Unmanned operation path planning method, device and equipment, medium and agricultural machine

Abstract

The invention relates to an unmanned operation path planning method and device, equipment, a medium and agricultural machinery, and the method comprises the steps: generating an initial operation path corresponding to a target operation land parcel based on an operation starting point and an operation advancing direction; based on the operation breadth and the turning radius of the vehicle, a first reference row crossing number # imgabs0 # is obtained; on the basis of the first reference cross-row number # imgabs1 #, the cross-row number of multiple target jobs is determined; for each current operation path row, based on the target operation inter-row number corresponding to the current operation path row, obtaining a turning path between the current operation path row and the corresponding target operation path row, and based on the turning path, obtaining a sub-planned path corresponding to the current operation path row; and based on the plurality of sub-planned paths, obtaining a total planned path of operation in the target operation land parcel. According to the invention, the continuity and high efficiency of the turning operation at the edge of the field of the vehicle are ensured, and the efficiency of unmanned operation is improved.

Description

Technical Field

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

[0002] With rapid development, the application of unmanned agricultural machinery in field operations is becoming more and more extensive. Path planning, as one of the core technologies of unmanned driving systems, directly affects the efficiency of agricultural machinery operations and resource utilization. At present, traditional agricultural machinery operation path planning mostly adopts a "U" or "bow" shape mode. The core problem is that it is easy to form a "fishtail" or "light bulb" turning path when turning at the end of the field. This type of turning method not only takes up a large space, but also because the turning radius is not well matched with the operating width, agricultural machinery needs to reverse frequently or adjust the direction multiple times. Especially in specific operating scenarios such as straight harrowing, rotary tillage, and paddy field beating, the reversing operation is difficult and time-consuming, which seriously restricts the operating efficiency.

[0003] Therefore, there is an urgent need for an unmanned agricultural machinery path planning method that takes into account flexibility, efficiency and environmental adaptability, so as to solve the core pain points of existing technologies such as redundant turns, difficult reversing and poor operation continuity, and promote the development of unmanned agricultural operations towards higher precision and lower cost. Summary of the invention

[0004] In order to ensure the continuity and efficiency of the vehicle's turning operation on the ground and realize the vehicle's full unmanned operation, the present application provides an unmanned operation path planning method, device, equipment, medium and agricultural machinery.

[0005] In a first aspect, the present application provides an unmanned driving operation path planning method, comprising: Based on the operation starting point and the operation travel direction, multiple initial operation path rows corresponding to the target operation plot are generated; Based on the preset working width and the turning radius of the vehicle, obtain the first benchmark span number ; Based on the first benchmark cross-row number , determine multiple target operation cross-row numbers, the target operation cross-row numbers are the number of initial operation path rows that each current operation path row needs to cross to reach the corresponding target operation path row, the current operation path row is the initial operation path row before the cross-row, and the target operation path row is the initial operation path row after the cross-row; For each current operation path row, based on the target operation span row number corresponding to the current operation path row, a turning path between the current operation path row and the corresponding target operation path row is obtained, and based on the turning path, a sub-planning path corresponding to the current operation path row is obtained, wherein the sub-planning path includes a path corresponding to the current operation path row, a path corresponding to the target operation path row, and the turning path; Based on the multiple sub-planning paths, a total planned path for the vehicle to perform unmanned operation in the target operation area is obtained.

[0006] The beneficial effects of this application are: according to the target operation plot, the initial operation path, the target operation span number and the total planned path are dynamically adjusted to adapt to the complexity of different target operation plots (such as irregular boundaries, concave and convex areas, etc.). By determining the first benchmark span number according to the operation width and turning radius , and then get the target operation span number, under the premise of ensuring that the straight harrowing operation of the vehicle does not appear fishtail or light bulb turn in the overall planned path, turn based on the target operation span number, ensuring the continuity and efficiency of the vehicle's field head turning operation. The efficiency of agricultural operations has been significantly improved, and based on the overall planned path, the vehicle can be fully unmanned through remote operation, providing a new solution for the construction of unmanned farms.

[0007] Further, before generating a plurality of initial operation path lines corresponding to the target operation plot based on the operation starting point and the operation traveling direction, the method further includes: Obtaining initial boundary information corresponding to the target operation plot; Based on the Douglas-Peucker algorithm, data point simplification processing is performed on the initial boundary information to obtain target boundary information, so as to generate a plurality of the initial operation path rows based on the target boundary information.

[0008] The beneficial effect of adopting the above further solution is that by simplifying the data points of the initial boundary information, the density of the data points is reduced, thereby reducing unnecessary calculation burden in vehicle navigation.

