Path planning methods, agricultural machinery control devices, agricultural machinery and media

Abstract

This application provides a path planning method, an agricultural machinery control device, agricultural machinery, and a medium. The method includes obtaining all concave points of a target plot that is a concave polygon; obtaining at least two candidate expansion edges based on an associated edge passing through a concave point in the target plot; dividing the target plot into segmented polygons based on the candidate expansion edges; calculating the polygon complexity of each segmented polygon; selecting the target expansion edge corresponding to the smallest polygon complexity from multiple polygon complexity values; dividing the target plot into multiple sub-regions based on the target expansion edges, all of which are convex polygons; and generating an agricultural machinery operation path based on the starting point of the agricultural machinery operation, agricultural machinery parameters, and multiple sub-regions. This application has high path planning coverage and low repetition rate for concave polygon plots, improving work efficiency and reducing costs.

Description

Technical Field

[0001] This application relates to the field of agricultural machinery operations, specifically to path planning methods, agricultural machinery control devices, agricultural machinery, and media. Background Technology

[0002] Automatic agricultural machinery operation is an interdisciplinary technology involving multiple fields such as computer science, pattern recognition, electronics, communications, and control. This technology perceives the vehicle's surrounding environment and locates the vehicle itself, planning the most suitable path for travel and operation, and then controlling the vehicle's direction and speed to ultimately achieve autonomous movement and operation of the agricultural machinery. Automatic agricultural machinery operation technology is of great significance for reducing agricultural labor intensity, improving work efficiency, and increasing agricultural productivity.

[0003] The efficiency and quality of agricultural machinery operations largely depend on the rationality of path planning. However, existing path planning algorithms are mostly based on regular rectangles or simple blocks. For 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 plot waste, thus affecting the efficiency and economic benefits of agricultural machinery operations.

[0004] Therefore, it is particularly necessary to design a method for agricultural machinery operation path planning that can effectively handle complex plot shapes and polygonal area characteristics. Summary of the Invention

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

[0006] In a first aspect, this application provides a path planning method for concave polygonal plots, including:

[0007] Obtain all concave points of a target plot that is a concave polygon, and obtain at least two candidate extended edges based on an associated edge of the target plot that passes through one of the concave points;

[0008] The target plot is divided into segments based on the candidate extended edges to obtain polygons.

[0009] Calculate the polygon complexity of each of the segmented polygons, and select a target expansion edge based on the multiple polygon complexities. The target expansion edge is the candidate expansion edge corresponding to the smallest polygon complexity.

[0010] The target plot is divided into multiple sub-regions based on the target extended edge, and all the sub-regions are convex polygons.

[0011] The agricultural machinery operation path is generated based on the starting point of the agricultural machinery operation, the agricultural machinery parameters, and multiple sub-regions.

[0012] In some embodiments, the process of obtaining all concave points of a target plot of land in the shape of a concave polygon includes:

[0013] Obtain the planar 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] Calculate the cross product of vectors corresponding to each of the three consecutive boundary vertices based on their planar coordinates.

[0015] If the signs of the cross products of the vectors corresponding to all three consecutive boundary vertices are different by at least one, the polygonal plot is determined to belong to the target plot.

[0016] In some embodiments, it also includes:

[0017] If the cross product of the vectors corresponding to all three consecutive boundary vertices has the same sign, it is determined that the polygonal plot belongs to a convex polygonal plot, and an agricultural machinery operation path is generated based on the starting point of the agricultural machinery operation, the agricultural machinery parameters, and the polygonal plot.

[0018] In some embodiments, obtaining at least two candidate extended edges based on an associated edge in the target plot that passes through one of the concave points includes:

[0019] At least two candidate expansion edges passing through the concave point are generated within the target range, and the included angle between two adjacent candidate expansion 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, calculating the polygon complexity corresponding to each of the segmented polygons includes:

[0021] A directed acyclic graph is generated based on the intersection points between the candidate extended edges and the target plot, the boundary vertices of the target plot, and the dividing lines.

