Regional division and full-coverage path planning method of unmanned agricultural machine in land parcel operation

Abstract

The invention discloses a region division and full-coverage path planning method of an unmanned agricultural machine in land parcel operation, and the method comprises the steps: obtaining the position information of main boundary points of a land parcel through high-precision GNSS equipment, and planning an operation path covering the whole land parcel; main boundary point position information of a large obstacle is obtained through high-precision GNSS equipment, and an expansion layer is arranged to allow an agricultural machine to walk along the edge of the obstacle and not to interfere with an operation path; segmenting the land parcel by using a mode similar to a cattle farming decomposition method to obtain a plurality of sub-regions; and selecting a proper next traversal sub-region from the terminal point of each sub-region and the starting point thereof according to two principles, namely a principle that the agricultural machine does not interfere with the operation path, the land parcel and the obstacle boundary when driving along the transition path from the current terminal point to the next starting point, and a principle that the transition path is shortest. According to the method, the problem that crops are crushed or the farmland structure is damaged in the running process of the agricultural machine due to the deficiency of the current irregular field full-coverage path planning is solved.

Description

Technical Field

[0001] This invention relates to the field of unmanned agricultural machinery path planning technology, specifically to a method for regional division and full-coverage path planning of unmanned agricultural machinery operating on a plot of land. Background Technology

[0002] Intelligent unmanned agricultural machinery systems can significantly improve the efficiency and quality of agricultural production, and accelerate the informatization and intelligentization of agriculture in my country. Full-coverage path planning is one of the core modules of unmanned agricultural machinery; reasonable and effective driving and operation path planning is the foundation for ensuring the stable and efficient operation of unmanned agricultural machinery.

[0003] Full-coverage path planning involves planning a reasonable global operation path and transition paths based on known farmland information, covering the entire operation plot. However, irregular boundaries or the presence of large obstacles make full-coverage path planning in the field complex.

[0004] Dividing the land into multiple sub-regions is one of the main methods to solve the above problems. Within a single operational sub-region, the movement of agricultural machinery is the same as in an unobstructed plot. However, in most cases, whether the operational area in the field has been traversed or not, agricultural machinery can only pass through these areas in a specific direction and manner. If it were to cross over them, it could cause many unnecessary losses such as damaging crops or disrupting the farmland structure. Therefore, how to plan the traversal order of each sub-region and the transition paths between them are worthy of in-depth study. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of existing methods and provide a method for area division and full-coverage path planning of unmanned agricultural machinery in field operations. This method solves the problem that current full-coverage path planning in irregular fields is insufficient and can easily lead to damage to crops or destruction of farmland structure during the operation of agricultural machinery.

[0006] The technical solution to achieve the above objectives is: Methods for area division and full-coverage path planning of unmanned agricultural machinery in field operations include: Step S1: Obtain the location information of the main boundary points of the land parcel using high-precision GNSS equipment, and plan the operation path covering the entire land parcel. Step S2: Number the work paths sequentially; Step S3: Obtain the location information of the main boundary points of large obstacles through high-precision GNSS equipment, assign different numbers to different obstacles, and set an expansion layer to allow vehicles to travel along the edge of the obstacles without interfering with the operation path; Step S4: Cut off the work path covered by obstacles and their expansion layer, so that the work path with the same number is divided into several segments, and then use a method similar to the ox-plowing decomposition method to divide the plot to obtain the intermediate sub-region. Step S5: Define the hypothetical starting point for each sub-region; Step S6: Offset the land boundary line inward and the obstacle boundary line outward by a certain distance to serve as the unmanned agricultural machinery travel line, allowing the unmanned agricultural machinery to travel along the edges of the land boundary and the obstacle boundary line; Step S7: Project each assumed starting point along the operation path direction to the nearest agricultural machinery travel line; Step S8: Manually define the first traversed sub-region and its starting point. Obtain the complete planned path and the endpoint of the sub-region using a reciprocating operation method. Project the endpoint to the unmanned agricultural machinery walking line in the same way as the assumed starting point projection. Step S9: Compare the distances from the current projection endpoint along the unmanned agricultural machinery's travel line in different directions to each optional hypothetical starting point, and find the nearest and reachable starting point of the next sub-region to be traversed. Step S10: Traverse each sub-region in a reciprocating manner to achieve full coverage path planning for complex plots.

[0007] Preferably, in step S1, after obtaining the location information of the main boundary points, an operation path covering the entire plot is planned based on the row spacing of the operation path and the ideal operation path direction obtained by human definition or through optimization algorithm.

