planned path is determined based on these three paths. In other words, the planned path consists of the initial path, multiple intermediate paths, and the final path. For example... Figure 9 As shown in the provided schematic diagram of a planned path, in Figure 8 Based on this, the ending path is determined. In the figure, S0 is the target plot, S1 is the minimum bounding rectangle of the target plot (the modified bounding rectangle is not shown in the figure), L4 is the initial path (the starting point of the initial path has been extended in the figure for easy observation), L5 is the intermediate path (including multiple intermediate paths L51 to L5n), and L6 is the ending path (the ending point of the ending path has been extended in the figure for easy observation). Based on the initial path L4, each intermediate path L5 and the ending path L6, the planned path L7 can be determined.

[0103] S140: Generate a harrowing path on the target plot based on the planned path.

[0104] For example, after obtaining the planned path generated based on the modified bounding rectangle, a harrowing path is generated on the target plot according to the planned path and the plot boundary corresponding to the target plot. Optionally, after determining the harrowing path, the agricultural machinery can be controlled to perform automated harrowing operations according to the harrowing path.

[0105] The above describes a method that determines the initial, intermediate, and final paths based on a modified circumscribed rectangle of the target plot. A planned path is then determined based on these paths, and a harrowing path is generated on the target plot according to the planned path. This harrowing path is more suitable for the shape of the target plot, effectively improving the harrowing path planning effect. Simultaneously, the estimated number of path segments is determined by modifying the first and second side lengths of the circumscribed rectangle. The number of initial path segments and the initial path slope are then determined based on the estimated number of path segments, and the initial path is determined based on the initial path slope. This results in a more regular harrowing path, effectively improving the efficiency and quality of harrowing path planning. Furthermore, the only input parameters required for harrowing path planning are the target plot, working width, and turning radius. The system can adaptively determine the initial path slope, initial path, intermediate path, and final path, making the harrowing path planning more versatile. Furthermore, the time complexity of harrowing path planning is O(n), where n is the number of path points (the sum of all waypoints (endpoints of path segments) in the initial path, intermediate paths, and ending path). When the initial path position needs to be adjusted according to the location of the working equipment, the target path can be generated by rotating or mirroring the harrowing path, with a time complexity of O(n), making harrowing path generation more efficient. Moreover, the newly generated path is always near the historically generated path, which is beneficial for farmers to switch between manual and automatic harrowing modes.

[0106] Based on the above embodiments, Figure 10 A flowchart of another harrowing path planning method provided in an embodiment of this application is given, which is a concretization of the above-described harrowing path planning method. (Reference) Figure 10 The harrowing path planning method includes:

[0107] S310: Determine the initial path based on the modified outer rectangle of the target plot. The start and end points of the initial path are located at different vertices of the modified outer rectangle. The modified outer rectangle is obtained by expanding the minimum outer rectangle of the target plot.

[0108] S320: Determine multiple intermediate paths based on the slope of the initial path, the set working width, and the moving reference edge set on the modified circumscribed rectangle.

[0109] S330: Determine the ending path based on the modified circumscribed rectangle of the target plot, and determine the planned path based on the initial path, intermediate path, and ending path.

[0110] S340: The planned path is trimmed based on the target plot to obtain the trimmed path.

[0111] S350: Smooth the cutting path to obtain the harrowing path.

[0112] For example, after obtaining the planned path, it can be trimmed based on the target plot to obtain a trimmed path. That is, the part of the planned path that exceeds the target plot is removed. In this case, the trimmed path is located within the target plot.

[0113] For example, based on the land boundary of the target land parcel, each first directed edge of the planned path (in this scheme, each path segment in the planned path is defined as the first directed edge, and its direction is determined according to the direction when determining the path segment) is trimmed to obtain the second directed edge. At this time, the second directed edge will be located within the target land parcel, and the starting point and ending point of the second directed edge are located on the land boundary of the target land parcel.

[0114] For example, after obtaining the cutting path, because the connection points of each adjacent second directed edge in the cutting path are rough angles, it cannot be correctly followed by agricultural machinery. Therefore, the cutting path needs to be smoothed, adjusting the angles into smooth curves to obtain the harrowing path for the target plot. For instance, smoothing the connection points of adjacent second directed edges, adjusting them into smooth curves, results in a harrowing path composed of alternating connections between second directed edges and curves. In this case, adjacent second directed edges are connected by smooth curves, allowing the agricultural machinery to follow correctly.

[0115] This solution obtains a trimmed path by trimming the planned path, and then smooths the trimmed path to obtain a harrowing path. At this point, the harrowing path is within the target plot, and the adjacent paths within the harrowing path are smoothed curves that can be correctly followed by the operating equipment. The operating equipment can correctly follow the harrowing path to carry out the operation, ensuring that the operation is carried out smoothly and correctly.

