Curve path generation method and device and computer equipment

Abstract

The present disclosure provides a curve path generation method and device and a computer device, and the method comprises: obtaining an original reference path of a farm machine in a target area; translating each initial reference point of the original reference path to obtain a plurality of translated reference points; determining and deleting a U-turn reference point in the plurality of translated reference points based on position information of each translated reference point to obtain a first reference point, and determining a second reference point in the first reference point that meets the work width requirement; determining a third reference point in the second reference point with a radius of curvature greater than a minimum turning radius of the farm machine, and generating a curve driving path of the farm machine in the target area based on the third reference point.

Description

Technical Field

[0001] This disclosure relates to the field of information technology, and more specifically, to a method, apparatus, and computer device for generating curved paths. Background Technology

[0002] With the rapid development of agricultural modernization, the demand for intelligent agricultural machinery is becoming increasingly urgent. By applying automatic driving systems to agricultural machinery, automated operation can be achieved, thereby improving agricultural operational efficiency and further liberating labor and increasing production efficiency.

[0003] Agricultural machinery's automatic driving systems can typically plan straight-line travel trajectories. However, the working areas of agricultural machinery are often irregularly shaped; for example, the boundaries of the working area are usually curved. Existing straight-line travel trajectory planning schemes cannot plan paths for curved working areas, and due to the diversity of area boundary shapes, the curved paths determined by existing curved travel trajectory planning schemes often contain unreasonable paths, i.e., paths that the agricultural machinery cannot travel normally.

[0004] Therefore, how to provide a solution to the above-mentioned technical problems is a problem that needs to be solved by those skilled in the art. Summary of the Invention

[0005] This disclosure provides at least one method, apparatus, and computer device for generating curve paths.

[0006] In a first aspect, embodiments of this disclosure provide a method for generating a curved path, including:

[0007] Obtain the original reference path of the agricultural machinery in the target area;

[0008] Each initial reference point of the original reference path is translated to obtain multiple translated reference points;

[0009] Based on the position information of each translation reference point, the turnback reference point among the plurality of translation reference points is determined and deleted to obtain the first reference point, and the second reference point among the first reference points that meets the working width requirements is determined;

[0010] A third reference point with a radius of curvature greater than the minimum turning radius of the agricultural machinery is determined from the second reference point, and a curved driving path of the agricultural machinery in the target area is generated based on the third reference point.

[0011] In one optional implementation, determining a turning-back reference point among the plurality of translation reference points based on the position information of each of the translation reference points includes:

[0012] Determine the first extension direction of each translation reference point; the first extension direction is used to indicate the direction from which the previous translation reference point of the current translation reference point points to the current translation reference point;

[0013] A first direction is determined for the target initial reference point corresponding to each of the translation reference points; the first direction is used to indicate the direction from the previous initial reference point of the target initial reference point to the target initial reference point;

[0014] The translation reference point where the directional difference between the first extension direction and the first direction is greater than the reversal threshold is determined as the reversal reference point.

[0015] In one optional implementation, determining a second reference point among the first reference points that meets the working width requirement includes:

[0016] The current target reference point to be verified at the current moment is determined from the first reference points, and the current target reference point is added to the first set of valid reference points to obtain the target set; the first set of valid reference points is the set of valid reference points corresponding to the target reference point to be verified at the previous moment.

[0017] Based on the orientational relationship between the current target reference point and the intermediate point, candidate valid reference points corresponding to the current target reference point are determined; the intermediate point is a reference point in the target set located between the current target reference point and the first reference point in the target set.

[0018] Candidate valid reference points that do not meet the distance requirement in pairs are merged to obtain a set of valid reference points for the current target reference point, and the second reference point is determined based on the valid reference point corresponding to the last target reference point.

[0019] In one optional implementation, determining the candidate valid reference point corresponding to the current target reference point based on the azimuth relationship between the current target reference point and the intermediate point includes:

[0020] Based on the current target reference point, determine the angle information corresponding to each intermediate point; wherein, the angle information is the angle between a first vector pointing from the previous intermediate point to the intermediate point and a second vector pointing from the intermediate point to the current target reference point;

[0021] If all the angle information is determined to be greater than the preset angle, all reference points in the target set are determined as the candidate valid reference points.

[0022] In one optional implementation, determining the candidate valid reference point corresponding to the current target reference point based on the azimuth relationship between the current target reference point and the intermediate point includes:

[0023] If it is determined that some of the angle information is greater than the preset angle, the nearest intermediate point to the current target reference point is determined among the intermediate points where the angle information is greater than the preset angle, and a first intermediate point is obtained;

[0024] Determine a first target vector formed by the first intermediate point and the second intermediate point; the second intermediate point is the next adjacent reference point of the first intermediate point in the target set;

[0025] If the positional relationship between the first target vector and the current target reference point is determined to be equivalent to the positional relationship between the current position of the agricultural machinery and the original reference path, then the reference points located between the first intermediate point and the current target reference point in the target set are deleted, and the candidate valid reference points are determined based on the target set after deletion.

[0026] In one optional implementation, determining the candidate valid reference points based on the target set after deletion includes:

[0027] A third vector is determined by the current target reference point and the target reference point to be verified at the previous moment, and a second target vector is determined by the first intermediate point and the third intermediate point; the third intermediate point is the previous neighboring reference point of the first intermediate point in the target set.

[0028] If it is determined that the third vector and the second target vector intersect, the first intermediate point is deleted from the target set after deletion, and the candidate valid reference point is obtained.

[0029] In one optional implementation, the current target reference point is the last target reference point; the method further includes:

[0030] If the positional relationship between the first target vector and the last target reference point is not equivalent to the positional relationship between the current position of the agricultural machinery and the original reference path, the heading vector is determined based on the heading angle of the current target reference point.

[0031] Determine the target intersection points between each vector of the target set and the heading vector;

[0032] The candidate valid reference point is determined based on the reference point in the target set that is located before the target intersection point and the target intersection point.

[0033] In one optional implementation, determining the candidate valid reference point corresponding to the current target reference point based on the azimuth relationship between the current target reference point and the intermediate point includes:

[0034] If each angle is less than the preset angle, determine whether the positional relationship between the fourth vector and the current target reference point is equivalent to the positional relationship between the current position of the agricultural machinery and the original reference path; the fourth vector is the vector formed by the first two reference points in the first set of valid reference points;

[0035] If equivalence is determined, determine whether the distance between the first reference point with the largest index in the first set of valid reference points and the current target reference point is less than the distance between the first reference point and the second reference point with the smallest index in the first set of valid reference points;

[0036] If it is determined that the second reference point and the current target reference point are the candidate valid reference points;

[0037] If no result is found, the current target reference point in the target set is determined as the candidate valid reference point.

