A method and apparatus for harrowing a concave polygonal plot and an agricultural machine

Abstract

The application relates to the field of agricultural machine operation, and provides a harrowing method and device for a concave polygonal field and an agricultural machine. The harrowing method comprises the following steps: obtaining a graph of a concave polygonal field, taking at least one concave vertex as a starting point, and dividing the graph into at least two groups of convex polygons according to at least two segmentation strategies, wherein each group of convex polygons comprises at least two convex polygons; determining a harrowing cost of each group of convex polygons according to an area cost, a quantity cost and a shape cost of each group of convex polygons; determining a target segmentation strategy of the graph according to the harrowing cost of each group of convex polygons; dividing the graph into a plurality of convex polygons according to the target segmentation strategy of the graph; and planning the plurality of convex polygons and a harrowing path between the plurality of convex polygons to complete the harrowing operation of the concave polygonal field, so that the concave polygonal field can be effectively and efficiently harrowed.

Description

Technical Field

[0001] This application relates to the field of agricultural machinery operations, and more particularly to a method, apparatus and agricultural machinery for harrowing concave polygonal plots. Background Technology

[0002] Current raking methods primarily focus on path planning for convex polygonal plots, and these methods can reasonably complete raking operations on convex polygonal plots. However, due to the diverse types of plots, many concave polygonal plots also require path planning during raking operations. Using current raking methods often results in significant overlap at plot boundaries. To adapt to the raking requirements of concave polygonal plots, a raking method specifically designed for concave polygonal plots is needed.

[0003] Therefore, how to develop a tillage method suitable for concave polygonal plots has become an urgent problem to be solved. Summary of the Invention

[0004] This application provides a method, apparatus, and agricultural machinery for harrowing concave polygonal plots, which can provide a harrowing method suitable for concave polygonal plots.

[0005] In a first aspect, a method for raking concave polygonal plots is provided. The raking method includes: acquiring a graphic of the concave polygonal plot, the graphic including multiple vertices and multiple edges with the multiple vertices as endpoints, the multiple vertices including at least one concave vertex; starting from at least one concave vertex, dividing the graphic into at least two sets of convex polygons according to at least two segmentation strategies, each set of convex polygons including at least two convex polygons; determining the raking cost of each set of convex polygons according to the area cost, quantity cost, and shape cost of each set of convex polygons; determining the target segmentation strategy of the graphic according to the raking cost of each set of convex polygons; dividing the graphic into multiple convex polygons according to the target segmentation strategy of the graphic; and planning the multiple convex polygons and the raking paths between the multiple convex polygons to complete the raking operation of the concave polygonal plot.

[0006] In this embodiment, the segmentation of concave polygonal plots takes into account the area cost, quantity cost, and shape cost, and a segmentation strategy with the greatest comprehensive advantage in terms of area difference, quantity, and shape can be obtained. The multiple convex polygons segmented by this segmentation strategy can be used as the basis for path planning, thereby achieving high efficiency in harrowing operations.

[0007] In conjunction with the first aspect, in some implementations of the first aspect, the raking method further includes: determining the area cost of each set of convex polygons according to the first formula. The first formula includes:

[0008] ;

[0009] in, The number of convex polygons in each group. (i∈[1, ..., n]) represents the area of ​​each convex polygon in each group of convex polygons. This is the average area of ​​each group of convex polygons.

[0010] In conjunction with the first aspect, in some implementations of the first aspect, the raking method further includes: determining the cost of the number of convex polygons in each group based on the number n of each group of convex polygons. .

[0011] In conjunction with the first aspect, in some implementations of the first aspect, the harrowing method further includes: determining the shape cost of each set of convex polygons according to the second formula. The second formula includes:

[0012] ;

[0013] in, The number of convex polygons in each group. The shape cost is the cost of each convex polygon in each group of convex polygons.

[0014] In conjunction with the first aspect, in some implementations of the first aspect, the raking method further includes: determining the shape cost of each convex polygon in each group of convex polygons according to the third formula. The third formula includes:

[0015] ;

[0016] in, The number of convex polygons in each group. Let be the perimeter of each convex polygon in each group of convex polygons.

[0017] In conjunction with the first aspect, in some implementations of the first aspect, the harrowing method further includes: determining the harrowing cost for each group of convex polygons according to the fourth formula. The fourth formula includes:

[0018] ;

[0019] in, It is the cost of area. The weight, It is a cost of quantity The weight, It is the cost of shape The weight.

[0020] In this embodiment of the application, by quantifying the cost of harrowing, the cost of different segmentation strategies can be comprehensively considered before the operation, thereby optimizing the harrowing operation method.

[0021] In conjunction with the first aspect, in some implementations of the first aspect, determining the target segmentation strategy of the graphic based on the harrowing cost of each group of convex polygons includes: determining the segmentation strategy adopted by the group of convex polygons with the lowest harrowing cost as the target segmentation strategy of the graphic.