[0022] The first number of concave points of the segmented polygon and the second number of boundary vertices of the segmented polygon are obtained from the directed acyclic graph.

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

[0024] In some embodiments, dividing the target land parcel into multiple sub-regions based on the target extended edge includes:

[0025] The target plot is divided into corresponding sub-regions based on the target extended edge;

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

[0027] If the shape of all the sub-regions contains the concave polygon, the sub-regions are further divided according to the target extended edge of the sub-region with the shape of the concave polygon;

[0028] If the shape of all the sub-regions is a convex polygon, the division ends.

[0029] In some embodiments, generating the agricultural machinery operation path based on the agricultural machinery operation start point, agricultural machinery parameters, and multiple sub-regions includes:

[0030] The agricultural machinery parameters are obtained; the agricultural machinery parameters include the agricultural machinery's direction of travel, working width, and turning radius.

[0031] Starting from the starting point of the agricultural machinery operation, and with the working width of the agricultural machinery as the interval, several multiple travel sub-routes perpendicular to the direction of travel of the agricultural machinery are generated in all the sub-regions;

[0032] Multiple trimmed sub-routes are obtained by trimming and removing path segments that exceed the boundary line of the target plot from the multiple sub-routes.

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

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

[0035] Thirdly, this application also provides an agricultural machine, which includes an agricultural machine power unit and an agricultural machine control device for a concave polygonal plot as described in the second aspect. The agricultural machine control device is used to perform path planning for the concave polygonal plot in order to control the agricultural machine power unit to perform agricultural operations on the concave polygonal plot.

[0036] Fourthly, this application also provides a computer-readable storage medium storing program instructions for being read by a processor to execute the path planning method for concave polygonal plots as described in the first aspect. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a flowchart illustrating a path planning method for concave polygonal plots provided in an embodiment of this application.

[0039] Figure 2 This is a schematic diagram of a path planning method for concave polygonal plots provided in an embodiment of this application.

[0040] Figure 3 This is a schematic diagram of a scenario in which the path planning method for concave polygonal plots provided in this application generates multiple travel routes in a sub-region based on the width of agricultural machinery operations.

[0041] Figure 4 This is a schematic diagram of a scenario for agricultural machinery operation path in the path planning method for concave polygonal plots provided in this application embodiment. Detailed Implementation

[0042] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0043] In the description of the embodiments of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0044] To enable any person skilled in the art to implement and use this application, the following description is provided. In this description, details are set forth for purposes of explanation. It should be understood that those skilled in the art will recognize that this application can be implemented without using these specific details. In other instances, well-known processes will not be described in detail to avoid obscuring the description of the embodiments of this application with unnecessary detail. Therefore, this application is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed in the embodiments of this application.

[0045] Agricultural machinery is a general term for various mechanical equipment used in agricultural production. The use of agricultural machinery can improve agricultural production efficiency, reduce labor intensity, and promote agricultural modernization. The shape of the land where agricultural machinery operates can be categorized as regular (e.g., rectangular), relatively regular (e.g., trapezoidal), and irregular (e.g., convex polygons, triangles, concave polygons). The higher the degree of regularity, the higher the efficiency of mechanical rotary tillage. For example, at the same area gradient, rectangular plots have the highest mechanical rotary tillage efficiency, followed by trapezoidal plots, while right-angled triangular plots have the lowest.

[0046] The interior angle characteristics of a convex polygon are that all interior angles are less than 180°, all diagonals of a convex polygon are inside, and the number of diagonals of a convex polygon with n sides is (n(n-3)) / 2. Convex polygons have a regular shape, fewer inflection points, and larger turning angles, which is beneficial for improving the efficiency of mechanical rotary tillage. At the same area gradient, convex polygon plots have higher operating efficiency.