[0038] Secondly, embodiments of this disclosure provide a curved path generation device, comprising: an acquisition unit for acquiring an original reference path of an agricultural machine in a target area; a translation unit for translating each initial reference point of the original reference path to obtain multiple translation reference points; a determination unit for determining and deleting a turnaround reference point among the multiple translation reference points based on the position information of each translation reference point to obtain a first reference point, and determining a second reference point among the first reference points that meets the operating width requirement; and a path generation unit for determining a third reference point among the second reference points whose radius of curvature is greater than the minimum turning radius of the agricultural machine, and generating a curved driving path of the agricultural machine in the target area based on the third reference point.

[0039] Thirdly, embodiments of this disclosure provide a computer device, characterized in that it includes: a processor, a memory, and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the computer device is running, the processor communicates with the memory via the bus, and when the machine-readable instructions are executed by the processor, the steps of the curve path generation method as described in any one of the first aspects are performed.

[0040] Fourthly, embodiments of this disclosure also provide a computer-readable storage medium storing a computer program that, when executed by a processor, performs the steps of the first aspect or any possible implementation thereof.

[0041] Based on the above research, this disclosure provides a method, apparatus, and computer device for generating curved paths. In an embodiment of this disclosure, firstly, the original reference path of the agricultural machinery in the target area is obtained; then, each initial reference point of the original reference path can be translated to obtain multiple translated reference points; next, based on the position information of each translated reference point, a turning reference point among the multiple translated reference points can be determined and deleted to obtain a first reference point; then, a second reference point among the first reference points that meets the working width requirements can be determined, and a third reference point among the second reference points whose radius of curvature is greater than the minimum turning radius of the agricultural machinery can be determined; finally, a curved driving path of the agricultural machinery in the target area is generated based on the third reference point.

[0042] In the above embodiments, by translating the initial reference point and determining the curved driving path based on the position information of the translated reference point, more working conditions can be adapted, thus enabling the handling of various original curved paths. In this embodiment, by removing the turnaround reference point from the translated reference point and determining a second reference point that meets the working width requirements from the first reference point, effective reference points can be selected from the initial reference points, thereby improving the robustness of the curved driving path; by selecting a third reference point from the second reference point whose radius of curvature is greater than the minimum turning radius of the agricultural machinery, a third reference point that meets the vehicle driving requirements in the farmland scenario can be selected, thus obtaining a curved driving path that meets the vehicle driving requirements.

[0043] To make the above-mentioned objects, features and advantages of this disclosure more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0044] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings used in the embodiments will be briefly described below. These drawings are incorporated in and constitute a part of this specification. They illustrate embodiments conforming to this disclosure and, together with the specification, serve to explain the technical solutions of this disclosure. It should be understood that the following drawings only show some embodiments of this disclosure and should not be considered as limiting the scope. Those skilled in the art can obtain other related drawings based on these drawings without creative effort.

[0045] Figure 1 A flowchart of a curve path generation method provided by an embodiment of this disclosure is shown;

[0046] Figure 2 This diagram illustrates the effect of an original reference path provided by an embodiment of the present disclosure.

[0047] Figure 3This diagram illustrates the effect of a path corresponding to a translational reference point provided in an embodiment of this disclosure.

[0048] Figure 4 This illustration shows the effect of removing the foldback reference point from the translation reference point according to an embodiment of the present disclosure.

[0049] Figure 5 The flowchart illustrates a specific method for determining a turnback reference point among a plurality of translation reference points based on the position information of each of the translation reference points in the curve path generation method provided in this embodiment of the present disclosure.

[0050] Figure 6 This diagram illustrates the effect of a reversal reference point provided by an embodiment of the present disclosure.

[0051] Figure 7 This diagram illustrates the positional relationship between an effective set of reference points and a target reference point, as provided in an embodiment of this disclosure.

[0052] Figure 8 This diagram illustrates the positional relationship between the second set of valid reference points provided in this embodiment and the target reference point.

[0053] Figure 9 This diagram illustrates the positional relationship between an agricultural machine and an original reference path, as provided in an embodiment of this disclosure.

[0054] Figure 10 This diagram illustrates the effect of a candidate valid reference point provided by an embodiment of the present disclosure.

[0055] Figure 11 This diagram illustrates the positional relationship between a second target vector and a third vector, as provided in an embodiment of this disclosure.

[0056] Figure 12 This diagram illustrates the positional relationship between the third set of valid reference points provided in this embodiment and the target reference point.

[0057] Figure 13 This diagram illustrates the positional relationship between the fourth set of valid reference points provided in this embodiment and the target reference point.

[0058] Figure 14 A schematic diagram of a working width provided by an embodiment of this disclosure is shown;

[0059] Figure 15 The diagram illustrates the curved driving path of an agricultural machine in a target area after multiple translations of the initial reference point in the original reference path provided in this embodiment of the present disclosure.

[0060] Figure 16 A schematic diagram of a curve path generation apparatus provided in an embodiment of this disclosure is shown;

[0061] Figure 17 A schematic diagram of a computer device provided in an embodiment of this disclosure is shown. Detailed Implementation

[0062] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. The components of the embodiments of this disclosure described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this disclosure provided in the accompanying drawings is not intended to limit the scope of the claimed disclosure, but merely represents selected embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without inventive effort are within the scope of protection of this disclosure.

[0063] With the rapid development of agricultural modernization, the demand for intelligent agricultural machinery is becoming increasingly urgent. By applying automatic driving systems to agricultural machinery, automated operations can be achieved, thereby improving agricultural efficiency and further liberating labor and increasing production efficiency. The number of automated agricultural machines is increasing year by year, and their application scenarios are also expanding, including tilling, fertilizing, spraying pesticides, and harvesting.

[0064] Agricultural machinery's automatic driving systems can typically plan straight-line travel trajectories. However, the working areas of agricultural machinery are often irregularly shaped; for example, the boundaries of the working area are often curved. Existing straight-line travel trajectory planning schemes cannot plan paths for curved working areas, and the diversity of area boundary shapes further complicates matters.

[0065] In existing curved driving trajectory planning schemes, the original curved path can be divided into multiple line segments, and then each line segment is translated. The translated line segments may or may not intersect. If two translated line segments intersect, the excess portion can be trimmed; if two translated line segments do not intersect, the two line segments can be extended, and the intersection point of the extended lines can be found. Then, erroneous line segments caused by self-intersections in the trimmed and connected path are removed to obtain the corresponding curved path.

[0066] However, existing curved trajectory planning schemes do not consider the impact of the radius of curvature of the translated reference point on the translated curved path. In some cases, the translated curved path may not have self-intersection points, but it may still have an excessively small radius of curvature, which cannot meet the vehicle's driving requirements. Therefore, the curved paths determined by existing curved trajectory planning schemes often contain unreasonable paths, i.e., paths that agricultural machinery cannot drive normally.

