Path planning method and device and spraying machine

Abstract

The invention provides a path planning method and device and a sprayer, and the method comprises the steps: obtaining an original boundary according to a first positioning track after the sprayer travels along the boundary of a field area; performing range correction on the original boundary according to vehicle parameters of the spraying machine to obtain a target boundary; and obtaining a target path according to the target boundary and a preset pesticide spraying distance. The original boundary is determined through the first positioning track after the sprayer travels along the boundary of the field area, and the range of the original boundary is corrected through the vehicle parameters of the sprayer to obtain the target boundary, so that the target boundary is more matched with the actual boundary of the field area, and the error between the target boundary and the field area is reduced; the accuracy of the target boundary is improved. On the basis of the target boundary, the target path is generated according to the pesticide spraying distance, the risk that the sprayer exceeds the actual field boundary or is too far away from the actual field boundary during turning can be reduced, pesticide spraying waste is effectively reduced, and the plant protection effect is improved.

Description

Technical Field

[0001] The present application relates to the technical field of sprayers, and in particular to a path planning method, device and sprayer. Background Art

[0002] A sprayer is a plant protection machine used for liquid spraying in agricultural parks. It is often used to spray pesticides on fields, a process also known as spraying. The sprayer includes a traveling device and a spraying device mounted on the traveling device. During the spraying process, the driver drives the traveling device in a designated field area, and the pesticide is released through the spraying device during the driving process.

[0003] Some sprayers in the prior art also have an automatic driving function, and the sprayer also includes an automatic driving control system, which can control the walking device to travel along a pre-planned path to achieve automatic driving and automatic spraying. However, the current path planning is not accurate enough, which can easily cause the sprayer to exceed the actual field boundary during automatic driving, resulting in waste of spraying. Summary of the invention

[0004] In view of the above, it is necessary to provide a path planning method, device and sprayer to reduce the waste of pesticide spraying.

[0005] The first aspect of the present application provides a path planning method, comprising: obtaining an original boundary according to a first positioning trajectory after the sprayer travels along the boundary of a field area; performing range correction on the original boundary according to vehicle parameters of the sprayer to obtain a target boundary; and obtaining a target path according to the target boundary and a preset spraying interval.

[0006] In one embodiment, the sprayer includes a vehicle body and an antenna module arranged on the vehicle body, and the vehicle parameters include an antenna distance from the antenna module to a side of the vehicle body; according to the vehicle parameters of the sprayer, the original boundary is range-corrected to obtain a target boundary, including: according to the antenna distance of the sprayer, the original boundary is corrected to obtain the target boundary.

[0007] In one of the embodiments, a target path is obtained according to a target boundary and a preset spraying interval, including: according to a U-turn distance of the sprayer, the target boundary is reduced to obtain a straight boundary; wherein the U-turn distance is used to reflect a distance threshold of the sprayer when turning; according to the straight boundary and the spraying interval, a plurality of straight sections are obtained; wherein both ends of the straight section intersect with the straight boundary; a U-turn curve section is generated between the beginning and the end of two adjacent straight sections; and a plurality of straight sections are connected end to end according to the U-turn curve section to obtain a target path.

[0008] In one embodiment, the U-turn distance is calculated based on the turning radius and body width of the sprayer.

[0009] In one of the embodiments, the method also includes: obtaining a reference section based on a second positioning trajectory after the sprayer travels along the working section; obtaining multiple reference sections based on the straight-ahead boundary and the spraying interval, including: obtaining multiple reference sections based on the spraying interval and the reference section; obtaining multiple straight-ahead sections based on the straight-ahead boundary and multiple reference sections.

[0010] In one embodiment, generating a U-turn curve section between the beginning and the end of two adjacent straight sections includes: determining a first endpoint of the first straight section and a second endpoint of the second straight section, wherein the first straight section and the second straight section are two adjacent straight sections, and the first endpoint and the second endpoint are located at the same end of the straight section; and generating the U-turn curve section between the first endpoint and the second endpoint.

[0011] In one embodiment, a U-turn curve section is generated between a first end point and a second end point, comprising: determining whether the sprayer meets the reversing condition, if so, generating a first curve section between the first end point and the second end point, and using the first curve section as the U-turn curve section; if not, generating a second curve section between the first end point and the second end point, and using the second curve section as the U-turn curve section; wherein the length of the first curve section is less than the length of the second curve section.

