Crawler-type combine harvester path planning method and system

Abstract

The invention discloses a path planning method and system for a crawler-type combine harvester, and relates to the technical field of unmanned driving of agricultural machinery, and the method comprises the steps: determining a first distance and a second distance based on a reference point position coordinate of a to-be-operated land parcel, determining a first short-side operation path and a first long-side operation path based on the first distance and the second distance, and calculating characteristic parameters of a global operation path according to the first short-side operation path, the first long-side operation path and the operation breadth; the coordinates of the starting points and the coordinates of the end points of the long and short side operation paths in the corresponding rectangular-ambulatory-plane operation paths are calculated according to the characteristic parameters, and therefore path planning of the to-be-operated area is completed, and the operation efficiency is improved while it is guaranteed that the whole operation area is covered.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned driving of agricultural machinery, and in particular to a path planning method and system for a crawler combine harvester. Background Art

[0002] In recent years, with the development of precision agriculture and smart agriculture, the automation and intelligence level of agricultural machinery has been continuously improved. Automatic navigation of agricultural machinery is a key technology for the automation and intelligence of modern agricultural machinery, and path planning is the prerequisite for realizing automatic navigation of agricultural machinery and a key factor affecting operation efficiency. Reasonable path planning based on the control characteristics and operation characteristics of agricultural machinery can effectively improve operation efficiency and reduce labor intensity.

[0003] As the main tool for harvesting rice and wheat in China, crawler combine harvesters mostly adopt a unilateral braking steering method. When turning, the inner crawler is completely braked, while the outer crawler maintains its original motion state. The Chinese patent with publication number CN115145257A discloses a path planning and precise operation method for unmanned harvesters, which can plan a complete path for the target plot, completely cover the operation area, and the path layout is based on a U-shaped shape, which meets the current actual harvesting operation requirements, but there are repeated global operation paths, which affects the operation efficiency. Summary of the invention

[0004] The purpose of this application is to provide a path planning method and system for a crawler combine harvester, thereby improving the operation efficiency of path planning for a crawler combine harvester.

[0005] To achieve the above objectives, this application provides the following solutions:

[0006] In a first aspect, the present application provides a path planning method for a crawler combine harvester, the path planning method for a crawler combine harvester comprising:

[0007] Determine the boundary lines of the plot to be operated; the boundary lines include a first boundary line, a second boundary line, a third boundary line and a fourth boundary line;

[0008] Determine the position coordinates of a plurality of reference points according to the boundary line of the plot to be operated and the operating width of the crawler combine harvester; the reference points include a first reference point, a second reference point and a third reference point; the distances between the first reference point and the first boundary line and the fourth boundary line are both half of the operating width, the distances between the second reference point and the first boundary line and the second boundary line are both half of the operating width, and the distance between the third reference point and the third boundary line is half of the operating width;

[0009] Determine a first distance and a second distance based on the position coordinates of the plurality of reference points; the first distance is the distance between the first reference point and the second reference point, and the second distance is the distance from the third reference point to the line connecting the first reference point and the second reference point;

[0010] Determine a first short side working path and a first long side working path according to the first distance and the second distance;

[0011] According to the first short side working path, the first long side working path and the working width, characteristic parameters of the global working path of the crawler combine harvester are calculated; the global working path of the crawler combine harvester includes a plurality of U-shaped working paths, each U-shaped working path includes a plurality of short side working paths and a plurality of long side working paths, and the characteristic parameters include the length of each long side working path and the length of each short side working path;

[0012] Based on the characteristic parameters of each U-shaped work path, the coordinates of the starting point and the end point of the long side work path and the starting point and the end point of the short side work path in the corresponding U-shaped work path are determined, thereby completing the path planning of the area to be worked on.

[0013] Optionally, determining a first short side working path and a first long side working path according to the first distance and the second distance specifically includes:

[0014] Determining whether the first distance is greater than the second distance;

[0015] If the first distance is less than or equal to the second distance, the path corresponding to the first distance is used as the first short-side operation path, and the path corresponding to the second distance is used as the first long-side operation path;

[0016] If the first distance is greater than the second distance, the path corresponding to the second distance is used as the first short-side operation path, and the path corresponding to the first distance is used as the first long-side operation path.

[0017] Optionally, according to the first short side working path, the first long side working path and the working width, characteristic parameters of the global working path of the crawler combine harvester are calculated, specifically including:

[0018] Determining the number of long side working paths based on the length of the first short side working path and the working width;

[0019] According to the number of long side working paths, the number of short side working paths is determined;

[0020] Determine the length of each short side working path based on the length of the first short side working path, the working width and the number of short side working paths;

[0021] The length of each long side working path is determined based on the length of the first long side working path, the working width and the number of long side working paths.

