Path planning method for diagonal harrowing operation

Abstract

The invention discloses a path planning method for diagonal harrowing operation, and the method comprises the steps: generating a closed region according to the operation region information of a field, adjusting the boundary of the closed region to obtain the inner boundary of a path, and obtaining the tangent point number of the first harrowing operation of an agricultural machine, the method comprises the following steps: determining a tangent point number in a path inner boundary, generating a plurality of datum lines distributed in an oblique line grid shape in the path inner boundary according to the tangent point number, determining a connection sequence of the plurality of datum lines according to the tangent point number, and finally connecting the plurality of datum lines according to the determined connection sequence so as to obtain a raking path of the agricultural machine. According to the method and the device, the harrowing path better conforming to manual operation habits can be automatically planned for the field, and the planned harrowing path can be more flexible and universal.

Description

Technical Field

[0001] The present application relates to the technical field of path planning, and in particular to a path planning method for diagonal raking operations. Background Art

[0002] Harrowing is a common type of operation in agricultural production activities. It generally refers to the operation of fully covering the field by mounting a harrow on the back of a tractor to make the surface soil of the field loose and flat, which is convenient for subsequent sowing, moisture conservation and other operations. According to the type of operation path, harrowing operations include linear harrowing and diagonal harrowing. Among them, linear harrowing is a harrowing method similar to traditional ox-plowing operations. It starts from one end of the field, works along the edge of the field or the furrow to the other end of the field, and then turns around to work on the next row, going back and forth until the operation is completed. The diagonal harrowing operation path is more complicated. It usually starts from one corner of the field, works along the diagonal to the boundary of the field, and then turns 90 degrees to continue working until all areas of the entire field have a set of intersecting operation paths passing through. Because diagonal harrowing does not require a U-turn, the diagonal harrowing operation method is more efficient and has better working results.

[0003] With the development of smart agriculture, unmanned diagonal harrowing operations have emerged. Among them, automatic planning of the operation path of agricultural machinery is the key technology to realize unmanned diagonal harrowing operations. However, the current diagonal harrowing path planning is planned on regular quadrilateral fields, and actual fields are mostly irregular in shape. Therefore, such a diagonal harrowing path planning method is easily restricted by the actual field plots and it is difficult to achieve the ideal harrowing operation effect. Moreover, since the diagonal harrowing operation generates a fixed direction baseline according to certain rules, it is impossible for different users to adjust the baseline direction according to their own operating habits and needs, thereby limiting the flexibility and versatility of path planning. Summary of the invention

[0004] The main purpose of this application is to provide a path planning method for diagonal raking operations, which can automatically plan the raking path, so that the raking operation coverage and operation efficiency are significantly improved, and the planned raking path conforms to manual operation habits, thereby improving the flexibility and versatility of path planning.

[0005] In order to achieve the above objectives, this application adopts the following technical solutions:

[0006] A path planning method for diagonal harrowing operation, comprising:

[0007] Generate a closed area based on the field's work area information;

[0008] Adjust the boundary of the closed area according to the vehicle information of the agricultural machinery to obtain the inner boundary of the path;

[0009] Obtaining the number of tangent points of the agricultural machine harrowing operation, where the number of tangent points is the number of turns of the agricultural machine in the first harrowing operation, and the number of tangent points is an integer greater than or equal to 0;

[0010] Generating a plurality of reference lines according to the number of tangent points, wherein the plurality of reference lines are distributed in a diagonal grid shape within the inner boundary of the path;

[0011] Determining a connection order of the plurality of baselines according to the number of tangent points;

[0012] The plurality of reference lines are connected in the connection order to obtain a harrowing path of the agricultural machine.

[0013] In a possible implementation manner, obtaining the number of tangent points of the agricultural machinery target field operation includes:

[0014] Obtaining the minimum circumscribed rectangle of the closed area by using a convex hull algorithm;

[0015] The number of tangent points is obtained according to the length and width of the minimum circumscribed rectangle.

[0016] In a possible implementation, generating a plurality of baselines according to the number of tangent points includes:

[0017] The endpoint closest to the current position of the agricultural machine in the minimum circumscribed rectangle of the closed area is taken as the first endpoint, the endpoint opposite to the first endpoint on the short side where the first endpoint is located is taken as the second endpoint, the endpoint at the diagonal corner of the first endpoint is taken as the third endpoint, and the endpoint opposite to the first endpoint on the long side where the first endpoint is located is taken as the fourth endpoint;

[0018] Generate a first reference line, wherein the starting point of the first reference line is the first endpoint, the end point of the first reference line is located on a straight line where the second endpoint and the third endpoint are located, and the distance from the second endpoint is a first length, and the first length is determined according to the length of the long side of the minimum circumscribed rectangle and the number of tangent points;

[0019] Generate a second reference line, wherein the starting point of the second reference line is the second endpoint, the end point of the second reference line is located on a straight line where the first endpoint and the fourth endpoint are located, and the distance from the first endpoint to the second reference line is the first length, and the second reference line intersects the first reference line;

[0020] Within the inner boundary of the path, horizontally translate the first reference line along the long side direction of the minimum circumscribed rectangle toward two ends of the long side of the minimum circumscribed rectangle according to a first set step length, thereby generating a plurality of the first reference lines;

[0021] Within the inner boundary of the path, the second reference line is horizontally translated along the long side direction of the minimum circumscribed rectangle toward two ends of the long side of the minimum circumscribed rectangle according to a second set step length, thereby generating a plurality of the second reference lines.

[0022] In a possible implementation manner, the plurality of baselines include a baseline of a first harrowing operation and remaining baselines except the baseline of the first harrowing operation, and determining a connection order of the plurality of baselines according to the number of tangent points includes:

[0023] Determine the reference line of the first harrowing operation and the connection order of the reference lines of the first harrowing operation according to the initial position of the agricultural machine and the number of tangent points, wherein the reference line of the first harrowing operation includes a starting reference line and an ending reference line, the starting reference line is the first reference line of the first harrowing operation, and the ending reference line is the last reference line of the first harrowing operation;

[0024] Determining a turning direction of the agricultural machine according to the endpoint reference line;

[0025] The remaining baselines and the connection order of the remaining baselines are determined according to the terminal baseline, the constraint conditions and the adjustment direction of the agricultural machinery, wherein the adjustment direction includes a U-turn direction or a turning direction.

[0026] In a possible implementation, the method further includes:

[0027] Numbering each of the reference lines according to a first preset rule;

[0028] Correspondingly, determining the reference line of the first harrowing operation and the connection order of the reference lines of the first harrowing operation according to the initial position of the agricultural machine and the number of tangent points includes:

[0029] Determine a cross reference line, where the cross reference line is a reference line that is closest to the endpoints of the minimum circumscribed rectangle;

[0030] Determine a second preset rule according to the number of the tangent points and the number of the crossing reference lines;

[0031] The connection sequence of the reference lines of the first harrowing operation is determined according to the starting reference line and the second preset rule.

[0032] In a possible implementation manner, determining the remaining baselines and the connection order of the remaining baselines according to the endpoint baseline, the constraint condition and the adjustment direction of the agricultural machinery includes:

[0033] Determine a next reference line according to the reference reference line, the constraint condition and the adjustment direction corresponding to the reference reference line, wherein the reference reference line is the currently determined reference line and the first reference reference line is the end point reference line;

[0034] The determined next baseline is used as a new reference baseline, and the step of determining the next baseline according to the reference baseline, the constraint condition and the adjustment direction corresponding to the reference baseline is performed until the remaining baselines are traversed to determine the connection order of the remaining baselines.

[0035] In a possible implementation, the constraint condition includes a first constraint condition, which includes: the next baseline is parallel to the reference baseline, meets the turning requirement of the agricultural machinery, and is the closest to the reference baseline among the unplanned baselines located in the area where the turning direction is located;

[0036] Correspondingly, determining a next reference line according to the reference reference line, the constraint condition, and the adjustment direction corresponding to the reference reference line includes:

[0037] Determining whether the relationship between the reference reference line and the next reference line is a U-turn or a turn according to the end point position of the reference reference line;

[0038] When the end point of the reference reference line is close to the end point of the minimum circumscribed rectangle, determining that the relationship between the reference reference line and the next reference line is a U-turn;

[0039] Determining the turning direction according to the reference baseline;

[0040] Determine the next reference line according to the turning direction and the first constraint condition;

[0041] The constraint condition also includes a second constraint condition, which includes: the next baseline is not parallel to the reference baseline, meets the turning requirement of the agricultural machinery, and is the closest to the reference baseline among the unplanned baselines located in the area where the turning direction is located;

[0042] Correspondingly, determining a next reference line according to the reference reference line, the constraint condition, and the adjustment direction corresponding to the reference reference line includes:

[0043] When the end point of the reference baseline is not close to the end point of the minimum circumscribed rectangle, determining that the relationship between the reference baseline and the next baseline is a turn;

[0044] Determine the turning direction according to the reference baseline;

[0045] The next reference line is determined according to the turning direction and the second constraint condition.