[0008] Preferably, in step S2, if the plot is a concave irregular plot and there are more than two intersections between the work path and the plot boundary, the plot is divided, resulting in multiple work paths with the same number being divided into several segments. And define the area containing job paths with the same number as the peer edge sub-region; The region with the lowest number is the lower edge sub-region, and its adjacent row sub-regions are also defined as lower edge sub-regions. The region with the highest number is the upper edge sub-region, and its adjacent row sub-regions are also defined as upper edge sub-regions.

[0009] Preferably, in step S5, the middle sub-region uses the four endpoints of the largest and smallest work paths of each region as assumed starting points; the lower edge sub-region uses the two endpoints of the largest work path of each region as assumed starting points; and the upper edge sub-region uses the two endpoints of the smallest work path of each region as assumed starting points.

[0010] Preferably, in step S6, the inward and outward offset distances are related to the vehicle size, steering method, and minimum turning radius of the agricultural machinery being used.

[0011] Preferably, in step S6, the agricultural machinery travel line generated based on the land parcel boundary is defined as the land parcel boundary travel line, and the agricultural machinery travel line generated based on the obstacle boundary is defined as the obstacle boundary travel line. Since different obstacles have different numbers, the generated obstacle boundary travel lines also have different numbers.

[0012] Preferably, in step S7, when the assumed starting point is close to the land parcel boundary, the projection point of the assumed starting point is on the land parcel boundary walking line; when the assumed starting point is close to the obstacle boundary, the projection point of the assumed starting point is on the obstacle boundary walking line.

[0013] Preferably, in step S8, When the current endpoint is close to the boundary of the plot, the assumed starting point of the untraversed sub-region projected on the walking line of the plot boundary is selected as the starting point of the next sub-region to be traversed. When the current endpoint is close to the boundary of an obstacle, the assumed starting point of the untraversed sub-region projected onto the boundary line of the obstacle with the same number is selected as the starting point of the next sub-region to be traversed.

[0014] Preferably, in step S10, the complete planned path and the endpoint of the sub-region are obtained by reciprocating operation method, and the next sub-region to be traversed and its starting point are found. This step is repeated until there are no sub-regions to be traversed or the current endpoint has no continuous travel path to the assumed starting point of the remaining sub-regions to be traversed through the unmanned agricultural machinery walking line. Then the full coverage path planning of this complex plot is completed.

[0015] Preferably, the complete planning path includes the operation path and the turning path. Since the correct operation paths already exist in both the edge sub-regions and the middle sub-regions, the turning path can be planned by using the defined starting point of the sub-region.

[0016] The beneficial effects of this invention are as follows: This invention obtains the positioning information of the main boundary points of the plot and the boundary points of each obstacle in the plot through a high-precision positioning instrument. After planning the operation path, it divides the plot into multiple adjacent sub-regions and defines the hypothetical starting point of each sub-region. The hypothetical starting points are projected onto the nearest agricultural machinery walking line along the operation path direction. The first traversal sub-region and its starting point are manually defined. The complete planned path and the endpoint of the sub-region are obtained according to the reciprocating operation method. The endpoint is projected onto the unmanned agricultural machinery walking line in the same way as the hypothetical starting point projection. The distances from the current projected endpoint along the unmanned agricultural machinery walking line to each selectable hypothetical starting point are compared in different directions to find the nearest and reachable starting point of the next sub-region to be traversed. Each sub-region is traversed according to the reciprocating operation method, thereby realizing full coverage path planning for complex plots. Therefore, this invention is applicable to complex plots with irregular boundaries or large obstacles, and can enable unmanned agricultural machinery to carry out full coverage operations in complex plots with a shorter path without crossing the operation path or avoiding large obstacles. Attached Figure Description

[0017] Figure 1 This is a flowchart of the method for area division and full-coverage path planning of unmanned agricultural machinery in field operations according to the present invention; Figure 2 This is a field diagram illustrating the overlapping and non-overlapping conditions of obstacles along the work path in this invention. Figure 3 This is a schematic diagram of the operation path planning in the absence of obstacles in this invention; Figure 4 This is a schematic diagram of the sub-regions divided by the concave irregular plot in this invention; Figure 5 This is a schematic diagram showing the operation path being cut off by obstacles in this invention; Figure 6 This is a schematic diagram of the sub-region division and numbering in this invention; Figure 7 This is a schematic diagram of the assumed starting point in this invention; Figure 8 This is a schematic diagram of the unmanned agricultural machinery travel line generation in this invention; Figure 9 This is a schematic diagram of the assumed starting point projected onto the agricultural machinery's travel line in this invention; Figure 10 This is a schematic diagram of Embodiment 1 of the present invention; Figure 11 This is a schematic diagram of Embodiment 2 of the present invention; Figure 12 This is a schematic diagram of Embodiment 3 of the present invention. Detailed Implementation

[0018] The technical solution of the present invention will now be clearly and completely described in conjunction with the accompanying drawings. In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0019] The invention will now be further described with reference to the accompanying drawings.

