Routing rice combine harvester path planning method and system based on field checkerboard filling
By chess-dividing and path planning of recycled rice fields, the crushing problem of combined harvesters in recycled rice fields was solved, low crush damage harvesting was achieved, and rice yield and economic benefits were improved.
Patent Information
- Application Number
- CN202411325243.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-23
- Publication Date
- 2024-12-20
AI Technical Summary
The crushing of the combined harvester in the regenerated rice fields leads to the damage of dormant buds, reducing the yield of regenerated rice. The prior art cannot effectively reduce repeated crushing and empty strokes, affecting the harvesting efficiency.
By placing the recycled rice field blocks, combining the harvester's cutting width, grain tank volume and field block data, the optimal harvester path is planned to reduce repeated strokes and crushing, and improve yield.
The low-rolling damage harvest of recycled rice was achieved, and the rice yield and economic benefits were improved in the second quarter, the generation of empty strokes and repeated strokes were avoided, and the crush damage to the rice fields by the harvester was reduced.
Smart Images
Figure CN119164399A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of intelligent agricultural machinery, and in particular to a path planning method and system for a regenerated rice combine harvester based on field chessboard filling. Background Art
[0002] Raised rice is a special rice planting model, and its harvest period is divided into two seasons. When the first season of rice is harvested, the lower one-third of the stubble and root system of the plant needs to be retained, and after fertilization and cultivation, it is allowed to grow another season of rice. When the combine harvester is harvesting the first season of regenerated rice in the field, its tracks will roll over the stubble of the regenerated rice, thereby destroying the dormant buds on the stubble. The damaged dormant buds cannot normally head and grow the second season of rice, and the yield of regenerated rice is seriously reduced, and its economic benefits and promotion prospects are therefore seriously restricted. When the combine harvester is operating in the field, it needs to temporarily stop harvesting and move to the edge of the field to unload grain due to the full grain tank. This process will cause repeated rolling of the harvested area, and repeated rolling is the main reason for the serious reduction in the yield of regenerated rice. Therefore, reasonable planning of the regenerated rice harvesting path to minimize repeated trips can effectively reduce the damage of the harvester to the dormant buds, thereby increasing the yield of regenerated rice. To achieve the above objectives, the present invention divides the regenerated rice field into a checkerboard pattern, combines data such as the harvester cutting width, grain box volume, field shape and size, and regenerated rice grain yield per unit area, with the goal of minimizing the repeated crushing area. The harvester's operating path is planned and the optimal route is fed back to the operator, thereby increasing the regenerated rice yield and reducing the damage caused when harvesting the first season of regenerated rice.
[0003] At present, there are few research results on low-compression harvesting path planning for regenerated rice in my country. Currently, similar patents are disclosed: a device and method for monitoring the remaining capacity and remaining walking distance of a combine harvester grain tank. A device and method for monitoring the remaining capacity and remaining walking distance of a combine harvester grain tank are provided, including a grain tank, a detection device, a control panel, a control unit and an alarm device. By real-time monitoring of the remaining space in the grain tank, the remaining walking distance of the combine harvester during harvesting is calculated and displayed in real time on the cab display, thereby helping the operator to plan the harvesting route and unloading route, reducing the empty travel of the combine harvester in the field, and improving the harvesting efficiency; when the grain tank capacity is about to be exhausted, the light-emitting diode cooperates with the buzzer to alarm, prompting the operator to unload the grain in time to avoid losses caused by grain leakage. This invention patent only feeds back the remaining walking distance of the combine harvester during harvesting to the operator for reference, and issues an alarm to remind the operator before the grain box is about to be full. The specific path planning and grain unloading arrangements require the operator to operate by himself. It can be seen that the information received by the operator is extremely limited. In addition, the field working conditions are complex and the operator's subjective judgment may have errors. Therefore, it can be seen that the actual effect of this scheme is relatively limited, and the low-compression harvesting path planning of regenerated rice cannot be achieved through this scheme. Summary of the invention
[0004] In view of the deficiencies in the prior art, the present invention provides a path planning method and system for a regenerated rice combine harvester based on checkerboard filling of field blocks, which realizes the optimal harvesting operation route planning for regenerated rice, solves the problem that the harvester needs to temporarily stop harvesting and move to the edge of the field to unload grain due to a full grain box, thereby causing additional crushing, effectively avoids the generation of empty trips and repeated trips, and thus improves the yield of regenerated rice and its economic benefits.