[0022] Optionally, when the path corresponding to the second distance is used as the first long side operation path, the calculation formula for the number of long side operation paths is:

[0023]

[0024] Among them, N 长 is the number of long side operation paths; L 1短 is the length of the first short side working path; W is the working width;

[0025] When the path corresponding to the first distance is used as the first short-side operation path, the calculation formula for the number of short-side operation paths is:

[0026] N 短 =N 长 ;

[0027] Among them, N 短 is the number of short-side working paths;

[0028] When the path corresponding to the first distance is used as the first short side operation path, the calculation formula for the length of the short side operation path is:

[0029]

[0030] Among them, L n短 is the length of the nth short edge operation path; n is the sequence number of the global operation path;

[0031] When the path corresponding to the second distance is used as the first long side operation path, the length calculation formula of the long side operation path is:

[0032]

[0033] Among them, L n长 is the length of the nth long edge operation path.

[0034] Optionally, when the path corresponding to the first distance is used as the first long side operation path, the calculation formula for the number of long side operation paths is:

[0035]

[0036] Among them, N 长 is the number of long side operation paths; L 1短 is the length of the second short side working path; W is the working width;

[0037] When the path corresponding to the second distance is used as the first short side operation path, the calculation formula for the number of short side operation paths is:

[0038] N 短 =N 长 -1;

[0039] Among them, M 短 is the number of short-side working paths;

[0040] When the path corresponding to the second distance is used as the first short side working path, the calculation formula for the length of the short side working path is:

[0041]

[0042] Among them, L n短 is the length of the nth short edge operation path; n is the sequence number of the global operation path;

[0043] When the path corresponding to the first distance is used as the first long side operation path, the length calculation formula of the long side operation path is:

[0044]

[0045] Among them, L n长 is the length of the nth long edge operation path.

[0046] Optionally, based on the characteristic parameters of each U-shaped operation path, determining the coordinates of the starting point and the end point of the long side operation path and the coordinates of the starting point and the end point of the short side operation path in the corresponding U-shaped operation path specifically includes:

[0047] Based on the characteristic parameters of each U-shaped working path, determine the straight line equation of the long side working path and the straight line equation of the short side working path in the corresponding U-shaped working path;

[0048] According to the straight line equation of the long side working path and the straight line equation of the short side working path, the coordinates of the starting point and the end point of the long side working path and the coordinates of the starting point and the end point of the short side working path are determined.

[0049] Optionally, when the path corresponding to the second distance is used as the first long side operation path, the straight line equation of the long side operation path is expressed as:

[0050]

[0051] Among them, E and D are the coefficients of the straight line equation of the operation path, x 长 Indicates the horizontal coordinate of the point on the long side working path; y 长 Indicates the ordinate of the point on the long side working path; C 长is the constant term of the straight line equation of the first long side working path; For the nth (2≤n≤N 长 ) constant term of the straight line equation of the long side working path; L i短 is the length of the i-th short edge operation path;

[0052] When the path corresponding to the first distance is used as the first short side working path, the straight line equation of the short side working path is expressed as:

[0053]

[0054] Among them, x 短 Indicates the horizontal coordinate of the point on the short side working path; y 短 Indicates the ordinate of the point on the short side working path; C 短 is the constant term of the straight line equation of the first short side working path; For the nth (2≤n≤N 短 ) constant term of the straight line equation of the short side working path; L (i-1)长 is the length of the (i-1)th long edge operation path.

[0055] Optionally, when the path corresponding to the first distance is used as the first long side operation path, the straight line equation of the long side operation path is expressed as:

[0056]

[0057] Among them, D and E are the coefficients of the straight line equation of the operation path, x 长 Indicates the horizontal coordinate of the point on the long side working path; y 长 Indicates the ordinate of the point on the long side working path; C 长 is the constant term of the straight line equation of the first long side working path; For the nth (2≤n≤N 长 ) constant term of the straight line equation of the long side working path; L (i-1)短 is the length of the (i-1)th short-side operation path;

[0058] When the path corresponding to the second distance is used as the first short side working path, the straight line equation of the short side working path is expressed as:

[0059]

[0060] Among them, x 短 Indicates the horizontal coordinate of the point on the short side working path; y 短 Indicates the ordinate of the point on the short side working path; C 短 C is the constant term of the straight line equation of the first short side working path; 短 ± For the nth (2≤n≤N 短 ) constant term of the straight line equation of the short side working path; L i长 is the length of the i-th long edge operation path.