[0009] Further, the number of rows spanned based on the first benchmark , determine the number of rows spanned by multiple target jobs, including: Based on the first benchmark cross-row number The actual operation demand corresponding to the target operation plot is obtained by obtaining the first positive cross-row number. and the first reverse span number The actual operation requirements include the shape of the target operation plot, operation efficiency and vehicle mechanical operation requirements, the first reverse cross-row number Than the first positive cross number One less line; Based on the first positive cross-row number and the first reverse span number , perform initial planning of the vehicle operating in the target operating area, obtain an initial planning path, and divide the initial planning path into multiple sub-areas with different planning orders; in the initial planning, if the direction of travel of any of the current operating path rows to reach the corresponding target operating path row is the forward direction, then the number of cross-rows required is the first forward cross-row number If the direction of travel of any of the current operation path rows to the corresponding target operation path row is the reverse direction, the number of rows required is the first reverse number of rows. The forward direction of travel is the same as the direction of travel from the operation starting point to the operation end point, and the reverse direction of travel is opposite to the direction of travel from the operation starting point to the operation end point; If the initial planned path covers all the initial operation path rows, the first forward crossing number is used as and the first reverse span number as the number of rows spanned by the target job corresponding to each of the sub-areas; If the initial planned path does not cover all the initial operation path rows, the first forward crossing number corresponding to the last sub-area is and the first reverse span number Adjust the initial planned path so that it covers all the initial operation path rows, and adjust the first forward crossing number after adjustment. and the first reverse span number As the target job cross-row number corresponding to the last sub-area, the first forward cross-row number and the first reverse span number The number of rows spanned by the target job corresponding to each non-last sub-region.

[0010] The beneficial effect of adopting the above further solution is: by calculating the first positive cross-row number corresponding to the last sub-region and the first reverse span number By making adjustments, the last few uncovered initial operation path rows can be merged into the planned path corresponding to the last sub-area, avoiding fishtails and lightbulb turns.

[0011] Further, the first forward cross-row number and the first reverse span number , performing initial planning of the vehicle operating in the target operating area to obtain an initial planned path, including: For each of the current operation path lines, determining whether there is an uncovered initial operation path line between the current operation path line and the operation starting point; For each of the current operation path rows, if there is an uncovered initial operation path row, based on the first reverse cross-row number and reverse travel direction, determine whether the target operation path line exists between the current operation path line and the operation starting point; if the target operation path line does not exist, complete the initial planning and obtain the initial sub-path corresponding to the current operation path line; if the target operation path line exists, obtain the initial sub-path between the current operation path line and the target operation path line, and use the target operation path line as the new current operation path line, repeat the step of determining whether there is an uncovered initial operation path line between the current operation path line and the operation starting point, until the initial planning is completed and the initial sub-path corresponding to the current operation path line is obtained; For each current operation path row, if there is no uncovered initial operation path row, based on the first forward cross row number and the forward direction, repeating the step of determining whether the target operation path line exists between the current operation path line and the operation starting point, until an initial sub-path corresponding to the current operation path line is obtained; Based on each of the initial sub-paths, the initial planned path is obtained.

[0012] The beneficial effect of adopting the above further scheme is that by judging whether there is an uncovered initial operation path line between the current operation path line and the operation starting point, the path planning can be adjusted dynamically to reduce the possibility of missing or repeating the operation area. By alternately judging the forward and reverse travel directions, a continuous "bow-shaped" path can be generated to ensure that the vehicle can efficiently enter the next line after completing a line of work, reducing the empty driving distance and time waste.

[0013] Further, in the first forward cross-row number corresponding to the last sub-region and the first reverse span number Before making adjustments, also include: Based on a preset relationship, a second benchmark cross-row number is obtained to obtain a second benchmark cross-row number based on the second benchmark cross-row number. Adjust the first positive cross number and the first reverse span number ; The relationship is expressed as: Wherein, R represents the turning radius, W represents the working width, S represents the size of the longest border of the target working plot, N represents the total number of sub-areas, and D represents the number of rows spanned in the first positive direction. and the first reverse span number The length of the sub-region obtained through planning in the extension direction of the longest boundary.

[0014] The beneficial effect of adopting the above further scheme is: ensuring the matching of the second reference span number with the plot size, the machine operation ability (turning radius) and the working width, avoiding the unreasonable path planning problem caused by too large or too small span number, and facilitating the adjustment of the first positive span number according to the second reference span number. and the first reverse span number Make adjustments.

[0015] Further, the obtaining of the turning path between the current working path line and the target working path line includes: For each current operation path line, a Dubins curve between the current operation path line and the target operation path line is obtained, and the turning path is obtained based on the Dubins curve.

[0016] The beneficial effect of adopting the above further scheme is: by using the Dubins curve, it is possible to ensure that the vehicle completes the turn with the minimum path length when turning, thereby reducing the idle distance and time waste, and achieving a smooth connection between the current working path row and the target working path row.