[0005] The present invention achieves the above technical objectives through the following technical means.
[0006] A path planning method for a regenerated rice combine harvester based on field chessboard filling comprises the following steps:
[0007] Acquiring basic data, wherein the basic data includes harvester cutting width, harvester grain box volume, overhead image of the field, field size data, regenerated rice grain yield per unit area of the field, and regenerated rice grain bulk density;
[0008] The field is divided into chessboards according to the overhead image of the field and the harvester's cutting width, and a field chessboard is constructed, with the smallest cell in the field chessboard being the basic grid; the basic grid of the outermost circle of the field chessboard is recorded as a functional area, and the functional area is used for the harvester to enter or leave the field chessboard, and the harvester only unloads grain and changes the forward direction in the functional area;
[0009] Determine the position where the harvester enters the field and starts operation from the functional area;
[0010] Determine the total yield of regenerated rice grains in the basic grid and the bulk density of regenerated rice grains in the basic grid according to the yield of regenerated rice grains per unit area of the field; determine the current state of the harvester according to the volume of the harvester grain tank, and the current state of the harvester includes an inoperable state and an operable state;
[0011] The basic grid area that the harvester has not traveled through is recorded as the unharvested area, the unharvested area that the harvester has traveled through in a working state is recorded as the harvested area, and the unharvested area that the harvester has traveled through in a non-working state is still recorded as the unharvested area; the harvested area that the harvester has traveled through in any state is recorded as the damaged area, and the damaged area that the harvester has traveled through in any state is still recorded as the damaged area; multiple harvesting operation routes are generated according to the starting operation position of the harvester and the current state of the harvester;
[0012] The harvesting route with the largest number of harvested grids and the least number of damaged grids is selected as the optimal harvesting and unloading route.
[0013] Furthermore, the harvester cutting width and the harvester grain tank volume are obtained according to the model parameters corresponding to the harvester; the overhead image of the field is acquired by an imaging device; the size data of the field including the field area, shape and boundary line length are obtained by surveying and mapping; the unit area regenerated rice grain yield and regenerated rice grain bulk density of the field are obtained according to historical data and manual estimation.
[0014] Furthermore, the field is divided into chessboards according to the overhead image of the field and the harvester cutting width, and a field chessboard is constructed, specifically:
[0015] The harvester cutting width is taken as the width of the basic grid, and the distance from the front end of the harvester cutting table to the rear end of the crawler track is taken as the length of the basic grid;
[0016] The aerial view of the field is identified by image recognition method to obtain the boundary of the field;
[0017] Combined with the field boundary and field size data, the field outline is simplified and fitted into a polygon with all right angles to construct a field chessboard;
[0018] The field board is filled in with the basic grid in an S-shaped path along the extension direction of the rows of ratoon rice plants in the field.
[0019] Further, the determination of the inoperable state and the operable state of the harvester is specifically as follows:
[0020] According to the area of the basic grid and the ratoon rice grain yield per unit area of the field, the total ratoon rice grain yield in a single basic grid is calculated;
[0021] Combined with the total yield of ratoon rice grains in a single basic grid, the bulk density of ratoon rice grains and the volume of the harvester's grain tank, the maximum number of basic grids that the harvester can travel from an empty grain tank to a full grain tank when harvesting ratoon rice is calculated, which is defined as the maximum number of grids that can be traveled at a time, recorded as nmax;
[0022] When the harvester's grain tank is completely empty, the number of basic grids n that the harvester has traveled through is 0. During the operation, each time the harvester travels through a basic grid in an unharvested area, n=n+1;
[0023] When n<nmax, the harvester has not reached the maximum number of single-time walking grids, and the state of the harvester is defined as a workable state; when n≥nmax, the harvester has reached the maximum number of single-time walking grids, and the state of the harvester is defined as a non-workable state.