[0020] like Figure 1 As shown, the method for area division and full-coverage path planning of unmanned agricultural machinery in field operations includes: Step S1 involves obtaining the location information of the main boundary points of the plot using high-precision GNSS equipment, and planning an operation path covering the entire plot. Based on existing satellite navigation positioning equipment and differential technology, millimeter-level single-point static positioning can be achieved. Therefore, before implementing field path planning, high-precision positioning technology is used to obtain the location information of the main boundary points of the plot and obstacles. These positioning points are then sequentially connected to generate a target polygon, distinguishing between plot boundaries and obstacle boundaries. Figure 2 As shown.

[0021] In the embodiment, after obtaining the location information of the main boundary points, an operation path covering the entire plot is planned based on the row spacing of the operation path and the ideal operation path direction obtained by human definition or through optimization algorithm.

[0022] Step S2: Number the work paths sequentially, such as... Figure 3 As shown.

[0023] In the embodiments, such as Figure 4 As shown, if the plot is a concave irregular plot and there are more than two intersections between the operation path and the plot boundary, the plot will be divided, resulting in multiple operation paths with the same number being divided into several segments. And define the area containing job paths with the same number as the peer edge sub-region; The region with the lowest number is the lower edge sub-region, and its adjacent row sub-regions are also defined as lower edge sub-regions. The region with the highest number is the upper edge sub-region, and its adjacent row sub-regions are also defined as upper edge sub-regions.

[0024] Step S3: Obtain the location information of the main boundary points of large obstacles using high-precision GNSS equipment, assign different numbers to different obstacles, and set up an expansion layer to allow vehicles to travel along the edge of the obstacles without interfering with the work path; that is, after planning the initial work path, obstacles are added, and different obstacles have different numbers. Considering that the agricultural machinery should not interfere with the obstacles and the work path when traveling along the obstacle boundaries, the obstacles are appropriately expanded, and the work path covered by the obstacles and their expansion layers is cut off, such as... Figure 5 As shown.

[0025] Step S4: Cut off the work paths covered by obstacles and their expansion layers, dividing the work paths with the same number into several segments. Then, use a method similar to the ox-plowing decomposition method to divide the plots into intermediate sub-regions, such as... Figure 6 As shown, the selection of the next suitable traversed sub-region and its starting point from the end point of each sub-region follows two principles: first, the agricultural machinery should not interfere with the work path, plot and obstacle boundaries when traveling along the transition path from the current end point to the next starting point; second, the transition path should be the shortest.

[0026] Step S5: Define the hypothetical starting point for each sub-region.

[0027] In this embodiment, the middle sub-region uses the four endpoints of its respective maximum and minimum numbered work paths as assumed starting points; the lower edge sub-region uses the two endpoints of its respective maximum numbered work path as assumed starting points; and the upper edge sub-region uses the two endpoints of its respective minimum numbered work path as assumed starting points, such as... Figure 7 As shown; the assumed starting point of the first subregion is meaningless because it is artificially defined.

[0028] Step S6: Offset the land boundary line inwards and the obstacle boundary line outwards by a certain distance to create the unmanned agricultural machinery's travel line. This allows the unmanned agricultural machinery to travel along the edges of the land boundary and the obstacle boundary. Figure 8 As shown.

[0029] In the embodiment, the inward and outward offset distances are related to the vehicle size, steering method, and minimum turning radius of the agricultural machinery used, ensuring that the agricultural machinery will not exceed the plot boundary, collide with obstacles, or interfere with the work path when traveling along the agricultural machinery travel line.

[0030] In the embodiment, the agricultural machinery travel line generated based on the land parcel boundary is defined as the land parcel boundary travel line, and the agricultural machinery travel line generated based on the obstacle boundary is defined as the obstacle boundary travel line. Since different obstacles have different numbers, the generated obstacle boundary travel lines also have different numbers.