[0017] In a second aspect, the present application provides an unmanned operation path planning device, comprising: An initial path generation module is used to generate multiple initial operation path rows corresponding to the target operation plot based on the operation starting point and the operation direction; The first benchmark acquisition module is used to obtain the first benchmark span number based on the preset working width and the turning radius of the vehicle. ; A module for determining the number of cross-rows is used to determine the number of cross-rows based on the first benchmark , determine multiple target operation cross-row numbers, the target operation cross-row numbers are the number of initial operation path rows that each current operation path row needs to cross to reach the corresponding target operation path row, the current operation path row is the initial operation path row before the cross-row, and the target operation path row is the initial operation path row after the cross-row; A turning path acquisition module is used to acquire, for each current operation path row, a turning path between the current operation path row and the corresponding target operation path row based on the number of target operation spans corresponding to the current operation path row, and obtain a sub-planning path corresponding to the current operation path row based on the turning path, wherein the sub-planning path includes a path corresponding to the current operation path row, a path corresponding to the target operation path row, and the turning path; The module for obtaining a total path is used to obtain a total planned path for the vehicle to perform unmanned operation in the target operation area based on the multiple sub-planned paths.

[0018] 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.

[0019] 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.

[0020] In a fifth aspect, the present application provides an unmanned agricultural machine, comprising a vehicle body, a machine implement, a machine implement driving device, a display terminal and the electronic device as described in the third aspect; The electronic device is used to send the overall planned path to the vehicle body, and the vehicle body is used to drive the machine to perform operations based on the overall planned path; The overall planned path includes a turning path, and before the machine tool enters the turning path, the machine tool driving device lifts the machine tool to a non-operating height, and when the machine tool exits the turning path, the machine tool driving device adjusts the machine tool to an operating height; The display terminal is used to display the real-time operation status of the agricultural machinery, the status of the implement, the overall planned path, and the traveled paths and untraveled paths based on the overall planned path. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a flow chart of the unmanned driving operation path planning method according to an embodiment of the present application; Figure 2 A schematic diagram of processing initial boundary information in an embodiment of the present application; Figure 3 This is a schematic diagram of the inter-bank operation path of an embodiment of the present application; Figure 4 A schematic diagram of a path with blank areas in the initial planning path of the embodiment of the present application; Figure 5 This is a schematic diagram of the path after the final "mouth-shaped" path is processed in the embodiment of the present application; Figure 6 A schematic diagram of the total planned path corresponding to the inter-row operation in the embodiment of the present application; Figure 7 This is a structural block diagram of the unmanned operation path planning device according to an embodiment of the present application; Figure 8 This is a structural block diagram of an electronic device according to an embodiment of the present application; Fig. 9 This is a schematic diagram of the interface of the display terminal corresponding to the unmanned agricultural machinery in the embodiment of the present application. DETAILED DESCRIPTION

[0022] The present application is further described in detail below in conjunction with the accompanying drawings.

[0023] The embodiment of the present application provides a method for planning an unmanned driving operation path, 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, a server cluster or a 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.

[0024] like Figure 1 As shown, a method for unmanned driving operation path planning is performed by an electronic device, and the main process of the method is described as follows (steps S101 to S105): Step S101: Based on the operation starting point and the operation direction, a plurality of initial operation path rows corresponding to the target operation plot are generated.

[0025] In this embodiment, the electronic device is communicatively connected to a terminal APP or a display terminal, and the user can select the starting point and direction of the inter-row operation according to the preview interface of the inter-row operation of the terminal APP or the display terminal and according to actual operation needs.

[0026] After the user explicitly specifies the starting point and direction of the operation, the electronic device can automatically generate multiple initial operation path rows along the boundary of the target operation plot based on the operation width. Multiple initial operation path rows can be used as the baseline reference line in subsequent cross-row path planning. Specifically, the first initial operation path row can be generated along the operation starting point and operation direction (such as north-south or east-west) based on the boundary of the target operation plot, and then the subsequent initial operation path rows are generated by extending in parallel with the operation width as the spacing. For example, if the operation width is 3 meters, the interval between adjacent initial operation path rows is 3 meters. It is easy to understand that the operation width refers to the physical width that agricultural machinery (such as planters, harvesters, sprayers, etc.) can cover in a single operation.

[0027] Step S102: Based on the preset working width and the turning radius of the vehicle, obtain the first reference number of rows .

[0028] In this embodiment, the first reference span number can be automatically calculated according to the preset working width and turning radius. , the first benchmark spans the number of rows That is, the minimum number of rows required to maintain the "bow-shaped" turning mode throughout the entire process. The specific calculation formula is expressed as: in, Indicates the working width. Indicates the turning radius, Represents a rounding function to ensure the integer nature of the calculation result, thereby avoiding discontinuities in path planning.

[0029] Step S103: Based on the first benchmark cross-row number , determine multiple target operation cross-row numbers, the target operation cross-row numbers are the number of initial operation path rows that each current operation path row needs to cross to reach its corresponding target operation path row, the current operation path row is the initial operation path row before the cross-row, and the target operation path row is the initial operation path row after the cross-row.

[0030] Step S104: For each current operation path row, based on the number of target operation spans corresponding to the current operation path row, obtain the turning path between the current operation path row and the corresponding target operation path row, and based on the turning path, obtain the sub-planning path corresponding to the current operation path row, the sub-planning path including the path corresponding to the current operation path row, the path corresponding to the target operation path row and the turning path.

