Method and device for planning turning path for agricultural machine and readable storage medium

Abstract

The present application belongs to the field of path planning, and specifically provides a turning path planning method and device for agricultural machinery and a readable storage medium, wherein the turning path planning method for agricultural machinery comprises: obtaining the position coordinates of the agricultural machinery and the position coordinates of the boundary points of the field; inputting the working width d of the agricultural machinery; obtaining the turning point coordinates of the cross-row according to the working width d and the position coordinates of the boundary points of the field; generating the turning path of the turning according to the turning point coordinates and the working width d; and splicing all the turning paths with the flight lines to complete the path planning. By planning the turning path, the turning radius is minimized, and the turning path is better fitted to the boundary trend of the field to be planned. The agricultural machinery can complete the turning action in the minimum working space in the complex and changeable field environment, thereby improving the working efficiency and reducing the damage to crops.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of path planning, and particularly relates to a U-turn path planning method for agricultural machinery, a device and a readable storage medium. BACKGROUND

[0002] In actual operation, especially when U-turning in the field, how to ensure that the agricultural machinery can complete the turning action efficiently and safely, and conform to the field boundary, is one of the key technical challenges to realize full-automatic operation. As a common link in agricultural production, the efficiency of field U-turn directly affects the entire operation cycle. Unreasonable U-turn path not only wastes time, but also may cause additional damage to the soil and crops. In addition, frequent U-turn actions also increase the wear and tear of the agricultural machinery, shortening the service life of the equipment.

[0003] Although the existing path planning methods can realize autonomous navigation of the agricultural machinery to some extent, when dealing with field U-turn, they often do not fully consider the operation width and field boundary restrictions, resulting in inaccurate path planning. For example, when U-turning, if the width of the operation tool is not considered, it may cause partial plot repeated operation or missed operation, thereby affecting the overall operation quality and efficiency. In addition, inappropriate U-turn path may also cause excessive compaction of the land, thereby affecting the soil structure and the growth of subsequent crops. Especially in narrow plots or complex terrain conditions, the traditional U-turn strategy is difficult to meet the requirements of precision agriculture.

[0004] In addition, with the continuous upgrading of agricultural machinery and the progress of technology, the operation width of modern agricultural machinery is becoming larger and larger, which requires the U-turn path planning to be more precise and intelligent. If the path planning is unreasonable when the large agricultural machinery U-turns in the field, it will not only cause resource waste, but also may trigger a series of chain reactions, such as affecting the normal operation of subsequent machinery. Therefore, developing a field U-turn path planning method suitable for wide-width operation agricultural machinery has important significance for improving the intelligent level of agricultural production, reducing resource waste, and promoting sustainable agricultural development.

[0005] It should be noted that the above information disclosed in the background section of the present application is only used to understand the background of the present application, and therefore, the above description is not considered to constitute prior art information. SUMMARY

[0006] The embodiments of the present disclosure at least provide a U-turn path planning method for agricultural machinery, a device and a readable storage medium.

[0007] In a first aspect, the embodiments of the present disclosure provide a U-turn path planning method for agricultural machinery, comprising:

[0008] obtaining the position coordinates of the agricultural machinery and the position coordinates of the boundary points of the plot;

[0009] inputting a working width d of the agricultural machine;

[0010] calculating a turning point coordinate of the agricultural machine across the field according to the working width d and the position coordinates of the boundary points of the field;

[0011] generating a turning path of the agricultural machine according to the turning point coordinate and the working width d;

[0012] splicing the turning path with the flight path to complete the path planning.

[0013] In an optional embodiment, the step of obtaining the position coordinates of the agricultural machine and the position coordinates of the boundary points of the field comprises:

[0014] constructing a positioning system;

[0015] driving the agricultural machine to the edge of the field;

[0016] constructing a global coordinate system by the positioning system;

[0017] obtaining the position coordinates of the agricultural machine and the position coordinates of the boundary points of the field.