[0116] In one possible embodiment, when the present solution performs a trimming process on the planned path based on the target plot to obtain the trimmed path, it includes: traversing each first directed edge in the planned path, trimming the first directed edges according to the relative position of the first directed edges and the target plot to obtain second directed edges, and obtaining the trimmed path based on each second directed edge.

[0117] For example, each first directed edge in the planned path is traversed. For each first directed edge, the relative position between the first directed edge and the boundary of the target plot is determined, and the first directed edge is trimmed according to the relative position. For example, the intersection point of the first directed edge and the boundary of the target plot is determined, and the first directed edge is trimmed according to the intersection point of the first directed edge and the boundary of the target plot, resulting in the trimmed second directed edges. At this time, the part of the first directed edge outside the plot boundary is trimmed, and the part inside the plot boundary is the second directed edge. The start and end points of some second directed edges are located on the plot boundary (the intersection point of the original first directed edge and the plot boundary), and the start or end points of other second directed edges are located inside the plot boundary (the start or end point of the original first directed edge is located inside the plot boundary). After traversing all the first directed edges, the trimmed second directed edges form the trimmed path obtained by trimming the planned path. Understandably, if the first directed edge does not intersect with the boundary of the land parcel, it can be deleted. This solution performs a trimming process based on the intersection of the first directed edge and the boundary of the target land parcel, shrinking the planned path to the area where the target land parcel is located to obtain a trimmed path. This ensures that the trimmed path is within the target land parcel, reduces the collision between the trimmed path and the land parcel boundary, and guarantees the quality of the generated harrowing path.

[0118] In one possible embodiment, when the solution trims the first directed edge to obtain the second directed edge based on the relative position of the first directed edge and the target plot, it includes:

[0119] If the starting point of the first directed edge is within the boundary of the target plot, add the starting point to the clipping path point set; and / or if the first directed edge has a single boundary intersection with the boundary of the target plot, add the boundary intersection to the clipping path point set; and / or if the first directed edge has multiple boundary intersections with the boundary of the target plot, add the boundary intersection closest to the starting point and the boundary intersection farthest from the starting point to the clipping path point set; and / or if the ending point of the first directed edge is the ending point of the ending path, and the ending point of the first directed edge is within the boundary of the target plot, add the ending point of the first directed edge to the clipping path point set; and generate multiple second directed edges based on the clipping path point set.

[0120] For example, iterate through each first directed edge in the planned path, determine whether there are any points on the first directed edge that satisfy any of the above conditions, add the points that satisfy the conditions to the clipping path point set, and generate multiple second directed edges based on the points added to the clipping path point set in sequence, thereby obtaining the clipping path based on each second directed edge.

[0121] For example, initialize the clipping path point set, which is initially empty. For a first directed edge, determine if its starting point is within the plot boundary. If it is, add it to the clipping path point set. Optionally, if the starting point is on the plot boundary, it is considered to be within the plot boundary and added to the clipping path point set. Then, determine if the first directed edge intersects with the plot boundary and the number of intersections. If the first directed edge does not intersect with the plot boundary, it is considered to be outside the target plot and can be discarded. If the first directed edge intersects with a single plot boundary, add that intersection to the clipping path point set. If the first directed edge intersects with multiple plot boundaries, determine the intersection closest to the starting point and the intersection farthest from the starting point, and add these two intersections sequentially to the clipping path point set. Then determine whether the endpoint of the first directed edge is the endpoint of the ending path. If so, determine whether the endpoint is within the plot boundary. If so, add the endpoint to the clipping path point set.

[0122] After traversing all the first directed edges, the points in the clipping path set are connected sequentially to obtain multiple second directed edges formed by connecting points added to the clipping path set before and after. The direction of the second directed edges is from the point added to the clipping path set earlier (the starting point of the second directed edge) to the point added to the clipping path set later (the ending point of the second directed edge). At this point, these second directed edges can be connected sequentially to form the clipping path provided by this scheme. This scheme determines the clipping treatment method for the first directed edges based on the relative positions of the starting and ending points of the first directed edges with the plot boundary, as well as the intersection points of the first directed edges with the plot boundary, thus correctly shrinking the planned path within the range of the target plot and effectively reducing the collision between the clipped path and the plot boundary.

[0123] In one possible embodiment, the circularly connected harrowing path planning method provided by this solution, after pruning the first directed edge to obtain the second directed edge, further includes: traversing each second directed edge in the pruned path and updating the second directed edge as the shortest edge-following path.