[0031] Step S105: Based on the multiple sub-planning paths, a total planning path for the vehicle to perform unmanned operation in the target operation area is obtained.

[0032] In this embodiment, the current operation path line can be any initial operation path line. Starting from the operation starting point, the initial operation path line where the operation starting point is located is first used as the current operation path line. Based on the corresponding target operation span number, the target operation path line is entered from the current operation path line to obtain the sub-planning path corresponding to the current operation path line. The target operation path line is then used as the new current operation path line, and so on, until the new target operation path line is the initial operation path line where the operation end point is located. Multiple sub-planning paths are connected to each other to obtain the total planning path.

[0033] Determine the first benchmark span number based on the working width and turning radius , to ensure that the vehicle can move along the total planned path without fishtailing or bulb turning in the straight rake operation, with the minimum number of cross-rows (i.e. the first benchmark cross-row number) ) to make a turn, ensuring the continuity and efficiency of the vehicle's turning operation at the head of the field. The efficiency of agricultural operations has been significantly improved, and based on the overall planned path, the vehicle can be fully unmanned through remote operation, providing a new solution for the construction of unmanned farms.

[0034] In this embodiment, before step S101, it also includes: obtaining initial boundary information corresponding to the target operation plot; based on the Douglas-Peucker algorithm, performing data point simplification processing on the initial boundary information to obtain target boundary information, so as to generate multiple initial operation path rows based on the target boundary information.

[0035] like Figure 2 As shown, after turning on the navigation and confirming the start of the unmanned driving-cross-row operation function key, the operator can independently choose to enclose or mark the land to obtain the initial boundary information of the target operation plot. During this period, the positioning module of the vehicle navigation can record the current position of the vehicle in real time, and record the complete plot boundary data and feed it back to the electronic device.

[0036] If the initial boundary information is obtained by marking the land with vehicles, the collected data points will be too dense, and direct use for vehicle navigation will bring unnecessary computational burden. Therefore, the Douglas-Peucker algorithm can be used to simplify the data points into a quadrilateral with the basic characteristics of the land. Subsequently, the user can adjust the starting point and direction of the cross-row operation according to the actual operation needs through the terminal APP or display terminal, and generate multiple initial operation path rows based on the simplified quadrilateral.

[0037] like Figure 3 , Figure 4 and Figure 5 As shown, in this embodiment, step S103 specifically includes the following processing: Based on the first benchmark cross-row number The actual operation demand corresponding to the target operation plot is obtained by obtaining the first positive cross-row number. and the first reverse span number The actual operation requirements include the shape of the target operation plot, operation efficiency and vehicle mechanical operation requirements, and the first reverse crossing number Than the first positive cross number One less line; Based on the first positive cross-row number and the first reverse span number , perform initial planning of the vehicle operating in the target operating area, obtain an initial planning path, and divide the initial planning path into multiple sub-areas with different planning orders; in the initial planning, if the direction of travel of any of the current operating path rows to reach the corresponding target operating path row is the forward direction, then the number of cross-rows required is the first forward cross-row number If the direction of travel of any of the current operation path rows to the corresponding target operation path row is the reverse direction, the number of rows required is the first reverse number of rows. The forward direction of travel is the same as the direction of travel from the operation starting point to the operation end point, and the reverse direction of travel is opposite to the direction of travel from the operation starting point to the operation end point; If the initial planned path covers all the initial operation path rows, the first forward crossing number is used as and the first reverse span number as the number of rows spanned by the target job corresponding to each of the sub-areas; If the initial planned path does not cover all the initial operation path rows, the first forward crossing number corresponding to the last sub-area is and the first reverse span number Adjust the initial planned path so that it covers all the initial operation path rows, and adjust the first forward crossing number after adjustment. and the first reverse span number As the target job cross-row number corresponding to the last sub-area, the first forward cross-row number and the first reverse span number The number of rows spanned by the target job corresponding to each non-last sub-region.

[0038] like Figure 3 As shown, in this embodiment, the first reverse cross-row number The minimum number of rows that can be spanned by the first benchmark , when the first reverse cross number The first benchmark span number When the first positive cross number Equal to the first benchmark span number +1.

[0039] When the last remaining initial operation path row does not meet the first positive cross row number or the first reverse span number When , there is no target operation path row. By calculating the first positive cross-row number corresponding to the last sub-area and the first reverse span number By making adjustments, the last few uncovered initial operation path rows can be merged into the planned path corresponding to the last sub-area, avoiding fishtails and lightbulb turns.

