Diagonal harrowing path planning method, device and equipment, medium and agricultural machine

Abstract

The invention relates to a diagonal harrowing path planning method, device and equipment, a medium and an agricultural machine. The method comprises the steps that S1, a plurality of first operating lines planned at the first operating line angle and a plurality of second operating lines planned at the second operating line angle in a target land parcel are acquired; s2, acquiring a plurality of to-be-selected starting points closest to the end point of the current operating line, wherein each to-be-selected starting point corresponds to one to-be-selected operating line; s3, based on a preset cost function, taking the to-be-selected operation line with the lowest path cost as a target operation line; s4, acquiring a sub-path between the current operating line and the corresponding target operating line; and S5, taking the target operating line as a new current operating line, and repeatedly executing the steps S2 to S4. According to the method, the to-be-selected operation line with the lowest path cost is dynamically selected based on the cost function, invalid movement of the agricultural machine is reduced, the total length of the sub-paths is reduced, and the efficiency of agricultural operation is improved.

Description

Technical Field

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

[0002] In agricultural mechanization, harrowing is an important part of soil cultivation. The automatic driving system of agricultural machinery can greatly improve the efficiency of harrowing. The existing navigation system's path planning methods for diagonal harrowing operations are mostly limited to regular terrain, such as rectangular and square plots, and cannot meet the needs of irregular plots such as polygonal plots and concave plots for diagonal harrowing path planning. However, in actual farmland operation scenarios, most plots are irregular plots, so the current diagonal harrowing operation path planning method seriously limits the actual application scope of agricultural machinery navigation systems and fails to fully meet the diverse needs of farmers in harrowing operations. Summary of the invention

[0003] In order to be based on the actual operational needs of users, be compatible with regular and irregular, concave and convex polygonal plots, improve the efficiency of agricultural operations, and reduce the operator's driving fatigue, the present application provides a diagonal harrowing path planning method, device, equipment, medium and agricultural machinery.

[0004] In a first aspect, the present application provides a diagonal harrowing path planning method, comprising: S1, based on the harrowing starting point, obtaining a plurality of first operating lines planned at a first operating line angle and a plurality of second operating lines planned at a second operating line angle in a target plot, wherein the plurality of the first operating lines and the plurality of the second operating lines intersect each other; S2, for any current operation line among the plurality of the first operation lines or the plurality of the second operation lines, obtaining a plurality of candidate starting points closest to the end point of the current operation line, each of the candidate starting points corresponding to a candidate operation line; S3, based on a preset cost function, obtaining the path cost corresponding to each of the candidate operation lines, and taking the candidate operation line with the lowest path cost as the target operation line; S4, for each of the current operation lines, obtaining a subpath between the current operation line and the corresponding target operation line; S5, taking the target operation line as the new current operation line, repeating S2 to S4 until no candidate starting point closest to the end point of any new current operation line can be obtained, and obtaining the total planned path based on the obtained sub-paths.

[0005] The beneficial effects of the present application are: the first operating line angle or the second operating line angle of the operating line in the diagonal harrowing can be adjusted according to the soil characteristics, so as to optimize the soil crushing effect. Based on the cost function, the candidate operating line with the lowest path cost can be dynamically selected, so that the agricultural machinery can move from the current operating line to the target operating line with the optimal turning path, thereby reducing the ineffective movement of the agricultural machinery, reducing the total length of the sub-path, reducing the fuel consumption of the agricultural machinery, and improving the efficiency of agricultural operations. By connecting the various sub-paths, the total planned path can be obtained, and the autonomous navigation of the agricultural machinery can be realized based on the total planned path, which improves the efficiency of agricultural operations and reduces the driving fatigue of the operator.

[0006] Further, before acquiring a plurality of first operation lines planned at a first operation line angle and a plurality of second operation lines planned at a second operation line angle in a target plot based on the harrowing starting point, the method further includes: Obtaining initial boundary data of the target plot and a minimum bounding rectangle corresponding to the initial boundary data; Based on the preset Douglas-Peucker algorithm, the indentation boundary corresponding to the target plot is obtained, and the indentation boundary is the boundary of the indented plot obtained after the initial boundary data is indented according to the preset indentation distance, so as to obtain multiple first operation lines and multiple second operation lines based on the minimum circumscribed rectangle and the indentation boundary.

[0007] The beneficial effect of adopting the above further solution is that by simplifying the data points of the initial boundary data, the density of the data points is reduced, and the unnecessary calculation burden in navigation is reduced.

[0008] Further, for each current operation line, obtaining a subpath between the current operation line and a corresponding target operation line includes: For each current work line, the Dubins curve is used to plan the turning path between the current work line and the corresponding target work line, and the sub-path is obtained based on the turning path, the path corresponding to the current work line and the path corresponding to the target work line.

[0009] The beneficial effect of adopting the above further solution is: by using the Dubins curve, a smooth connection between the current operation line and the target operation line is achieved.

[0010] Furthermore, the step of obtaining the path cost corresponding to each of the to-be-selected operation lines based on a preset cost function includes: For each of the to-be-selected operation lines, obtaining a turn type corresponding to the to-be-selected operation line and a cost function corresponding to the turn type; For each of the candidate operation lines, the path cost corresponding to the candidate operation line is obtained based on the cost function, so as to compare the various path costs and obtain the candidate operation line with the lowest path cost.

