A method and system for agricultural machinery operation area planning

Abstract

The present invention discloses a method and system for planning agricultural machinery operation areas, which relates to the technical field of agricultural machinery operation planning. It includes measuring the boundaries of agricultural machinery operation areas and obstacle boundaries to generate headland areas and actual operation areas; defining the operation direction of agricultural machinery, generating parallel operation trajectories according to the operation direction, and decomposing the actual operation area into sub-areas according to the parallel operation trajectories; calculating the optimal operation connection sequence of sub-areas for each operation direction, constructing an evaluation matrix to analyze the suitability of each operation direction, and taking the operation direction with the highest suitability as the final operation direction of agricultural machinery; generating an agricultural machinery operation plan according to the final operation direction of agricultural machinery and implementing it. The present invention effectively improves the adaptability and flexibility of agricultural machinery to operation areas, and greatly improves the operation efficiency of agricultural machinery.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery operation planning, and particularly to a method and system for planning an operation area of agricultural machinery. Background Art

[0002] The development of agricultural mechanization has gone through multiple stages. From the initial simple mechanical tools to modern intelligent agricultural machinery, the progress of technology has significantly improved agricultural production efficiency and operation quality. With the increasing global agricultural demand and rising labor costs, modern agricultural mechanization technology is gradually developing towards intelligence and automation. In recent years, agricultural machinery autonomous driving technology and intelligent planning technology have gradually become research hotspots. Through advanced sensor technology, satellite positioning technology, and artificial intelligence algorithms, agricultural machinery can achieve high-precision and high-efficiency autonomous operation. Most of the existing technologies rely on preset paths and simple manual intervention, lacking flexible adaptability to different terrains and operation conditions. When determining the operation direction, it often relies on experience or simple heuristic algorithms, and fails to fully consider the comprehensive suitability of each operation direction. Summary of the Invention

[0003] In view of the problems existing in the above-mentioned existing methods and systems for planning an operation area of agricultural machinery, the present invention is proposed.

[0004] Therefore, the problem to be solved by the present invention is that most of the existing technologies rely on preset paths and simple manual intervention, lacking flexible adaptability to different terrains and operation conditions. When determining the operation direction, it often relies on experience or simple heuristic algorithms, and fails to fully consider the comprehensive suitability of each operation direction.

[0005] To solve the above technical problems, the present invention provides the following technical solution: A method for planning an operation area of agricultural machinery, which includes measuring the boundaries of the operation area and the obstacles of the agricultural machinery to generate a header area and an actual operation area;

[0006] Defining the operation directions of the agricultural machinery, generating parallel operation trajectories according to the operation directions, decomposing the actual operation area into sub-areas according to the parallel operation trajectories, using the bull tillage unit decomposition method to decompose the actual operation area into sub-areas according to the parallel operation trajectories of each agricultural machinery operation direction, checking each decomposed sub-area, checking for obstacles in the sub-area. If the sub-area contains obstacles, further decompose the sub-area, and repeat the decomposition step until there are no obstacles in all sub-areas. Forming a set of obstacle-free sub-areas from the decomposed sub-areas, numbering each obstacle-free sub-area and obtaining the boundaries of the obstacle-free sub-areas and the operation trajectories included in the obstacle-free sub-areas;

[0007] Extracting the corner points of each obstacle-free sub-area, including the upper left corner, the lower left corner, the upper right corner, and the lower right corner, and preparing the corner points as the starting and ending points of the operation trajectories of each obstacle-free sub-area;

[0008] Calculate the optimal sub-region operation connection sequence for each operation direction. Based on the obstacle-free sub-region set and the obstacle-free sub-region boundaries corresponding to each operation direction, calculate the agricultural machinery operation trajectories for each agricultural machinery operation direction. If the starting and ending points of the obstacle-free sub-region operations cannot be connected in the connection sequence, then exclude this agricultural machinery operation direction as an incorrect direction. Extract the trajectory length, operation time, energy consumption, and operation coverage rate from the agricultural machinery operation trajectories of the remaining agricultural machinery operation directions after excluding the incorrect directions as evaluation indicators to construct an evaluation matrix and analyze the suitability of each operation direction. Calculate the suitability of each agricultural machinery operation direction according to the weight vector and the fuzzy evaluation matrix of each agricultural machinery operation direction, and take the operation direction with the highest suitability as the final agricultural machinery operation direction;

[0009] Generate an agricultural machinery operation plan according to the final agricultural machinery operation direction and implement it.

[0010] As a preferred embodiment of the agricultural machinery operation area planning method of the present invention, wherein: measuring the agricultural machinery operation area boundary and the obstacle boundary, generating the headland area and the actual operation area means setting the UAV flight route, starting the UAV to fly according to the set route to collect images of the agricultural machinery operation area, preprocessing the obtained images and using the Canny edge detection operator to detect the agricultural machinery operation area and the obstacle boundary, marking the agricultural machinery operation area boundary and the obstacle boundary in the image and converting them into pixel coordinates, converting the pixel coordinates into geographical coordinates through the GPS data of the UAV, and using the GIS system to visually display the geographical coordinates and generate a map of the agricultural machinery operation area boundary and the obstacle boundary;

[0011] Perform an inward shrinking operation on the agricultural machinery operation area boundary to generate an inner boundary of the operation area, and perform an outward expanding operation on the obstacle boundary to generate an outer boundary of the obstacle. The inward shrinking and outward expanding distances are both twice the agricultural machinery operation width. The area between the operation area edge and the inner boundary and the area between the obstacle boundary and the outer boundary are used as the headland area and calculate the distance between the headland areas. If the minimum distance between the headland areas is less than the agricultural machinery operation width, then merge the headland areas, and use the remaining area in the agricultural machinery operation area as the actual operation area.

