A method and system for generating a driving strategy for a mechanized vehicle

Abstract

The present invention relates to the technical field of a method for generating a driving strategy for a mechanized vehicle, and specifically to a method and system for generating a driving strategy for a mechanized vehicle. By defining a mechanized operating vehicle as a working vehicle, the algorithm terminology is simplified and it is assumed that the specifications of the discharge port are consistent, thereby reducing the calculation complexity and improving the versatility. The spatial relationship between the upper and lower material surfaces is clarified to lay the foundation for calculating the working range of the discharge port. By marking the hypotenuse and the endpoints, a geometric model is constructed using the intersection of the extension line and the ground to calculate the vertical distance from the edge of the material and the ground. Combined with the principle of similar triangles, the effective working length of the discharge port is calculated, and by measuring the lengths of multiple key line segments, spatial mapping is completed to adapt to different working heights. Finally, the total effective working length of the discharge port is calculated to provide data support for path planning and efficiency analysis.

Description

Technical Field

[0001] The present invention relates to the technical field of a method for generating a driving strategy for a mechanized vehicle, and specifically to a method and system for generating a driving strategy for a mechanized vehicle. Background Art

[0002] A mechanized operation vehicle is a device integrating automation technology, mechanical manufacturing technology, and information technology, and is widely used in fields such as agriculture, construction, environmental sanitation, logistics, and mines. These vehicles replace traditional manual operations through efficient and precise working methods, not only significantly improving the operation efficiency but also promoting the modernization development of related industries. The application of mechanized operation vehicles in agriculture is particularly extensive, such as seeders, harvesters, tillage machinery, etc. These vehicles can achieve precise operations in large areas of farmland, such as sowing, fertilizing, and harvesting, reducing the labor intensity of farmers and improving the efficiency and quality of agricultural production at the same time. By adopting advanced algorithms and control technologies, these vehicles can automatically plan operation paths, effectively cover the target area, and reduce resource waste.

[0003] The discharging module of a mechanized operation vehicle usually consists of multiple discharging ports with similar structures, and these discharging ports generally have a certain geometric symmetry. Taking a discharging module composed of two isosceles trapezoidal metal plates and two parallelogram metal plates as an example, its main advantage is that the modular design can improve the manufacturing efficiency and has good mechanical strength and durability. However, this structure also has some technical challenges in actual operations. Due to the complex shape of the discharging port, especially the vertical distance from the discharging edge of the discharging surface to the ground will change under different operating conditions, resulting in errors in the calculation of the effective operation width. When multiple discharging ports work simultaneously, the effective operation widths of different discharging ports need to be coordinated and calculated. In the prior art, simple addition or approximate estimation methods are usually adopted, which are difficult to reflect the real working state. In the prior art, the adjustment of the operation height of the discharging port is mostly a fixed value or a simple linear model, and it is impossible to dynamically adjust its height according to the relative positions of different discharging ports to improve the operation efficiency.

[0004] Therefore, the present case aims to propose a solution for calculating the effective operation length of the discharging port and dividing the path during the operation of a mechanized operation vehicle. Summary of the Invention

[0005] The present invention provides a method and system for generating a driving strategy for a mechanized vehicle, which promotes the solution of the problems mentioned in the above background art.

[0006] The present invention provides the following technical solutions: A method for generating a driving strategy for a mechanized vehicle, comprising:

[0007] Denote the mechanized operation vehicle as the working vehicle;

[0008] Obtain the total number of discharge outlets of the working vehicle. All the discharge outlets of the working vehicle have the same specifications and are composed of two equal isosceles trapezoidal metal plates and two parallelogram metal plates. The long side length of the parallelogram is equal to the waist length of the rectangle, and the short side length of the parallelogram is less than the long side length of the parallelogram. Denote the isosceles trapezoid close to the ground as the feeding surface and the isosceles trapezoid far from the ground as the loading surface;

[0009] For the feeding surface of any one discharge outlet, perform steps S1 to S9:

[0010] S1. Obtain the two hypotenuses of the feeding surface, and denote them as the first hypotenuse of the feeding surface and the second hypotenuse of the feeding surface respectively. Denote the endpoint of the first hypotenuse of the feeding surface closest to the ground as point A, and the endpoint of the second hypotenuse of the feeding surface closest to the ground as point B;

[0011] S2. When the working vehicle is working, obtain the side of the parallel sides of the feeding surface closest to the ground and denote it as the material discharging edge. Measure the vertical distance from the material discharging edge to the ground and denote it as H;

[0012] S3. Extend the first hypotenuse and the second hypotenuse of the feeding surface respectively. Denote the intersection point of the extension line of the first hypotenuse of the feeding surface and the ground as point C, the intersection point of the extension line of the second hypotenuse of the feeding surface and the ground as point D, and the intersection point of the extension line of the first hypotenuse of the feeding surface and the extension line of the second hypotenuse of the feeding surface as point E;

[0013] S4. Make a perpendicular line segment from point E to the ground, and denote the intersection point with the ground as point E 1 point, make a perpendicular line segment from point A to the ground, and denote the intersection point with the ground as point A 1 point, make a perpendicular line segment from point B to the ground, and denote the intersection point with the ground as point B 1 point, measure the length of the line segment EE 1 and denote it as H 1 , the lengths of the line segments AA 1 and BB 1 are equal and both equal H;

[0014] S5. Measure the length of the line segment EC and denote it as H 2 ;

[0015] S6. Calculate the length of the line segment AC and denote it as H AC , H AC =H 2 ×(H / H 1 );

[0016] S7. Measure the length of the line segment AB and denote it as H 3 ;

[0017] S8. Calculate the length of the line segment EA, H EA=H 2 -H AC =H 2 -H 2 ×(H / H 1 );

[0018] S9. Calculate the length of line segment CD, denoted as H CD , H CD =H 3 ×(H 2 / H EA ). The length of line segment CD is the effective length of the discharge port on the ground, and the length of line segment CD is denoted as the effective working length;

[0019] Repeat steps S1 to S9 to calculate the effective working lengths of all discharge ports on the ground;

[0020] Calculate the total effective working length of the discharge port according to the vertical distance from the material separation edge of the material discharging surface to the ground when the working vehicle is working.

[0021] Optionally, calculating the total effective working length of the discharge port according to the vertical distance from the material separation edge of the material discharging surface to the ground when the working vehicle is working specifically includes:

[0022] Judge the relative positions of the effective working lengths of two adjacent discharge ports. The relative positions of the effective working lengths of two adjacent discharge ports are specifically as follows: Obtain the line segments of two adjacent effective working lengths, denoted as line segment one and line segment two respectively. Obtain the two endpoints of line segment one and line segment two that are closest to each other, denoted as the closest point of line segment one and the closest point of line segment two respectively. If the closest point of line segment one coincides with the closest point of line segment two, then denote line segment one and line segment two as intersecting; if the closest point of line segment one is on line segment two, then denote line segment one and line segment two as crossing; otherwise, denote line segment one and line segment two as separated;

[0023] If the relative positions of the effective working lengths of two adjacent discharge ports are intersecting, then denote the vertical distance from the material separation edge of the material discharging surface to the ground as the effective working height of the discharge port when the working vehicle is working;

[0024] Set the moving distance unit of the material separation edge of the material discharging surface;

[0025] If the relative positions of the effective working lengths of two adjacent discharge ports are crossed, adjust the vertical distance from the material-discharging edge of the material-discharging surface to the ground to H - 1 × the moving distance unit of the material-discharging edge of the material-discharging surface, and judge the relative positions of the effective working lengths of the two adjacent discharge ports at this time. If the relative positions of the effective working lengths of the two adjacent discharge ports are intersecting, record H - 1 × the moving distance unit of the material-discharging edge of the material-discharging surface as the effective working height of the discharge port. If the relative positions of the effective working lengths of the two adjacent discharge ports are crossed, continue to adjust the vertical distance from the material-discharging edge of the material-discharging surface to the ground until the relative positions of the effective working lengths of the two adjacent discharge ports are intersecting, and record the adjusted vertical distance from the material-discharging edge of the material-discharging surface to the ground as the effective working height of the discharge port;

[0026] If the relative positions of the effective working lengths of two adjacent discharge ports are separated, adjust the vertical distance from the material-discharging edge of the material-discharging surface to the ground to H + 1 × the moving distance unit of the material-discharging edge of the material-discharging surface, and judge the relative positions of the effective working lengths of the two adjacent discharge ports at this time. If the relative positions of the effective working lengths of the two adjacent discharge ports are intersecting, record H + 1 × the moving distance unit of the material-discharging edge of the material-discharging surface as the effective working height of the discharge port. If the relative positions of the effective working lengths of the two adjacent discharge ports are separated, continue to adjust the vertical distance from the material-discharging edge of the material-discharging surface to the ground until the relative positions of the effective working lengths of the two adjacent discharge ports are intersecting, and record the adjusted vertical distance from the material-discharging edge of the material-discharging surface to the ground as the effective working height of the discharge port.

[0027] Optionally, calculating the total effective working length of the discharge port according to the vertical distance from the material-discharging edge of the material-discharging surface to the ground when the working vehicle is working specifically includes:

[0028] When the discharge port is at the effective working height, repeat steps S1 to S9 to calculate the effective working lengths of all discharge ports;

[0029] Obtain all side lengths of the target operation area, respectively record the two equal long sides as the first long side and the second long side, and record the two equal short sides as the first short side and the second short side. The target operation area is a rectangle;

[0030] Obtain the starting side and the side parallel to the starting side of the working vehicle in the target operation area;

[0031] If the starting side and the side parallel to the starting side are the long sides of the target operation, record the two long sides as the starting side and the ending side respectively, and record the two short sides as the boundary sides;

[0032] If the starting side and the side parallel to the starting side are the short sides of the target operation, record the two short sides as the starting side and the ending side respectively, and record the two long sides as the boundary sides.