[0124] The shortest edge path provided by this scheme can be understood as given a boundary G and two points P on the boundary. A P B Within the boundary G and its interior from P A To P BThe shortest path. For example, after obtaining the trimming path, each second directed edge in the trimming path is traversed, and the second directed edge is updated to the shortest edge-along path. For instance, when the first directed edge has multiple boundary intersections with the target plot's boundary, the generated second directed edge points from the boundary intersection closest to the starting point to the boundary intersection farthest from the starting point. If these two boundary intersections are directly connected, the second directed edge will exceed the plot boundary. In this case, updating the second directed edge to the shortest edge-along path allows the part of the second directed edge that exceeds the plot boundary to be recessed to the plot boundary. At this time, each second directed edge in the trimming path after being updated to the shortest edge-along path is located within the target plot or arranged along the plot boundary, effectively reducing the situation where the trimming path exceeds the plot boundary and improving the quality of the harrowing path generation. At the same time, updating the second directed edge to the shortest edge-along path effectively reduces the situation where the trimming path generated in non-convex plots exceeds the plot boundary, reducing the possibility of agricultural machinery colliding with the plot boundary when working based on the generated harrowing path on non-convex plots.

[0125] In one possible embodiment, when updating the second directed edge to the shortest edge path, the solution includes: if the second directed edge extends beyond the target plot, updating the second directed edge to the shortest edge path starting from the starting point and proceeding along the boundary of the target plot to the ending point; if the second directed edge is within the target plot, updating the second directed edge to the shortest edge path starting from the starting point and connecting in a straight line to the ending point; if the second directed edge partially extends beyond the target plot, updating the second directed edge to the shortest edge path starting from the starting point, proceeding along the boundary of the target plot to the plot peak, and connecting in a straight line to the ending point, or updating the second directed edge to the shortest edge path starting from the starting point, connecting in a straight line to the plot peak, and proceeding along the boundary of the target plot to the ending point.

[0126] For example, each second directed edge in the trimming path is traversed, and the corresponding shortest path along the edge is determined based on the relative position of the second directed edge to the plot boundary. For instance, if the second directed edge completely extends beyond the target plot, the line connecting the start and end points of the second directed edge will extend beyond the plot boundary. In this case, the second directed edge is updated to the shortest path along the target plot boundary from the start point to the end point. If the second directed edge is within the target plot, the line connecting the start and end points of the second directed edge will not extend beyond the plot boundary. In this case, the second directed edge is updated to the shortest path along the edge from the start point to the end point in a straight line. When the second directed edge extends beyond the target plot, the line connecting the start and end points of the second directed edge will partially extend beyond the plot boundary and partially remain within it. In this case, the second directed edge is updated to be the shortest edge path starting from the start point, proceeding along the target plot boundary to the plot peak, and then connecting directly to the end point; or the second directed edge is updated to be the shortest edge path starting from the start point, connecting directly to the plot peak, and then proceeding along the target plot boundary to the end point. The plot peak can be a peak within the plot boundary that indents into the target plot. This solution effectively reduces the occurrence of trimmed paths exceeding the plot boundary and improves the quality of the tillage path generation by determining the corresponding shortest edge path based on the relative position of the second directed edge and the plot boundary.

[0127] like Figure 11 The diagram illustrates the shortest path along the boundary under different boundary shapes. The shaded area represents the inner side of the boundary (i.e., the interior of the target plot). Part G1 is a concave boundary where a direct connection between the starting point D11 and the ending point D12 would extend beyond the plot boundary. In this case, the shortest path along the boundary starts from D11 and proceeds along the boundary to the path L11 corresponding to the ending point D12. Part G2 is also a concave boundary where a direct connection between the starting point D21 and the ending point D22 would not extend beyond the plot boundary. In this case, the shortest path along the boundary starts from D21 and proceeds in a straight line to the path L21 corresponding to the ending point D22. Part G3 is a serrated boundary where a direct connection between the starting point D31 and the ending point D32 would partially extend beyond the plot boundary and enter the interior of the target plot. In this case, the shortest path along the boundary starts from D31, proceeds in a straight line to the peak point D33 of the plot, and then proceeds along the boundary of the target plot to the path L31 corresponding to the ending point D32. The G4 section is another type of toothed boundary, where the starting point D41 and the ending point D42 are directly connected. After a certain distance inside the target plot, the part will extend beyond the plot boundary. At this time, the shortest edge path is to start from the starting point D41, proceed along the boundary of the target plot to the plot peak point D43, and then connect in a straight line to the edge path L41 corresponding to the ending point D42.

[0128] In one possible embodiment, the circularly connected harrowing path planning method provided by this solution, when smoothing the trimmed path to obtain the harrowing path, may be as follows: if the length of the second directed edge adjacent to the trimmed path reaches a set length threshold, perform circular fitting processing on the adjacent second directed edge based on the turning radius of the working equipment; if the length of the second directed edge adjacent to the trimmed path does not reach the set length threshold and there is a parallel structure, perform Durbins fitting processing on the adjacent second directed edge based on the turning radius of the working equipment.