[0067] Based on the above research, this disclosure provides a method, apparatus, and computer device for generating curved paths. In an embodiment of this disclosure, firstly, the original reference path of the agricultural machinery in the target area is obtained; then, each initial reference point of the original reference path can be translated to obtain multiple translated reference points; next, based on the position information of each translated reference point, a turning reference point among the multiple translated reference points can be determined and deleted to obtain a first reference point; then, a second reference point among the first reference points that meets the working width requirements can be determined, and a third reference point among the second reference points whose radius of curvature is greater than the minimum turning radius of the agricultural machinery can be determined; finally, a curved driving path of the agricultural machinery in the target area is generated based on the third reference point.

[0068] In the above embodiments, by translating the initial reference point and determining the curved driving path based on the position information of the translated reference point, more working conditions can be adapted, thus enabling the handling of various original curved paths. In this embodiment, by removing the turnaround reference point from the translated reference point and determining a second reference point that meets the working width requirements from the first reference point, effective reference points can be selected from the initial reference points, thereby improving the robustness of the curved driving path; by selecting a third reference point from the second reference point whose radius of curvature is greater than the minimum turning radius of the agricultural machinery, a third reference point that meets the vehicle driving requirements in the farmland scenario can be selected, thus obtaining a curved driving path that meets the vehicle driving requirements.

[0069] The shortcomings of the above solutions are the result of the inventor's practical experience and careful research. Therefore, the discovery process of the above problems and the solutions proposed in this disclosure below should be considered as the inventor's contribution to this disclosure.

[0070] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0071] To facilitate understanding of this embodiment, a detailed description of the curve path generation method disclosed in this disclosure is provided first. The execution entity of the curve path generation method provided in this disclosure is generally a computer device with certain computing capabilities. This computer device can be installed in agricultural machinery, or it can be configured to wirelessly connect to the agricultural machinery. In some possible implementations, the curve path generation method can be implemented by a processor calling computer-readable instructions stored in memory.

[0072] The curve path generation method provided in the embodiments of this disclosure will be described below.

[0073] Example 1

[0074] See Figure 1 The diagram shows a flowchart of a curve path generation method provided in this embodiment of the present disclosure. The method includes steps S101 to S107, wherein:

[0075] S101: Obtain the original reference path of the agricultural machinery in the target area.

[0076] In this embodiment of the disclosure, firstly, the agricultural machinery can be controlled to move along the target area. During the movement of the agricultural machinery, the driving trajectory of the agricultural machinery can be obtained through a positioning device pre-installed on the agricultural machinery, and this driving trajectory can be determined as the original reference path. For example, it can be obtained as follows: Figure 2 The original reference path is shown.

[0077] Here, the target area can be understood as the operating area of ​​agricultural machinery, such as farmland. Through Figure 2 It can be seen that the original reference path contains multiple initial reference points. Figure 2 Each circular symbol represents an initial reference point. The obtained original reference path may also contain the position coordinates of each initial reference point, where the position coordinates can be the latitude and longitude coordinates of that initial reference point.

[0078] S103: Translate each initial reference point of the original reference path to obtain multiple translated reference points.

[0079] After obtaining the original reference path, each initial reference point in the original reference path can be translated to obtain multiple translated reference points and the position information of each translated reference point.

[0080] Here, the translation direction and distance of each initial reference point can be determined, and the corresponding initial reference point can be translated according to this translation direction and distance. The translation direction of the initial reference point is related to its heading angle. This heading angle can be understood as the angle between the initial reference point and the horizontal axis of the coordinate system in the ground coordinate system. The translation distance of the initial reference point is related to the number of rows of the agricultural machinery, that is, the translation distance is a multiple of the working width of the agricultural machinery.

[0081] S105: Based on the position information of each translation reference point, determine and delete the turnback reference point among the plurality of translation reference points to obtain a first reference point, and determine a second reference point among the first reference points that meets the working width requirements.

[0082] After obtaining the position information of each translation reference point, the turning-back reference point can be determined among them. For example, such as... Figure 3 The diagram shows the translation path obtained after translating the initial reference points in the original reference path. Figure 3 As shown, each circular symbol in the translation path represents a translation reference point. Figure 3 In the translation path shown, the translation reference point located between translation reference point A1 and translation reference point A2 is the return reference point, and the translation reference point located between translation reference point B1 and translation reference point B2 is also the return reference point.

[0083] After determining the turning-back reference point, the turning-back reference point can be deleted from the translation reference point to obtain the first reference point, for example, as shown below. Figure 4 The path shown is formed by the first reference point after deleting the turnaround reference point.

[0084] After determining the first reference point, a second reference point that meets the working width requirements can be determined from the first reference point.

[0085] Here, meeting the operating width requirement means that the agricultural machinery will not generate repeated operating areas during the operation according to the second reference point, or that the area of ​​the repeated operating areas generated is smaller than the preset area.

[0086] Here, it is assumed that the agricultural machinery operates in rows (or ridges). If there is no overlapping area between adjacent working rows (or working ridges), it is determined that no duplicate working area has been generated; or, if the overlapping area between adjacent working rows (or working ridges) is less than a preset area, it is determined that the area of ​​the duplicate working area generated is less than the preset area.

[0087] S107: Determine a third reference point in the second reference point whose radius of curvature is greater than the minimum turning radius of the agricultural machinery, and generate a curved driving path of the agricultural machinery in the target area based on the third reference point.

[0088] After determining the second reference point that meets the operating width requirement from the first reference point, a third reference point with a radius of curvature greater than the minimum turning radius of the agricultural machinery can be determined from the second reference point. Then, the curve equation can be solved through the third reference point to obtain the curved driving path of the agricultural machinery in the target area.

[0089] In the above embodiments, by translating the initial reference point and determining the curved driving path based on the position information of the translated reference point, more working conditions can be adapted, thus enabling the handling of various original curved paths. In this embodiment, by removing the turnaround reference point from the translated reference point and determining a second reference point that meets the working width requirements from the first reference point, effective reference points can be selected from the initial reference points, thereby improving the robustness of the curved driving path; by selecting a third reference point from the second reference point whose radius of curvature is greater than the minimum turning radius of the agricultural machinery, a third reference point that meets the vehicle driving requirements in the farmland scenario can be selected, thus obtaining a curved driving path that meets the vehicle driving requirements.

[0090] The above steps will be described in detail below with reference to specific implementation methods.

[0091] In an optional implementation, step S103 above translates each initial reference point of the original reference path to obtain multiple translated reference points, specifically including the following steps:

[0092] First, the translation direction is determined based on the normal direction of the heading angle of each initial reference point.

[0093] Secondly, the translation distance is determined based on the current working position of the agricultural machinery; wherein, the translation distance is a multiple of the working width of the agricultural machinery; here, the translation distance can be understood as the distance between the current working position of the agricultural machinery and the initial reference point.

[0094] Next, based on the translation direction and the translation distance, each initial reference point is moved to obtain multiple translation reference points.