[0012] As a preferred embodiment of the agricultural machinery operation area planning method of the present invention, wherein: defining the agricultural machinery operation direction and generating parallel operation trajectories according to the operation direction means selecting the vertical direction of each agricultural machinery operation area boundary as the agricultural machinery operation direction. If the operation area boundary is an arc, then select the vertical direction of the tangent line at the midpoint of the arc as the agricultural machinery operation direction, number each agricultural machinery operation direction and correspondingly generate agricultural machinery parallel operation trajectories, and the distance between the parallel operation trajectories is equal to the agricultural machinery operation width;

[0013] Generate the minimum bounding rectangle (MBR) according to the inner boundary of the operation area and the agricultural machinery operation direction using the rotating caliper method:

[0014] MBR = arg min(max|x i cosθ + y i sinθ| - min|x i cosθ + y i sinθ|);

[0015] where x i and y i are the coordinates of the inner boundary points of the operation area, θ is the angle perpendicular to the agricultural machinery operation direction, determine the vertex coordinates x MBR and y MBR of the minimum bounding rectangle and obtain the side lengths of the minimum bounding rectangle;

[0016] Calculate the number of parallel operation trajectories according to the side lengths of the minimum bounding rectangle perpendicular to the agricultural machinery operation direction:

[0017]

[0018] where T is the number of parallel operation trajectories, L MBR is the side length of the minimum bounding rectangle perpendicular to the agricultural machinery operation direction, and W is the width of the agricultural machinery operation;

[0019] Calculate the corresponding minimum bounding rectangle and the number of parallel operation trajectories for each agricultural machinery operation direction.

[0020] As a preferred embodiment of the agricultural machinery operation area planning method of the present invention, wherein: the calculation of the optimal sub-region operation connection sequence for each operation direction refers to obtaining the coordinates of the boundary points of the obstacle-free sub-region according to the set of obstacle-free sub-regions and the boundaries of the obstacle-free sub-regions corresponding to each operation direction, and calculating the coordinates of its geometric center point:

[0021]

[0022] where C x and C y are the coordinates of the center points of the obstacle-free sub-regions, A is the area of the obstacle-free sub-region, (x j , y j ) and (x j+1 , y j+1 ) are adjacent boundary points of the obstacle-free sub-region, and n is the number of boundary points of the obstacle-free sub-region;

[0023] Calculate the coordinates of the center point of each obstacle-free sub-region, and construct an initial obstacle-free sub-region connection graph. Each obstacle-free sub-region is used as a node, and the connection path of the center points of the obstacle-free sub-regions is used as an edge. Calculate the Euclidean distance d of each edge, and use the traveling salesman problem model to construct an optimization objective formula:

[0024]

[0025] where m is the number of barrier-free sub-regions, and d i，i+1 is the Euclidean distance between the i-th and the (i + 1)-th barrier-free sub-regions, and d n，1 is the Euclidean distance between the n-th and the 1st barrier-free sub-regions;

[0026] Use the ant colony algorithm to solve the optimization objective formula, initialize the pheromone concentration matrix and the heuristic function value matrix. In each iteration, generate a new connection path of the central points of the barrier-free sub-regions, and detect the corner points of the connected barrier-free sub-regions. When there is no overlap between the corner points of the connected barrier-free sub-regions, then regard this connection as an incorrect connection path, exclude the incorrect connection path from the new connection path of the central points of the barrier-free sub-regions, calculate the total distance of the connection path, and update the pheromone concentration matrix. Set the total distance change threshold. When the total distance change value is less than the total distance change threshold during consecutive iterations, record the current connection path as the optimal connection path;

[0027] Extract the connection order of the barrier-free sub-regions of the optimal connection path, determine the operation start point and end point of each barrier-free sub-region according to the corner points of the barrier-free sub-regions and the operation trajectory, and concatenate the operation start points and end points of all barrier-free sub-regions in the connection order to form the agricultural machinery operation trajectory;

[0028] Calculate the agricultural machinery operation trajectory of each agricultural machinery operation direction. If the operation start point and end point of the barrier-free sub-region cannot be connected in the connection order, then exclude this agricultural machinery operation direction as an incorrect direction.