[0022] In conjunction with the first aspect, in some implementations of the first aspect, at least two segmentation strategies include a first segmentation strategy, wherein the step of segmenting the graphic into at least two sets of convex polygons based on the at least one concave vertex as the starting point according to the at least two segmentation strategies includes: segmenting the graphic into a set of convex polygons based on the at least one concave vertex as the starting point according to the first segmentation strategy; wherein the first segmentation strategy includes: segmenting the graphic by lines connecting the at least one concave vertex and at least one of the plurality of vertices.

[0023] In conjunction with the first aspect, in some implementations of the first aspect, at least two segmentation strategies include a second segmentation strategy. The step of segmenting the graphic into at least two sets of convex polygons based on the at least one concave vertex as the starting point and according to the at least two segmentation strategies includes: segmenting the graphic into a set of convex polygons based on the at least one concave vertex as the starting point and according to the second segmentation strategy; wherein the second segmentation strategy includes: segmenting the graphic by connecting the at least one concave vertex and the projection points of the at least one concave vertex on the plurality of edges.

[0024] In this embodiment, the graphic is segmented by using vertices or projection points as segmentation points. Since these segmentation points are fixed, automatic segmentation can be easily achieved, saving labor costs.

[0025] In conjunction with the first aspect, in some implementations of the first aspect, the connecting lines do not intersect within the area enclosed by the graphic.

[0026] In a second aspect, a harrowing control device for a concave polygonal plot is provided, comprising: a processor and a memory; the memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to execute: a harrowing method as in any implementation of the first aspect.

[0027] Thirdly, an agricultural machine is provided, comprising: a harrowing power unit, and a harrowing control device for a concave polygonal plot as described in the second aspect, the harrowing control device being used to control the agricultural machine to complete the harrowing operation of the concave polygonal plot according to the harrowing method as described in any implementation of the first aspect.

[0028] Fourthly, this application provides a processing circuit (or processor) for executing the method provided in any of the implementations of the first aspect above.

[0029] Fifthly, a computer-readable storage medium is provided that stores program code for execution by a device, the program code including a method for performing any of the implementations of the first aspect described above.

[0030] In a sixth aspect, a computer program product containing instructions is provided, which, when run on a computer, causes the computer to perform the method provided by any of the implementations of the first aspect described above.

[0031] In a seventh aspect, a chip is provided, the chip including a processing circuit and a communication interface, wherein the processing circuit reads instructions stored in a memory through the communication interface and executes the method provided by any implementation of the first aspect.

[0032] Optionally, as one implementation, the chip also includes a memory storing computer programs or instructions, and a processing circuit for executing the computer programs or instructions stored in the memory. When the computer programs or instructions are executed, the processing circuit is used to perform the method provided by any of the implementations of the first aspect above. Attached Figure Description

[0033] Figure 1 This is a comparison diagram of the raking of convex polygonal plots and concave polygonal plots in this application.

[0034] Figure 2 A schematic flowchart of a method for raking concave polygonal plots provided in one embodiment of this application.

[0035] Figure 3 This diagram illustrates the segmentation of a concave polygon with a concave vertex.

[0036] Figure 4 A schematic diagram showing the feedback of the segmentation results for concave polygonal plots is shown.

[0037] Figure 5 This is a schematic diagram of a concave polygon plot divided by vertices according to an embodiment of this application.

[0038] Figure 6 This is a schematic diagram of a concave polygon plot divided by the projection points of the concave vertex on the edge of the concave polygon according to an embodiment of this application.

[0039] Figure 7 A schematic diagram of a raking path planning method between convex polygons is shown.

[0040] Figure 8 A schematic flowchart of a harrowing method provided in an embodiment of this application is shown.

[0041] Figure 9 A schematic diagram of the determination of a work line provided in one embodiment of this application is shown.

[0042] Figure 10 A schematic diagram of a working line array according to one embodiment of this application is shown.

[0043] Figure 11 A schematic diagram of the path planning rules in one embodiment of this application is shown.

[0044] Figure 12 This is a schematic diagram of a tillage control device for a concave polygonal plot provided in one embodiment of this application.

[0045] Figure 13 This is a schematic diagram of a second raking control device for a concave polygonal plot provided in another embodiment of this application.

[0046] Figure 14 This is a schematic diagram of an agricultural machine provided in one embodiment of this application. Detailed Implementation

[0047] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0048] Figure 1 This is a comparison diagram of the raking of convex polygonal plots and concave polygonal plots in this application.

[0049] like Figure 1 As shown, the currently used harrowing methods are mainly for path planning on convex polygonal plots, such as... Figure 1 As shown in the left figure, these methods can reasonably complete the harrowing operation on convex polygonal plots. However, due to the diverse types of plots, many concave polygonal plots require path planning during the harrowing process. In this case, such as... Figure 1 As shown in the right figure, the current raking method often results in a large number of repeated edge pressing at the plot boundaries. In order to adapt to the raking operation requirements of concave polygonal plots, a raking algorithm suitable for concave polygonal plots is needed.

[0050] Figure 2 A schematic flowchart of a method for raking concave polygonal plots provided in one embodiment of this application.

