Agricultural machine operation path planning method and device

Abstract

The application discloses a kind of agricultural machine operation path planning method, device, belong to agricultural machine operation path planning technical field, wherein, the method includes the operation map gridding and obtains grid map;Along target operation direction, create virtual obstacle;Road, virtual obstacle, have passed grid, actual obstacle is marked in the grid map grid by by small to big mark bit;Operation path is planned on grid map based on mark bit.This method provides virtual obstacle to guide target operation direction, and then the movement direction of agricultural machine is constrained, help path search more quickly realize, significantly reduce the difficulty of path planning, improve the efficiency of path planning, save computing resources, can satisfy the operation demand of different field.Through multiple mark bits, the movement direction is screened at multiple levels, can satisfy the operation demand of different agricultural machines.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of agricultural operation path planning, and particularly relates to an agricultural operation path planning method and device. BACKGROUND

[0002] With the rapid development of modern agricultural technology and automatic driving technology, improving operation efficiency and crop yield has become a key. As an important part of precision agriculture, the purpose of full coverage path planning is to ensure that agricultural machinery efficiently and uniformly covers the entire farmland area. In the prior art, common path planning methods include straight-line back-and-forth, spiral, and zigzag, but these methods have certain limitations, such as irregular field boundary path planning and agricultural machinery reversing difficulties, such as lack of adaptability and intelligent capability to complex farmland environments. Researchers in the prior art have also studied full coverage path planning methods, but there are situations such as complex implementation process, questionable applicability to new environments, etc. To date, no commercialized solution for farmland full coverage operation path planning has been reported, and no global path planning method suitable for farmland agricultural machinery has been widely used in production, with a cutting division and turning curve combination being the main method. SUMMARY

[0003] The purpose of the present application is to provide an agricultural operation path planning method and device to solve the problem of difficult agricultural operation path planning.

[0004] According to a first aspect of an embodiment of the present application, an agricultural operation path planning method is provided, comprising:

[0005] Griding the operation map to obtain a grid map;

[0006] Creating a virtual obstacle along the target operation direction;

[0007] Marking the road, virtual obstacle, already passed grid, and actual obstacle in the grid of the grid map by a flag bit from small to large;

[0008] Planning an operation path on the grid map based on the flag bit.

[0009] In some optional embodiments of the present application, planning an operation path on the grid map based on the flag bit comprises:

[0010] Starting from the grid map entrance, repeating the following steps until the current grid is the grid map exit;

[0011] Selecting the next grid based on the flag bit of the adjacent grid of the current grid and the priority of the moving direction;

[0012] Marking the current grid as an already passed grid;

[0013] The next grid is taken as the current grid.

[0014] In some optional embodiments of the present application, the priority of the moving direction is dynamically switched based on the current orientation of the agricultural machine.

[0015] In some optional embodiments of the present application, the next grid is selected based on the flag bit of the grid adjacent to the current grid and the priority of the moving direction, comprising:

[0016] obtaining a target grid with the minimum flag bit from the grids adjacent to the current grid;

[0017] when the target grid is one, taking the target grid as the next grid;

[0018] when the target grid is greater than or equal to two, taking the target grid with the highest priority of the moving direction as the next grid.

[0019] In some optional embodiments of the present application, the grid width of the grid map is 1 / 2 of the working width of the agricultural machine.

[0020] In some optional embodiments of the present application, the grid map is obtained by rasterizing the working map, comprising:

[0021] rasterizing the working map to obtain an initial grid map;

[0022] performing boundary expansion on the initial grid map to obtain the grid map;

[0023] the width difference between the grid map and the initial grid map is greater than or equal to 1 / 4 of the working width of the agricultural machine.

[0024] In some optional embodiments of the present application, a virtual obstacle is created along a target working direction, comprising:

[0025] taking the direction of the longest side of the grid map as the target working direction;

[0026] creating a plurality of parallel virtual obstacles along the target working direction, so that the virtual obstacles pass through the grid map;

[0027] In some optional embodiments of the present application, the distance between adjacent virtual obstacles is the grid side length.