[0061] In a second aspect, the present application provides a path planning system for a crawler combine harvester. The path planning system for a crawler combine harvester is based on the path planning method for a crawler combine harvester. The path planning system for a crawler combine harvester comprises:

[0062] The unit for determining the area to be operated is used to determine the boundary lines of the area to be operated; the boundary lines include a first boundary line, a second boundary line, a third boundary line and a fourth boundary line;

[0063] A reference point position coordinate determination unit, used to determine the position coordinates of multiple reference points according to the boundary line of the plot to be operated and the working width of the crawler combine harvester; the reference points include a first reference point, a second reference point and a third reference point; the distances between the first reference point and the first boundary line and the fourth boundary line are both half of the working width, the distances between the second reference point and the first boundary line and the second boundary line are both half of the working width, and the distance between the third reference point and the third boundary line is half of the working width;

[0064] A distance determination unit, configured to determine a first distance and a second distance based on the position coordinates of a plurality of reference points; the first distance is the distance between the first reference point and the second reference point, and the second distance is the distance from a third reference point to a line connecting the first reference point and the second reference point;

[0065] a first short side working path and a first long side working path determining unit, configured to determine a first short side working path and a first long side working path according to the first distance and the second distance;

[0066] A characteristic parameter calculation unit is used to calculate characteristic parameters of the global working path of the crawler combine harvester according to the first short side working path, the first long side working path and the working width; the global working path of the crawler combine harvester includes a plurality of U-shaped working paths, each U-shaped working path includes a plurality of short side working paths and a plurality of long side working paths, and the characteristic parameters include the length of each long side working path and the length of each short side working path;

[0067] The path planning unit is used to determine the coordinates of the starting point and the end point of the long side work path and the starting point and the end point of the short side work path in the corresponding U-shaped work path based on the characteristic parameters of each U-shaped work path, so as to complete the path planning of the area to be worked.

[0068] Optionally, the first short side working path and the first long side working path determining unit comprises:

[0069] a judging subunit, configured to judge whether the first distance is greater than the second distance;

[0070] a first execution subunit, configured to, when the first distance is less than or equal to the second distance, use a path corresponding to the first distance as a first short-side operation path, and use a path corresponding to the second distance as a first long-side operation path;

[0071] The second execution subunit is used to use the path corresponding to the second distance as the first short-side operation path and the path corresponding to the first distance as the first long-side operation path when the first distance is greater than the second distance.

[0072] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0073] The present application discloses a path planning method and system for a crawler combine harvester, which determines a first distance and a second distance by determining the position coordinates of a reference point of a plot of land to be operated, and determines a first short-side operating path and a first long-side operating path based on the first distance and the second distance, and calculates characteristic parameters of a global operating path according to the first short-side operating path, the first long-side operating path and the operating width, and calculates the coordinates of the starting point and the end point of the long and short-side operating paths in the corresponding U-shaped operating path according to the characteristic parameters, thereby completing the path planning of the area to be operated, wherein there is no overlapping part between the planned long-side operating paths and the planned short-side operating paths, so that there is no repeated operating path in the path planning of the area to be operated obtained in the end, thereby ensuring that all operating areas are covered and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0075] Figure 1 A schematic diagram of a process flow of a path planning method for a crawler combine harvester provided in one embodiment of the present application;

[0076] Figure 2 A schematic diagram of an operation area provided in an embodiment of the present application;

[0077] Figure 3A schematic diagram of a U-shaped operation path when AB is the first short side operation path provided in an embodiment of the present application;

[0078] Figure 4 A schematic diagram of a U-shaped operation path when AB is the first long side operation path provided in an embodiment of the present application;

[0079] Figure 5 The last two rows of operation path planning schematic diagrams provided for an embodiment of the present application;

[0080] Figure 6 A schematic diagram of the functional modules of a path planning system for a tracked combine harvester provided in one embodiment of the present application.

[0081] Reference numerals:

[0082] A unit 1 for determining an area to be operated, a unit 2 for determining a reference point position coordinate, a unit 3 for determining a distance, a unit 4 for determining a first short side operation path and a first long side operation path, a unit 5 for calculating a characteristic parameter, and a unit 6 for planning a path. DETAILED DESCRIPTION

[0083] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0084] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0085] In an exemplary embodiment, Figure 1 As shown, a path planning method for a crawler combine harvester is provided, comprising the following steps S1 to S6. Among them:

[0086] Step S1, determining the boundary lines of the plot to be operated; the boundary lines include a first boundary line, a second boundary line, a third boundary line and a fourth boundary line.

[0087] Step S2, determining the position coordinates of multiple reference points according to the boundary line of the land to be operated and the working width of the crawler combine harvester; the reference points include a first reference point, a second reference point and a third reference point; the distances between the first reference point and the first boundary line and the fourth boundary line are both half of the working width, the distances between the second reference point and the first boundary line and the second boundary line are both half of the working width, and the distance between the third reference point and the third boundary line is half of the working width.