[0029] As a preferred scheme of the agricultural machinery operation area planning method described in the present invention, wherein: constructing an evaluation matrix to analyze the suitability of each operation direction, and taking the operation direction with the highest suitability as the final agricultural machinery operation direction refers to extracting the trajectory length, operation time, energy consumption, and operation coverage rate from the agricultural machinery operation trajectories of the remaining agricultural machinery operation directions after excluding the incorrect directions as evaluation indicators, and constructing a fuzzy judgment matrix K:

[0030]

[0031] where is the relative importance between index i and index j, and l ij 、v ij and u ij are respectively the lower limit, middle limit, and upper limit of the fuzzy number, which are determined by the Delphi method;

[0032] Conduct a consistency test on the fuzzy judgment matrix K. If it is inconsistent, adjust the fuzzy number until the consistency test passes;

[0033] Calculate the mean value of fuzzy numbers according to the fuzzy judgment matrix K as the weight vector w of the i-th agricultural machinery operation direction i :

[0034]

[0035] Construct a triangular membership function, and construct a fuzzy evaluation matrix R according to the triangular membership function:

[0036]

[0037] where r ji is the fuzzy evaluation value of the i-th agricultural machinery operation direction on the j-th evaluation index, obtained through the triangular membership function;

[0038] According to the weight vector w of each agricultural machinery operation direction i and the fuzzy evaluation matrix R, calculate the suitability of each agricultural machinery operation direction:

[0039] S i = w i *R i ;

[0040] where S i is the suitability of the i-th agricultural machinery operation direction, and R i is the i-th column of the fuzzy evaluation matrix R, that is, the sum of the fuzzy evaluation values of the i-th agricultural machinery operation direction;

[0041] Take the agricultural machinery operation direction with the highest suitability as the final agricultural machinery operation direction.

[0042] As a preferred scheme of the agricultural machinery operation area planning method described in the present invention, wherein: the generation of the agricultural machinery operation plan according to the final agricultural machinery operation direction and the implementation thereof means that after obtaining the final agricultural machinery operation direction, generate an agricultural machinery operation plan according to the obstacle-free sub-region and the agricultural machinery operation trajectory corresponding to the final agricultural machinery operation direction, and control the agricultural machinery to perform the operation according to the agricultural machinery operation plan. When the agricultural machinery completes the operation of the actual operation area, generate an operation path for the head area and perform the operation to complete the operation of all agricultural machinery operation areas.

[0043] Another object of the present invention is to provide an agricultural machinery operation area planning system, which includes,

[0044] A measurement module for measuring the boundaries of the agricultural machinery operation area and the obstacle boundaries, and generating a head area and an actual operation area;

[0045] A decomposition module for defining the agricultural machinery operation direction and decomposing the actual operation area into obstacle-free sub-regions;

[0046] An optimization module for calculating the optimal sub-region operation connection sequence for each operation direction and evaluating the suitability of each operation direction to obtain the final agricultural machinery operation direction;

[0047] An implementation module for generating an agricultural machinery operation plan based on the final agricultural machinery operation direction and implementing it.

[0048] A computer device comprising: a memory and a processor; the memory stores a computer program, and when the processor executes the computer program, the steps of the above-mentioned agricultural machinery operation area planning method are implemented.

[0049] A computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above-mentioned agricultural machinery operation area planning method are implemented.

[0050] The beneficial effects of the present invention are as follows: The present invention generates an operation area by measuring the boundaries of the agricultural machinery operation area and the boundaries of obstacles, defines the operation directions of the agricultural machinery, calculates the obstacle-free sub-areas and operation sequences corresponding to each operation direction of the agricultural machinery, and finally determines the suitability of the operation directions of the agricultural machinery by constructing an evaluation matrix to obtain the final operation directions and operation plans of the agricultural machinery, effectively improving the adaptability and flexibility of the agricultural machinery to the operation area and greatly improving the operation efficiency of the agricultural machinery. Description of the Drawings

[0051] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0052] Figure 1 It is a schematic flow chart of the agricultural machinery operation area planning method.

[0053] Figure 2 It is a schematic flow chart of formulating and implementing the operation plan for the operation area.

[0054] Figure 3 It is a schematic structural diagram of the agricultural machinery operation area planning system. Detailed Embodiments

[0055] In order to make the above objects, features, and advantages of the present invention more obvious and understandable, the following will describe the detailed embodiments of the present invention in conjunction with the drawings of the specification.

[0056] In the following description, numerous specific details are set forth to provide a thorough understanding of the present invention. However, the present invention may be practiced in other ways different from those described herein. Those skilled in the art can make similar generalizations without departing from the spirit of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0057] Secondly, the so-called "one embodiment" or "embodiment" refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The appearances of "in one embodiment" in different places in this specification do not all refer to the same embodiment, nor are they separate or selectively exclusive embodiments from other embodiments.

[0058] Embodiment 1

[0059] Referring to Figure 1 and Figure 2 , which is the first embodiment of the present invention. This embodiment provides a method for planning an agricultural machinery operation area. The method for planning an agricultural machinery operation area includes:

[0060] S1. Measuring the boundaries of the agricultural machinery operation area and the boundaries of obstacles to generate a leading area and an actual operation area;

[0061] Specifically, measuring the boundaries of the agricultural machinery operation area and the boundaries of obstacles to generate a leading area and an actual operation area means setting the flight route of the unmanned aerial vehicle (UAV), starting the UAV to fly according to the set route to collect images of the agricultural machinery operation area, preprocessing the obtained images, and using the Canny edge detection operator to detect the boundaries of the agricultural machinery operation area and the obstacles. Mark the boundaries of the agricultural machinery operation area and the obstacles in the image and convert them into pixel coordinates. Convert the pixel coordinates into geographical coordinates through the GPS data of the UAV, and use the GIS system to visually display the geographical coordinates and generate a map of the boundaries of the agricultural machinery operation area and the obstacles.