[0028] the sum of the width of the virtual obstacle and the grid side length is less than or equal to the working width of the agricultural machine.

[0029] According to a third aspect of the embodiments of the present application, an agricultural machine working path planning device is provided, comprising:

[0030] a rasterization module, configured to rasterize a working map to obtain a grid map;

[0031] an obstacle constraint module, configured to create a plurality of parallel virtual obstacles along a target operation direction;

[0032] an identification module, configured to mark roads, virtual obstacles, passed grids, and actual obstacles in grids of the grid map by mark bits from small to large;

[0033] a planning module, configured to plan an operation path on the grid map based on the mark bits.

[0034] According to a third aspect of the embodiments of the present application, an electronic device can include:

[0035] a processor;

[0036] a memory for storing processor-executable instructions;

[0037] The processor is configured to execute the instructions to implement the agricultural machine operation path planning method as described in any one of the first aspect.

[0038] The above technical solutions of the present application have the following beneficial technical effects:

[0039] The embodiments of the present application provide an agricultural machine operation path planning method, which provides virtual obstacle guidance for a target operation direction, and then constrains the moving direction of the agricultural machine, helps the path search to be more quickly realized, significantly reduces the difficulty of path planning, improves the efficiency of path planning, saves the computing resources, and can meet different operation requirements. Through a plurality of mark bits, the moving direction can be screened at multiple levels, improving the convenience and applicability of the operation path planning. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 is a flowchart of an agricultural machine operation path planning method in an exemplary embodiment of the present application;

[0041] Figure 2 is a flowchart of an agricultural machine operation path planning method in another exemplary embodiment of the present application;

[0042] Figure 3 is a schematic diagram of a grid map in an exemplary embodiment of the present application;

[0043] Figure 4 is a schematic diagram of a grid map in another exemplary embodiment of the present application;

[0044] Figure 5 is a schematic diagram of an agricultural machine operation width in an exemplary embodiment of the present application;

[0045] Figure 6is a schematic diagram of agricultural machinery obstacle avoidance and detouring in an exemplary embodiment of the present application;

[0046] Figure 7 is a schematic diagram of an agricultural machinery operation path planning device in an exemplary embodiment of the present application;

[0047] Figure 8 is a schematic diagram of an electronic device structure in an exemplary embodiment of the present application; DETAILED DESCRIPTION

[0048] To make the objectives, technical solutions, and advantages of the present application clearer, further detailed description will be made to the present application with reference to the specific embodiments and the accompanying drawings. It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present application. In addition, in the following description, the description of the known structures and technologies is omitted to avoid unnecessary confusion of the concepts of the present application.

[0049] In the accompanying drawings, schematic diagrams of layer structures according to embodiments of the present application are shown. These drawings are not drawn to scale, in which certain details are exaggerated for the purpose of clarity and certain details can be omitted. The shapes of various regions, layers, and their relative sizes and positional relationships shown in the drawings are only exemplary, and in actuality, there can be deviations due to manufacturing tolerances or technical limitations, and a person skilled in the art can additionally design regions / layers with different shapes, sizes, and relative positions according to actual needs.

[0050] Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without making creative efforts fall within the scope of protection of the present application.

[0051] In the description of the present application, it should be noted that the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0052] In addition, the technical features involved in different embodiments of the present application described below can be combined with each other as long as there is no conflict.

[0053] In the related art, agricultural machinery works along a straight line back and forth, which is suitable for relatively regular rectangular fields, but when the field edge coverage is uneven, it is easy to cause repeated work or omission, and it is difficult to adapt to irregular boundary field plots; agricultural machinery expands work along a spiral line with the field center as the center, which is limited by its turning work method, and the work efficiency at the turning place is low and the adaptability to irregular field plots is poor; the grid-based algorithm type technology mainly aims to solve the optimal solution of the search algorithm and avoid dead zones, which is quite different from the actual application method, and has great development difficulty, high application cost, and large amount of calculation, which is easy to cause resource waste.

