Operation path planning method, device, equipment, medium and computer program product
By building environmental maps, associating agricultural machinery and using chimpanzee optimization algorithms, the problems of low accuracy and efficiency of agricultural machinery operations are solved, and high-precision and high-efficiency agricultural machinery operation path planning are achieved.
Patent Information
- Application Number
- CN202411955169.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-27
- Publication Date
- 2025-04-04
AI Technical Summary
The existing agricultural machinery operations have problems of low accuracy and efficiency, making it difficult to achieve efficient and precise operations on farmland.
By constructing an environmental map of the site to be operated, linking multiple operating agricultural machinery, and combining the operating parameters of each agricultural machinery, using a chimpanzee optimization algorithm to plan the operation path of each agricultural machinery.
It has achieved high accuracy and high efficiency of agricultural machinery operations, and improved the accuracy and efficiency of path planning of multi-agricultural machinery collaboration operations.
Smart Images
Figure CN119756379A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of path planning technology, and in particular to an operation path planning method, device, equipment, medium and computer program product. Background Art
[0002] Agricultural machinery plays an important role in traditional agricultural production, but it also has some significant limitations. First, agricultural machinery usually requires manual operation, which leads to reduced operating efficiency and cannot meet the growing efficiency needs of modern agriculture. In addition, agricultural machinery is restricted by many factors during operation, which makes it difficult for them to achieve precise and efficient operation of farmland. Summary of the invention
[0003] The present invention provides an operation path planning method, device, equipment, medium and computer program product, which are used to solve the defects of low accuracy and efficiency in existing agricultural machinery operations and achieve high accuracy and high efficiency in agricultural machinery operations.
[0004] The present invention provides a method for planning a work path, comprising the following steps: Constructing an environmental map of the site to be operated based on basic information of the site to be operated; Based on the environmental map, performing operation association on a plurality of agricultural machines in the field to be operated; Based on the environmental map and the operating parameters of each agricultural machine, the operating path of each agricultural machine in the field to be operated is planned.
[0005] According to a work path planning method provided by the present invention, the construction of an environmental map of the work site based on basic information of the work site includes: Obtaining basic information of the site to be operated; the basic information includes road information, obstacle information, boundary information of each operation plot, and operation starting point information of each operation plot within the site to be operated; An environmental map of the work site is constructed based on the basic information.
[0006] According to a working path planning method provided by the present invention, the working path of each working agricultural machine in the working site to be worked is planned based on the environmental map and the working parameters of each working agricultural machine, including: Obtaining the operating parameters of each agricultural machine; the operating parameters include a minimum turning radius, an operating direction, an operating width, and an operating starting position; Obtaining a path planning target including operation time, operation cost and resource utilization; the operation cost is determined based on unit time cost; Based on the environmental map, the path planning target and the operating parameters of each agricultural machine, the operating path of each agricultural machine in the field to be operated is planned.
[0007] According to a method for planning an operation path provided by the present invention, the operation cost includes labor cost and agricultural machinery cost; the agricultural machinery cost includes agricultural machinery transfer cost, agricultural machinery depreciation cost and agricultural machinery fuel consumption cost; the operation path planning method also includes: Determine the labor cost based on labor cost per unit time and operation time; Determining the agricultural machinery transfer cost based on unit distance cost; Determining the depreciation cost of the agricultural machinery based on the depreciation cost per unit time and the number of agricultural machinery in operation; Determining the fuel consumption cost of the agricultural machinery based on the fuel consumption per unit time; The labor cost and the agricultural machinery cost are normalized and weighted to obtain the operation cost.
[0008] According to a working path planning method provided by the present invention, the working path of each working agricultural machine in the working site to be worked is planned based on the environmental map, the path planning target and the working parameters of each working agricultural machine, including: Determining a time-varying relationship of fitness of each operating agricultural machine based on the environmental map, the path planning target, and the operating parameters of each operating agricultural machine; Based on the chimpanzee optimized ChOA algorithm and the time variation relationship of the fitness, the operation path of each agricultural machine in the site to be operated is planned.
[0009] According to a working path planning method provided by the present invention, the working path of each working agricultural machine in the working site is planned based on the environmental map and the working parameters of each working agricultural machine, and then includes: Constructing a set of operation path points for each agricultural machine based on the operation path; the set of operation path points includes an operation plot identifier, operation location information, and operation instructions; Based on the set of operation path points of each operating agricultural machine, each operating agricultural machine is controlled to perform operations.