[0088] Specifically, for plots of different sizes and working widths of crawler combine harvesters, the operator drives the crawler combine harvester along the boundary line Z1Z2 on one side in the plot to be operated, and records the position coordinates of the first reference point A and the second reference point B. The first reference point A is 0.5W away from the boundary lines Z1Z2 and Z1Z4, and W is the working width of the crawler combine harvester; the second reference point B is 0.5W away from the boundary lines Z1Z2 and Z2Z3, and then the crawler combine harvester turns and drives in a straight line toward the boundary line Z3Z4 on the other side of the plot to be operated. When the distance to the boundary line Z3Z4 is 0.5W, the position coordinates of the third reference point C are recorded. The above driving route of the crawler combine harvester is recorded as the setting route of the working area. The rectangular working area Z1Z2Z3Z4 can be determined by the position coordinates of the above reference points A, B, and C. The schematic diagram of the working area is shown in the figure. Figure 2 shown.

[0089] Step S3, determining a first distance and a second distance based on the position coordinates of multiple reference points; the first distance is the distance between the first reference point and the second reference point, and the second distance is the distance from the third reference point to the line connecting the first reference point and the second reference point.

[0090] Specifically, the linear equations of the reference line AB and the reference line BC' can be determined according to the position coordinates of each reference point, and the distance d between the first reference point A and the second reference point B can be calculated. AB and the distance d from the third reference point C to the reference line AB BC Among them, point C' is the point calculated from the position coordinates of points A, B, and C, and its distance from AB is d BC ; The third reference point C is the point actually recorded when operating the crawler combine harvester when setting the working area. BC is generally not perpendicular to AB. When setting the working area, it is only necessary to ensure that the distance between the third reference point C and the plot boundary line Z3Z4 is 0.5W, and the position of the second reference point B is determined (the distance from the boundary lines Z1Z2 and Z2Z3 is 0.5W). Therefore, in order to indicate the general position of the third reference point C, Figure 3 Draw BC as a diagonal line in the middle.

[0091] If the coordinates of the first reference point A are (xA ,y A ), the coordinates of the second reference point B are (x B ,y B ), the coordinates of the third reference point C are (x C ,y C ), the linear equation of the reference line AB is Dx+Ey+C1=0, and the linear equation of the reference line BC' is Ex-Dy+C2=0, then d AB With d BC The calculation formula is as follows:

[0092]

[0093]

[0094] Among them, d AB is the first distance, d BC is the second distance, (x A ,y A ) is the plane position coordinate of the first reference point A, (x B ,y B ) is the plane position coordinate of the second reference point B, D and E are the coefficients of the straight line equation, and C1 and C2 are the constant terms of the straight line equation.

[0095] Step S4: determining a first short side working path and a first long side working path according to the first distance and the second distance.

[0096] As an optional implementation, step S4 specifically includes:

[0097] Step S41, determining whether the first distance is greater than the second distance.

[0098] Step S42: If the first distance is less than or equal to the second distance, the path corresponding to the first distance is used as the first short side operation path, and the path corresponding to the second distance is used as the first long side operation path. Figure 3 As shown, Figure 3 This is a schematic diagram of the U-shaped working path when AB is the first short side working path.

[0099] Step S43: If the first distance is greater than the second distance, the path corresponding to the second distance is used as the first short side operation path, and the path corresponding to the first distance is used as the first long side operation path. Figure 4 As shown, Figure 4 The schematic diagram of the U-shaped working path when it is the first long side working path.

[0100] Specifically, as shown in formula (3), the first long side working path is the longer one of AB and BC', and the first short side working path is the shorter one of AB and BC'. BC' passes through point B and is perpendicular to the baseline AB. The length of BC' is the distance d from point C to the baseline AB. BC .

[0101]

[0102] Among them, L 1长 is the length of the first long side working path, L 1短 is the length of the first short edge working path.

[0103] Step S5, calculating the characteristic parameters of the global working path of the crawler combine harvester according to the first short side working path, the first long side working path and the working width; the global working path of the crawler combine harvester includes a plurality of U-shaped working paths, each U-shaped working path includes a plurality of short side working paths and a plurality of long side working paths, and the characteristic parameters include the length of each long side working path and the length of each short side working path.

[0104] Specifically, the global operation path of the crawler combine harvester is a U-shaped path. The schematic diagram of the U-shaped operation path is as follows: Figure 3 , Figure 4 As shown, the end point of the current working path is used as the starting point of the next U-shaped working path, and the long side working path is perpendicular to the short side working path. After each circle is completed, the path shrinks inward by an operating width W. The working path starts from the working starting point (i.e., the first reference point) A, makes a right-angle turn at the end point of the current working path, and then works along the next working path. This cycle is repeated until the working end point is reached.

[0105] Since the length of the first short side working path will not be exactly an integer multiple of the working width, the crawler combine harvester follows Figure 3 , Figure 4 After the solid line operation is completed, the last row of crops will be missed. To avoid this phenomenon, the operation paths of the last two rows need to be planned. Figure 5 As shown by the middle dotted line, the length of the last short side working path is set to half the length of the previous short side working path, and the length of the last long side working path is equal to the length of the previous long side working path. Figure 5 In , l1 represents the length of the last short side working path; l2 represents the length of the last long side working path.