[0047] The interior angle property of a concave polygon is that at least one interior angle is greater than 180 degrees. All vertices of a concave polygon lie on the boundary of its convex hull. Similar to convex polygons, a vertex of a concave polygon with n sides can have (n-3) diagonals, but these (n-3) diagonals may partially lie outside the concave polygon. The sum of the interior angles of a concave polygon is (n-2) × 180°, the same as that of a convex polygon. Concave polygon plots may present challenges for agricultural machinery operations due to their irregularity, requiring more complex path planning to avoid dead ends and obstacles.

[0048] Current agricultural machinery operation methods mainly focus on path planning for convex polygonal plots, which can reasonably complete harrowing operations on these plots. However, due to the diverse types of plots, many concave polygonal plots also require path planning during agricultural machinery operations. Following current methods often results in significant overlap and repetition at plot boundaries.

[0049] The following description, in conjunction with the accompanying drawings, explains the path planning method, agricultural machinery, and storage medium for the concave polygonal plots of this application in order to address the aforementioned issues.

[0050] Reference Figure 1 As shown, Figure 1 This is a flowchart illustrating a path planning method for a concave polygonal plot provided in an embodiment of this application. It should be noted that, although in Figure 1 The logical sequence is shown in the flowcharts of other accompanying drawings, 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 concave polygonal plots provided in this application is applied to agricultural machinery equipped with fans, such as... Figure 1 As shown, the path planning method for concave polygon plots includes the following steps:

[0051] S100: Obtain all concave points of the target plot Q which is a concave polygon, and obtain at least two candidate extended edges based on an associated edge of the target plot Q that passes through one of the concave points;

[0052] S200. Divide the target plot Q into a segmented polygon based on the candidate extended edges;

[0053] S300. Calculate the polygon complexity of each of the segmented polygons, and select a target expansion edge based on the multiple polygon complexities. The target expansion edge is the candidate expansion edge corresponding to the smallest polygon complexity.

[0054] S400. Divide the target plot Q into multiple sub-regions according to the target extended edge, and all the sub-regions are convex polygons;

[0055] S500: Generate agricultural machinery operation path based on the starting point of agricultural machinery operation, agricultural machinery parameters, and multiple sub-regions.

[0056] Specifically, agricultural machinery includes seeders, rice transplanters, fertilizer applicators, harvesters, harrows, and tillers. A convex point is a point on a polygon that "protrudes" outwards, while a concave point is a point on a polygon that "recesses" inwards. That is, a convex point is a vertex of a polygon where the interior angle at that vertex is less than 180 degrees, and a concave point is a vertex of a polygon where the interior angle at that vertex is greater than 180 degrees. In a concave polygon, there is at least one concave point. To address the difficulty of achieving full coverage in traditional agricultural machinery path planning methods due to the complex shapes of irregular plots, especially since existing path planning methods often neglect concave polygon plots, this application calculates the interior angle between every two adjacent boundary lines of a target plot Q that is a concave polygon. If the interior angle is greater than 180 degrees, the boundary vertex corresponding to that interior angle is determined to be a concave point; conversely, if the interior angle is less than 180 degrees, the boundary vertex corresponding to that interior angle is determined to be a convex point, and all concave points are recorded. Then, based on the boundary line passing through each concave point in the target plot Q, at least two candidate expansion edges are generated. Each concave point and a boundary line passing through that concave point correspond to at least two candidate expansion edges. The at least two candidate expansion edges obtained from the two boundary lines passing through the same concave point may have some overlap and some differences. For example, refer to... Figure 2 As shown, Figure 2 This is a schematic diagram of a scenario for generating at least two candidate extended edges, as provided in an embodiment of this application. Figure 2As shown, there are two associated edges in the target plot Q that pass through the first concave point P1, namely the first associated edge L1 and the second associated edge L2. Based on the first associated edge L1, at least two candidate extension edges can be obtained, and based on the second associated edge L2, at least two other candidate extension edges can be obtained. The multiple candidate extension lines corresponding to the first associated edge L1 and the other at least two candidate extension edges corresponding to the second associated edge L2 overlap, meaning that some of the multiple candidate extension lines corresponding to the first associated edge L1 may be parts of the other multiple candidate extension lines corresponding to the second associated edge L2. One of the at least two candidate extension edges, Hi, is used as a dividing line and extended into the interior 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 using the candidate extension edge Hi as a dividing line, resulting in a segmented polygon. Similarly, at least two candidate expansion edges can be obtained, each of which can be extended into the interior of the target plot Q as a dividing line until it intersects with other boundary lines of the target plot Q, resulting in corresponding segmented polygons. Then, the polygon complexity of each segmented polygon is calculated, and the polygon complexities are compared. The candidate expansion edge with the smallest polygon complexity is selected as the target expansion edge. Thus, the target plot Q is divided into multiple sub-regions, all of which are convex polygons, based on the target expansion edges. This process is a concave polygon segmentation algorithm. In this way, agricultural machinery operation paths can be generated based on the starting point of the agricultural machinery operation, the agricultural machinery parameters, and the target plot Q composed of multiple sub-regions of convex polygons. This process is a reciprocating coverage path planning algorithm.