[0046] In a possible implementation manner, after determining the next reference line according to the turning direction and the first constraint condition, the diagonal harrowing path planning method further includes:

[0047] Determining whether the agricultural machine passes through the cross reference line when turning according to the relationship between the reference reference line, the cross reference line and the next reference line;

[0048] When the relationship between the reference reference line, the intersection reference line and the next reference line meets a preset condition, confirming that the agricultural machine does not pass through the intersection reference line when turning around;

[0049] When the relationship among the reference baseline, the intersection baseline and the next baseline does not satisfy a preset condition, it is confirmed that the agricultural machine turns around and passes through the intersection baseline.

[0050] In a possible implementation, the preset conditions include: the interval distance between the reference baseline and the next baseline is less than a first preset threshold, the distance from the reference baseline or the next baseline to the cross baseline is less than a second preset threshold, or the distance from the starting point of the next baseline to the end point of the cross baseline is greater than the distance from the starting point of the next baseline to the starting point of the cross baseline.

[0051] In a possible implementation manner, connecting the multiple reference lines according to the connection order includes:

[0052] Generate transition curves;

[0053] According to the connection order, the multiple baselines are connected in sequence through the transition curves.

[0054] A second aspect of the present application provides a computer-readable storage medium storing a plurality of program instructions, wherein the plurality of program instructions are suitable for being loaded by a processor and executing the path planning method for diagonal raking operations as described above.

[0055] Compared with the prior art, this application has the following advantages:

[0056] 1. The path planning method for diagonal harrowing operation of the present application can automatically plan a feasible diagonal harrowing path for the field without human intervention, thereby effectively improving the operation efficiency of agricultural machinery and facilitating the realization of unmanned harrowing operation.

[0057] 2. The method of the present application generates multiple baselines according to the number of tangent points, and then determines the connection order of the multiple baselines according to the number of tangent points for path planning. The diagonal raking path thus obtained is more in line with manual working habits, making the planned diagonal raking path more flexible and versatile.

[0058] 3. This application method is based on a variety of relevant information on agricultural machinery in terms of driving, operation, safety, etc., and plans a diagonal harrowing path for the field that conforms to manual operation habits and has a high coverage rate while ensuring operation safety, thereby improving the feasibility and safety of harrowing operations.

[0059] 4. The application method is not limited by the usage scenario and is applicable not only to fields of regular shapes but also to fields of irregular shapes, thus meeting the requirements of actual harrowing operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0061] Figure 1 A schematic diagram of the connection between the electronic device and the agricultural machinery provided in an embodiment of the present application.

[0062] Figure 2 A flow chart of a path planning method for raking operations provided in an embodiment of the present application.

[0063] Figure 3 for Figure 2 Detailed flowchart of step S21 in FIG.

[0064] Figure 4 for Figure 2 Detailed flowchart of step S22 in FIG.

[0065] Figure 5 for Figure 2 Detailed flowchart of step S24 in FIG.

[0066] Figure 6 for Figure 2 Detailed flowchart of step S25 in FIG.

[0067] Figure 7 for Figure 6 Detailed flowchart of step S61 in FIG.

[0068] Figure 8 for Figure 6 Detailed flowchart of step S63 in FIG.

[0069] Fig. 9 for Figure 8 Detailed flowchart of step S81 in FIG.

[0070] Fig.10 for Figure 2 Detailed flowchart of step S26 in FIG.

[0071] Fig.11 A schematic diagram of the boundary of a closed area, the outer boundary of a path, the inner boundary of a path, and the minimum circumscribed rectangle in the method of an embodiment of the present application.

[0072] Figure 12 to Figure 14 They are the paths of the first harrowing operation of the agricultural machinery when the number of tangent points is 0, 1, and 2 respectively.

[0073] Fig.15 A schematic diagram for generating a first reference line and a second reference line.

[0074] Fig.16 Based on Fig.15 A schematic diagram of a first group of reference lines and a second group of reference lines is generated by using the first reference line and the second reference line.

[0075] Fig.17 This is a schematic diagram of the partial planning path when the number of tangent points is 1.

[0076] Fig.18 This is a schematic diagram of the planned path when the number of tangent points is 2.

[0077] Fig.19 and Fig. 20 These are schematic diagrams of the planned path when the number of tangent points is 0.

[0078] Fig.21 These are schematic diagrams of the planned paths when the number of tangent points is 1.

[0079] Fig. 22 Schematic diagram of the planned path for turning an agricultural machine without crossing the baseline.

[0080] Fig.23 Schematic diagram of the planned U-turn path for agricultural machinery passing through the intersecting baseline when making a U-turn.

[0081] Fig.24 A schematic diagram of a harrowing path planning device provided in an embodiment of the present application.

[0082] Main component symbols

[0083] Electronic devices 100

[0084] Processor 101

[0085] Communication interface 102

[0086] Memory 103

[0087] Harrowing path planning device 10

[0088] Closed area generation module 11

[0089] Boundary Adjustment Module 12

[0090] Baseline generation module 13

[0091] Baseline sorting module 14

[0092] Baseline connection module 15

[0093] Agricultural machinery 200

[0094] Rake 201

[0095] Locator 202

[0096] The following specific implementation methods will further illustrate the present application in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0097] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0098] In the description of the present application, it should be understood that the terms "first" and "second" etc. are used to distinguish different objects rather than to describe a specific order.

[0099] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or mutual communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0100] The term "comprises" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or modules is not limited to the listed steps or modules, but may optionally include steps or modules that are not listed, or may optionally include other steps or modules that are inherent to these processes, methods, products, or devices.

[0101] Traditional diagonal harrowing operations require the driver to manually drive the agricultural machinery to complete the diagonal operation. The planning of the operation path depends on the driver's driving experience, so it is easily affected by human factors, and it is difficult to ensure the rationality of the operation path, operation efficiency and operation safety.

[0102] The unmanned diagonal harrowing operation method can automatically plan the path and automatically perform diagonal operations according to the planned path, so the operation can be more efficient and safe, and it is also easier to improve the operation coverage rate of the field. However, the unmanned diagonal harrowing operation method generally requires path planning in regular square fields (such as square fields and rectangular fields), and the actual fields have different shapes. The usual practice is to cut out a rectangular area in an irregular field, discard the non-rectangular area, and only perform path planning and operations in the rectangular area. Since the field cannot be fully utilized, the harrowing operation coverage rate is reduced, and the best harrowing operation effect cannot be achieved.

[0103] To this end, an embodiment of the present application proposes a path planning method for diagonal harrowing operations, which solves the problem that automatic diagonal harrowing operations of agricultural machinery are limited by actual fields and affect the harrowing operation effect. It can plan the optimal diagonal harrowing path for fields of various shapes, thereby significantly improving the harrowing operation coverage rate.

[0104] It can be understood that the path planning method for diagonal raking operation provided in the embodiment of the present application can be applied to the electronic device 100. Figure 1 The electronic device 100 can communicate with the agricultural machine 200, and can further control the working state of the agricultural machine 200. For example, the electronic device 100 can automatically plan a diagonal harrowing path for the agricultural machine 200 through the path planning method for harrowing operation in the embodiment of the present application, and control the agricultural machine 200 to perform diagonal harrowing operation along the planned diagonal harrowing path.

[0105] It is understood that the electronic device 100 may be a device with information processing, storage and communication functions, such as a computer, a tablet or other terminal. The electronic device 100 may form an agricultural machine device with an agricultural machine.

[0106] It is understood that the present application does not limit the installation position of the electronic device 100. For example, the electronic device 100 can be installed on the agricultural machine 200 and be connected to the agricultural machine 200 by wire or wirelessly. Of course, the electronic device 100 can also be set at a remote end and be connected to the agricultural machine 200 wirelessly.

[0107] It is understood that the agricultural machine 200 in the embodiment of the present application refers to an agricultural harrowing machine that can harrow the land. It is understood that the present application does not limit the type of the agricultural harrowing machine, for example, it can be a fuel tractor, an electric tractor or a hybrid tractor.

[0108] It is understandable that Figure 1 As shown, the agricultural machine 200 is equipped with a harrow 201. The present application does not limit the type of the harrow 201, for example, the harrow 201 can be a disc harrow, a paddy field harrow and / or a spiked harrow. It is understood that the present application does not limit the configuration of the harrow 201, for example, the agricultural machine 200 can be equipped with a harrow in a single row harrow, a double row harrow, an offset harrow and / or an opposed harrow. During actual operation, a suitable harrow 201 and the number of operations can be selected for the agricultural machine 200 according to the planting requirements of the crops (for example, the required harrowing depth) and the soil conditions of the field (for example, soil moisture and soil resistance).