[0062] Performing an inward shrinking operation on the boundary of the agricultural machinery operation area to generate an inner boundary of the operation area, and performing an outward expanding operation on the boundary of the obstacle to generate an outer boundary of the obstacle. The inward shrinking and outward expanding distances are both twice the width of the agricultural machinery operation. The area between the edge and the inner boundary of the operation area and the area between the boundary of the obstacle and the outer boundary are used as the leading areas, and the distances between the leading areas are calculated. If the minimum distance between the leading areas is less than the width of the agricultural machinery operation, the leading areas are merged, and the remaining areas in the agricultural machinery operation area are used as the actual operation area.

[0063] Through the Canny edge detection operator, the boundaries of the operation area and obstacles can be accurately identified, improving the measurement accuracy. Edge detection technology can effectively reduce noise interference, ensuring the stability and reliability of the detection results. Combining the GPS data of the unmanned aerial vehicle and the GIS system realizes the visual display of geographical coordinates, which helps to plan and manage the agricultural machinery operation area. The GIS system not only provides an intuitive map display function but also can perform spatial analysis and data management, making the processing of boundary data more efficient and accurate. Through the operations of shrinking and expanding, it ensures that the agricultural machinery has sufficient turning and obstacle avoidance space within the operation area, improving the operation flexibility of the agricultural machinery. The shrinking and expanding distances are set to twice the operation width of the agricultural machinery, ensuring the smooth operation of the agricultural machinery under different terrains and operation conditions. Merging the headland areas reduces the number of frequent turns of the agricultural machinery during operation, optimizes the operation path, and improves the operation efficiency. Reasonable path planning not only reduces the operation time but also reduces the energy consumption and wear cost of the agricultural machinery. Through the operations of shrinking and expanding, it avoids the collisions and errors of the agricultural machinery due to insufficient space during operation, ensuring the continuity and safety of the operation. Especially in complex terrains and environments with multiple obstacles, this method can significantly improve the safety and effectiveness of the operation.

[0064] S2. Define the operation direction of the agricultural machinery, generate parallel operation trajectories according to the operation direction, and decompose the actual operation area into sub-areas according to the parallel operation trajectories;

[0065] Specifically, defining the operation direction of the agricultural machinery and generating parallel operation trajectories according to the operation direction means selecting the vertical direction of each boundary of the agricultural machinery operation area as the operation direction of the agricultural machinery. If the boundary of the operation area is an arc, select the vertical direction of the tangent line at the midpoint of the arc as the operation direction of the agricultural machinery. Number each operation direction of the agricultural machinery and correspondingly generate parallel operation trajectories of the agricultural machinery. The distance between the parallel operation trajectories is equal to the operation width of the agricultural machinery;

[0066] Use the rotating calipers method to generate the minimum bounding rectangle MBR according to the inner boundary of the operation area and the operation direction of the agricultural machinery:

[0067] MBR = arg min(max|x i cosθ + y i sinθ| - min|x i cosθ + y i sinθ|);

[0068] where x i and y i are the coordinates of the inner boundary points of the operation area, θ is the angle perpendicular to the operation direction of the agricultural machinery, determine the vertex coordinates x MBR and y MBR of the minimum bounding rectangle and obtain the side lengths of the minimum bounding rectangle;

[0069] Calculate the number of parallel operation trajectories based on the side lengths of the circumscribed rectangle perpendicular to the agricultural machinery operation direction:

[0070]

[0071] where T is the number of parallel operation trajectories, L MBR is the side length of the circumscribed rectangle perpendicular to the agricultural machinery operation direction, and W is the width of the agricultural machinery operation;

[0072] For each agricultural machinery operation direction, calculate its corresponding circumscribed rectangle and the number of parallel operation trajectories. If it is odd, the operation starting point and ending point are on the diagonal. If it is even, the operation starting point and ending point are on the same side.

[0073] By selecting the direction perpendicular to the boundary and the direction perpendicular to the tangent of the midpoint of the arc as the operation direction, the operation path can be optimized to ensure the full coverage and efficient operation of the agricultural machinery. A reasonable selection of the operation direction can reduce the overlap and omission of the operation path, improve the operation efficiency and coverage rate. The circumscribed rectangle generated by the rotating caliper method can accurately determine the boundary of the operation area, providing an accurate data basis for subsequent trajectory planning. The circumscribed rectangle with the minimum area can reduce unnecessary operation paths, optimize the path planning, improve the agricultural machinery operation efficiency, reasonably calculate the number of parallel operation trajectories, ensure the full coverage of the operation trajectories, improve the operation efficiency, reduce unnecessary operation paths by optimizing the number of operation trajectories, improve the resource utilization efficiency, and reduce the operation cost.

[0074] Furthermore, decomposing the actual operation area into sub-areas according to the parallel operation trajectories means decomposing the actual operation area into sub-areas using the ox-plowing unit decomposition method according to the parallel operation trajectories of each agricultural machinery operation direction, checking each decomposed sub-area for obstacles. If a sub-area contains obstacles, further decompose the sub-area, repeat the decomposition steps until there are no obstacles in all sub-areas, form a set of obstacle-free sub-areas from the decomposed sub-areas, label each obstacle-free sub-area, and obtain the boundaries of the obstacle-free sub-areas and the operation trajectories included in the obstacle-free sub-areas;

[0075] Extract the corner points of each obstacle-free sub-area, including the upper left corner, lower left corner, upper right corner, and lower right corner, and use the corner points as the starting and ending points of the operation trajectories of each obstacle-free sub-area for preparation.

