Agricultural machine navigation rapid line entering method, device, equipment and medium

Abstract

The invention discloses an agricultural machine navigation rapid line entering method, device and equipment and a medium. The method comprises the following steps: firstly, obtaining an on-line starting point position of an agricultural machine; determining an on-line end point position of the agricultural machine on an expected path of the agricultural machine according to the on-line starting point position and an expected on-line distance of the agricultural machine; forming an upper line path of the agricultural machine between the upper line starting point position and the upper line end point position; and then controlling the agricultural machine to move from the upper line starting point position to the upper line end point position along the upper line path. Furthermore, in the on-line process of the agricultural machine, the path of the agricultural machine is planned and navigated, and the problems that the on-line distance is too long and the transverse distance is overshoot in the on-line process due to the fact that the agricultural machine is directly tracked through the expected path and turns around and the like are solved. The planting area of farmers is increased, and the standard of precise operation is met.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle path planning, and in particular to a method, device, equipment and medium for rapid navigation of agricultural machinery. Background Art

[0002] In the era of comprehensive intelligence, more and more advanced intelligent equipment is being used in the agricultural field. In particular, in recent years, "smart agriculture" and "precision agriculture" have become the general trend of agricultural development today. More and more unmanned farms have emerged, and "ploughing", "planting", "management" and "harvesting" have been realized by unmanned operations and refined operations. One of the key technologies of precision agriculture is agricultural machinery navigation, which relies on self-driving tractors to realize various farmland operations. Agricultural machinery navigation usually tracks and drives according to a pre-planned path. The path tracking process often involves turning and turning at the end of the field. After turning or turning, agricultural machinery often deviates from the expected path. In addition, the method of directly going online using the agricultural machinery navigation lateral tracking control algorithm has poor results, mainly manifested in problems such as too long online distance and overshoot during the online process. Among them, too long online distance will result in more blank space at the end of the field, which will cause farmers to lose planting area. During the online overshoot process, the operating machinery cannot operate, which not only affects the farmers' planting area, but also causes problems such as poor driving experience. Summary of the invention

[0003] The present invention provides a method, device, equipment and medium for rapid online navigation of agricultural machinery, so as to solve the problem in the related art that the online distance of agricultural machinery is too long and the online process is prone to overshoot.

[0004] In order to solve the above problems, a first embodiment of the present invention proposes a method for rapid navigation of agricultural machinery, comprising:

[0005] Get the online starting point of the agricultural machinery;

[0006] Determining the on-line end point position of the agricultural machine on the expected path of the agricultural machine according to the on-line starting point position and the expected on-line distance of the agricultural machine;

[0007] forming an upper line path of the agricultural machine between the upper line starting position and the upper line ending position;

[0008] The agricultural machine is controlled to move radially from the upper line starting position to the upper line end position along the upper line route.

[0009] Optionally, when controlling the agricultural machine to move radially from the upper line starting position to the upper line end position along the upper line, the method further includes:

[0010] Acquiring the motion parameters of the agricultural machine in real time;

[0011] When the deviation between the motion parameter of the agricultural machine and the motion parameter set for the agricultural machine at the upper line end point is within a preset threshold range, the agricultural machine is controlled to switch from the upper line path to the expected path for movement.

[0012] Optionally, forming an upper line path of the agricultural machinery between the upper line starting position and the upper line end position comprises:

[0013] Obtaining a first path fitting parameter at the upper line starting point and a second path fitting parameter at the upper line end point;

[0014] The expression for fitting the upper path of the agricultural machinery according to the first path fitting parameter and the second path fitting parameter is a fifth-order polynomial, wherein the expression of the fifth-order polynomial is y=k1x 5 +k2x 4 +k3x 3 +k4x 2 +k5x+k6, (x, y) is the position coordinate of any point on the upper line path; k1, k2, k3, k4, k5, k6 are equation coefficients; the first path fitting parameters include at least the starting point coordinates, the starting point heading and the starting point path curvature, and the second path fitting parameters include at least the end point coordinates, the end point heading and the end point path curvature.

[0015] Optionally, the expression for fitting the upper online path of the agricultural machinery according to the first path fitting parameter and the second path fitting parameter is a quintic polynomial including:

[0016] Six equations are obtained according to the first path fitting parameters, the second path fitting parameters and the quintic polynomial, and equation coefficients of the quintic polynomial are calculated according to the six equations.