[0057] This application combines a concave polygon segmentation algorithm with a reciprocating coverage path planning algorithm to plan a high-coverage, low-repetition operation path for agricultural machinery that is 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 process of obtaining all concave points of the target plot Q, which is a concave polygon, includes:

[0059] S010. Obtain the planar 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. Based on the planar coordinates of three consecutive boundary vertices, calculate the cross product of the vectors corresponding to each of the three consecutive boundary vertices.

[0061] S030. If the signs of the cross products of the vectors corresponding to all three consecutive boundary vertices are different by at least one, it is determined that the polygonal plot belongs to the target plot Q.

[0062] S040. If the cross product of the vectors corresponding to all three consecutive boundary vertices has the same sign, it is determined that the polygonal plot belongs to a convex polygonal plot, and an agricultural machinery operation path is generated based on the starting point of agricultural machinery operation, agricultural machinery parameters and the polygonal plot.

[0063] Specifically, the agricultural machinery travels across the polygonal plot, marking points to obtain a point set for the plot. This point set includes the planar coordinates of all boundary vertices of the polygon. It is crucial that the marking order of the agricultural machinery is clockwise or counter-clockwise, meaning the arrangement of all boundary vertices on the polygon's boundary is either clockwise or counter-clockwise. Different orders affect the calculation result of the cross product, thus influencing the determination of whether the polygon is convex or concave. Maintaining consistency in the vertex order is essential for accurate calculations. In short, it is necessary to determine the coordinates of all vertices on the polygon's boundary and arrange these coordinates in a specific order (clockwise or counter-clockwise) for subsequent geometric analysis and calculations.

[0064] After obtaining the planar coordinates of all boundary vertices of the polygonal plot, this application calculates and analyzes the geometric features of the polygon based on the planar coordinates of three consecutive boundary vertices. Assume that the three consecutive boundary vertices are P... i-1 , P i and P i+1 Their corresponding planar coordinates are (X) i-1 , Y i-1 ), (X i , Y i ) and (X i+1 , Y i+1 The cross product method can be used to determine whether a polygonal plot is a concave polygon, i.e., to calculate the cross product from the first boundary vertex P. i-1 To the second boundary vertex P i The first vector vec1 is calculated, and the second boundary vertex P is computed. 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 iSubstituting the first vector vec1 and the second vector vec2 into the following formula, we obtain the cross product: vec1 × vec2 = (X... i -X i-1 )*(Y i+1 -Y i )-(Y i -Y i-1 )*(X i+1 -X i Following the above procedure, calculate the cross product of vectors corresponding to each of the three consecutive boundary vertices. If the sign of the cross product of vectors corresponding to each of the three consecutive boundary vertices differs from the sign of the cross product of vectors corresponding to the other three consecutive boundary vertices, then the shape of the polygonal plot is determined to be a concave polygon, i.e., the polygonal plot is determined to be the target plot Q. If the signs of the cross products of vectors corresponding to each of the three consecutive boundary vertices are all the same, for example, all negative or all positive, then the shape of the polygonal plot is determined to be a convex polygon, i.e., the polygonal plot is determined not to be the target plot Q.