[0054] The application will be described in detail below with reference to the accompanying drawings and specific embodiments and application scenarios thereof.

[0055] As shown in the embodiment provided in the present application, a method for planning a work path of a farm machine is provided, comprising the following steps: Figure 1

[0056] Step S101: rasterizing a work map to obtain a raster map;

[0057] Step S102: creating a virtual obstacle along a target work direction;

[0058] Step S103: marking roads, virtual obstacles, already-passed grids, and actual obstacles in the raster map by a mark bit from small to large;

[0059] Step S104: planning a work path on the raster map based on the mark bit.

[0060] In the embodiment, the virtual obstacle is used to guide the moving direction of the farm machine to be close to the target work direction. The target work direction can be set according to actual requirements. The virtual obstacle is also used to mark the boundary of the raster map. When planning the work path, the grid with a smaller mark bit is preferentially selected as the work path. The embodiment provides a method for planning a work path of a farm machine, provides a virtual obstacle to guide the target work direction, thereby constraining the moving direction of the farm machine, helping the path search to be more quickly realized, significantly reducing the difficulty of path planning, improving the efficiency of path planning, saving the computing resources, and being able to meet different work requirements. Through multiple mark bits, the moving direction can be screened at multiple levels, improving the convenience and applicability of the work path planning.

[0061] As shown in the embodiment provided in the present application, a method for planning a work path of a farm machine is provided, comprising the following steps: Figure 2 Importing a raster map:

[0062] Rasterization: converting a work map (such as a field, an obstacle, a road, etc.) into a raster map,

[0063] The size of the grid is determined according to the work width of the farm machine (such as 1 / 2 of the work width in the schematic diagram);

[0064] Boundary expansion: in order to consider the buffer zone of the farm machine work, the field boundary is further expanded by 1 / 4 of the work width based on the margin;

[0065]

[0066] ​​Flag setting: Different types of grids (such as obstacles, virtual obstacles, and internal fields) are assigned different flags (such as 1, 2, and 0);

[0067] Access to field position and field length acquisition: traverse the grid map: determine the boundary length of the field by traversing the flag;

[0068] Operation direction selection: select the longest side of the field as the main operation direction of the agricultural machine to reduce the number of turns;

[0069] Generate virtual obstacles:

[0070] Virtual obstacles: create virtual obstacles on both sides of the longest side of the field to guide the agricultural machine to operate in the intended direction, as shown in Figure 3 ;

[0071] Flag update: set the flag of the grid where the virtual obstacle is located to 2 to distinguish it from the actual obstacle;

[0072] Set the center operation endpoint: set the center endpoint of the agricultural machine operation inside the last virtual obstacle;

[0073] Virtual agricultural machine path search:

[0074] Initial position: start searching for the path from the actual position of the agricultural machine, and set the flag of the grid where the virtual agricultural machine is located to 2;

[0075] Neighbor detection: check the adjacent grids (up, down, left, right) of the current position of the agricultural machine, and decide the moving direction according to the flag (move to the grid with flag 0);

[0076] Flag update: after the agricultural machine moves, update the flag of the grid it passes through and record the order of the grid;

[0077] Work flag setting: set the work flag according to whether the agricultural machine enters the actual operation area (non-adjacent to the actual obstacle grid), and set it to 1 if it does not, otherwise set it to 0 (default is 0);

[0078] Constrained by virtual obstacles and edge operation:

[0079] Arrive at the center operation endpoint: stop searching when the agricultural machine reaches the center operation endpoint under the constraint of the virtual obstacle;

[0080] Clear the edge virtual obstacle: set the flag of the grid adjacent to the actual obstacle in the virtual obstacle to 0;

[0081] Edge operation: compare the nearest distance from the current grid to the exit field position along the outermost grid, determine the edge direction according to the distance on the left and right sides of the field boundary (default is counterclockwise), and repeat the path search until the edge starting point, as shown inFigure 4 ;

[0082] Repeat path search until Ouchida:

[0083] Continue searching: start from the edge of the starting point, continue to search the path to the agricultural machine to reach Ouchida;

[0084] Path record and conversion:

[0085] Record the grid sequence: save the sequence of the grid flag recorded during the search process and the corresponding flag order;

[0086] Center point replacement: replace the grid with the center point of the grid to simplify the path;

[0087] Coordinate transformation: convert the center point coordinates from the grid coordinate system to the latitude and longitude coordinate system to obtain the latitude and longitude point coordinates of the global path and the corresponding work flag.