[0051] like Figure 2 A method for raking the concave polygonal plot of land as shown, the method may include:

[0052] S210, obtain the graphic of the concave polygon plot.

[0053] The shape of a concave polygon plot can be obtained by extracting the shape through image processing after taking an aerial photograph, or by scanning around the boundary of the concave polygon plot, or by drawing it manually and then inputting it. This application does not limit the method.

[0054] When obtaining the graphic of a land parcel, it may not be known in advance whether the land parcel is a concave or convex polygon. Optionally, the concavity or convexity of the land parcel can be determined. For example, the angles of all interior angles of the polygon of the land parcel can be obtained, and it can be determined whether there is at least one interior angle greater than 180°. If so, the polygon is a concave polygon, and the vertex of the interior angle greater than 180° is the concave vertex.

[0055] The shape of the concave polygonal plot may include multiple vertices and multiple edges with the multiple vertices as endpoints, wherein the multiple vertices include at least one concave vertex.

[0056] After obtaining the graphic of the concave polygon plot, step S220 can be performed:

[0057] S220, starting from at least one concave vertex, the graphic is divided into at least two sets of convex polygons according to at least two segmentation strategies.

[0058] For example, Figure 3 This diagram illustrates the segmentation of a concave polygon with one concave vertex. A line connecting concave vertex 1 as the starting point and the dividing point on the boundary of the concave polygon as the ending point divides the concave polygon into two convex polygons. The diagram only shows an example with one concave vertex. When there are multiple concave vertices, lines can be drawn from each of these vertices as starting points to segment the concave polygon.

[0059] The use of the concave vertex as the starting point in the embodiments of this application is merely for the convenience of logical understanding and does not imply any limitation on the direction of the connection. For example, a connection drawn from the dividing point to the concave vertex can also be understood as a connection drawn from the concave vertex as the starting point. Such a description is only for the purpose of describing the connection.

[0060] Optionally, the dividing point can be any point on the boundary of the concave polygon. The dividing point can be selected by an algorithm or by a reference point selected by the user on the boundary.

[0061] Optionally, after dividing the graphic into multiple plots starting from the concave vertex, the plot attributes can be displayed for user reference. For example, Figure 4 A schematic diagram illustrating the feedback of segmentation results for a concave polygonal plot is shown. The concave polygonal plot is segmented using concave vertex 1 and segmentation point 1 to obtain sub-plot 1 and sub-plot 2, where sub-plot 1 is a convex polygon and sub-plot 2 is a concave polygon. The feedback could be, for example, an output stating "Concave polygonal plots still exist; please confirm to continue segmentation." In this embodiment, it should be ensured that all segmented plots are convex polygons.

[0062] Optionally, such as Figure 5As shown, the dividing point can be a vertex of a concave polygon. That is, a first segmentation strategy is used to divide the figure into multiple polygons by connecting at least one concave vertex and at least one or more vertices. The first segmentation strategy refers to a type of segmentation strategy where each sub-segmentation strategy in the first segmentation strategy can segment a set of convex polygons. Figure 5 In the case of segmentation strategies 2 and 6, the resulting graphics still contain concave polygons, so these segmentation strategies can be discarded.

[0063] Optionally, such as Figure 6 As shown, the dividing point can be the projection point of a concave vertex onto the edge of the concave polygon. That is, a second segmentation strategy divides the figure into multiple convex polygons by connecting at least one concave vertex and at least one projection point of the concave vertex onto multiple edges. A second segmentation strategy refers to a type of segmentation strategy where each sub-segmentation strategy in the second segmentation strategy can segment a set of convex polygons. Figure 6 In the case of segmentation strategy 1 and segmentation strategy 2, concave polygons exist, so the segmentation strategy can be discarded.

[0064] In this embodiment, the graphic is segmented by using vertices or projection points as segmentation points. Since these segmentation points are fixed, automatic segmentation can be easily achieved, saving labor costs.

[0065] Optionally, it can be checked whether the lines connecting the concave vertex and the dividing point intersect to ensure that the lines connecting the concave vertex and the dividing point do not intersect within the graphic. For example, Figure 5 The segmentation strategies 3, 4, and 5 in the text. Figure 6 All three of the segmentation methods have intersection points.

[0066] After dividing the concave polygonal plot into at least two sets of convex polygons using at least two segmentation strategies, step S230 can be performed:

[0067] S230, determine the harrowing cost of each group of convex polygons based on the area cost, quantity cost, and shape cost of each group of convex polygons.

[0068] The raking cost is the cost of raking the set of convex polygons, which may include time cost, computing power cost, etc., and this application does not limit this. The area cost is used to evaluate the degree of difference in area of ​​the set of convex polygons, the quantity cost is used to evaluate the quantity of the set of convex polygons, and the shape cost is used to evaluate the regularity of the shape of the set of convex polygons.