[0012] In one embodiment, a U-turn curve section is generated between a first endpoint and a second endpoint, including: generating an original curve section between the first endpoint and the second endpoint; when it is determined that the original curve section meets the U-turn out-of-bounds condition, adjusting the position of the first endpoint and the position of the second endpoint to update the original curve section, and determining the original curve section that does not meet the U-turn out-of-bounds condition as the U-turn curve section.

[0013] The second aspect of the present application provides a path planning device, including: an information collection module, used to obtain an original boundary based on a first positioning trajectory after the sprayer travels along the boundary of a field area; a boundary processing module, used to perform range correction on the original boundary according to the vehicle parameters of the sprayer to obtain a target boundary; and a path generation module, used to obtain a target path based on the target boundary and a preset spraying interval.

[0014] A third aspect of the present application provides a sprayer, comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor executes the executable instructions so that the sprayer implements the method provided in the first aspect.

[0015] Through the path planning method, device and sprayer provided by the present application, the original boundary is determined by the first positioning trajectory after the sprayer travels along the boundary of the field area, and the target boundary is obtained by range correction of the original boundary through the vehicle parameters of the sprayer, so that the target boundary and the actual boundary of the field area are more consistent, the error between the target boundary and the field area is reduced, and the accuracy of the target boundary is improved. On the basis of the target boundary, the target path is generated according to the spraying interval, which can reduce the risk of the sprayer exceeding the actual field boundary or being too far away from the actual field boundary when turning around, effectively reducing the waste of spraying, and improving the effect of plant protection. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a module schematic diagram of the sprayer according to an embodiment of the present application.

[0017] Figure 2 It is a schematic diagram of the structure of the sprayer according to an embodiment of the present application.

[0018] Figure 3 It is a first flow chart of the path planning method of an embodiment of the present application.

[0019] Figure 4 Schematic diagram of the original boundary, target boundary and straight boundary of an embodiment of the present application, wherein from inside to outside in the diagram are the straight boundary, the original boundary and the target boundary.

[0020] Figure 5 It is a second flow chart of the path planning method of an embodiment of the present application.

[0021] Figure 6 It is a third flow chart of the path planning method of an embodiment of the present application.

[0022] Figure 7 It is a schematic diagram of the process of generating the first curved road section of an embodiment of the present application, wherein a reference road section is first obtained, then a plurality of straight road sections are obtained, and then the first curved road section is generated by a Reeds-Shepp curve algorithm.

[0023] Figure 8 It is a fourth process diagram of the path planning method of an embodiment of the present application.

[0024] Fig. 9 It is a schematic diagram of the process of generating the second curved road section in an embodiment of the present application, wherein a reference road section is first obtained, then a plurality of straight road sections are obtained, and then the second curved road section is generated by the Dubins curve algorithm.

[0025] Fig.10 It is a fifth flow chart of the path planning method of an embodiment of the present application.

[0026] Fig.11It is a module schematic diagram of the path planning device of an embodiment of the present application.

[0027] Main component symbols

[0028] Walking device 10

[0029] Car body 11

[0030] Display terminal 12

[0031] Spraying device 20

[0032] Jug 21

[0033] Vehicle control device 30

[0034] Sensor collection device 40

[0035] Camera 41

[0036] Navigation control device 50

[0037] Antenna module 51

[0038] Remote control device 60

[0039] Path planning device 70

[0040] Information collection module 71

[0041] Boundary processing module 72

[0042] Path generation module 73 DETAILED DESCRIPTION

[0043] In the description of the embodiments of the present application, words such as "exemplary", "or", "for example" and the like are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary", "or", "for example" and the like is intended to present related concepts in a concrete manner.

[0044] The terms "first" and "second" in the specification, claims and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence. The method disclosed in the embodiments of this application or the method shown in the flowchart includes one or more steps for implementing the method. Without departing from the scope of the claims, the execution order of multiple steps can be interchanged with each other, and some steps can also be deleted.

[0045] At present, the sprayer is equipped with an automatic driving control system, which can control the sprayer to travel along a pre-planned path to achieve automatic driving and automatic spraying.

[0046] In the related art, the way in which the automatic driving control system performs path planning is: first, construct a corresponding virtual area according to the geographical location of the field; then, plan the corresponding navigation path in the simulated virtual area. The navigation path is usually S-shaped, including multiple straight sections arranged in parallel and multiple turning sections arranged between the head and tail of adjacent straight sections, wherein the straight section is close to the middle of the virtual area, and the turning section is close to the boundary of the virtual area. When the sprayer moves along the navigation path, it can move forward along a straight section, turn and turn along the turning section at the boundary of the virtual area, and then move straight in the opposite direction along the next straight section, and spray pesticides during the entire walking process.