[0106] As an optional implementation, step S5 specifically includes:

[0107] Step S51, determining the number of long side working paths based on the length of the first short side working path and the working width.

[0108] Step S52: determining the number of short side working paths according to the number of long side working paths.

[0109] Step S53: determining the length of each short side working path based on the length of the first short side working path, the working width and the number of the short side working paths.

[0110] Step S54: determining the length of each long side working path based on the length of the first long side working path, the working width and the number of long side working paths.

[0111] As an optional implementation, in step S51, when the path corresponding to the second distance is used as the first long side operation path, the calculation formula for the number of long side operation paths is:

[0112]

[0113] Among them, N 长 is the number of long side operation paths; L 1短 is the length of the first short side working path; W is the working width.

[0114] When the path corresponding to the first distance is used as the first short side operation path, in step S52, the calculation formula for the number of short side operation paths is:

[0115] N 短 =N 长 (5)

[0116] Among them, M 短 is the number of short edge working paths.

[0117] When the path corresponding to the first distance is used as the first short side operation path, in step S53, the calculation formula for the length of the short side operation path is:

[0118]

[0119] Among them, L n短 is the length of the nth short edge operation path; n is the sequence number of the global operation path.

[0120] When the path corresponding to the second distance is used as the first long side operation path, in step S54, the length calculation formula of the long side operation path is:

[0121]

[0122] Among them, L n长 is the length of the nth long edge operation path.

[0123] As an optional implementation, when the path corresponding to the first distance is used as the first long side operation path, in step S51, the calculation formula for the number of long side operation paths is as shown in formula (4).

[0124] When the path corresponding to the second distance is used as the first short side operation path, in step S52, the calculation formula for the number of short side operation paths is:

[0125] N 短 =N 长 -1(8)

[0126] When the path corresponding to the second distance is used as the first short side operation path, in step S53, the calculation formula for the length of the short side operation path is:

[0127]

[0128] When the path corresponding to the first distance is used as the first long side operation path, in step S54, the length calculation formula of the long side operation path is:

[0129]

[0130] Step S6, based on the characteristic parameters of each U-shaped work path, determine the coordinates of the starting point and end point of the long side work path and the starting point and end point of the short side work path in the corresponding U-shaped work path, thereby completing the path planning of the area to be worked.

[0131] As an optional implementation, step S6 specifically includes:

[0132] Step S61: determining the straight line equation of the long side working path and the straight line equation of the short side working path in the corresponding U-shaped working path based on the characteristic parameters of each U-shaped working path.

[0133] Specifically, according to the lengths of the long and short side working paths, the straight line equations of the first long side working path and the first short side working path, the straight line equations of the long side working path and the short side working path in the corresponding U-shaped working path can be obtained. The straight line equations of the first long side working path and the first short side working path are determined by the position coordinates of the first reference point A, the second reference point B and the third reference point C. When AB is the first short side working path, the straight line equation of the first short side working path is Dx+Ey+C1=0, and the straight line equation of the first long side working path (that is, BC') is Ex-Dy+C2=0; when BC' is the first short side working path, the straight line equation of the first short side working path (that is, BC') is Ex-Dy+C2=0, and the straight line equation of the first long side working path (that is, AB) is Dx+Ey+C1=0.

[0134] Step S62, according to the straight line equation of the long side working path and the straight line equation of the short side working path, determine the coordinates of the starting point and the end point of the long side working path and the coordinates of the starting point and the end point of the short side working path. The coordinate determination method is to solve the straight line equations of two adjacent straight lines simultaneously. Example: When AB is the first short side working path, if you want to determine the coordinates of the end point of the nth short side working path (the starting point of the nth long side working path), because it is the intersection of the nth long side working path and the nth short side working path, the straight line equations of the nth long side working path and the nth short side working path are solved simultaneously to obtain the position coordinates of the desired point.

[0135] As an optional implementation, in step S61, when the path corresponding to the second distance is used as the first long side operation path, the straight line equation of the long side operation path is expressed as:

[0136]

[0137] Among them, E and D are the coefficients of the straight line equation of the operation path, x 长 Indicates the horizontal coordinate of the point on the long side working path; y 长 Indicates the ordinate of the point on the long side working path; C 长 is the constant term of the straight line equation of the first long side working path; For the nth (2≤n≤N 长 ) constant term of the straight line equation of the long side working path; L i短 is the length of the i-th short edge operation path.

[0138] When the path corresponding to the first distance is used as the first short side working path, the straight line equation of the short side working path is expressed as:

[0139]

[0140] Among them, x 短 Indicates the horizontal coordinate of the point on the short side working path; y 短 Indicates the ordinate of the point on the short side working path; C 短 is the constant term of the straight line equation of the first short side working path; For the nth (2≤n≤N 短 ) constant term of the straight line equation of the short side working path; L (i-1)长 is the length of the (i-1)th long edge operation path.