[0031] Step S7: Project each assumed starting point along the operation path direction to the nearest agricultural machinery travel line.

[0032] In this embodiment, when the assumed starting point is near the land parcel boundary, the projection point of the assumed starting point lies on the land parcel boundary walking line; when the assumed starting point is near the obstacle boundary, the projection point of the assumed starting point lies on the obstacle boundary walking line, such as... Figure 9 As shown.

[0033] Step S8: Define the first traversed sub-region and its starting point manually. Obtain the complete planned path and the endpoint of the sub-region using a reciprocating operation method. Project the endpoint to the unmanned agricultural machinery travel line in the same way as the assumed starting point projection.

[0034] In this embodiment, there is no connecting path between the agricultural machinery travel lines generated based on the plot boundary and the boundaries of obstacles with different numbers. However, the agricultural machinery needs to travel on a continuous path from the current endpoint to the starting point of the next sub-region. Therefore, the starting point of the next traversed sub-region needs to be on the same travel line as the current endpoint. That is, when the current endpoint is close to the plot boundary, the assumed starting point of the untraversed sub-region projected on the travel line of the plot boundary is selected as the starting point of the next sub-region to be traversed. When the current endpoint is close to the obstacle boundary, the assumed starting point of the untraversed sub-region projected on the travel line of the obstacle boundary with the same number is selected as the starting point of the next sub-region to be traversed.

[0035] Step S9: Compare the distances from the current projection endpoint along the unmanned agricultural machinery's walking line to each optional hypothetical starting point in different directions, and find the nearest and reachable starting point of the next sub-region to be traversed.

[0036] Step S10: Traverse each sub-region in a reciprocating manner to achieve full coverage path planning for complex plots.

[0037] In this embodiment, the complete planned path and the endpoint of the sub-region are obtained by following the reciprocating operation method, and the next sub-region to be traversed and its starting point are found. This step is repeated until there are no sub-regions to be traversed or the current endpoint has no continuous travel path through the unmanned agricultural machinery to reach the assumed starting point of the remaining sub-regions to be traversed. Then the full coverage path planning of this complex plot is completed.

[0038] In this embodiment, the complete planning path includes the operation path and the turning path. Since the edge sub-region and the middle sub-region already have correct operation paths, the turning path can be planned by using the defined sub-region starting point.

[0039] To better illustrate the above method, several embodiments are provided for detailed explanation.

[0040] In reciprocating operation methods, the exit position of agricultural machinery is determined solely by the number of rows in the operation path. This principle will serve as a key argument for the method presented in this paper: in the case of an even number of rows, the exit will be on the same side as the starting point, while in the case of an odd number of rows, the opposite will occur. For example... Figure 6As shown, the plot is divided into 9 sub-regions. According to the principle of corresponding row numbers, the number of rows in the work path for sub-region 2 is equal to the sum of the number of rows in sub-regions 3 and 4, and the number of rows in the work path for sub-region 5 is equal to the sum of the number of rows in sub-regions 4 and 6. The parity of the number of rows in each sub-region is shown in the second row of Tables 1, 2, and 3. The connection between the endpoints and starting points of each sub-region is shown in... Figure 10 , 11 As shown in Tables 1, 2, and 3, each sub-region only needs the correct starting position to obtain a complete planned path. Therefore, the traversal order of each sub-region is shown in the third row of Tables 1, 2, and 3.