[0109] It is understandable that Figure 1 As shown, the agricultural machine 200 is also equipped with a locator 202. The locator 202 may be a vehicle-mounted positioning device, such as an RTK (Real-Time Kinematic) positioning device, a GPS positioning device, or other types of positioning devices. The locator 202 may be used to mark the boundary points of the field before the actual operation, and may also be used to locate the position of the agricultural machine 200 in the field in real time during the actual diagonal harrowing operation.

[0110] Please refer to Figure 2 , Figure 2 A flow chart of a path planning method for diagonal raking operation according to an embodiment of the present application is shown. The method comprises the following steps:

[0111] Step S21: Generate a closed area based on the field work area information.

[0112] It is understood that the present application does not limit the shape of the field, and the field can be a regular quadrilateral, such as a square or a rectangle. The closed area is also a regular quadrilateral. Of course, the field can also be an irregular polygon. Correspondingly, the generated closed area is an irregular polygon. Alternatively, the edge of the field can also be a curved edge, and correspondingly, the boundary of the generated closed area is also a curved surface.

[0113] In some embodiments, the working area information of a field may be the longitude and latitude coordinate information of the boundary points of the field.

[0114] For details, please refer to Figure 3 , step S21 may include the following steps:

[0115] Step S31: Obtain the longitude and latitude coordinate information of multiple boundary points of the field.

[0116] Wherein, the boundary point of the field refers to the turning point on the field boundary. In some embodiments, the field boundary can be understood as the boundary of the harrowing operation area of ​​the field.

[0117] It is understandable that the present application does not limit the method of obtaining the longitude and latitude coordinate information.

[0118] For example, in some embodiments, before path planning, the positioning device can be moved around the boundary of the field. Whenever the positioning device passes a boundary point of the field, a dotting operation is performed, that is, the positioning device obtains the longitude and latitude coordinate information of the boundary point. In this way, it is possible to avoid missing the corners of the field and accurately and comprehensively obtain the longitude and latitude coordinate information of the field. The positioning device can send the obtained longitude and latitude coordinate information to the electronic device 100, so that the electronic device 100 can perform path planning for the agricultural machine 200.

[0119] It is understood that the positioning device can be a device with positioning and data transmission functions, such as an RTK positioning device or other positioning device that can obtain field information. In some cases, the positioning device can be installed on the agricultural machine 200 as a locator 202 of the agricultural machine 200, and driven to move by the movement of the agricultural machine 200. In addition, the agricultural machine 200 can harrow the land while marking, so as to avoid missing plowing at the edge of the field, and improve the harrowing coverage rate and operation efficiency of the field.

[0120] In other embodiments, the positioning device may be installed on a drone, and the drone may be used to move the positioning device. In other embodiments, a person may carry the positioning device while walking along a field to move the positioning device. This application does not limit this.

[0121] Step S32: performing coordinate conversion on the longitude and latitude coordinate information of each boundary point, so that the longitude and latitude coordinate system is converted into a plane coordinate system, thereby obtaining the plane coordinate information of each boundary point.

[0122] For example, the plane coordinate system may be a NEH plane coordinate system.

[0123] Step S33: Mark multiple boundary points in the plane coordinate system according to the plane coordinate information of the boundary points, and then connect the multiple boundary points in sequence to generate a closed area corresponding to the field (see Figure 8 middle).

[0124] It can be understood that the line between the boundary points in the closed area is the boundary of the closed area, which can be equivalent to the boundary of the field. Two lines connected to the same boundary point can form an inner angle of the closed area, so that the shape of the closed area is basically consistent with the shape of the field. Therefore, the closed area can reflect the diagonal harrowing operation range and area size of the field.

[0125] It can be understood that when the boundary points at a certain location in the plane coordinate system are too densely distributed, the boundary points can be appropriately deleted to simplify the shape of the closed area and improve the efficiency of generating the closed area.

[0126] Of course, in other embodiments, the field information may also include other information for generating a closed area, such as high-definition satellite image information, to assist in generating a more accurate closed area. This application does not impose any limitation on this.

[0127] Step S22: adjusting the boundary of the closed area according to the vehicle information of the agricultural machine to obtain the inner boundary of the path.

[0128] In some embodiments, please refer to Figure 4 , step S22 may include the following steps:

[0129] Step S41: shrink the boundary of the closed area inward by a first distance, thereby obtaining the outer boundary of the path, which can be referred to Fig.11 .

[0130] Step S42: shrink the outer boundary of the path inward by a second distance, thereby obtaining the inner boundary of the path, which can be referred to Fig.11 .

[0131] In this way, the diagonal harrowing path can be planned based on the outer boundary of the path and the inner boundary of the path, so that the planned harrowing path does not exceed the outer boundary of the path at most. This can prevent the planned harrowing path from exceeding the boundary of the field, making the planned harrowing path safer and more reasonable.

[0132] It can be understood that when performing path planning, the center of the agricultural machine 200 is usually used to represent the entire agricultural machine 200. However, in actual scenarios, the agricultural machine 200 has a certain length and width, and is also equipped with a harrow 201, which also has a certain length and width. In addition, the agricultural machine 200 also has a certain turning radius when turning. Therefore, in order to ensure the feasibility and safety of the diagonal harrowing path, these relevant information of the agricultural machine 200 need to be considered when performing path planning.

[0133] Therefore, in some embodiments, the first distance is set as L1 = a*W1 + S, where L1 is the first distance, a is the first distance factor, W1 is the working width of the agricultural machine 200, and S is the set safety distance.

[0134] The second distance is set as L2=b*R, where L2 is the second distance, b is the second distance factor, and R is the turning radius of the agricultural machine 200 .

[0135] Among them, it can be understood that if the length direction of the body of the agricultural machine 200 is used as the front-to-back direction (for example, the front of the vehicle is located in front of the rear of the vehicle), the center of the agricultural machine 200 is usually aligned with the midpoint of the working width, and the center of the agricultural machine 200 represents the entire agricultural machine 200 during path planning. Therefore, it is necessary to reserve a margin of half the working width when adjusting the boundary of the closed area. In this way, it can be avoided that although the center of the agricultural machine 200 does not exceed the field boundary during path planning, nearly half of the body of the agricultural machine exceeds the field boundary during actual operation. This situation not only poses a safety risk, but also the harrow located outside the field boundary cannot work effectively. Therefore, in the embodiment of the present application, the first distance reserves a*W1, where a can be set to 0.5.

[0136] It can be understood that the working width W1 can be adaptively set according to the actual length and width of the agricultural machine 200 , the length and width of the harrow 201 , the distance from the harrow 201 to the rear of the vehicle, the offset distance of the harrow 201 , and the like.

[0137] It can be understood that, in order to further improve the safety of the operation, the first distance in the embodiment of the present application also reserves S to prevent the body of the agricultural machine 200 or the harrow 201 from exceeding the field boundary. The size of S can be set according to actual conditions, for example, it can be set to 0.5m.

[0138] It can be understood that, considering that the turning trajectory of the agricultural machine 200 is an arc trajectory with a certain turning radius, the arc trajectory requires more space than the straight trajectory. For example, when the agricultural machine 200 starts from one position and travels in a straight line or a curve to reach another position, the distance from the center of the agricultural machine 200 to the arc trajectory is about 0.3 times the turning radius than the distance from the center of the agricultural machine 200 to the straight trajectory. Therefore, when adjusting the boundary of the closed area, it is also necessary to reserve a certain margin for the turning operation to prevent the agricultural machine 200 from exceeding the boundary of the field when the agricultural machine 200 performs a turning operation. Therefore, in the embodiment of the present application, the second distance reserves b*R, where b can be set to 0.3.

[0139] It can be understood that since the first distance refers to relevant information on the body size, operation and driving safety of the agricultural machinery 200, and the second distance refers to relevant information on the turning operation of the agricultural machinery 200, when path planning is performed based on the outer boundary of the path and the inner boundary of the path, the planned diagonal harrowing path is feasible, which can ensure that the agricultural machinery 200 can operate safely and smoothly.

[0140] In some embodiments, in order to facilitate path planning for fields, the convex hull of the closed area can be calculated based on the field information to obtain the minimum convex polygon containing all points in the closed area, and then the minimum circumscribed rectangle of the minimum convex polygon is calculated as the minimum circumscribed rectangle of the closed area.

[0141] Step S23: Obtain the number of tangent points of the harrowing operation of the agricultural machine, wherein the number of tangent points is the number of turns of the first harrowing operation of the agricultural machine, and the number of tangent points is an integer greater than or equal to 0.