[0095] After translating each initial reference point of the original reference path to obtain multiple translated reference points, the turning reference point among the multiple translated reference points can be determined based on the position information of each translated reference point, thus obtaining the first reference point.

[0096] In one alternative implementation, such as Figure 5As shown, step S105 above determines the turning-back reference point among the plurality of translation reference points based on the position information of each of the translation reference points, specifically including the following steps:

[0097] Step S11: Determine the first extension direction of each translation reference point; wherein, the first extension direction is used to indicate the direction in which the previous translation reference point of the current translation reference point points to the current translation reference point;

[0098] Step S12: Determine the first direction of the target initial reference point corresponding to each of the translation reference points; the first direction is used to indicate the direction from the previous initial reference point of the target initial reference point to the target initial reference point;

[0099] Step S13: Determine the translation reference point where the directional difference between the first extension direction and the first direction is greater than the reversal threshold as the reversal reference point.

[0100] In this embodiment of the disclosure, firstly, a first extension direction of each translation reference point can be determined. Here, the original reference path can be pre-divided into several vectors, wherein each vector points from the previous initial reference point to the next adjacent initial reference point, and the order of the initial reference points is determined based on the travel direction of the original reference path.

[0101] like Figure 6 As shown, A, B, and C are initial reference points, which can be divided into the following vectors: vectors sum vector After translating the initial reference points A, B, and C, we can obtain the translated reference points A', B', and C', respectively. The translated reference points A', B', and C' can be divided into the following vectors: vectors sum vector pass Figure 6 It can be seen that when the translation distance of the initial reference point is long, the positional relationship between adjacent reference points will change, resulting in a reversal phenomenon.

[0102] Specifically, based on their positional relationships, the angle between the vectors corresponding to adjacent reference points before and after the translation can be determined. If this angle is determined to be greater than 90 degrees (i.e., the aforementioned turnaround threshold), then the translated reference point is determined as a turnaround reference point. For example, as... Figure 6 As shown, vector sum vector Since the included angle between them is obtuse, it can be determined that the translation reference points A' and B' have changed the direction of travel of the original reference path. Therefore, translation reference points A' and B' are determined as return reference points. Here, vector The direction can be understood as the direction from the previous translation reference point to the current translation reference point, as described above. (Vector) The direction can be understood as the direction from the previous initial reference point of the target initial reference point to the target initial reference point described above.

[0103] After determining the turning-back reference point, the turning-back reference point can be deleted from the translation reference point to obtain the first reference point.

[0104] In the above embodiments, the turning reference point is determined by the positional relationship between the translation reference points. This processing method can avoid the generation of large-angle turning points among the translation reference points, thereby ensuring the effectiveness of the curved driving trajectory.

[0105] After obtaining the first reference point, a second reference point that meets the working width requirements can be determined from the first reference point. This step includes the following steps:

[0106] Step S21: Determine the current target reference point to be verified at the current moment among the first reference points, and add the current target reference point to the first valid reference point set to obtain the target set; the first valid reference point set is the set of valid reference points corresponding to the target reference point to be verified at the previous moment.

[0107] Step S22: Based on the azimuth relationship between the current target reference point and the intermediate point, determine the candidate valid reference point corresponding to the current target reference point; the intermediate point is the reference point in the target set located between the current target reference point and the first reference point in the target set;

[0108] Step S23: Merge the candidate valid reference points that do not meet the distance requirement in pairs to obtain the set of valid reference points of the current target reference point, and determine the second reference point based on the valid reference point corresponding to the last target reference point.

[0109] In this embodiment of the disclosure, after determining the first reference point, valid reference points can be filtered from the first reference points. The valid reference points can be understood as reference points that meet the working width requirements (i.e., the second reference points).

[0110] In this embodiment of the disclosure, the target reference point to be verified can be determined from the first reference point. For example, the first two reference points in the first reference point can be used as the initial valid reference points, and the remaining first reference points after the first two reference points can be determined as the target reference point to be verified.

[0111] Next, target reference points can be added sequentially to the corresponding first set of valid reference points to obtain the target set. Then, based on the azimuth relationship between the current target reference point and the intermediate point, candidate valid reference points corresponding to the current target reference point can be determined. Here, the intermediate point can be understood as a reference point in the target set located between the current target reference point and the first reference point in the target set.

[0112] After selecting candidate valid reference points, those that do not meet the distance requirement can be identified. Since a reference point merging operation can be performed on each identified candidate valid reference point, for each merging operation, if the last reference point among the candidate valid reference points is the current target reference point, the distance between the last reference point (i.e., the current target reference point) and the previous reference point can be determined; if the distance is less than a preset distance threshold, the distance between the last reference point and the previous reference point is determined to not meet the requirement.

[0113] At this point, the midpoint of the line connecting the last reference point and the previous reference point can be determined; and the last reference point and the previous reference point among the candidate valid reference points can be merged into a midpoint. After merging, the candidate valid reference points corresponding to the target reference point can be obtained.

[0114] After performing the steps described above for each target reference point, determine the set of valid reference points corresponding to the last target reference point, and determine the second reference point based on the set of valid reference points corresponding to the last target reference point.

[0115] Here, for the first target reference point, the first set of valid reference points is the set of reference points composed of the initial valid reference points mentioned above. For the remaining target reference points, the first set of valid reference points is the set of valid reference points corresponding to the target reference point to be verified in the previous time step.

[0116] The above process will be described below using two target reference points as an example. Here, the two target reference points are the first target reference point and the second target reference point.

[0117] First, determine the first set of valid reference points (denoted as set B1) corresponding to the first target reference point (denoted as reference point A1), where the valid reference points in set B1 are the first two reference points in the first set. Add reference point A1 to set B1 to obtain the target set C1. Then, filter candidate valid reference points D1 that meet the operation width requirements from the target set C1. If the distance between the last reference point and the previous reference point in candidate valid reference points D1 does not meet the requirements, merge the last reference point and the previous reference point to obtain the set of valid reference points M1.

[0118] Next, the second target reference point (denoted as reference point A2) is added to the set of valid reference points M1 (i.e., the first set of valid reference points for reference point A2) to obtain the target set C2; then, candidate valid reference points D2 that meet the operation width requirements are selected from the target set C2; if it is determined that the distance between the last reference point and the previous reference point in the candidate valid reference points D2 does not meet the requirements, the last reference point and the previous reference point are merged to obtain the set of valid reference points M2.

[0119] After processing each target reference point in the manner described above, a set of valid reference points corresponding to the last target reference point can be obtained. At this point, the second reference point can be determined based on the set of valid reference points corresponding to the last target reference point.