[0018] In an optional embodiment, the step of calculating the turning point coordinate of the agricultural machine across the field according to the working width and the position coordinates of the boundary points of the field comprises:

[0019] obtaining the slope and intercept of the four boundary points of the field in the global coordinate system through coordinate conversion, and recording them as set α and set β respectively;

[0020] reducing the field inward according to the working width d to obtain a new intercept set η;

[0021] calculating the number and coordinates of the turning points.

[0022] In an optional embodiment, the step of reducing the field inward according to the working width d to obtain a new intercept set η comprises:

[0023] the calculation formula of the intercept variation τ after reduction is as follows:

[0024] τ = d / cosθ;

[0025] wherein, θ is the included angle between the corresponding boundary line of the field and the y-axis, and τ is the set of intercept variation relative to the original boundary line;

[0026] the calculation formula of the new intercept set η is as follows:

[0027] η = β + τ;

[0028] obtaining the four boundary lines of the reduced field according to the new intercept set η and the slope set α.

[0029] In an alternative embodiment, the step of calculating the number and coordinates of the turning points comprises:

[0030] The number of turning points of the agricultural machine is sequentially increased from 0 to obtain a new index equation L, and the formula is as follows:

[0031] L = Nd;

[0032] In the formula, L represents the index equation of the turning point each time, N represents the number of turning times of the agricultural machine,

[0033] The coordinates of the intersection points of the new L equation obtained each time and the four edge lines of the reduced field are obtained, that is, the coordinates of the turning points.

[0034] In an alternative embodiment, the step of generating the turning path of the turning according to the coordinates of the turning points and the working width d comprises:

[0035] The coordinates of the two turning points of the current row to be turned to the next row are obtained, which are respectively denoted as A(x1, y1) and B(x2, y2);

[0036] The radius of a circle O1 tangent to the row where A is located is set as r1, and the radius of a circle O2 tangent to the row where B is located is set as r2, and the distance between the two circles is L 12 = r1 + r2;

[0037] The center coordinates of the two circles are calculated, which are respectively O1(x1, y1 + r1) and O2(x2, y2 - r2);

[0038] The radius R of the common tangent circle O of the circles O1 and O2 is calculated, wherein the common tangent circle O is tangent to the point A with the circle O1;

[0039] The coordinates of the tangent point P of the common tangent circle O and the circle O2 are obtained;

[0040] The circular arc segment AP of the common tangent circle O and the circular arc segment PB of the circle O2 are combined, which is the turning path.

[0041] In an alternative embodiment, the step of calculating the center coordinates of the two circles, which are respectively O1(x1, y1 + r1) and O2(x2, y2 - r2), comprises:

[0042] r2 is calculated, and the formula is as follows:

[0043] In the formula, θ A represents the included angle between the flight line where A is located and the line AB;

[0044] The distance between the two points A and B

[0045] The distance between the two points A and B is also equal to

[0046] According to L AB Two calculation methods, r1 is obtained;

[0047] The center coordinates of the two circles are O1(x1, y1+r1) and O2(x2, y2-r2), respectively.

[0048] In an alternative embodiment, the step of calculating the radius R of the common tangent circle O of the circle O1 and the circle O2, that is:

[0049] The radius R is calculated by the following formula:

[0050] (R-r2) 2 =R 2 +L A2 2 -2RL A2 *cosα0;

[0051] Wherein, L A2 represents the distance between the center O2 and the point A, which is calculated by the formula α0 represents the angle between L A2 and the Y axis of the global coordinate system, which is calculated by the formula .