[0011] The beneficial effect of adopting the above further solution is: setting corresponding cost functions for different turning types, and selecting the candidate operation line with the lowest path cost as the optimized target operation line.

[0012] Further, the turn type is a first type, a second type, a third type or a fourth type, and the cost function is a first function corresponding to the first type, a second function corresponding to the second type, a third function corresponding to the third type or a fourth function corresponding to the fourth type; The first type is a type of out-of-direction turning in which the total turning angle between the current operation line and the corresponding operation line to be selected satisfies a preset first angle relationship, and the first angle relationship is expressed as: or, in, represents the angle between the current operation line and the indentation boundary, represents the angle between the selected operation line and the indentation boundary, Indicates the angle of the current operating line relative to the horizontal direction; The second type is a turning type in which the total turning angle between the current operation line and the corresponding operation line to be selected satisfies a preset second angle relationship, the current operation line and the corresponding operation line to be selected are parallel, and the travel direction of the path corresponding to the current operation line is opposite to the travel direction of the path corresponding to the operation line to be selected, and the second angle relationship is expressed as: The third type is a turning type in which the total turning angle between the current operation line and the corresponding operation line to be selected satisfies a preset third angle relationship. The operation line angles of the current operation line and the corresponding operation line to be selected are different and oblique. The third angle relationship is expressed as: or, When the total turning angle between the current operation line and the corresponding to-be-selected operation line does not satisfy the first angle relationship, the second angle relationship and the third angle relationship, the turning type is the fourth type.

[0013] The beneficial effect of adopting the above further scheme is: according to the total turning angle between the working lines, the turning types are divided into four types, and the cost function is designed according to these four turning types, which provides an important reference for optimizing the working path, reducing the turning time and ensuring smoothness.

[0014] Further, for any current operation line among the plurality of the first operation lines or the plurality of the second operation lines, obtaining a plurality of candidate starting points closest to the end point of the current operation line includes: Based on the pre-constructed KD tree, the end point of the current work line is used as the query point, starting from the root node of the KD tree, the left and right subtrees of the KD tree are searched recursively to obtain multiple nearest intersections in the input data set that are not in the taboo list, and the multiple nearest intersections are respectively used as the candidate starting points. The input data set includes all the intersections of the work lines and the indented boundary, and the taboo list is used to store the currently processed or disabled intersections.

[0015] The beneficial effect of adopting the above further scheme is that through the pre-constructed KD tree, the subsequent nearest neighbor search of intersections that are not in the taboo list can be accelerated, and a group of candidate starting points closest to the end point of the current operation line can be quickly locked, thereby reducing the path planning time.

[0016] In a second aspect, the present application provides a diagonal harrowing path planning device, comprising: An operation line acquisition module is used to acquire, based on a harrowing starting point, a plurality of first operation lines planned at a first operation line angle and a plurality of second operation lines planned at a second operation line angle in a target plot, wherein the plurality of first operation lines and the plurality of second operation lines intersect each other; A starting point acquisition module is used to acquire, for any current operation line among the plurality of the first operation lines or the plurality of the second operation lines, a plurality of candidate starting points closest to the end point of the current operation line, each of the candidate starting points corresponding to a candidate operation line; The target line acquisition module acquires the path cost corresponding to each of the candidate operation lines based on a preset cost function, and takes the candidate operation line with the lowest path cost as the target operation line; A path generation module is used to obtain, for each current operation line, a sub-path between the current operation line and a corresponding target operation line; A repeated execution module is used to take the target operation line as the new current operation line, repeat the processing from the acquisition starting point module to the generation path module, until no candidate starting point closest to the end point of any new current operation line can be obtained, and the total planned path is obtained based on the obtained sub-paths.

[0017] In a third aspect, the present application provides an electronic device, including a processor and a memory, wherein the processor is coupled to the memory; The processor is used to execute the computer program stored in the memory so that the electronic device performs the method as described in any one of the first aspects.

[0018] In a fourth aspect, the present application provides a computer-readable storage medium, comprising a computer program or instructions, which, when executed on a computer, enables the computer to execute the method as described in any one of the first aspects.

[0019] In a fifth aspect, the present application provides an agricultural machine with navigation and autonomous operation diagonal harrowing path planning, comprising the electronic device and vehicle body described in the third aspect, wherein the electronic device is communicatively connected with the vehicle body to control the vehicle body to perform harrowing operations according to the overall planned path. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of the process of the diagonal harrowing path planning method according to an embodiment of the present application; Figure 2 This is a schematic diagram of different operation lines within a target plot in an embodiment of the present application; Figure 3 This is a schematic diagram of a turning path according to an embodiment of the present application; Figure 4 This is a schematic diagram of the overall planning path of the embodiment of the present application; Figure 5 This is a schematic diagram of the path corresponding to the turn type of the first type in the embodiment of the present application; Figure 6 This is a schematic diagram of the path corresponding to the turn type of the second type in the embodiment of the present application; Figure 7 This is a schematic diagram of the path corresponding to the third type of turn in the embodiment of the present application; Figure 8 This is a schematic diagram of the path corresponding to the fourth type of turn in the embodiment of the present application; Fig. 9 This is a structural block diagram of a diagonal harrowing path planning device according to an embodiment of the present application; Fig.10 This is a structural block diagram of an electronic device according to an embodiment of the present application; Fig.11 This is a schematic diagram of the display interface of the smart display terminal according to an embodiment of the present application. DETAILED DESCRIPTION

[0021] The present application is further described in detail below in conjunction with the accompanying drawings.