[0120] In an optional implementation, step S22 above determines candidate valid reference points corresponding to the current target reference point based on the azimuth relationship between the current target reference point and the intermediate point, specifically including the following steps:

[0121] Step S31: Based on the current target reference point, determine the angle information corresponding to each intermediate point; wherein, the angle information is the angle between the first vector pointing from the previous intermediate point to the intermediate point and the second vector pointing from the intermediate point to the current target reference point;

[0122] Step S32: If it is determined that all the angle information is greater than the preset angle, all reference points in the target set are determined as the candidate valid reference points.

[0123] In this embodiment of the disclosure, the current target reference point can be added to the corresponding set of valid reference points to obtain a target set. Then, the reference points in the target set can be sequentially connected to form multiple vectors, with each vector pointing from the previous reference point to the next.

[0124] Then, the angle information corresponding to each intermediate point can be determined based on multiple vectors. For example, such as Figure 7 As shown, the current target reference point is target reference point F, and the first set of valid reference points for target reference point F includes reference points A, B, C, D, and E. After adding target reference point F to the first set of valid reference points, we can obtain the following... Figure 7 The target set is shown. Here, the reference point located between the target reference point F and the reference point A in the target set is determined as the intermediate point. That is, reference points B, C, D and E in the first set of valid reference points are all intermediate points.

[0125] Then, the reference points in the target set can be connected sequentially to form multiple vectors, which are vectors. and Then, based on multiple vectors, the angle information corresponding to each intermediate point can be determined. For example, for intermediate point B, the vector can be determined. sum vector The angle between the two points determines the angle information corresponding to the intermediate point B; similarly, for the intermediate point C, the vector can be determined. sum vector The angle between the two points determines the angle information corresponding to the midpoint B.

[0126] Next, it can be determined whether the angle information corresponding to each intermediate point is greater than a preset angle (e.g., 90 degrees). If it is determined that the angle information is greater than 90 degrees, then all reference points in the target set are determined to be candidate valid reference points that meet the operation width requirements.

[0127] In another optional implementation, step S22 above determines candidate valid reference points corresponding to the current target reference point based on the azimuth relationship between the current target reference point and the intermediate point, specifically including the following steps:

[0128] Step S41: If it is determined that part of the angle information is greater than the preset angle, determine the intermediate point closest to the current target reference point among the intermediate points where the angle information is greater than the preset angle, and obtain the first intermediate point;

[0129] Step S42: Determine the first target vector formed by the first intermediate point and the second intermediate point; the second intermediate point is the next adjacent reference point of the first intermediate point in the target set;

[0130] Step S43: If the positional relationship between the first target vector and the current target reference point is determined to be equivalent to the positional relationship between the current position of the agricultural machinery and the original reference path, delete the reference points in the target set located between the first intermediate point and the current target reference point, and determine the candidate valid reference points based on the target set after deletion.

[0131] In the embodiments disclosed herein, such as Figure 8 As shown, the current target reference point is target reference point F, and the first set of valid reference points for target reference point F includes reference points A, B, C, D, and E. After adding target reference point F to the first set of valid reference points, we can obtain the following... Figure 8The target set is shown. Here, the reference point located between the target reference point F and the reference point A in the target set is determined as the intermediate point; that is, reference points B, C, D, and E in the first set of valid reference points are all intermediate points. At this point, the angle information corresponding to each intermediate point can be determined in the manner described above.

[0132] If some angles in the total angle information are greater than 90 degrees, then the intermediate point with the largest sequence number among those with angles greater than 90 degrees can be defined as the maximum intermediate point (i.e., the first intermediate point). The maximum intermediate point and its adjacent reference point with a sequence number one greater than its own (i.e., the second intermediate point) form the first target vector. Next, it can be determined whether the positional relationship between this first target vector and the current target reference point is equivalent to the positional relationship between the original reference path and the current position of the agricultural machinery.

[0133] For example, such as Figure 8 As shown, the largest reference point is reference point C, and the adjacent reference point that is one position larger than reference point C is reference point D. The largest intermediate point C and reference point D form the first target vector. like Figure 9 As shown, the agricultural machinery's current position is located to the left of the original reference path, and as... Figure 8 As shown, the current target reference point is located to the left of the first target vector. Therefore, the positional relationship between the first target vector and the current target reference point can be determined, which is equivalent to the positional relationship between the current position of the agricultural machinery and the original reference path. At this time, the first target vector can be determined as the first type of comparison vector.

[0134] Combination Figure 9 and Figure 8 It can be seen that the current position of the agricultural machinery is located to the left of the original reference path, and the target reference point F is located at the first target vector. On the left side, at this point, the first target vector can be determined. This is a first-class comparison vector.

[0135] After determining the first target vector After the first type of comparison vector is obtained, reference points located between the first intermediate point and the current target reference point in the target set can be deleted, and the candidate valid reference points can be determined based on the target set after deletion.

[0136] For example, such as Figure 8 As shown, reference points D and E can be identified as reference points in the target set located between the first intermediate point and the current target reference point. At this point, reference points D and E can be identified as reference points to be deleted. Then, candidate valid reference points are determined based on the remaining reference points A, B, C, and F. The driving path determined by reference points A, B, C, and F is as follows. Figure 10 As shown.

[0137] In this case, the above steps determine the candidate valid reference points based on the target set after deletion, specifically including the following steps:

[0138] First, determine the third vector composed of the current target reference point and the target reference point to be verified at the previous moment, and determine the second target vector composed of the first intermediate point and the third intermediate point; the third intermediate point is the previous neighboring reference point of the first intermediate point in the target set.

[0139] Secondly, if it is determined that the third vector and the second target vector intersect, the first intermediate point is deleted from the target set after deletion, and the candidate valid reference point is obtained.

[0140] In this embodiment of the disclosure, after deleting the reference point located between the first intermediate point and the current target reference point in the target set, the vector pointing from the target reference point to the current target reference point at the previous moment can still be determined, i.e., the third vector. For example, such as Figure 11 As shown, vector Let M be the target reference point to be verified at the previous time step, and N be the current target reference point. Then, we can determine the previous neighboring reference point of the first intermediate point in the target set, i.e., the third intermediate point; then, we determine the second target vector formed by the first intermediate point and the third intermediate point, for example, Figure 11 The vector shown

[0141] Next, the positional relationship between the third vector and the second target vector can be compared. If the third vector intersects with the second target vector, the reference point with the larger sequence in the second target vector is deleted. For example, deleting... Figure 11 The second target vector Reference point C in the diagram.

[0142] After deleting reference point C, determine the reference points in the target set that precede reference point C, for example, Figure 11 Reference points A and B in the data, and determine reference points A and B as well as the current target reference point (e.g., ...). Figure 11 The current target reference point N) is a candidate valid reference point that meets the operation width requirements.

