Path planning method, agricultural machine control device, agricultural machine and medium

Abstract

The invention provides a path planning method, an agricultural machine control device, an agricultural machine and a medium, and the method comprises the steps: obtaining all concave points of a target land parcel in a concave polygon shape, and obtaining at least two candidate extension edges according to a related edge passing through a concave point in the target land parcel; dividing the target plot according to the candidate extension edge to obtain a segmented polygon; calculating polygon complexities corresponding to all the segmented polygons, and selecting a target extension edge corresponding to the minimum polygon complexity from a plurality of polygon complexities; dividing the target plot into a plurality of sub-regions according to the target extension edge, wherein all the sub-regions are convex polygons; and generating an agricultural machine operation path according to the agricultural machine operation starting point, the agricultural machine parameters and the sub-regions. The path planning coverage rate of the concave polygon plot is high, the repetition rate is low, the working efficiency is improved, and the cost is reduced.

Description

Technical Field

[0001] The present application relates to the field of agricultural machinery operations, and specifically to a path planning method, an agricultural machinery control device, agricultural machinery and a medium. Background Art

[0002] Agricultural machinery autonomous driving is an interdisciplinary technology involving computer science, pattern recognition, electronics, communications, and control. The technology senses the environmental information around the vehicle and the positioning of the vehicle itself, plans the most suitable path for walking and working, and then controls the direction and speed of the vehicle, ultimately achieving autonomous walking and autonomous operation of agricultural machinery vehicles. Agricultural machinery autonomous driving technology is of great significance in reducing agricultural labor intensity, improving work efficiency, and increasing agricultural production capacity.

[0003] The efficiency and quality of agricultural machinery work depend to a large extent on the rationality of path planning. However, existing path planning algorithms are mostly based on regular rectangles or simple plots. For scenes with complex and irregular shapes, especially those containing concave polygonal plots, the path planning effect is poor, which can easily lead to missed operations, repeated operations and waste of plots, affecting the efficiency and economic benefits of agricultural machinery operations.

[0004] Therefore, it is particularly necessary to design an agricultural machinery operation path planning method that can effectively handle complex land shapes and multilateral area characteristics. Summary of the invention

[0005] The present application provides a path planning method, an agricultural machinery control device, agricultural machinery and a medium. The fan can operate according to the working conditions, reducing the fan power consumption, thereby reducing the overall energy consumption of the agricultural machinery and improving the user experience.

[0006] In a first aspect, the present application provides a path planning method for a concave polygonal plot, comprising:

[0007] Acquire all concave points of a target land parcel in the shape of a concave polygon, and obtain at least two candidate extension edges according to an associated edge in the target land parcel passing through one of the concave points;

[0008] Dividing the target plot according to the candidate extended edges to obtain segmented polygons;

[0009] Calculate the polygon complexity corresponding to each of the segmented polygons, and select a target extension edge according to the multiple polygon complexities, where the target extension edge is the candidate extension edge corresponding to the minimum polygon complexity;

[0010] Dividing the target plot into a plurality of sub-regions according to the target extension edge, wherein all the sub-regions are convex polygons;

[0011] An agricultural machinery operation path is generated according to the agricultural machinery operation starting point, agricultural machinery parameters and the plurality of sub-areas.

[0012] In some embodiments, the step of obtaining all concave points of the target land parcel having a concave polygonal shape includes:

[0013] Obtaining the plane coordinates of all boundary vertices of the polygonal plot; the arrangement order of all boundary vertices of the polygonal plot is clockwise or counterclockwise;

[0014] According to the plane coordinates of the three consecutive boundary vertices, calculating the vector cross products corresponding to all the three consecutive boundary vertices;

[0015] If at least one of the positive and negative signs of the vector cross products corresponding to all three consecutive boundary vertices is different, it is determined that the polygonal plot belongs to the target plot.

[0016] In some embodiments, it also includes:

[0017] If the positive and negative signs of the vector cross products corresponding to all three consecutive boundary vertices are the same, it is determined that the polygonal plot belongs to a convex polygonal plot, and the agricultural machinery operation path is generated according to the agricultural machinery operation starting point, agricultural machinery parameters and the polygonal plot.

[0018] In some embodiments, obtaining at least two candidate extension edges according to an associated edge passing through a concave point in the target land parcel comprises:

[0019] At least two candidate extension edges passing through the concave point are generated within a target range, and the angle between two adjacent candidate extension edges is a preset angle; the target range is between the inner normal of the associated edge and the outer normal of the associated edge.