[0022] The embodiment of the present application provides a diagonal harrowing path planning method, which can be executed by a device, which can be a server or a terminal device, wherein the server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The terminal device can be a smart phone, a tablet computer, a desktop computer, etc., but is not limited thereto.

[0023] like Figure 1 As shown, a diagonal harrowing path planning method is performed by an electronic device, and the main process of the method is described as follows (steps S1 to S5): Step S1: Based on the harrowing starting point, a plurality of first operation lines planned at a first operation line angle and a plurality of second operation lines planned at a second operation line angle in the target plot are obtained, and the plurality of the first operation lines and the plurality of the second operation lines intersect with each other.

[0024] like Figure 2 As shown, in this embodiment, a plurality of parallel first working lines can form a group of working lines, which can be defined as group A. Similarly, a plurality of parallel second working lines can form a group of working lines, which can be defined as group B. Each adjacent two first working lines in group A can be spaced apart by one working width, and each adjacent two second working lines in group B can be spaced apart by one working width. The user can customize the first working line angle or the second working line angle of the working line in the diagonal harrowing according to the soil characteristics, so as to optimize the soil crushing effect.

[0025] The target plot is the plot that currently needs to be harrowed. According to the harrowing starting point selected by the user, multiple operation lines of group A and group B corresponding to the target plot are generated.

[0026] like Figure 2 As shown, in this embodiment, before step S1, it can also include: obtaining the initial boundary data of the target plot and the minimum bounding rectangle corresponding to the initial boundary data; based on the preset Douglas-Peucker algorithm, obtaining the indentation boundary corresponding to the target plot, the indentation boundary is the boundary of the indentation plot obtained after the initial boundary data is indented according to a preset indentation distance, so as to obtain multiple first operation lines and multiple second operation lines based on the minimum bounding rectangle and the indentation boundary.

[0027] After turning on autonomous navigation and confirming the start of the diagonal harrowing function key, the agricultural machine operator can manually control the agricultural machine to run a circle along the edge of the target plot. During this period, the autonomous navigation positioning module in the agricultural machine will record the current position of the agricultural machine in real time, and then record the complete initial boundary data and feed it back to the electronic device. It should be noted that the shape of the target plot may be irregular, so the figure enclosed by the plot boundary obtained based on the initial boundary data of the target plot may also be an irregular figure, and the harrowing starting point can be any point on the initial boundary data.

[0028] However, the collected data points corresponding to the initial boundary data are usually too dense, including every tiny bend and turn of the land. Directly using them for agricultural machinery navigation will bring unnecessary computational burden to electronic equipment. Therefore, the Douglas-Peucker algorithm can be used to simplify the collected data points. While ensuring the basic features of the polygon of the target land, the number of broken lines or polygon vertices can be reduced as much as possible. The basic features can include the overall trend of the boundary of the polygon of the target land.

[0029] Among them, the specific implementation method of obtaining the minimum enclosing rectangle corresponding to the initial boundary data is as follows: perform convex hull calculation on the initial boundary data of the target plot to obtain the minimum convex polygon containing all the points in the initial boundary data; obtain the minimum enclosing rectangle of the convex polygon, and use the minimum enclosing rectangle as the minimum enclosing rectangle corresponding to the initial boundary data, wherein the Graham scanning method or the Jarvis stepping method can be used to calculate the convex hull of the boundary data of the plot to obtain the minimum convex polygon.

[0030] After obtaining the processed polygon, the indentation boundary of the target plot for actual operation can be obtained according to the set indentation distance. The indentation distance can be set to: L=0.5×W+S, where L represents the indentation distance, W represents the working width, and S represents the safety distance, which reduces the possibility of agricultural machinery colliding with the edge of the field. The automatic generation of indentation boundaries and intersecting working line groups ensures that the planned path covers the target plot completely, reducing the missed harrowing rate and the double harrowing rate.

[0031] According to the first work line angle and the second work line angle, multiple first work lines and multiple second work lines are planned in the minimum circumscribed rectangle, and then the multiple first work lines and multiple second work lines are trimmed so that each work line shrinks from the boundary of the minimum circumscribed rectangle to the inward boundary along the corresponding work line angle, and the trimmed multiple first work lines are used as the multiple first work lines corresponding to the target plot, and the trimmed multiple second work lines are used as the multiple second work lines corresponding to the target plot.

[0032] Step S2: for any current operation line among the plurality of the first operation lines or the plurality of the second operation lines, obtain a plurality of candidate starting points closest to the end point of the current operation line, each of the candidate starting points corresponding to a candidate operation line.

[0033] The end point of the current operation line is the turning starting point of the turning path between the current operation line and the next operation line, and the starting point to be selected is the turning end point of the turning path. At the same time, the starting point to be selected is the starting point where the agricultural machinery needs to move on the next operation line.

[0034] Step S2 may include: based on a pre-constructed KD tree, taking the end point of the current work line as a query point, starting from the root node of the KD tree, recursively searching in the left and right subtrees of the KD tree, obtaining multiple nearest intersections in the input data set that are not in the taboo list, and taking the multiple nearest intersections as the candidate starting points, respectively, the input data set includes all the intersections of the work lines and the indented boundary, and the taboo list is used to store the intersections that are currently processed or disabled.