[0047] However, the difference between the boundary of the constructed virtual area and the actual field boundary is large, resulting in a large error between the turning section and the actual field boundary. If the turning section exceeds the actual field boundary, the sprayer will exceed the actual field boundary when turning, resulting in a waste of pesticides; if the turning section is too far from the actual field boundary, the part located at the field boundary cannot be sprayed normally, resulting in poor plant protection effect.

[0048] The embodiments of the present application provide a path planning method, device and sprayer, which have the effects of more accurate path planning, reduced waste of spraying pesticides, and improved plant protection effects.

[0049] See also Figure 1 and Figure 2 , the path planning method provided by the present application can be applied to a sprayer. The sprayer includes a walking device 10, a spraying device 20, a vehicle control device 30, a sensor collection device 40 and a navigation control device 50. Among them, the walking device 10 is used to realize the walking and steering of the sprayer. The spraying device 20 is mounted on the walking device 10, and the spraying device 20 is used to spray liquid medicine during the walking process. The walking device 10 and the spraying device 20 are both electrically connected to the vehicle control device 30, and the vehicle control device 30 is used to control the walking state and walking direction of the walking device 10, and is also used to control the working state of the spraying device 20. The sensor collection device 40 is electrically connected to the navigation control device 50, and the sensor collection device 40 is used to collect sensor information of the environment around the sprayer. The navigation control device 50 is electrically connected to the vehicle control device 30, and the navigation control device 50 is used to navigate and locate the sprayer, and process it in combination with the sensor information, and output control instructions to the vehicle control device 30 according to a preset algorithm to control the sprayer to automatically walk and spray medicine according to a pre-planned path.

[0050] In this embodiment, the traveling device 10 includes a vehicle body 11, which includes but is not limited to a crawler-type vehicle body 11 and a suspended wheel-type vehicle body 11. A driving seat is provided at the front end of the vehicle body 11, and a driver can sit in the driving seat to drive the sprayer. A display terminal 12 is provided on one side of the driving seat, and the driver can view the vehicle status and sensor information of the sprayer through the display terminal 12.

[0051] In this embodiment, the spraying device 20 is mounted on the rear end of the vehicle body 11. The spraying device 20 includes a water tank 21 and a spraying mechanism. The water tank 21 is used to store liquid medicine, which includes but is not limited to pesticides and foliar fertilizers. The spraying mechanism includes a spraying pipeline and a water pump. One end of the spraying pipeline is connected to the medicine tank through the water pump, and the other end is provided with a nozzle. The water pump can transport the liquid medicine in the medicine tank to the spraying pipeline and spray it through the nozzle. In this embodiment, the spraying mechanism is configured on both sides of the vehicle body 11 so that the liquid medicine can be sprayed on both sides of the vehicle body 11.

[0052] In this embodiment, the sensor collection device 40 includes an obstacle detection module, which includes but is not limited to an ultrasonic sensor. The obstacle detection module is used to detect obstacles in the surrounding environment of the vehicle body 11, such as trees, people, etc. When the obstacle detection module detects that the distance between the obstacle and the vehicle body 11 exceeds a specified threshold, it can promptly warn and execute corresponding safety measures.

[0053] In this embodiment, the sensor acquisition device 40 also includes a plurality of cameras 41, which are all disposed on the vehicle body 11, and are used to capture images of the surrounding environment of the vehicle body 11, such as capturing images of the environment in front, behind, and on both sides of the vehicle body 11. When the satellite signal is poor or there is severe interference, the navigation control device 50 can perform image segmentation and recognition of markers (such as trees, path edges, etc.) based on the images captured by the cameras 41 through a preset AI visual algorithm, so as to optimize and correct the path, ensure the accuracy of navigation walking, and automatically avoid obstacles.

[0054] In this embodiment, the navigation control device 50 includes an antenna module 51 and a navigation control module, and the antenna module 51 is electrically connected to the navigation control module. The antenna module 51 includes but is not limited to a 5G antenna. The antenna module 51 is arranged on the vehicle body 11, and the antenna module 51 is used to receive satellite data. The navigation control module is used to locate the position of the sprayer according to the satellite data of the antenna module 51. The navigation control module is preset with a planned target path and a positioning navigation algorithm, wherein the positioning navigation algorithm can be an RTK (Real-time kinematic) positioning navigation algorithm.