[0143] In this embodiment of the application, based on the technical solutions described in steps S41 to S43 above, if the current target reference point is the last target reference point, then the method further includes the following steps:

[0144] Step S44: If the positional relationship between the first target vector and the last target reference point is not equivalent to the positional relationship between the current position of the agricultural machinery and the original reference path, determine the heading vector based on the heading angle of the current target reference point;

[0145] Step S45: Determine the target intersection points between each vector of the target set and the heading vector;

[0146] Step S46: Determine the candidate valid reference point based on the reference point in the target set located before the target intersection point and the target intersection point.

[0147] In this embodiment of the disclosure, when the current target reference point is the last target reference point, if the positional relationship between the first target vector and the last target reference point is not equivalent to the positional relationship between the current position of the agricultural machinery and the original reference path, the corresponding heading vector can be obtained based on the heading angle of the current target reference point.

[0148] Next, along the direction of the heading vector, find the intersection vector among the vectors of the first set of valid reference points that intersects the heading vector, where the direction of the intersection vector points from the previous reference point to the next reference point. Then, find the target intersection point between the intersection vector and the heading vector.

[0149] Next, we can retain the previous reference point in the cross vector, delete all reference points in the target set that are after that previous reference point, and add the target intersection point as the last reference point to the target set after deletion. For example, as follows: Figure 13 As shown, the cross vector is At this point, we can retain the previous reference point C in the cross vector and delete the reference points located after C, i.e., reference points D and E. Then, we add the target intersection points to the target set after deleting reference points D and E, thus obtaining candidate valid reference points.

[0150] In another optional implementation, step S22 above, which determines the candidate valid reference point corresponding to the current target reference point based on the azimuth relationship between the current target reference point and the intermediate point, further includes the following steps:

[0151] Step S51: If it is determined that each of the angle information is less than the preset angle, determine whether the positional relationship between the fourth vector and the current target reference point is equivalent to the positional relationship between the agricultural machinery and the original reference path; the fourth vector is the vector composed of the first two reference points in the first set of valid reference points;

[0152] Step S52: If equivalence is determined, determine whether the distance between the first reference point with the largest index in the first set of valid reference points and the current target reference point is less than the distance between the first reference point and the second reference point with the smallest index in the first set of valid reference points;

[0153] Step S53: If it is determined that the second reference point and the current target reference point are the candidate valid reference points; if it is determined that the current target reference point in the target set is the candidate valid reference point.

[0154] In this embodiment of the application, when it is determined that the angle information corresponding to each intermediate point is less than a preset angle (e.g., 90 degrees), the vector formed by the first two reference points in the target set can be determined, and this vector is called the fourth vector. For example, Figure 12 In the vector formed by reference points A and B

[0155] Next, we can determine whether the positional relationship between the fourth vector and the current target reference point is equivalent to the positional relationship between the current position of the agricultural machinery and the original reference path. For example, suppose the positional relationship between the current position of the agricultural machinery and the original reference path is as follows: Figure 9 The positional relationship is shown. And as... Figure 12 As shown, the current target reference point is located in the vector. If the left side is the target reference point, then the positional relationship between the fourth vector and the current target reference point is equivalent to the positional relationship between the current position of the agricultural machinery and the original reference path.

[0156] Next, we can determine the first reference point with the largest index and the second reference point with the smallest index in the first set of valid reference points; and determine whether the distance between the first reference point and the current target reference point is less than the distance between the first reference point and the second reference point.

[0157] If it is determined that the distance between the first reference point and the current target reference point is less than the distance between the first reference point and the second reference point, then all reference points in the target set except for the first reference point (i.e., the second reference point) are deleted, while the current target reference point is retained. If it is determined that the distance between the first reference point and the current target reference point is not less than the distance between the first reference point and the second reference point, then all reference points in the target set are deleted, and only the current target reference point is retained as a valid reference point.

[0158] For example, such as Figure 12As shown, the first reference point is D, and the second reference point is A. At this point, the first distance between the current target reference point N and reference point D can be determined, and the second distance between reference point A and reference point D can be determined. If the first distance is not less than the second distance, then all reference points in the target set except the current target reference point are deleted. For example, as... Figure 12 As shown, reference points A, B, C, and D are deleted, and the target reference point N is retained as a candidate valid reference point. If the first distance is less than the second distance, all reference points in the target set except for reference point A are deleted, while the current target reference point N is retained.

[0159] In this embodiment, it can be further determined whether the distance between the first reference point with the largest index in the first set of valid reference points and the current target reference point is greater than the distance between the first reference point and the second reference point in the first set of valid reference points. If it is determined to be greater, it can be further determined whether the positional relationship between the fourth vector and the current target reference point is equivalent to the positional relationship between the current position of the agricultural machinery and the original reference path. If it is determined to be equivalent, a judgment is made based on the relationship between the distance between the reference point with the largest index in the first set of valid reference points and the current target reference point and the distance between the reference point with the largest index and the first reference point, thereby determining candidate valid reference points based on the judgment result.

[0160] like Figure 14 The diagram shown illustrates the crop width within the target area. Compared to Figure 11 , Figure 14 A translation segment M'N' of line segment MN has been added. The distance between line segment MN and line segment M'N' is the working width. Figure 14 It can be seen that the distance from point C to line segment M'N' is less than the working width. If the curved travel path passes through point C, it will result in the actual working width of the agricultural machinery being too small, potentially causing problems such as repetitive work. Based on this, it can be determined by... Figures 11 to 13 The corresponding filtering method selects candidate valid reference points from the target set that meet the operating width requirements. The candidate valid reference points obtained through this filtering method can meet the operational needs of agricultural machinery, thereby improving the robustness of the curved driving path.

[0161] In this embodiment of the disclosure, after determining the second reference point from the first reference point as described above, a reference point that meets the minimum turning radius requirement of the agricultural machinery can be selected from the second reference point as the third reference point. Based on this third reference point, the curved driving path of the agricultural machinery in the target area can be determined. For example, ... Figure 15 The image shows the curved driving path of the agricultural machinery in the target area after multiple translations of the initial reference point in the original reference path.

[0162] As described above, the embodiments of this disclosure first translate the original reference path to generate a new working path composed of multiple translated reference points. Then, according to the travel direction of the original reference path, the turning-back reference points are removed from the new working path. Next, based on the azimuth relationships between the translated reference points, valid reference points (i.e., candidate valid reference points) are determined in the new working path after removing the turning-back reference points, and candidate valid reference points that are too close are merged to obtain a second reference point. Finally, the second reference point can be further filtered to obtain a third reference point whose curvature is greater than the minimum turning radius of the agricultural machinery, and the curved travel path of the agricultural machinery in the target area is generated using this third reference point.

[0163] The above implementation method, from the perspective of translation reference points, avoids processing road segments in the original reference path, and only needs to consider the positional relationship between each translation reference point, thus avoiding the generation of large-angle turnback reference points; at the same time, it does not need to handle the situation where adjacent road segments do not intersect, thereby improving the robustness of the curved driving path.