[0040] In this embodiment, the first positive cross-row number and the first reverse span number , perform initial planning of the vehicle operating in the target operating area to obtain an initial planned path, specifically including the following processing: For each of the current operation path lines, determining whether there is an uncovered initial operation path line between the current operation path line and the operation starting point; For each of the current operation path rows, if there is an uncovered initial operation path row, based on the first reverse cross-row number and reverse travel direction, determine whether the target operation path line exists between the current operation path line and the operation starting point; if the target operation path line does not exist, complete the initial planning and obtain the initial sub-path corresponding to the current operation path line; if the target operation path line exists, obtain the initial sub-path between the current operation path line and the target operation path line, and use the target operation path line as the new current operation path line, repeat the step of determining whether there is an uncovered initial operation path line between the current operation path line and the operation starting point, until the initial planning is completed and the initial sub-path corresponding to the current operation path line is obtained; For each current operation path row, if there is no uncovered initial operation path row, based on the first forward cross row number and the forward direction of travel, repeating the step of determining whether there is the target operation path line between the current operation path line and the operation starting point, until the initial sub-path corresponding to the current operation path line is obtained; specifically, determining whether there is the target operation path line between the current operation path line and the operation starting point; if the target operation path line does not exist, completing the initial planning, and obtaining the initial sub-path corresponding to the current operation path line; if the target operation path line exists, obtaining the initial sub-path between the current operation path line and the target operation path line, and taking the target operation path line as the new current operation path line, repeating the step of determining whether there is an uncovered initial operation path line between the current operation path line and the operation starting point, until the initial planning is completed, and the initial sub-path corresponding to the current operation path line is obtained; Based on each of the initial sub-paths, the initial planned path is obtained.

[0041] like Figure 4As shown in the figure, when there is no uncovered initial operation path row between the current operation path row and the initial operation path row where the operation starting point is located, the travel direction needs to be adjusted, that is, it needs to be planned according to the forward travel direction; when there is an uncovered initial operation path row, it needs to be planned according to the reverse travel direction. The resulting initial planning path includes multiple areas with different operation directions. According to different operation directions, the initial planning path can be divided into multiple sub-areas with different sequences, and each sub-area corresponds to a complete "U-shaped" operation path.

[0042] When planning the initial planning path, the number of complete “U-shaped” operation paths that can be accommodated in the target operation plot can be determined based on the size of the longest boundary of the target operation plot (denoted as S).

[0043] Specifically, the first positive cross-row number and the first reverse span number The length of the sub-region obtained by planning in the extension direction of the longest boundary can be defined as It is easy to understand that the first positive cross-row number and the first reverse span number The lengths corresponding to the different sub-areas obtained by planning are equal, The expression can be expressed as: in, Indicates the first positive cross-row number, Indicates the working width.

[0044] Based on the above expression, the number of complete “U-shaped” operation paths that can be included in the initial planning path , can be obtained by formula It is calculated that Represents the floor function, which is used to ensure is an integer.

[0045] like Figure 4 As shown, if the longest boundary of the target operation plot is larger than If the total length of the “U-shaped” operation paths is accumulated, there will be unplanned “blank areas” at the edge of the plot, that is, there will be initial operation path lines that are not included in any complete path planning. Figure 5As shown, in order to solve this problem and ensure that the operation path can achieve full coverage of the initial operation path, in this embodiment, the remaining initial operation path lines in the target operation plot that are not included in the initial planning path in the early stage are integrated and integrated into the last "mouth-shaped" operation path. This not only optimizes the operation efficiency, but also ensures that there are no missing initial operation path lines in the target operation plot, achieving comprehensive operation.

[0046] In this embodiment, the first forward cross-row number corresponding to the last sub-region and the first reverse span number Before making adjustments, also include: Based on the preset relationship, obtain the second benchmark cross-row number , based on the second benchmark cross-row number Adjust the first positive cross number and the first reverse span number ; The relationship is expressed as: Wherein, R represents the turning radius, W represents the working width, S represents the size of the longest border of the target working plot, N represents the total number of sub-areas, and D represents the number of rows spanned in the first positive direction. and the first reverse span number The length of the sub-region obtained through planning in the extension direction of the longest boundary.

[0047] Second benchmark cross-row number The minimum number of rows that can be crossed in the last “U-shaped” operation path. Adjust to get the second positive cross-row number , for the first reverse cross-row number Adjust to get the second reverse cross-row number , the second reverse cross number Not less than the second benchmark cross-row number The number of rows spanned, the second positive row spanned Equal to the second reverse span number Plus one.

[0048] In this embodiment, step S104 specifically includes the following processing: for each current operation path line, a Dubins curve between the current operation path line and the target operation path line is obtained, and based on the Dubins curve, the turning path is obtained.

[0049] When entering the turning planning stage, the required turning distance can be calculated based on the relationship model between the turning radius and the established target operation span number. By introducing the Dubins curve, a smooth connection between the current operation path and the target operation path can be achieved. Figure 6 As shown, step S104 is continued until the total planned path corresponding to the entire target operation plot is obtained.

[0050] The lifting and lowering sequence of the implements (such as seed drills, rotary tillers, etc.) during operation is precisely controlled according to the turning path. Specifically, before the vehicle enters the turning area, the implements need to be lifted to a non-operating height in a timely manner to avoid damage to the implements or affect the operation quality. When the vehicle exits the turning area, the implements should be lowered smoothly to the operating height to ensure the continuity of the operation. The "sawtooth" path that may occur during the operation, that is, the phenomenon of misaligned operation rows, is eliminated, thereby improving the quality and efficiency of the operation.