[0055] In actual work, the navigation control device 50 can process the navigation information, sensor information, etc. of the sprayer, and output control instructions to the vehicle control device 30 according to the positioning navigation algorithm and the target path. In response to receiving the control instructions, the vehicle control device 30 can control the walking device 10 to automatically walk along the target path, and control the spraying device 20 to automatically spray the liquid medicine.

[0056] In this embodiment, the sprayer is further provided with a remote control device 60, and the remote control device 60 communicates wirelessly with the navigation control device 50, and the wireless communication method includes but is not limited to 5G communication, WIFI, etc.

[0057] The sprayer provided in this embodiment has a manual mode, an automatic navigation mode and a remote control mode. In the manual mode, the driver manually drives the sprayer to move. In the automatic navigation mode, the sprayer automatically moves according to the planned target path. In the remote control mode, the driver controls the operation panel of the remote control device 60, and the remote control device 60 sends a wireless control instruction to the navigation control device 50, and the navigation control device 50 outputs the corresponding control instruction to the vehicle control device 30 to control the operation of the walking device 10 or the spraying device 20.

[0058] In this embodiment, the remote control device 60 is a handheld remote control equipped with a screen display. The remote control device 60 can display the working parameters of the walking device 10, the working parameters of the spraying device 20, the positioning position of the navigation control device 50, the pre-planned target path, the detection results of the obstacle detection module, the real-time image captured by the camera 41 and other information through the screen display. When the sprayer is in the automatic navigation mode, the user can remotely view various information through the screen display of the remote control device 60 to understand the current state and surrounding environment of the sprayer, so as to facilitate the user to adjust the target path.

[0059] See also Figure 2 and Figure 3 The path planning method provided in the embodiment of the present application includes the following steps.

[0060] S301: Obtain an original boundary according to a first positioning trajectory.

[0061] The first positioning track is the track of the sprayer after it travels along the boundary of the field area, and the first positioning track is used to indicate the contour distribution of the field boundary. The field area is the area where the actual field that needs to be sprayed is located.

[0062] The first positioning trajectory can be obtained by manually driving or remotely controlling the sprayer to walk along the boundary of the field area (the side of the vehicle body 11 should be close to the boundary of the field area), and determining the longitude and latitude data of the sprayer during the walking process based on the satellite data of the antenna module 51, and then converting the longitude and latitude data into projection coordinate data through calculation, thereby obtaining the first positioning trajectory.

[0063] The original boundary is the boundary of the closed-loop area obtained by connecting the starting point and the end point of the first positioning trajectory.

[0064] In this embodiment, after step S301 , the first positioning track may be displayed on the remote control device 60 or the display terminal 12 , and the user may manually adjust the contour of the first positioning track and regenerate the original boundary after the adjustment is completed.

[0065] S302: According to the vehicle parameters of the sprayer, the original boundary is corrected to obtain the target boundary.

[0066] See also Figure 3 and Figure 4 The original boundary is equivalent to the boundary obtained by measuring the field area using satellite data during the actual movement of the sprayer. Considering that the structure of the sprayer itself may cause certain positioning errors, the range of the original boundary is corrected through vehicle parameters to obtain a more accurate target boundary.

[0067] S303: Obtain a target path according to the target boundary and the preset spraying interval.

[0068] The spraying interval is used to indicate the interval of the spraying operation. The target path is the planned path of the sprayer when it is walking in automatic navigation. The target path can be obtained by limiting the walking range of the sprayer through the target boundary and setting the working section within the walking range according to the spraying interval.

[0069] In this embodiment, the target path includes a plurality of straight sections and a plurality of U-turn sections, wherein the spacing between two adjacent straight sections is the spraying spacing, and the two ends of the U-turn section are connected between the head and the end of the adjacent straight section, so that the plurality of straight sections are connected end to end. In the automatic navigation mode, the sprayer automatically moves along the target path, moves straight on the straight section, and turns on the U-turn section.