[0024] Furthermore, the harvester is in an operable state or an inoperable state and can unload grain at any time. After unloading the grain, the number of basic grids n that the harvester has traveled through is counted as 0.
[0025] Furthermore, multiple harvesting operation routes are generated according to the starting operation position of the harvester and the current state of the harvester, specifically:
[0026] If the harvester is in the functional area, the harvester can move unit steps in any direction of the functional area, such as the front, back, left, or right. If the harvester is in the basic grid outside the functional area, the harvester can move unit steps forward or backward along the extension direction of the planting row of regenerated rice plants.
[0027] After all unharvested areas are converted into harvested areas and damaged areas, the operation is completed and returns to any basic grid in the functional area as the end point, generating multiple harvesting operation routes from the position where the harvester enters the field to start the operation to the end point.
[0028] A control system for a regenerated rice combine harvester path planning method based on field chessboard filling, comprising a computing unit and a display unit; the computing unit is installed inside a harvester cab, and the computing unit generates an optimal harvesting and unloading path based on basic data; the display unit is connected to the computing unit, and is used to visualize the harvesting and unloading path and feed it back to a client.
[0029] Furthermore, the display unit superimposes and displays a bird's-eye view image of the field and the optimal harvesting and unloading path. Before the operation starts, the display unit displays all basic grids in yellow; after the operation starts, the display unit displays the basic grids of the harvested area in green and the basic grids of the damaged area in red.
[0030] The beneficial effects of the present invention are:
[0031] 1. The path planning method and system for the regenerated rice combine harvester based on field checkerboard filling described in the present invention can achieve low crushing damage harvesting of the first season of regenerated rice, greatly increase the yield of the second season of regenerated rice, and maximize the economic benefits of regenerated rice.
[0032] 2. The path planning method and system for the regenerated rice combine harvester based on the field chessboard filling of the present invention is to solve the problem that the regenerated rice combine harvester needs to temporarily stop harvesting and move to the edge of the field to unload grain due to the full grain box during operation, thereby causing additional crushing. The system can intelligently plan the harvesting and unloading routes of the harvester according to the field shape and size data and the operating parameters of the combine harvester itself, and visualize the route and feed it back to the operator to guide the operator to operate according to the optimal route. The system not only effectively avoids the generation of empty trips and repeated trips, greatly reduces the additional crushing of the harvester on the regenerated rice, but also has the advantages of strong versatility and high reliability. BRIEF DESCRIPTION OF THE DRAWINGS
[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. The drawings described below are some embodiments of the present invention. For ordinary technicians in this field, it is obvious that other drawings can be obtained based on these drawings without paying any creative work.
[0034] Figure 1 The present invention is a flow chart of the path planning method for a regenerated rice combine harvester based on field chessboard filling.
[0035] Figure 2 The figure is a schematic diagram of a bird's-eye view of a field according to one embodiment of the present invention.
[0036] Figure 3 This is a schematic diagram of an overhead view of a field after image processing by a computing unit and identification of its boundary range according to an embodiment of the present invention.
[0037] Figure 4 The figure is a schematic diagram of the construction principle of a field chessboard according to one embodiment of the present invention.