[0051] Based on the same technical concept, the present application also provides an unmanned operation path planning device, such as Figure 7 As shown, the unmanned operation path planning device 200 mainly includes: The initial path generation module 201 is used to generate a plurality of initial operation path rows corresponding to the target operation plot based on the operation starting point and the operation moving direction; The first benchmark acquisition module 202 is used to acquire the first benchmark span number based on the preset working width and the turning radius of the vehicle. ; The module 203 for determining the number of cross-rows is configured to determine the number of cross-rows based on the first reference number of cross-rows. , determine multiple target operation cross-row numbers, the target operation cross-row numbers are the number of initial operation path rows that each current operation path row needs to cross to reach the corresponding target operation path row, the current operation path row is the initial operation path row before the cross-row, and the target operation path row is the initial operation path row after the cross-row; The turning path acquisition module 204 is used to acquire, for each current operation path row, a turning path between the current operation path row and the corresponding target operation path row based on the number of target operation spans corresponding to the current operation path row, and obtain a sub-planning path corresponding to the current operation path row based on the turning path, wherein the sub-planning path includes a path corresponding to the current operation path row, a path corresponding to the target operation path row, and the turning path; The total path obtaining module 205 is used to obtain the total planned path for the vehicle to perform unmanned operation in the target operation area based on the multiple sub-planned paths.

[0052] Optionally, before the initial path generation module 201, the following is further included: A boundary acquisition module is used to acquire initial boundary information corresponding to the target operation plot; The simplification processing module is used to perform data point simplification processing on the initial boundary information based on the Douglas-Peucker algorithm to obtain target boundary information, so as to generate a plurality of the initial operation path rows based on the target boundary information.

[0053] Optionally, the module 203 for determining the number of cross-rows includes: The submodule for obtaining the number of cross-rows is used to obtain the number of cross-rows based on the first benchmark number of cross-rows. The actual operation demand corresponding to the target operation plot is obtained by obtaining the first positive cross-row number. and the first reverse span number The actual operation requirements include the shape of the target operation plot, operation efficiency and vehicle mechanical operation requirements, the first reverse cross-row number Than the first positive cross number One less line; The initial planning submodule is used to and the first reverse span number , perform initial planning of the vehicle operating in the target operating area, obtain an initial planning path, and divide the initial planning path into multiple sub-areas with different planning orders; in the initial planning, if the direction of travel of any of the current operating path rows to reach the corresponding target operating path row is the forward direction, then the number of cross-rows required is the first forward cross-row number If the direction of travel of any of the current operation path rows to the corresponding target operation path row is the reverse direction, the number of rows required is the first reverse number of rows. The forward direction of travel is the same as the direction of travel from the operation starting point to the operation end point, and the reverse direction of travel is opposite to the direction of travel from the operation starting point to the operation end point; The first target number determination submodule is used to determine the first forward crossing number as and the first reverse span number as the number of rows spanned by the target job corresponding to each of the sub-areas; The second target number determination submodule is used to determine the first forward crossing number corresponding to the last sub-area when the initial planned path does not cover all the initial operation path rows. and the first reverse span number Adjust the initial planned path so that it covers all the initial operation path rows, and adjust the first forward crossing number after adjustment. and the first reverse span number As the target job cross-row number corresponding to the last sub-area, the first forward cross-row number and the first reverse span number The number of rows spanned by the target job corresponding to each non-last sub-region.

[0054] Optionally, the initial planning submodule includes: A judgment submodule, used for judging, for each current operation path line, whether there is an uncovered initial operation path line between the current operation path line and the operation starting point; The first planning submodule is configured to, for each current operation path row, if there is an uncovered initial operation path row, calculate the number of reverse cross-rows based on the first reverse cross-row number. and reverse travel direction, determine whether the target operation path line exists between the current operation path line and the operation starting point; if the target operation path line does not exist, complete the initial planning and obtain the initial sub-path corresponding to the current operation path line; if the target operation path line exists, obtain the initial sub-path between the current operation path line and the target operation path line, and use the target operation path line as the new current operation path line, repeat the step of determining whether there is an uncovered initial operation path line between the current operation path line and the operation starting point, until the initial planning is completed and the initial sub-path corresponding to the current operation path line is obtained; The second planning submodule is configured to, for each current operation path row, if there is no uncovered initial operation path row, plan the current operation path row based on the first forward cross-row number. and the forward direction of travel, determine whether the target operation path line exists between the current operation path line and the operation starting point; if the target operation path line does not exist, complete the initial planning and obtain the initial sub-path corresponding to the current operation path line; if the target operation path line exists, obtain the initial sub-path between the current operation path line and the target operation path line, and use the target operation path line as the new current operation path line, repeat the step of determining whether there is an uncovered initial operation path line between the current operation path line and the operation starting point, until the initial planning is completed and the initial sub-path corresponding to the current operation path line is obtained; The integration submodule is used to obtain the initial planned path based on each of the initial sub-paths.