[0020] In some embodiments, the calculating of the polygon complexity corresponding to each of the segmented polygons comprises:

[0021] Generate a directed acyclic graph according to the intersection points between the candidate extended edges and the target plot, the boundary vertices of the target plot, and the segmentation line;

[0022] Acquire a first number of the concave points of the segmented polygon and a second number of the boundary vertices of the segmented polygon according to the directed acyclic graph;

[0023] The polygon complexity corresponding to the segmented polygon is calculated by using the first number as the dividend and the second number as the divisor.

[0024] In some embodiments, dividing the target plot into a plurality of sub-areas according to the target extension edge comprises:

[0025] Dividing the target plot according to the target extension edge to obtain the corresponding sub-areas;

[0026] Determine whether the shapes of the sub-regions are all convex polygons;

[0027] If the concave polygon exists in the shapes of all the sub-regions, the sub-regions are further divided according to the target extension edge of the sub-region whose shape is the concave polygon;

[0028] If the shapes of all the sub-regions are the convex polygons, the division is completed.

[0029] In some embodiments, generating an agricultural machinery operation path according to an agricultural machinery operation starting point, agricultural machinery parameters and a plurality of said sub-areas comprises:

[0030] Acquire the agricultural machinery parameters; the agricultural machinery parameters include the agricultural machinery travel direction, the agricultural machinery working width and the agricultural machinery turning radius;

[0031] Starting from the starting point of the agricultural machinery operation, with the working width of the agricultural machinery as intervals, generating a plurality of travel sub-routes perpendicular to the travel direction of the agricultural machinery in all the sub-areas;

[0032] Clipping and removing the path segments exceeding the boundary line of the target plot from the plurality of traveling sub-routes to obtain a plurality of clipped traveling sub-routes;

[0033] Between each two adjacent sub-areas, the endpoints of two adjacent clipped travel sub-routes are sequentially connected according to the turning radius of the agricultural machinery to generate the agricultural machinery operation path.

[0034] In a second aspect, the present application also provides an agricultural machinery control device for a concave polygonal plot, the device comprising a processor and a memory; the memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to execute the path planning method for the concave polygonal plot as described in the first aspect.

[0035] In the third aspect, the present application also provides an agricultural machinery, which includes an agricultural machinery power unit and an agricultural machinery control device for the concave polygonal plot as described in the second aspect, wherein the agricultural machinery control device is used to perform path planning for the concave polygonal plot to control the agricultural machinery power unit to perform agricultural machinery operations on the concave polygonal plot.

[0036] In a fourth aspect, the present application further provides a computer-readable storage medium storing program instructions, wherein the program instructions are used to be read by a processor to execute the path planning method for the concave polygonal plot as described in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 It is a flow chart of a path planning method for a concave polygonal plot provided in an embodiment of the present application.

[0039] Figure 2 This is a scenario diagram of a path planning method for a concave polygonal plot provided in an embodiment of the present application.

[0040] Figure 3 This is a schematic diagram of a scenario in which a path planning method for a concave polygonal plot provided in an embodiment of the present application generates multiple travel routes in a sub-area according to the operating width of an agricultural machinery.

[0041] Figure 4 It is a scene schematic diagram of the agricultural machinery operation path of the path planning method for the concave polygonal plot provided in the embodiment of the present application. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0043] In the description of the embodiments of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0044] In order to enable any person skilled in the art to implement and use the present application, the following description is provided. In the following description, details are listed for the purpose of explanation. It should be understood that those of ordinary skill in the art can recognize that the present application can also be implemented without using these specific details. In other examples, the known process will not be elaborated in detail to avoid unnecessary details that make the description of the present application embodiment obscure. Therefore, the present application is not intended to be limited to the embodiments shown, but is consistent with the widest range of principles and features disclosed in accordance with the embodiments of the present application.

[0045] Agricultural machinery is a general term for various mechanical equipment used in the agricultural production process. The use of agricultural machinery can improve agricultural production efficiency, reduce labor intensity, and promote agricultural modernization. The shapes of plots for agricultural machinery operations can be divided into regular (such as rectangles), relatively regular (such as trapezoids), and irregular (such as convex polygons, triangles, and concave polygons). The higher the degree of regularity, the higher the mechanical rotary tillage efficiency. For example, on the same area gradient, the mechanical rotary tillage efficiency of rectangular plots is the highest, followed by trapezoidal plots, and the lowest for right-angled triangle plots.