[0076] By using the ox-plowing unit decomposition method, a large area is decomposed into smaller sub-areas, which facilitates refined management and path planning, improves operation efficiency and accuracy. The sub-areas are gradually inspected and decomposed to ensure the final formation of a set of obstacle-free sub-areas, avoiding interruptions and safety issues caused by encountering obstacles during the operation. During the decomposition process, the operation paths of each sub-area can be identified and optimized, avoiding repeated operations and resource waste, and improving the overall operation efficiency. By extracting the corner points of each obstacle-free sub-area, the boundaries of each sub-area can be clarified, providing clear starting and ending points for subsequent path planning. Taking the corner points as the starting and ending points helps to reasonably plan the operation path and ensure the coherence and optimality of the path.

[0077] S3. Calculate the optimal operation connection sequence of sub-areas for each operation direction, construct an evaluation matrix to analyze the suitability of each operation direction, and take the operation direction with the highest suitability as the final agricultural machinery operation direction;

[0078] Specifically, calculating the optimal operation connection sequence of sub-areas for each operation direction means obtaining the coordinates of the boundary points of the obstacle-free sub-areas according to the set of obstacle-free sub-areas and the boundaries of the obstacle-free sub-areas corresponding to each operation direction, and calculating the coordinates of their geometric center points:

[0079]

[0080] Where C x and C y are the coordinates of the center points of the obstacle-free sub-areas, A is the area of the obstacle-free sub-area, (x j , y j ) and (x j+1 , y j+1 ) are adjacent boundary points of the obstacle-free sub-area, and n is the number of boundary points of the obstacle-free sub-area;

[0081] Calculate the coordinates of the center point of each obstacle-free sub-area, and construct an initial connection graph of obstacle-free sub-areas. Each obstacle-free sub-area is used as a node, and the connection path of the center points of the obstacle-free sub-areas is used as an edge. Calculate the Euclidean distance d of each edge, and use the traveling salesman problem model to construct an optimization objective formula:

[0082]

[0083] Where m is the number of obstacle-free sub-areas, d i，i+1 is the Euclidean distance between the i-th and the (i + 1)-th obstacle-free sub-areas, and d n，1 is the Euclidean distance between the n-th and the 1st obstacle-free sub-areas;

[0084] Use the ant colony algorithm to solve the optimization objective formula, initialize the pheromone concentration matrix and the heuristic function value matrix. In each iteration, generate a new connection path for the center points of obstacle-free sub-regions, and detect the corner points of the connected obstacle-free sub-regions. When there is no overlap between the corner points of the connected obstacle-free sub-regions, consider this connection as an incorrect connection path and exclude it from the new connection path of the center points of obstacle-free sub-regions. Calculate the total distance of the connection path and update the pheromone concentration matrix. Set the total distance change threshold. When the total distance change value is less than the total distance change threshold during consecutive iterations, record the current connection path as the optimal connection path;

[0085] Extract the connection order of obstacle-free sub-regions of the optimal connection path. Determine the operation start point and end point of each obstacle-free sub-region according to the corner points and operation trajectory of the obstacle-free sub-region, and concatenate the operation start points and end points of all obstacle-free sub-regions in the connection order to form the agricultural machinery operation trajectory;

[0086] Calculate the agricultural machinery operation trajectory for each agricultural machinery operation direction. If the operation start point and end point of the obstacle-free sub-region cannot be connected according to the connection order, exclude this agricultural machinery operation direction as an incorrect direction.

[0087] Calculate the center point coordinates of the obstacle-free sub-region, which can accurately determine the position of the sub-region and provide basic data for subsequent path optimization. The geometric center point as a path node helps to optimize the path planning, ensure the shortest and optimal path. Through the traveling salesman problem model, the global optimization of the connection order of obstacle-free sub-regions can be realized to ensure the shortest total path distance. The optimized connection order reduces the ineffective movement in the operation path and improves the agricultural machinery operation efficiency. The ant colony algorithm can dynamically adjust the pheromone concentration and gradually optimize the path, effectively solving the local optimum problem in path planning. By detecting corner point overlap and excluding incorrect paths, the reliability and effectiveness of the final path are ensured. Concatenating the operation start points and end points in the optimal connection order ensures the coherence of the operation path and improves the operation efficiency. Reasonable path connection reduces the redundancy and repetition in the operation path and improves the accuracy of path planning. By verifying the operation trajectory, it is ensured that the path for each direction is feasible, excluding incorrect directions and improving the reliability of path planning. A reasonable trajectory verification method can discover and exclude potential problems in advance to ensure high-quality and high-efficiency operations.