[0088] The current grid-based algorithm technology is mainly aimed at solving the optimal solution of the search algorithm and avoiding dead zones, and is quite different from the actual application method, and the development difficulty and application cost are high, and the back-and-forth method and the spiral method have the problems of insufficient edge coverage and low work efficiency. The present application provides a simple method to solve the problems of low efficiency, poor adaptability, and uneven work of the current full-coverage path planning technology in complex and irregular fields. Compared with the prior art, the present application does not need to use complex search algorithms, greatly simplifying the development difficulty, and the parameter modification is simple, avoiding the work width requirement caused by different agricultural machine operation requirements. This method not only well handles the boundary coverage, but also has excellent applicability. This method can also be used to further adapt to the agricultural machine operation and path precision requirements by proportionally reducing the grid width and the work width ratio on the basis of the existing.

[0089] As shown in Figure 7 , based on the same inventive concept, the third embodiment of the present application provides an agricultural machine operation path planning device, comprising:

[0090] The grid module 11 is used for gridding the operation map to obtain a grid map;

[0091] The obstacle constraint module 12 is used for creating a plurality of parallel virtual obstacles along the target operation direction;

[0092] The identification module 13 is used for marking the roads, virtual obstacles, already passed grids, and actual obstacles in the grid of the grid map by small to large flag bits;

[0093] The planning module 14 is used for planning the operation path on the grid map based on the flag bit.

[0094] Optionally, as shown in Figure 8 The electronic device 1100 according to the embodiment of the present application includes a processor 1101 and a memory 1102. The memory 1102 stores programs or instructions which are executable by the processor 1101. When the processor 1101 executes the programs or instructions, the processor 1101 implements the processes of the agricultural operation path planning method according to the embodiment of the present application, and achieves the same technical effects. For the sake of brevity, the processes of the agricultural operation path planning method according to the embodiment of the present application will not be described again.

[0095] It should be noted that the electronic device according to the embodiment of the present application includes the mobile electronic device and the non-mobile electronic device.

[0096] The embodiment of the present application further provides a chip. The chip includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is configured to execute programs or instructions, and implement the processes of the agricultural operation path planning method according to the embodiment of the present application, and achieve the same technical effects. For the sake of brevity, the processes of the agricultural operation path planning method according to the embodiment of the present application will not be described again.

[0097] It should be understood that the chip according to the embodiment of the present application can also be referred to as a system-level chip, a system chip, a chip system, or a system-on-chip chip.

[0098] It should be noted that, in this document, the terms "comprising", "including", or any other variant thereof are intended to cover non-exclusive inclusion, so that processes, methods, articles, or devices including a series of elements not only include those elements, but also include other elements not explicitly listed, or further include elements inherent in such processes, methods, articles, or devices. Without more limitations, the element defined by the statement "including a" does not exclude the presence of additional identical elements in the process, method, article, or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, but can also include performing functions in a substantially simultaneous manner or in a reverse order, for example, the described method can be performed in an order different from that described, and various steps can be added, omitted, or combined. In addition, the features described with reference to certain examples can be combined in other examples.

[0099] Through the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned example methods can be realized by means of software and a necessary general hardware platform, and of course, can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a computer software product in essence or in the form of a part that contributes to the prior art, which is stored in a storage medium (such as a ROM / RAM, a magnetic disk, or an optical disk) and includes a plurality of instructions for causing a terminal (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present application.