[0164] Those skilled in the art will understand that, in the above-described method of the specific implementation, the order in which each step is written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of each step should be determined by its function and possible internal logic.

[0165] Based on the same inventive concept, this disclosure also provides a curve path generation device corresponding to the curve path generation method. Since the principle of the device in this disclosure for solving the problem is similar to the curve path generation method described above in this disclosure, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0166] Example 2

[0167] Reference Figure 16 The diagram shown is a schematic representation of the architecture of a curve path generation device according to an embodiment of this disclosure. The device includes: an acquisition unit 10, a translation unit 20, a determination unit 30, and a path generation unit 40; wherein,

[0168] Acquisition unit 10 is used to acquire the original reference path of the agricultural machinery in the target area;

[0169] Translation unit 20 is used to translate each initial reference point of the original reference path to obtain multiple translation reference points;

[0170] The determining unit 30 is used to determine and delete the turning-back reference point among the plurality of translation reference points based on the position information of each of the translation reference points, to obtain a first reference point, and to determine a second reference point among the first reference points that meets the working width requirements;

[0171] The path generation unit 40 is used to determine a third reference point in the second reference point whose radius of curvature is greater than the minimum turning radius of the agricultural machinery, and to generate a curved driving path of the agricultural machinery in the target area based on the third reference point.

[0172] In one possible implementation, the determining unit is further configured to: determine a first extension direction for each translation reference point; the first extension direction is used to indicate the direction in which the previous translation reference point of the current translation reference point points to the current translation reference point; determine a first direction for the target initial reference point corresponding to each of the translation reference points; the first direction is used to indicate the direction in which the previous initial reference point of the target initial reference point points to the target initial reference point; and determine the translation reference point whose directional difference between the first extension direction and the first direction is greater than a reversal threshold as the reversal reference point.

[0173] In one possible implementation, the determining unit is further configured to: determine the current target reference point to be verified at the current moment among the first reference points, and add the current target reference point to a first set of valid reference points to obtain a target set; the first set of valid reference points is the set of valid reference points corresponding to the target reference point to be verified at the previous moment; determine candidate valid reference points corresponding to the current target reference point based on the azimuth relationship between the current target reference point and the intermediate point; the intermediate point is a reference point in the target set located between the current target reference point and the first reference point in the target set; merge candidate valid reference points that do not meet the distance requirement between each other to obtain a set of valid reference points for the current target reference point, and determine the second reference point based on the valid reference point corresponding to the last target reference point.

[0174] In one possible implementation, the determining unit is further configured to: determine angle information corresponding to each intermediate point based on the current target reference point; wherein the angle information is the angle between a first vector pointing from the previous intermediate point to the intermediate point and a second vector pointing from the intermediate point to the current target reference point; and if it is determined that all the angle information is greater than a preset angle, determine all reference points in the target set as candidate valid reference points.

[0175] In one possible implementation, the determining unit is further configured to: when the determined portion of the angle information is greater than the preset angle, determine the intermediate point closest to the current target reference point among the intermediate points where the angle information is greater than the preset angle, to obtain a first intermediate point; determine a first target vector composed of the first intermediate point and the second intermediate point; the second intermediate point is the next adjacent reference point of the first intermediate point in the target set; when the positional relationship between the first target vector and the current target reference point is determined to be equivalent to the positional relationship between the current position of the agricultural machinery and the original reference path, delete the reference point located between the first intermediate point and the current target reference point in the target set, and determine the candidate valid reference point based on the target set after deletion.

[0176] In one possible implementation, the determining unit is further configured to: determine a third vector composed of the current target reference point and the target reference point to be verified at the previous moment, and determine a second target vector composed of the first intermediate point and the third intermediate point; the third intermediate point is the previous neighboring reference point of the first intermediate point in the target set; if the third vector and the second target vector are determined to intersect, the first intermediate point is deleted from the target set after deletion to obtain the candidate valid reference point.

[0177] In one possible implementation, the determining unit is further configured to: when the current target reference point is the last target reference point, and when the positional relationship between the first target vector and the last target reference point is not equivalent to the positional relationship between the current position of the agricultural machinery and the original reference path, determine a heading vector based on the heading angle of the current target reference point; determine the target intersection points between each vector in the target set and the heading vector; and determine the candidate valid reference points based on the reference points in the target set located before the target intersection points and the target intersection points.

[0178] In one possible implementation, the determining unit is further configured to: determine whether the positional relationship between the fourth vector and the current target reference point is equivalent to the positional relationship between the current position of the agricultural machinery and the original reference path when each of the angle information is determined to be less than the preset angle; the fourth vector is the vector formed by the first two reference points in the first set of valid reference points; if equivalence is determined, determine whether the distance between the first reference point with the largest index in the first set of valid reference points and the current target reference point is less than the distance between the first reference point and the second reference point with the smallest index in the first set of valid reference points; if yes, determine the second reference point and the current target reference point as candidate valid reference points; if no, determine the current target reference point in the target set as the candidate valid reference point.

[0179] The processing flow of each module in the device and the interaction flow between each module can be referred to the relevant descriptions in the above method embodiments, and will not be detailed here.

[0180] Example 3

[0181] Corresponding to Figure 1 In the method for generating curve paths, this disclosure also provides a computer device 1700, such as... Figure 17 The diagram shown is a structural schematic of a computer device 1700 provided in an embodiment of this disclosure, including:

[0182] The system includes a processor 171, a memory 172, and a bus 173. The memory 172 stores execution instructions and includes main memory 1721 and external memory 1722. The main memory 1721, also called internal memory, temporarily stores the computational data in the processor 171, as well as data exchanged with external memory such as a hard disk. The processor 171 exchanges data with the external memory 1722 through the main memory 1721. When the electronic device 1700 is running, the processor 171 communicates with the memory 172 through the bus 173, causing the processor 171 to execute the following instructions:

[0183] Obtain the original reference path of the agricultural machinery in the target area;

[0184] Each initial reference point of the original reference path is translated to obtain multiple translated reference points;

[0185] Based on the position information of each translation reference point, the turnback reference point among the plurality of translation reference points is determined and deleted to obtain the first reference point, and the second reference point among the first reference points that meets the working width requirements is determined;

[0186] A third reference point with a radius of curvature greater than the minimum turning radius of the agricultural machinery is determined from the second reference point, and a curved driving path of the agricultural machinery in the target area is generated based on the third reference point.

[0187] This disclosure also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the curve path generation method described in the above-described method embodiments. The storage medium may be a volatile or non-volatile computer-readable storage medium.

[0188] This disclosure also provides a computer program product carrying program code. The program code includes instructions that can be used to execute the steps of the curve path generation method described in the above method embodiments. For details, please refer to the above method embodiments, which will not be repeated here.

[0189] The aforementioned computer program product can be implemented through hardware, software, or a combination thereof. In one optional embodiment, the computer program product is specifically embodied in a computer storage medium; in another optional embodiment, the computer program product is specifically embodied in a software product, such as a software development kit (SDK), etc.