[0046] The internal angle characteristics of convex polygons are that the internal angles of convex polygons are all less than 180°, all diagonals of convex polygons are inside, and the number of diagonals of a convex polygon with n sides is (n(n-3)) / 2. Convex polygons have regular shapes, few turning points, and large turning angles, which are conducive to improving the efficiency of mechanical rotary tillage. On the same area gradient, convex polygon plots have higher operating efficiency.

[0047] The interior angle property of a concave polygon is that there is at least one interior angle greater than 180 degrees. All vertices of a concave polygon are located on the boundary of its convex hull. Like convex polygons, (n-3) diagonals can be drawn from a vertex of a concave polygon with n sides, but these (n-3) diagonals may be partially located outside the concave polygon. The sum of the interior angles of a concave polygon is (n-2)×180°, which is the same as the sum of the interior angles of a convex polygon. Concave polygon plots may pose challenges to agricultural machinery operations due to their irregularity, such as requiring more complex path planning to avoid blind spots and obstacles.

[0048] The current agricultural machinery operation methods mainly focus on path planning for convex polygonal plots. These methods can reasonably complete the harrowing operation of convex polygonal plots. However, due to the variety of plot types, there are still many concave polygonal plots that need path planning during agricultural machinery operations. According to the current operation methods, path planning often results in a large number of repeated edge compressions at the boundaries of the plots.

[0049] The path planning method, agricultural machinery and storage medium for the concave polygonal plot of land of the present application are described below in conjunction with the drawings in the specification to solve the above-mentioned problems.

[0050] Reference Figure 1 As shown, Figure 1 is a flow chart of a path planning method for a concave polygonal plot provided in an embodiment of the present application. Figure 1 The flowcharts shown in the figures or other figures show a logical order, but in some cases, the steps shown or described may be performed in a different order than that shown in the figures. The path planning method for a concave polygonal plot provided in the embodiment of the present application is applied to an agricultural machine, wherein the agricultural machine is equipped with a fan, such as Figure 1 As shown, the path planning method for the concave polygonal plot includes the following steps:

[0051] S100, obtaining all concave points of a target land parcel Q in the shape of a concave polygon, and obtaining at least two candidate extension edges according to an associated edge in the target land parcel Q passing through one of the concave points;

[0052] S200, dividing the target plot Q according to the candidate extended edges to obtain segmented polygons;

[0053] S300, calculating the polygon complexity corresponding to each of the segmented polygons, and selecting a target extension edge according to the multiple polygon complexities, wherein the target extension edge is the candidate extension edge corresponding to the minimum polygon complexity;

[0054] S400, dividing the target plot Q into a plurality of sub-regions according to the target extension edge, and all the sub-regions are convex polygons;

[0055] S500, generating an agricultural machinery operation path according to the agricultural machinery operation starting point, agricultural machinery parameters and the plurality of sub-areas.

[0056] Specifically, agricultural machinery includes seeders, rice transplanters, fertilizer spreaders, harvesters, harrows, tillers, etc. A convex point is a point where a polygon "protrudes" outward, and a concave point is a point where a polygon "sunkens" inward, that is, a convex point refers to a vertex of a polygon such that the internal angle at the vertex is less than 180 degrees, and a concave point refers to a vertex of a polygon such that the internal angle at the vertex is greater than 180 degrees. In a concave polygon, there is at least one concave point. In order to solve the problem that traditional agricultural machinery path planning methods are difficult to achieve full coverage due to the complex shapes of irregular plots, especially the problem that existing path planning methods usually ignore concave polygon plots, the present application can calculate the internal angle between each two adjacent boundary lines based on all boundary lines of the target plot Q with a concave polygon shape. If the internal angle is greater than 180 degrees, the boundary vertex corresponding to the internal angle is determined to be a concave point. Conversely, if the internal angle is less than 180 degrees, the boundary vertex corresponding to the internal angle is determined to be a convex point, and all concave points are recorded. Then, at least two corresponding candidate extension edges are generated according to each boundary line passing through a concave point in the target land parcel Q, wherein a concave point and a boundary line passing through the concave point correspond to at least two candidate extension edges, and at least two candidate extension edges obtained from two boundary lines passing through the same concave point may be partially identical and partially different. Figure 2 As shown, Figure 2 is a schematic diagram of a scenario for generating at least two candidate extension edges provided in an embodiment of the present application, such as Figure 2As shown, there are two associated edges passing through the first concave point P1 in the target plot Q, namely the first associated edge L1 and the second associated edge L2. According to the first associated edge L1, at least two candidate extension edges can be obtained according to the first associated edge L1, and at least two other candidate extension edges can be obtained according to the second associated edge L2. There is duplication between the multiple candidate extension lines corresponding to the first associated edge L1 and the at least two other candidate extension edges corresponding to the second associated edge L2, that is, part of the multiple candidate extension lines corresponding to the first associated edge L1 may be part of the multiple other candidate extension lines corresponding to the second associated edge L2. One of the at least two candidate extension edges, candidate extension edges Hi, is used as a dividing line to extend to the inside of the target plot Q until the extended candidate extension edge Hi intersects with other boundary lines of the target plot Q. The target plot Q is divided once by using the candidate extension edge Hi as a dividing line. The target plot Q can be divided once according to the candidate extension edge Hi to obtain a segmented polygon. Similarly, each of the at least two candidate extension edges can be obtained as a dividing line extending to the inside of the target plot Q until it intersects with other boundary lines of the target plot Q, and the corresponding segmented polygons are obtained. Then, the polygon complexity corresponding to each segmented polygon is calculated, and the multiple polygon complexities are compared. The candidate extension edge corresponding to the smallest polygon complexity can be used as the target extension edge. In this way, the target plot Q is divided into multiple sub-areas whose shapes are all convex polygons according to the target extension edge. This process is a concave polygon segmentation algorithm. In this way, the agricultural machinery operation path can be generated according to the agricultural machinery operation starting point, agricultural machinery parameters and the target plot Q composed of multiple sub-areas whose shapes are all convex polygons. This process is a reciprocating covering path planning algorithm.