[0033] Optionally, when calculating the total effective working length of the discharge port according to the vertical distance from the material discharge edge of the material discharge surface to the ground during the operation of the working vehicle, it specifically includes:

[0034] Obtain the lengths of the starting edge and the boundary edge;

[0035] Obtain the effective working length of the discharge port;

[0036] Obtain the maximum capacity of the working bin of the working vehicle, denoted as R;

[0037] Obtain the total number of discharge ports of the working vehicle, denoted as N;

[0038] Obtain the set speed of the working vehicle during operation, denoted as V;

[0039] When the working vehicle works with one discharge port, calculate the number of divisions of the starting edge of the target operation area by 1 effective working length, and the number of divisions = starting edge length / 1 effective working length;

[0040] When the working vehicle works with two discharge ports, calculate the number of divisions of the starting edge of the target operation area by 2 effective working lengths, and the number of divisions = starting edge length / 2 effective working lengths;

[0041] When the working vehicle works with N discharge ports, calculate the number of divisions of the starting edge of the target operation area by N effective working lengths, and the number of divisions = starting edge length / N effective working lengths;

[0042] Set the even set of discharge ports;

[0043] When the number of divisions is even, obtain the number of working discharge ports used by the working vehicle, and add the corresponding number of working discharge ports used by the working vehicle to the even set of discharge ports;

[0044] Set the first type of discharge port usage set;

[0045] Set the second type of discharge port usage set;

[0046] For any element in the even set of discharge ports;

[0047] S10. Calculate the time required for the working vehicle to travel the boundary edge length, denoted as t, t = boundary length / V;

[0048] S11. Calculate the total discharge amount of the working discharge port within time t when discharging at the discharge speed V, denoted as T, T = number of working discharge ports × V × t;

[0049] S12. If T > R, discard the number of working discharge ports;

[0050] S13. If T ≤ R and P×T > R, add the number of discharge ports of this operation to the set of the first - type discharge port usage, where P is a real number greater than 1;

[0051] S14. If 2×T ≤ R and K×T > R, add the number of discharge ports of this operation to the set of the second - type discharge port usage, where K is a real number greater than 2;

[0052] Repeat steps S10 to S14 to traverse all elements in the even - numbered set of discharge ports.

[0053] Optionally, calculating the total effective working length of the discharge port according to the vertical distance from the material - separating edge of the material - discharging surface to the ground when the working vehicle is working specifically includes:

[0054] If the set of the first - type discharge port usage is not an empty set, but the set of the second - type discharge port usage is an empty set;

[0055] Compare the elements in the set of the first - type discharge port usage, and obtain the largest element as the total number of target used discharge ports;

[0056] Calculate the target total effective working length corresponding to the total number of target used discharge ports. The target total effective working length = the total number of target used discharge ports × the effective working length of a single discharge port, then the total effective working length of the discharge port is equal to the target total effective working length;

[0057] Generate a first - type driving strategy for the working vehicle based on the total effective working length of the discharge port.

[0058] Optionally, generating a first - type driving strategy for the working vehicle based on the total effective working length of the discharge port specifically includes:

[0059] Obtain the total number of target used discharge ports corresponding to the total effective working length of the discharge port;

[0060] Obtain the number of divisions of the starting edge of the target operation area corresponding to the total number of target used discharge ports;

[0061] Mark each division point of the starting edge, and successively draw perpendicular line segments from the division points of the starting edge to the ending edge. The perpendicular line segments divide the target operation area into multiple target sub - areas. Name the target sub - areas in sequence from one boundary edge to the other boundary edge as the first target sub - area, the second target sub - area... the M - th target sub - area, where M is the total number of sub - areas;

[0062] Respectively obtain the mid - points of the two boundary edges and connect them. Denote the connecting line as the second ending edge;

[0063] The second ending edge divides all the target sub - areas into two equal parts and name the divided sub - areas respectively;

[0064] Starting from the divided sub-region close to the starting edge, and in the direction from the first target sub-region to the Mth target sub-region, the divided sub-regions are sequentially named the first divided sub-region, the second divided sub-region,... the Mth divided sub-region;

[0065] For the divided sub-region close to the termination edge, in the direction from the Mth target sub-region to the first target sub-region, the divided sub-regions are sequentially named the (M + 1)th divided sub-region, the (M + 2)th divided sub-region,... the (M + M)th divided sub-region.

[0066] Optionally, the generation of the driving strategy of the first type of work vehicle through the total effective working length of the discharge port specifically includes:

[0067] When i×2 < M or M < i×2 < 2×M;

[0068] The work vehicle starts from the (i×2)th divided sub-region and operates in the direction from the starting edge of the (i×2)th divided sub-region to the second termination edge of the (i×2)th divided sub-region;

[0069] When the work vehicle reaches the second termination edge of the (i×2)th divided sub-region, the work vehicle turns to the second termination edge of the (i×2 + 1)th divided sub-region;

[0070] It operates in the direction from the termination edge of the (i×2 + 1)th divided sub-region to the starting edge of the (i×2 + 1)th divided sub-region;

[0071] When the work vehicle reaches the starting edge of the (i×2 + 1)th divided sub-region, the working bin of the work vehicle is fed with materials;

[0072] When i×2 = M;

[0073] The work vehicle starts from the (i×2)th divided sub-region and operates in the direction from the starting edge of the (i×2)th divided sub-region to the second termination edge of the (i×2)th divided sub-region;

[0074] When the work vehicle reaches the second termination edge of the (i×2)th divided sub-region, the work vehicle operates from the second termination edge of the (i×2)th divided sub-region to the termination edge of the (i×2)th divided sub-region;

[0075] When the work vehicle reaches the termination edge of the (i×2)th divided sub-region, the working bin of the work vehicle is fed with materials;

[0076] When i×2 = 2×M;

[0077] The work vehicle starts from the (i×2)th divided sub-region and operates in the direction from the termination edge of the (i×2)th divided sub-region to the second termination edge of the (i×2)th divided sub-region;

[0078] When the work vehicle reaches the second termination edge of the i×2 divided sub-region, the work vehicle operates from the second termination edge of the i×2 divided sub-region towards the starting edge of the first divided sub-region;

[0079] When the work vehicle reaches the starting edge of the first divided sub-region, the operation ends;

[0080] The i is the number of times the work vehicle works.

[0081] Optionally, when the work vehicle is working, the total effective working length of the discharge port is calculated based on the vertical distance from the discharge edge of the material discharging surface to the ground, specifically including:

[0082] If the set of used secondary discharge ports is not an empty set;

[0083] Compare the elements in the set of used secondary discharge ports, and obtain the largest element as the total number of target used discharge ports;

[0084] Calculate the target total effective working length corresponding to the total number of target used discharge ports. The target total effective working length = the total number of target used discharge ports × the effective working length of a single discharge port, then the total effective working length of the discharge port is equal to the target total effective working length;

[0085] Generate the secondary driving strategy of the work vehicle based on the total effective working length of the discharge port.

[0086] Optionally, the generating of the secondary driving strategy of the work vehicle based on the total effective working length of the discharge port specifically includes:

[0087] Obtain the total number of target used discharge ports corresponding to the total effective working length of the discharge port;

[0088] Obtain the number of divisions of the starting edge of the target working area corresponding to the total number of target used discharge ports;

[0089] Mark each division point of the starting edge, and successively draw perpendicular line segments from the division points of the starting edge to the termination edge. The perpendicular line segments divide the target working area into multiple target sub-regions, and name the target sub-regions in sequence from one boundary edge to the other boundary edge as the first target sub-region, the second target sub-region... the Mth target sub-region, where M is the total number of sub-regions;

[0090] When i×2 < M;

[0091] The work vehicle starts from the (i×2 - 1)th target sub-region and operates from the starting edge of the (i×2 - 1)th divided sub-region towards the termination edge of the (i×2 - 1)th divided sub-region;

[0092] When the work vehicle reaches the termination edge of the (i×2 - 1)th divided sub-region, the work vehicle turns to the termination edge of the i×2th target sub-region;

[0093] Operate from the termination edge of the i×2 target sub-region towards the starting edge of the i×2 target sub-region;

[0094] When the work vehicle reaches the starting edge of the i×2 target sub-region, feed the work bin of the work vehicle;

[0095] When i×2 = M;

[0096] The work vehicle starts from the i×2 - 1 target sub-region and operates from the starting edge of the i×2 - 1 divided sub-region towards the termination edge of the i×2 - 1;

[0097] When the work vehicle reaches the termination edge of the i×2 - 1 divided sub-region, the work vehicle turns to the termination edge of the i×2 target sub-region;

[0098] Operate from the termination edge of the i×2 target sub-region towards the starting edge of the i×2 target sub-region;

[0099] When the work vehicle reaches the starting edge of the i×2 target sub-region, end the operation;

[0100] The i represents the number of times the work vehicle works.

[0101] A system for implementing the method of generating a mechanized vehicle driving strategy, comprising:

[0102] Discharging module: The specifications of the discharging ports are all the same, which are composed of two equal isosceles trapezoidal metal plates and two parallelogram metal plates. The long side length of the parallelogram is equal to the waist length of the rectangle, and the short side length of the parallelogram is less than the long side length of the parallelogram. The isosceles trapezoid close to the ground is denoted as the blanking surface, and the isosceles trapezoid far from the ground is denoted as the feeding surface;

[0103] Measurement module: Used to measure the length of the line segment;

[0104] Calculation module: Calculate the effective working length, the distance from the material separating edge of the blanking surface to the ground is denoted as the effective working height of the discharging port, the effective working lengths of all discharging ports, the total effective working length of the discharging ports, and the number of target operation area divisions.