[0055] Optionally, before the first planning submodule or the second planning submodule, the following further includes: The second benchmark acquisition module is used to obtain the second benchmark cross-row number based on a preset relationship. , based on the second benchmark cross-row number Adjust the first positive cross number and the first reverse span number ; The relationship is expressed as: Wherein, R represents the turning radius, W represents the working width, S represents the size of the longest border of the target working plot, N represents the total number of sub-areas, and D represents the number of rows spanned in the first positive direction. and the first reverse span number The length of the sub-region obtained through planning in the extension direction of the longest boundary.

[0056] Optionally, the turning path acquisition module 204 includes: The curve acquisition submodule is used to acquire, for each current operation path line, a Dubins curve between the current operation path line and the target operation path line, and obtain the turning path based on the Dubins curve.

[0057] 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.

[0058] 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).

[0059] 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.

[0060] 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.

[0061] 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.

[0062] Based on the same technical concept, the present application also provides an electronic device, such as Figure 8 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 .

[0063] 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 unmanned operation 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 used to operate 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.

[0064] 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.

[0065] 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.

[0066] 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 unmanned driving operation path planning method given in the above embodiment.

[0067] 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.

[0068] 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 unmanned driving operation path planning method are implemented.

[0069] 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.

[0070] Based on the same technical concept, the present application also provides an unmanned agricultural machine, including a vehicle body, a machine implement, a machine implement driving device, a display terminal and the electronic device as described above; The electronic device is used to send the overall planned path to the vehicle body, and the vehicle body is used to drive the machine to perform operations based on the overall planned path; The overall planned path includes a turning path, and before the machine tool enters the turning path, the machine tool driving device lifts the machine tool to a non-operating height, and when the machine tool exits the turning path, the machine tool driving device adjusts the machine tool to an operating height; like Fig. 9 As shown, the electronic device is communicatively connected to a display terminal, and the display terminal is used to display the real-time operation status of the agricultural machinery, the status of the implement, the overall planned path, and the traveled paths and untraveled paths based on the overall planned path.

[0071] Unmanned agricultural machinery integrates the collaborative interaction mechanism of multiple modules such as positioning system, communication module, decision algorithm, control actuator, etc., forming a highly integrated and responsive unmanned driving control system. Specifically, the system realizes efficient and real-time communication between the receiver (used to receive positioning information and operation instructions), the electric steering wheel (responsible for steering control), and the electronic equipment (as a central processing unit, coordinating the work of various modules). This communication architecture ensures that the agricultural machinery can adjust its current operating status in real time according to the preset operation plan, thereby realizing the unmanned driving function of the agricultural machinery.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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 method for unmanned operation path planning, characterized in that: include: Based on the operation starting point and the operation travel direction, multiple initial operation path rows corresponding to the target operation plot are generated; Based on the preset working width and the turning radius of the vehicle, obtain the first benchmark span number ; Based on the first benchmark cross-row number , determine multiple target operation cross-row numbers, the target operation cross-row numbers are the number of initial operation path rows that each current operation path row needs to cross to reach the corresponding target operation path row, the current operation path row is the initial operation path row before the cross-row, and the target operation path row is the initial operation path row after the cross-row; For each current operation path row, based on the target operation span row number corresponding to the current operation path row, a turning path between the current operation path row and the corresponding target operation path row is obtained, and based on the turning path, a sub-planning path corresponding to the current operation path row is obtained, wherein the sub-planning path includes a path corresponding to the current operation path row, a path corresponding to the target operation path row, and the turning path; Based on the multiple sub-planning paths, a total planned path for the vehicle to perform unmanned operation in the target operation area is obtained.

2. The unmanned operation path planning method according to claim 1, characterized in that: Before generating a plurality of initial operation path lines corresponding to the target operation plot based on the operation starting point and the operation traveling direction, the method further includes: Obtaining initial boundary information corresponding to the target operation plot; Based on the Douglas-Peucker algorithm, data point simplification processing is performed on the initial boundary information to obtain target boundary information, so as to generate a plurality of the initial operation path rows based on the target boundary information.