[0057] This application combines the concave polygon segmentation algorithm and the reciprocating coverage path planning algorithm to plan an operation path for agricultural machinery with high coverage, low repetition rate and suitable for irregular concave polygons, thereby improving the working efficiency of agricultural machinery and greatly reducing the cost of manual intervention.

[0058] In some embodiments, the step of obtaining all concave points of the target land parcel Q having a concave polygonal shape includes:

[0059] S010, obtaining the plane coordinates of all boundary vertices of the polygonal plot; the arrangement order of all boundary vertices of the polygonal plot is clockwise or counterclockwise;

[0060] S020, calculating the vector cross products corresponding to the three consecutive boundary vertices according to the plane coordinates of the three consecutive boundary vertices;

[0061] S030, if at least one of the positive and negative signs of the vector cross products corresponding to all three consecutive boundary vertices is different, it is determined that the polygonal plot belongs to the target plot Q;

[0062] S040. If the positive and negative signs of the vector cross products corresponding to all three consecutive boundary vertices are the same, it is determined that the polygonal plot belongs to a convex polygonal plot, and an agricultural machinery operation path is generated according to the agricultural machinery operation starting point, agricultural machinery parameters and the polygonal plot.

[0063] Specifically, drive the agricultural machinery on the polygonal plot and mark points to obtain the point set of the polygonal plot. The point set includes the plane coordinates of all the boundary vertices of the polygonal plot, and ensure that the order of marking the agricultural machinery on the polygonal plot is clockwise or counterclockwise, that is, the arrangement order of all boundary vertices on the boundary of the polygonal plot is clockwise or counterclockwise. Because different orders will affect the calculation results of the vector cross product, and then affect the judgment of whether the polygon is convex or concave, when performing vector cross product calculations, it is necessary to maintain the consistency of the vertex order to ensure the accuracy of the calculation. In short, it is necessary to determine the coordinates of all vertices on the polygonal boundary and arrange these coordinates in a certain order (clockwise or counterclockwise) for subsequent geometric analysis and calculations.

[0064] After obtaining the plane coordinates of all the boundary vertices of the polygonal plot, the application calculates and analyzes the geometric features of the polygon based on the plane coordinates of three consecutive boundary vertices. Assume that the three consecutive boundary vertices are P i-1 , P i and P i+1 , and their corresponding plane coordinates are (X i-1 , Y i-1 ), (X i , Y i ) and (X i+1 , Y i+1 ), we can use the vector cross product method to determine whether the polygonal plot is a concave polygon, that is, calculate the vector product from the first boundary vertex P i-1 To the second boundary vertex P i The first vector vec1 is calculated from the second boundary vertex P i To the third boundary vertex P i+1 The second vector vec2, where the first vector vec1 = (X i -X i-1 , Y i -Y i-1 ), the second vector vec2 = (X i+1 -X i , Y i+1 -Y i). Substitute the first vector vec1 and the second vector vec2 into the following formula to calculate the vector cross product, vec1×vec2=(X i -X i-1 )*(Y i+1 -Y i )-(Y i -Y i-1 )*(X i+1 -X i ). Referring to the above process, the vector cross products corresponding to all three consecutive boundary vertices are calculated. If the positive and negative signs of the vector cross products corresponding to all three consecutive boundary vertices are different from the positive and negative signs of the vector cross products corresponding to the other three consecutive boundary vertices, then the shape of the polygonal plot is determined to be a concave polygon, that is, the polygonal plot is determined to be the target plot Q. If the positive and negative signs of the vector cross products corresponding to all three consecutive boundary vertices are the same, for example, both are negative or both are positive, then the shape of the polygonal plot is determined to be a convex polygon, that is, the polygonal plot is determined not to be the target plot Q.