[0142] The first operation of the agricultural machinery refers to the operation of the agricultural machinery from the initial starting point to the side of the path boundary opposite to the initial starting point. Fig.12 , the initial starting point of the agricultural machinery is the end point a of the inner boundary of the path. The first harrowing operation of the agricultural machinery refers to the operation process of the agricultural machinery from end point a to end point c. At this time, the number of tangent points of the harrowing operation of the agricultural machinery is 0, that is, the path of the first harrowing operation of the agricultural machinery is a straight line, and the number of turns is 0. For example Fig.13 The first harrowing operation of the agricultural machinery refers to the operation process of the agricultural machinery from end point a to end point d. At this time, the number of tangent points of the first harrowing operation of the agricultural machinery is 1, and the overall path of the first harrowing operation of the agricultural machinery is "L" shaped, with 1 turn number. Alternatively, please refer to Fig.14 , the first harrowing operation of the agricultural machinery refers to the operation process of the agricultural machinery from endpoint a to endpoint c. At this time, the number of tangent points of the harrowing operation of the agricultural machinery is 2, that is, the path of the first harrowing operation of the agricultural machinery is an "N" shape as a whole, and the number of turns is 2. It can be understood that the embodiment of the present application does not limit the specific value of the number of tangent points, which can be set according to actual needs.

[0143] Since the agricultural machinery can only turn when it reaches the boundary of the field, in the embodiment of the present application, the number of tangent points can also be understood as the number of intersections between the path of the first harrowing operation of the agricultural machinery and the inner boundary of the path (excluding the endpoints).

[0144] In some embodiments, step S23 may specifically include: obtaining the minimum circumscribed rectangle of the closed area by using a convex hull algorithm; and obtaining the number of tangent points according to the length and width of the minimum circumscribed rectangle.

[0145] The number of tangent points can be obtained according to the ratio between the length and width of the minimum circumscribed rectangle.

[0146] Specifically, the number of cut points is: Where L is the length of the minimum enclosing rectangle, W is the width of the minimum enclosing rectangle, and the symbol It means that X is rounded down. For example, when L / W=2.5, m=2.

[0147] In some other embodiments, step S23 may further specifically include: obtaining the number of cut points input by the user.

[0148] The user can input the number of cut points through an electronic device connected to the agricultural machine. Alternatively, the agricultural machine can be provided with an input device, through which the user inputs the number of cut points. Thus, the user can set the number of cut points according to his own needs and habits, thereby making the planned harrowing path more in line with the user's habits.

[0149] Step S24: Generate multiple baselines according to the number of tangent points. Fig.16 , multiple baselines are within the inner boundary of the path and are distributed in a diagonal grid.

[0150] In some embodiments, each reference line may be numbered according to a first preset rule so as to determine the connection order of each reference line during subsequent path planning.

[0151] In some embodiments, please refer to Figure 5 , step S24 specifically includes:

[0152] Step S51: Take the endpoint closest to the current position of the agricultural machinery in the minimum circumscribed rectangle of the closed area as the first endpoint, take the endpoint opposite to the first endpoint on the short side where the first endpoint is located as the second endpoint, take the endpoint diagonally opposite to the first endpoint as the third endpoint, and take the endpoint opposite to the first endpoint on the long side where the first endpoint is located as the fourth endpoint.

[0153] In some embodiments, for example Fig.15 As shown, the first endpoint is endpoint A of the minimum circumscribed rectangle, the second endpoint is endpoint B of the minimum circumscribed rectangle, the third endpoint is endpoint C of the minimum circumscribed rectangle, and the fourth endpoint is endpoint D of the minimum circumscribed rectangle.

[0154] Step S52: Generate a first baseline, wherein the starting point of the first baseline is the first endpoint, the end point of the first baseline is located on the straight line where the second endpoint and the third endpoint are located, and the distance from the second endpoint is a first length, and the first length is determined according to the length of the long side of the minimum circumscribed rectangle and the number of tangent points.

[0155] Since the number of tangent points is the number of turns of a single trip of agricultural machinery, and the agricultural machinery turns only when it reaches the inner boundary of the path, the first length can be determined according to the ratio of the length of the long side of the minimum circumscribed rectangle to the number of tangent points. Of course, since the turning trajectory of the agricultural machinery has a certain turning radius, it is necessary to consider that the single trip operation of the agricultural machinery is in a closed area. Therefore, the turning radius needs to be considered when calculating the first length to prevent the agricultural machinery from exceeding the boundary of the field during operation.

[0156] Specifically, the first length is:

[0157] L3=(L4-m*1.414*R) / (m+1)

[0158] Among them, L4 is the length of the long side of the minimum circumscribed rectangle, m is the number of tangent points, and R is the turning radius of the agricultural machinery. 1.414*R is the turning margin reserved for a single turn for the agricultural machinery, and m*1.414*R is the turning margin reserved for a single turn for the agricultural machinery. The length obtained by subtracting the turning margin reserved for a single operation from the length of the long side is divided into m+1 parts, and the divided value is used as the first length.

[0159] Step S53: Generate a second baseline, wherein the starting point of the second baseline is the second endpoint, the end point of the second baseline is located on the straight line where the first endpoint and the fourth endpoint are located, and the distance from the first endpoint is the first length, and the second baseline intersects the first baseline.

[0160] For example Fig.15 In the example, point E on the long side of the minimum circumscribed rectangle is the end point of the first reference line, and point F on the long side of the minimum circumscribed rectangle is the end point of the second reference line.

[0161] Step S54: within the inner boundary of the path, the first reference line is horizontally translated along the long side direction of the minimum circumscribed rectangle toward both ends of the long side of the minimum circumscribed rectangle according to a first set step length, thereby generating a plurality of first reference lines.

[0162] Step S55: within the inner boundary of the path, the second reference line is horizontally translated along the long side direction of the minimum circumscribed rectangle toward both ends of the long side of the minimum circumscribed rectangle according to a second set step length, thereby generating a plurality of second reference lines.

[0163] It can be understood that, since the second reference lines intersect with the first reference lines, the plurality of second reference lines and the plurality of first reference lines together form an oblique grid.

[0164] It is understandable that when the agricultural machine is turning, it enters one of the second reference lines from one of the first reference lines. When the agricultural machine is turning around, it enters another first reference line from one of the first reference lines, or enters another second reference line from one of the second reference lines. In addition, in the embodiment of the present application, the agricultural machine will turn around only when it is close to one of the endpoints of the minimum circumscribed rectangle. For example, Figures 18 to 21 In the planned path, the agricultural machinery operates from endpoint A to a position close to endpoint C before turning around, or operates close to endpoint A, endpoint B, and endpoint D before turning around.

[0165] In some embodiments, the first set step length and the second set step length are both set to be equal to the working width of the agricultural machine 200. This not only ensures that the diagonal harrowing path is feasible, but also avoids missing ploughing due to the large distance between the reference lines.

[0166] Of course, in other embodiments, the first set step length and the second set step length may also be set to be several times the working width.

[0167] Step S25: Determine the connection order of multiple baselines according to the number of tangent points.

[0168] In some embodiments, the plurality of reference lines include a reference line of a first harrowing operation and remaining reference lines except the reference line of the first harrowing operation.

[0169] For corresponding Figure 6 , step S25 specifically includes:

[0170] Step S61: determining the reference line of the first harrowing operation and the connection order of the reference lines of the first harrowing operation according to the initial position of the agricultural machine.

[0171] The reference line of the first harrowing operation includes a starting reference line and an ending reference line, wherein the starting reference line is the first reference line of the first harrowing operation, and the ending reference line is the last reference line of the first harrowing operation. For example, the first first reference line determined by the endpoint closest to the location of the agricultural machine 200 in the minimum circumscribed rectangle of the closed area can be used as the first reference line of the first harrowing operation of the agricultural machine, that is, the starting reference line, for example Fig.15 AE in.

[0172] It can be understood that the number of all the baselines that the agricultural machine needs to pass through in the first harrowing operation is the number of tangent points plus 1. For example, when the number of tangent points is 0, the number of baselines that the first harrowing operation needs to pass through is 1, and the starting baseline is all the baselines of the first harrowing operation, and the ending baseline and the starting baseline are the same baseline.

[0173] In some embodiments, the path planning method may further include: numbering each reference line according to a first preset rule.

[0174] See also Fig.16 In the embodiment of the present application, a plurality of first baselines may be divided into a first group of baselines, and a plurality of second baselines may be divided into a second group of baselines. The first group of baselines and the second group of baselines are numbered according to a first preset rule. For example, the numbering of the baselines is represented by G ij Indicates, i is used to indicate which group the baseline belongs to. For example, when i=0, it indicates that the baseline is the first group of baselines; when i=1, it indicates that the baseline is the second group of baselines, and vice versa. j indicates the numbering sequence of the baselines. The j in the first group of baselines and the second group of baselines can be respectively from the first first baseline (such as Fig.15 AE in) and the first and second baselines (such as Fig.15 Starting from BF in the figure, it decreases to the left and increases to the right. The serial number j between the adjacent first baseline and the adjacent second baseline differs by 1.