[0129] For example, for each adjacent second directed edge and bend in the cutting path (e.g., the bend at the peak of the plot along the shortest edge path), the length of the adjacent second directed edge in the cutting path, or the lengths of both sides of the bend, is determined. It is then determined whether this length reaches a set length threshold. If the length reaches the set length threshold, a circular fitting process is performed on the adjacent second directed edges based on the turning radius of the operating equipment. At this time, the connection point of the adjacent second directed edges or the bend of the shortest edge path will smoothly transition according to the set turning path. The turning radius can be set based on the minimum turning radius required for the agricultural machinery's turning operation.

[0130] When the length of the second directed edge adjacent to the cutting path, or the lengths of the two sides at the bend, do not reach the set length threshold, and the lengths of the adjacent second directed edges have a parallel structure, a Dubins fitting process is performed on the adjacent second directed edges based on the turning radius of the working equipment. In this case, the connection point of the adjacent second directed edges or the bend of the shortest edge path will be smoothly transitioned according to the generated Dubins curve as the turning path. Where the lengths of the adjacent second directed edges have a parallel structure, the second directed edge is parallel or nearly parallel to the second subsequent second directed edge, and the length of the first subsequent second directed edge is less than the set length threshold. This scheme determines the smoothing method for the cutting path based on the length of the second directed edges, ensuring that the agricultural machinery can correctly move and operate according to the generated harrowing path, and ensuring the quality of the harrowing path generation.

[0131] In one possible embodiment, after performing Durbins fitting on the adjacent second directed edge based on the turning radius of the working equipment, the solution can also move the turning path obtained by the Durbins fitting process into the interior of the target plot, so that the turning path moves into the interior of the target plot.

[0132] For example, after performing Durbins fitting on the second directed edge, it is determined whether the generated turning path (Dubins curve) intersects with the plot boundary or exceeds the target plot. If the turning path intersects with the plot boundary or exceeds the target plot, the turning path obtained through Durbins fitting is moved towards the inside of the target plot until the turning path no longer intersects with the plot boundary or is moved into the inside of the target plot. This solution reduces the possibility of the harrowing path exceeding the plot boundary, which could prevent the agricultural machinery from performing automatic harrowing operations, by moving the turning path obtained through Durbins fitting towards the inside of the target plot, effectively ensuring the quality of the generated harrowing path.

[0133] Understandably, after the planned path is clipped, all second directed edges of the clipped path are confined within the plot boundary. Therefore, regardless of the shape of the planned path, the clipped path remains within the target plot, effectively reducing collisions between the clipped path and the plot boundary.

[0134] like Figure 12 A schematic diagram of a cropping path is provided, wherein, according to Figure 9 The intersections of each first directed edge in the provided planning path with the boundary of the target plot are clipped to obtain the clipped path L6 (the start and end points of the clipped path are extended in the figure for easier observation). Each second directed edge in the clipped path L6 is updated to the corresponding shortest edge path. It can be seen that the clipped path L6 is located within the boundary of the target plot.

[0135] like Figure 13 A schematic diagram showing the harrowing path is provided. Figure 12 The harrowing path L7 is obtained by smoothing the cut path (the start and end points of the harrowing path are extended in the figure for easy observation). The harrowing path L7 includes the straight path corresponding to the second directed edge and the turning path obtained by smoothing.

[0136] When solving for the harrowing path, a single smoothing operation may smooth multiple path points, but it only affects a few adjacent points, exhibiting a certain degree of parallelism. The planned path, trimmed path, and harrowing path can be calculated using parallel computation, effectively reducing the time spent on harrowing path planning while ensuring its quality and improving efficiency. Furthermore, the updating of the shortest edge path in this scheme effectively ensures that the edges of the trimmed path and harrowing path always remain within the target plot, satisfying collision constraints during the harrowing process. This approach is applicable to harrowing path planning on non-convex polygonal plots.

[0137] The above describes a process where an initial, intermediate, and final path are determined based on the modified bounding rectangle of the target plot. A planned path is then determined based on these paths, and a harrowing path is generated on the target plot according to this planned path. This harrowing path is better suited to the shape of the target plot, effectively improving the harrowing path planning effect. Furthermore, a trimming process is performed based on the intersection of the first directed edge and the boundary of the target plot, shrinking the planned path within the area of ​​the target plot to obtain a trimmed path. This ensures that the trimmed path lies within the target plot, reducing collisions between the trimmed path and the plot boundary, effectively improving harrowing efficiency and reducing labor costs.

[0138] Figure 14 A schematic diagram of a tillage path planning device according to an embodiment of this application is provided. (Reference) Figure 14 The tillage path planning device includes a first path module 31, a second path module 32, a third path module 33, and a path generation module 34.

[0139] The first path module 31 is configured to determine an initial path based on the modified outer rectangle of the target plot. The start and end points of the initial path are located at different vertices of the modified outer rectangle, which is obtained by expanding the minimum outer rectangle of the target plot. The second path module 32 is configured to determine multiple intermediate paths based on the slope of the initial path, the set working width, and the set moving reference edge on the modified outer rectangle. The third path module 33 is configured to determine an ending path based on the modified outer rectangle of the target plot, and to determine a planned path based on the initial path, intermediate paths, and ending path. The path generation module 34 is configured to generate a harrowing path on the target plot based on the planned path.