[0065] In some embodiments, obtaining at least two candidate extension edges according to an associated edge passing through a concave point in the target land parcel Q comprises:

[0066] At least two candidate extension edges passing through the concave point are generated within a target range, and the angle between two adjacent candidate extension edges is a preset angle; the target range is between the inner normal of the associated edge and the outer normal of the associated edge.

[0067] Specifically, for each concave point, there are two edges associated with it, that is, the two edges connected to or passing through the concave point are both associated edges. According to the associated edges, several angles can be selected in the extended reverse range, that is, the target range, to generate at least two candidate extended edges. The target range is the range between the inner normal and the outer normal of the associated edge, and the angle between the inner normal and the outer normal is 180. Among them, the inner normal refers to the line segment that passes through the current concave point, is perpendicular to the associated edge passing through the current concave point, and points to the inside of the concave polygon of the target plot Q, that is, the inner normal points to the inside of the concave polygon of the target plot Q. The outer normal refers to the direction that passes through the current concave point, is perpendicular to the associated edge passing through the current concave point, and points to the outside of the concave polygon of the target plot Q, that is, the outer normal points to the outside of the concave polygon of the target plot Q. Located between the inner normal and the outer normal, multiple extension directions can be obtained at a preset angle, and are extended along each extension direction until it intersects with the boundary line of the target plot Q. These extended edges are candidate extension lines that pass through the current concave point. The candidate extension lines can be used as dividing lines to divide the concave polygon into new areas. As shown in FIG. Figure 3 and Figure 4As shown, assuming that the first internal normal I1 is taken as the starting point and the first external normal O1 is taken as the end point, a first candidate extension line whose angle with the first internal normal I1 is a preset angle is generated along a preset direction (e.g., clockwise direction), and then a second candidate extension line whose angle with the first candidate extension line is a preset angle is generated along the preset direction, and so on, until the kth candidate extension line whose angle with the first external normal O1 is a preset angle is generated. For example, 18 candidate extension lines can be generated when the preset angle is 10 degrees. For another example, 9 candidate extension lines can be generated when the preset angle is 20 degrees. For another example, 6 candidate extension lines can be generated when the preset angle is 30 degrees. For another example, 3 candidate extension lines can be generated when the preset angle is 60 degrees. In short, the target range is an integer multiple of the number of candidate extension lines generated.

[0068] The present application can generate at least two candidate extension lines for the associated edges of each concave point. The purpose of changing the shape of the concave polygon can be achieved through at least two candidate extension lines, thereby changing the concave point of the target plot Q of the concave polygon into a convex point.

[0069] In some embodiments, the calculating of the polygon complexity corresponding to each of the segmented polygons comprises:

[0070] Generate a directed acyclic graph according to the intersection between the segmentation line and the target plot Q, the boundary vertices of the target plot Q and the segmentation line;

[0071] Acquire a first number of the concave points of the segmented polygon and a second number of the boundary vertices of the segmented polygon according to the directed acyclic graph;

[0072] The polygon complexity corresponding to the segmented polygon is calculated by using the first number as the dividend and the second number as the divisor.

[0073] Specifically, initialize DAG (Directed Acyclic Graph), that is, create an empty DAG structure to store the information of the polygon after segmentation. Define nodes, that is, define each vertex of the concave polygon as a node in DAG, and define each newly generated candidate extension line as a segmentation line and the intersection of the polygon as a node in DAG. Define edges, that is, the edges of DAG represent candidate extension lines, which connect different nodes (i.e., different polygon areas or segmentation points). Add nodes, that is, for each newly generated candidate extension line, check its intersection with other edges of the concave polygon, and add these intersections as new nodes to DAG. Add edges, that is, for each newly generated candidate extension line, add it as an edge to DAG, connecting its starting point and end point (i.e., the two intersections of the candidate extension line). Record segmentation information, that is, each node or edge can store additional information, such as the vertex list of the polygon after segmentation, the number of concave points, i.e., the first number, the total number of vertices, i.e., the second number, etc. For each polygon after segmentation, its corresponding polygon complexity can be calculated, that is, the number of concave points divided by the total number of vertices. According to the calculated polygon complexity, the extension line of the extension direction with the lowest polygon complexity, that is, the candidate extension line, is selected as the target extension line, which means that the candidate extension line that generates the least new concave points is selected as the extension direction. It should be noted that each time an extension direction is selected and the segmentation is performed, the DAG is updated to reflect the new segmentation result and another polygon complexity is obtained. Repeat the above process until all non-convex parts are segmented into convex areas, that is, until all nodes (polygonal areas) in the DAG are convex polygons. Through this process, the DAG of the present application not only records the structure of the polygon after segmentation, but also helps to select the optimal segmentation direction to minimize the complexity after segmentation. This method can effectively manage and optimize the process of segmenting concave polygons into convex polygons.