[0069] During the harrowing process, significant differences in polygon area can increase planning and operational complexity. Furthermore, an excessive number of polygons can lead to more ineffective transfer processes, and planning and operating flat shapes are costly. Therefore, incorporating area cost, quantity cost, and shape cost allows for a comprehensive calculation of the harrowing efficiency under this segmentation strategy, thereby reducing the costs of harrowing planning and operations.

[0070] In one possible embodiment, the area cost of each set of convex polygons can be determined according to a first formula. The first formula includes:

[0071] ;

[0072] Where n is the number of convex polygons in each group of convex polygons, is... (i∈[1, ..., n]) represents the area of ​​each convex polygon in each group of convex polygons. This is the average area of ​​each group of convex polygons.

[0073] Area cost can also be the standard deviation or average range of the area of ​​each convex polygon in each group of convex polygons. As long as it can reflect the degree of difference in the area of ​​the group of convex polygons, it can be used as a way to realize area cost.

[0074] In one possible embodiment, the cost of the number of convex polygons in each group can be determined based on the number n of each group of convex polygons. .

[0075] In one possible embodiment, the shape cost of each set of convex polygons is determined according to the second formula. The second formula includes:

[0076] ;

[0077] in, The shape cost is the cost of each convex polygon in each group of convex polygons.

[0078] In one possible embodiment, the shape cost of each convex polygon in each group of convex polygons can be determined according to the third formula. The third formula includes:

[0079] ;

[0080] in, Let be the perimeter of each convex polygon in each group of convex polygons.

[0081] Shape cost can also be other ways of evaluating each convex polygon in each group of convex polygons. For example, when using the rectangle-optimal approach, the shape cost of the rectangle can be negative, and the shape costs of other shapes can be positive, with the reciprocal of the aspect ratio of the rectangle as the value of the shape cost.

[0082] In one possible embodiment, the harrowing cost for each set of convex polygons can be determined according to the fourth formula. The fourth formula includes:

[0083]

[0084] in, It is the cost of area. The weight, It is a cost of quantity The weight, It is the cost of shape The weight.

[0085] In the formula , , The cost can be determined based on the actual area cost during harrowing. Quantity cost and shape cost The impact of the difficulty of planning and performing harrowing operations on the process is adjusted. This adjustment can be based on experience or by using machine learning models to adjust parameters; this application does not limit the method.

[0086] In this embodiment of the application, by quantifying the cost of harrowing, the cost of different segmentation strategies can be comprehensively considered before the operation, thereby optimizing the harrowing operation method.

[0087] After determining the cost of harrowing, step S240 can be executed:

[0088] S240, determine the target segmentation strategy for the graphic based on the harrowing cost of each group of convex polygons.

[0089] In one possible embodiment, the target segmentation strategy can be determined by selecting the segmentation strategy used by the group of convex polygons with the lowest harrowing cost among at least two segmentation strategies used to segment at least two groups of convex polygons.

[0090] In another possible embodiment, the target segmentation strategy can be determined by feeding back the harrowing cost of at least two segmentation strategies used to segment at least two sets of convex polygons and the at least two sets of convex polygons to the user interface, so that the user can determine the target segmentation strategy.

[0091] In another possible embodiment, the target segmentation strategy can be determined by inputting the harrowing costs of at least two segmentation strategies used to segment at least two groups of convex polygons into an artificial neural network, and obtaining the target segmentation strategy based on the optimization model.

[0092] After determining the target segmentation strategy:

[0093] S250, according to the target segmentation strategy of the graphic, divides the concave polygon plot into multiple convex polygons.

[0094] The resulting segmented convex polygons can each be used for path planning using a separate harrowing algorithm. Path planning methods will be described later.

[0095] After dividing the concave polygon plot into multiple convex polygons:

[0096] S260 plans the raking paths for multiple convex polygons and between them to complete the raking operation of concave polygon plots.

[0097] For example, Figure 7 A schematic diagram of a tillage path planning method between convex polygons is shown. For example... Figure 7 As shown, after the harrowing path of the convex polygon work area 1 is planned, the point in work area 2 that is closest to the end point of work area 1 can be selected as the starting point of work area 2 for path planning.

[0098] In this embodiment, the segmentation of concave polygonal plots takes into account the area cost, quantity cost, and shape cost, and a segmentation strategy with the greatest comprehensive advantage in terms of area difference, quantity, and shape can be obtained. The multiple convex polygons segmented by this segmentation strategy can be used as the basis for path planning, thereby achieving high efficiency in harrowing operations.

[0099] As one possible implementation, in order to avoid affecting the planned harrowing path, the path planning from work area 1 to work area 2 can be a path outside the work area or a movement along the path planned in work area 1.

[0100] As one possible implementation, since debris often accumulates at the boundary points of the work path during actual harrowing, preventing vehicles from passing through obstacles, obstacle avoidance path planning can be used to move between areas (e.g., Figure 7 (e.g., line breaks in text). Figure 7 As shown, optionally, the intersection of the harrowing path and the boundary of the convex polygon is marked as an obstacle point, and the distance between the harrowing path and the obstacle point between the convex polygons is greater than the width of the agricultural implements of the agricultural machinery.