[0140] The above describes a method that determines the initial, intermediate, and final paths based on the modified bounding rectangle of the target plot, determines the planned path based on the initial, intermediate, and final paths, and generates a harrowing path on the target plot based on the planned path. The harrowing path is more suitable for the shape of the target plot, effectively improving the harrowing path planning effect.

[0141] In one possible embodiment, the harrowing path planning device further includes a compensation distance determination module and a rectangular expansion module.

[0142] The compensation distance determination module is configured to determine the compensation distance based on the turning radius of the operating equipment.

[0143] The rectangle expansion module is configured to expand the minimum bounding rectangle of the target plot based on the compensation distance to obtain the corrected bounding rectangle.

[0144] In one possible embodiment, the compensation distance is determined based on the following formula:

[0145]

[0146] Wherein, radius is the turning radius of the working equipment.

[0147] In one possible embodiment, the first path module 31 is configured as follows:

[0148] The estimated number of path segments is determined based on the first and second side lengths of the modified bounding rectangle of the target plot;

[0149] The initial number of path segments is determined based on the estimated number of path segments, the length of the first side, and the length of the second side.

[0150] The initial path slope is determined based on the length of the first and second sides of the initial path segments.

[0151] Based on the initial path slope, the initial path is determined starting from a vertex of the modified circumscribed rectangle, wherein the slopes of the first directed edges adjacent to each other in the initial path are opposite.

[0152] In one possible embodiment, the first path module 31, when determining the estimated number of path segments based on the first and second side lengths of the modified circumscribed rectangle of the target plot, is configured as follows:

[0153] The ratio of the first and second side lengths of the modified circumscribed rectangle of the target plot is rounded down to obtain the estimated number of path segments.

[0154] In one possible embodiment, when the first path module 31 determines the initial number of path segments based on the estimated number of path segments, the first side length, and the second side length, it is configured as follows:

[0155] The first lateral distance of the first shape path in the direction of the first side length and the second lateral distance of the second shape path in the direction of the first side length are determined based on the estimated number of path segments and the first side length. The number of path segments corresponding to the first shape path and the number of path segments corresponding to the second shape path differ by 1.

[0156] The first estimated slope is determined based on the second side length and the first lateral distance, and the second estimated slope is determined based on the second side length and the second lateral distance.

[0157] The correction amount is determined based on the offset values ​​of the first and second estimated slopes relative to the preset slope;

[0158] The initial number of path segments is determined based on the estimated number of path segments and the correction amount.

[0159] In one possible embodiment, the initial path slope is determined based on the following formula:

[0160] k = N segment ×l2 / l1

[0161] Where, N segment To estimate the number of path segments, l1 is the length of the first side, l2 is the length of the second side, and l1 ≥ l2.

[0162] In one possible embodiment, the second path module 32 is configured as follows:

[0163] The offset distance is determined based on the slope of the initial path and the set working width.

[0164] Based on the offset distance, multiple intermediate path starting points are determined starting from a vertex of the moving reference edge set on the modified circumscribed rectangle;

[0165] Intermediate paths are generated based on the starting points of each intermediate path and the slope of the initial path, wherein adjacent intermediate path segments have opposite slopes.

[0166] In one possible embodiment, the offset distance is determined based on the following formula:

[0167] d offset =l2 / count

[0168]

[0169]

[0170] Where, d offset l1 is the offset distance, l2 is the second side length of the corrected circumscribed rectangle, k is the slope of the initial path, and space is the set working width. To estimate the offset distance, count is the number of offsets determined based on the estimated offset distance and the second side length. This indicates rounding up to the nearest integer.

[0171] In one possible embodiment, the path generation module 34 is configured as follows:

[0172] The trimmed path is obtained by trimming the planned path based on the target plot.

[0173] The cutting path is smoothed to obtain the harrowing path.

[0174] In one possible embodiment, when the path generation module 34 obtains a trimmed path by trimming the planned path based on the target plot, it is configured as follows:

[0175] Traverse each first directed edge in the planned path, and based on the relative position of the first directed edge and the target plot, trim the first directed edge to obtain the second directed edge, and obtain the trimmed path based on each second directed edge.

[0176] In one possible embodiment, when the path generation module 34 trims the first directed edge to obtain the second directed edge based on the relative position of the first directed edge and the target plot, it is configured as follows:

[0177] If the starting point of the first directed edge is within the boundary of the target plot, add the starting point to the clipping path point set; and / or

[0178] If the first directed edge intersects the target plot's boundary at a single point, add that intersection point to the clipping path point set; and / or

[0179] If the first directed edge intersects the target plot's boundary at multiple points, add the boundary intersection point closest to the starting point and the boundary intersection point farthest from the starting point to the clipping path point set; and / or

[0180] If the endpoint of the first directed edge is the endpoint of the ending path, and the endpoint of the first directed edge is within the boundary of the target plot, then add the endpoint of the first directed edge to the set of clipping path points.