[0038] Figure 5 A schematic diagram of a field chessboard filling and division process according to an embodiment of the present invention;
[0039] Figure 6 It is a schematic diagram of a field chessboard after the chessboard grids are filled and divided according to an embodiment of the present invention;
[0040] Figure 7 A schematic diagram of the functional areas of a field chessboard according to an embodiment of the present invention;
[0041] Figure 8 This is a schematic diagram of the operation starting point position of a harvester according to one embodiment of the present invention;
[0042] Fig. 9 It is a schematic diagram of the operation path of the harvester at the first grain unloading position, i.e. before unloading, according to one embodiment of the present invention;
[0043] Fig.10 It is a schematic diagram of the second grain unloading position and operation path of the harvester without path planning according to an embodiment of the present invention;
[0044] Fig.11 This is a schematic diagram of the location of the "damage zone" caused by the second grain unloading process without path planning according to an embodiment of the present invention;
[0045] Fig.12 A schematic diagram of the second grain unloading position and operation path of the harvester when path planning is performed according to an embodiment of the present invention;
[0046] Fig.13 This is a schematic diagram of a complete grain unloading position and its operation path when path planning is performed according to an embodiment of the present invention. DETAILED DESCRIPTION
[0047] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.
[0048] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "axial", "radial", "vertical", "horizontal", "inner", "outer" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.
[0049] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0050] like Figure 1 As shown, the path planning method for a regenerated rice combine harvester based on field chessboard filling of the present invention comprises the following steps:
[0051] S01: acquiring basic data, wherein the basic data includes the harvester cutting width, the harvester grain box volume, the overhead image of the field, the size data of the field, the yield of ratoon rice grains per unit area of the field, and the ratoon rice grain bulk density;
[0052] The harvester cutting width and the harvester grain tank volume are obtained according to the model parameters corresponding to the harvester; the overhead image of the field is obtained by but not limited to shooting with a surveying and mapping drone; the size data of the field including the field area, shape and boundary line length are obtained by methods including but not limited to measurement with a surveying and mapping drone; the unit area of regenerated rice grain yield and regenerated rice grain bulk density of the field are obtained according to historical data and manual estimation, and the unit area of regenerated rice grain yield (quality) data of the field are generally obtained by methods including but not limited to manual five-point yield measurement; the grain bulk density data of the regenerated rice variety of the harvested field are obtained by consulting agronomic parameters.
[0053] S02: Divide the field into chessboards according to the overhead image of the field and the harvester cutting width, and construct a field chessboard. The smallest cell in the field chessboard is the basic grid, specifically:
[0054] S02-1: The harvester cutting width is used as the width of the basic grid, and the distance from the front end of the harvester cutting table to the rear end of the crawler is used as the length of the basic grid; for a wide-cutting-width regenerated rice combine harvester, the basic grid can be approximately equivalent to a square, and the harvester occupies 1 basic grid;
[0055] S02-2: Use existing methods such as the Prewitt operator and the LoG algorithm to identify the overhead view of the field and obtain the boundary of the field, such as Figure 2 and Figure 3 As shown;
[0056] S02-3: Combine the field boundary and field size data, simplify the field outline into a polygon with all right angles, and construct a field chessboard, such as Figure 4 As shown;
[0057] S02-4: Use the basic grid to fill the field chessboard in an S-shaped path along the extension direction of the rows of regenerated rice plants in the field, such as Figure 5 and Figure 6 shown.
[0058] The outermost circle of the field chessboard is marked as the functional area, such as Figure 7 As shown, the functional area is used to make the harvester enter or leave the field chessboard, and the harvester only unloads grain and changes the forward direction in the functional area, so the functional area includes the following limiting conditions:
[0059] 1) The harvester must enter the field from the functional area to operate, such as Figure 8 As shown;
[0060] 2) The harvester must return to the functional area after completing the operation;
[0061] 3) The harvester must drive to the functional area to unload grain;
[0062] 4) The harvester can only turn (change the direction of travel) in the functional area.