[0175] For corresponding Figure 7 , step S61 specifically includes:

[0176] Step S71: Determine the intersection reference line.

[0177] The cross-reference line is the reference line that is closest to the endpoint of the minimum circumscribed rectangle. In the embodiment of the present application, after the agricultural machinery completes the first harrowing operation, it needs to turn around and enter the next harrowing operation. In order to facilitate the agricultural machinery to turn around, a cross-reference line is determined from multiple reference lines. The cross-reference line corresponding to the first harrowing operation can be determined based on the starting point and the number of tangent points of the first harrowing operation, and the reference line corresponding to the endpoint opposite to the starting point is used as the cross-reference line. For example Fig.16 In the example, the starting point of the first harrowing operation is point a on the inner boundary of the path, and the number of tangent points is 1. The first baseline closest to point d on the inner boundary of the path and the second baseline closest to point c on the inner boundary of the path are used as the cross baseline.

[0178] It is understandable that in the subsequent operation of the agricultural machinery, when the agricultural machinery operates from one side of the inner boundary of the path to the other side, it is also necessary to turn around before continuing to operate. Therefore, the cross reference line can also be determined according to the endpoints of the minimum circumscribed rectangle of the inner boundary of the path. For example, when the agricultural machinery operates from point b close to the inner boundary of the path to point d close to the inner boundary of the path, the second reference line closest to point d is used as the cross reference line. For another example, when the agricultural machinery operates from point d close to the inner boundary of the path to point b close to the inner boundary of the path, the first reference line closest to point b is used as the cross reference line.

[0179] Step S72: Determine a second preset rule according to the number of tangent points and the number of the crossing reference lines.

[0180] At this time, the cross reference line refers to the cross reference line corresponding to the first harrowing operation.

[0181] Step S73: Determine the connection order of all the baselines of the first harrowing operation according to the starting baseline and the second preset rule.

[0182] Specifically, taking the number of tangent points as 1 and the number of all baselines that the agricultural machinery needs to pass through for the first operation as 2, the second baseline G closest to the endpoint c is taken as 1c and the first reference line G closest to the endpoint d 0d As the cross reference line corresponding to the first harrowing operation. 1c and G 0d The sequence number and the number of cut points determine the first parameter, the second parameter, the third parameter and the fourth parameter, where the first parameter is The second parameter is R1 = G 1c The sequence number % cut point number, the third parameter is The fourth parameter is R2 = G 0d Sequential number % cut point number, symbol It means x is rounded down, and "%" represents the modulo remainder operation in mathematics.

[0183] After determining the first to fourth parameters, the second preset rule is determined according to the first to fourth parameters. Specifically, assuming that the connection sequence of the baselines that the agricultural machinery needs to pass through for the first operation is [k0, k1, ..., k n ], n = the number of tangent points. The sequence number of the next baseline is recursively obtained based on the sequence number of the previous baseline. The recursive rule is that if k i-1 =G jh , where j = 0 or 1, the baseline belongs to the first group of baselines or the second group of baselines, and h represents the sequence number within the group, then k i =G pq , where p = 1-j, Among them hour, when When r1=R1. hour, when When r2=R2, the symbol Indicates that x is rounded upwards.

[0184] It can be understood that p=1-j means that the previous baseline and the next baseline of the first operation change alternately in the first group of baselines and the second group of baselines, that is, the agricultural machinery turns from a first baseline to a second baseline, and then from a second baseline to a first baseline.

[0185] by Fig.18 Taking the planning path shown in as an example, the starting reference line is the first reference line G 00 , the first group of baselines has 9 first baselines, the second group of baselines has 9 second baselines, and the number of tangent points is 2. Among them, Fig.18 The upper long side of the inner boundary of the middle path shows the numbers of the second group of baselines in sequence, the lower long side of the inner boundary of the path shows the numbers of the first group of baselines in sequence, and the left short side shows the numbers of a second baseline and a first baseline from top to bottom. The cross baseline corresponding to the first harrowing operation is the second baseline G closest to point C. 18 and the first reference line G closest to point D 08 According to the above calculation, the first to fourth parameters are respectively: S1 = S2 = 3, R1 = R2 = 0.

[0186] The starting baseline is k0 = G 00 , the second baseline k1 = G pq, r 1＝ R1=0, r2=R2=0, according to the second preset rule, it can be deduced that:

[0187] p = 1,

[0188] It can be seen that the second reference line of the first harrowing operation is: k1 = G 13 .

[0189] Continuing the recursion, the subscripts of the third reference line k2 of the first harrowing operation are:

[0190] p=0,

[0191] That is, the third baseline of the first operation is: k2 = G 06 Among them, the third baseline is the last baseline of the first harrowing operation, which is also the end baseline.

[0192] Therefore, the connection sequence of all the reference lines of the first harrowing operation in this example is recursively obtained according to the second preset rule.

[0193] In some other embodiments, the second preset rule may also be: the latter baseline is the one closest to the former baseline in another set of baselines, and the latter baseline meets the turning requirements of the agricultural machinery, such as when the agricultural machinery operates from left to right, the latter baseline is located on the right side of the former baseline. For example, when the former baseline is the first baseline and the agricultural machinery operates from left to right, the latter baseline is the second baseline closest to the first baseline, and the second baseline is located on the right side of the first baseline.

[0194] It can be understood that when the number of tangent points is 0, it has been confirmed that the starting baseline is all the baselines of the first harrowing operation, for example Fig.19 and Fig. 20 The planned path is shown.

[0195] Step S62: Determine the turning direction of the agricultural machine according to the endpoint reference line.

[0196] The turning direction of the agricultural machinery can be determined according to the intersection of the extension line of the end reference line (that is, the last reference line of the first harrowing operation) and the minimum circumscribed rectangle of the inner boundary of the path.

[0197] by Fig.19 Take the planned path shown as an example, the number of tangent points is 0, and the end point baseline is G 00 , working towards side BC, that is, after turning around, the agricultural machinery needs to work towards side AD opposite to side BC, G 00The extension line of will intersect with the side BC and side CD of the minimum circumscribed rectangle, so the turning direction is the side close to side CD and turns towards side AD. Fig.18 Take the planning path shown as an example, the number of tangent points is 2, and the end point baseline is G 06 , working towards side BC, then after turning around, the agricultural machinery needs to work towards side AD opposite to side BC, G 06 The extension line will intersect with the sides BC and CD of the minimum circumscribed rectangle, so the turning direction is to the side close to the side CD and turn toward the side AD.

[0198] like Fig.18 In the planning path shown, the starting baseline of the first harrowing operation of the agricultural machinery is G 10 , then the end point reference line of the first harrowing operation is G 16 , working towards side AD, that is, after turning around, the agricultural machinery needs to work towards side BC opposite to side AD, G 16 The extension line intersects with sides AD and CD of the minimum circumscribed rectangle, then the turning direction is to approach side CD and turn towards side BC.

[0199] That is to say, the turning direction corresponding to the first harrowing operation is determined according to the working direction of the terminal baseline (the last baseline of the first harrowing operation) and the side where its extension line intersects with the minimum circumscribed rectangle. The turning direction is determined according to the working direction of the terminal baseline, and the turning direction of the agricultural machinery is determined according to the side that intersects after the extension line.

[0200] Step S63: determining the remaining baselines and the connection order of the remaining baselines according to the terminal baseline, the constraint conditions and the adjustment direction of the agricultural machinery, wherein the adjustment direction includes a U-turn direction or a turning direction.

[0201] Please refer to Figure 8 , step S63 specifically includes:

[0202] Step S81: determining a next reference line according to the reference reference line, the constraint condition and the adjustment direction corresponding to the reference reference line.

[0203] The reference baseline is the currently determined baseline, and the first reference baseline is the end point baseline.

[0204] Step S82: The next determined baseline is used as a new reference baseline, and the step of determining the next baseline according to the reference baseline, the constraint condition and the adjustment direction corresponding to the reference baseline is executed until the remaining baselines are traversed to determine the connection order of the remaining baselines.

[0205] Specifically, the constraint condition may include a first constraint condition and a second constraint condition. The first constraint condition includes: the next baseline is parallel to the reference baseline, meets the turning requirement of the agricultural machinery, and is the closest to the reference baseline among the unplanned baselines located in the area where the turning direction is located. The second constraint condition includes: the next baseline is not parallel to the reference baseline, meets the turning requirement of the agricultural machinery, and is the closest to the reference baseline among the unplanned baselines located in the area where the turning direction is located.