[0010] The present invention also provides a work path planning device, comprising the following modules: An environment map construction module, used to construct an environment map of the site to be operated based on basic information of the site to be operated; An agricultural machinery operation association module, used for associating the operations of a plurality of agricultural machinery in the operation site based on the environmental map; The operation path planning module is used to plan the operation path of each operating agricultural machine in the operation site based on the environmental map and the operation parameters of each operating agricultural machine.
[0011] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, wherein when the processor executes the computer program, any one of the above-mentioned operation path planning methods is implemented.
[0012] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the operation path planning method as described in any one of the above is implemented.
[0013] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements any of the above-mentioned operation path planning methods.
[0014] The operation path planning method, device, equipment, medium and computer program product provided by the present invention construct an environmental map of the operation site through the basic information of the operation site, and on the basis of the environmental map of the operation site, perform operation association on multiple agricultural machines in the operation site. After the operation association, the operation path of each agricultural machine in the operation site is planned in combination with the operation parameters and environmental map of each agricultural machine. The present application provides a more accurate and efficient agricultural machine operation solution for the collaborative operation path planning of multiple agricultural machines through the technical solution of agricultural machine operation planning. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0016] Figure 1 It is one of the flow charts of the operation path planning method provided by the present invention.
[0017] Figure 2 It is a schematic diagram of the work site provided by the present invention.
[0018] Figure 3 This is the second flow chart of the operation path planning method provided by the present invention.
[0019] Figure 4 It is a structural schematic diagram of the operation path planning device provided by the present invention.
[0020] Figure 5It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION
[0021] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0022] Combine the following Figure 1-Figure 5 The invention describes the operation path planning method, device, equipment, medium and computer program product of the invention.
[0023] Figure 1 is one of the flow charts of the operation path planning method provided by the present invention, such as Figure 1 As shown, the method includes the following: Step 100: construct an environmental map of the site to be operated based on basic information of the site to be operated; Specifically, the basic information of the site to be operated includes the internal roads of the site to be operated, the boundary points of each farmland block in the site to be operated, and the detailed data of the entrances and exits of each farmland block. The detailed data may be relevant location information, which can be obtained through satellite positioning. The environmental map constructed by the basic information of the site to be operated is as follows: Figure 2 shown.
[0024] Step 200: Based on the environmental map, multiple agricultural machines in the working area are associated with each other. Specifically, while building an environmental map of the site to be operated, multiple agricultural machines in the site to be operated are linked in real time, and the communication connection between multiple agricultural machines is guaranteed to maintain a stable strength. During collaborative path planning, the location information of each agricultural machine can be obtained in real time and accurately.
[0025] Step 300: Based on the environmental map and the operating parameters of each agricultural machine, plan the operating path of each agricultural machine in the working site.
[0026] Specifically, the operation parameters of the agricultural machinery include the minimum turning radius, operation direction, operation width, and starting position of the agricultural machinery. The embodiment of the present application adopts a multi-strategy optimized chimpanzee algorithm to collaboratively plan the operation path of each agricultural machinery.
[0027] This embodiment constructs an environmental map of the site to be operated based on the basic information of the site to be operated. On the basis of the environmental map of the site to be operated, multiple agricultural machines in the site to be operated are associated with each other. After the operations are associated, the operation path of each agricultural machine in the site to be operated is planned in combination with the operation parameters and environmental map of each agricultural machine. This application provides a more accurate and efficient agricultural machine operation solution for the collaborative operation path planning of multiple agricultural machines through the technical solution of agricultural machine operation planning.
[0028] In one embodiment, the operation path planning method provided in the embodiment of the present application may further include: Step 110, obtaining basic information of the site to be operated; the basic information includes road information, obstacle information, boundary information of each operation plot, and operation starting point information of each operation plot in the site to be operated; Step 120: construct an environmental map of the work site based on the basic information.