[0065] In some embodiments, obtaining at least two candidate extended edges based on an associated edge in the target plot Q that passes through one of the concave points includes:

[0066] At least two candidate expansion edges passing through the concave point are generated within the target range, and the included angle between two adjacent candidate expansion 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, each concave point has two associated edges; that is, the two edges connecting to or passing through the concave point are associated edges. Based on the associated edges, several angles can be selected within the expansion reverse range, i.e., the target range, to generate at least two candidate expansion edges. The target range is the range between the inner and outer normals of the associated edges, with an angle of 180 degrees between them. The inner normal refers to the line segment passing through the current concave point, perpendicular to the associated edge passing through the current concave point, and pointing towards the interior of the concave polygon of the target plot Q. The outer normal refers to the direction passing through the current concave point, perpendicular to the associated edge passing through the current concave point, and pointing towards the exterior of the concave polygon of the target plot Q. Between the inner and outer normals, multiple expansion directions can be obtained at preset angles. Extending along each expansion direction until intersecting the boundary line of the target plot Q, these extended edges are the candidate expansion lines passing through the current concave point. These candidate expansion lines, acting as dividing lines, can segment the concave polygon into new regions. Figure 3 and Figure 4As shown, assuming the first inner normal I1 is the starting point and the first outer normal O1 is the ending point, a first candidate extension line with a preset angle between it and the first inner normal I1 is generated along a preset direction (e.g., clockwise). Then, a second candidate extension line with a preset angle between it and the first candidate extension line is generated along the same preset direction, and so on, until the k-th candidate extension line with a preset angle between it and the first outer normal O1 is generated. For example, a preset angle of 10 degrees can generate 18 candidate extension lines. Another example is a preset angle of 20 degrees, which can generate 9 candidate extension lines. Yet another example is a preset angle of 30 degrees, which can generate 6 candidate extension lines. Yet another example is a preset angle of 60 degrees, which can generate 3 candidate extension lines. In short, the target range is an integer multiple of the number of candidate extension lines generated.

[0068] For each concave point, this application can generate at least two candidate extension lines. By using at least two candidate extension lines, the shape of the concave polygon can be changed, thereby changing the concave point of the target plot Q of the concave polygon into a convex point.

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

[0070] A directed acyclic graph is generated based on the intersection of the dividing line and the target plot Q, the boundary vertices of the target plot Q, and the dividing line.

[0071] The first number of concave points of the segmented polygon and the second number of boundary vertices of the segmented polygon are obtained from the directed acyclic graph.

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

[0073] Specifically, the process involves initializing a Directed Acyclic Graph (DAG), creating an empty DAG structure to store information about the segmented polygons. Nodes are defined: each vertex of a concave polygon is defined as a node in the DAG, and the intersection of each newly generated candidate extension line (serving as a dividing line) with the polygon is also defined as a node in the DAG. Edges are defined: the edges of the DAG represent candidate extension lines, connecting different nodes (i.e., different polygon regions or dividing points). Nodes are added: for each newly generated candidate extension line, its intersections with other edges of the concave polygon are checked, and these intersections are added as new nodes to the DAG. Edges are added: for each newly generated candidate extension line, it is added as an edge to the DAG, connecting its start and end points (i.e., the two intersections of the candidate extension line). Segmentation information is recorded: each node or edge can store additional information, such as the list of vertices of the segmented polygons, the number of concave vertices (first count), the total number of vertices (second count), etc. The polygon complexity for each segmented polygon can be calculated, which is the number of concave vertices divided by the total number of vertices. Based on the calculated polygon complexity, the extension line of the expansion direction with the lowest polygon complexity, i.e., the candidate expansion line, is selected as the target expansion line. This means selecting the candidate expansion line that generates the fewest new concave points as the expansion direction. It should be noted that after each selection of an expansion direction and execution of segmentation, the DAG is updated to reflect the new segmentation result and another polygon complexity is obtained. This process is repeated until all non-convex parts are segmented into convex regions, i.e., until all nodes (polygon regions) in the DAG are convex polygons. Through this process, the DAG not only records the structure of the segmented polygons but also helps 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 multiple sub-regions based on the target extended edge includes:

[0075] The target plot Q is divided into corresponding sub-regions based on the target extended edge;

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

[0077] If the shape of all the sub-regions contains the concave polygon, the sub-regions are further divided according to the target extended edge of the sub-region with the shape of the concave polygon;

[0078] If the shape of all the sub-regions is a convex polygon, the division ends.

[0079] Specifically, the non-convex polygon is divided into multiple new sub-regions using target expansion lines. These new sub-regions may be convex or still non-convex. Each newly generated sub-region is checked to determine if it is convex. If non-convex portions exist, the internal expansion of the edges continues until all sub-regions are convex. In this process, the target expansion lines are crucial for polygon segmentation, helping to progressively transform a concave polygon into multiple convex polygon sub-regions. By repeating this process, the goal is ultimately achieved: to segment the entire concave polygonal target plot Q into multiple convex polygon sub-regions.

[0080] In some embodiments, generating the agricultural machinery operation path based on the agricultural machinery operation start point q1, agricultural machinery parameters, and multiple sub-regions includes:

[0081] The agricultural machinery parameters are obtained; the agricultural machinery parameters include the agricultural machinery's direction of travel, working width d, and turning radius R.

[0082] Starting from the agricultural machinery operation starting point q1, and with the agricultural machinery working width d as the interval, several multiple travel sub-routes Sj perpendicular to the agricultural machinery's travel direction are generated in all the sub-regions;

[0083] Multiple trimmed sub-routes Sj are obtained by trimming and removing path segments that exceed the boundary line of the target plot Q from the multiple sub-routes Sj.

[0084] Between each two adjacent sub-regions, the endpoints of the two adjacent trimmed 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, such as Figure 3 and Figure 4As shown, the working width d of the agricultural machinery refers to the width range that the machinery can cover in a single operation. Specifically, it refers to the width of the area the machinery can handle in one movement. For example, if the machinery is a rice transplanter, then the working width d is the width of the rice transplanter that can be planted in one movement. Determine the starting point q1 of the agricultural machinery operation (e.g., the starting transplanting point). The starting point q1 can be set according to requirements. Usually, the direction parallel to the longest side of the target plot Q is chosen as the main coverage direction (i.e., the direction of the machinery's movement). Unless otherwise specified, the direction parallel to the longest side of the target plot Q is usually chosen as the direction of the machinery's movement. This minimizes the number of turns the machinery makes, improving operational efficiency. Alternatively, a user-defined direction can be selected as the direction of the machinery's movement. For example, if the working area has an irregular shape or special terrain features, the user may choose a more suitable direction as the direction of the machinery's movement. Starting from a sub-region of the target plot Q belonging to the agricultural machinery operation starting point q1, several parallel coverage lines (i.e., travel sub-routes Sj) are generated at intervals of the agricultural machinery's working width d. Adjacent travel sub-routes Sj are equidistant to ensure no area is missed. The start and end points of each travel sub-routes Sj are determined, and they are trimmed according to the area boundary of the target plot Q, removing path segments exceeding the area boundary to obtain multiple trimmed travel sub-routes Sj. Between each pair of adjacent sub-regions, the endpoints of the two adjacent trimmed travel sub-routes Sj are connected sequentially according to the agricultural machinery's turning radius to generate a continuous round-trip path, i.e., the agricultural machinery operation path. This ensures the continuity and efficiency of the agricultural machinery during operation. In this application, when planning the path, parallel coverage lines are generated at intervals of the agricultural machinery's working width d to ensure that the entire area is covered without omission, reducing the number of round trips by the agricultural machinery. This application considers the turning radius R and operating efficiency of agricultural machinery, and can adopt a "Z" or zigzag scanning method to plan paths within each area. This improves operating efficiency and reduces the number of turns. This application can use intelligent algorithms such as numerical iterative algorithms for path planning to achieve better path selection and operating efficiency. This application can effectively plan paths for multiple convex polygonal sub-regions to achieve efficient agricultural machinery operation, which has a significant 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, it will start from one side of the area and plan a new parallel path every 3 meters until the entire area is covered. This ensures that the distance between each path is 3 meters when the agricultural machinery is operating, thus achieving uniform coverage.