[0074] In some embodiments, dividing the target plot Q into a plurality of sub-areas according to the target extension edge comprises:

[0075] Dividing the target plot Q according to the target extension edge to obtain the corresponding sub-areas;

[0076] Determine whether the shapes of the sub-regions are all convex polygons;

[0077] If the concave polygon exists in the shapes of all the sub-regions, the sub-regions are further divided according to the target extension edge of the sub-region whose shape is the concave polygon;

[0078] If the shapes of all the sub-regions are the convex polygons, the division is completed.

[0079] Specifically, the target extension line is used to divide the non-convex polygon into multiple new sub-regions, which may be convex or still non-convex. Each newly generated sub-region is checked to determine whether it is a convex shape. If there is a non-convex part, it is necessary to continue to perform internal expansion of the edge until all sub-regions are convex. In this process, the target extension line is the key to achieving polygon segmentation, which can help gradually transform the concave polygon into multiple convex polygon sub-regions. By repeating this process, the goal of segmenting the entire concave polygon target plot Q into multiple convex polygon sub-regions is finally achieved.

[0080] In some embodiments, generating an agricultural machinery operation path according to the agricultural machinery operation starting point q1, agricultural machinery parameters and a plurality of sub-areas includes:

[0081] Acquire the agricultural machinery parameters; the agricultural machinery parameters include the agricultural machinery travel direction, the agricultural machinery working width d and the agricultural machinery turning radius R;

[0082] Starting from the agricultural machinery operation starting point q1, with the agricultural machinery working width d as an interval, a plurality of travel sub-routes Sj perpendicular to the travel direction of the agricultural machinery are generated in all the sub-areas;

[0083] Clipping and removing the path segments exceeding the boundary line of the target plot Q from the plurality of traveling sub-routes Sj to obtain a plurality of clipped traveling sub-routes Sj;

[0084] Between each two adjacent sub-areas, the endpoints of two adjacent clipped travel sub-routes Sj are sequentially connected according to the turning radius of the agricultural machinery to generate the agricultural machinery operation path.

[0085] Specifically, Figure 3 and Figure 4As shown, the working width d of the agricultural machinery refers to the width range that the agricultural machinery can cover in a single operation when the agricultural machinery is operating. Specifically, it refers to the width of the area that the agricultural machinery can handle during one travel. For example, if the agricultural machinery is a rice transplanter, then the working width d of the agricultural machinery is the width of the rice transplanter that can transplant rice in one travel. Determine the starting point q1 of the agricultural machinery operation (for example, the starting rice transplanting point), and the starting point q1 of the agricultural machinery operation can be set according to the needs. Usually, the direction parallel to the longest side of the area of ​​the target plot Q is selected as the main coverage direction (i.e., the direction of the agricultural machinery). In the absence of special designation, the direction parallel to the longest side of the target plot Q is usually selected as the direction of the agricultural machinery. The advantage of this is that it can minimize the number of turns of the agricultural machinery and improve the operation efficiency. It is also possible to select a custom direction as the direction of the agricultural machinery according to the user. For example, if the shape of the operating area is irregular or has special terrain features, the user may choose a more suitable direction as the direction of the agricultural machinery. Starting from a sub-area of ​​the target plot Q to which the agricultural machinery operation starting point q1 belongs, a number of parallel coverage lines (i.e., travel sub-routes Sj) are generated with the agricultural machinery working width d as an interval, and the adjacent travel sub-routes Sj are kept equidistant from each other to ensure that no area is missed. The starting point and end point of each travel sub-route Sj are determined, and the path segments exceeding the regional boundary of the target plot Q are cut to obtain multiple clipped travel sub-routes Sj. Between each adjacent two sub-areas, according to the agricultural machinery turning radius, the endpoints of the two adjacent clipped travel sub-routes Sj are connected in sequence to generate a continuous round-trip path, i.e., the agricultural machinery operation path, so as to ensure the continuity and efficiency of the agricultural machinery during the operation process. When planning the path, the present application needs to generate parallel coverage lines with the agricultural machinery working width d as an interval, so as to ensure that the entire area is covered without omissions, and the number of round trips of the agricultural machinery is reduced. This application takes into account the turning radius R and operating efficiency of agricultural machinery, and can use a "Z"-shaped or zigzag scanning method to perform path planning within each area, which can improve operating efficiency and reduce the number of turns. This application can use intelligent algorithms such as numerical iteration algorithms for path planning to achieve better path selection and operating efficiency. This application can effectively perform path planning for multiple convex polygonal sub-areas to achieve efficient agricultural machinery operations, which has an important impact on improving operating efficiency and quality.