[0017] Optionally, six equations are obtained according to the first path fitting parameter, the second path fitting parameter and the quintic polynomial, and calculating equation coefficients of the quintic polynomial according to the six equations includes:

[0018] Generate a first set of quintic polynomial equations according to the starting point coordinates, the end point coordinates and the expression of the quintic polynomial;

[0019] Generate a second set of quintic polynomial equations according to the starting heading, the ending heading and the first-order derivative expression corresponding to the expression of the quintic polynomial;

[0020] Generate a third set of quintic polynomial equations according to the curvature of the starting path, the curvature of the ending path and the curvature expression corresponding to the expression of the quintic polynomial;

[0021] The equation coefficients of the quintic polynomial are obtained based on the first set of quintic polynomial equations, the second set of quintic polynomial equations and the third set of quintic polynomial equations.

[0022] Optionally, the starting point coordinates are (x0, y0) and the end point coordinates are (x e ,y e ), the first set of quintic polynomial equations is y0=k1x0 5 +k2x0 4 +k3x0 3 +k4x0 2 +k5x0+k6;y e =k1x e 5 +k2x e 4 +k3x e 3 +k4x e 2 +k5x e +k6;

[0023] The starting heading is θ0, and the ending heading is θ e The first-order derivative expression corresponding to the expression of the fifth-order polynomial is y′=5k1x 4 +4k2x 3 +3k3x 2 +2k4x+k5; the second set of quintic polynomial equations is tanθ0=5k1x0 4 +4k2x0 3 +3k3x0 2 +2k4x0+k5;tanθ e =5k1x e 4 +4k2x e 3 +3k3x e 2 +2k4x e +k5;

[0024] The curvature expression corresponding to the expression of the quintic polynomial is:

[0025] The expression of the starting point path curvature K0 is:

[0026]

[0027] The end point path curvature K e The expression is

[0028]

[0029] Optionally, the agricultural machine includes a GNSS module;

[0030] The online starting points for obtaining agricultural machinery include:

[0031] Acquire the online starting point position of the agricultural machinery based on the GNSS module;

[0032] Determining the on-line end position of the agricultural machine on the expected path of the agricultural machine according to the on-line starting point position and the expected on-line distance of the agricultural machine includes:

[0033] Determine the first discrete path point that is closest to the upper line starting point position and the discrete path points on the expected path;

[0034] Traversing other discrete path points along the expected path from the first discrete path point, when the distance between the first discrete path point and any other discrete path point is greater than or equal to the expected upper line distance, determining the current discrete path point as the upper line end point position.

[0035] In order to solve the above problems, the second embodiment of the present invention proposes a quick entry device for agricultural machinery navigation, comprising:

[0036] An acquisition module is used to obtain the online starting point position of the agricultural machinery;

[0037] A determination module, used to determine the on-line end point position of the agricultural machine on the expected path of the agricultural machine according to the on-line starting point position and the expected on-line distance of the agricultural machine;

[0038] A fitting module, used for forming an upper line path of the agricultural machine between the upper line starting position and the upper line end position;

[0039] The control module is used to control the agricultural machine to move from the upper line starting position along the upper line radial direction to the upper line end position.

[0040] To solve the above problem, a third aspect of the present invention provides an electronic device, comprising:

[0041] at least one processor; and

[0042] a memory communicatively connected to the at least one processor; wherein,

[0043] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the agricultural machinery navigation quick entry method described in any embodiment of the present invention.

[0044] To solve the above problems, the fourth aspect of the present invention proposes a computer-readable storage medium, which stores computer instructions. The computer instructions are used to enable a processor to implement the agricultural machinery navigation quick entry method described in any embodiment of the present invention when executed.

[0045] The technical solution of the embodiment of the present invention first obtains the online starting position of the agricultural machinery; then determines the online terminal position of the agricultural machinery on the expected path of the agricultural machinery according to the online starting position and the expected online distance of the agricultural machinery; then forms the online path of the agricultural machinery between the online starting position and the online terminal position; and then controls the agricultural machinery to move from the online starting position to the online terminal position along the online path. Furthermore, during the online process of the agricultural machinery, the path of the agricultural machinery is planned and navigated, which solves the problem of excessive online distance and lateral distance overshoot caused by turning, U-turning, etc. caused by direct tracking through the expected path. The planting area of ​​farmers is increased, meeting the standards of precision operations.