[0105] The present invention has the following beneficial effects:

[0106] 1. Defining the mechanized operation vehicle as the working vehicle provides a concise and unified term for the description of subsequent algorithm steps. By detailing the geometric structure and specification characteristics of the discharge port, the algorithm is equipped with the assumption of geometric form consistency. This assumption simplifies the computational complexity, enables the algorithm to be universal and general when dealing with multiple discharge ports, and avoids complex adjustments due to specification differences. By clarifying the spatial relationship between the "loading surface" and the "unloading surface", it helps to accurately describe the working range and spatial parameters of the discharge port through simple terms in subsequent steps, improving the readability and comprehensibility of the algorithm. Limiting the calculation scope to the unloading surface of a single discharge port provides an idea of step-by-step processing for the calculation of the effective working length of multiple discharge ports. By clearly marking the hypotenuse and endpoint positions, especially the definition of points A and B, it provides a clear starting point for subsequent calculations involving the intersection of the extended hypotenuse and the ground, ensuring the accuracy of geometric analysis. By defining the off-loading edge and its vertical distance from the ground, the spatial relationship between the discharge port and the ground is clearly described. This distance parameter is not only an important input for subsequent geometric calculations but also reflects the actual operating height between the working vehicle and the ground, providing the core basic data for the derivation of the effective working length. By extending the hypotenuse and determining the intersection positions, a complete geometric model is formed. The positions of these intersections provide accurate coordinate bases for subsequent calculations of vertical line segments and the derivation of the effective length, and at the same time make the algorithm logic more organized and operable. Defining and measuring the lengths of multiple key line segments forms a mapping relationship from geometric space to planar space. The parameters of these line segments are not only used to describe the connection characteristics between the unloading surface and the ground but also provide an accurate data input source for subsequent calculations, ensuring the integrity of geometric analysis. By measuring EE 1 、AA 1 and the length of EC, the length of AC is calculated using the principle of similar triangles in triangle EE 1 C. Measuring the length of AB, in triangle ECD, the length of CD is calculated using similar triangles. CD is the effective working length of the discharge port when the working vehicle is operating. Using the method of similar triangles can adapt to the effective working length of the discharge port at different working heights. Through the calculation of the total effective length based on the core parameters, the overall quantitative evaluation of the performance of the working vehicle is finally achieved. This result provides key data support for vehicle optimization, operation path planning, and work efficiency analysis.

[0107] 2. Defining the relative relationship between the effective working lengths of adjacent discharge ports provides a logical basis for evaluating the overall coverage range of the working vehicle. By obtaining the endpoints of the line segment and their nearest points, a concise and accurate method for describing the spatial relationship is formed, providing operability for subsequent determination of geometric states such as "intersecting", "crossing", and "separating", and effectively avoiding calculation errors. When the effective working lengths of two adjacent ones intersect, the vertical distance from the discharge edge of the current discharging surface to the ground is the effective working height of the discharge port of the working vehicle; when the effective working lengths of two adjacent ones cross, it indicates that the vertical distance from the discharge edge of the current discharging surface to the ground is too far, resulting in an overly long effective working length of the discharge port on the ground. At this time, the vertical distance from the discharge edge to the ground needs to be shortened to reduce the effective working length of the discharge port on the ground; when the effective working lengths of two adjacent ones are separated, it indicates that the vertical distance from the discharge edge of the current discharging surface to the ground is too close, resulting in an overly short effective working length of the discharge port on the ground. At this time, the vertical distance from the discharge edge to the ground needs to be increased to increase the effective working length of the discharge port on the ground. In this way, the effective working height of the discharge port can be determined.

[0108] 3. Repeat steps S1 to S9 to recalculate the effective working length of each discharge port, ensuring that all discharge ports reach the optimal working state under the adjusted effective working height, and defining the boundary shape and size of the target operation area, providing the basic conditions for geometric description. This step provides basic information for subsequent operation path planning by distinguishing the long side and the short side, ensuring that the algorithm can be optimized according to the characteristics of the rectangular area, improving the efficiency and rationality of the operation path design. By positioning the starting side of the working vehicle and the side parallel to it, the initial direction and reference direction of the operation are established. This information provides a key basis for subsequent path planning and vehicle direction control, helping to achieve systematic coverage of the working vehicle in the target area and avoiding omission or repeated operations. When the operation direction is along the long side of the target area, by marking the starting side, the ending side, and the boundary side, the operation range and direction of the vehicle are standardized. When the operation direction is along the short side of the target area, by redefining the starting side, the ending side, and the boundary side, the operation direction of the vehicle is adjusted.

[0109] 4. By obtaining the starting edge and the length of the boundary edge of the target operation area, specific dimensional parameters of the operation space are provided. This operation lays the foundation for subsequent path division, calculation of the number of segments, and operation planning, helps ensure the rationality of the path design and the accuracy of the coverage rate, and clarifying the effective working length of the discharge port can ensure accurate calculation using precise physical dimensions in path division. This step directly affects the accuracy of the number of segments, ensures the rationality of the operation planning, and at the same time improves the efficiency and uniformity of the working vehicle covering the target area. Obtaining the maximum capacity of the working bin of the working vehicle, this parameter can prevent the vehicle from being overloaded during operation, improve the operation safety and reliability of the working vehicle, and provide a basis for reasonably distributing the operation load. Clarifying the total number N of discharge ports allows for flexible distribution of work tasks according to requirements, improving the flexibility of the operation. The set speed V of the working vehicle directly affects the operation efficiency and time planning. Clarifying the discharge quantity Q of the discharge port per unit time provides a basis for calculating the total discharge quantity and determining whether it meets the requirements of the target operation area. By controlling the number of different working discharge ports, all possible numbers of segments of the starting edge of the target operation area can be calculated. For the even-number segmentation scenario, the matching discharge port numbers are extracted, providing a data basis for subsequent optimization and screening. Since in the actual farming process, plowing is carried out simultaneously with spreading fertilizer or sowing, the even-number segmentation scenario can provide the process of the working vehicle going and coming back, ensuring that the working vehicle will not damage the area that has already been operated. This process helps improve the controllability of the segmentation result and ensures that the planned path better meets the actual operation requirements. Setting two different types of discharge port usage sets and analyzing the discharge port numbers in the even-number set one by one helps accurately screen out the elements that meet the conditions, laying the foundation for subsequent optimization of the discharge strategy. Calculating the time required for the working vehicle to travel the length of the boundary edge can calculate the total amount of materials required within this time. By judging the relationship between the total amount of materials and the maximum capacity of the working bin of the working vehicle, the elements in the even-number set of discharge ports are divided into different categories. Discard the discharge port numbers that meet the condition T > R. When T ≤ R and P × T > R, it means that in this division method, the materials in the material bin can meet the material usage of one segmentation unit but cannot meet the usage of two or more segmentation units. Add the discharge port numbers of this type to a set of discharge port usages of one type; when the materials in the material bin can meet the material usage of two or more segmentation units, add the discharge port numbers of this type to a set of discharge port usages of the second type; the establishment of the sets of discharge port usages of one type and the second type is conducive to subsequent division of the target working area and customization of the driving strategy of the working vehicle.

[0110] 5. By judging the states of the sets of the first-class and second-class discharge ports, the classification of the current operation requirements is clarified. If the first-class set is non-empty and the second-class set is empty, it indicates that all the elements in the even-numbered set of the current discharge ports are in the first-class set. Selecting the maximum number of discharge ports in the first-class set as the target can divide the driving strategy of the work vehicle for the first class to reduce the number of trips, improving the working efficiency of the work vehicle. By multiplying the total number of target discharge ports by the effective working length of a single discharge port, the total effective working length is calculated, providing accurate physical parameters for the generation of subsequent driving strategies. This step ensures the rationality of vehicle path planning, avoiding resource waste and insufficient coverage. Using the total effective working length to generate the driving strategy for the first class provides a specific path planning basis for the vehicle. This strategy can ensure the uniform coverage and operating efficiency of the operation area, while reducing redundancy and repetition in vehicle operations, further enhancing the execution effect and economy of the overall system.

[0111] 6. By calculating the total number of target discharge ports to be used, the number of discharge ports that need to be opened during the operation of the work vehicle is clarified, ensuring uniform coverage within the operation area and the best utilization of resources. According to the total number of target discharge ports to be used, the number of divisions of the starting edge is calculated, precisely refining the operation area and providing a clear geometric layout for subsequent operation planning. The target operation area is divided into multiple target sub-areas by perpendicular line segments, and each sub-area is named, clarifying the independence of each operation unit. The zoning operation can effectively organize the operation process, ensuring that the operation vehicle is executed according to the plan within the target area, while improving the regional coverage accuracy and the operability of task allocation. Calculate and connect the midpoints of the boundary edges to generate the second termination edge, which helps to further divide the operation area and form a balanced operation scope. This geometric division method provides symmetry and structure for the operation strategy, facilitating subsequent path optimization and load balance adjustment. The target sub-areas are equally divided by the second termination edge, and the divided sub-areas are named, making it convenient to clarify the responsible areas and driving paths during scheduling and execution. Name the divided sub-areas close to the starting edge in sequence to establish the order of zoning, facilitating the work vehicle to operate in sequence. This naming method provides logic and traceability for task planning, helping to reduce the possibility of path chaos and multi-task conflicts. Name the divided sub-areas close to the termination edge in reverse order to establish a symmetric relationship with the aforementioned divided areas, providing a balanced solution for task planning. This method helps to optimize the vehicle scheduling path, reduce turning and repeated coverage, and ultimately improve the overall operation efficiency and execution accuracy.