[0035] Specifically, all the intersections of the working lines and the inward-retracted boundaries are obtained, and multiple intersections are used as the input data set of the pre-built KD tree. The intersections represent the potential starting points and potential ending points of the working lines that the agricultural machinery can enter and exit. KD tree (k-dimensional tree) is a data structure used to organize points in k-dimensional space. It is a special binary tree and is mainly used for multi-dimensional space queries. Set a taboo list. The taboo list is used to store the intersections in the currently processed or disabled input data set. The intersections in the taboo list can be marked as "visited" to avoid repeated selection of these intersections in the subsequent path generation process, ensuring the uniqueness of the path and reducing operational risks. Based on the pre-constructed KD tree, the end point of the current work line is used as the query point. When it is necessary to find the n nearest intersection points closest to the query point, starting from the root node of the KD tree, recursively search in the left and right subtrees of the KD tree to obtain multiple nearest intersection points that are not in the taboo list, and use the multiple nearest intersection points as the candidate starting points respectively.

[0036] In this embodiment, the root node is the top node of the KD tree, representing the initial division of the entire data space. The root node divides the entire input data set into two subspaces (left subtree and right subtree). When searching for the nearest neighbor intersection, recursive search starts from the root node and goes down. The left and right subtrees can subdivide the data space layer by layer, so that the scope can be quickly narrowed during the search. There is a hierarchical relationship between the nodes in the KD tree, and the KD tree achieves efficient data organization and search by dividing the space layer by layer. The nodes below the root node can be called child nodes, including nodes of the left subtree and the right subtree. Each child node can further divide the space represented by its parent node to form a smaller subspace. The root node is located in the first layer, its child nodes are located in the second layer, the child nodes of the child nodes are located in the third layer, and so on. The level of each node determines its depth in the spatial division.

[0037] Through the pre-constructed KD tree, the nearest neighbor search of the subsequent intersection points that are not in the taboo list can be accelerated, and a group of candidate starting points closest to the end point of the current operation line can be quickly locked, reducing the path planning time.

[0038] The selected operation line can be parallel to the current operation line, that is, the two belong to the same operation line group; the selected operation line can also cross the current operation line, that is, the two belong to different operation line groups. The selected operation line can be an operation line adjacent to the current operation line. Since the target plot is an irregular shape, the selected operation line can also be an operation line not adjacent to the current operation line.

[0039] Step S3: Based on a preset cost function, the path cost corresponding to each of the candidate operation lines is obtained, and the candidate operation line with the lowest path cost is used as the target operation line.

[0040] In this embodiment, based on the cost function, the candidate operation line with the lowest path cost can be dynamically selected, so that the agricultural machinery can move from the current operation line to the target operation line via the optimal turning path, thereby reducing the ineffective movement of the agricultural machinery, reducing the total length of the sub-path, reducing the fuel consumption of the agricultural machinery, and improving the efficiency of agricultural operations.

[0041] Step S4: for each current operation line, obtaining a subpath between the current operation line and the corresponding target operation line; Step S5: Take the target operation line as the new current operation line, and repeat S2 to S4 until no candidate starting point closest to the end point of any new current operation line can be obtained, and obtain the total planned path based on the obtained sub-paths.

[0042] Each time a sub-path corresponding to the current operation line is generated, it is checked whether there are any unprocessed candidate starting points and corresponding target operation lines. If no candidate starting points and corresponding target operation lines that meet the conditions are found, it means that the diagonal harrowing planning of the target plot has been completed. The sub-paths can be connected to obtain the total planned path, so as to realize autonomous navigation of agricultural machinery based on the total planned path, improve the efficiency of agricultural operations, and reduce the driving fatigue of operators.

[0043] like Figure 3 As shown, in this embodiment, step S4 may specifically include: for each current operation line, using the Dubins curve, planning the turning path between the current operation line and the corresponding target operation line, and obtaining the sub-path based on the turning path, the path corresponding to the current operation line and the path corresponding to the target operation line. It is easy to understand that Figure 3 The operating line angles of the current operating line and the target operating line are different.

[0044] Based on the Dubins algorithm, the turning path between the end point of the current operation line and the starting point of the target operation line is planned, so that the agricultural machinery can turn without exceeding the retraction boundary. By introducing the Dubins curve, a smooth connection between the current operation line and the target operation line is achieved.

[0045] like Figure 4 As shown, the total planned path can be obtained by connecting each sub-path.

[0046] In this embodiment, step S3 may specifically include: for each of the to-be-selected operation lines, obtaining the turning type corresponding to the to-be-selected operation line and the cost function corresponding to the turning type; for each of the to-be-selected operation lines, based on the cost function, obtaining the path cost corresponding to the to-be-selected operation line, so as to compare the path costs and obtain the to-be-selected operation line with the lowest path cost.

[0047] The turn type corresponding to the to-be-selected operation line is the turn type corresponding to the turning path formed between the to-be-selected operation line and the current operation line. The electronic device stores the corresponding relationship between each turn type and different cost functions.

[0048] The path cost is the output value of the cost function. By comprehensively considering factors such as turning time, turning smoothness, reducing heavy harrows and avoiding cross-border, the corresponding cost function is set for different turning types, and the candidate operation line with the lowest path cost is selected as the optimized target operation line.