[0029] Specifically, when constructing the environmental map of the site to be operated, check whether the site to be operated has installed a base station of the Global Navigation Satellite System (GNSS). If the site to be operated has not yet installed a GNSS base station, a new GNSS base station needs to be built at an appropriate location. This process includes selecting a suitable base station location to ensure signal stability and coverage. The construction of the base station involves the installation and debugging of the equipment, including the setting of the antenna, the power connection of the equipment, and the configuration of the network. After the GNSS base station is successfully built, the base station is used to obtain the latitude and longitude information of the field boundaries of the site to be operated, the layout of the roads in the site to be operated, and the location information of various obstacles (such as wells, poles, and buildings). It usually includes data collection, road layout drawing, obstacle identification and positioning, and data integration and analysis.
[0030] This embodiment accurately constructs an environmental map of the work site by collecting basic information of the work site.
[0031] Figure 3 This is the second flow chart of the operation path planning method provided by the present invention, such as Figure 3 As shown, the method may also include: Step 310: Obtaining the operating parameters of each agricultural machine; the operating parameters include the minimum turning radius, operating direction, operating width and operating starting position; Step 320: Obtain a path planning target including operation time, operation cost and resource utilization rate; the operation cost is determined based on the unit time cost; Step 330: Based on the environmental map, the path planning target and the operating parameters of each agricultural machine, plan the operating path of each agricultural machine in the working area.
[0032] Specifically, in the multi-strategy improved chimpanzee optimization algorithm (MSIChOA), the agricultural machinery operation parameters input into the algorithm include the minimum turning radius, operation direction, operation width, and operation starting position, etc., as well as the path planning objectives, such as operation time, operation cost, and resource utilization. Among them, the calculation and determination of the operation cost are described in detail below. The multi-strategy improved chimpanzee optimization algorithm (MSIChOA) is used to schedule agricultural machinery operations between plots. According to the farmland information, obstacle information, and operation parameter information, the full coverage method is used to plan the path within the plot to ensure that the planned path covers all areas of each plot as much as possible and reduces the situation of heavy tillage and missed tillage.
[0033] This embodiment uses a multi-strategy improved chimpanzee optimization algorithm to accurately plan the operation path of each agricultural machine, thereby achieving the coordinated efficiency of agricultural machinery operations.
[0034] In one embodiment, the operation path planning method provided in the embodiment of the present application may further include: Step 321: Determine the labor cost based on the labor cost per unit time and the operation time; Step 322: determining the agricultural machinery transfer cost based on the unit distance cost; Step 323, determining the agricultural machinery depreciation cost based on the unit time depreciation cost and the number of operating agricultural machinery; Step 324, determining the fuel consumption cost of the agricultural machinery based on the fuel consumption per unit time; Step 325: normalize and weight the labor cost and the agricultural machinery cost to obtain the operation cost.
[0035] Specifically, establishing a scheduling model for each agricultural machinery operation between different plots is the key to optimizing the efficiency of agricultural machinery operations. The agricultural machinery scheduling problem mainly focuses on how to effectively plan the driving routes of agricultural machinery to achieve the core goals of minimizing the total driving time, minimizing the total cost and improving resource utilization.
[0036] Among them, the cost can be divided into two categories: labor cost and agricultural machinery cost. The agricultural machinery cost includes agricultural machinery transfer cost, agricultural machinery depreciation cost and agricultural machinery fuel consumption cost. Labor cost mainly refers to the labor cost per unit time multiplied by the operation time during the dispatching process of agricultural machinery, as shown in Formula 1, where: For agricultural machinery h The corresponding unit labor fee of the driver; T Represents the total time of the job, p =1,2,……, H Represents a collection of agricultural machinery.
[0037] ; (1) The agricultural machinery transfer cost refers to the cost incurred during a certain driving distance on the way back and forth, including turning, reversing, and refueling, as shown in Formula 2, where: Transfer costs for agricultural machinery; For agricultural machinery h Finish i Run the job, from i Row transferred to j The travel time of the trip; For agricultural machinery h Driving time when going to refuel; For agricultural machinery h The fuel consumption cost per unit time of driving.
[0038] ; (2) The depreciation cost of agricultural machinery refers to the depreciation cost of each agricultural machinery, which is obtained by multiplying the number of agricultural machinery by the daily cost, as shown in Formula 3, where: For agricultural machinery h depreciation cost; For agricultural machinery h fixed costs.
[0039] ; (3) ; (4) The calculation of agricultural machinery fuel consumption cost is shown in formula 4, where: For agricultural machinery h fuel consumption costs; For agricultural machinery h exist i Travel time when working; For agricultural machinery h The fuel consumption cost per unit time of driving.