[0181] In addition, multiple second directed edges are generated based on the clipped path point set.

[0182] In one possible embodiment, the path generation module 34 is further configured to, after pruning the first directed edge to obtain the second directed edge, traverse each of the second directed edges in the pruned path and update the second directed edge as the shortest edge path.

[0183] In one possible embodiment, the path generation module 34 is configured to update the second directed edge as the shortest path along the edge as follows:

[0184] If the second directed edge extends beyond the target plot, the second directed edge is updated to the shortest edge path from the starting point along the boundary of the target plot to the ending point.

[0185] If the second directed edge is within the target plot, update the second directed edge to the shortest edge path that starts from the starting point and connects to the ending point in a straight line.

[0186] If the second directed edge extends beyond the target plot, update the second directed edge to the shortest path along the edge from the starting point, along the boundary of the target plot to the peak point of the plot, and then to the endpoint. Alternatively, update the second directed edge to the shortest path along the edge from the starting point, along the boundary of the target plot to the peak point of the plot, and then to the endpoint.

[0187] In one possible embodiment, the path generation module 34 is configured to: smooth the trimmed path to obtain the harrowing path.

[0188] When the length of the second directed edge adjacent to the cutting path reaches a set length threshold, the adjacent second directed edge is subjected to circular fitting based on the turning radius of the working equipment.

[0189] If the length of the second directed edge adjacent to the cutting path does not reach the set length threshold and there is a parallel structure, the adjacent second directed edge is subjected to Durbins fitting based on the turning radius of the working equipment.

[0190] In one possible embodiment, the path generation module 34 is further configured to move the turning path obtained by the Durbins fitting process into the interior of the target plot after performing Durbins fitting processing on the adjacent second directed edge based on the turning radius of the working equipment, so that the turning path moves into the interior of the target plot.

[0191] It is worth noting that in the embodiments of the above-mentioned harrowing path planning device, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the protection scope of the embodiments of the present invention.

[0192] This application also provides a harrowing path planning device, which can be integrated with the harrowing path planning device provided in this application. Figure 15 This is a structural schematic diagram of a tillage path planning device provided in an embodiment of this application. (Reference) Figure 15 The tillage path planning device includes: an input device 43, an output device 44, a memory 42, and one or more processors 41; the memory 42 is used to store one or more programs; when one or more programs are executed by one or more processors 41, the one or more processors 41 implement the tillage path planning method provided in the above embodiment. The input device 43, output device 44, memory 42, and processors 41 can be connected via a bus or other means. Figure 15 Taking the example of a connection between China and Israel via a bus.

[0193] The memory 42, as a computing device readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the harrowing path planning method provided in any embodiment of this application (e.g., the first path module 31, the second path module 32, the third path module 33, and the path generation module 34 in the harrowing path planning device). The memory 42 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a function; the data storage area may store data created based on the use of the device, etc. Furthermore, the memory 42 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 42 may further include memory remotely located relative to the processor 41, and these remote memories can be connected to the device via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0194] Input device 43 can be used to receive input digital or character information, and to generate key signal inputs related to user settings and function control of the device. Output device 44 may include display devices such as a display screen.

[0195] The processor 41 executes various functional applications and data processing of the device by running software programs, instructions and modules stored in the memory 42, thereby realizing the above-mentioned harrowing path planning method.

[0196] The tillage path planning device, equipment, and computer provided above can be used to execute the tillage path planning method provided in any of the above embodiments, and have corresponding functions and beneficial effects.

[0197] This application embodiment also provides a storage medium for storing computer-executable instructions. When executed by a computer processor, the computer-executable instructions are used to execute the harrowing path planning method provided in the above embodiment. The harrowing path planning method includes: determining an initial path based on a modified outer rectangle of the target plot, wherein the start and end points of the initial path are located at different vertices of the modified outer rectangle, and the modified outer rectangle is obtained by expanding the minimum outer rectangle of the target plot; determining multiple intermediate paths based on the slope of the initial path, a set working width, and a set moving reference edge on the modified outer rectangle; determining an ending path based on the modified outer rectangle of the target plot, and determining a planned path based on the initial path, intermediate paths, and ending path; and generating a harrowing path on the target plot based on the planned path.