[0112] 7. When the number of trips of the working vehicle satisfies the condition i×2 < M or M < i×2 < 2×M, it indicates that the working vehicle is in a normal working state at this time. At this time, the first trip of the working vehicle starts operating from the second sub-division area, reaches the second termination edge of the third sub-division area when turning to the third sub-division area, and travels along the third sub-division area to the starting point of the third sub-division area. At this time, the working vehicle completes a work task and continues to operate in other sub-division areas in this way; when the number of trips of the working vehicle satisfies the condition i×2 = M, at this time the working vehicle reaches the last sub-division area close to the starting edge. When the working vehicle reaches the second termination edge of the i×2th sub-division area, it does not need to turn, but continues to travel and operate towards the termination edge of the (i×2 + 1)th sub-division area; when the number of trips of the working vehicle satisfies the condition i×2 = 2×M, it indicates that the working vehicle reaches the i×2th sub-division area. At this time, the working vehicle needs to operate in the i×2th sub-division area and then travel towards the starting edge of the first sub-division area to complete the operation of the entire target operation area; such a path division avoids the working vehicle from causing secondary damage to the already operated area. At the same time, the working vehicle will return to the same traveling edge of the target operation area each time, which can reduce the shuttle back and forth between the starting edge and the termination edge when refueling the working vehicle, improving the refueling efficiency.

[0113] 8. When the set of the use of the second type of discharge port is not an empty set, it indicates that there are elements in the even set of discharge ports that satisfy the division of the starting edge of the target operation area. The capacity in the working bin of the working vehicle can meet the distance of the working vehicle traveling the lengths of two boundary edges. At this time, obtaining the maximum element in the set of the use of the second type of discharge port can reduce the division of the target operation area, reduce the number of trips of the working vehicle, and improve the working efficiency of the working vehicle. By calculating the target total effective working length corresponding to the total number of target discharge ports used, the division of the target operation area can be determined, and a second type of driving strategy can be generated according to the effective working length of the discharge port. In this way, strategies can be flexibly formulated, and two different driving strategies for the working vehicle can be generated for the effective working lengths of different discharge ports.

[0114] 9. By correlating the effective working length of the discharge port with the total number of target usage discharge ports, it is possible to ensure that the operation capacity of the working vehicle matches the actual demand of the target area. Determining the number of divisions of the starting edge based on the number of target usage discharge ports helps to precisely divide the operation area into multiple small areas, ensuring that each area can be fully covered. By marking the division points and drawing perpendicular line segments towards the terminating edge, multiple sub-areas can be clearly defined. This zoning method helps to reasonably plan the operation path, ensuring that each sub-area can independently and efficiently complete the operation tasks. At the same time, it also helps with the monitoring and scheduling of the area during the operation. When the number of trips of the working vehicle satisfies the condition i×2 < M, the operation is carried out from the starting edge of the divided sub-area towards the terminating edge. This choice of operation path ensures that the working vehicle starts from the starting point of the target sub-area and proceeds orderly towards the terminating edge. Through the linear operation from the starting edge to the terminating edge, redundant route repetitions are avoided, improving the operation efficiency. At the same time, unnecessary driving distances and energy consumption are reduced. After the vehicle reaches the terminating edge, it turns to the terminating edge of the next target area. This operation helps to ensure the coherence of the direction during the operation. The clear division of the operation area avoids the repeated adjustment of the vehicle's path, ensuring that each sub-area completes the operation task in the shortest time. By adjusting the operation direction, it is ensured that the operation is carried out from the terminating edge of the target sub-area towards the starting edge. This reverse operation method effectively avoids missing work within the area, ensuring comprehensive coverage of the operation. When the working vehicle completes the operation of the current sub-area and reaches the starting edge, the feeding operation can ensure that the vehicle will not be interrupted due to insufficient materials during the operation of the next sub-area. This optimizes the continuity of the operation process and improves the operation capacity and efficiency of the working vehicle. When the number of trips of the working vehicle satisfies the condition i×2 = M, it means that the working vehicle is at the last trip at this time. At this time, the traveling route of the working vehicle is the same as the previous working process. When it reaches the starting edge after turning, there is no need to add materials to the working bin anymore. At this time, the operation has been completed. When the operation is completed, the vehicle ends the operation after reaching the starting edge. This operation helps to clarify the sign of task completion, reduces the waste of operation time, and is convenient for starting the next operation or carrying out maintenance work. BRIEF DESCRIPTION OF THE DRAWINGS

[0115] Figure 1 Schematic diagram of the discharge port of the present invention.

[0116] Figure 2 Schematic diagram of the material discharging surface of the present invention.

[0117] Figure 3 Schematic diagram of the target operation area of the present invention.

[0118] Figure 4 Schematic diagram of the first-class division of the target operation area of the present invention.

[0119] Figure 5Schematic diagram of a driving strategy for a working vehicle of the present invention.

[0120] Figure 6 Schematic diagram of the second type of segmentation of the target operation area of the present invention.

[0121] Figure 7 Schematic diagram of the second type of driving strategy for a working vehicle of the present invention. Detailed implementation manners

[0122] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0123] Embodiment, referring to Figure 1 and Figure 2 , a method for generating a driving strategy for a mechanized vehicle, including:

[0124] Denote the mechanized operation vehicle as the working vehicle;

[0125] Obtain the total number of the discharge ports of the working vehicle. All the discharge ports of the working vehicle have the same specifications, which are composed of two equal isosceles trapezoidal metal plates and two parallelogram metal plates. The long side length of the parallelogram is equal to the waist length of the rectangle, and the short side length of the parallelogram is less than the long side length of the parallelogram. Denote the isosceles trapezoid close to the ground as the blanking surface, and the isosceles trapezoid far from the ground as the feeding surface;

[0126] For the blanking surface of any one discharge port, perform steps S1 to S9:

[0127] S1. Obtain the two hypotenuses of the blanking surface, and denote them as the first hypotenuse of the blanking surface and the second hypotenuse of the blanking surface respectively. Denote the end point of the first hypotenuse of the blanking surface closest to the ground as point A, and the end point of the second hypotenuse of the blanking surface closest to the ground as point B;

[0128] S2. When the working vehicle is working, obtain the side of the parallel sides of the blanking surface closest to the ground and denote it as the material separation edge. Measure the vertical distance from the material separation edge to the ground and denote it as H;

[0129] S3. Extend the first hypotenuse and the second hypotenuse of the blanking surface respectively. Denote the intersection point of the extension line of the first hypotenuse of the blanking surface and the ground as point C, the intersection point of the extension line of the second hypotenuse of the blanking surface and the ground as point D, and the intersection point of the extension line of the first hypotenuse of the blanking surface and the extension line of the second hypotenuse of the blanking surface as point E;

[0130] S4. Make a perpendicular line segment from point E to the ground, and denote the intersection point with the ground as E1 Point, draw a perpendicular line segment from point A to the ground, and the intersection point with the ground is denoted as A 1 Point, draw a perpendicular line segment from point B to the ground, and the intersection point with the ground is denoted as B 1 Point, measure the length of line segment EE 1 , and denote it as H 1 , line segment AA 1 has the same length as line segment BB 1 , and both are equal to H;

[0131] S5. Measure the length of line segment EC, and denote it as H 2 ;

[0132] S6. Calculate the length of line segment AC, and denote it as H AC , H AC =H 2 ×(H / H 1 );

[0133] S7. Measure the length of line segment AB, and denote it as H 3 ;

[0134] S8. Calculate the length of line segment EA, H EA =H 2 -H AC =H 2 -H 2 ×(H / H 1 );

[0135] S9. Calculate the length of line segment CD, and denote it as H CD , H CD =H 3 ×(H 2 / H EA ), the length of line segment CD is the effective length of the discharge port on the ground, and denote the length of line segment CD as the effective working length;

[0136] Repeat steps S1 to S9 to calculate the effective working length of all discharge ports on the ground;

[0137] Calculate the total effective working length of the discharge port according to the vertical distance from the material separation edge of the material discharging surface to the ground when the working vehicle is working.

[0138] Defining the mechanized operation vehicle as a working vehicle provides a concise and unified term for the description of subsequent algorithm steps. By detailing the geometric structure and specification characteristics of the discharge port, the algorithm is equipped with the assumption of geometric form consistency. This assumption simplifies the computational complexity, enables the algorithm to be universal and general when dealing with multiple discharge ports, and avoids complex adjustments due to specification differences. By clarifying the spatial relationship between the "loading surface" and the "unloading surface", it helps to accurately describe the working range and spatial parameters of the discharge port through simple terms in subsequent steps, improving the readability and comprehensibility of the algorithm. Limiting the calculation scope to the unloading surface of a single discharge port provides an idea of step-by-step processing for the calculation of the effective working length of multiple discharge ports. By clearly marking the hypotenuse and endpoint positions, especially the definition of points A and B, it provides a clear starting point for subsequent calculations involving the intersection of the extended hypotenuse and the ground, ensuring the accuracy of geometric analysis. By defining the material separation edge and its vertical distance from the ground, the spatial relationship between the discharge port and the ground is clearly described. This distance parameter is not only an important input for subsequent geometric calculations but also reflects the actual operating height between the working vehicle and the ground, providing the core basic data for the derivation of the effective working length. By extending the hypotenuse and determining the intersection positions, a complete geometric model is formed. The positions of these intersections provide accurate coordinate bases for subsequent calculations of vertical line segments and the derivation of the effective length, and at the same time make the algorithm logic more organized and operable. Defining and measuring the lengths of multiple key line segments forms a mapping relationship from geometric space to planar space. The parameters of these line segments are not only used to describe the connection characteristics between the unloading surface and the ground but also provide an accurate data input source for subsequent calculations, ensuring the integrity of geometric analysis. By measuring EE 1 、AA 1 and the length of EC, the length of AC is calculated using the principle of similar triangles in triangle EE 1 C. Measuring the length of AB, in triangle ECD, the length of CD is calculated using similar triangles. CD is the effective working length of the discharge port when the working vehicle is operating. Using the method of similar triangles can adapt to the effective working length of the discharge port at different working heights. Through the calculation of the total effective length based on the core parameters, the overall quantitative evaluation of the performance of the working vehicle is finally achieved. This result provides key data support for vehicle optimization, operation path planning, and work efficiency analysis.