[0088] Furthermore, construct an evaluation matrix to analyze the suitability of each operation direction, and take the operation direction with the highest suitability as the final agricultural machinery operation direction. Extract the trajectory length, operation time, energy consumption, and operation coverage rate from the agricultural machinery operation trajectories of the remaining agricultural machinery operation directions after excluding incorrect directions as evaluation indicators, and construct a fuzzy judgment matrix K:

[0089]

[0090] where is the relative importance of index i and index j, and l ij , v ij and u ij are the lower limit, middle limit and upper limit of the fuzzy number respectively, which are determined by the Delphi method;

[0091] Perform a consistency test on the fuzzy judgment matrix K. If it is inconsistent, adjust the fuzzy number until the consistency test passes;

[0092] Calculate the mean value of the fuzzy number according to the fuzzy judgment matrix K as the weight vector w of the i-th agricultural machinery operation direction i :

[0093]

[0094] Construct a triangular membership function, and construct a fuzzy evaluation matrix R according to the triangular membership function:

[0095]

[0096] where r ji is the fuzzy evaluation value of the i-th agricultural machinery operation direction on the j-th evaluation index, which is obtained through the triangular membership function;

[0097] According to the weight vector w i of each agricultural machinery operation direction and the fuzzy evaluation matrix R, calculate the suitability of each agricultural machinery operation direction:

[0098] S i = w i *R i ;

[0099] where S i is the suitability of the i-th agricultural machinery operation direction, and R i is the i-th column of the fuzzy evaluation matrix R, that is, the sum of the fuzzy evaluation values of the i-th agricultural machinery operation direction;

[0100] Take the agricultural machinery operation direction with the highest suitability as the final agricultural machinery operation direction.

[0101] Extracting the trajectory length, operation time, energy consumption, and operation coverage rate from the agricultural machinery operation trajectories in the remaining operation directions after excluding the error directions as evaluation indicators can comprehensively reflect the advantages and disadvantages of each operation direction, ensuring the scientificity and comprehensiveness of the evaluation results. The fuzzy judgment matrix can handle the uncertainties and ambiguities existing in the evaluation process, improving the reliability of the evaluation results. Determining the fuzzy numbers through the Delphi method can integrate the opinions of multiple experts, enhancing the scientificity and accuracy of the evaluation matrix. The consistency test can ensure the rationality of the relative importance of each indicator within the fuzzy judgment matrix, improving the credibility of the evaluation results. Calculating the weight vector through the fuzzy number mean can reasonably allocate the weights of each evaluation indicator, enhancing the scientificity and fairness of the evaluation. Through the triangular membership function, converting the actual value into a fuzzy evaluation value can improve the accuracy of the evaluation. The fuzzy evaluation matrix can comprehensively reflect the performance of each operation direction on each evaluation indicator, enhancing the comprehensiveness and scientificity of the evaluation. By calculating the suitability, it is possible to comprehensively evaluate the advantages and disadvantages of each operation direction, providing a scientific basis for finally selecting the optimal operation direction. The agricultural machinery operation direction with the highest suitability can maximize the operation efficiency and resource utilization rate, improving the operation quality and economic benefits. By scientifically evaluating and selecting the optimal operation direction, the agricultural machinery operation efficiency and quality can be improved. The optimal operation direction can maximize the resource utilization rate, reduce the operation cost, and increase the economic benefits.

[0102] S4. Generate an agricultural machinery operation plan according to the final agricultural machinery operation direction and implement it;

[0103] Specifically, generating an agricultural machinery operation plan according to the final agricultural machinery operation direction and implementing it means that after obtaining the final agricultural machinery operation direction, generating an agricultural machinery operation plan based on the obstacle-free sub-region and agricultural machinery operation trajectory corresponding to the final agricultural machinery operation direction, and controlling the agricultural machinery to perform operations according to the agricultural machinery operation plan. When the agricultural machinery completes the operations in the actual operation area, generate an operation path for the head area and implement the operations to complete the operations in all agricultural machinery operation areas.

[0104] By determining the operation starting point and ending point and reasonably connecting the operation trajectories of each sub-region, the operation path of the agricultural machinery can be optimized, reducing ineffective driving and improving the operation efficiency. Reasonably connecting the operation trajectories of each sub-region ensures the coherence of the agricultural machinery operation process, avoiding operation interruptions or repetitions and improving the operation quality. Controlling the agricultural machinery through the automatic driving system reduces human operation errors and improves the operation efficiency. Real-time monitoring and adjusting the driving path of the agricultural machinery ensure that the agricultural machinery strictly performs operations according to the operation plan, enhancing the operation quality. By generating the operation path for the head area, it is ensured that the agricultural machinery can cover all operation areas without omission. Reasonably planning the operation path of the head area ensures the optimization and high efficiency of the operation path, enhancing the operation accuracy.

[0105] Embodiment 2

[0106] Refer toFigure 3 , which is the second embodiment of the present invention. This embodiment is different from the previous one and provides an agricultural machinery operation area planning system, which includes

[0107] A measurement module for measuring the boundaries of the agricultural machinery operation area and the obstacles, and generating the headland area and the actual operation area;

[0108] A decomposition module for defining the operation direction of the agricultural machinery and decomposing the actual operation area into obstacle-free sub-areas;

[0109] An optimization module for calculating the optimal operation connection sequence of sub-areas in each operation direction and evaluating the suitability of each operation direction to obtain the final operation direction of the agricultural machinery;

[0110] An implementation module for generating an agricultural machinery operation plan based on the final operation direction of the agricultural machinery and implementing it.

[0111] If the above functions are implemented in the form of software function units and sold or used as an independent product, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this 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 for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0112] The logic and / or steps represented in the flowchart or described in other ways herein, for example, can be considered as a definite sequence list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or in combination with these instruction execution systems, apparatuses, or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device.