[0052] In a second aspect, the embodiments of the present disclosure further provide a U-turn path planning device for large-width operation agricultural machinery, comprising:

[0053] A first acquisition module is adapted to acquire the position coordinates of the agricultural machinery and the position coordinates of the boundary points of the field;

[0054] An input module is adapted to input the operation width d of the agricultural machinery;

[0055] A U-turn point coordinate calculation module calculates the U-turn point coordinates of the cross row according to the operation width d and the position coordinates of the boundary points of the field;

[0056] A U-turn path acquisition module is adapted to generate the turning U-turn path according to the U-turn point coordinates and the operation width d;

[0057] A path planning module is adapted to splice all the U-turn paths with the flight lines to complete the path planning.

[0058] In a second aspect, the embodiments of the present disclosure further provide a computer readable storage medium, which stores at least one instruction, and the instruction is executed by a processor to realize the agricultural machinery U-turn path planning method as described above.

[0059] The application provides a turning path planning method, device and readable storage medium for agricultural machinery.

[0060] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art upon examination of the following or can be learned by practice of the present application. The objects and other advantages of the present application can be realized and attained by the structure particularly pointed out in the description, claims and drawings.

[0061] In order to make the above objectives, features and advantages of the present application more apparent, the following preferred embodiments are specifically described with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0062] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0063] Figure 1 is a flowchart of the turning path planning method for agricultural machinery provided by the embodiment of the present application.

[0064] Figure 2 is a schematic diagram of a field and a flight line provided by the embodiment of the present application.

[0065] Figure 3 is a schematic diagram of a turning path provided by the embodiment of the present application.

[0066] Figure 4 is a schematic diagram of a planned path provided by the embodiment of the present application.

[0067] Figure 5 is a flowchart of the turning path planning device for agricultural machinery provided by the embodiment of the present application.

[0068] Figure 6Fig. 1 is a schematic diagram of a partial structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0069] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the present application will be described clearly and completely below with reference to the drawings, obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0070] In order to facilitate the understanding of the embodiments, first, a kind of agricultural machinery U-turn path planning method disclosed by the embodiments of the present application is introduced in detail, the execution subject of the agricultural machinery U-turn path planning method provided by the embodiments of the present application is generally computer equipment with certain computing capacity, which includes, for example: terminal device or server or other processing device, terminal device can be user equipment (User Equipment, UE), mobile device, user terminal, terminal, cellular phone, cordless phone, personal digital processing (Personal Digital Assistant, PDA), handheld device, computing device, vehicle-mounted device, wearable device, etc. In some possible implementation ways, the model construction method can be realized by the way that processor calls computer readable instructions stored in memory.

[0071] Some embodiments of the present application will be described in detail below with reference to the drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

[0072] Please refer to Figure 1 At least one embodiment provides an agricultural machinery U-turn path planning method, which minimizes the U-turn radius by planning the U-turn path, and better fits the field boundary trend to plan the U-turn path. The agricultural machinery can complete the U-turn action in the complex and changeable field environment with the smallest operation space, thereby improving the operation efficiency and reducing the damage to crops.

[0073] Specifically, the method comprises:

[0074] S110: obtaining the position coordinates of the agricultural machinery and the position coordinates of the boundary points of the field.

[0075] Specifically, step S110 comprises:

[0076] S111: constructing a positioning system.

[0077] The Tiangong 980 with a single antenna is used as a fixed base station, and differential information is transmitted to the cloud server mqtt through the Hanfeng DTU module. The mobile station uses the Tiangong 982 double antenna, and obtains the differential information from the mqtt through WIFI, publishes the accurate positioning information, provides the current accurate position information of the agricultural machinery, and the inertial measurement unit Imu is the WT901C485 of Weit intelligent used for obtaining the quaternion, and the orangepi5B is used as the control core.

[0078] S112: The agricultural machine is driven to the edge of the field.

[0079] S113: A global coordinate system is constructed through the positioning system.

[0080] Specifically, through the environment perception module, the point cloud data of the surrounding environment is obtained, and the camera is responsible for capturing visual information. Through the SLAM algorithm, these data are integrated into a complete environment map as a global coordinate system.

[0081] S114: The position coordinates of the agricultural machine and the position coordinates of the boundary points of the field are obtained.