[0070] Through the path planning method provided by the present application, the original boundary is determined by the first positioning trajectory after the sprayer travels along the boundary of the field area, and the target boundary is obtained by range correction of the original boundary through the vehicle parameters of the sprayer, so that the target boundary is more consistent with the actual boundary of the field area, reducing the error between the target boundary and the field area, and improving the accuracy of the target boundary. On the basis of the target boundary, the target path is generated according to the spraying interval, which can reduce the risk of the sprayer exceeding the actual field boundary or being too far away from the actual field boundary when turning around, effectively reducing the waste of spraying, and improving the effect of plant protection.

[0071] See also Figure 2 and Figure 4 In some embodiments, the vehicle parameters include an antenna distance from the antenna module 51 to the side of the vehicle body 11. The antenna distance includes a first antenna distance and a second antenna distance, the first antenna distance being the distance from the antenna module 51 to the left side of the vehicle body 11 (the vehicle body 11 is based on the forward direction), and the second antenna distance being the distance from the antenna module 51 to the right side of the vehicle body 11 (the vehicle body 11 is based on the forward direction).

[0072] Step S302 includes:

[0073] According to the antenna distance of the sprayer, the original boundary is corrected to obtain the target boundary.

[0074] The antenna distance involved in the correction is the antenna distance from the antenna module 51 to the side of the vehicle body 11 close to the boundary of the field area. That is, when the first positioning trajectory is the anti-clockwise walking trajectory of the sprayer, the antenna distance should use the first antenna distance; when the first positioning trajectory is the clockwise walking trajectory of the sprayer, the antenna distance should use the second antenna distance.

[0075] It can be understood that the first positioning track is actually equivalent to the moving track of the antenna module 51, so that the point passed by the first positioning track is actually at a certain distance from the side of the vehicle body 11, and the boundary of the field area along the sprayer should actually be close to the side of the vehicle body 11, resulting in the distance between the antenna module 51 and the side of the vehicle body 11 causing an error between the original boundary and the field area. This embodiment corrects the original boundary by the antenna distance to obtain the target boundary, which can offset the error caused by the distance between the antenna module 51 and the side of the vehicle body 11, making the target area closer to the field area and improving the accuracy of path planning.

[0076] In this embodiment, the way of correcting the original boundary includes enlarging and shrinking.

[0077] The specific implementation of step S302 is:

[0078] When the first positioning trajectory is a trajectory of the sprayer traveling inside the field area, the original boundary is expanded according to the antenna distance of the sprayer to obtain the target boundary.

[0079] When the first positioning trajectory is a trajectory of the sprayer traveling outside the field area, the original boundary is shrunk according to the antenna distance of the sprayer to obtain the target boundary.

[0080] It can be understood that when the sprayer drives inside the field area to obtain the first positioning track, the first positioning track is actually smaller than the boundary of the field area, so the original boundary needs to be expanded. When the sprayer drives outside the field area to obtain the first positioning track, the first positioning track is actually larger than the boundary of the field area, so the original boundary needs to be shrunk.

[0081] In the example of this embodiment, the first positioning track is the track of the sprayer traveling inside the field area, and the specific step S302 is: according to the antenna distance of the sprayer, the original boundary is expanded to obtain the target boundary.

[0082] See also Figure 4 and Figure 5 In some embodiments, step S303 includes:

[0083] S501. According to the turning distance of the sprayer, the target boundary is reduced to obtain a straight-ahead boundary.

[0084] The U-turn distance is used to reflect the distance threshold of the sprayer when turning. When the sprayer moves along the straight section until the distance between the current position and the field boundary reaches the U-turn distance, the sprayer starts to turn.

[0085] Specifically, the U-turn distance is calculated by the turning radius of the sprayer and the body width of the vehicle body, and the calculation method is turning radius + 1 / 2*body width.

[0086] S502: Obtain multiple straight sections according to the straight boundary and the pesticide spraying interval.

[0087] Among them, a plurality of straight road sections are located within the target boundary, and both ends of the straight road sections intersect with the target boundary.

[0088] S503: Generate a U-turn curve section between the beginning and the end of two adjacent straight sections.

[0089] The U-turn curve section is between the target boundary and the straight boundary. Through a preset curve generation algorithm, a curve can be generated between the beginning and the end of two adjacent straight sections, and the generated curve is used as the U-turn curve section.

[0090] S504: Connect multiple straight sections end to end according to the U-turn curve section to obtain a target path.

[0091] In this embodiment, when the sprayer moves along the target path, the sprayer first moves straight along the first straight section, and at the end of the straight section, it turns around along the corresponding U-turn curve section, and enters the next straight section to move straight in the opposite direction along the next straight section; and so on, until the sprayer completes the target path.