[0113] More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection (electronic device) having one or more wirings, a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable media can even be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other media, then editing, interpreting, or otherwise processing it in a suitable manner if necessary, and then storing it in a computer memory.

[0114] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, the multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application specific integrated circuits having suitable combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), and the like.

[0115] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered by the scope of the claims of the present invention.

Claims

1. A method for planning an agricultural machinery operation area, characterized in that: include, Measure the boundaries of the agricultural machinery operation area and the obstacle boundaries, and generate the headland area and the actual operation area; Define the operation direction of agricultural machinery, generate parallel operation trajectories according to the operation direction, decompose the actual operation area into sub-areas according to the parallel operation trajectories, decompose the actual operation area into sub-areas according to the parallel operation trajectories of each agricultural machinery operation direction using the ox-ploughing unit decomposition method, check each sub-area generated by the decomposition, check the obstacles in the sub-area, if the sub-area contains obstacles, further decompose the sub-area, repeat the decomposition steps until there are no obstacles in all sub-areas, form the sub-areas generated by the decomposition into a set of obstacle-free sub-areas, label each obstacle-free sub-area and obtain the boundary of the obstacle-free sub-area and the operation trajectory contained in the obstacle-free sub-area; Extract the corner points of each barrier-free sub-area, including the upper left corner, lower left corner, upper right corner and lower right corner, and prepare the corner points as the starting point and end point of the operation trajectory of each barrier-free sub-area; Calculate the optimal sub-area operation connection sequence for each operation direction, calculate the agricultural machinery operation trajectory for each agricultural machinery operation direction according to the obstacle-free sub-area set and obstacle-free sub-area boundary corresponding to each operation direction, if the starting point and end point of the obstacle-free sub-area operation cannot be connected according to the connection sequence, then the agricultural machinery operation direction is excluded as an incorrect direction, and the trajectory length, operation time, energy consumption and operation coverage are extracted from the agricultural machinery operation trajectories of the remaining agricultural machinery operation directions after excluding the incorrect directions as evaluation indicators to construct an evaluation matrix to analyze the suitability of each operation direction, calculate the suitability of each agricultural machinery operation direction according to the weight vector and fuzzy evaluation matrix of each agricultural machinery operation direction, and take the operation direction with the highest suitability as the final agricultural machinery operation direction; Generate an agricultural machinery operation plan based on the final agricultural machinery operation direction and implement it.

2. The method for planning an agricultural machinery operation area according to claim 1, characterized in that: The measuring of the boundaries of the agricultural machinery operation area and the obstacle boundaries and generating the headland area and the actual operation area refers to setting a flight route for the drone, starting the drone to fly along the set route to collect images of the agricultural machinery operation area, preprocessing the acquired images and using the Canny edge detection operator to detect the boundaries of the agricultural machinery operation area and the obstacle boundaries, marking the boundaries of the agricultural machinery operation area and the obstacle boundaries in the image and converting them into pixel coordinates, converting the pixel coordinates into geographic coordinates through the GPS data of the drone, using the GIS system to visualize the geographic coordinates and generate a map of the boundaries of the agricultural machinery operation area and the obstacle boundaries; The boundary of the agricultural machinery operation area is retracted to generate the inner boundary of the operation area, and the obstacle boundary is expanded to generate the outer boundary of the obstacle. The retraction and expansion distances are both twice the agricultural machinery operation width. The area between the edge of the operation area and the inner boundary and the area between the obstacle boundary and the outer boundary are taken as the head area and the distance between the head areas is calculated. If the minimum distance between the head areas is less than the agricultural machinery operation width, the head areas are merged and the rest of the agricultural machinery operation area is taken as the actual operation area.

3. The method for planning an agricultural machinery operation area according to claim 2, characterized in that: The defining of the agricultural machinery operation direction and generating parallel operation tracks according to the operation direction means selecting the perpendicular direction of each agricultural machinery operation area boundary as the agricultural machinery operation direction. If the operation area boundary is an arc, the perpendicular direction of the tangent of the arc midpoint is selected as the agricultural machinery operation direction. Each agricultural machinery operation direction is numbered and the agricultural machinery parallel operation tracks are generated accordingly. The distance between the parallel operation tracks is equal to the agricultural machinery operation width. The rotating caliper method is used to generate the circumscribed rectangle MBR according to the boundary of the working area and the working direction of the agricultural machinery: MBR=argmin(maxxicosθ+yisinθ-min|xicosθ+yisinθ); where x i and i is the coordinate of the boundary point in the operation area, θ is the angle perpendicular to the operation direction of the agricultural machinery, and the vertex coordinates x of the circumscribed rectangle are determined. MBR and MBR And find the side length of the circumscribed rectangle; The number of parallel operation tracks is calculated based on the side length of the circumscribed rectangle perpendicular to the operation direction of the agricultural machinery: Where T is the number of parallel operation trajectories, L MBR is the side length of the circumscribed rectangle perpendicular to the operation direction of the agricultural machinery, and W is the operation width of the agricultural machinery; For each agricultural machinery operation direction, the corresponding circumscribed rectangle and the number of parallel operation trajectories are calculated.