[0101] As an example, not a limitation, of harrowing methods, the following combines... Figures 8 to 10This describes an example of planning a harrowing path for a segmented convex polygon.

[0102] Figure 8 A schematic flowchart of a harrowing method provided in an embodiment of this application is shown.

[0103] like Figure 8 The harrowing method shown may include:

[0104] S810, Determine the working line array in a convex polygon.

[0105] The work line array can be determined based on the first work line and the second work line. For example, the work line array may include a set of multiple first work lines and multiple second work lines that are parallel to each other, with the endpoints of the first work lines and the second work lines located on the edges of the graphic, and the first work lines and the second work lines running in opposite directions.

[0106] Optionally, the spacing between the multiple first work lines is equal; and / or, the spacing between the multiple second work lines is equal.

[0107] In this embodiment, the work line array is determined based on the first parallel work line and the second parallel work line, and the spacing between the first work line and / or the spacing between the second work line are equal. The determined work line array is more uniform, the turning and moving time of agricultural machinery is reduced, and the planned path operation cost is lower and the uniformity is better.

[0108] The following is combined Figure 9 and Figure 10 Describe the process of determining the working line array. Figure 9 A schematic diagram of the determination of a work line provided in one embodiment of this application is shown. Figure 10 A schematic diagram of a working line array according to one embodiment of this application is shown.

[0109] like Figure 9 As shown, the minimum bounding rectangle (e.g., convex polygon) of the shape of the plot to be worked on can be determined. Figure 2 (The dashed line portion). Boundary points are determined based on the aspect ratio of the minimum bounding rectangle. These boundary points include the division points and at least one vertex of the minimum bounding rectangle. The first and second work lines are then determined based on these boundary points.

[0110] As one possible implementation, the number of equal parts N of the minimum bounding rectangle can be determined based on the aspect ratio of the bounding rectangle. For example, the number of equal parts N can be determined as (length of the longer side / length of the shorter side) based on the aspect ratio. The division points are then determined on the longer side of the minimum bounding rectangle based on the number of equal parts, for example... Figure 2In the diagram, the boundary is divided into N = 2.5 equal parts. Divide the boundary along the longer side using points N1 and N2. The distances from N1, N2, and P3 to P4 are 1, 2, and 2.5, respectively. Connecting vertex P1 to the dividing point N1 yields operation direction 1 (the first operation line). Connecting dividing points N1 and N4 yields operation direction 2 (the second operation line). This example is merely illustrative; other methods can be used to determine the operation direction, such as arbitrarily selecting a point on the boundary and connecting the vertex to that arbitrarily selected point as operation direction 1.

[0111] The smallest bounding rectangle can be the one with the smallest area among all the bounding rectangles of the polygon.

[0112] As another possible implementation, to determine the division points, the aspect ratio can be rounded up; for example, if the aspect ratio is 2.5, then the division number is 3. Based on the division number, N-1 division points are determined on the longer side of the smallest bounding rectangle. Figure 2 N-1, meaning two equally spaced points, trisect the longer side of the smallest bounding rectangle. By defining vertex P3 and the equally spaced points as boundary points and connecting them sequentially, the first and second working lines can be obtained. For example, after connecting P1 and N1 to obtain working direction 1, the angle θ between working direction 1 and working direction 2 can be set in degrees, for example... Figure 2 In this context, θ can be 135° or other degrees, and this application does not limit it.

[0113] After determining the first and second work lines, the work line array can be determined based on the first and second work lines.

[0114] For example, Figure 10 The diagram shows a work line array in one embodiment of this application, wherein the dashed part is the work line generated according to the first work line (work direction 1), and the solid part is the work line generated according to the second work line (work direction 2). That is, in the work line array, there is a set of first work lines that are parallel to each other and a set of second work lines that are parallel to each other. The first work line and the second work line are opposite work lines.

[0115] In the working line array, the spacing between the working lines can be adjusted according to the width of the agricultural machinery, and this application does not limit this.

[0116] After determining the work line array, the work can start point and the path can be planned while working, or the work can be carried out according to the planned path after the path planning is completed. This application does not limit this.

[0117] S820 selects the current work line from multiple first work lines and multiple second work lines according to preset work rules to form the harrowing work path for the plot to be worked.

[0118] The following is combined Figure 11Describe the method for selecting the work line. Among them, Figure 11 A schematic diagram of the path planning rules in one embodiment of this application is shown.

[0119] Optionally, the path can be planned in the order of task direction 1 → task direction 2 → task direction 1 → task direction 2.

[0120] As one possible implementation, such as Figure 11 As shown, a first priority work line can be selected from multiple first work lines and multiple second work lines as the current work line according to the first work rule. The first priority work line is a work line that has not been planned and selected. The first priority work line is the closest opposite work line that is less than a first threshold away from the previous work line, and the first priority work line does not intersect with the previous work line.