[0141] From the straight line equations shown in equations (11) and (12), we can obtain the position coordinates of the starting point and end point of each working path when AB is the first short side working path. Figure 3 As shown, the intersection of the nth long side work path and the nth short side work path is the end point of the nth short side work path (the starting point of the nth long side work path), and the intersection of the nth long side work path and the (n+1)th short side work path is the end point of the nth long side work path (the starting point of the (n+1)th short side work path).

[0142] As an optional implementation, in step S61, when the path corresponding to the first distance is used as the first long side operation path, the straight line equation of the long side operation path is expressed as:

[0143]

[0144] Among them, x 长 Indicates the horizontal coordinate of the point on the long side working path; y 长 Indicates the ordinate of the point on the long side working path; C 长 is the constant term of the straight line equation of the first long side working path; For the nth (2≤n≤N 长 ) constant term of the straight line equation of the long side working path; L (i-1)短 is the length of the (i-1)th short edge operation path.

[0145] When the path corresponding to the second distance is used as the first short side working path, the straight line equation of the short side working path is expressed as:

[0146]

[0147] Among them, x 短 Indicates the horizontal coordinate of the point on the short side working path; y 短 Indicates the ordinate of the point on the short side working path; C 短 is the constant term of the straight line equation of the first short side working path; For the nth (2≤n≤N 短 ) constant term of the straight line equation of the short side working path; L i长 is the length of the i-th long edge operation path. Figure 4 As shown, the intersection of the nth long side work path and the nth short side work path is the end point of the nth long side work path (the starting point of the nth long side work path), and the intersection of the nth short side work path and the (n+1)th long side work path is the end point of the nth short side work path (the starting point of the (n+1)th long side work path).

[0148] Based on the same inventive concept, the embodiment of the present application also provides a tracked combine harvester path planning system for implementing the tracked combine harvester path planning method involved above. The implementation scheme for solving the problem provided by the system is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more tracked combine harvester path planning system embodiments provided below can refer to the limitations of the tracked combine harvester path planning method above, and will not be repeated here.

[0149] In an exemplary embodiment, Figure 6 As shown, a path planning system for a crawler combine harvester is provided, including: a unit 1 for determining an area to be operated, a unit 2 for determining a reference point position coordinate, a unit 3 for determining a distance, a unit 4 for determining a first short side operation path and a first long side operation path, a characteristic parameter calculation unit 5 and a path planning unit 6.

[0150] The waiting-for-operation area determining unit 1 is used to determine the boundary lines of the waiting-for-operation area; the boundary lines include a first boundary line, a second boundary line, a third boundary line and a fourth boundary line.

[0151] The reference point position coordinate determination unit 2 is used to determine the position coordinates of multiple reference points according to the boundary line of the land to be operated and the working width of the crawler combine harvester; the reference points include a first reference point, a second reference point and a third reference point; the distances between the first reference point and the first boundary line and the fourth boundary line are both half of the working width, the distances between the second reference point and the first boundary line and the second boundary line are both half of the working width, and the distance between the third reference point and the third boundary line is half of the working width.

[0152] The distance determination unit 3 is used to determine a first distance and a second distance based on the position coordinates of multiple reference points; the first distance is the distance between the first reference point and the second reference point, and the second distance is the distance from the third reference point to the line connecting the first reference point and the second reference point.

[0153] The first short side working path and the first long side working path determining unit 4 is used to determine the first short side working path and the first long side working path according to the first distance and the second distance.

[0154] The characteristic parameter calculation unit 5 is used to calculate the characteristic parameters of the global working path of the crawler combine harvester based on the first short side working path, the first long side working path and the working width; the global working path of the crawler combine harvester includes a plurality of U-shaped working paths, each U-shaped working path includes a plurality of short side working paths and a plurality of long side working paths, and the characteristic parameters include the length of each long side working path and the length of each short side working path.

[0155] The path planning unit 6 is used to determine the coordinates of the starting point and the end point of the long side work path and the starting point and the end point of the short side work path in the corresponding U-shaped work path based on the characteristic parameters of each U-shaped work path, thereby completing the path planning of the area to be worked.

[0156] As an optional implementation manner, the first short side working path and the first long side working path determining unit 4 includes:

[0157] The judging subunit is configured to judge whether the first distance is greater than the second distance.

[0158] The first execution subunit is used to use the path corresponding to the first distance as the first short-side operation path and the path corresponding to the second distance as the first long-side operation path when the first distance is less than or equal to the second distance.

[0159] The second execution subunit is used to use the path corresponding to the second distance as the first short-side operation path and the path corresponding to the first distance as the first long-side operation path when the first distance is greater than the second distance.