[0049] like Figures 5 to 8As shown, in this embodiment, in the process of designing connection strategies of different working lines in diagonal harrowing operation, the turning types can be divided into four types according to the total turning angle between the working lines, that is, the turning type is any one of the first type, the second type, the third type or the fourth type. The cost function is a first function corresponding to the first type, a second function corresponding to the second type, a third function corresponding to the third type or a fourth function corresponding to the fourth type. The cost functions are designed according to the four turning types, which provides an important reference for optimizing the working path, reducing the turning time and ensuring the fluency.

[0050] like Figure 5 As shown, the first type is a type of out-of-direction turning in which the total turning angle between the current operation line and the corresponding operation line to be selected satisfies a preset first angle relationship, and the first angle relationship is expressed as: or, in, represents the angle between the current operation line and the indentation boundary, represents the angle between the selected operation line and the indentation boundary, Indicates the angle of the current operating line relative to the horizontal direction. Figure 5 The indented boundary may be parallel to the horizontal direction. However, due to the irregular shape of the target plot, there is a case where the indented boundary is not parallel to the horizontal direction.

[0051] In this embodiment, the first type of turning mode may correspond to the highest priority level. (i.e. the connection length between the current operation line and the operation line to be selected), the turning form will be different. Considering the retraction of the operation line, the minimum turning distance threshold corresponding to the first type of turning method It can be expressed as: in, Indicates the turning radius of agricultural machinery. Indicates the angle of the current working line relative to the horizontal direction.

[0052] According to the path length , minimum turning distance threshold and the preset maximum allowed search distance , the maximum allowed search distance is an artificially set constant, that is, the threshold parameter set in path planning, which is used to limit the maximum acceptable connection distance of the agricultural machinery when switching the operation line. The first function can be expressed as: in, represents the preset penalty coefficient, represents the path length, Indicates the minimum turning distance threshold.

[0053] like Figure 6 As shown, the second type is a turning type in which the total turning angle between the current operation line and the corresponding operation line to be selected satisfies a preset second angle relationship, the current operation line and the corresponding operation line to be selected are parallel, and the moving direction of the path corresponding to the current operation line is opposite to the moving direction of the path corresponding to the operation line to be selected, and the second angle relationship is expressed as: in, represents the angle between the current operation line and the indentation boundary, Indicates the angle between the selected operation line and the retracted boundary. Figure 6 The indent boundary can be parallel to the horizontal direction.

[0054] When the turning type is the second type, the current operation line is parallel to the target operation line but in the opposite direction, and the agricultural machine needs to turn. This type of turn, although with a large turning range, can still be optimized to shorten the U-turn path in some cases. It is suitable for switching long work lines and is the second priority for users. Considering the retraction of the work line, the minimum turning distance threshold corresponding to the second type of turning method It can be expressed as: in, Indicates the turning radius of agricultural machinery. Indicates the working width. Indicates the width adjustment coefficient (needs manual calibration), Indicates the angle between the current working line and the retracted boundary.

[0055] According to the path length , minimum turning distance threshold , the second function can be expressed as: in, , They represent penalty coefficients with different values. represents the path length, Indicates the minimum turning distance threshold.

[0056] like Figure 7As shown, the third type is a turning type in which the total turning angle between the current operation line and the corresponding operation line to be selected satisfies a preset third angle relationship, the operation line angles of the current operation line and the corresponding operation line to be selected are different and oblique, and the third angle relationship is expressed as: or, in, represents the angle between the current operation line and the indentation boundary, represents the angle between the selected operation line and the indentation boundary, Indicates the angle of the current working line relative to the horizontal direction. Figure 7 The indent boundary can be parallel to the horizontal direction.

[0057] When the turning type is the third type, the current operation line and the operation line to be selected are from different operation groups and are oblique to each other. This turning method requires a large angle turn. The total turning angle from the current operation line to the operation line to be selected satisfies: or The third type of turn may be a third option for the user.

[0058] Whether the current operation line and the selected operation line have an intersection within the indented boundary, the corresponding path cost calculation logic is different. The path cost calculation logic of the third type of turn mainly considers the intersection between the operation lines, the turn span and its impact on the path length and cost. When the turn type is the third type, the minimum turn threshold should ensure that the path distance is not less than the safety range. Therefore, the minimum turn threshold corresponding to the third type of turn method is It can be expressed as: in, Indicates the turning radius adjustment coefficient (needs manual calibration). Indicates the angle of the current operating line relative to the horizontal direction. Indicates the turning radius of agricultural machinery.

[0059] The third function can be expressed as: in, , They represent penalty coefficients with different values. Indicates the distance from the end point of the current operation line to the intersection point. Indicates the distance from the starting point to the intersection corresponding to the selected operation line. represents the path length, Indicates the minimum turning threshold.

[0060] like Figure 8 As shown, when the total turning angle between the current operation line and the corresponding to-be-selected operation line does not satisfy the first angle relationship, the second angle relationship and the third angle relationship, the turning type is the fourth type.

[0061] When the total turning angle between the current operation line and the operation line to be selected is any angle other than the first, second and third types mentioned above, it is usually used for agricultural machinery to cross the plot to enter the target operation zone. The sub-path generated based on this turning type has the characteristics of large turning angle, long turning radius and turning path, which is suitable for situations where the direction of travel needs to be changed significantly, such as crossing the plot. The minimum turning distance corresponding to the fourth type of turning method It can be expressed as: in, Indicates the turning radius adjustment coefficient (needs manual calibration). Indicates the turning radius of agricultural machinery.