[0040] The above labor costs and agricultural machinery costs are normalized as shown in Formula 5, where: represents the normalized cost, and Represents the minimum and maximum value in a set, respectively. The normalized result of is shown in Formula 6.
[0041] ; (5) ; (6) ; (7) According to formula 5, the above to The normalized result is , , and The final cost is calculated as shown in Formula 7, where .
[0042] This embodiment calculates the agricultural machinery operation cost to accurately quantify one of the goals of agricultural machinery path planning.
[0043] In one embodiment, the operation path planning method provided in the embodiment of the present application may further include: Step 331: determining a time-varying relationship of fitness of each operating agricultural machine based on the environmental map, the path planning target, and the operating parameters of each operating agricultural machine; Step 332: Based on the chimpanzee optimized ChOA algorithm and the time-varying relationship of the fitness, plan the operation path of each agricultural machine in the field to be operated.
[0044] Specifically, when planning the working path of each agricultural machine in the working area, this application adopts the chimpanzee optimization algorithm (ChOA algorithm), and the basic concepts and contents of the algorithm will not be repeated in the embodiments of this application. In the initialization stage of the ChOA algorithm, a series of algorithm parameters need to be set. The first is the size of the chimpanzee population (that is, the number of agricultural machinery in the embodiments of this application). The population size determines the number of target solutions that the ChOA algorithm searches for simultaneously in each round of iteration. The second is the maximum number of iterations, which is one of the conditions for the completion of the algorithm. The algorithm will continue to iterate to update the path until the specified number of iterations is reached or other completion conditions are met. Finally, there is the fitness function, which is used to evaluate the pros and cons of each path.
[0045] In the ChOA algorithm, after the fitness evaluation is completed, the algorithm enters the role allocation and update stage. According to the fitness value, the four optimal solutions are selected as the positions of the four groups in turn. The calculation is shown in formula 8, where: It means "attacker"; It means "disabled person"; It means "the pursuer"; It means "drive away".
[0046] ; (8) The individual with the best fitness (agricultural machinery) is designated as the "attacker". It is the best performing path individual in the current population, and its task is to select the optimal path and influence other individuals through leadership. The individual with the second best fitness is called the "driver". The driver's task is to push other individuals towards the optimal solution. The individual with medium fitness is assigned as the "chaser". Its task is to follow the attacker and the driver and try to improve its own path. The individual with poor fitness is assigned as the "obstacler". Its task is to limit the progress of other individuals on the bad path by setting obstacles, thereby further preventing other individuals from entering the bad area and avoiding falling into the local optimum.
[0047] As the "attacker" continues to advance, the "driver" can use the Levy flight strategy to make long-distance jumps, escape from the local optimal area, and discover new potential optimal paths. The role of the driver expands the search range through this long-distance exploration and avoids falling into the local optimality. The chaser uses the greedy competition mechanism to optimize its own path by comparing the attacker's path with the driver's path. And by constantly comparing the fitness with the "attacker's" path, fine-tuning, and trying to surpass the current optimal solution. The "obstructer" will try to limit bad paths, interfere with individuals with low fitness, and prevent the group from entering a bad local optimal solution. The obstacle individual will affect the update of the low fitness path by setting virtual obstacles.
[0048] After each round of iteration, roles are reallocated based on the new fitness. If an individual improves its fitness after the update, it may change from a chaser to a driver, or even become a new attacker. After several iterations and role interactions, all individuals will reallocate roles based on their new fitness. After multiple iterations, the chimpanzee optimization algorithm will gradually converge to the global optimal solution and eventually complete the path planning of the agricultural machinery.
[0049] This embodiment uses the chimpanzee optimization algorithm to achieve accurate planning of agricultural machinery operation paths to achieve high efficiency of agricultural machinery operations.
[0050] In one embodiment, the operation path planning method provided in the embodiment of the present application may further include: Step 400: constructing a set of operation path points for each agricultural machine based on the operation path; the set of operation path points includes an operation plot identifier, operation location information, and operation instructions; Step 500: Based on the set of operation path points of each operating agricultural machine, control each operating agricultural machine to perform operation.