[0046] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0048] Figure 1 It is a schematic diagram of the online path of agricultural machinery navigation in the related technology;

[0049] Figure 2 This is a flow chart of a method for quickly entering the line for agricultural machinery navigation proposed in an embodiment of the present invention;

[0050] Figure 3 It is a quick entry path map for agricultural machinery navigation proposed in an embodiment of the present invention;

[0051] Figure 4 It is a schematic diagram of determining the end point of the online navigation in the agricultural machinery navigation fast online method proposed in an embodiment of the present invention;

[0052] Figure 5 It is a flow chart of a method for quickly entering the line of agricultural machinery navigation proposed in a specific embodiment of the present invention;

[0053] Figure 6 A schematic diagram of the structure of an electronic device that can be used to implement an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0054] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only 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 should fall within the scope of protection of the present invention.

[0055] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0056] Figure 1 This is a schematic diagram of the online path of agricultural machinery navigation in the related technology. Figure 1 As shown, the agricultural machinery G performs path tracking according to the expected path L2 and moves along the expected path L2 all the time. When the agricultural machinery G turns, makes a U-turn, or is not on the expected path L2 and needs to move to the expected path L2, in the related art, through tracking the expected path L2, the agricultural machinery G approaches the expected path L2 during the process of entering the expected path L2, and the initial lateral error D1 needs to be moved. However, since the initial heading of the agricultural machinery G is different from the heading of the expected path L2, when the agricultural machinery G moves the initial lateral error D1 to reach the expected path L2, a lateral overshoot distance D2 will be caused. Therefore, by repeatedly adjusting the lateral overshoot distance D2, a lateral overshoot distance D2 is formed. Figure 1 The on-line path L1 in the diagram, and finally the agricultural machinery G goes online to the expected path L2. In this way, the on-line distance D3 will be too long. Among them, the on-line distance D3 is the path length between the point on the expected path L2 that is closest to the initial position of the vehicle and the point where the agricultural machinery G is in a stable working state after going online. Among them, the stable working state is a state in which the agricultural machinery navigation system travels 5m along the expected tracking path, the lateral yaw distance deviation is less than 5cm, and the heading yaw error is less than 10 degrees. The on-line process is the process in which the agricultural machinery navigation travels from the initial position to the stable working state. The overshoot is the maximum lateral distance deviation D2 from the expected path during the process of the agricultural machinery navigation system tracking the expected path. Figure 2 The present invention is a flowchart of a method for quickly entering the agricultural machinery navigation system according to an embodiment of the present invention. Figure 3 This is a quick entry path map for agricultural machinery navigation proposed in an embodiment of the present invention. Figure 2 and Figure 3 As shown, the agricultural machinery navigation quick entry method includes:

[0057] S101, obtaining the online starting point position of the agricultural machinery.

[0058] It should be noted that when the agricultural machine G deviates from the expected path L2, the position of the agricultural machine G is the online starting position of the agricultural machine G. The online starting position of the agricultural machine G can be obtained by a navigation module, a positioning sensor, an RTK device, or other electronic devices that can obtain the online starting position of the agricultural machine. The online starting position of the agricultural machine G is the initial position of the agricultural machine G online.

[0059] S102, determining the on-line end point position of the agricultural machine on the expected path of the agricultural machine according to the on-line starting point position and the expected on-line distance of the agricultural machine.

[0060] It should be noted that the expected upper line distance can be determined based on empirical values, or the size of the vehicle model and the initial lateral error D1 between the vehicle and the expected path L2, and is generally 5m to 7m. Then, when the upper line starting point position of the agricultural machinery G is determined, the expected upper line distance is determined, and then the upper line end point position on the expected path can be known.

[0061] Optionally, determining the online terminal position of the agricultural machinery on the expected path of the agricultural machinery based on the online starting point position and the expected online distance of the agricultural machinery includes: determining a first discrete path point that is closest to the online starting point position among the discrete path points on the expected path; traversing other discrete path points along the expected path from the first discrete path point, and when the distance between the first discrete path point and any other discrete path point is greater than or equal to the expected online distance, determining the current discrete path point as the online terminal position.

[0062] Among them, when the expected path L2 is a straight line (such as Figure 1 and Figure 3 ), the upper line distance is the distance between the upper line starting position and the upper line end position parallel to the desired path L2. Figure 4As shown in Figure 2, the upper line distance is the point A on the expected path L2 that is closest to the upper line starting point, and the path sum of the discrete points traversed along the expected path L2 (d1+d2+d3+…). Among them, the upper line end position E is reached when the path sum is the expected upper line distance. In other words, according to the vehicle's initial moment position, the discrete path points are traversed to determine the closest path point to the vehicle's initial position, and the distances between two adjacent points are calculated and accumulated from the closest path point forward until the total distance is greater than the expected upper line distance, and this point is the upper line end position.