[0092] It can be understood that during the automatic navigation of the sprayer, the two sides of the sprayer will continue to spray liquid medicine, the sprayer will go straight along the straight section within the straight boundary, and turn around along the U-turn curve section between the target boundary and the straight boundary. On the one hand, it prevents the sprayer from exceeding the target boundary when turning around, reduces the spraying of liquid medicine on the area outside the target boundary, and reduces the waste of spraying. On the other hand, when the sprayer turns around, it can spray liquid medicine on the area between the target boundary and the straight boundary to prevent liquid medicine leakage at the edge of the target boundary, so that the spraying is more comprehensive and the plant protection effect is improved.

[0093] See also Figure 6 and Figure 7 In some embodiments, before step S502, the path planning method further includes:

[0094] S601. Obtain a reference road section according to a second positioning trajectory.

[0095] The second positioning track is the track of the sprayer after it travels along the working section, and the working section is the straight path that the sprayer needs to travel when actually spraying pesticides. The reference section is used to provide a reference for the straight section.

[0096] See also Figure 2 and Figure 7 The second positioning trajectory can be obtained by manually driving or remotely controlling the sprayer to walk a certain distance in the field area in a specified walking direction, and determining the longitude and latitude data of the sprayer during the walking process according to the satellite data of the antenna module 51, and then converting the longitude and latitude data into projection coordinate data through calculation, thereby obtaining the second positioning trajectory.

[0097] In this embodiment, after step S601 , the second positioning track may be displayed on the remote control device 60 or the display terminal 12 , and the user may manually adjust the contour of the second positioning track and regenerate the reference section after the adjustment is completed.

[0098] In this embodiment, the specific implementation of step S601 is: performing straight line correction according to the second positioning trajectory to obtain a straight reference section.

[0099] In this embodiment, step S502 includes:

[0100] S5021. Obtain multiple reference sections according to the spraying interval and the benchmark section.

[0101] Among them, on the basis of the reference section, multiple reference sections are copied by translation in a direction perpendicular to the reference section, the distance between two adjacent reference sections is the spraying distance, and the multiple reference sections are laid flat within the straight boundary.

[0102] S5022. Obtain multiple straight road sections according to the straight road boundary and multiple reference road sections.

[0103] When the length of the reference section is long and both ends of the reference section intersect with the straight-ahead boundary respectively, the multiple reference sections are intercepted by the straight-ahead boundary, and the parts of the multiple reference sections within the straight-ahead boundary are retained as multiple straight-ahead sections.

[0104] When the length of the reference section is short and the two ends of the reference section are separated from the straight-ahead boundary, the reference section is enlarged with its center as the reference point to extend the length of the reference section so that the two ends of the reference section intersect with the straight-ahead boundary respectively, and then multiple reference sections are intercepted through the straight-ahead boundary, and the parts of the multiple reference sections located within the straight-ahead boundary are retained as multiple straight-ahead sections.

[0105] It can be understood that when the user operates the sprayer to construct the second positioning trajectory, the travel direction of the sprayer can be adjusted according to the type of field or path distribution, so that the trajectory of the straight section is more consistent with the actual field, thereby improving the plant protection effect.

[0106] See also Figure 7 and Figure 8 In some embodiments, step S503 includes:

[0107] S801: Determine a first endpoint of a first straight section and a second endpoint of a second straight section.

[0108] The first straight section and the second straight section are two adjacent straight sections, and the first endpoint and the second endpoint are located at the same end of the straight section.

[0109] S802: Generate a U-turn curve section between the first endpoint and the second endpoint.

[0110] It can be understood that each of two adjacent straight sections includes a first straight section and a second straight section, a first end point of the first straight section and a second end point of the second straight section are adjacent to each other, and are connected to each other by a U-turn curve section.

[0111] In some embodiments, step S802 includes:

[0112] S8021. Determine whether the sprayer meets the reversing condition. If so, execute step S8022; if not, execute step S8023.

[0113] The structure of the sprayer determines whether the sprayer has a reversing function. When the sprayer has a reversing function, the sprayer is deemed to meet the reversing condition. When the sprayer does not have a reversing function, the sprayer is deemed not to meet the reversing condition. In this embodiment, whether the sprayer meets the reversing condition can be determined specifically according to the model of the sprayer.

[0114] S8022: Generate a first curved section between the first endpoint and the second endpoint, and use the first curved section as a U-turn curved section.