[0063] S03: Determine the position where the harvester enters the field and starts operation from the functional area;
[0064] S04: determining the total yield of the regenerated rice grains in the basic grid and the bulk density of the regenerated rice grains in the basic grid according to the regenerated rice grain yield per unit area of the field; determining the current state of the harvester according to the volume of the harvester grain tank, the current state of the harvester including an inoperable state and an operable state, which is specifically determined as follows:
[0065] S04-1: Calculate the total yield (quality) of regenerated rice grains in a single basic grid according to the area of the basic grid and the yield (quality) of regenerated rice grains per unit area of the field;
[0066] S04-2: Combined with the total yield (mass) of regenerated rice grains in a single basic grid, the bulk density of regenerated rice grains and the volume of the harvester's grain tank, the maximum number of basic grids that the harvester's grain tank can travel from an empty state to a full state when harvesting regenerated rice is calculated, which is defined as the maximum number of grids that can be traveled at a time, recorded as nmax;
[0067] S04-3: When the grain tank of the harvester is completely empty, the number of basic grids n that the harvester has traveled through is 0. During the operation, each time the harvester travels through a basic grid in an unharvested area, n=n+1;
[0068] S04-4: When n<nmax, the harvester has not reached the maximum number of single-time walking grids, and the state of the harvester is defined as a workable state; when n≥nmax, the harvester has reached the maximum number of single-time walking grids, and the state of the harvester is defined as a non-workable state.
[0069] In addition, the harvester is in an operational state or an inoperable state and can unload grain at any time. After unloading the grain, the number of basic grids n that the harvester has traveled through is counted as 0.
[0070] S05: Generate multiple harvesting operation routes according to the starting operation position of the harvester and the current state of the harvester. The specific steps of generating the harvesting operation routes are as follows:
[0071] The basic grid area that the harvester has not traveled through is recorded as the unharvested area, the unharvested area that the harvester has traveled through in a working state is recorded as the harvested area, and the unharvested area that the harvester has traveled through in a non-working state is still recorded as the unharvested area; the harvested area that the harvester has traveled through in any state is recorded as the damaged area, and the damaged area that the harvester has traveled through in any state is still recorded as the damaged area; if the harvester is in the functional area, the harvester can move a unit step length in any direction of the front, back, left, and right of the functional area, that is, the harvester can only change the forward direction in the functional area; if the harvester is in the basic grid outside the functional area, the harvester can move forward or backward along the extension direction of the regenerated rice plant planting row, that is, it cannot move across the regenerated rice plant planting row; during the operation, the harvester in any state must move to the functional area to unload grain, and reset n to 0; after all unharvested areas are converted into harvested areas and damaged areas, the operation is completed and returned to any basic grid of the functional area as the end point, generating multiple harvesting operation routes from the position where the harvester enters the field to start the operation to the end point.
[0072] S06: Selecting a harvesting operation route with the largest number of harvested grids and the least number of damaged grids as the optimal harvesting and unloading route.
[0073] Example:
[0074] If a certain model of harvester is calculated to need to harvest 9 basic grids of regenerated rice grains from an empty grain tank to a full state, the maximum number of grids nmax that the harvester can travel at one time is 9.
[0075] like Fig. 9 As shown in the figure, at the beginning of the operation, the harvester starts from the basic grid at the lower right corner of the field, and after passing 9 basic grids along the right edge of the field, the grain box is full. At this time, the machine needs to stop and unload the grain. The basic grid that the machine has walked through changes from yellow to green, that is, from the unharvested area to the harvested area, and the unloading position is marked with a red dot in the figure.
[0076] like Fig.10 As shown in the figure, when path planning is not performed (i.e., the existing method), the grain box of the harvester returns to a completely empty state after unloading the grain. At this time, the harvester continues to move forward and turns, and continues to walk 9 basic grids along the "S"-shaped harvesting path. At this time, the grain box is full again and needs to be stopped to unload the grain. According to the conventional operation logic of the operator, the harvester can be driven to the nearest field boundary to unload the grain, so it turns left 90° along the current forward direction of the harvester and moves forward 1 basic grid to reach the field boundary.
[0077] like Fig.11As shown, if the above method is followed, the harvester crushes the two green squares in the process of unloading grain to the boundary of the field, thereby converting the two "basic grids" from "harvested areas" to "damaged areas" and the green squares into red squares.