[0063] S103, forming an on-line path for the agricultural machinery between the on-line starting position and the on-line ending position.

[0064] Among them, after the online starting position and the online end position of the agricultural machinery G are determined, multiple path points can be discretized between the online starting position and the online end position, and the optimal online path of the agricultural machinery G from the online starting position to the online end position can be obtained by fitting.

[0065] In this step, the best online path can be obtained by simulation method, mathematical fitting method, large model training method, etc. In the embodiment of the present invention, the online path is fitted by a fifth-order polynomial fitting method.

[0066] S104, controlling the agricultural machine to move from the upper line starting position along the upper line path to the upper line end position.

[0067] Thus, the agricultural machine can be controlled to move along the upper line path L1 obtained in S103 to the desired path L2, so that the agricultural machine G can smoothly transition to the desired path L2, and the desired upper line distance and the initial lateral error are both within a reasonable range.

[0068] Optionally, when controlling the agricultural machine to move from the upper line starting position to the upper line end position along the upper line path, it also includes:

[0069] Obtain the motion parameters of agricultural machinery in real time;

[0070] When the deviation between the motion parameters of the agricultural machinery and the motion parameters set for the agricultural machinery at the upper-line end point is within a preset threshold range, the agricultural machinery is controlled to switch from the upper-line path to the expected path for movement.

[0071] Among them, the motion parameters of the agricultural machinery include the position coordinates and heading of the agricultural machinery. That is to say, when the deviation between the position coordinates of the agricultural machinery and the position coordinates set at the end point of the upper line is within a certain range, and the heading is also basically consistent with the heading set at the end point of the upper line, it is determined that the agricultural machinery G has passed through the upper line path L1 and meets the state of navigation of the expected path L2. Then, the agricultural machinery G is controlled to switch from the upper line path L1 to the expected path L2, so that the agricultural machinery G travels and operates on the expected path L2. At this time, the agricultural machinery G enters a stable working state.

[0072] It should be noted that when the agricultural machinery G is navigating and tracking along the expected path L2, the agricultural machinery navigation system travels 5m along the expected tracking path, the lateral yaw distance deviation is less than 5cm, and the heading yaw error is less than 10 degrees, then the agricultural machinery G can be considered to be in a stable working state.

[0073] Optionally, the agricultural machine includes a GNSS module;

[0074] Acquiring the online starting position of the agricultural machinery includes: acquiring the online starting position of the agricultural machinery based on a GNSS module.

[0075] In other words, the GNSS module can be used to record the motion parameters of the agricultural machinery (such as heading, speed, position, etc.) in real time to obtain the position coordinates and heading of the agricultural machinery at the starting point of the line in real time.

[0076] The following specifically introduces the process of fitting the upper line path L1 from the upper line starting position to the upper line end position.

[0077] Optionally, forming an online path of the agricultural machinery at the online starting point position and the online end point position includes:

[0078] Obtain the first path fitting parameter at the starting point of the upper line and the second path fitting parameter at the end point of the upper line; the expression of fitting the upper line path of the agricultural machinery according to the first path fitting parameter and the second path fitting parameter is a quintic polynomial, wherein the expression of the quintic polynomial is y=k1x 5 +k2x 4 +k3x 3 +k4x 2 +k5x+k6, (x, y) is the position coordinate of any point on the upper line path; k1, k2, k3, k4, k5, k6 are equation coefficients; the first path fitting parameters include at least the starting point coordinates, the starting point heading and the starting point path curvature, and the second path fitting parameters include at least the end point coordinates, the end point heading and the end point path curvature.

[0079] Optionally, the expression for fitting the upper path of the agricultural machinery according to the first path fitting parameter and the second path fitting parameter is a quintic polynomial including:

[0080] Six equations are obtained according to the first path fitting parameter, the second path fitting parameter and the quintic polynomial, and equation coefficients of the quintic polynomial are calculated according to the six equations.

[0081] Optionally, six equations are obtained according to the first path fitting parameter, the second path fitting parameter and the quintic polynomial, and the equation coefficients of the quintic polynomial are calculated according to the six equations, including:

[0082] Generate a first set of quintic polynomial equations according to the starting point coordinates, the end point coordinates and the expression of the quintic polynomial;

[0083] Generate a second set of quintic polynomial equations according to the starting heading, the ending heading and the first-order derivative expression corresponding to the expression of the quintic polynomial;

[0084] Generate a third set of quintic polynomial equations according to the curvature of the starting path, the curvature of the ending path and the curvature of the quintic polynomial expression corresponding to the expression;

[0085] Equation coefficients of the quintic polynomial are obtained based on the first group of quintic polynomial equations, the second group of quintic polynomial equations, and the third group of quintic polynomial equations.