[0041] Table 1. Parity and Traversal Order of Sub-regions in Example 1 Table 2. Parity and Traversal Order of Sub-regions in Example 2 Table 3. Parity and Traversal Order of Sub-regions in Example 3 Detailed description of Example 1: The endpoint of sub-region 1 is projected onto the boundary line of the plot. Therefore, the hypothetical starting points on the left side of sub-regions 2 and 6, the hypothetical starting points on the right side of sub-regions 3 and 5, and the hypothetical starting points on both sides of sub-regions 7, 8, and 9 can be used as the starting points of the next sub-region to be traversed. The hypothetical starting point at the lower left corner of sub-region 2 is closer to the endpoint projection point of sub-region 1 on the boundary line of the plot. Therefore, sub-region 2 is used as the next sub-region to be traversed, and the hypothetical starting point at the lower left corner is the starting point of sub-region 2. The endpoint of sub-region 2 is projected onto the boundary line of obstacle 1. Therefore, the hypothetical starting point on the left side of sub-regions 3 and 4 can be used as the starting point of the next sub-region to be traversed. The hypothetical starting point at the top left corner of sub-region 4 is closer to the endpoint projection point of sub-region 2 on the boundary line of obstacle 1. Therefore, sub-region 4 is used as the next sub-region to be traversed, and the hypothetical starting point at the top left corner is the starting point of sub-region 4. The endpoint of sub-region 4 is projected onto the boundary line of obstacle 1. Therefore, the hypothetical starting point on the left side of sub-region 3 can be used as the starting point of the next sub-region to be traversed. The hypothetical starting point at the top left corner of sub-region 3 is closer to the endpoint projection point of sub-region 4 on the boundary line of obstacle 1. Therefore, sub-region 3 is used as the next sub-region to be traversed, and the hypothetical starting point at the top left corner is the starting point of sub-region 3. The endpoint of sub-region 3 is projected onto the boundary walking line of the plot. Therefore, the hypothetical starting point on the left side of sub-region 6, the hypothetical starting point on the right side of sub-region 5, and the hypothetical starting points on both sides of sub-regions 7, 8, and 9 can be used as the starting points of the next sub-region to be traversed. The hypothetical starting point at the lower left corner of sub-region 5 is closer to the endpoint projection point of sub-region 1 on the boundary walking line of the plot. Therefore, sub-region 5 is used as the next traversed sub-region, and the hypothetical starting point at the lower left corner is the starting point of sub-region 5. The endpoint of sub-region 5 is projected onto the boundary line of obstacle 2. Therefore, the hypothetical starting point on the right side of sub-region 6 can be used as the starting point of the next sub-region to be traversed. The hypothetical starting point in the upper right corner of sub-region 6 is closer to the endpoint projection point of sub-region 5 on the boundary line of obstacle 2. Therefore, sub-region 6 is used as the next sub-region to be traversed, and the hypothetical starting point in the upper right corner is the starting point of sub-region 6. The endpoint of sub-region 6 is projected onto the boundary line of the plot. Therefore, the hypothetical starting points on both sides of sub-regions 7, 8, and 9 can be used as the starting points of the next sub-region to be traversed. The hypothetical starting point at the lower left corner of sub-region 7 is closer to the endpoint projection point of sub-region 6 on the boundary line of the plot. Therefore, sub-region 7 is used as the next sub-region to be traversed, and the hypothetical starting point at the lower left corner is the starting point of sub-region 7. The endpoint of sub-region 7 is projected onto the boundary line of the plot. Therefore, the hypothetical starting points on both sides of sub-regions 8 and 9 can be used as the starting points of the next sub-region to be traversed. The hypothetical starting point at the bottom right corner of sub-region 9 is closer to the endpoint projection point of sub-region 7 on the boundary line of the plot. Therefore, sub-region 9 is used as the next sub-region to be traversed, and the hypothetical starting point at the bottom right corner is the starting point of sub-region 9. The endpoint of sub-region 9 is projected onto the boundary line of the plot. Therefore, the hypothetical starting points on both sides of sub-region 8 can be used as the starting points of the next sub-region to be traversed. The hypothetical starting point at the bottom right corner of sub-region 8 is closer to the endpoint projection point of sub-region 9 on the boundary line of the plot. Therefore, sub-region 8 is used as the next sub-region to be traversed, and the hypothetical starting point at the bottom right corner is the starting point of sub-region 8. In summary, the sub-region traversal order in Embodiment 1 is 1-2-4-3-5-6-7-9-8, and the corresponding sub-region traversal order in other embodiments is obtained in the same way.

[0042] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for regional division and full coverage path planning for unmanned agricultural machinery operating on a plot of land, characterized in that: include: Step S1, obtaining the location information of the main boundary points of the plot through high-precision GNSS equipment, and planning an operation path covering the entire plot; Step S2, numbering the operation paths in sequence; Step S3, obtaining the location information of the main boundary points of large obstacles through high-precision GNSS equipment, setting different numbers for different obstacles, and setting an expansion layer to allow the vehicle to walk along the edge of the obstacle without interfering with the operation path; Step S4, cutting off the operation path covered by the obstacle and its expansion layer, so that the operation path with the same number is divided into several sections, and then using a method similar to the ox-ploughing decomposition method to divide the plot to obtain the middle sub-area; Step S5, defining a hypothetical starting point of each sub-region; Step S6, offsetting the land boundary line inward and the obstacle boundary line outward by a certain distance as the unmanned agricultural machine walking line, allowing the unmanned agricultural machine to travel along the land boundary and the edge of the obstacle boundary line; Step S7, projecting each assumed starting point along the working path to the nearest agricultural machinery travel line; Step S8, manually define the first traversal sub-area and its starting point, obtain the complete planned path and the end point of the sub-area according to the reciprocating operation method, and project the end point to the walking line of the unmanned agricultural machinery in the same way as the assumed starting point projection; Step S9, comparing the distances from the current projection end point along the unmanned agricultural machinery walking line to each optional hypothetical starting point in different directions, and finding the nearest and reachable starting point of the next sub-area to be traversed; Step S10, traverse each sub-area in a reciprocating operation mode, thereby realizing full coverage path planning of complex plots.