[0078] like Fig.12 As shown, when the path planning of the present invention is adopted, the grain tank of the harvester returns to the "full empty state" after the first unloading of grain. At this time, the harvester continues to move forward and turn, and continues to walk 3 "basic grids" along the "S"-shaped harvesting path. At this time, the grain tank is only filled with 1 / 3 of the volume, and the harvester is still in the functional area, so the system recommends that the driver unload the grain once, and the unloading point is marked with a red dot and displayed on the display unit.
[0079] like Fig.13 As shown in the figure, after unloading only 1 / 3 of the grain capacity in the grain box according to the system's suggestion, the grain box returns to the "full empty state" again. At this time, the system determines that the harvester can harvest according to the "S"-shaped harvesting route, and each time it reaches the upper and lower boundary functional areas of the field, the grain box is just full or the grains are accumulated at 8 / 9 of the grain box capacity. Regardless of whether the grain box is full or not, the harvester can unload grain when it reaches the functional area. The system-recommended path and all unloading points are marked and displayed on the display unit. Following this path, the entire field can be harvested in a zero-damage area, that is, all basic grids are green and there is no repeated rolling.
[0080] The present invention effectively avoids the extra crushing caused by the unloading process of the combine harvester when harvesting the first-season rice of regenerated rice through the above method, realizes the low-crushing-damage harvesting of the first-season rice of regenerated rice, and effectively increases the yield of the second-season rice of regenerated rice and the economic benefits of the regenerated rice.
[0081] The control system of the path planning method for a regenerated rice combine harvester based on field checkerboard filling described in the present invention includes a computing unit and a display unit; the computing unit is installed inside a harvester cab, and the computing unit contains a program written in the path planning logic of the path planning method for a regenerated rice combine harvester based on field checkerboard filling, and the computing unit generates an optimal harvesting and unloading path based on input basic data to minimize the crushing of the regenerated rice; the display unit is connected to the computing unit, and is used to visualize the harvesting and unloading paths and feed back to the client.
[0082] The display unit superimposes and displays a bird's-eye view of the field and the best harvesting and unloading path. Before the operation starts, the display unit displays all basic grids in yellow; after the operation starts, the display unit displays the basic grids in the harvested area in green and the basic grids in the damaged area in red.
[0083] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.
[0084] The series of detailed descriptions listed above are only specific descriptions of feasible embodiments of the present invention. They are not intended to limit the scope of protection of the present invention. All equivalent embodiments or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.
Claims
1. A path planning method for a regenerated rice combine harvester based on field chessboard filling, characterized in that: The steps include: Acquiring basic data, wherein the basic data includes harvester cutting width, harvester grain box volume, overhead image of the field, field size data, regenerated rice grain yield per unit area of the field, and regenerated rice grain bulk density; The field is divided into chessboards according to the overhead image of the field and the harvester's cutting width, and a field chessboard is constructed, with the smallest cell in the field chessboard being the basic grid; the basic grid of the outermost circle of the field chessboard is recorded as a functional area, and the functional area is used for the harvester to enter or leave the field chessboard, and the harvester only unloads grain and changes the forward direction in the functional area; Determine the position where the harvester enters the field and starts operation from the functional area; Determine the total yield of regenerated rice grains in the basic grid and the bulk density of regenerated rice grains in the basic grid according to the yield of regenerated rice grains per unit area of the field; determine the current state of the harvester according to the volume of the harvester grain tank, and the current state of the harvester includes an inoperable state and an operable state; The basic grid area that the harvester has not traveled through is recorded as the unharvested area, the unharvested area that the harvester has traveled through in a working state is recorded as the harvested area, and the unharvested area that the harvester has traveled through in a non-working state is still recorded as the unharvested area; the harvested area that the harvester has traveled through in any state is recorded as the damaged area, and the damaged area that the harvester has traveled through in any state is still recorded as the damaged area; multiple harvesting operation routes are generated according to the starting operation position of the harvester and the current state of the harvester; The harvesting route with the largest number of harvested grids and the least number of damaged grids is selected as the optimal harvesting and unloading route.