[0160] Beneficial effects of this application:

[0161] The present application automatically determines the long and short side operation paths and calculates characteristic parameters of the global operation path based on the reference point positions set by the driving operator (user), thereby effectively realizing the U-shaped path planning of the crawler combine harvester in the field. The path planning of the area to be operated finally obtained does not contain repeated operation paths, thereby improving work efficiency while ensuring coverage of the entire operation area.

[0162] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0163] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0164] The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a distributed database based on blockchain, etc., but is not limited thereto. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but is not limited thereto.

[0165] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0166] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A path planning method for a crawler combine harvester, characterized in that: The path planning method for the crawler combine harvester comprises: Determine the boundary lines of the plot to be operated; the boundary lines include a first boundary line, a second boundary line, a third boundary line and a fourth boundary line; Determine the position coordinates of a plurality of reference points according to the boundary line of the plot to be operated and the operating width of the crawler combine harvester; the reference points include a first reference point, a second reference point and a third reference point; the distances between the first reference point and the first boundary line and the fourth boundary line are both half of the operating width, the distances between the second reference point and the first boundary line and the second boundary line are both half of the operating width, and the distance between the third reference point and the third boundary line is half of the operating width; Determine a first distance and a second distance based on the position coordinates of the plurality of reference points; the first distance is the distance between the first reference point and the second reference point, and the second distance is the distance from the third reference point to the line connecting the first reference point and the second reference point; Determine a first short side working path and a first long side working path according to the first distance and the second distance; According to the first short side working path, the first long side working path and the working width, characteristic parameters of the global working path of the crawler combine harvester are calculated; the global working path of the crawler combine harvester includes a plurality of U-shaped working paths, each U-shaped working path includes a plurality of short side working paths and a plurality of long side working paths, and the characteristic parameters include the length of each long side working path and the length of each short side working path; Based on the characteristic parameters of each U-shaped work path, the coordinates of the starting point and the end point of the long side work path and the starting point and the end point of the short side work path in the corresponding U-shaped work path are determined, thereby completing the path planning of the area to be worked on.

2. The path planning method for a crawler combine harvester according to claim 1, characterized in that: Determining a first short side working path and a first long side working path according to the first distance and the second distance specifically includes: Determining whether the first distance is greater than the second distance; If the first distance is less than or equal to the second distance, the path corresponding to the first distance is used as the first short-side operation path, and the path corresponding to the second distance is used as the first long-side operation path; If the first distance is greater than the second distance, the path corresponding to the second distance is used as the first short-side operation path, and the path corresponding to the first distance is used as the first long-side operation path.

3. The path planning method for a crawler combine harvester according to claim 2, characterized in that: According to the first short side working path, the first long side working path and the working width, characteristic parameters of the global working path of the crawler combine harvester are calculated, specifically including: Determining the number of long side working paths based on the length of the first short side working path and the working width; According to the number of long side working paths, the number of short side working paths is determined; Determine the length of each short side working path based on the length of the first short side working path, the working width and the number of short side working paths; The length of each long side working path is determined based on the length of the first long side working path, the working width and the number of long side working paths.

4. The path planning method for a crawler combine harvester according to claim 3, characterized in that: When the path corresponding to the second distance is used as the first long side operation path, the calculation formula for the number of long side operation paths is: Among them, N 长 is the number of long side operation paths; L 1短 is the length of the first short side working path; W is the working width; When the path corresponding to the first distance is used as the first short-side operation path, the calculation formula for the number of short-side operation paths is: N 短 =N 长 ; Among them, N 短 is the number of short-side working paths; When the path corresponding to the first distance is used as the first short side operation path, the calculation formula for the length of the short side operation path is: Among them, L m短 is the length of the nth short edge operation path; n is the sequence number of the global operation path; When the path corresponding to the second distance is used as the first long side operation path, the length calculation formula of the long side operation path is: Among them, L n长 is the length of the nth long edge operation path.

5. The path planning method for a crawler combine harvester according to claim 3, characterized in that: When the path corresponding to the first distance is used as the first long side operation path, the calculation formula for the number of long side operation paths is: Among them, N 长 is the number of long side operation paths; L 1短 is the length of the second short side working path; W is the working width; When the path corresponding to the second distance is used as the first short side operation path, the calculation formula for the number of short side operation paths is: N 短 =N 长 -1; Among them, N 短 is the number of short-side working paths; When the path corresponding to the second distance is used as the first short side working path, the calculation formula for the length of the short side working path is: Among them, L n短 is the length of the nth short edge operation path; n is the sequence number of the global operation path; When the path corresponding to the first distance is used as the first long side operation path, the length calculation formula of the long side operation path is: Among them, L n长 is the length of the nth long edge operation path.