[0087] It should be noted that if the target plot Q has an inclined boundary (i.e., the sub-area of ​​operation is not horizontal or vertical), the orientation of the target plot Q can be adjusted by rotating the coordinate system to align it with the direction of the agricultural machinery's travel. In other words, this 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), i.e., identify the inclined boundary. If the boundary line of the target plot Q is inclined, the entire coordinate system can be rotated using mathematical transformations (such as a rotation matrix) to make the boundary line of the target plot Q parallel to the new coordinate axes. Thus, the originally inclined boundary becomes horizontal or vertical in the new coordinate system, 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 this is to ensure that the direction of the agricultural machinery's travel is parallel to the longest side of the plot, thus reducing the number of turns and improving operational 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, whereas they might have been curves in the original coordinate system. Once the planning is complete, the path can be converted back to the original coordinate system if needed to facilitate execution in the actual geographical environment. Rotating the coordinate system is particularly suitable for plots with irregular or sloping boundaries. By rotating the coordinate system, path planning can be made simpler and more efficient, ensuring that the path during agricultural machinery operation is more reasonable and reducing unnecessary turning and repetitive work.

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

[0089] Thirdly, this application also provides an agricultural machine, which includes an agricultural machine power unit and an agricultural machine control device for a concave polygonal plot as described in the second aspect. The agricultural machine control device is used to perform path planning for the concave polygonal plot in order to control the agricultural machine power unit to perform agricultural operations on the concave polygonal plot.

[0090] Fourthly, this application also provides a computer-readable storage medium storing program instructions for being read by a processor to execute the path planning method for concave polygonal plots as described in the first aspect.

[0091] In practice, each of the above units or modules can be implemented as an independent entity or can be combined arbitrarily to be implemented as the same or several entities. The implementation of each of the above units or modules for data collection in supply chain management projects can be referred to the previous method implementation examples, and will not be repeated here.

[0092] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by instructions, or by instructions controlling related hardware. These 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: read-only memory (ROM), random access memory (RAM), a magnetic disk, or an optical disk, etc.

[0093] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts not described in detail in a particular embodiment, please refer to the relevant descriptions of other embodiments. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process and beneficial effects of the data acquisition system and its corresponding units described above can be found in the description of the path planning method for concave polygonal plots in the above embodiments, and will not be repeated here.