[0206] It can be understood that there is a turning radius for agricultural machinery to turn and make a U-turn. A certain turning margin and U-turn margin need to be reserved for the agricultural machinery to enter the next baseline from the reference baseline. Therefore, the next baseline needs to meet the turning requirements or U-turn requirements.

[0207] For corresponding Fig. 9 , step S81 specifically includes:

[0208] Step S90: Determine, based on the end point position of the reference baseline, whether the relationship between the reference baseline and the next baseline is a U-turn or a turn.

[0209] Step S91: When the end point of the reference baseline is close to the end point of the minimum circumscribed rectangle, the relationship between the reference baseline and the next baseline is determined to be a U-turn.

[0210] When planning to the end point close to the minimum circumscribed rectangle, the agricultural machine needs to turn around, so the relationship between the reference baseline and the next baseline is determined to be a U-turn. For example, when the reference baseline is the end baseline of the first harrowing operation, the relationship between the next baseline and the reference baseline is a U-turn.

[0211] Step S92: Determine the turning direction according to the reference baseline.

[0212] The turning direction is determined according to the intersection point between the extension line of the reference baseline and the long side and the short side of the minimum circumscribed rectangle. For details, see step S62, which will not be described again.

[0213] Step S93: Determine the next baseline according to the turning direction and the first constraint condition.

[0214] The first constraint condition constrains the relationship between the next baseline and the reference baseline, so the next baseline can be determined according to the reference baseline, the turning direction and the first constraint condition.

[0215] For example, when the reference baseline is the end baseline, the reference baseline and the next baseline are adjacent and parallel. Fig.17 In the planned partial path shown, the end reference line of the first harrowing operation is the second reference line, and the next reference line is another second reference line adjacent to and parallel to the second reference line. Fig.19In the planned path shown, the end point baseline of the first harrowing operation is the first baseline G 00 , the next baseline is the first baseline G 00 The adjacent and parallel first reference line G 01 . Or as Fig.18 In the planned path shown, the last baseline of the first harrowing operation is the first baseline G 06 , the next baseline is the first baseline G 06 The adjacent and parallel first reference line G 07 .

[0216] Of course, when the reference baseline is not the end baseline, e.g. Fig.18 In the example, the reference line is G 01 When the reference line G 01 Parallel, meeting the turning needs of agricultural machinery and being the closest to the reference baseline G among the unplanned baselines located in the turning direction area 01 The baseline is the first baseline G 0-1 , that is, the next baseline is the first baseline G 0-1 Another example Fig.18 In the example, the reference line is G 17 When the reference line G 17 Parallel, meeting the turning needs of agricultural machinery and being the closest to the reference baseline G among the unplanned baselines located in the turning direction area 17 The baseline is the second baseline G 16 , that is, the next baseline is the first baseline G 16 .

[0217] Step S94: When the end point of the reference baseline is not close to the end point of the minimum circumscribed rectangle, the relationship between the reference baseline and the next baseline is determined to be a turn.

[0218] When the agricultural machinery is not planned to be close to the end point of the minimum circumscribed rectangle, it does not need to make a U-turn, but needs to make a turning adjustment to operate within the inner boundary of the path.

[0219] Step S95: Determine the turning direction according to the reference baseline.

[0220] The turning direction can be determined based on the intersection of the extended line of the reference baseline and the long side and short side of the minimum circumscribed rectangle. Fig.18 In the example, the reference baseline is the first baseline G 07 When the first reference line G 07 The end point of the curve intersects with the long side AD, and the extension line intersects with the extension line of the short side AB. Therefore, the turning direction is to turn toward the long side BC and close to the short side AB. The reference baseline is the second baseline G. 14 When the first reference line G14 The end point intersects with the long side BC, and the extended line intersects with the extension line of the short side AB, so the turning direction is to turn toward the long side AD and close to the short side AB.

[0221] Step S96: Determine the next baseline according to the turning direction and the second constraint condition.

[0222] The second constraint condition constrains the relationship between the next baseline and the reference baseline, so the next baseline can be determined according to the reference baseline, the turning direction and the second constraint condition.

[0223] For example Fig.18 In the example, the reference baseline is the first baseline G 07 When the reference line G 07 The non-parallel, agricultural machinery turning requirements are met and the unplanned baselines located in the turning direction area are closest to the reference baseline G. 07 The baseline is the second baseline G 14 , that is, the next baseline is the second baseline G 14 Another example Fig.18 In the example, the reference baseline is the second baseline G 16 When the reference line G 16 The non-parallel, agricultural machinery turning requirements are met and the unplanned baselines located in the turning direction area are closest to the reference baseline G. 16 The baseline is the first baseline G 04 , that is, the next baseline is the first baseline G 04 .

[0224] Another example Fig.19 In the planning path shown, the reference baseline is the first baseline G 0-1 , and the reference line G 0-1 The non-parallel, agricultural machinery turning requirements are met and the unplanned baselines located in the turning direction area are closest to the reference baseline G. 0-1 The baseline is the second baseline G 14 , that is, the next baseline is the second baseline G 14 .

[0225] Among them, the baseline closest to the reference baseline among the unplanned baselines located in the area where the turning direction is located is the baseline whose starting point is closest to the end point of the reference baseline.

[0226] Step S26: Connect the multiple baselines in a connection order to obtain a harrowing path for the agricultural machine.

[0227] In some embodiments, please refer to Fig.10 , step S26 specifically includes:

[0228] Step S101: Generate a transition curve.

[0229] Step S102: Connecting multiple baselines in sequence through transition curves according to a connection order.

[0230] In some embodiments, the transition curve can be generated using the Dubins algorithm. The transition curve can be considered to be composed of two arc segments and one straight line segment. One of the arc segments is connected to the current baseline, and the other arc segment is connected to the next baseline. The two arc segments are connected by a straight line segment, so that the two baselines can be connected as one. It can be understood that the radius of the two arc segments in the transition curve is not less than the turning radius. This ensures that the agricultural machine 200 can travel smoothly along the transition curve and ensures that the actual path corresponding to the transition curve is feasible.

[0231] It can be understood that the initial position of the agricultural machine 200, as the starting point of the harrowing path, can be located at one of the end points of the first baseline generated first, such as Figures 18 to 21 As shown by the black triangle in the figure. It can be understood that, according to the driving order, this endpoint is the starting point of the first baseline. The other endpoint of the first baseline is the end point of the first baseline. Similarly, when connecting two baselines, the current baseline is one of the arc segments of the transition curve connected by the end point, and the next baseline is connected by the starting point to the other arc segment. When connected to the last baseline, the end point of the last baseline is the end point of the harrowing path, which can be referred to Figures 18 to 20 The black square in the middle.

[0232] In some embodiments, the path planning method may further include: determining whether the agricultural machinery passes through the cross reference line when turning according to the relationship between the reference reference line, the cross reference line and the next reference line.

[0233] When the relationship between the reference baseline, the cross baseline and the next baseline meets the preset conditions, it is confirmed that the agricultural machinery does not cross the cross baseline when turning;

[0234] When the relationship between the reference baseline, the cross baseline and the next baseline does not meet the preset conditions, confirm that the agricultural machinery turns around and passes through the cross baseline.

[0235] It can be understood that when the agricultural machinery is operating close to the endpoint of the minimum circumscribed rectangle, the agricultural machinery needs to turn around. The cross reference line is the reference line closest to the endpoint. For example Fig.18 As shown in the figure, when the end point of the reference baseline is close to the endpoint C of the minimum circumscribed rectangle, the baseline G closest to the endpoint C 18 As the cross reference line. When the end point of the reference reference line is close to the endpoint D of the minimum circumscribed rectangle, the reference line G closest to the endpoint D 08 As a cross reference line.

[0236] The preset condition may include any of the following:

[0237] (1) The interval distance between the reference baseline and the next baseline is less than a first preset threshold.

[0238] It can be understood that at this time, the reference baseline and the next baseline have been determined, and here the reference baseline and the next baseline are parallel. Since the U-turn of the agricultural machinery needs to reserve a margin for the agricultural machinery to turn around, the first preset threshold can be determined according to the turning length required by the agricultural machinery. For example, the first preset threshold can be T1=2*R, where R is the turning radius of the agricultural machinery. When the interval between the reference baseline and the next baseline is less than the first preset threshold (for example Fig. 22 If there are no crossing baselines S and Q), it means that the distance between the two baselines cannot satisfy the turning of the agricultural machinery. Therefore, the agricultural machinery does not pass through the crossing baselines and turns directly.

[0239] (2) The distance from the reference baseline or the next baseline to the crossing baseline is less than a second preset threshold.