[0086] Optionally, the starting point coordinates are (x0, y0) and the ending point coordinates are (x e ,y e ), the first set of quintic polynomial equations is y0=k1x0 5 +k2x0 4 +k3x0 3 +k4x0 2 +k5x0+k6;y e =k1x e 5 +k2x e 4 +k3x e 3 +k4x e 2 +k5x e +k6;

[0087] The starting heading is θ0 and the ending heading is θ e , the first-order derivative expression corresponding to the expression of the fifth-order polynomial is y′=5k1x 4 +4k2x 3 +3k3x 2 +2k4x+k5; the second set of quintic polynomial equations is tanθ0=5k1x0 4 +4k2x0 3 +3k3x0 2 +2k4x0+k5;tanθ e =5k1x e 4 +4k2x e 3 +3k3x e 2 +2k4x e +k5;

[0088] The curvature expression corresponding to the expression of the quintic polynomial is

[0089] The expression of the starting path curvature K0 is:

[0090] End path curvature K e The expression is

[0091] It should be noted that if the starting point of the upper line is S(x0, y0) and the end point of the upper line is E(x e ,y e ), the starting heading heading_s is θ0, and the ending heading heading_e is θ e , and the starting path curvature is K0, and the end path curvature is K e .

[0092] Assume that the expression of the quintic polynomial discrete path is:

[0093] y=k1x 5 +k2x 4 +k3x 3 +k4x 2 +k5x+k6 (Formula 1).

[0094] Since the coordinates of the starting point and the end point of the upper line are known, let the coordinates of the starting point be S(x0, y0) and the coordinates of the end point be E(x e ,y e ), then:

[0095] y0=k1x0 5 +k2x0 4 +k3x0 3 +k4x0 2 +k 50 +k6 (Formula 2)

[0096] y e =k1x e 5 +k2x e 4 +k3x e 3 +k4x e 2 +k5x e +k6 (Formula 3).

[0097] Taking the derivative of equation 1 with respect to x, we have:

[0098] y′=5k1x 4 +4k2x 3 +3k3x 2 +2k4x+k5 (Formula 4).

[0099] Because the discrete path points on the upper line need to ensure that the heading of the starting point is consistent with the heading of the vehicle at the initial moment, and the heading of the end point is consistent with the heading of the upper line end point, let the heading of the starting point be θ0 and the heading of the end point be θ e , then:

[0100] tanθ0=5k1x0 4 +4k2x0 3 +3k3x0 2 +2k4x0+k5 (Formula 5).

[0101] tanθ e =5k1x e 4 +4k2x e 3 +3k3x e 2 +2k4x e +k5 (Formula 6).

[0102] The discrete path points on the upper line also need to ensure the continuity of curvature. The curvature calculation formula is:

[0103]

[0104] The expression of the starting path curvature K0 is:

[0105] End point path curvature K e The expression is

[0106] Among them, S(x0, y0), θ0, K0 in the first path parameter can be obtained by the navigation module, that is, the GNSS module. e ,y e ),θ e , K e It can be obtained through the navigation parameters of the expected path L2. Furthermore, the first path fitting parameters and the second path fitting parameters are known, so the six formulas (2), (3), (5), (6), (8), and (9) can be solved to obtain the coefficients k1, k2, k3, k4, k5, and k6, thereby obtaining the fifth-order polynomial ground equation. Through discretization, the coordinates, curvature, and heading information of the discrete path points on the upper line can be obtained.

[0107] The heading and path curvature of the two starting and ending points are used to add constraints to the quintic polynomial, so that the generated discrete path can smoothly transition to the original desired path while satisfying the vehicle kinematics. In one embodiment, the path curvature K0 of the initial position can also be set to 0.