[0051] Specifically, according to the plot boundaries and agricultural machinery operation information in the farm environment map, the full coverage algorithm is used to plan the path inside the plot to ensure that all areas of each plot are covered. The multi-strategy improved chimpanzee optimization algorithm (MSIChOA) is used to plan the path in the plot using the AB line straight method and the pear-shaped turning method. The transfer path between plots, the full coverage path inside the plot and the basic information of agricultural machinery are used to minimize the path cost. Using MSIChOA, the optimal solution is found in the task sequence of each agricultural machinery to achieve the task allocation of multiple agricultural machinery. According to the task allocation results and the path collection (mainly including the serial number, longitude, latitude, speed instructions and operation instructions of the farmland plot), the full process path of the collaborative operation of multiple agricultural machinery is obtained, thereby ensuring efficient coverage and operation of each plot in the farm.
[0052] This embodiment constructs a set of operation path points for each operating agricultural machine, and accurately controls the operation of each agricultural machine while planning the path of the agricultural machine.
[0053] The operation path planning device provided by the present invention is described below. The operation path planning device described below and the operation path planning method described above can be referenced to each other.
[0054] Please refer to Figure 4 The present invention also provides a work path planning device, comprising: An environment map construction module 401 is used to construct an environment map of the site to be operated based on basic information of the site to be operated; The agricultural machinery operation association module 402 is used to associate the multiple agricultural machinery in the operation site based on the environmental map; The operation path planning module 403 is used to plan the operation path of each operating agricultural machine in the operation site based on the environmental map and the operation parameters of each operating agricultural machine.
[0055] Optionally, the environment map construction module includes: A basic information acquisition unit, used to acquire basic information of the site to be operated; the basic information includes road information, obstacle information, boundary information of each operation plot, and operation starting point information of each operation plot in the site to be operated; An environment map construction unit is used to construct an environment map of the work site based on the basic information.
[0056] Optionally, the operation path planning module includes: An operation parameter acquisition unit, used to acquire the operation parameters of each agricultural machine; the operation parameters include the minimum turning radius, operation direction, operation width and operation starting position; A path planning target acquisition unit, used to acquire a path planning target including operation time, operation cost and resource utilization rate; the operation cost is determined based on the unit time cost; The operation path planning unit is used to plan the operation path of each operating agricultural machine in the site to be operated based on the environmental map, the path planning target and the operation parameters of each operating agricultural machine.
[0057] Optionally, the operation cost includes labor cost and agricultural machinery cost; the agricultural machinery cost includes agricultural machinery transfer cost, agricultural machinery depreciation cost and agricultural machinery fuel consumption cost; the operation path planning device also includes: A labor cost determination module, used to determine the labor cost based on the labor cost per unit time and the operation time; An agricultural machinery transfer cost determination module, used to determine the agricultural machinery transfer cost based on a unit distance cost; An agricultural machinery depreciation cost determination module, used to determine the agricultural machinery depreciation cost based on the unit time depreciation cost and the number of operating agricultural machinery; An agricultural machinery fuel consumption cost determination module, used to determine the agricultural machinery fuel consumption cost based on fuel consumption per unit time; The operation cost determination module is used to normalize and weight the labor cost and the agricultural machinery cost to obtain the operation cost.
[0058] Optionally, the operation path planning unit includes: A fitness time variation relationship determination unit, configured to determine the fitness time variation relationship of each operating agricultural machine based on the environmental map, the path planning target, and the operating parameters of each operating agricultural machine; The path planning unit is used to plan the working path of each agricultural machine in the working site based on the chimpanzee optimized ChOA algorithm and the time variation relationship of the fitness.
[0059] Optionally, the operation path planning device further includes: An operation path point set construction module, used to construct an operation path point set for each operation agricultural machine based on the operation path; the operation path point set includes an operation plot identification, operation location information and operation instructions; The agricultural machinery operation control module is used to control each operating agricultural machinery to perform operations based on the operation path point set of each operating agricultural machinery.
[0060] Figure 5 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 5As shown, the electronic device may include: a processor 510, a communication interface 520, a memory 530 and a communication bus 540, wherein the processor 510, the communication interface 520 and the memory 530 communicate with each other through the communication bus 540. The processor 510 may call the logic instructions in the memory 530 to execute the operation path planning method, which includes: constructing an environmental map of the site to be operated based on the basic information of the site to be operated; based on the environmental map, performing operation association on multiple agricultural machines in the site to be operated; based on the environmental map and the operation parameters of each agricultural machine, planning the operation path of each agricultural machine in the site to be operated.