6. The path planning method for a crawler combine harvester according to claim 3, characterized in that: Based on the characteristic parameters of each U-shaped operation path, the coordinates of the starting point and the end point of the long side operation path and the coordinates of the starting point and the end point of the short side operation path in the corresponding U-shaped operation path are determined, specifically including: Based on the characteristic parameters of each U-shaped working path, determine the straight line equation of the long side working path and the straight line equation of the short side working path in the corresponding U-shaped working path; According to the straight line equation of the long side working path and the straight line equation of the short side working path, the coordinates of the starting point and the end point of the long side working path and the coordinates of the starting point and the end point of the short side working path are determined.

7. The path planning method for a crawler combine harvester according to claim 6, characterized in that: When the path corresponding to the second distance is used as the first long side working path, the straight line equation of the long side working path is expressed as: Among them, E and D are the coefficients of the straight line equation of the operation path, x 长 Indicates the horizontal coordinate of the point on the long side working path; y 长 Indicates the ordinate of the point on the long side working path; C 长 is the constant term of the straight line equation of the first long side working path; For the nth (2≤n≤N 长 ) constant term of the straight line equation of the long side working path; L i短 is the length of the i-th short edge operation path; When the path corresponding to the first distance is used as the first short side working path, the straight line equation of the short side working path is expressed as: Among them, x 短 Indicates the horizontal coordinate of the point on the short side working path; y 短 Indicates the ordinate of the point on the short side working path; C 短 is the constant term of the straight line equation of the first short side working path; For the nth (2≤n≤N 短 ) constant term of the straight line equation of the short side working path; L (i-1)长 is the length of the (i-1)th long edge operation path.

8. The path planning method for a crawler combine harvester according to claim 6, characterized in that: When the path corresponding to the first distance is used as the first long side working path, the straight line equation of the long side working path is expressed as: Among them, D and E are the coefficients of the straight line equation of the operation path, x 长 Indicates the horizontal coordinate of the point on the long side working path; y 长 Indicates the ordinate of the point on the long side working path; C 长 is the constant term of the straight line equation of the first long side working path; For the nth (2≤n≤N 长 ) constant term of the straight line equation of the long side working path; L (i-1)短 is the length of the (i-1)th short-side operation path; When the path corresponding to the second distance is used as the first short side working path, the straight line equation of the short side working path is expressed as: Among them, x 短 Indicates the horizontal coordinate of the point on the short side working path; y 短 Indicates the ordinate of the point on the short side working path; C 短 is the constant term of the straight line equation of the first short side working path; For the nth (2≤n≤N 短 ) constant term of the straight line equation of the short side working path; L i长 is the length of the i-th long edge operation path.

9. A path planning system for a crawler combine harvester, characterized in that: The crawler combine harvester path planning system is used to implement the crawler combine harvester path planning method according to any one of claims 1 to 8, and the crawler combine harvester path planning system includes: The unit for determining the area to be operated is used to determine the boundary lines of the area to be operated; the boundary lines include a first boundary line, a second boundary line, a third boundary line and a fourth boundary line; A reference point position coordinate determination unit, used to determine the position coordinates of multiple reference points according to the boundary line of the plot to be operated and the working width of the crawler combine harvester; the reference points include a first reference point, a second reference point and a third reference point; the distances between the first reference point and the first boundary line and the fourth boundary line are both half of the working width, the distances between the second reference point and the first boundary line and the second boundary line are both half of the working width, and the distance between the third reference point and the third boundary line is half of the working width; A distance determination unit, configured to determine a first distance and a second distance based on the position coordinates of a plurality of reference points; the first distance is the distance between the first reference point and the second reference point, and the second distance is the distance from a third reference point to a line connecting the first reference point and the second reference point; a first short side working path and a first long side working path determining unit, configured to determine a first short side working path and a first long side working path according to the first distance and the second distance; A characteristic parameter calculation unit is used to calculate characteristic parameters of the global working path of the crawler combine harvester according to the first short side working path, the first long side working path and the working width; the global working path of the crawler combine harvester includes a plurality of U-shaped working paths, each U-shaped working path includes a plurality of short side working paths and a plurality of long side working paths, and the characteristic parameters include the length of each long side working path and the length of each short side working path; The path planning unit is used to determine the coordinates of the starting point and the end point of the long side work path and the starting point and the end point of the short side work path in the corresponding U-shaped work path based on the characteristic parameters of each U-shaped work path, so as to complete the path planning of the area to be worked.

10. The path planning system for a crawler combine harvester according to claim 9, characterized in that: The first short side working path and the first long side working path determining unit include: a judging subunit, configured to judge whether the first distance is greater than the second distance; a first execution subunit, configured to, when the first distance is less than or equal to the second distance, use a path corresponding to the first distance as a first short-side operation path, and use a path corresponding to the second distance as a first long-side operation path; The second execution subunit is used to use the path corresponding to the second distance as the first short-side operation path and the path corresponding to the first distance as the first long-side operation path when the first distance is greater than the second distance.

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