[0082] S120: The working width d of the agricultural machine is input.

[0083] S130: The turning point coordinates of the cross row are obtained according to the working width d and the position coordinates of the boundary points of the field.

[0084] As shown in Figure 2 , specifically, step S130 includes the following steps:

[0085] S131: The slopes and intercepts of the four boundary points of the field in the global coordinate system are obtained through coordinate conversion, and are respectively recorded as set α and set β.

[0086] S132: The set η of new intercepts is obtained by reducing the field inward according to the working width d.

[0087] Specifically, the calculation formula of the change amount τ of the reduced intercept is as follows:

[0088] τ = d / cosθ;

[0089] In the formula, θ is the included angle between the corresponding boundary line of the field and the y-axis, and τ is the set of change amounts of the intercepts relative to the original boundary line;

[0090] Then, the calculation formula of the set η of new intercepts is as follows:

[0091] η = β + τ;

[0092] The four boundary lines of the reduced field are obtained according to the set η of new intercepts and the set α of slopes.

[0093] S133: Calculate the number and coordinates of the turning points.

[0094] Specifically, the number of turning of the agricultural machine is increased from 0 one by one to obtain a new index equation L, and the formula is as follows: L = Nd; in the formula, L represents the index equation of each turning point, N represents the number of turning of the agricultural machine, and the coordinates of the intersection points of the new L equation obtained each time and the four edges of the reduced field are obtained, that is, the coordinates of the turning points.

[0095] S140: Generate a turning path of the turning according to the coordinates of the turning points and the working width d;

[0096] As shown in the figure, step S140 includes the following steps: Figure 3

[0097] S141: Obtain the coordinates of the two turning points of the current row to the next row, denoted as A(x1, y1) and B(x2, y2) respectively;

[0098] S142: Set the radius of the circle O1 tangent to the row where A is located as r1, and the radius of the circle O2 tangent to the row where B is located as r2, and the distance between the two circles is L 12 = r1 + r2;

[0099] S143: Calculate the center coordinates of the two circles, which are O1(x1, y1 + r1) and O2(x2, y2 - r2) respectively.

[0100] Specifically, the step of calculating the center coordinates of the two circles, which are O1(x1, y1 + r1) and O2(x2, y2 - r2) respectively, includes:

[0101] Calculate r2, and the formula is as follows:

[0102] In the formula, θ A represents the included angle between the flight line where A is located and the line AB;

[0103] It should be noted that the value of r2 is greater than or equal to the minimum turning radius of the agricultural machine, and less than the working width d.

[0104] The distance between the two points A and B

[0105] The distance between the two points A and B is also equal to

[0106] According to the two calculation methods of L AB , r1 is obtained;

[0107] The center coordinates of the two circles are O1(x1, y1 + r1) and O2(x2, y2 - r2) respectively.

[0108] ​S144: Calculate the radius R of the common tangent circle O of the circle O1 and the circle O2, wherein the common tangent circle O is tangent to the point A with the circle O1.

[0109] Specifically, the step of calculating the radius R of the common tangent circle O of the circle O1 and the circle O2 is:

[0110] The radius R is calculated by the following formula:

[0111] (R-r2) 2 =R 2 +L A2 2 -2RL A2 *cosα;

[0112] Wherein, L A2 represents the distance between the center O2 and the point A, which is calculated by the formula .

[0113] α0 represents the angle between L A2 and the Y axis of the global coordinate system, which is calculated by the formula .

[0114] S145: Obtain the coordinates of the tangent point P of the common tangent circle O and the circle O2.

[0115] S146: Combine the arc segment AP of the common tangent circle O and the arc segment PB of the circle O2, which is the U-turn path.

[0116] S150: Splice all U-turn paths with the flight line to complete the path planning.

[0117] The spliced path is shown in Figure 3 .