[0115] If the sprayer meets the reversing condition, the sprayer can perform a reversing operation in the middle of turning and U-turning, and the walking section required for turning and U-turning is shorter. The first curved section can be generated by a curve with a smaller overall space occupation.

[0116] In this embodiment, the first curved section is generated by a Reeds-Shepp curve algorithm. Various parameters of the Reeds-Shepp curve algorithm can be preset according to actual needs.

[0117] S8023. Generate a second curved section between the first endpoint and the second endpoint, and use the second curved section as a U-turn curved section.

[0118] If the sprayer does not meet the reversing condition, the sprayer cannot perform the reversing operation in the middle of turning and turning, and the walking section required for turning and turning is longer. The length of the second curved section is greater than the length of the first curved section, and the second curved section can be generated by a curve with a larger overall space occupation.

[0119] See also Fig. 9 In this embodiment, the second curve section is generated by a Dubins curve algorithm. Various parameters of the Dubins curve algorithm can be preset according to actual needs.

[0120] It can be understood that by analyzing whether the sprayer has a reversing function and configuring the curve generation algorithm accordingly, the generation of the U-turn curve section can be suitable for different types of sprayers.

[0121] See also Fig.10 In some embodiments, step S802 includes:

[0122] S1001. Generate an original curve segment between a first endpoint and a second endpoint.

[0123] Wherein, an original curve section is generated between the first endpoint and the second endpoint through a corresponding curve generation algorithm.

[0124] In this embodiment, when the sprayer meets the reversing condition, the original curve section is generated by the Reeds-Shepp curve algorithm. When the sprayer does not meet the reversing condition, the original curve section is generated by the Dubins curve algorithm.

[0125] S1002, determine whether the original curved road section meets the U-turn out-of-bounds condition, if so, execute step S1003; if not, execute step S1004.

[0126] Among them, the U-turn over-boundary condition is used to reflect the risk of the sprayer exceeding the field boundary when moving along the original curved section. If the sprayer exceeds the field boundary when turning, it will cause movement over-boundary and cause waste of pesticides.

[0127] In this embodiment, the U-turn over-boundary condition is: the minimum distance between the original curved section and the original boundary is less than or equal to a preset critical threshold. When the minimum distance between the original curved section and the original boundary is less than or equal to the critical threshold, it is considered that the original curved section intersects the original boundary, or the distance between the original curved section and the original boundary is too close, and the original curved section is considered to meet the U-turn over-boundary condition.

[0128] S1003. Adjust the position of the first endpoint and the position of the second endpoint, and return to S1001.

[0129] The original curve section can be updated by adjusting the position of the first endpoint and the position of the second endpoint, thereby returning to step S1001 to determine whether the updated initial curve section meets the U-turn out-of-bounds condition.

[0130] In this embodiment, the position of the first endpoint may be adjusted by moving the first endpoint along the first straight section in a direction away from the original boundary by a preset adjustment length.

[0131] The position of the second endpoint may be adjusted by moving the second endpoint along the second straight section in a direction away from the original boundary by a preset adjustment length.

[0132] S1004: Determine the original curved road section as a U-turn curved road section.

[0133] It can be understood that the original boundary is generated by the sprayer walking along the actual boundary of the field area. The original boundary is an irregular shape as a whole, and the outline of the original boundary has a curve characteristic, which causes the original curve section generated by the curve algorithm to be too close to the original boundary. The present application adjusts and updates the original curve section as a whole by adjusting the positions of the first endpoint and the second endpoint to obtain an original curve section that meets the requirements as a U-turn curve section.

[0134] See also Fig.11 The present application also provides a path planning device 70, which can be applied to a sprayer. The path planning device 70 may include a plurality of functional submodules composed of program code segments, and the path planning device 70 may be divided into a plurality of functional submodules according to the functions it performs. The functional submodules include at least an information collection module 71, a boundary processing module 72, and a path generation module 73. The functions of each functional submodule are as follows:

[0135] The information collection module 71 is used to obtain the original boundary according to the first positioning track after the sprayer travels along the boundary of the field area.

[0136] The boundary processing module 72 is used to perform range correction on the original boundary according to the vehicle parameters of the sprayer to obtain the target boundary.

[0137] The path generation module 73 is used to obtain a target path according to the target boundary and the preset spraying interval.