[0139] The calculation of the total effective working length of the discharge port according to the vertical distance from the material separation edge of the unloading surface to the ground when the working vehicle is operating specifically includes:

[0140] Determine the relative positions of the effective working lengths of two adjacent discharge ports. The relative positions of the effective working lengths of two adjacent discharge ports are specifically as follows: Obtain the line segments of two adjacent effective working lengths, denoted as line segment one and line segment two respectively. Obtain the two endpoints of line segment one and line segment two that are closest to each other, denoted as the closest point of line segment one and the closest point of line segment two respectively. If the closest point of line segment one coincides with the closest point of line segment two, then line segment one and line segment two are recorded as intersecting; if the closest point of line segment one is on line segment two, then line segment one and line segment two are recorded as crossing; otherwise, line segment one and line segment two are recorded as separated.

[0141] If the relative positions of the effective working lengths of two adjacent discharge ports are intersecting, then record the vertical distance from the discharge edge of the discharging surface to the ground as the effective working height of the discharge port when the working vehicle is present.

[0142] Set a moving distance unit for the discharge edge of the discharging surface.

[0143] If the relative positions of the effective working lengths of two adjacent discharge ports are crossing, then adjust the vertical distance from the discharge edge of the discharging surface to the ground to H - 1 × the moving distance unit of the discharge edge of the discharging surface. Determine the relative positions of the effective working lengths of two adjacent discharge ports at this time. If the relative positions of the effective working lengths of two adjacent discharge ports are intersecting, then record H - 1 × the moving distance unit of the discharge edge of the discharging surface as the effective working height of the discharge port. If the relative positions of the effective working lengths of two adjacent discharge ports are crossing, then continue to adjust the vertical distance from the discharge edge of the discharging surface to the ground until the relative positions of the effective working lengths of two adjacent discharge ports are intersecting, and record the adjusted vertical distance from the discharge edge of the discharging surface to the ground as the effective working height of the discharge port.

[0144] If the relative positions of the effective working lengths of two adjacent discharge ports are separated, then adjust the vertical distance from the discharge edge of the discharging surface to the ground to H + 1 × the moving distance unit of the discharge edge of the discharging surface. Determine the relative positions of the effective working lengths of two adjacent discharge ports at this time. If the relative positions of the effective working lengths of two adjacent discharge ports are intersecting, then record H + 1 × the moving distance unit of the discharge edge of the discharging surface as the effective working height of the discharge port. If the relative positions of the effective working lengths of two adjacent discharge ports are separated, then continue to adjust the vertical distance from the discharge edge of the discharging surface to the ground until the relative positions of the effective working lengths of two adjacent discharge ports are intersecting, and record the adjusted vertical distance from the discharge edge of the discharging surface to the ground as the effective working height of the discharge port.

[0145] Defining the relative relationship between the effective working lengths of adjacent discharge ports provides a logical basis for evaluating the overall coverage of the working vehicle. By obtaining the endpoints of the line segment and their nearest points, a concise and accurate method for describing the spatial relationship is formed, which provides operability for subsequent determination of geometric states such as "intersecting", "crossing", and "separating", effectively avoiding calculation errors. When the effective working lengths of two adjacent ones intersect, the vertical distance from the discharge edge of the current discharging surface to the ground is the effective working height of the discharge port of the working vehicle; when the effective working lengths of two adjacent ones cross, it indicates that the vertical distance from the discharge edge of the current discharging surface to the ground is too far, resulting in an overly long effective working length of the discharge port on the ground. At this time, the vertical distance from the discharge edge to the ground needs to be shortened to reduce the effective working length of the discharge port on the ground; when the effective working lengths of two adjacent ones are separated, it indicates that the vertical distance from the discharge edge of the current discharging surface to the ground is too close, resulting in an overly short effective working length of the discharge port on the ground. At this time, the vertical distance from the discharge edge to the ground needs to be increased to increase the effective working length of the discharge port on the ground. In this way, the effective working height of the discharge port can be determined.

[0146] Referring to Figure 3 , when calculating the total effective working length of the discharge port according to the vertical distance from the discharge edge of the discharging surface to the ground during the operation of the working vehicle, it specifically includes:

[0147] When the discharge port is at the effective working height, repeat steps S1 to S9 to calculate the effective working lengths of all discharge ports;

[0148] Obtain all the side lengths of the target working area. Denote the two equal long sides as the first long side and the second long side respectively, and denote the two equal short sides as the first short side and the second short side respectively. The target working area is a rectangle;

[0149] Obtain the starting side of the working vehicle in the target working area and the side parallel to the starting side;

[0150] If the starting side and the side parallel to the starting side are the long sides of the target operation, then denote the two long sides as the starting side and the ending side respectively, and denote the two short sides as the boundary sides;

[0151] If the starting side and the side parallel to the starting side are the short sides of the target operation, then denote the two short sides as the starting side and the ending side respectively, and denote the two long sides as the boundary sides.

[0152] Repeat steps S1 to S9 to recalculate the effective working length of each discharge port, ensuring that all discharge ports reach the optimal working state under the adjusted effective working height, clarifying the boundary shape and size of the target operation area, and providing the basic conditions for geometric description. This step provides the basic information for subsequent operation path planning by distinguishing the long side from the short side, ensuring that the algorithm can be optimized according to the characteristics of the rectangular area, improving the efficiency and rationality of the operation path design. By positioning the starting side of the working vehicle and the side parallel to it, the initial direction and reference direction of the operation are established. This information provides the key basis for subsequent path planning and vehicle direction control, helping to achieve systematic coverage of the working vehicle in the target area, avoiding omission or repeated operations. When the operation direction is along the long side of the target area, by marking the starting side, ending side, and boundary side, the operation range and direction of the vehicle are standardized. When the operation direction is along the short side of the target area, by redefining the starting side, ending side, and boundary side, the operation direction of the vehicle is adjusted.

[0153] The total effective working length of the discharge port is calculated according to the vertical distance from the material separation edge of the discharging surface to the ground when the working vehicle is working, specifically including:

[0154] Obtain the lengths of the starting side and the boundary side;

[0155] Obtain the effective working length of the discharge port;

[0156] Obtain the maximum capacity of the working bin of the working vehicle, denoted as R;

[0157] Obtain the total number of discharge ports of the working vehicle, denoted as N;

[0158] Obtain the set speed of the working vehicle during operation, denoted as V;

[0159] When the working vehicle works with one discharge port, calculate the number of segments into which the starting side of the target operation area is divided by 1 effective working length, and the number of segments = starting side length / 1 effective working length;

[0160] When the working vehicle works with two discharge ports, calculate the number of segments into which the starting side of the target operation area is divided by 2 effective working lengths, and the number of segments = starting side length / 2 effective working lengths;

[0161] When the working vehicle works with N discharge ports, calculate the number of segments into which the starting side of the target operation area is divided by N effective working lengths, and the number of segments = starting side length / N effective working lengths;

[0162] Set the even set of discharge ports;

[0163] When obtaining the number of discharging ports in use of the corresponding working vehicle when the number of segments is even, add the number of discharging ports in use of the corresponding working vehicle to the set of even-numbered discharging ports;

[0164] Set a set of first-class discharging ports in use;

[0165] Set a set of second-class discharging ports in use;

[0166] For any element in the set of even-numbered discharging ports;

[0167] S10. Calculate the time required for the working vehicle to travel along the boundary edge length, denoted as t, where t = boundary length / V;

[0168] S11. Calculate the total discharge amount of the discharging ports in use within the time t when discharging at the discharge speed V, denoted as T, where T = number of discharging ports in use × V × t;

[0169] S12. If T > R, discard the number of discharging ports in use;

[0170] S13. If T ≤ R and P × T > R, add the number of discharging ports in use to the set of first-class discharging ports in use, where P is a real number greater than 1;

[0171] S14. If 2 × T ≤ R and K × T > R, add the number of discharging ports in use to the set of second-class discharging ports in use, where K is a real number greater than 2;

[0172] Repeat steps S10 to S14 to traverse all elements in the set of even-numbered discharging ports.

[0173] By obtaining the starting edge and the length of the boundary edge of the target operation area, specific dimensional parameters of the operation space are provided. This operation lays the foundation for subsequent path division, calculation of the number of segments, and operation planning, helps ensure the rationality of path design and the accuracy of coverage rate, and clarifying the effective working length of the discharge port can ensure that accurate physical dimensions are used in path division. This step directly affects the accuracy of the number of segments, ensures the rationality of operation planning, and at the same time improves the efficiency and uniformity of the working vehicle covering the target area. Obtaining the maximum capacity of the working bin of the working vehicle, this parameter can prevent the vehicle from being overloaded during operation, improve the running safety and reliability of the working vehicle, and provide a basis for reasonably allocating the operation load. Clarifying the total number N of discharge ports can flexibly allocate work tasks according to requirements and improve the flexibility of operation. The set speed V of the working vehicle directly affects the operation efficiency and time planning. Clarifying the discharge quantity Q of the discharge port per unit time provides a basis for calculating the total discharge quantity and judging whether it meets the requirements of the target operation area. By controlling the number of different working discharge ports, all the number situations of the starting edge of the target operation area being divided can be calculated. For the even-numbered division scenario, the matching discharge port numbers are extracted, providing a data basis for subsequent optimization and screening. Since in the actual farming process, plowing is carried out synchronously with spreading fertilizer or sowing, the even-numbered division scenario can provide the process of the working vehicle going back and forth, ensuring that the working vehicle will not damage the area that has already been operated. This process helps improve the controllability of the division result and ensures that the planned path better meets the actual operation requirements. Two different types of discharge port usage sets are set up, and analyzing the discharge port numbers in the even-numbered set one by one helps accurately screen out the elements that meet the conditions, laying the foundation for subsequent optimization of the discharge strategy. Calculating the time required for the working vehicle to travel the length of the boundary edge can calculate the total amount of materials required during this time. By judging the relationship between the total amount of materials and the maximum capacity of the working bin of the working vehicle, the elements in the even-numbered set of discharge ports are divided into different types. The discharge port numbers that meet the condition T > R are discarded. When T ≤ R and P × T > R, it means that in this division method, the materials in the material bin can meet the material usage of one division unit but cannot meet the usage of two or more division units. Add the discharge port numbers of this type to the first-type discharge port usage set; when the materials in the material bin can meet the material usage of two or more division units, add the discharge port numbers of this type to the second-type discharge port usage set; the establishment of the first-type and second-type discharge port usage sets is beneficial for subsequent division of the target working area and customization of the working vehicle driving strategy.