2. The method for regional division and full coverage path planning of unmanned agricultural machinery operating on a plot of land according to claim 1, characterized in that: In step S1, after obtaining the position information of the main boundary points, an operation path covering the entire plot is planned based on the operation path line spacing and the ideal operation path direction manually defined or obtained through an optimization algorithm.

3. The method for regional division and full coverage path planning of unmanned agricultural machinery operating on a plot of land according to claim 1, characterized in that: In step S2, if the land parcel is a concave irregular land parcel, and there are more than two intersection points between the operation path and the land parcel boundary, the land parcel is divided, and multiple operation paths with the same number are divided into several sections; And define the area containing the same numbered operation paths as peer edge sub-areas; The one with the smallest number is the lower edge sub-region, and its adjacent sub-regions in the same row are also defined as lower edge sub-regions; The sub-region with the largest number is the upper edge sub-region, and its adjacent sub-region in the same row is also defined as the upper edge sub-region.

4. The method for regional division and full coverage path planning of unmanned agricultural machinery operating on a plot of land according to claim 1, characterized in that: In step S5, the middle sub-area uses the four endpoints of the respective maximum and minimum operation paths as assumed starting points; the lower edge sub-area uses the two endpoints of the respective maximum operation paths as assumed starting points; and the upper edge sub-area uses the two endpoints of the respective minimum operation paths as assumed starting points.

5. The method for regional division and full coverage path planning of unmanned agricultural machinery operating on a plot of land according to claim 1, characterized in that: In step S6, the distances of the inward offset and the outward offset are related to the body size, steering mode and minimum steering radius of the agricultural machine used.

6. The method for regional division and full coverage path planning of unmanned agricultural machinery operating on a plot of land according to claim 1, characterized in that: In step S6, the agricultural machinery walking line generated based on the plot boundary is defined as the plot boundary walking line, and the agricultural machinery walking line generated based on the obstacle boundary is defined as the obstacle boundary walking line. Since different obstacles have different numbers, the generated obstacle boundary walking lines also have different numbers.

7. The method for regional division and full coverage path planning of unmanned agricultural machinery operating on a plot of land according to claim 1, characterized in that: In step S7, when the assumed starting point is close to the boundary of the plot, the projection point of the assumed starting point is on the walking line of the boundary of the plot; when the assumed starting point is close to the boundary of the obstacle, the projection point of the assumed starting point is on the walking line of the boundary of the obstacle.

8. The method for regional division and full coverage path planning for unmanned agricultural machinery operating on a plot of land according to claim 1, characterized in that: In the step S8, When the current end point is close to the boundary of the plot, the assumed starting point of the untraversed sub-area projected on the walking line of the plot boundary is selected as the starting point of the next sub-area to be traversed; When the current end point is close to the obstacle boundary, the untraversed sub-area hypothetical starting point projected on the obstacle boundary walking line with the same number is selected as the starting point of the next sub-area to be traversed.

9. The method for regional division and full coverage path planning of unmanned agricultural machinery operating on a plot of land according to claim 1, characterized in that: In step S10, a complete planned path and the end point of the sub-area are obtained according to a reciprocating operation method, and the next sub-area to be traversed and its starting point are found. This step is repeated until there are no sub-areas to be traversed or the current end point has no continuous driving path through the unmanned agricultural machinery walking line to reach the assumed starting point of the remaining sub-area to be traversed, thereby completing the full coverage path planning of this complex plot.

10. The method for area division and full coverage path planning for unmanned agricultural machinery operating on a plot of land according to claim 2, characterized in that: The complete planned path includes the working path and the turning path. According to the correct working paths in the edge sub-area and the middle sub-area, the turning path can be planned through the defined sub-area starting point.

Images