[0240] Similarly, if the agricultural machinery needs to pass through the cross baseline to turn around, there needs to be room between the reference baseline and the cross baseline for the agricultural machinery to turn, and there also needs to be room between the next baseline and the cross baseline for the agricultural machinery to turn. Therefore, the distance between the reference baseline and the cross baseline needs to be greater than the second preset threshold, and the distance between the next baseline and the cross baseline also needs to be greater than the second preset threshold. If both distances are less than the second preset threshold, the agricultural machinery does not pass through the cross baseline and turns around directly. It can be understood that the distance between the reference baseline and the cross baseline is the distance between the end point of the reference baseline and the starting point of the cross baseline, and the distance between the next baseline and the cross baseline is the distance between the start of the next baseline and the end point of the cross baseline.

[0241] The second preset threshold may be T2=1.414*R.

[0242] (3) The distance from the starting point of the next baseline to the end point of the intersecting baseline is greater than the distance from the starting point of the next baseline to the starting point of the intersecting baseline.

[0243] Here, if the distance from the starting point of the next baseline to the end point of the cross baseline is greater than the distance from the starting point of the next baseline to the starting point of the cross baseline, it means that the cross baseline is not on the side of the turning direction, so the agricultural machinery cannot pass through the cross baseline, and therefore must jump over the cross baseline.

[0244] When the relationship between the reference baseline, the turn baseline and the next baseline does not satisfy each of the above preset conditions, the agricultural machinery passes through the cross baseline when turning, and the end point of the reference baseline and the starting point of the cross baseline are connected by a transition curve, and the starting point of the next baseline and the terminal of the cross baseline are connected by a transition curve, for example Fig.23 The reference lines S, Q and O are shown, and the reference line S turns around and enters the next reference line Q after crossing the reference line O.

[0245] In summary, the path planning method for diagonal harrowing operation of the present application can automatically plan a feasible harrowing path in the field. Under the premise of ensuring the safety of the operation, the planned harrowing path can achieve the highest operation coverage rate of the field. In this way, the safety, rationality and efficiency of the diagonal harrowing path planning can be achieved. Moreover, since the path planning method generates the baseline and the connection order of the baseline according to the number of tangent points, it can plan an operation path that conforms to manual habits. The number of tangent points can be determined according to the size of the minimum circumscribed rectangle or input by the user. Therefore, the direction and connection order of the baseline can be determined according to the user's own habits and needs, making the planned path more flexible and versatile. In addition, the method of the present application is not limited by the usage scenario and can be applied to various types of fields.

[0246] During actual operation, the agricultural machine 200 can be manually driven or automatically driven to the starting point of the diagonal harrowing path, and then drive along the harrowing path while performing harrowing operations until the agricultural machine 200 drives to the end point of the harrowing path, that is, completing one harrowing operation. When the agricultural machine 200 needs to perform multiple harrowing operations, the next operation can still be performed in the same way. In this way, the harrowing operation efficiency and operation coverage can be effectively improved, and the maximum utilization of the field can be achieved. In addition, if an unexpected situation occurs during the operation and the agricultural machine 200 cannot operate automatically, since the planned harrowing path conforms to the manual habits, the harrowing operation can be continued manually, which has a strong anti-interference ability.

[0247] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously.

[0248] Please refer to Fig.24 , Fig.24 It is a structural schematic diagram of a harrowing path planning device 10 disclosed in an embodiment of the present application.

[0249] The raking path planning device 10 provided in the embodiment of the present application may include a closed area generating module 11 , a boundary adjusting module 12 , a baseline generating module 13 , a baseline sorting module 14 and a baseline connecting module 15 .

[0250] The closed area generating module 11 is used to generate a closed area according to the working area information of the field.

[0251] The boundary adjustment module 12 is used to adjust the boundary of the closed area according to the vehicle information of the agricultural machine to obtain the inner boundary of the path.

[0252] The reference line generation module 13 is used to obtain and generate a plurality of reference lines according to the number of tangent points of the harrowing operation of the agricultural machine 200, and the plurality of reference lines are distributed in a diagonal grid shape within the inner boundary of the path.

[0253] The baseline sorting module 14 is used to determine the connection order of multiple baselines according to the number of tangent points.

[0254] The reference line connection module 15 is used to connect multiple reference lines in a connection order, so as to obtain a harrowing path of the agricultural machine 200 .

[0255] In some embodiments, the boundary adjustment module 12 may further include a first boundary adjustment module and a second boundary adjustment module.

[0256] The first boundary adjustment module is used to shrink the boundary of the closed area inward by a first distance, so as to obtain the outer boundary of the path. The first distance can be set to the working width of the agricultural machine 200 or other multiples of the working width.

[0257] The second boundary adjustment module is used to shrink the outer boundary of the path inward by a second distance, so as to obtain the inner boundary of the path. The second distance can be set to the working width of the agricultural machine 200 or other multiples of the working width.

[0258] In some embodiments, the reference line generation module 13 may further include an endpoint determination module, a length determination module, a first reference line generation module and a second reference line generation module.

[0259] The endpoint determination module is used to use the endpoint closest to the current position of the agricultural machinery in the minimum circumscribed rectangle of the closed area as the first endpoint, the endpoint opposite to the first endpoint on the short side where the first endpoint is located as the second endpoint, the endpoint at the diagonal angle of the first endpoint as the third endpoint, and the endpoint opposite to the first endpoint on the long side where the first endpoint is located as the fourth endpoint. The length determination module is used to determine the first length according to the length of the long side and the number of tangent points.

[0260] The first reference line generation module is used to generate a first reference line, wherein the starting point of the first reference line is the first endpoint, the end point of the first reference line is located on a straight line where the second endpoint and the third endpoint are located, and the distance from the second endpoint is a first length. Then, the first reference line generation module horizontally translates the first reference line within the inner boundary of the path according to a first set step length, thereby obtaining multiple first reference lines.

[0261] The second reference line generation module is used to generate a second reference line, wherein the starting point of the second reference line is the second endpoint, the end point of the second reference line is located on the straight line where the first endpoint and the fourth endpoint are located, and the distance from the first endpoint is the second length, and the second reference line intersects the first reference line. Then, the second reference line generation module horizontally translates the second reference line according to the second set step length within the inner boundary of the path, thereby obtaining multiple second reference lines.

[0262] In some embodiments, the baseline sorting module 14 may further include a first sorting module and a second sorting module.

[0263] The first sorting module is used to determine the baseline of the first harrowing operation and the connection order of the baseline of the first harrowing operation based on the initial position of the agricultural machine and the number of tangent points.

[0264] The second sorting module is used to determine the turning direction of the agricultural machinery according to the terminal baseline, and determine the remaining baselines and the connection order of the remaining baselines according to the terminal baseline, constraints and the adjustment direction of the agricultural machinery, wherein the adjustment direction includes a turning direction or a turning direction.

[0265] The specific manner in which the first sorting module and the second sorting module are used to determine the connection order can be found in the path planning method for the diagonal harrowing operation, which will not be described in detail here.

[0266] The reference line connection module 15 is used to connect multiple reference lines through transition curves according to the connection order determined by the reference line sorting module 14, thereby obtaining a continuous harrowing path. The reference line connection module 15 is used to generate the transition curve using the Dubins algorithm.

[0267] It can be understood that the division of the various modules in the above-mentioned raking path planning device 10 is only for illustration. In other embodiments, the raking path planning device 10 can be divided into different modules as needed to complete all or part of the functions of the above-mentioned raking path planning device 10.

[0268] The specific implementation of each module in the embodiment of the present application can also refer to Figures 2 to 10 The corresponding description of the method embodiment shown.

[0269] exist Fig.24The described harrowing path planning device 10 can automatically plan a harrowing path for the field to be operated where the agricultural machine 200 is located. For details, please refer to the specific embodiment of the path planning method for harrowing operation mentioned above, which will not be described in detail here.

[0270] See also Figure 1 , Figure 1 A schematic diagram of the structure of an electronic device 100 provided in an embodiment of the present application.

[0271] The present application embodiment provides an electronic device 100, which may include the above-mentioned raking path planning device 10. For details, see Figures 2 to 10 The detailed description of the illustrated embodiments will not be repeated here.

[0272] like Figure 1 As shown, the electronic device 100 may include a processor 101, a communication interface 102, and a memory 103. The processor 101, the communication interface 102, and the memory 103 may be connected via a communication bus and communicate with each other.

[0273] The processor 101 may be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the above program.

[0274] The communication interface 102 is used to communicate with other devices or communication networks, such as Ethernet, a radio access network (RAN), a wireless local area network (WLAN), etc. For example, in some embodiments, the communication interface 102 can communicate with the agricultural machine 200, for example, it can receive the longitude and latitude coordinate information obtained by the locator 202 from the agricultural machine 200, and send a control instruction to the agricultural machine to control the diagonal harrowing operation of the agricultural machine. The communication interface 102 can also communicate with the terminal, for example, it can receive relevant information about the agricultural machine 200, crops and soil from the terminal, and transmit the longitude and latitude coordinate information to the terminal, and / or the plane coordinate information generated by the transmission processor 101, and / or the diagonal harrowing path.