[0174] When the working vehicle is working, calculating the total effective working length of the discharge port according to the vertical distance from the material separation edge of the material discharging surface to the ground specifically includes:

[0175] When the set of used Class I discharge ports is not an empty set, but the set of used Class II discharge ports is an empty set;

[0176] Compare the elements in the set of used Class I discharge ports, and obtain the largest element as the total number of target used discharge ports;

[0177] Calculate the total effective working length corresponding to the total number of target used discharge ports. The total effective working length = the total number of target used discharge ports × the effective working length of a single discharge port. Then, the total effective working length of the discharge ports is equal to the total effective working length;

[0178] Generate a Class I driving strategy for the work vehicle based on the total effective working length of the discharge ports.

[0179] By judging the states of the sets of used Class I and Class II discharge ports, clarify the classification of the current operation requirements. If the Class I set is non-empty and the Class II set is empty, it means that all the elements in the current even-numbered set of discharge ports are in the Class I set. Select the largest number of discharge ports in the Class I set as the target, which can reduce the number of trips in the Class I driving strategy of the work vehicle, improve the working efficiency of the work vehicle. By multiplying the total number of target discharge ports by the effective working length of a single discharge port, calculate the total effective working length, which provides accurate physical parameters for the subsequent generation of the driving strategy. This step ensures the rationality of the vehicle path planning, avoids resource waste and insufficient coverage. Generate a Class I driving strategy using the total effective working length, which provides a specific path planning basis for the vehicle. This strategy can ensure the uniform coverage and operating efficiency of the operation area, while reducing redundancy and repetition in vehicle operations, and further improving the overall system's execution effect and economy.

[0180] Refer to Figure 4 , the generating a Class I driving strategy for the work vehicle based on the total effective working length of the discharge ports specifically includes:

[0181] Obtain the total number of target used discharge ports corresponding to the total effective working length of the discharge ports;

[0182] Obtain the number of divisions of the starting side of the target operation area corresponding to the total number of target used discharge ports;

[0183] Mark each division point of the starting side, and successively draw perpendicular line segments from the division points of the starting side to the ending side. The perpendicular line segments divide the target operation area into multiple target sub-areas. Name the target sub-areas in the direction from one boundary side to the other boundary side as the first target sub-area, the second target sub-area... the Mth target sub-area, where M is the total number of sub-areas;

[0184] Respectively obtain the midpoints of the two boundary sides and connect them. Denote the connecting line as the second ending side;

[0185] The second terminating edge divides all target sub-regions into two equal parts and names the divided sub-regions respectively;

[0186] Starting from the divided sub-region close to the starting edge, and in the direction from the first target sub-region to the Mth target sub-region, the divided sub-regions are sequentially named the first divided sub-region, the second divided sub-region... the Mth divided sub-region;

[0187] For the divided sub-region close to the terminating edge, in the direction from the Mth target sub-region to the first target sub-region, the divided sub-regions are sequentially named the (M + 1)th divided sub-region, the (M + 2)th divided sub-region... the (M + M)th divided sub-region.

[0188] By calculating the total number of target discharge outlets in use, the number of discharge outlets to be opened during the operation of the work vehicle is determined, ensuring the uniform coverage within the operation area and the optimal utilization of resources. According to the total number of target discharge outlets in use, the number of divisions on the starting edge is calculated, and the operation area is precisely refined, providing a clear geometric layout for subsequent operation planning. The target operation area is divided into multiple target sub-regions by perpendicular line segments, and each sub-region is named, clarifying the independence of each operation unit. The zoning operation can effectively organize the operation process, ensure that the operation vehicle is executed according to the plan within the target area, and at the same time improve the regional coverage accuracy and the operability of task allocation. Calculating and connecting the midpoints of the boundary edges to generate the second terminating edge helps to further divide the operation area and form a balanced operation scope. This geometric division method provides symmetry and structure for the operation strategy, facilitating subsequent path optimization and load balance adjustment. The target sub-regions are equally divided by the second terminating edge, and the divided sub-regions are named, which is convenient to clarify the responsible area and driving path during scheduling and execution. Naming the divided sub-regions close to the starting edge in sequence establishes the sequence of zoning, facilitating the sequential operation of the work vehicle. This naming method provides logic and traceability for task planning, helping to reduce the possibility of path confusion and multi-task conflicts. Naming the divided sub-regions close to the terminating edge in reverse order establishes a symmetric relationship with the aforementioned divided regions, providing a balanced solution for task planning. This method helps to optimize the vehicle scheduling path, reduce turning and repeated coverage, and ultimately improve the overall operation efficiency and execution accuracy.

[0189] Refer to Figure 5 , the generation of a driving strategy for the first type of work vehicle through the total effective working length of the discharge outlet specifically includes:

[0190] When i × 2 < M or M < i × 2 < 2 × M;

[0191] The work vehicle starts from the (i × 2)th divided sub-region and operates in the direction from the starting edge of the (i × 2)th divided sub-region to the second terminating edge of the (i × 2)th divided sub-region;

[0192] When the work vehicle reaches the second termination edge of the i×2 - th divided sub - region, the work vehicle turns to the second termination edge of the (i×2 + 1)-th divided sub - region;

[0193] Perform operations from the termination edge of the (i×2 + 1)-th divided sub - region towards the starting edge of the (i×2 + 1)-th divided sub - region;

[0194] When the work vehicle reaches the starting edge of the (i×2 + 1)-th divided sub - region, feed the working bin of the work vehicle;

[0195] When i×2 = M;

[0196] The work vehicle starts from the i×2 - th divided sub - region and performs operations from the starting edge of the i×2 - th divided sub - region towards the second termination edge of the i×2 - th divided sub - region;

[0197] When the work vehicle reaches the second termination edge of the i×2 - th divided sub - region, the work vehicle performs operations from the second termination edge of the i×2 - th divided sub - region towards the termination edge of the i×2 - th divided sub - region;

[0198] When the work vehicle reaches the termination edge of the i×2 - th divided sub - region, feed the working bin of the work vehicle;

[0199] When i×2 = 2×M;

[0200] The work vehicle starts from the i×2 - th divided sub - region and performs operations from the termination edge of the i×2 - th divided sub - region towards the second termination edge of the i×2 - th divided sub - region;

[0201] When the work vehicle reaches the second termination edge of the i×2 - th divided sub - region, the work vehicle performs operations from the second termination edge of the i×2 - th divided sub - region towards the starting edge of the first divided sub - region;

[0202] When the work vehicle reaches the starting edge of the first divided sub - region, end the operation;

[0203] The i represents the number of times the work vehicle works.

[0204] 10. When the number of trips of the work vehicle satisfies the condition i×2 < M or M < i×2 < 2×M, it indicates that the work vehicle is in a normal working state at this time. At this time, the first trip of the work vehicle starts operating from the second divided sub-region, reaches the second termination edge of the third sub-region when turning to the third sub-region, and reaches the starting point of the third divided sub-region along the third divided sub-region. At this time, the work vehicle completes a work task and continues to operate in other divided sub-regions in this way; when the number of trips of the work vehicle satisfies the condition i×2 = M, at this time, the work vehicle reaches the last divided sub-region close to the starting edge. When the work vehicle reaches the second termination edge of the i×2th divided sub-region, it does not need to turn but continues to drive and operate towards the termination edge of the (i×2 + 1)th divided sub-region; when the number of trips of the work vehicle satisfies the condition i×2 = 2×M, it indicates that the work vehicle reaches the i×2th divided sub-region. At this time, the work vehicle needs to operate within the i×2th divided sub-region and then drive towards the starting edge of the first divided sub-region to complete the operation of the entire target operation area; such a path division avoids the work vehicle from causing secondary damage to the area that has been operated, and at the same time, the work vehicle will return to the same traveling edge of the target operation area each time, which can reduce the shuttle back and forth between the starting edge and the termination edge when refueling the work vehicle and improve the refueling efficiency.

[0205] Calculating the total effective working length of the discharge port according to the vertical distance from the material separation edge of the discharge surface to the ground when the work vehicle is working, specifically including:

[0206] When the set of used secondary discharge ports is not an empty set;

[0207] Comparing the elements in the set of used secondary discharge ports and obtaining the largest element as the total number of target used discharge ports;

[0208] Calculating the total effective working length corresponding to the total number of target used discharge ports, where the total effective working length = the total number of target used discharge ports × the effective working length of a single discharge port, and then the total effective working length of the discharge port is equal to the total effective working length of the target;

[0209] Generating a secondary driving strategy for the work vehicle based on the total effective working length of the discharge port.

[0210] When the set of the second type of discharge ports in use is not an empty set, it indicates that there are elements in the set of even-numbered discharge ports that satisfy the division of the starting side of the target operation area, and the capacity in the working bin of the working vehicle can meet the distance of the working vehicle traveling the lengths of two boundary sides. At this time, obtaining the maximum element in the set of the second type of discharge ports in use can reduce the division of the target operation area, reduce the number of trips of the working vehicle, and improve the working efficiency of the working vehicle. By calculating the target total effective working length corresponding to the total number of target discharge ports in use, the division of the target operation area can be determined, and a second type of driving strategy for the working vehicle can be generated based on the effective working length of the discharge ports. In this way, strategies can be flexibly formulated, and two different driving strategies for the working vehicle can be generated for the effective working lengths of different discharge ports.