[0108] Therefore, the above-mentioned entry method can plan a discrete entry path point (such as ) with continuous curvature and in accordance with the vehicle kinematics law according to the vehicle's initial posture information, expected entry distance, and expected entry end information. Figure 3 The on-line path L1 in the figure finally achieves a shorter on-line distance and can smoothly cut into the original expected path. After the on-line discrete path is generated, the agricultural machinery automatic navigation mode can be entered. The lateral control module performs lateral tracking according to the on-line path, and monitors the vehicle's heading and position in real time. When the deviation from the heading and position of the on-line end point is less than a certain threshold, the tracking path is switched to the expected path. At this time, the agricultural machinery is successfully on-line. In this way, the agricultural machinery vehicle can quickly enter a stable tracking state with a shorter on-line distance and a smaller overshoot. It can not only improve the work efficiency of agricultural machinery navigation, but also increase the operating coverage area of ​​farmers.

[0109] Figure 5 FIG. 1 is a flow chart of a method for quickly entering the line of agricultural machinery navigation according to a specific embodiment of the present invention. Figure 5 As shown, the method includes: obtaining the current posture of the vehicle from the GNSS to determine the starting point of the upper line, and determining the end point of the upper line according to the upper line distance and the discrete path points expected to be tracked, and then generating discrete path points based on the fifth-order polynomial according to the starting point of the upper line and the end point of the upper line, and through the lateral control module (wherein, as Figure 1 As shown in the figure, the horizontal direction is perpendicular to the expected path L2, and the longitudinal direction is parallel to the expected path L2) to track the on-line path, so that the vehicle reaches the end of the on-line, and then switches to the original expected path to continue tracking. In this way, a shorter on-line distance can be achieved and the original expected path can be smoothly cut into.

[0110] The embodiment of the present invention further provides a device for quickly entering the line of agricultural machinery navigation, comprising:

[0111] An acquisition module is used to obtain the online starting point position of the agricultural machinery;

[0112] A determination module, used to determine the on-line end position of the agricultural machine on the expected path of the agricultural machine according to the on-line starting position and the expected on-line distance of the agricultural machine;

[0113] A fitting module, used for forming an on-line path of the agricultural machinery between an on-line starting position and an on-line end position;

[0114] The control module is used to control the agricultural machinery to move from the upper line starting position along the upper line path to the upper line end position.

[0115] Optionally, when the control module controls the agricultural machine to move from the upper line starting position to the upper line end position along the upper line path, the device further includes:

[0116] An acquisition unit, used for acquiring motion parameters of agricultural machinery in real time;

[0117] The control module is also used to control the agricultural machinery to switch from the upper line path to the expected path for movement when the deviation between the movement parameters of the agricultural machinery and the movement parameters set at the upper line end point of the agricultural machinery is within a preset threshold range.

[0118] Optionally, the fitting module includes:

[0119] A second acquisition unit, used to acquire a first path fitting parameter at a starting point of the upper line and a second path fitting parameter at an end point of the upper line;

[0120] The fitting unit is used to fit the expression of the upper path of the agricultural machinery according to the first path fitting parameter and the second path fitting parameter as a fifth-order polynomial, wherein the expression of the fifth-order polynomial is y=k1x 5 +k2x 4 +k3x 3 +k4x 2 +k5x+k6, (x, y) is the position coordinate of any point on the upper line path; k1, k2, k3, k4, k5, k6 are equation coefficients; the first path fitting parameters include at least the starting point coordinates, the starting point heading and the starting point path curvature, and the second path fitting parameters include at least the end point coordinates, the end point heading and the end point path curvature.

[0121] Optionally, the fitting unit includes:

[0122] The fitting subunit is used to obtain six equations according to the first path fitting parameters, the second path fitting parameters and the fifth-order polynomial, and calculate the equation coefficients of the fifth-order polynomial according to the six equations.

[0123] Optionally, the fitting subunit includes:

[0124] A first fitting subunit is used to generate a first set of quintic polynomial equations according to the starting point coordinates, the end point coordinates and the expression of the quintic polynomial;

[0125] The second fitting subunit generates a second set of quintic polynomial equations according to the starting heading and the ending heading and the first-order derivative expression corresponding to the expression of the quintic polynomial;

[0126] A third fitting subunit generates a third set of quintic polynomial equations according to the curvature of the starting path and the ending path and the curvature expression corresponding to the expression of the quintic polynomial;

[0127] A calculation unit is used to obtain equation coefficients of the quintic polynomial based on the first set of quintic polynomial equations, the second set of quintic polynomial equations and the third set of quintic polynomial equations.