[0062] The fourth function can be expressed as: in, , They represent penalty coefficients with different values. Indicates the distance between the starting point of the current operation line (i.e. the turning end point of the previous turning path) and the corresponding indentation boundary. Indicates the distance between the starting point of the selected operation line (i.e. the turning end point of the previous turning path) and the corresponding indentation boundary. represents the path length, Indicates the minimum turning threshold.

[0063] This solution comprehensively considers factors such as turning smoothness, reducing heavy harrowing and avoiding cross-border, sets corresponding cost functions for different turning types, and selects the candidate operation line with the lowest path cost as the optimized target operation line. It can effectively deal with various types of plots such as regular and irregular, concave and convex edges, and supports the operation line at any point of the plot, achieving the overall planning of low heavy harrowing rate, low missed harrowing rate and reducing the number of bulb turns, significantly improving the efficiency and intelligence level of agricultural machinery operations.

[0064] Based on the same technical concept, the present application also provides a diagonal harrowing path planning device, such as Fig. 9 As shown, the diagonal harrowing path planning device 200 mainly includes: The operation line acquisition module 201 is used to acquire, based on the harrowing starting point, a plurality of first operation lines planned at a first operation line angle and a plurality of second operation lines planned at a second operation line angle in the target plot, wherein the plurality of the first operation lines and the plurality of the second operation lines intersect each other; The starting point acquisition module 202 is used to acquire, for any current operation line among the plurality of the first operation lines or the plurality of the second operation lines, a plurality of candidate starting points closest to the end point of the current operation line, each of the candidate starting points corresponding to a candidate operation line; The target line acquisition module 203 acquires the path cost corresponding to each of the candidate operation lines based on a preset cost function, and uses the candidate operation line with the lowest path cost as the target operation line; A path generation module 204 is used to obtain, for each current operation line, a sub-path between the current operation line and a corresponding target operation line; The module 205 is repeatedly executed, and is used to take the target operation line as the new current operation line, and repeat the processing from the module for obtaining the starting point to the module for generating the path, until no candidate starting point closest to the end point of any of the new current operation line can be obtained, and the total planned path is obtained based on the obtained sub-paths.

[0065] Optionally, before obtaining the operation line module 201, the method further includes: A module for obtaining an outer bounding rectangle is used to obtain the initial boundary data of the target land parcel and the minimum outer bounding rectangle corresponding to the initial boundary data; The indentation processing module is used to obtain the indentation boundary corresponding to the target plot based on a preset Douglas-Peucker algorithm, wherein the indentation boundary is the boundary of the indented plot obtained after the initial boundary data is indented according to a preset indentation distance, so as to obtain multiple first operation lines and multiple second operation lines based on the minimum circumscribed rectangle and the indentation boundary.

[0066] Optionally, the path generation module 204 includes: The turning planning submodule is used to plan the turning path between the current work line and the corresponding target work line for each current work line using the Dubins curve, and obtain the subpath based on the turning path, the path corresponding to the current work line and the path corresponding to the target work line.

[0067] Optionally, the target line acquisition module 203 includes: An acquisition type submodule, used for acquiring, for each of the to-be-selected operation lines, a turn type corresponding to the to-be-selected operation line and a cost function corresponding to the turn type; The cost calculation submodule is used to obtain the path cost corresponding to each of the candidate operation lines based on the cost function, so as to compare the path costs and obtain the candidate operation line with the lowest path cost.

[0068] Optionally, the turn type is a first type, a second type, a third type or a fourth type, and the cost function is a first function corresponding to the first type, a second function corresponding to the second type, a third function corresponding to the third type or a fourth function corresponding to the fourth type; The first type is a type of out-of-direction turning in which the total turning angle between the current operation line and the corresponding operation line to be selected satisfies a preset first angle relationship, and the first angle relationship is expressed as: or, in, represents the angle between the current operation line and the indentation boundary, represents the angle between the selected operation line and the indentation boundary, Indicates the angle of the current operating line relative to the horizontal direction; The second type is a turning type in which the total turning angle between the current operation line and the corresponding operation line to be selected satisfies a preset second angle relationship, the current operation line and the corresponding operation line to be selected are parallel, and the travel direction of the path corresponding to the current operation line is opposite to the travel direction of the path corresponding to the operation line to be selected, and the second angle relationship is expressed as: The third type is a turning type in which the total turning angle between the current operation line and the corresponding operation line to be selected satisfies a preset third angle relationship. The operation line angles of the current operation line and the corresponding operation line to be selected are different and oblique. The third angle relationship is expressed as: or, When the total turning angle between the current operation line and the corresponding to-be-selected operation line does not satisfy the first angle relationship, the second angle relationship and the third angle relationship, the turning type is the fourth type.

[0069] Optionally, the starting point acquisition module 202 includes: The KD tree search submodule is used to use the end point of the current work line as a query point based on a pre-constructed KD tree, start from the root node of the KD tree, recursively search in the left and right subtrees of the KD tree, obtain multiple nearest intersections in the input data set that are not in the taboo list, and use the multiple nearest intersections as the candidate starting points respectively. The input data set includes all the intersections of the work lines and the indented boundary, and the taboo list is used to store the intersections that are currently processed or disabled.