[0061] In addition, the logic instructions in the above-mentioned memory 530 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.
[0062] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the operation path planning method provided by the above-mentioned methods, which includes: constructing an environmental map of the site to be operated based on basic information of the site to be operated; based on the environmental map, associating operations of multiple agricultural machines in the site to be operated; based on the environmental map and the operating parameters of each agricultural machine, planning the operation path of each agricultural machine in the site to be operated.
[0063] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it is implemented to execute the operation path planning method provided by the above-mentioned methods. The method includes: constructing an environmental map of the site to be operated based on basic information of the site to be operated; based on the environmental map, associating operations of multiple agricultural machines in the site to be operated; based on the environmental map and the operating parameters of each agricultural machine, planning the operation path of each agricultural machine in the site to be operated.
[0064] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.
[0065] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.
[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims
1. A method for planning an operation path, characterized in that: include: Constructing an environmental map of the site to be operated based on basic information of the site to be operated; Based on the environmental map, multiple agricultural machines in the field to be operated are associated with each other; Based on the environmental map and the operating parameters of each agricultural machine, the operating path of each agricultural machine in the field to be operated is planned.
2. The operation path planning method according to claim 1, characterized in that: The step of constructing the environment map of the site to be operated based on the basic information of the site to be operated comprises: Obtaining basic information of the site to be operated; the basic information includes road information, obstacle information, boundary information of each operation plot, and operation starting point information of each operation plot within the site to be operated; An environmental map of the work site is constructed based on the basic information.
3. The operation path planning method according to claim 1, characterized in that: The step of planning the operation path of each agricultural machine in the operation site based on the environment map and the operation parameters of each agricultural machine includes: Obtaining the operating parameters of each agricultural machine; the operating parameters include a minimum turning radius, an operating direction, an operating width, and an operating starting position; Obtaining a path planning target including operation time, operation cost and resource utilization; the operation cost is determined based on unit time cost; Based on the environmental map, the path planning target and the operating parameters of each agricultural machine, the operating path of each agricultural machine in the field to be operated is planned.
4. The operation path planning method according to claim 3, characterized in that: The operation cost includes labor cost and agricultural machinery cost; the agricultural machinery cost includes agricultural machinery transfer cost, agricultural machinery depreciation cost and agricultural machinery fuel consumption cost; the operation path planning method also includes: Determine the labor cost based on labor cost per unit time and operation time; Determining the agricultural machinery transfer cost based on unit distance cost; Determining the depreciation cost of the agricultural machinery based on the depreciation cost per unit time and the number of agricultural machinery in operation; Determining the fuel consumption cost of the agricultural machinery based on the fuel consumption per unit time; The labor cost and the agricultural machinery cost are normalized and weighted to obtain the operation cost.
5. The operation path planning method according to claim 3, characterized in that: The step of planning the operation path of each agricultural machine in the field to be operated based on the environment map, the path planning target and the operation parameters of each agricultural machine includes: Determining a time-varying relationship of fitness of each operating agricultural machine based on the environmental map, the path planning target, and the operating parameters of each operating agricultural machine; Based on the chimpanzee optimized ChOA algorithm and the time variation relationship of the fitness, the operation path of each agricultural machine in the site to be operated is planned.
6. The operation path planning method according to claim 1, characterized in that: The step of planning the operation path of each agricultural machine in the field to be operated based on the environmental map and the operation parameters of each agricultural machine includes: Constructing a set of operation path points for each agricultural machine based on the operation path; the set of operation path points includes an operation plot identifier, operation location information, and operation instructions; Based on the set of operation path points of each operating agricultural machine, each operating agricultural machine is controlled to perform operations.
7. A working path planning device, characterized in that: include: An environment map construction module, used to construct an environment map of the site to be operated based on basic information of the site to be operated; An agricultural machinery operation association module, used for associating the operations of a plurality of agricultural machinery in the operation site based on the environmental map; The operation path planning module is used to plan the operation path of each operating agricultural machine in the operation site based on the environmental map and the operation parameters of each operating agricultural machine.
8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the operation path planning method according to any one of claims 1 to 6 is implemented.
9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the operation path planning method according to any one of claims 1 to 6 is implemented.
10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the operation path planning method according to any one of claims 1 to 6 is implemented.