[0121] For example, in the previous work line (e.g.) Figure 11 The endpoint of path 0 in the path is at the first threshold (e.g. Figure 11 Search range 1) is a radius search for non-intersecting work lines that are not planned or selected. Within search range 1, there exist non-intersecting work lines that do not intersect with the previous work line (e.g., Figure 11 In the case of paths 3 and 4, the opposite work line that is closest to the end point of the previous work line is selected as the current work line.

[0122] Optionally, a first threshold can be determined based on the turning time and speed of the agricultural machinery. For example, the time it takes for the agricultural machinery to turn from the direction of the first work line to the direction of the second work line is the first time T1, and the time it takes to turn from the direction of the first work line to the direction of another first work line is the second time T2. The average speed of the agricultural machinery is V. Then the first threshold can be (T2-T1)V. The first threshold is the distance traveled by the agricultural machinery in the extra time required for turning, and within this threshold, the travel time is less than the turning time. By selecting the first threshold, the execution time of the planned path can be optimized, thereby improving the efficiency of harrowing.

[0123] As one possible implementation, in the absence of a first priority work line, a second priority work line is selected from multiple first work lines and multiple second work lines as the current work line according to a second work rule. The second priority work line is a work line that has not been planned and selected, and the first priority work line is the closest opposite work line that is less than a first threshold away from the previous work line.

[0124] For example, such as Figure 11 As shown, if there are no opposing work lines within search range 1 that do not intersect with the current work line, then the work lines within search range 1 that intersect with the previous work line (e.g., Figure 11The work line closest to the end point of the previous work line (e.g., in path 1 and path 2) Figure 11 Path 2) is the current work line.

[0125] As one possible implementation, in the absence of a second priority work line, a third priority work line is selected from multiple first work lines and multiple second work lines as the current work line according to a third work rule. The third priority work line is a work line that has not been planned and selected, and the second priority work line is the parallel work line that is closest to the previous work line and whose distance is less than a second threshold.

[0126] For example, such as Figure 11 As shown, in the previous work line (e.g.) Figure 11 The endpoint of path 6) is at the second threshold (e.g. Figure 11 Search range 2) is the radius for searching for unworked parallel work lines. If an unworked parallel work line exists within search range 2 (e.g., ...), ... Figure 11 (From paths 7, 8, 9 and 10), select the work line closest to the end point of the previous work line as the current work line.

[0127] Optionally, the second threshold can be related to the turning time and speed of the agricultural machinery. For example, if the time it takes for the agricultural machinery to turn from the direction of one work line to the direction of another first work line is the second time T2, and the average speed of the agricultural machinery is V, then the second threshold can be V×T2. The second threshold is the distance the agricultural machinery needs to travel in the time required to turn; within this threshold, the travel time is less than the turning time. By selecting the second threshold, the execution time of the planned path can be optimized, improving harrowing efficiency.

[0128] As one possible implementation, in the absence of a third priority work line, a fourth priority work line is selected from multiple first work lines and multiple second work lines as the current work line according to a fourth work rule. The fourth priority work line is a work line that has not been planned and selected, and the fourth priority work line is the opposite work line that is closest to the previous work line.

[0129] As one possible implementation, if a fourth priority work line does not exist, a fifth priority work line is selected from multiple first and second work lines as the current work line according to a fifth work rule. The fifth priority work line is a work line that has not been planned or selected, and it is the parallel work line closest to the previous work line. If no fifth priority work line exists, the planning process ends.

[0130] In this embodiment, a diagonal harrowing process is carried out by determining an array of work lines within the graphic of the plot to be harrowed, and the priority of the work lines of the harrowing path is selected according to preset work rules, thereby improving work efficiency while ensuring harrowing uniformity.

[0131] Path planning can be completed before operation, and during actual operation, the agricultural machinery controls the harrowing power device of the agricultural machinery according to the pre-planned path; path planning can also be carried out while operating, and the path is planned and the harrowing power device of the agricultural machinery is controlled according to the actual situation of agricultural machinery operation. This application does not limit this.

[0132] The tillage power unit of the agricultural machinery mentioned in the embodiments of this application may include an engine and a rudder, etc., and this application does not limit it.

[0133] Figure 12 This is a schematic diagram of a tillage control device for a concave polygonal plot provided in one embodiment of this application.

[0134] like Figure 12 The tillage control device 1000 shown may include a processing unit 1010 and a storage unit 1020. The processing unit 1010 may be used to process data. The storage unit 1020 may be used to store instructions and / or data, and the processing unit 1010 may read the instructions and / or data in the storage unit 1020 to enable the device to implement the aforementioned method embodiment.

[0135] As a design, the harrowing control device 1000 is used to execute the steps or processes executed by the processor in the above method embodiments; the processing unit 1010 is used to execute data-related operations in the above method embodiments, such as determining the harrowing cost of each set of convex polygons based on the obtained graphics of the concave polygon plots and the area cost, quantity cost, and shape cost of each set of convex polygons in at least two sets of convex polygons. The processing unit 1010 may include multiple modules, with different modules executing different steps.