[0070] In one example, the module in any of the above devices can be one or more integrated circuits configured to implement the above methods, such as: one or more application specific integrated circuits (ASICs), or, one or more digital signal processors (DSPs), or, one or more field programmable gate arrays (FPGAs), or a combination of at least two of these integrated circuit forms.

[0071] For another example, when the modules in the device can be implemented in the form of a processing element scheduling program, the processing element can be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call a program. For another example, these modules can be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0072] Various objects such as various messages / information / equipment / network elements / systems / devices / actions / operations / processes / concepts that may appear in this application are named. It can be understood that these specific names do not constitute a limitation on the relevant objects. The names assigned may change with factors such as scenarios, contexts or usage habits. The understanding of the technical meaning of the technical terms in this application should be mainly determined from the functions and technical effects embodied / executed in the technical scheme.

[0073] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and modules described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0074] Those of ordinary skill in the art will appreciate that the modules and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0075] Based on the same technical concept, the present application also provides an electronic device, such as Fig.10 As shown, the electronic device 300 includes a processor 301 and a memory 302 , and may further include an information input / information output (I / O) interface 303 , one or more of a communication component 304 , and a communication bus 305 .

[0076] The processor 301 is used to control the overall operation of the electronic device 300 to complete all or part of the steps in the above-mentioned diagonal rake path planning method; the memory 302 is used to store various types of data to support the operation of the electronic device 300, and these data may include, for example, instructions for any application or method operated on the electronic device 300, and data related to the application. The memory 302 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (Static Random Access Memory, SRAM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, EPROM), programmable read-only memory (Programmable Read-Only Memory, PROM), read-only memory (Read-Only Memory, ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0077] The I / O interface 303 provides an interface between the processor 301 and other interface modules, and the above-mentioned other interface modules can be keyboards, mice, buttons, etc. These buttons can be virtual buttons or physical buttons. The communication component 304 is used to test the wired or wireless communication between the electronic device 300 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G or 4G, or a combination of one or more of them, so the corresponding communication component 304 can include: Wi-Fi components, Bluetooth components, NFC components.

[0078] The communication bus 305 may include a path to transmit information between the above components. The communication bus 305 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The communication bus 305 may be divided into an address bus, a data bus, a control bus, etc.

[0079] The electronic device 300 can be implemented by one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), controllers, microcontrollers, microprocessors or other electronic components to execute the diagonal harrowing path planning method given in the above embodiment.

[0080] The electronic device 300 may include, but is not limited to, a mobile terminal such as a digital broadcast receiver, a PDA (Personal Digital Assistant), a PMP (Portable Multimedia Player), etc., and a fixed terminal such as a digital TV, a desktop computer, etc., and may also be a server, etc.

[0081] Based on the same technical concept, the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned diagonal harrowing path planning method are implemented.

[0082] The computer-readable storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0083] Based on the same technical concept, the present application also provides an agricultural machine with navigation and autonomous operation and diagonal harrowing path planning, including the above-mentioned electronic equipment and a vehicle body, wherein the electronic equipment is communicatively connected with the vehicle body to control the vehicle body to perform harrowing operations according to the overall planned path.

[0084] Specifically, the agricultural machinery also includes a receiver, a domain controller, an electric steering wheel, a positioning module, a decision module, a communication module, and a control module. The positioning module is used to realize real-time positioning of the current position coordinates of the agricultural machinery based on the positioning board in the receiver, obtain the boundary data of the plot during the enclosure process by positioning the agricultural machinery, and record the path taken by the agricultural machinery; the decision module is used to obtain the real-time heading of the agricultural machinery through positioning information, and judge the path closest to the agricultural machinery according to the navigation and positioning points, generate an operation guide line, and send it to the control module to guide the agricultural machinery to complete the entire path accurately.

[0085] The communication module is used to transmit corresponding data in real time between the receiver, the domain controller and the electric steering wheel according to the corresponding communication protocol. The control module is used to enable the agricultural machinery to accurately follow the preset path during the operation, thereby improving the operation efficiency and quality, reducing duplication and omission of operation areas, and improving the accuracy of the operation.

[0086] Among them, the positioning module can rely on GPS and Beidou combined positioning, and the positioning module can be integrated into the receiver; the decision-making module, communication module, and control module can all be integrated into the domain controller; the electric steering wheel serves as an execution module, receiving communication instructions issued by the communication module to realize automatic navigation of the vehicle body.

[0087] like Fig.11 As shown, the agricultural machinery may also include an intelligent display terminal, which may display information such as the operation path, width, harrowing starting point, and harrowing end point.

[0088] The terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not expressly listed, or also includes elements inherent to such process, method, article, or apparatus.

[0089] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0090] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0091] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A diagonal harrowing path planning method, characterized in that: include: S1, based on the harrowing starting point, obtaining a plurality of first operating lines planned at a first operating line angle and a plurality of second operating lines planned at a second operating line angle in a target plot, wherein the plurality of the first operating lines and the plurality of the second operating lines intersect each other; S2, for any current operation line among the plurality of the first operation lines or the plurality of the second operation lines, obtaining a plurality of candidate starting points closest to the end point of the current operation line, each of the candidate starting points corresponding to a candidate operation line; S3, based on a preset cost function, obtaining the path cost corresponding to each of the candidate operation lines, and taking the candidate operation line with the lowest path cost as the target operation line; S4, for each of the current operation lines, obtaining a subpath between the current operation line and the corresponding target operation line; S5, taking the target operation line as the new current operation line, repeating S2 to S4 until no candidate starting point closest to the end point of any new current operation line can be obtained, and obtaining the total planned path based on the obtained sub-paths.