[0094] The path planning method and system for concave polygonal plots provided in the embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A path planning method for concave polygonal plots, characterized in that, include: Obtain all concave points of a target plot that is a concave polygon, and obtain at least two candidate extended edges based on an associated edge of the target plot that passes through one of the concave points; The target plot is divided into segments based on the candidate extended edges to obtain polygons. Calculate the polygon complexity of each of the segmented polygons, and select a target expansion edge based on the multiple polygon complexities. The target expansion edge is the candidate expansion edge corresponding to the smallest polygon complexity. The target plot is divided into multiple sub-regions based on the target extended edge, and all the sub-regions are convex polygons. A farm machinery operation path is generated based on the starting point of the farm machinery operation, the farm machinery parameters, and multiple sub-regions. The step of obtaining at least two candidate extended edges based on an associated edge passing through a concave point in the target plot includes: At least two candidate expansion edges passing through the concave point are generated within the target range, and the included angle between two adjacent candidate expansion 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. The calculation of the polygon complexity corresponding to each of the segmented polygons includes: A directed acyclic graph is generated based on the intersection points between the candidate extended edges and the target plot, the boundary vertices of the target plot, and the dividing lines. The first number of concave points of the segmented polygon and the second number of boundary vertices of the segmented polygon are obtained from the directed acyclic graph. The polygon complexity corresponding to the segmented polygon is calculated by using the first quantity as the dividend and the second quantity as the divisor.

2. The path planning method for concave polygonal plots according to claim 1, characterized in that, Before obtaining all the concave points of the target plot with a concave polygon shape, the following steps are included: Obtain the planar coordinates of all boundary vertices of the polygonal plot; the arrangement order of all boundary vertices of the polygonal plot is clockwise or counterclockwise; Calculate the cross product of vectors corresponding to each of the three consecutive boundary vertices based on their planar coordinates. If the signs of the cross products of the vectors corresponding to all three consecutive boundary vertices are different by at least one, the polygonal plot is determined to belong to the target plot.

3. The path planning method for concave polygonal plots according to claim 2, characterized in that, Also includes: If the cross product of the vectors corresponding to all three consecutive boundary vertices has the same sign, it is determined that the polygonal plot belongs to a convex polygonal plot, and an agricultural machinery operation path is generated based on the starting point of the agricultural machinery operation, the agricultural machinery parameters, and the polygonal plot.

4. The path planning method for concave polygonal plots according to claim 1, characterized in that, The step of dividing the target land parcel into multiple sub-regions based on the target extended edge includes: The target plot is divided into corresponding sub-regions based on the target extended edge; Determine whether the shapes of the sub-regions are all convex polygons; If the shape of all the sub-regions contains the concave polygon, the sub-regions are further divided according to the target extended edge of the sub-region with the shape of the concave polygon; If the shape of all the sub-regions is a convex polygon, the division ends.

5. The path planning method for concave polygonal plots according to any one of claims 1 to 4, characterized in that, The process of generating agricultural machinery operation paths based on the starting point of agricultural machinery operation, agricultural machinery parameters, and multiple sub-regions includes: The agricultural machinery parameters are obtained; the agricultural machinery parameters include the agricultural machinery's direction of travel, working width, and turning radius. Starting from the starting point of the agricultural machinery operation, and with the working width of the agricultural machinery as the interval, several multiple travel sub-routes perpendicular to the direction of travel of the agricultural machinery are generated in all the sub-regions; Multiple trimmed sub-routes are obtained by trimming and removing path segments that exceed the boundary line of the target plot from the multiple sub-routes. Between each pair of adjacent sub-regions, the endpoints of the two adjacent trimmed travel sub-routes are sequentially connected according to the turning radius of the agricultural machinery to generate the agricultural machinery operation path.

6. A control device for agricultural machinery on a concave polygonal plot of land, characterized in that, The device includes a processor and a memory; the memory is used to store computer programs, and the processor is used to call and run the computer programs stored in the memory to perform the path planning method for concave polygonal plots as described in any one of claims 1 to 5.

7. An agricultural machine, characterized in that, The agricultural machinery includes an agricultural machinery power unit and an agricultural machinery control device for a concave polygonal plot as described in claim 6. The agricultural machinery control device is used to perform path planning for the concave polygonal plot in order to control the agricultural machinery power unit to perform agricultural machinery operations on the concave polygonal plot.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores program instructions that are read by a processor to execute the path planning method for a concave polygonal plot as described in any one of claims 1 to 5.

Images