[0118] Please refer to Figure 4 , the embodiment also provides a U-turn path planning device for a large-width operation agricultural machine, comprising the following modules:

[0119] The first obtaining module is adapted to obtain the position coordinates of the agricultural machine and the position coordinates of the boundary points of the field, and is used for executing step S110.

[0120] The input module is adapted to input the operation width d of the agricultural machine, and is used for executing step S120.

[0121] The U-turn point coordinate calculation module obtains the U-turn point coordinates of the cross row according to the operation width d and the position coordinates of the boundary points of the field, and is used for executing step S130.

[0122] The U-turn path obtaining module is adapted to generate the turning U-turn path according to the U-turn point coordinates and the operation width d, and is used for executing step S140.

[0123] The path planning module is suitable for splicing all the turning paths with the flight lines to complete path planning, which is used for performing step S150.

[0124] The embodiment provides a computer readable storage medium, and at least one instruction is stored in the computer readable storage medium, and the instruction is executed by a processor to implement the agricultural machine turning path planning method.

[0125] The position coordinates of the agricultural machine and the position coordinates of the boundary points of the field are acquired; the working width d of the agricultural machine is input; the turning point coordinates of the cross-row are obtained according to the working width d and the position coordinates of the boundary points of the field; the turning path of the turning is generated according to the turning point coordinates and the working width d; and all the turning paths are spliced with the flight lines to complete path planning. Through the planning of the turning path, the turning radius is minimized, and the turning path is better fitted to the boundary trend of the field. The agricultural machine can complete the turning action in the minimum working space in the complex and changeable field environment, so that the working efficiency is improved, and the damage to crops is reduced.

[0126] Referring to Figure 5 The embodiment provides an electronic device, including a memory 502 and a processor 501; at least one program instruction is stored in the memory 502; the processor 501 is loaded and executes the at least one program instruction to implement the cross-project instant software defect prediction method.

[0127] The memory 502 and the processor 501 are connected in a bus mode, and the bus can include any number of interconnected buses and bridges, and the bus connects various circuits of one or more processors 501 and memories 502 together. The bus can also connect various other circuits such as peripheral devices, voltage stabilizers and power management circuits together, which are well known in the art, and therefore, further description is not given herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be one element or multiple elements such as multiple receivers and transmitters, which provide units for communicating with various other devices on the transmission medium. The data processed by the processor 501 is transmitted on the wireless medium through the antenna, and further, the antenna also receives data and transmits the data to the processor 501.

[0128] The processor 501 is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interface, voltage regulation, power management and other control functions. And the memory 502 can be used to store the data used by the processor 501 in the execution operation.

[0129] In summary, the application provides a turning path planning method for agricultural machinery, a device and a readable storage medium, wherein the turning path planning method for agricultural machinery comprises: obtaining the position coordinates of the agricultural machinery and the position coordinates of the boundary points of the field; inputting the working width d of the agricultural machinery; obtaining the turning point coordinates of the cross-row according to the working width d and the position coordinates of the boundary points of the field; generating the turning path of the turning according to the turning point coordinates and the working width d; and splicing all the turning paths with the flight line to complete the path planning. By planning the turning path, the turning radius is minimized, and the turning path is better fitted to the boundary trend of the field to be planned. The agricultural machinery can complete the turning action in the minimum working space in the complex and changeable field environment, thereby improving the working efficiency and reducing the damage to crops.

[0130] In addition, the various embodiments described and illustrated herein can be combined or integrated with other systems, modules, techniques, or methods without departing from the scope of the present disclosure. Other items shown or discussed as coupled may be directly coupled or removed and coupled through some interface, device, or intermediate component, whether electrically, mechanically, or otherwise. Other examples of changes, substitutions, and alterations are ascertainable by one skilled in the art and could be made without departing from the spirit and scope disclosed herein.