[0198] Storage medium – any type of memory device or storage device. The term “storage medium” is intended to include: mounting media, such as CD-ROMs, floppy disks, or magnetic tape devices; computer system memory or random access memory, such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; non-volatile memory, such as flash memory, magnetic media (e.g., hard disks or optical storage); registers or other similar types of memory elements, etc. Storage media may also include other types of memory or combinations thereof. Furthermore, storage media may reside in a first computer system in which a program is executed, or may reside in a different second computer system connected to the first computer system via a network (such as the Internet). The second computer system can provide program instructions to the first computer for execution. The term “storage medium” can include two or more storage media that may reside in different locations (e.g., in different computer systems connected via a network). Storage media may store program instructions (e.g., specifically implemented as a computer program) executable by one or more processors.

[0199] Of course, the storage medium for storing computer-executable instructions provided in the embodiments of this application is not limited to the harrowing path planning method provided above, but can also execute related operations in the harrowing path planning method provided in any embodiment of this application.

[0200] The harrowing path planning device, equipment, and storage medium provided in the above embodiments can execute the harrowing path planning method provided in any embodiment of this application. For technical details not described in detail in the above embodiments, please refer to the harrowing path planning method provided in any embodiment of this application.

[0201] The above description is merely a preferred embodiment and the technical principles employed in this application. This application is not limited to the specific embodiments provided herein, and various obvious changes, readjustments, and substitutions that can be made by those skilled in the art will not depart from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this application, the scope of which is determined by the scope of the claims.

Claims

1. A method for planning harrowing paths, characterized in that, include: The initial path is determined based on the modified bounding rectangle of the target plot. The initial path includes multiple initial path segments. The method for calculating the number of initial path segments includes: determining a first lateral distance of a first-shaped path along the first side length direction and a second lateral distance of a second-shaped path along the first side length direction based on the estimated number of path segments and the first side length of the modified bounding rectangle, wherein the number of path segments corresponding to the first-shaped path and the number of path segments corresponding to the second-shaped path differ by 1; determining a first estimated slope based on the second side length of the modified bounding rectangle and the first lateral distance, and a second estimated slope based on the second side length and the second lateral distance; determining a correction amount based on the offset values ​​of the first and second estimated slopes relative to a preset slope; and determining the number of initial path segments based on the estimated number of path segments and the correction amount. The starting point and ending point of the initial path are respectively located at different vertices of the modified bounding rectangle, which is obtained by expanding the minimum bounding rectangle of the target plot. Multiple intermediate paths are determined based on the slope of the initial path, the set working width, and the moving reference edge set on the corrected circumscribed rectangle; The ending path is determined based on the modified bounding rectangle of the target plot, and the planned path is determined based on the initial path, the intermediate path, and the ending path. A harrowing path is generated on the target plot based on the planned path.

2. The tillage path planning method according to claim 1, characterized in that, Before determining the initial path based on the modified bounding rectangle of the target plot, the method further includes: Determine the compensation distance based on the turning radius of the operating equipment; The minimum bounding rectangle of the target plot is expanded based on the compensation distance to obtain the corrected bounding rectangle.

3. The tillage path planning method according to claim 2, characterized in that, The compensation distance is determined based on the following formula: in, The turning radius of the operating equipment.

4. The tillage path planning method according to claim 1, characterized in that, The determination of the initial path based on the modified circumscribed rectangle of the target plot includes: The estimated number of path segments is determined based on the first and second side lengths of the modified bounding rectangle of the target plot; The initial number of path segments is determined based on the estimated number of path segments, the first side length, and the second side length. The initial path slope is determined based on the number of initial path segments, the first side length, and the second side length. Based on the initial path slope, an initial path is determined starting from a vertex of the modified circumscribed rectangle, wherein the slopes of adjacent first directed edges in the initial path are opposite.

5. The tillage path planning method according to claim 4, characterized in that, The determination of the estimated number of path segments based on the first and second side lengths of the modified circumscribed rectangle of the target plot includes: The ratio of the first and second side lengths of the modified circumscribed rectangle of the target plot is rounded down to obtain the estimated number of path segments.

6. The tillage path planning method according to claim 1, characterized in that, The initial path slope is determined based on the following formula: in, To estimate the number of path segments, Let be the length of the first side. Let be the length of the second side, and .

7. The tillage path planning method according to claim 1, characterized in that, The process of determining multiple intermediate paths based on the slope of the initial path, the set working width, and the moving reference edge set on the corrected circumscribed rectangle includes: The offset distance is determined based on the slope of the initial path and the set working width; Based on the offset distance, multiple intermediate path starting points are determined starting from a vertex of the moving reference edge set on the corrected circumscribed rectangle; Intermediate paths are generated based on the starting points of each intermediate path and the slope of the initial path, wherein adjacent intermediate path segments in the intermediate paths have opposite slopes.

8. The tillage path planning method according to claim 7, characterized in that, The offset distance is determined based on the following formula: in, This is the offset distance. The second side length of the modified circumscribed rectangle. The slope of the initial path. For the set working width, To estimate the offset distance, The number of offsets is determined based on the estimated offset distance and the second side length. This indicates rounding up to the nearest integer.