[0275] The terminal may be a mobile phone, tablet, computer, drone and / or remote control device, etc.

[0276] The relevant information of the agricultural machine 200 may include the actual length and width of the agricultural machine 200, the working width, the turning radius, the length and width of the harrow 201, the distance from the harrow 201 to the rear of the machine, and the offset distance of the harrow 201. The relevant information of the crops may include the planting requirements of the crops. The relevant information of the fields may include the soil conditions of the fields.

[0277] The memory 103 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 103 may exist independently and be connected to the processor 101 via a bus. The memory 103 may also be integrated with the processor 101.

[0278] The memory 103 can be used to store information received from the agricultural machine 200 and the terminal and information generated by the processor 101. The memory 103 can also be used to store program instructions for executing the above scheme, and the processor 101 controls the execution. The processor 101 is used to execute the program instructions stored in the memory 103. The program instructions stored in the memory 103 can be executed. Figures 2 to 10 Part or all of the steps of the path planning method for harrowing operation described in.

[0279] The embodiment of the present application also provides a computer-readable storage medium. The computer-readable storage medium stores program instructions, and when the program instructions are executed on a computing device, the computing device executes the path planning method for raking operations provided in the above embodiment.

[0280] It is obvious to those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and that the present application can be implemented in other specific forms without departing from the spirit or basic features of the present application. Therefore, as long as they are within the scope of the essence and spirit of the present application, appropriate changes and modifications made to the above embodiments should fall within the scope of protection claimed in the present application.

Claims

1. A path planning method for diagonal harrowing operation, characterized in that: include: Generate a closed area based on the field's work area information; Adjust the boundary of the closed area according to the vehicle information of the agricultural machinery to obtain the inner boundary of the path; Obtaining the number of tangent points of the agricultural machine harrowing operation, where the number of tangent points is the number of turns of the agricultural machine in the first harrowing operation, and the number of tangent points is an integer greater than or equal to 0; Generating a plurality of reference lines according to the number of tangent points, wherein the plurality of reference lines are distributed in a diagonal grid shape within the inner boundary of the path; Determining a connection order of the plurality of baselines according to the number of tangent points; The plurality of reference lines are connected in the connection order to obtain a harrowing path of the agricultural machine.

2. The path planning method according to claim 1, characterized in that: The step of obtaining the number of tangent points of the agricultural machinery target field operation includes: Obtaining the minimum circumscribed rectangle of the closed area by using a convex hull algorithm; The number of tangent points is obtained according to the length and width of the minimum circumscribed rectangle.

3. The path planning method according to claim 1, characterized in that: Generating a plurality of baselines according to the number of tangent points includes: The endpoint closest to the current position of the agricultural machine in the minimum circumscribed rectangle of the closed area is taken as the first endpoint, the endpoint opposite to the first endpoint on the short side where the first endpoint is located is taken as the second endpoint, the endpoint at the diagonal corner of the first endpoint is taken as the third endpoint, and the endpoint opposite to the first endpoint on the long side where the first endpoint is located is taken as the fourth endpoint; Generate a first reference line, wherein the starting point of the first reference line is the first endpoint, the end point of the first reference line is located on a straight line where the second endpoint and the third endpoint are located, and the distance from the second endpoint is a first length, and the first length is determined according to the length of the long side of the minimum circumscribed rectangle and the number of tangent points; Generate a second reference line, wherein the starting point of the second reference line is the second endpoint, the end point of the second reference line is located on a straight line where the first endpoint and the fourth endpoint are located, and the distance from the first endpoint to the second reference line is the first length, and the second reference line intersects the first reference line; Within the inner boundary of the path, horizontally translate the first reference line along the long side direction of the minimum circumscribed rectangle toward two ends of the long side of the minimum circumscribed rectangle according to a first set step length, thereby generating a plurality of the first reference lines; Within the inner boundary of the path, the second reference line is horizontally translated along the long side direction of the minimum circumscribed rectangle toward two ends of the long side of the minimum circumscribed rectangle according to a second set step length, thereby generating a plurality of the second reference lines.

4. The path planning method according to claim 3, characterized in that: The plurality of baselines include a baseline of a first harrowing operation and remaining baselines except the baseline of the first harrowing operation, and the determining of a connection order of the plurality of baselines according to the number of tangent points includes: Determine the reference line of the first harrowing operation and the connection order of the reference lines of the first harrowing operation according to the initial position of the agricultural machine and the number of tangent points, wherein the reference line of the first harrowing operation includes a starting reference line and an ending reference line, the starting reference line is the first reference line of the first harrowing operation, and the ending reference line is the last reference line of the first harrowing operation; Determining a turning direction of the agricultural machine according to the endpoint reference line; The remaining baselines and the connection order of the remaining baselines are determined according to the terminal baseline, the constraint conditions and the adjustment direction of the agricultural machinery, wherein the adjustment direction includes a U-turn direction or a turning direction.

5. The path planning method according to claim 4, characterized in that: The method further comprises: Numbering each of the reference lines according to a first preset rule; Correspondingly, determining the reference line of the first harrowing operation and the connection order of the reference lines of the first harrowing operation according to the initial position of the agricultural machine and the number of tangent points includes: Determine a cross reference line, where the cross reference line is a reference line that is closest to the endpoints of the minimum circumscribed rectangle; Determine a second preset rule according to the number of the tangent points and the number of the crossing reference lines; The connection sequence of the reference lines of the first harrowing operation is determined according to the starting reference line and the second preset rule.

6. The path planning method according to claim 5, characterized in that: The determining the remaining baselines and the connection order of the remaining baselines according to the endpoint baseline, the constraint conditions and the adjustment direction of the agricultural machinery includes: Determine a next reference line according to the reference reference line, the constraint condition and the adjustment direction corresponding to the reference reference line, wherein the reference reference line is the currently determined reference line and the first reference reference line is the end point reference line; The determined next baseline is used as a new reference baseline, and the step of determining the next baseline according to the reference baseline, the constraint condition and the adjustment direction corresponding to the reference baseline is performed until the remaining baselines are traversed to determine the connection order of the remaining baselines.

7. The path planning method according to claim 6, characterized in that: The constraint condition includes a first constraint condition, which includes: the next baseline is parallel to the reference baseline, meets the turning requirement of the agricultural machinery, and is the closest to the reference baseline among the unplanned baselines located in the area where the turning direction is located; Correspondingly, determining a next reference line according to the reference reference line, the constraint condition, and the adjustment direction corresponding to the reference reference line includes: Determining whether the relationship between the reference reference line and the next reference line is a U-turn or a turn according to the end point position of the reference reference line; When the end point of the reference reference line is close to the end point of the minimum circumscribed rectangle, determining that the relationship between the reference reference line and the next reference line is a U-turn; Determining the turning direction according to the reference baseline; Determine the next reference line according to the turning direction and the first constraint condition; The constraint condition also includes a second constraint condition, which includes: the next baseline is not parallel to the reference baseline, meets the turning requirement of the agricultural machinery, and is the closest to the reference baseline among the unplanned baselines located in the area where the turning direction is located; Correspondingly, determining a next reference line according to the reference reference line, the constraint condition, and the adjustment direction corresponding to the reference reference line includes: When the end point of the reference baseline is not close to the end point of the minimum circumscribed rectangle, determining that the relationship between the reference baseline and the next baseline is a turn; Determine the turning direction according to the reference baseline; The next reference line is determined according to the turning direction and the second constraint condition.

8. The path planning method according to claim 7, characterized in that: After determining the next reference line according to the turning direction and the first constraint condition, the diagonal harrowing path planning method further includes: Determining whether the agricultural machine passes through the cross reference line when turning according to the relationship between the reference reference line, the cross reference line and the next reference line; When the relationship between the reference reference line, the intersection reference line and the next reference line meets a preset condition, confirming that the agricultural machine does not pass through the intersection reference line when turning around; When the relationship among the reference baseline, the intersection baseline and the next baseline does not satisfy a preset condition, it is confirmed that the agricultural machine turns around and passes through the intersection baseline.

9. The path planning method according to claim 8, characterized in that: The preset conditions include: the interval distance between the reference baseline and the next baseline is less than a first preset threshold, the distance from the reference baseline or the next baseline to the cross baseline is less than a second preset threshold, or the distance from the starting point of the next baseline to the end point of the cross baseline is greater than the distance from the starting point of the next baseline to the starting point of the cross baseline.

10. The path planning method according to claim 1, characterized in that: The connecting the plurality of reference lines according to the connection order includes: Generate transition curves; According to the connection order, the multiple baselines are connected in sequence through the transition curves.

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