[0136] It should be understood that the specific process of each unit performing the above-mentioned corresponding steps has been described in detail in the above method embodiments, and will not be repeated here for the sake of brevity.

[0137] It should also be understood that the harrowing control device 1000 described here is embodied in the form of a functional unit. The term "unit" here can refer to application-specific integrated circuits (ASICs), electronic circuits, processors (e.g., shared processors, proprietary processors, or group processors) and memories for executing one or more software or firmware programs, integrated logic circuits, and / or other suitable components supporting the described functions. In an alternative example, those skilled in the art will understand that the harrowing control device 1000 can be specifically the apparatus in the above embodiments, and can be used to execute the various processes and / or steps corresponding to the apparatus in the above method embodiments; to avoid repetition, these will not be described again here.

[0138] The tillage control device 1000 of each of the above schemes has the function of implementing the corresponding steps performed by the device in the above methods. The function can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions; the processing unit, etc., can be replaced by a processor to execute the relevant processing operations in each method embodiment.

[0139] The processing unit 1010 can be a processing circuit.

[0140] It should be pointed out that, Figure 12 The tillage control device 1000 can be a chip or a chip system, such as a system-on-chip (SoC). The processing unit is a processor, microprocessor, or integrated circuit integrated on the chip. No specific limitations are imposed here.

[0141] Figure 13 This is a schematic diagram of a second tillage control device provided in another embodiment of this application.

[0142] like Figure 13 The tillage control device 2000 shown may include a processor 2010.

[0143] Optionally, such as Figure 13 As shown, the harrowing control device 2000 also includes a memory 2020, which is connected to the processor 2010 via a bus 2030.

[0144] Optionally, the processor 2010 may be coupled to the memory 2020, which is used to store computer programs or instructions and / or data. The processor 2010 is used to execute the computer programs or instructions stored in the memory 2020, or to read the data stored in the memory 2020, to perform the methods in the above method embodiments.

[0145] Optionally, there may be one or more processors 2010.

[0146] Optionally, the memory 2020 may be one or more.

[0147] Alternatively, the memory 2020 can be integrated with the processor 2010, or it can be set up separately.

[0148] As an example, processor 2010 may have Figure 12 The processing unit 1010 shown has the function of a storage unit, and the memory 2020 may have the function of a storage unit.

[0149] As one option, the harrowing control device 2000 is used to implement the operations performed by the processor or host computer in the various method embodiments described above.

[0150] For example, processor 2010 is used to execute computer programs or instructions stored in memory 2020 to implement the relevant operations of the processor in the various method embodiments described above.

[0151] It should be understood that the processor mentioned in the embodiments of this application can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0152] It should also be understood that the memory mentioned in the embodiments of this application can be volatile memory and / or non-volatile memory. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM). For example, RAM can be used as an external cache. By way of example and not limitation, RAM includes the following forms: static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0153] It should be noted that when the processor is a general-purpose processor, DSP, ASIC, FPGA, or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, the memory (storage module) can be integrated into the processor.

[0154] Figure 13 The device mentioned can be the device in the foregoing embodiments, or it can be a chip or a chip system, such as a system on a chip (SoC). The processor is a processor, microprocessor, or integrated circuit integrated on the chip. No limitation is made here.

[0155] It should also be noted that the memory described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0156] When the device is a chip system, it may (or may be called a processing system) include logic circuits and input / output interfaces.

[0157] The logic circuit can be a processing circuit in the chip system. The logic circuit can be coupled to a memory cell, calling instructions from the memory cell, enabling the chip system to implement the methods and functions of the embodiments of this application. The input / output interface can be an input / output circuit in the chip system, outputting processed information or inputting data or signaling information to be processed into the chip system for processing.

[0158] Figure 14 This is a schematic diagram of an agricultural machine provided in one embodiment of this application.

[0159] As one possible implementation, such as Figure 14 As shown, the agricultural machinery may include the second harrowing control device 2000 in the aforementioned embodiments. The second harrowing control device 2000 can be communicatively connected to the harrowing power device of the agricultural machinery, thereby controlling the forward direction of the agricultural machinery and driving the agricultural implements to complete the harrowing operation according to the harrowing method provided in the above method embodiments.

[0160] As another possible embodiment, the harrowing control device 2000 in the agricultural machinery can also be connected to a communication module to communicate with the user, who can then control the harrowing power unit of the agricultural machinery to complete the harrowing operation according to the path planning in the aforementioned method embodiment.

[0161] This application also provides a computer-readable storage medium storing computer program instructions for implementing the methods executed by the apparatus in the above-described method embodiments.

[0162] For example, when the computer program instructions are executed by the computer, the computer can implement the methods performed by the apparatus in the various embodiments of the above methods.

[0163] This application also provides a computer program product comprising program instructions that, when executed by a computer, implement the methods performed by the apparatus in the above-described method embodiments.

[0164] The explanations and beneficial effects of the relevant contents in any of the devices provided above can be found in the corresponding method embodiments provided above, and will not be repeated here.