9. The tillage path planning method according to claim 1, characterized in that, The process of generating a tillage path on the target plot based on the planned path includes: The planned path is trimmed based on the target plot to obtain the trimmed path; The cutting path is smoothed to obtain the harrowing path.

10. The tillage path planning method according to claim 9, characterized in that, The process of trimming the planned path based on the target plot to obtain the trimmed path includes: Traverse each first directed edge in the planned path, and based on the relative position of the first directed edge and the target plot, perform a clipping process on the first directed edge to obtain a second directed edge, and obtain a clipped path based on each second directed edge.

11. The tillage path planning method according to claim 10, characterized in that, The step of trimming the first directed edge to obtain the second directed edge based on the relative position of the first directed edge and the target plot includes: If the starting point of the first directed edge is within the boundary of the target plot, add the starting point of the first directed edge to the clipping path point set; and / or If the first directed edge intersects the boundary of the target plot at a single point, add that intersection point to the clipping path point set; and / or If the first directed edge intersects with the boundary of the target plot at multiple points, add the boundary intersection point closest to the starting point and the boundary intersection point farthest from the starting point to the clipping path point set; and / or If the endpoint of the first directed edge is the endpoint of the ending path, and the endpoint of the first directed edge is within the boundary of the target plot, then the endpoint of the first directed edge is added to the clipping path point set. In addition, multiple second directed edges are generated based on the set of clipped path points.

12. The tillage path planning method according to claim 10, characterized in that, After trimming the first directed edge to obtain the second directed edge, the process further includes: Iterate through each of the second directed edges in the clipping path and update the second directed edge as the shortest path along the edge.

13. The tillage path planning method according to claim 12, characterized in that, The step of updating the second directed edge to the shortest path along the edge includes: If the second directed edge extends beyond the target plot, the second directed edge is updated to the shortest edge path that starts from the starting point and proceeds along the boundary of the target plot to the ending point. If the second directed edge is within the target plot, the second directed edge is updated to the shortest edge path that starts from the starting point and connects to the ending point in a straight line; If the second directed edge extends beyond the target plot, the second directed edge is updated to be the shortest path along the edge from the starting point, along the boundary of the target plot to the plot peak, and then directly connected to the endpoint. Alternatively, the second directed edge is updated to be the shortest path along the edge from the starting point, along the boundary of the target plot to the endpoint.

14. The tillage path planning method according to claim 9, characterized in that, The process of smoothing the trimmed path to obtain the harrowing path includes: When the length of the second directed edge adjacent to the cutting path reaches a set length threshold, the adjacent second directed edge is subjected to circular fitting based on the turning radius of the working equipment. If the length of the second directed edge adjacent to the cutting path does not reach the set length threshold and there is a parallel structure, the adjacent second directed edge is subjected to Durbins fitting based on the turning radius of the working equipment.

15. The harrowing path planning method according to claim 14, characterized in that, After performing a Durbins fit on the adjacent second directed edges based on the turning radius of the working equipment, the method further includes: The turning path obtained by the Dubins fitting process is moved into the interior of the target plot so that the turning path moves into the interior of the target plot.

16. A tillage path planning device, characterized in that, It includes a first path module, a second path module, a third path module, and a path generation module, wherein: The first path module is configured to determine an initial path based on a modified bounding rectangle of the target plot. The start and end points of the initial path are located at different vertices of the modified bounding rectangle, which is obtained by expanding the minimum bounding rectangle of the target plot. The initial path includes multiple initial path segments. Specifically, the first path module is configured to: determine a first lateral distance of a first-shaped path along the first side length and a second lateral distance of a second-shaped path along the first side length, based on the estimated number of path segments and the first side length of the modified bounding rectangle, wherein the number of path segments corresponding to the first-shaped path and the number of path segments corresponding to the second-shaped path differ by 1; determine a first estimated slope based on the second side length of the modified bounding rectangle and the first lateral distance, and determine a second estimated slope based on the second side length and the second lateral distance; determine a correction amount based on the offset values ​​of the first and second estimated slopes relative to a preset slope; and determine the number of initial path segments based on the estimated number of path segments and the correction amount. The second path module is configured to determine multiple intermediate paths based on the slope of the initial path, the set working width, and the set moving reference edge on the corrected circumscribed rectangle. The third path module is configured to determine the ending path based on the modified bounding rectangle of the target plot, and to determine the planned path based on the initial path, the intermediate path, and the ending path. The path generation module is configured to generate a harrowing path on the target plot based on the planned path.

17. A tillage path planning device, characterized in that, include: Memory and one or more processors; The memory is used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the harrowing path planning method as described in any one of claims 1-15.

18. A storage medium for storing computer-executable instructions, characterized in that, The computer-executable instructions, when executed by a computer processor, are used to perform the harrowing path planning method as described in any one of claims 1-15.

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