[0100] The embodiments of the present application are described above in combination with the drawings, but the present application is not limited to the above-mentioned specific embodiments, and the above-mentioned specific embodiments are only illustrative and not restrictive. Those skilled in the art can make many forms under the inspiration of the present application without departing from the scope of the present application and the scope protected by the claims.

Claims

1. A method for planning agricultural machinery operation paths, characterized in that, include: Rasterize the task map to obtain a raster map; Create virtual obstacles along the target work direction; Specifically, this includes: taking the direction of the longest side of the grid map as the target operation direction; creating multiple parallel virtual obstacles along the target operation direction so that the virtual obstacles penetrate the grid map; Roads, virtual obstacles, objects that have passed through the grid, and actual obstacles are marked in the grid of the grid map using flags from smallest to largest; Based on the marker positions, a work path is planned on the grid map; specifically, it includes: under the constraint of virtual obstacles, the agricultural machinery stops searching after reaching the central work endpoint; the virtual obstacle grid marker position of the adjacent actual obstacle is set to 0; the shortest distance from the outermost grid to the field exit is compared with the current grid of the agricultural machinery, the edging direction is determined according to the distance on the left and right sides of the farmland boundary, and the path search is repeated until the edging starting point is reached, and the path search continues from the edging starting point until the agricultural machinery reaches the field exit.

2. The agricultural machinery operation path planning method according to claim 1, characterized in that, Planning a work path on the grid map based on the aforementioned markers includes: Repeat the following steps starting from the raster map entry point until the current raster becomes the raster map exit point; The next grid cell is selected based on the priority of the flag bits of the grid cells adjacent to the current grid cell and the direction of movement; Mark the current grid as having already passed a grid; Set the next grid cell as the current grid cell.

3. The agricultural machinery operation path planning method according to claim 2, characterized in that, The priority of the movement direction is dynamically switched based on the current orientation of the agricultural machinery.

4. The agricultural machinery operation path planning method according to claim 2, characterized in that, The next grid cell is selected based on the priority of the flag bits of the adjacent grid cells and the direction of movement, including: Obtain the target grid with the smallest flag bit from the grids adjacent to the current grid; When there is only one target grid, the target grid is used as the next grid. When there are two or more target grids, the target grid with the highest priority in the movement direction is selected as the next grid.

5. The agricultural machinery operation path planning method according to claim 1, characterized in that, The grid width of the grid map is half the width of the agricultural machinery operation area.

6. The agricultural machinery operation path planning method according to claim 1, characterized in that, The task map is rasterized to obtain a raster map, including: The operation map is rasterized to obtain an initial raster map; The initial raster map is expanded by boundary extension to obtain the raster map; The width difference between the raster map and the initial raster map is greater than or equal to 1 / 4 of the width of the agricultural machinery operation area.

7. The agricultural machinery operation path planning method according to claim 1, characterized in that, The spacing between adjacent virtual obstacles is equal to the grid side length; The width of the virtual obstacle and the sum of the grid side lengths are less than or equal to the operating width of the agricultural machinery.

8. A device for planning agricultural machinery operation paths, characterized in that, include: The rasterization module is used to rasterize the operation map to obtain a raster map; The obstacle constraint module is used to create multiple parallel virtual obstacles along the target operation direction; Specifically, this includes: taking the direction of the longest side of the grid map as the target operation direction; creating multiple parallel virtual obstacles along the target operation direction so that the virtual obstacles penetrate the grid map; The labeling module is used to mark roads, virtual obstacles, objects that have passed through the grid, and actual obstacles in the grid map using flags from smallest to largest. The planning module is used to plan the operation path on the grid map based on the marker positions; specifically, it includes: under the constraint of virtual obstacles, the agricultural machinery stops searching after reaching the central operation endpoint; setting the virtual obstacle grid marker position of the adjacent actual obstacle to 0; comparing the shortest distance from the outermost grid to the field exit of the current grid of the agricultural machinery, determining the edging direction according to the distance on the left and right sides of the farmland boundary, and repeating the path search until the edging starting point, and continuing to search the path from the edging starting point until the agricultural machinery reaches the field exit.

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