[0128] Optionally, the starting point coordinates are (x0, y0) and the ending point coordinates are (x e ,y e), the first set of quintic polynomial equations is y0=k1x0 5 +k2x0 4 +k3x0 3 +k4x0 2 +k5x0+k6;y e =k1x e 5 +k2x e 4 +k3x e 3 +k4x e 2 +k5x e +k6;

[0129] The starting heading is θ0 and the ending heading is θ e , the first-order derivative expression corresponding to the expression of the fifth-order polynomial is y′=5k1x 4 +4k2x 3 +3k3x 2 +2k4x+k5; the second set of quintic polynomial equations is tanθ0=5k1x0 4 +4k2x0 3 +3k3x0 2 +2k4x0+k5;tanθ e =5k1x e 4 +4k2x e 3 +3k3x e 2 +2k4x e +k5;

[0130] The curvature expression corresponding to the expression of the quintic polynomial is

[0131] The expression of the starting path curvature K0 is:

[0132] End path curvature K e The expression is

[0133] Optionally, the agricultural machine includes a GNSS module; the acquisition module is further used to execute the step of acquiring the online starting point position of the agricultural machine based on the GNSS module;

[0134] The modules are determined to include:

[0135] A first determining unit, used to determine a first discrete path point that is closest to the upper line starting point position and the discrete path points on the expected path;

[0136] The end point determination unit is used to traverse other discrete path points along the expected path from the first discrete path point, and when the distance between the first discrete path point and any other discrete path point is greater than or equal to the expected upper line distance, determine the current discrete path point as the upper line end point position.

[0137] The agricultural machinery navigation quick entry device provided in the embodiment of the present invention can execute the agricultural machinery navigation quick entry method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0138] The technical solution of the embodiment of the present invention first obtains the online starting position of the agricultural machinery; then determines the online terminal position of the agricultural machinery on the expected path of the agricultural machinery according to the online starting position and the expected online distance of the agricultural machinery; then forms the online path of the agricultural machinery between the online starting position and the online terminal position; and then controls the agricultural machinery to move from the online starting position to the online terminal position along the online path. Furthermore, during the online process of the agricultural machinery, the path of the agricultural machinery is planned and navigated, which solves the problem of excessive online distance and lateral distance overshoot caused by turning, U-turning, etc. caused by direct tracking through the expected path. The planting area of ​​farmers is increased, meeting the standards of precision operations.

[0139] An embodiment of the present invention provides an electronic device, the electronic device comprising:

[0140] at least one processor; and

[0141] a memory communicatively connected to the at least one processor; wherein,

[0142] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the agricultural machinery navigation quick entry method described in any embodiment of the present invention.

[0143] Figure 6 A schematic diagram of an electronic device that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0144] like Figure 6As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the random access memory (RAM) 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the read-only memory (ROM) 12 and the random access memory (RAM) 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0145] A number of components in the electronic device 10 are connected to an input / output (I / O) interface 15, including an input unit 16, such as a keyboard, a mouse, etc., an output unit 17, such as various types of displays, speakers, etc., a storage unit 18, such as a disk, an optical disk, etc., and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0146] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the agricultural machinery navigation fast entry method.

[0147] In some embodiments, the agricultural machinery navigation quick entry method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via a read-only memory (ROM) 12 and / or a communication unit 19. When the computer program is loaded into a random access memory (RAM) 13 and executed by the processor 11, one or more steps of the agricultural machinery navigation quick entry method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the agricultural machinery navigation quick entry method by any other appropriate means (for example, by means of firmware).

[0148] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0149] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0150] An embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the agricultural machinery navigation quick entry method described in any embodiment of the present invention when executed.

[0151] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0152] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0153] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0154] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0155] Therefore, the agricultural machinery navigation fast online method based on a univariate quintic polynomial of discrete path points proposed in the present invention can improve the online speed of agricultural machinery navigation when turning and making U-turns at the edge of the field, reduce the online distance and overshoot, effectively increase the operating area, and increase the crop planting coverage rate.

[0156] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0157] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for rapid navigation of agricultural machinery, characterized in that: include: Get the online starting point of the agricultural machinery; Determining the on-line end point position of the agricultural machine on the expected path of the agricultural machine according to the on-line starting point position and the expected on-line distance of the agricultural machine; forming an upper line path of the agricultural machine between the upper line starting position and the upper line ending position; The agricultural machine is controlled to move radially from the upper line starting position to the upper line end position along the upper line route.

2. The agricultural machinery navigation quick entry method according to claim 1 is characterized in that: When controlling the agricultural machine to move from the upper line starting position along the upper line radial direction to the upper line end position, it also includes: Acquiring the motion parameters of the agricultural machine in real time; When the deviation between the motion parameter of the agricultural machine and the motion parameter set for the agricultural machine at the upper line end point is within a preset threshold range, the agricultural machine is controlled to switch from the upper line path to the expected path for movement.