[0165] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0166] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0167] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0168] 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.

[0169] In addition, the functional units in the various embodiments of this application 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.

[0170] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, 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 application. 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.

[0171] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for harrowing a concave polygonal plot of land, characterized in that, The harrowing method includes: Obtain the graphic of the concave polygonal plot, the graphic including multiple vertices and multiple edges with the multiple vertices as endpoints, the multiple vertices including at least one concave vertex; Starting from the at least one concave vertex, the graphic is divided into at least two groups of convex polygons according to at least two segmentation strategies, and each group of convex polygons includes at least two convex polygons. The harrowing cost of each group of convex polygons is determined based on the area cost, quantity cost, and shape cost of each group of convex polygons in the at least two groups of convex polygons; the area cost of each group of convex polygons is determined according to the first formula. , The first formula includes: in, The number of each group of convex polygons. (i∈[1, ..., n]) represents the area of ​​each convex polygon in each group of convex polygons. This is the average area of ​​each group of convex polygons; The quantity cost of each group of convex polygons is determined based on the quantity of each group of convex polygons. The shape cost of each group of convex polygons is determined according to the second formula. , The second formula includes: in, The number of each group of convex polygons. The shape cost of each convex polygon in each group of convex polygons; The shape cost of each convex polygon in each group of convex polygons is determined according to the third formula. , The third formula includes: in, (i∈[1, ..., n]) represents the area of ​​each convex polygon in each group of convex polygons. The number of each group of convex polygons. Let be the perimeter of each convex polygon in each group of convex polygons; The harrowing cost for each group of convex polygons is determined according to the fourth formula. , The fourth formula includes: in, It's a cost based on area. It's a cost of quantity. It is the cost of shape. The area cost is The weight, The quantity cost is The weight, It is the shape cost The weights; Based on the harrowing cost of each group of convex polygons, determine the target segmentation strategy for the graphic; The graphic is segmented into multiple convex polygons according to the target segmentation strategy of the graphic. The multiple convex polygons and the harrowing paths between them are planned to control the agricultural machinery to complete the harrowing operation of the concave polygon plots.

2. The harrowing method according to claim 1, characterized in that, The step of determining the target segmentation strategy for the graphic based on the harrowing cost of each group of convex polygons includes: The segmentation strategy adopted by the set of convex polygons that minimizes the cost of tilling is determined as the target segmentation strategy for the graphic.

3. The harrowing method according to claim 1, characterized in that, The at least two segmentation strategies include a first segmentation strategy, wherein the segmentation of the graphic into at least two sets of convex polygons based on the at least one concave vertex and according to the at least two segmentation strategies includes: Starting from the at least one concave vertex, the graphic is divided into a set of convex polygons according to the first segmentation strategy; The first segmentation strategy includes: segmenting the graphic using lines connecting at least one concave vertex and at least one of the plurality of vertices.

4. The harrowing method according to claim 1, characterized in that, The at least two segmentation strategies include a second segmentation strategy, wherein the segmentation of the graphic into at least two sets of convex polygons based on the at least one concave vertex and according to the at least two segmentation strategies includes: Starting from the at least one concave vertex, the graphic is divided into a set of convex polygons according to the second segmentation strategy; The second segmentation strategy includes segmenting the graphic using the line connecting the at least one concave vertex and the projection points of the at least one concave vertex on the plurality of edges.

5. The harrowing method according to claim 3 or 4, characterized in that, The lines connecting the figures do not intersect within the area enclosed by the figures.

6. The harrowing method according to claim 1, characterized in that, The step of planning the harrowing paths between the plurality of convex polygons to control the agricultural machinery to complete the harrowing operation of the concave polygon plots includes: A working line array is determined in a first convex polygon among the plurality of convex polygons. The working line array includes a plurality of first working lines and a plurality of second working lines that are parallel to each other. The endpoints of the first working lines and the second working lines are located on the sides of the first convex polygon. The first working lines and the second working lines are in opposite directions. The angle between the first working line and the first direction is an acute angle. The angle between the second working line and the first direction is an obtuse angle. The first direction is parallel to the long side of the smallest circumscribed rectangle of the first convex polygon. According to preset operation rules, the current operation line is selected from the plurality of first operation lines and the plurality of second operation lines to form the harrowing operation path of the concave polygonal plot.

7. A tillage control device for a concave polygonal plot of land, characterized in that, include: Processor and memory; The memory is used to store computer programs, and the processor is used to call and run the computer programs stored in the memory to perform the harrowing method as described in any one of claims 1 to 6.

8. An agricultural machine, characterized in that, include: Harrowing power unit, and The harrowing control device for a concave polygonal plot as described in claim 7, wherein the harrowing control device is used to perform path planning for the concave polygonal plot in order to control the harrowing power device to perform harrowing operations.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores program instructions that are read by a processor to perform the harrowing method as described in any one of claims 1 to 6.

10. A computer program product, characterized in that, When the computer program product is run on a computer, it causes the computer to perform the harrowing method as described in any one of claims 1 to 6.

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