2. A diagonal harrowing path planning method according to claim 1, characterized in that: Before acquiring a plurality of first operating lines planned at a first operating line angle and a plurality of second operating lines planned at a second operating line angle in a target plot based on the harrowing starting point, the method further includes: Obtaining initial boundary data of the target plot and a minimum bounding rectangle corresponding to the initial boundary data; Based on the preset Douglas-Peucker algorithm, the indentation boundary corresponding to the target plot is obtained, and the indentation boundary is the boundary of the indented plot obtained after the initial boundary data is indented according to the preset indentation distance, so as to obtain multiple first operation lines and multiple second operation lines based on the minimum circumscribed rectangle and the indentation boundary.

3. A diagonal harrowing path planning method according to claim 2, characterized in that: For each current operation line, obtaining a subpath between the current operation line and a corresponding target operation line includes: For each current work line, the Dubins curve is used to plan the turning path between the current work line and the corresponding target work line, and the sub-path is obtained based on the turning path, the path corresponding to the current work line and the path corresponding to the target work line.

4. A diagonal harrowing path planning method according to claim 2, characterized in that: The step of obtaining the path cost corresponding to each of the to-be-selected operation lines based on a preset cost function includes: For each of the to-be-selected operation lines, obtaining a turn type corresponding to the to-be-selected operation line and a cost function corresponding to the turn type; For each of the candidate operation lines, the path cost corresponding to the candidate operation line is obtained based on the cost function, so as to compare the various path costs and obtain the candidate operation line with the lowest path cost.

5. A diagonal harrowing path planning method according to claim 4, characterized in that: The turn type is a first type, a second type, a third type or a fourth type, and the cost function is a first function corresponding to the first type, a second function corresponding to the second type, a third function corresponding to the third type or a fourth function corresponding to the fourth type; The first type is a type of out-of-direction turning in which the total turning angle between the current operation line and the corresponding operation line to be selected satisfies a preset first angle relationship, and the first angle relationship is expressed as: or, in, represents the angle between the current operation line and the indentation boundary, represents the angle between the selected operation line and the indentation boundary, Indicates the angle of the current operating line relative to the horizontal direction; The second type is a turning type in which the total turning angle between the current operation line and the corresponding operation line to be selected satisfies a preset second angle relationship, the current operation line and the corresponding operation line to be selected are parallel, and the travel direction of the path corresponding to the current operation line is opposite to the travel direction of the path corresponding to the operation line to be selected, and the second angle relationship is expressed as: The third type is a turning type in which the total turning angle between the current operation line and the corresponding operation line to be selected satisfies a preset third angle relationship. The operation line angles of the current operation line and the corresponding operation line to be selected are different and oblique. The third angle relationship is expressed as: or, When the total turning angle between the current operation line and the corresponding to-be-selected operation line does not satisfy the first angle relationship, the second angle relationship and the third angle relationship, the turning type is the fourth type.

6. A diagonal harrowing path planning method according to claim 2, characterized in that: For any current operation line among the plurality of the first operation lines or the plurality of the second operation lines, obtaining a plurality of candidate starting points closest to the end point of the current operation line comprises: Based on the pre-constructed KD tree, the end point of the current work line is used as the query point, starting from the root node of the KD tree, the left and right subtrees of the KD tree are searched recursively to obtain multiple nearest intersections in the input data set that are not in the taboo list, and the multiple nearest intersections are respectively used as the candidate starting points. The input data set includes all the intersections of the work lines and the indented boundary, and the taboo list is used to store the currently processed or disabled intersections.

7. A diagonal harrowing path planning device, characterized in that: include: An operation line acquisition module is used to acquire, based on a harrowing starting point, a plurality of first operation lines planned at a first operation line angle and a plurality of second operation lines planned at a second operation line angle in a target plot, wherein the plurality of first operation lines and the plurality of second operation lines intersect each other; A starting point acquisition module is used to acquire, for any current operation line among the plurality of the first operation lines or the plurality of the second operation lines, a plurality of candidate starting points closest to the end point of the current operation line, each of the candidate starting points corresponding to a candidate operation line; The target line acquisition module acquires the path cost corresponding to each of the candidate operation lines based on a preset cost function, and takes the candidate operation line with the lowest path cost as the target operation line; A path generation module is used to obtain, for each current operation line, a sub-path between the current operation line and a corresponding target operation line; A repeated execution module is used to take the target operation line as the new current operation line, repeat the processing from the acquisition starting point module to the generation path module, until no candidate starting point closest to the end point of any new current operation line can be obtained, and the total planned path is obtained based on the obtained sub-paths.

8. An electronic device, characterized in that: comprising a processor and a memory, wherein the processor is coupled to the memory; The processor is configured to execute a computer program stored in the memory, so that the electronic device executes the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The method comprises a computer program or an instruction, which, when executed on a computer, causes the computer to execute the method according to any one of claims 1 to 6.

10. An agricultural machine with navigation and autonomous operation diagonal harrowing path planning, characterized in that: It comprises the electronic device as claimed in claim 8 and a vehicle body, wherein the electronic device is communicatively connected with the vehicle body to control the vehicle body to perform a raking operation according to a generally planned path.

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