Claims

1. A method for planning turning paths for agricultural machinery, characterized in that, The method includes: Obtain the location coordinates of the agricultural machinery and the location coordinates of the boundary points of the field; Input the operating width d of the agricultural machinery; The coordinates of the turning point across the row are obtained based on the working width d and the position coordinates of the boundary points of the field. Generate the turning path based on the coordinates of the turning point and the working width d; By combining all turning paths with the flight path, the route planning is completed; The steps for obtaining the position coordinates of the agricultural machinery and the position coordinates of the boundary points of the field include: Build a positioning system; Drive the agricultural machinery to the edge of the field; Construct a global coordinate system using a positioning system; Obtain the location coordinates of the agricultural machinery and the location coordinates of the boundary points of the field; The step of determining the coordinates of the cross-row turning point based on the working width and the position coordinates of the field boundary points includes: The coordinates of the four boundary points of the field are transformed to obtain the slope and intercept of the four edge lines of the field in the global coordinate system, and are denoted as set α and set β respectively; The set of new intercepts η is obtained by reducing the field width d inwards; Calculate the number and coordinates of U-turn points; The steps for reducing the field size inward based on the working width d to obtain the new intercept set η are as follows: The formula for calculating the change in intercept τ after reduction is as follows: τ = d / cosθ; In the formula, θ is the angle between the corresponding edge of the field and the y-axis, and τ is the set of changes in the intercept relative to the original edge. The formula for calculating the set η of the new intercepts is as follows: η = β + τ; The four sides of the reduced field are obtained from the set of new intercepts η and the set of slopes α. The steps for calculating the number and coordinates of U-turn points include: Starting from 0, the number of times the agricultural machinery turns around is increased sequentially to obtain a new index equation L, as shown in the following formula: L=Nd; In the formula, L represents the index equation for each turning point, and N represents the number of times the agricultural machinery turns around. Obtain the coordinates of the intersection points of the new L-equation and the four sides of the shrunken field, i.e., the coordinates of the turning point; The steps for generating the turning path based on the turning point coordinates and the working width d include: Get the coordinates of the two turning points where the current row needs to turn around to the next row, denoted as A(x1, y1) and B(x2, y2) respectively. Let the radius of circle O1, which is tangent to the row containing A, be r1. Let the radius of circle O2, which is tangent to the row containing B, be r2. Let the distance between the two circles be L. 12 =r1+r2; Calculate the coordinates of the centers of the two circles, O1(x1, y1+r1) and O2(x2, y2-r2). Calculate the radius R of the common tangent circle O of circles O1 and O2, where the common tangent circle O is tangent to circle O1 at point A; Obtain the coordinates of the point of tangency P between the common tangent circle O and circle O2; The path to turn around is formed by combining the arc segment AP of the common tangent circle O and the arc segment PB of circle O2. Among them, the value of r2 is greater than or equal to the minimum turning radius of the agricultural machinery, and less than the working width d.

2. The agricultural machinery turning path planning method as described in claim 1, characterized in that, The steps for calculating the center coordinates of the two circles, O1(x1, y1+r1) and O2(x2, y2-r2), include: The formula for calculating r² is as follows: In the formula, θ A This represents the angle between the flight path containing point A and the line connecting AB; Distance between points A and B ; The distance between points A and B is also equal to ; According to L AB Find r1 using the two calculation methods. The coordinates of the centers of the two circles are O1(x1, y1+r1) and O2(x2, y2-r2).

3. The agricultural machinery turning path planning method as described in claim 1, characterized in that, The steps for calculating the radius R of the common tangent circle O of circles O1 and O2 are as follows: The radius R is calculated using the following formula: ； Among them, L A2 The distance between the center O2 and point A is expressed by the formula. calculate; α 0 represents L A2 The angle between the coordinate system and the Y-axis of the global coordinate system is determined by the formula... calculate.

4. A computer-readable storage medium storing at least one instruction, characterized in that, When the instructions are executed by the processor, they implement the agricultural machinery turning path planning method according to any one of claims 1 to 3.

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