[0086] For example, if the working width d of the agricultural machinery is 3 meters, then when planning the path, a new parallel path will be planned every 3 meters from one side of the area until the entire area is covered. This ensures that the distance between each path is 3 meters when the agricultural machinery is working, thus achieving uniform coverage.

[0087] It should be noted that if there is an inclined boundary in the target plot Q (i.e., the sub-area of ​​the operation is not horizontal or vertical), the direction of the target plot Q can be adjusted by rotating the coordinate system so that it is aligned with the direction of travel of the agricultural machinery. In other words, the present application can first identify whether the boundary line of the target plot Q is not parallel to the standard direction (usually north-south or east-west), that is, identify the inclined boundary. If the boundary line of the target plot Q is inclined, the entire coordinate system can be rotated by mathematical transformation (such as rotation matrix) so that the boundary line of the target plot Q is parallel to the new coordinate axis. In this way, the originally inclined boundary becomes horizontal or vertical in the new coordinate system, thereby simplifying path planning. After rotating the coordinate system, a direction parallel to the longest side of the target plot Q can be selected as the main coverage direction. The purpose of doing this is to make the direction of travel of the agricultural machinery parallel to the longest side of the plot, so as to reduce the number of turns and improve work efficiency. In the new coordinate system, it is easier to plan paths parallel to the main coverage direction because these paths are straight lines in the new coordinate system and may be curves in the original coordinate system. After planning is completed, if necessary, the path can be converted back to the original coordinate system for execution in the actual geographical environment. The rotated coordinate system is particularly suitable for plots with irregular boundaries or slopes. By rotating the coordinate system, path planning can be made simpler and more efficient, ensuring that the path of agricultural machinery operations is more reasonable and reducing unnecessary turns and repeated operations.

[0088] In a second aspect, the present application also provides an agricultural machinery control device for a concave polygonal plot, the device comprising a processor and a memory; the memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to execute the path planning method for the concave polygonal plot as described in the first aspect.

[0089] In the third aspect, the present application also provides an agricultural machinery, which includes an agricultural machinery power unit and an agricultural machinery control device for the concave polygonal plot as described in the second aspect, wherein the agricultural machinery control device is used to perform path planning for the concave polygonal plot to control the agricultural machinery power unit to perform agricultural machinery operations on the concave polygonal plot.

[0090] In a fourth aspect, the present application further provides a computer-readable storage medium storing program instructions, wherein the program instructions are used to be read by a processor to execute the path planning method for the concave polygonal plot as described in the first aspect.

[0091] In specific implementation, the above units or modules can be implemented as independent entities, or can be arbitrarily combined to be implemented as the same or several entities. The above units or modules can refer to the previous method embodiments to implement data collection for supply chain management projects, which will not be repeated here.

[0092] Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructions, or by controlling related hardware through instructions, and the instructions can be stored in a computer-readable storage medium, and loaded and executed by a processor to implement the above method embodiments. The computer-readable storage medium may include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc.

[0093] In the above embodiments, the description of each embodiment has its own emphasis. For parts not described in detail in a certain embodiment, reference can be made to the relevant description of other embodiments. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process and beneficial effects of the data acquisition system and its corresponding units described above can refer to the description of the path planning method for the concave polygonal plot in the above embodiment, and will not be repeated here.