3. The agricultural machinery navigation quick entry method according to claim 1 is characterized in that: The forming of the upper line path of the agricultural machine between the upper line starting position and the upper line end position comprises: Obtaining a first path fitting parameter at the upper line starting point and a second path fitting parameter at the upper line end point; The expression for fitting the upper path of the agricultural machinery according to the first path fitting parameter and the second path fitting parameter is a fifth-order polynomial, wherein the expression of the fifth-order polynomial is y=k1x 5 +k2x 4 +k3x 3 +k4x 2 +k5x+k6, (x, y) is the position coordinate of any point on the upper line path; k1, k2, k3, k4, k5, k6 are equation coefficients; the first path fitting parameters include at least the starting point coordinates, the starting point heading and the starting point path curvature, and the second path fitting parameters include at least the end point coordinates, the end point heading and the end point path curvature.

4. The agricultural machinery navigation quick entry method according to claim 3 is characterized in that: The expression for fitting the upper path of the agricultural machinery according to the first path fitting parameter and the second path fitting parameter is a quintic polynomial including: Six equations are obtained according to the first path fitting parameters, the second path fitting parameters and the quintic polynomial, and equation coefficients of the quintic polynomial are calculated according to the six equations.

5. The agricultural machinery navigation quick entry method according to claim 4 is characterized in that: Six equations are obtained according to the first path fitting parameter, the second path fitting parameter and the quintic polynomial, and calculating the equation coefficients of the quintic polynomial according to the six equations includes: Generate a first set of quintic polynomial equations according to the starting point coordinates, the end point coordinates and the expression of the quintic polynomial; Generate a second set of quintic polynomial equations according to the starting heading, the ending heading and the first-order derivative expression corresponding to the expression of the quintic polynomial; Generate a third set of quintic polynomial equations according to the curvature of the starting path, the curvature of the ending path and the curvature expression corresponding to the expression of the quintic polynomial; The equation coefficients of the quintic polynomial are obtained based on the first set of quintic polynomial equations, the second set of quintic polynomial equations and the third set of quintic polynomial equations.

6. The agricultural machinery navigation quick entry method according to claim 5, characterized in that: The starting point coordinates are (x0, y0) and the end point coordinates are (x e ,y e ), the first set of quintic polynomial equations is y0=k1x0 5 +k2x0 4 +k3x0 3 +k4x0 2 +k5x0+k6;y e =k1x e 5 +k2x e 4 +k3x e 3 +k4x e 2 +k5x e +k6; The starting heading is θ0, and the ending heading is θ e The first-order derivative expression corresponding to the expression of the fifth-order polynomial is y′=5k1x 4 +4k2x 3 +3k3x 2 +2k4x+k5; the second set of quintic polynomial equations is tanθ0=5k1x0 4 +4k2x0 3 +3k3x0 2 +2k4x0+k5;tanθ e =5k1x e 4 +4k2x e 3 +3k3x e 2 +2k4x e +k5; The curvature expression corresponding to the expression of the quintic polynomial is: The expression of the starting point path curvature K0 is: The end point path curvature K e The expression of is, 7. The agricultural machinery navigation quick entry method according to claim 1, characterized in that: The agricultural machine includes a GNSS module; The online starting points for obtaining agricultural machinery include: Acquire the online starting point position of the agricultural machinery based on the GNSS module; Determining the on-line end position of the agricultural machine on the expected path of the agricultural machine according to the on-line starting point position and the expected on-line distance of the agricultural machine includes: Determine the first discrete path point that is closest to the upper line starting point position and the discrete path points on the expected path; Traversing other discrete path points along the expected path from the first discrete path point, when the distance between the first discrete path point and any other discrete path point is greater than or equal to the expected upper line distance, determining the current discrete path point as the upper line end point position.

8. A quick entry device for agricultural machinery navigation, characterized in that: include: An acquisition module is used to obtain the online starting point position of the agricultural machinery; A determination module, used to determine the on-line end point position of the agricultural machine on the expected path of the agricultural machine according to the on-line starting point position and the expected on-line distance of the agricultural machine; A fitting module, used for forming an upper line path of the agricultural machine between the upper line starting position and the upper line end position; The control module is used to control the agricultural machine to move from the upper line starting position along the upper line radial direction to the upper line end position.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the agricultural machinery navigation quick entry method described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the agricultural machinery navigation quick entry method according to any one of claims 1-7 when executed.

Images