4. The method for planning an agricultural machinery operation area according to claim 3, characterized in that: The calculation of the optimal sub-area operation connection sequence for each operation direction refers to obtaining the coordinates of the boundary points of the obstacle-free sub-area and calculating the coordinates of the geometric center point according to the obstacle-free sub-area set and the obstacle-free sub-area boundary corresponding to each operation direction: Among them C x and C y is the coordinate of the center point of the barrier-free sub-region, A is the area of ​​the barrier-free sub-region, (x j ,y j ) and (x j+1 ,y j+1 ) are adjacent boundary points of the barrier-free sub-area, and n is the number of boundary points of the barrier-free sub-area; Calculate the coordinates of the center point of each barrier-free sub-area, and construct the initial barrier-free sub-area connection graph. Each barrier-free sub-area is taken as a node, and the connection path of the barrier-free sub-area center point is taken as an edge. Calculate the Euclidean distance d of each edge, and use the traveling salesman problem model to construct the optimization target formula: Where m is the number of barrier-free sub-areas, d i，i+1 is the Euclidean distance between the i-th and i+1-th obstacle-free sub-areas, d n，1 is the Euclidean distance between the nth and the first obstacle-free sub-area; The ant colony algorithm is used to solve the optimization objective formula, initialize the pheromone concentration matrix and the heuristic function value matrix, generate a new connection path of the center point of the barrier-free sub-area in each iteration, and detect the corner points of the connected barrier-free sub-area. When there is no overlap between the corner points of the connected barrier-free sub-area, the connection is regarded as an incorrect connection path, and the incorrect connection path is excluded from the connection path of the center point of the new barrier-free sub-area. The total distance of the connection path is calculated, and the pheromone concentration matrix is ​​updated. The total distance change threshold is set. When the total distance change value is less than the total distance change threshold during continuous iterations, the current connection path is recorded as the optimal connection path. Extract the connection sequence of barrier-free sub-areas of the optimal connection path, determine the operation starting point and end point of each barrier-free sub-area according to the corner points and operation trajectory of the barrier-free sub-area, and connect the operation starting points and end points of all barrier-free sub-areas in series according to the connection sequence to form the agricultural machinery operation trajectory; The agricultural machinery operation trajectory of each agricultural machinery operation direction is calculated. If the operation start point and end point of the barrier-free sub-area cannot be connected according to the connection sequence, the agricultural machinery operation direction is excluded as an incorrect direction.

5. The method for planning an agricultural machinery operation area according to claim 4, characterized in that: The construction of the evaluation matrix analyzes the suitability of each operation direction, and takes the operation direction with the highest suitability as the final agricultural machinery operation direction. It refers to extracting the track length, operation time, energy consumption and operation coverage rate from the agricultural machinery operation tracks of the remaining agricultural machinery operation directions after excluding the wrong directions as evaluation indicators, and constructing the fuzzy judgment matrix K: in is the relative importance of indicator i and indicator j, l ij 、v ij and u ij are the lower limit, middle limit and upper limit of the fuzzy number, respectively, which are determined by the Delphi method; Perform consistency check on the fuzzy judgment matrix K. If it is inconsistent, adjust the fuzzy number until the consistency check passes; According to the fuzzy judgment matrix K, the fuzzy number mean is calculated as the weight vector w of the i-th agricultural machinery operation direction i : Construct a triangular membership function, and construct the fuzzy evaluation matrix R based on the triangular membership function: where r ji is the fuzzy evaluation value of the i-th agricultural machinery operation direction on the j-th evaluation index, obtained through the triangular membership function; According to the weight vector w of each agricultural machinery operation direction i And the fuzzy evaluation matrix R is used to calculate the suitability of each agricultural machinery operation direction: S i =w i *R i ; Where S i is the suitability of the i-th agricultural machinery operation direction, R i is the i-th column of the fuzzy evaluation matrix R, that is, the sum of the fuzzy evaluation values ​​of the i-th agricultural machinery operation direction; The agricultural machinery operation direction with the highest suitability shall be taken as the final agricultural machinery operation direction.

6. The method for planning an agricultural machinery operation area according to claim 5, characterized in that: The generating and implementing of the agricultural machinery operation plan according to the final agricultural machinery operation direction means that after obtaining the final agricultural machinery operation direction, the agricultural machinery operation plan is generated according to the obstacle-free sub-area and agricultural machinery operation trajectory corresponding to the final agricultural machinery operation direction, and the agricultural machinery is controlled to implement the operation according to the agricultural machinery operation plan. When the agricultural machinery completes the operation in the actual operation area, an operation path is generated for the lead area and the operation is implemented to complete the operation in all agricultural machinery operation areas.

7. An agricultural machinery operation area planning system according to any one of claims 1 to 6, characterized in that: include, The measurement module is used to measure the boundaries of the agricultural machinery operation area and the obstacle boundaries, and generate the headland area and the actual operation area; Decomposition module, used to define the operation direction of agricultural machinery and decompose the actual operation area into obstacle-free sub-areas; The optimization module is used to calculate the optimal sub-area operation connection sequence for each operation direction and evaluate the suitability of each operation direction to obtain the final agricultural machinery operation direction; The implementation module is used to generate an agricultural machinery operation plan based on the final agricultural machinery operation direction and implement it.

8. A computer device comprising: Memory and processor; The memory stores a computer program, characterized in that when the processor executes the computer program, the steps of the agricultural machinery operation area planning method described in any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the agricultural machinery operation area planning method described in any one of claims 1 to 6 are implemented.

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