[0094] The above is a detailed introduction to a path planning method and system for a concave polygonal plot provided in an embodiment of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for technical personnel in this field, based on the ideas of the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A path planning method for a concave polygonal plot, characterized in that: include: Acquire all concave points of a target land parcel in the shape of a concave polygon, and obtain at least two candidate extension edges according to an associated edge in the target land parcel passing through one of the concave points; Dividing the target plot according to the candidate extended edges to obtain segmented polygons; Calculate the polygon complexity corresponding to each of the segmented polygons, and select a target extension edge according to the multiple polygon complexities, where the target extension edge is the candidate extension edge corresponding to the minimum polygon complexity; Dividing the target plot into a plurality of sub-regions according to the target extension edge, wherein all the sub-regions are convex polygons; An agricultural machinery operation path is generated according to the agricultural machinery operation starting point, agricultural machinery parameters and the plurality of sub-areas.

2. The path planning method for concave polygonal plots according to claim 1, characterized in that: The step of obtaining all concave points of the target land parcel with a concave polygon shape includes: Obtaining the plane coordinates of all boundary vertices of the polygonal plot; the arrangement order of all boundary vertices of the polygonal plot is clockwise or counterclockwise; According to the plane coordinates of the three consecutive boundary vertices, calculating the vector cross products corresponding to all the three consecutive boundary vertices; If at least one of the positive and negative signs of the vector cross products corresponding to all three consecutive boundary vertices is different, it is determined that the polygonal plot belongs to the target plot.

3. The path planning method for concave polygonal plots according to claim 2, characterized in that: Also includes: If the positive and negative signs of the vector cross products corresponding to all three consecutive boundary vertices are the same, it is determined that the polygonal plot belongs to a convex polygonal plot, and the agricultural machinery operation path is generated according to the agricultural machinery operation starting point, agricultural machinery parameters and the polygonal plot.

4. The path planning method for a concave polygonal plot according to claim 1, characterized in that: The step of obtaining at least two candidate extension edges according to an associated edge passing through a concave point in the target land parcel comprises: At least two candidate extension edges passing through the concave point are generated within a target range, and the angle between two adjacent candidate extension edges is a preset angle; the target range is between the inner normal of the associated edge and the outer normal of the associated edge.

5. The path planning method for concave polygonal plots according to claim 1, characterized in that: The calculation of the polygon complexity corresponding to each of the segmented polygons comprises: Generate a directed acyclic graph according to the intersection points between the candidate extended edges and the target plot, the boundary vertices of the target plot, and the segmentation line; Acquire a first number of the concave points of the segmented polygon and a second number of the boundary vertices of the segmented polygon according to the directed acyclic graph; The polygon complexity corresponding to the segmented polygon is calculated by using the first number as the dividend and the second number as the divisor.

6. The path planning method for concave polygonal plots according to claim 1, characterized in that: The step of dividing the target plot into a plurality of sub-areas according to the target extension edge comprises: Dividing the target plot according to the target extension edge to obtain the corresponding sub-areas; Determine whether the shapes of the sub-regions are all convex polygons; If the concave polygon exists in the shapes of all the sub-regions, the sub-regions are further divided according to the target extension edge of the sub-region whose shape is the concave polygon; If the shapes of all the sub-regions are the convex polygons, the division is completed.

7. The path planning method for a concave polygonal plot according to any one of claims 1 to 6, characterized in that: The generating of the agricultural machinery operation path according to the agricultural machinery operation starting point, the agricultural machinery parameters and the plurality of sub-areas comprises: Acquire the agricultural machinery parameters; the agricultural machinery parameters include the agricultural machinery travel direction, the agricultural machinery working width and the agricultural machinery turning radius; Starting from the starting point of the agricultural machinery operation, with the working width of the agricultural machinery as intervals, generating a plurality of travel sub-routes perpendicular to the travel direction of the agricultural machinery in all the sub-areas; Clipping and removing the path segments exceeding the boundary line of the target plot from the plurality of traveling sub-routes to obtain a plurality of clipped traveling sub-routes; Between each two adjacent sub-areas, the endpoints of two adjacent clipped travel sub-routes are sequentially connected according to the turning radius of the agricultural machinery to generate the agricultural machinery operation path.

8. An agricultural machinery control device for a concave polygonal plot, characterized in that: The device includes a processor and a memory; the memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to execute the path planning method for a concave polygonal plot as described in any one of claims 1 to 7.

9. An agricultural machine, characterized in that: The agricultural machinery includes an agricultural machinery power device and an agricultural machinery control device for the concave polygonal plot as described in claim 8, wherein the agricultural machinery control device is used to perform path planning for the concave polygonal plot to control the agricultural machinery power device to perform agricultural machinery operations on the concave polygonal plot.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program instructions, and the program instructions are used to be read by a processor to execute the path planning method for a concave polygonal plot according to any one of claims 1 to 7.

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