2. The path planning method for a regenerated rice combine harvester based on field chessboard filling according to claim 1, characterized in that: The harvester cutting width and the harvester grain box volume are obtained according to the corresponding model parameters of the harvester; the overhead image of the field is acquired by an imaging device; the size data of the field including the field area, shape and boundary line length are obtained by surveying and mapping; the unit area regenerated rice grain yield and regenerated rice grain bulk density of the field are obtained according to historical data and manual estimation.
3. The path planning method for a regenerated rice combine harvester based on field chessboard filling according to claim 1, characterized in that: The field is divided into chessboards according to the aerial image of the field and the harvester cutting width, and the field chessboard is constructed, specifically: The harvester cutting width is taken as the width of the basic grid, and the distance from the front end of the harvester cutting table to the rear end of the crawler track is taken as the length of the basic grid; The aerial view of the field is identified by image recognition method to obtain the boundary of the field; Combined with the field boundary and field size data, the field outline is simplified and fitted into a polygon with all right angles to construct a field chessboard; The field board is filled in with the basic grid in an S-shaped path along the extension direction of the rows of ratoon rice plants in the field.
4. The path planning method for a regenerated rice combine harvester based on field chessboard filling according to claim 1, characterized in that: The determination of the harvester's inoperable state and operable state is as follows: According to the area of the basic grid and the ratoon rice grain yield per unit area of the field, the total ratoon rice grain yield in a single basic grid is calculated; Combined with the total yield of ratoon rice grains in a single basic grid, the bulk density of ratoon rice grains and the volume of the harvester's grain tank, the maximum number of basic grids that the harvester can travel from an empty grain tank to a full grain tank when harvesting ratoon rice is calculated, which is defined as the maximum number of grids that can be traveled at a time, recorded as nmax; When the harvester's grain tank is completely empty, the number of basic grids n that the harvester has traveled through is 0. During the operation, each time the harvester travels through a basic grid in an unharvested area, n=n+1; When n<nmax, the harvester has not reached the maximum number of single-time walking grids, and the state of the harvester is defined as a workable state; when n≥nmax, the harvester has reached the maximum number of single-time walking grids, and the state of the harvester is defined as a non-workable state.
5. The path planning method for a regenerated rice combine harvester based on field chessboard filling according to claim 4, characterized in that: The harvester is in an operational state or an inoperable state and can unload grain at any time. After unloading the grain, the number of basic grids n that the harvester has traveled through is counted as 0.
6. The path planning method for a regenerated rice combine harvester based on field chessboard filling according to claim 1, characterized in that: Generate multiple harvesting operation routes based on the harvester's starting operation position and the current state of the harvester, specifically: If the harvester is in the functional area, it can move a unit step length in any direction of the functional area, including the front, back, left, and right. If the harvester is in the basic grid outside the functional area, it can move a unit step length forward or backward along the extension direction of the row of regenerated rice plants. The harvester in any state can move to the functional area to unload grain. After all unharvested areas are converted into harvested areas and damaged areas, the operation is completed and returns to any basic grid in the functional area as the end point, generating multiple harvesting operation routes from the position where the harvester enters the field to start the operation to the end point.
7. A control system for a regenerated rice combine harvester path planning method based on field chessboard filling according to claim 1, characterized in that: It includes a calculation unit and a display unit; the calculation unit is installed inside the harvester cab, and the calculation unit generates an optimal harvesting and unloading path according to basic data; the display unit is connected to the calculation unit, and is used to visualize the harvesting and unloading path and feed it back to the client.
8. The control system of the path planning method for a regenerated rice combine harvester based on field chessboard filling according to claim 7, characterized in that: The display unit superimposes and displays a bird's-eye view of the field and the best harvesting and unloading path. Before the operation starts, the display unit displays all basic grids in yellow; after the operation starts, the display unit displays the basic grids in the harvested area in green and the basic grids in the damaged area in red.