[0211] Refer to Figure 6 and Figure 7 , the generation of the second type of driving strategy for the working vehicle through the total effective working length of the discharge ports specifically includes:

[0212] Obtain the total number of target discharge ports in use corresponding to the total effective working length of the discharge ports;

[0213] Obtain the number of divisions of the starting side of the target operation area corresponding to the total number of target discharge ports in use;

[0214] Mark each division point of the starting side, and successively draw perpendicular line segments from the division points of the starting side to the terminating side. The perpendicular line segments divide the target operation area into multiple target sub-areas. Name the target sub-areas in sequence from one boundary side to the other boundary side as the first target sub-area, the second target sub-area... the Mth target sub-area, where M is the total number of sub-areas;

[0215] When i × 2 < M;

[0216] The working vehicle starts from the (i × 2 - 1)th target sub-area and operates in the direction from the starting side to the terminating side of the (i × 2 - 1)th divided sub-area;

[0217] When the working vehicle reaches the terminating side of the (i × 2 - 1)th divided sub-area, the working vehicle turns to the terminating side of the (i × 2)th target sub-area;

[0218] Operate in the direction from the terminating side to the starting side of the (i × 2)th target sub-area;

[0219] When the working vehicle reaches the starting side of the (i × 2)th target sub-area, add materials to the working bin of the working vehicle;

[0220] When i × 2 = M;

[0221] The working vehicle starts from the (i × 2 - 1)th target sub-area and operates in the direction from the starting side to the terminating side of the (i × 2 - 1)th divided sub-area;

[0222] When the work vehicle reaches the termination edge of the (i×2 - 1)-th divided sub-region, the work vehicle turns to the termination edge of the i×2-th target sub-region;

[0223] Perform operations from the termination edge of the i×2-th target sub-region towards the starting edge of the i×2-th target sub-region;

[0224] When the work vehicle reaches the starting edge of the i×2-th target sub-region, end the operation;

[0225] The i represents the number of times the work vehicle has worked.

[0226] By corresponding the effective working length of the discharge port with the total number of target used discharge ports, it is possible to ensure that the operation capacity of the work vehicle matches the actual requirements of the target area. Determining the number of divisions of the starting edge according to the number of target used discharge ports helps to accurately divide the operation area into multiple small areas, ensuring that each area can be fully covered. By marking the division points and making perpendicular line segments to the termination edge, multiple sub-regions can be clearly defined. This zoning method helps to reasonably plan the operation path, ensuring that each sub-region can independently and efficiently complete the operation task, and also helps with the monitoring and scheduling of the area during the operation process. When the number of trips of the work vehicle satisfies the condition i×2 < M, perform operations from the starting edge of the divided sub-region towards the termination edge. This choice of operation path ensures that the work vehicle starts from the starting point of the target sub-region and performs operations in an orderly manner towards the termination edge. Through the linear operation from the starting edge to the termination edge, redundant route repetitions are avoided, improving the operation efficiency, while reducing unnecessary driving distances and energy consumption. After the vehicle reaches the termination edge, it turns to the termination edge of the next target area. This operation helps to ensure the coherence of the direction during the operation process. The clear division of the operation area avoids the vehicle from repeatedly adjusting the path, ensuring that each sub-region completes the operation task in the shortest time. By adjusting the operation direction, it is ensured that operations are performed from the termination edge of the target sub-region towards the starting edge. This reverse operation method effectively avoids omissions in the work within the area, ensuring comprehensive coverage of the operation. When the work vehicle completes the operation of the current sub-region and reaches the starting edge, the feeding operation can ensure that the vehicle will not be interrupted due to insufficient materials during the operation of the next sub-region. This optimizes the continuity of the operation process and improves the operation capacity and efficiency of the work vehicle. When the number of trips of the work vehicle satisfies the condition i×2 = M, it means that the work vehicle is at the last trip at this time. At this time, the traveling route of the work vehicle is the same as the previous operation process. When it reaches the starting edge after turning, there is no need to add materials to the working bin anymore. At this time, the operation has been completed. When the operation is completed, the vehicle ends the operation after reaching the starting edge. This operation helps to clarify the sign of task completion, reduces the waste of operation time, and is also convenient for starting the next operation or performing maintenance work.

[0227] This embodiment also provides a system for generating a driving strategy method for a mechanized vehicle, including:

[0228] Discharging module: The specifications of the discharging ports are the same, which are composed of two equal isosceles trapezoidal metal plates and two parallelogram metal plates. The long side length of the parallelogram is equal to the waist length of the rectangle, and the short side length of the parallelogram is less than the long side length of the parallelogram. The isosceles trapezoid close to the ground is denoted as the blanking surface, and the isosceles trapezoid far from the ground is denoted as the feeding surface.

[0229] Measuring module: Used to measure the line segment length.

[0230] Calculation module: Calculate the effective working length, the distance from the blanking edge of the blanking surface to the ground is denoted as the effective working height of the discharging port, the effective working lengths of all discharging ports, the total effective working length of the discharging ports, and the number of divided target operation areas.

[0231] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device.