[0190] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems and devices described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. In the several embodiments provided in this disclosure, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division; in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection may be through some communication interfaces; the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms.

[0191] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0192] In addition, the functional units in the various embodiments of this disclosure can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0193] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this disclosure, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this disclosure. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0194] Finally, it should be noted that the above-described embodiments are merely specific implementations of this disclosure, used to illustrate the technical solutions of this disclosure, and not to limit it. The protection scope of this disclosure is not limited thereto. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this disclosure. Such modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this disclosure, and should all be covered within the protection scope of this disclosure. Therefore, the protection scope of this disclosure should be determined by the protection scope of the claims.

Claims

1. A method for generating a curved path, characterized in that, include: Obtain the original reference path of the agricultural machinery in the target area; Each initial reference point of the original reference path is translated to obtain multiple translated reference points; Based on the position information of each translation reference point, the turnback reference point among the plurality of translation reference points is determined and deleted to obtain the first reference point, and the second reference point among the first reference points that meets the working width requirements is determined; A third reference point with a radius of curvature greater than the minimum turning radius of the agricultural machinery is determined from the second reference point, and a curved driving path of the agricultural machinery in the target area is generated based on the third reference point. The step of determining the turnback reference point among the plurality of translation reference points based on the position information of each of the translation reference points includes: Determine the first extension direction of each translation reference point; the first extension direction is used to indicate the direction from which the previous translation reference point of the current translation reference point points to the current translation reference point; A first direction is determined for the target initial reference point corresponding to each of the translation reference points; the first direction is used to indicate the direction from the previous initial reference point of the target initial reference point to the target initial reference point; The translation reference point where the directional difference between the first extension direction and the first direction is greater than the reversal threshold is determined as the reversal reference point.

2. The method according to claim 1, characterized in that, The determination of the second reference point among the first reference points that meets the working width requirements includes: Determine the current target reference point to be verified at the current moment among the first reference points, and add the current target reference point to the first set of valid reference points to obtain the target set; the first set of valid reference points is the set of valid reference points corresponding to the target reference point to be verified at the previous moment. Based on the orientational relationship between the current target reference point and the intermediate point, candidate valid reference points corresponding to the current target reference point are determined; the intermediate point is a reference point in the target set located between the current target reference point and the first reference point in the target set. Candidate valid reference points that do not meet the distance requirement in pairs are merged to obtain a set of valid reference points for the current target reference point, and the second reference point is determined based on the valid reference point corresponding to the last target reference point.

3. The method according to claim 2, characterized in that, The step of determining candidate valid reference points corresponding to the current target reference point based on the azimuth relationship between the current target reference point and the intermediate point includes: Based on the current target reference point, determine the angle information corresponding to each intermediate point; wherein, the angle information is the angle between a first vector pointing from the previous intermediate point to the intermediate point and a second vector pointing from the intermediate point to the current target reference point; If all the angle information is determined to be greater than the preset angle, all reference points in the target set are determined as the candidate valid reference points.

4. The method according to claim 3, characterized in that, The step of determining candidate valid reference points corresponding to the current target reference point based on the azimuth relationship between the current target reference point and the intermediate point includes: If it is determined that some of the angle information is greater than the preset angle, the nearest intermediate point to the current target reference point is determined among the intermediate points where the angle information is greater than the preset angle, and a first intermediate point is obtained; Determine a first target vector formed by the first intermediate point and the second intermediate point; the second intermediate point is the next adjacent reference point of the first intermediate point in the target set; If the positional relationship between the first target vector and the current target reference point is determined to be equivalent to the positional relationship between the current position of the agricultural machinery and the original reference path, then the reference points located between the first intermediate point and the current target reference point in the target set are deleted, and the candidate valid reference points are determined based on the target set after deletion.

5. The method according to claim 4, characterized in that, The step of determining the candidate valid reference points based on the target set after deletion includes: A third vector is determined by the current target reference point and the target reference point to be verified at the previous moment, and a second target vector is determined by the first intermediate point and the third intermediate point; the third intermediate point is the previous neighboring reference point of the first intermediate point in the target set. If it is determined that the third vector and the second target vector intersect, the first intermediate point is deleted from the target set after deletion, and the candidate valid reference point is obtained.

6. The method according to claim 4, characterized in that, The current target reference point is the last target reference point; the method further includes: If the positional relationship between the first target vector and the last target reference point is not equivalent to the positional relationship between the current position of the agricultural machinery and the original reference path, the heading vector is determined based on the heading angle of the current target reference point. Determine the target intersection points between each vector of the target set and the heading vector; The candidate valid reference point is determined based on the reference point in the target set that is located before the target intersection point and the target intersection point.

7. The method according to claim 3, characterized in that, The step of determining candidate valid reference points corresponding to the current target reference point based on the azimuth relationship between the current target reference point and the intermediate point includes: If each angle is less than the preset angle, determine whether the positional relationship between the fourth vector and the current target reference point is equivalent to the positional relationship between the current position of the agricultural machinery and the original reference path; the fourth vector is the vector formed by the first two reference points in the first set of valid reference points. If equivalence is determined, determine whether the distance between the first reference point with the largest index in the first set of valid reference points and the current target reference point is less than the distance between the first reference point and the second reference point with the smallest index in the first set of valid reference points; If it is determined that the second reference point and the current target reference point are the candidate valid reference points; If no result is found, the current target reference point in the target set is determined as the candidate valid reference point.

8. A curved path generation device, characterized in that, include: The acquisition unit is used to acquire the original reference path of the agricultural machinery in the target area; The translation unit is used to translate each initial reference point of the original reference path to obtain multiple translation reference points; The determining unit is used to determine and delete the turning-back reference point among the plurality of translation reference points based on the position information of each of the translation reference points, to obtain a first reference point, and to determine a second reference point among the first reference points that meets the working width requirements; The path generation unit is used to determine a third reference point in the second reference point whose radius of curvature is greater than the minimum turning radius of the agricultural machinery, and to generate a curved driving path of the agricultural machinery in the target area based on the third reference point; The step of determining the turnback reference point among the plurality of translation reference points based on the position information of each of the translation reference points includes: Determine the first extension direction of each translation reference point; the first extension direction is used to indicate the direction from which the previous translation reference point of the current translation reference point points to the current translation reference point; A first direction is determined for the target initial reference point corresponding to each of the translation reference points; the first direction is used to indicate the direction from the previous initial reference point of the target initial reference point to the target initial reference point; The translation reference point where the directional difference between the first extension direction and the first direction is greater than the reversal threshold is determined as the reversal reference point.

9. A computer device, characterized in that, include: The computer device includes a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the computer device is running, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, they perform the steps of the curve path generation method as described in any one of claims 1 to 7.

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