[0138] See also Figure 1 and Fig.11 In this embodiment, after completing the path planning, the path planning device 70 sends the target path to the navigation control device 50. When the sprayer is in the automatic navigation mode, the navigation control device 50 can navigate and locate the sprayer, and process the information in combination with the sensor, and output control instructions to the vehicle control device 30 according to the preset algorithm to control the sprayer to automatically travel and spray according to the preset target path.

[0139] The implementation principle of the path planning device 70 provided in the embodiment of the present application can be found in the relevant instructions of the above-mentioned path planning method, which will not be repeated here.

[0140] It is obvious to those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and that the present application can be implemented in other specific forms without departing from the spirit or basic features of the present application. Therefore, no matter from which point of view, the above embodiments of the present application should be regarded as exemplary and non-restrictive, and the scope of the present application is defined by the attached claims rather than the above description, and therefore it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present application.

Claims

1. A path planning method, It is characterized in that The method comprises: According to the first positioning track after the sprayer travels along the boundary of the field area, an original boundary is obtained; According to the vehicle parameters of the sprayer, the original boundary is range-corrected to obtain a target boundary; A target path is obtained according to the target boundary and a preset spraying interval.

2. The path planning method according to claim 1, It is characterized in that The sprayer includes a vehicle body and an antenna module arranged on the vehicle body, and the vehicle parameters include an antenna distance from the antenna module to the side of the vehicle body; The method of performing range correction on the original boundary according to the vehicle parameters of the sprayer to obtain the target boundary includes: The original boundary is corrected according to the antenna distance of the sprayer to obtain the target boundary.

3. The path planning method according to claim 1, It is characterized in that The step of obtaining a target path according to the target boundary and the preset spraying interval includes: According to the U-turn distance of the sprayer, the target boundary is reduced to obtain a straight-ahead boundary; wherein the U-turn distance is used to reflect the distance threshold of the sprayer when turning; According to the straight boundary and the spraying interval, a plurality of straight sections are obtained; wherein both ends of the straight section intersect with the straight boundary; Generating a U-turn curve section between the beginning and the end of two adjacent straight sections; The plurality of straight sections are connected end to end according to the U-turn curve section to obtain the target path.

4. The path planning method according to claim 3, It is characterized in that The U-turn distance is calculated based on the turning radius and body width of the sprayer.

5. The path planning method according to claim 3, It is characterized in that The method further comprises: Obtaining a reference section according to a second positioning track after the sprayer travels along the working section; The method of obtaining a plurality of reference sections according to the straight-line boundary and the spraying interval includes: According to the spraying interval and the reference road section, a plurality of reference road sections are obtained; A plurality of straight road sections are obtained according to the straight boundary and the plurality of reference road sections.

6. The path planning method according to claim 3, It is characterized in that Generating a U-turn curve section between the beginning and the end of two adjacent straight sections includes: Determine a first endpoint of a first straight section and a second endpoint of a second straight section, wherein the first straight section and the second straight section are two adjacent straight sections, and the first endpoint and the second endpoint are located at the same end of the straight section; The U-turn curve section is generated between the first end point and the second end point.

7. The path planning method according to claim 6, It is characterized in that Generating the U-turn curve section between the first endpoint and the second endpoint includes: Determine whether the sprayer meets the reversing condition, and if so, generate a first curved section between the first end point and the second end point, and use the first curved section as the U-turn curved section; If not, a second curved section is generated between the first end point and the second end point, and the second curved section is used as the U-turn curved section; wherein the length of the first curved section is less than the length of the second curved section.

8. The path planning method according to claim 6, It is characterized in that Generating the U-turn curve section between the first endpoint and the second endpoint includes: generating an original curve segment between the first endpoint and the second endpoint; When it is determined that the original curved section meets the U-turn out-of-bounds condition, the position of the first endpoint and the position of the second endpoint are adjusted to update the original curved section, and the original curved section that does not meet the U-turn out-of-bounds condition is determined as the U-turn curved section.

9. A path planning device, It is characterized in that include: An information collection module is used to obtain an original boundary according to a first positioning track after the sprayer travels along the boundary of the field area; A boundary processing module, used for performing range correction on the original boundary according to vehicle parameters of the sprayer to obtain a target boundary; The path generation module is used to obtain the target path according to the target boundary and the preset spraying interval.

10. A sprayer, It is characterized in that include: processor; as well as A memory, configured to store executable instructions of the processor; The processor executes the executable instructions so that the spray machine implements the method according to any one of claims 1 to 8.

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