[0232] The above are only the preferred embodiments of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and refinements can still be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A method for generating a driving strategy for a mechanized vehicle, characterized in that, it includes: Denote the mechanized operation vehicle as the working vehicle; Obtain the total number of discharge outlets of the working vehicle. All the discharge outlets of the working vehicle have the same specifications, which are composed of two equal isosceles trapezoidal metal plates and two parallelogram metal plates. The long side length of the parallelogram is equal to the waist length of the isosceles trapezoid, and the short side length of the parallelogram is less than the long side length of the parallelogram. Denote the isosceles trapezoid close to the ground as the feeding surface, and the isosceles trapezoid far from the ground as the loading surface; For the feeding surface of any discharge outlet, perform steps S1 to S9: S1. Obtain the two hypotenuses of the feeding surface, and denote them as the first hypotenuse of the feeding surface and the second hypotenuse of the feeding surface respectively. Denote the end point closest to the ground on the first hypotenuse of the feeding surface as point A, and the end point closest to the ground on the second hypotenuse of the feeding surface as point B; S2. When the working vehicle is working, obtain the side closest to the ground among the parallel sides of the feeding surface and denote it as the discharging edge, and measure the vertical distance from the discharging edge to the ground, denoted as H; S3. Extend the first hypotenuse and the second hypotenuse of the feeding surface respectively. Denote the intersection point of the extension line of the first hypotenuse of the feeding surface and the ground as point C, the intersection point of the extension line of the second hypotenuse of the feeding surface and the ground as point D, and the intersection point of the extension line of the first hypotenuse of the feeding surface and the extension line of the second hypotenuse of the feeding surface as point E; S4. Draw a perpendicular line segment from point E to the ground, and mark the intersection point with the ground as point. Draw a perpendicular line segment from point A to the ground, and mark the intersection point with the ground as point A 1 point. Draw a perpendicular line segment from point B to the ground, and mark the intersection point with the ground as point B 1 point. Measure the length of line segment EE 1 , and denote it as H 1 . The length of line segment AA 1 is equal to the length of line segment BB 1 , and both are equal to ; S5. Measure the length of line segment EC and denote it as H 2 ; S6. Calculate the length of line segment AC, denoted as H AC , H AC =H 2 ×(H / H 1 ); S7. Measure the length of line segment AB and denote it as H 3 ; S8. Calculate the length of line segment EA, H EA =H 2 -H AC =H 2 -H 2 ×(H / H 1 ); S9. Calculate the length of line segment CD, denoted as H CD , H CD =H 3 ×(H 2 / H EA ), the length of line segment CD is the effective length of the discharge port on the ground, and the length of line segment CD is denoted as the effective working length; Repeat steps S1 to S9 to calculate the effective working length of all discharge outlets on the ground; Calculate the total effective working length of the discharge outlet according to the vertical distance from the discharging edge of the feeding surface to the ground when the working vehicle is working; The calculation of the total effective working length of the discharge outlet according to the vertical distance from the discharging edge of the feeding surface to the ground when the working vehicle is working specifically includes: Judge the relative positions of the effective working lengths of two adjacent discharge outlets. The relative positions of the effective working lengths of two adjacent discharge outlets are specifically as follows: Obtain the line segments of two adjacent effective working lengths, and denote them as line segment one and line segment two respectively. Obtain the two end points closest to each other on line segment one and line segment two, and denote them as the closest point on line segment one and the closest point on line segment two respectively. If the closest point on line segment one coincides with the closest point on line segment two, then denote line segment one and line segment two as intersecting; if the closest point on line segment one is on line segment two, then denote line segment one and line segment two as crossing; otherwise, denote line segment one and line segment two as separated; If the relative positions of the effective working lengths of two adjacent discharge outlets are intersecting, then denote the vertical distance from the discharging edge of the feeding surface to the ground as the effective working height of the discharge outlet when the working vehicle is working; Set the moving distance unit of the discharging edge of the feeding surface; If the relative positions of the effective working lengths of two adjacent discharge ports are crossed, adjust the vertical distance from the material-discharging edge of the material-discharging surface to the ground to H - 1 × the moving distance unit of the material-discharging edge of the material-discharging surface, and judge the relative positions of the effective working lengths of the two adjacent discharge ports at this time. If the relative positions of the effective working lengths of the two adjacent discharge ports are intersecting, record H - 1 × the moving distance unit of the material-discharging edge of the material-discharging surface as the effective working height of the discharge port. If the relative positions of the effective working lengths of the two adjacent discharge ports are crossed, continue to adjust the vertical distance from the material-discharging edge of the material-discharging surface to the ground until the relative positions of the effective working lengths of the two adjacent discharge ports are intersecting, and record the adjusted vertical distance from the material-discharging edge of the material-discharging surface to the ground as the effective working height of the discharge port; If the relative positions of the effective working lengths of two adjacent discharge ports are separated, adjust the vertical distance from the material-discharging edge of the material-discharging surface to the ground to H + 1 × the moving distance unit of the material-discharging edge of the material-discharging surface, and judge the relative positions of the effective working lengths of the two adjacent discharge ports at this time. If the relative positions of the effective working lengths of the two adjacent discharge ports are intersecting, record H + 1 × the moving distance unit of the material-discharging edge of the material-discharging surface as the effective working height of the discharge port. If the relative positions of the effective working lengths of the two adjacent discharge ports are separated, continue to adjust the vertical distance from the material-discharging edge of the material-discharging surface to the ground until the relative positions of the effective working lengths of the two adjacent discharge ports are intersecting, and record the adjusted vertical distance from the material-discharging edge of the material-discharging surface to the ground as the effective working height of the discharge port; When the discharge port is at the effective working height, repeat steps S1 to S9 to calculate the effective working lengths of all discharge ports; Obtain all side lengths of the target operation area, respectively record the two equal long sides as the first long side and the second long side, and record the two equal short sides as the first short side and the second short side. The target operation area is a rectangle; Obtain the starting side of the working vehicle in the target operation area and the side parallel to the starting side; If the starting side and the side parallel to the starting side are the long sides of the target operation, record the two long sides as the starting side and the ending side respectively, and record the two short sides as the boundary sides; If the starting side and the side parallel to the starting side are the short sides of the target operation, record the two short sides as the starting side and the ending side respectively, and record the two long sides as the boundary sides; Obtain the lengths of the starting side and the boundary side; Obtain the effective working length of the discharge port; Obtain the maximum capacity of the working bin of the working vehicle, denoted as R; Obtain the total number of discharge ports of the working vehicle, denoted as N; Obtain the set speed of the working vehicle during operation, denoted as V; Obtain the number of materials discharged per unit time at the discharge port when the working vehicle is operating, denoted as Q; When the working vehicle uses one discharge port for operation, calculate the number of segments into which the starting side of the target operation area is divided by 1 effective working length. The number of segments = the length of the starting side / 1 effective working length; When the working vehicle uses two discharge ports for operation, calculate the number of segments into which the starting side of the target operation area is divided by 2 effective working lengths. The number of segments = the length of the starting side / 2 effective working lengths; When the work vehicle works with N discharge outlets, calculate the number of segments into which the starting side of the target operation area is divided by N effective working lengths. The number of segments = the length of the starting side / N effective working lengths; Set the set of even-numbered discharge outlets; When the number of segments obtained is even, obtain the number of discharge outlets used by the corresponding work vehicle, and add the number of discharge outlets used by the corresponding work vehicle to the set of even-numbered discharge outlets; Set a set of used first-class discharge outlets; Set a set of used second-class discharge outlets; For any element in the set of even-numbered discharge outlets; S10. Calculate the time required for the work vehicle to travel the length of the boundary side, denoted as t, t = the length of the boundary / V; S11. Calculate the total discharge amount of the working discharge outlets within the time t when discharging at the discharge speed V, denoted as T, T = the number of working discharge outlets × V × t; S12. If T > R, discard the number of working discharge outlets; S13. If T ≤ R and P × T > R, add the number of working discharge outlets to the set of used first-class discharge outlets, where P is a real number greater than 1; S14. If 2 × T ≤ R and K × T > R, add the number of working discharge outlets to the set of used second-class discharge outlets, where K is a real number greater than 2; Repeat steps S10 to S14 to traverse all elements in the set of even-numbered discharge outlets; If the set of used first-class discharge outlets is not an empty set but the set of used second-class discharge outlets is an empty set; Compare the elements in the set of used first-class discharge outlets and obtain the largest element as the total number of target used discharge outlets; Calculate the total target effective working length corresponding to the total number of target used discharge outlets. The total target effective working length = the total number of target used discharge outlets × the effective working length of a single discharge outlet, then the total effective working length of the discharge outlets is equal to the total target effective working length; Generate a first-type driving strategy for the work vehicle based on the total effective working length of the discharge outlets; The generating of the first-type driving strategy for the work vehicle based on the total effective working length of the discharge outlets specifically includes: Obtain the total number of target used discharge outlets corresponding to the total effective working length of the discharge outlets; Obtain the number of segments of the starting side of the target operation area corresponding to the total number of target used discharge outlets; Mark each segmentation point of the starting side, and successively draw perpendicular line segments from the segmentation points of the starting side to the terminating side. The perpendicular line segments divide the target operation area into multiple target sub-areas. Name the target sub-areas in sequence from one boundary side to the other boundary side as the first target sub-area, the second target sub-area... the Mth target sub-area, where M is the total number of sub-areas; Respectively obtain the midpoints of the two boundary sides and connect them, and denote the connecting line as the second terminating side; The second terminating side divides all the target sub-areas into two equal parts, and name the divided sub-areas respectively; Start naming from the segmentation sub-area close to the starting side, and name the segmentation sub-areas in sequence from the first target sub-area to the Mth target sub-area as the first segmentation sub-area, the second segmentation sub-area... the Mth segmentation sub-area; The divided sub-regions close to the termination edge are sequentially named the (M + 1)-th divided sub-region, the (M + 2)-th divided sub-region... the (M + M)-th divided sub-region in the direction from the M-th target sub-region to the first target sub-region; When i×2 < M or M < i×2 < 2×M; The working vehicle starts from the (i×2)-th divided sub-region and operates in the direction from the starting edge of the (i×2)-th divided sub-region to the second termination edge of the (i×2)-th divided sub-region; When the working vehicle reaches the second termination edge of the (i×2)-th divided sub-region, the working vehicle turns to the second termination edge of the (i×2 + 1)-th divided sub-region; It operates in the direction from the termination edge of the (i×2 + 1)-th divided sub-region to the starting edge of the (i×2 + 1)-th divided sub-region; When the working vehicle reaches the starting edge of the (i×2 + 1)-th divided sub-region, the working vehicle is fed into the working bin; When i×2 = M; The working vehicle starts from the (i×2)-th divided sub-region and operates in the direction from the starting edge of the (i×2)-th divided sub-region to the second termination edge of the (i×2)-th divided sub-region; When the working vehicle reaches the second termination edge of the (i×2)-th divided sub-region, the working vehicle operates from the second termination edge of the (i×2)-th divided sub-region to the termination edge of the (i×2)-th divided sub-region; When the working vehicle reaches the termination edge of the (i×2)-th divided sub-region, the working vehicle is fed into the working bin; When i×2 = 2×M; The working vehicle starts from the (i×2)-th divided sub-region and operates in the direction from the termination edge of the (i×2)-th divided sub-region to the second termination edge of the (i×2)-th divided sub-region; When the working vehicle reaches the second termination edge of the (i×2)-th divided sub-region, the working vehicle operates from the second termination edge of the (i×2)-th divided sub-region to the starting edge of the first divided sub-region; When the working vehicle reaches the starting edge of the first divided sub-region, the operation ends; The i is the number of times the working vehicle works.

2. A method for generating a driving strategy for a mechanized vehicle according to claim 1, characterized in that, The calculating the total effective working length of the discharge port according to the vertical distance from the material separation edge of the material discharge surface to the ground when the working vehicle is working specifically includes: If the set of used secondary discharge ports is not an empty set; Compare the elements in the set of used secondary discharge ports, and obtain the largest element as the total number of target used discharge ports; Calculate the target total effective working length corresponding to the total number of target used discharge ports, the target total effective working length = the total number of target used discharge ports × the effective working length of a single discharge port, then the total effective working length of the discharge port is equal to the target total effective working length; Generate a secondary driving strategy for the working vehicle through the total effective working length of the discharge port.

3. A method for generating a driving strategy for a mechanized vehicle according to claim 2, characterized in that, The generating a secondary driving strategy for the working vehicle through the total effective working length of the discharge port specifically includes: Obtain the total number of target used discharge ports corresponding to the total effective working length of the discharge port; Obtain the number of divisions of the starting edge of the target operation area corresponding to the total number of target used discharge ports; Mark each segmentation point of the starting edge, and successively draw perpendicular line segments from the segmentation points of the starting edge to the ending edge. The perpendicular line segments divide the target working area into multiple target sub-areas. Name the target sub-areas in sequence from one boundary edge to the other boundary edge as the first target sub-area, the second target sub-area... the Mth target sub-area, where M is the total number of sub-areas; When i×2 < M; The working vehicle starts from the (i×2 - 1)th target sub-area and operates in the direction from the starting edge to the ending edge of the (i×2 - 1)th segmented sub-area; When the working vehicle reaches the ending edge of the (i×2 - 1)th segmented sub-area, the working vehicle turns to the ending edge of the (i×2)th target sub-area; Operate in the direction from the ending edge to the starting edge of the (i×2)th target sub-area; When the working vehicle reaches the starting edge of the (i×2)th target sub-area, feed the working bin of the working vehicle; When i×2 = M; The working vehicle starts from the (i×2 - 1)th target sub-area and operates in the direction from the starting edge to the ending edge of the (i×2 - 1)th segmented sub-area; When the working vehicle reaches the ending edge of the (i×2 - 1)th segmented sub-area, the working vehicle turns to the ending edge of the (i×2)th target sub-area; Operate in the direction from the ending edge to the starting edge of the (i×2)th target sub-area; When the working vehicle reaches the starting edge of the (i×2)th target sub-area, end the operation; The i is the number of times the working vehicle works.

4. A system using the method for generating a driving strategy of a mechanized vehicle described in claim 3, characterized in that, it includes: Discharging module: The specifications of the discharging ports are the same, and it is composed of two equal isosceles trapezoidal metal plates and two parallelogram metal plates. The long side length of the parallelogram is equal to the waist length of the isosceles trapezoid, and the short side length of the parallelogram is less than the long side length of the parallelogram. Denote the isosceles trapezoid close to the ground as the blanking surface and the isosceles trapezoid far from the ground as the feeding surface; Measuring module: used for measuring the length of a line segment; Calculation module: calculates the effective working length, the effective working height of the discharging port, the effective working lengths of all discharging ports, the total effective working length of the discharging ports, and the number of divisions of the target working area.

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