3. The unmanned operation path planning method according to claim 1 or 2, characterized in that: The number of rows spanned based on the first benchmark , determine the number of rows spanned by multiple target jobs, including: Based on the first benchmark cross-row number The actual operation demand corresponding to the target operation plot is obtained by obtaining the first positive cross-row number. and the first reverse span number The actual operation requirements include the shape of the target operation plot, the operation efficiency and the vehicle mechanical operation requirements, and the first reverse crossing number Than the first positive cross number One less line; Based on the first positive cross-row number and the first reverse span number , perform initial planning of the vehicle operating in the target operating area, obtain an initial planning path, and divide the initial planning path into multiple sub-areas with different planning orders; in the initial planning, if the direction of travel of any of the current operating path rows to reach the corresponding target operating path row is the forward direction, then the number of cross-rows required is the first forward cross-row number If the direction of travel of any of the current operation path rows to the corresponding target operation path row is the reverse direction, the number of rows required is the first reverse number of rows. The forward direction of travel is the same as the direction of travel from the operation starting point to the operation end point, and the reverse direction of travel is opposite to the direction of travel from the operation starting point to the operation end point; If the initial planned path covers all the initial operation path rows, the first forward crossing number is used as and the first reverse span number as the number of rows spanned by the target job corresponding to each of the sub-areas; If the initial planned path does not cover all the initial operation path rows, the first forward crossing number corresponding to the last sub-area is and the first reverse span number Adjust the initial planned path so that it covers all the initial operation path rows, and adjust the first forward crossing number after adjustment. and the first reverse span number As the target job cross-row number corresponding to the last sub-area, the first forward cross-row number and the first reverse span number The number of rows spanned by the target job corresponding to each non-last sub-region.

4. The unmanned operation path planning method according to claim 3 is characterized in that: based on the first positive cross-row number and the first reverse span number , performing initial planning of the vehicle operating in the target operating area to obtain an initial planned path, including: For each of the current operation path lines, determining whether there is an uncovered initial operation path line between the current operation path line and the operation starting point; For each of the current operation path rows, if there is an uncovered initial operation path row, based on the first reverse cross-row number and reverse travel direction, determine whether the target operation path line exists between the current operation path line and the operation starting point; if the target operation path line does not exist, complete the initial planning and obtain the initial sub-path corresponding to the current operation path line; if the target operation path line exists, obtain the initial sub-path between the current operation path line and the target operation path line, and use the target operation path line as the new current operation path line, repeat the step of determining whether there is an uncovered initial operation path line between the current operation path line and the operation starting point, until the initial planning is completed and the initial sub-path corresponding to the current operation path line is obtained; For each current operation path row, if there is no uncovered initial operation path row, based on the first forward cross row number and the forward direction, repeating the step of determining whether the target operation path line exists between the current operation path line and the operation starting point, until an initial sub-path corresponding to the current operation path line is obtained; Based on each of the initial sub-paths, the initial planned path is obtained.

5. The unmanned driving operation path planning method according to claim 4, characterized in that: The first positive row number corresponding to the last sub-region and the first reverse span number Before making adjustments, also include: Based on the preset relationship, obtain the second benchmark cross-row number , based on the second benchmark cross-row number Adjust the first positive cross number and the first reverse span number ; The relationship is expressed as: Wherein, R represents the turning radius, W represents the working width, S represents the size of the longest border of the target working plot, N represents the total number of sub-areas, and D represents the number of rows spanned in the first positive direction. and the first reverse span number The length of the sub-region obtained through planning in the extension direction of the longest boundary.

6. The unmanned driving operation path planning method according to claim 1, characterized in that: The step of obtaining a turning path between the current operation path line and the target operation path line includes: For each current operation path line, a Dubins curve between the current operation path line and the target operation path line is obtained, and the turning path is obtained based on the Dubins curve.

7. An unmanned operation path planning device, characterized in that: include: An initial path generation module is used to generate multiple initial operation path rows corresponding to the target operation plot based on the operation starting point and the operation direction; The first benchmark acquisition module is used to obtain the first benchmark span number based on the preset working width and the turning radius of the vehicle. ; A module for determining the number of cross-rows is used to determine the number of cross-rows based on the first benchmark , determine multiple target operation cross-row numbers, the target operation cross-row numbers are the number of initial operation path rows that each current operation path row needs to cross to reach the corresponding target operation path row, the current operation path row is the initial operation path row before the cross-row, and the target operation path row is the initial operation path row after the cross-row; A turning path acquisition module is used to acquire, for each current operation path row, a turning path between the current operation path row and the corresponding target operation path row based on the number of target operation spans corresponding to the current operation path row, and obtain a sub-planning path corresponding to the current operation path row based on the turning path, wherein the sub-planning path includes a path corresponding to the current operation path row, a path corresponding to the target operation path row, and the turning path; The module for obtaining a total path is used to obtain a total planned path for the vehicle to perform unmanned operation in the target operation area based on the multiple sub-planned 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 unmanned agricultural machine, characterized in that: It comprises a vehicle body, a machine tool, a machine tool driving device, a display terminal and the electronic device as claimed in claim 8; The electronic device is used to send the overall planned path to the vehicle body, and the vehicle body is used to drive the machine to perform operations based on the overall planned path; The overall planned path includes a turning path, and before the machine tool enters the turning path, the machine tool driving device lifts the machine tool to a non-operating height, and when the machine tool exits the turning path, the machine tool driving device adjusts the machine tool to an operating height; The display terminal is used to display the real-time operation status of the agricultural machinery, the status of the implement, the overall planned path, and the traveled paths and untraveled paths based on the overall planned path.

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