Planning method for dynamically expanding neighborhood operation path of satellite navigation land leveler

Abstract

The invention discloses a dynamic extension neighborhood operation path planning method for a satellite navigation land leveler. The method comprises the following steps: S1, delimiting the size of a grid; s2, selecting a working starting point; s3, generating a neighborhood near the current grid, and planning a neighborhood matrix; s4, judging whether the current neighborhood covers the farmland earthwork grid diagram or not, if so, turning to step S8, and otherwise, turning to step S5; s5, judging whether grids meeting non-overload and non-no-load conditions exist in the current neighborhood or not, if the grids meeting the judgment conditions exist in the neighborhood matrix, sequentially storing the grids into an array for temporary storage, otherwise, expanding the range of the searched grids, and returning to the step S3; s6, selecting the next working grid with the minimum turning angle theta; s7, updating the data; and S8, judging whether all the grids are leveled or not, if all the grids are leveled, completing global path planning, and otherwise, returning to the step S3. According to the invention, the invalid working time is shortened, the turning frequency and angle are reduced, and the leveling operation efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent operation of agricultural machinery, in particular to a method for planning the operation path of a satellite navigation grader with dynamically expanding neighborhood. Background Art

[0002] Land leveling is an important method to improve the flatness of farmland, and it is one of the technical factors in the standardization construction and management of farmland. It plays an important role in reducing water waste, improving irrigation efficiency, increasing land utilization rate, improving soil environment, facilitating mechanized operation and promoting sustainable agricultural development. Among them, the path planning of the grader is an important part of the land leveling operation. By collecting the data information of the farmland to be operated, analyzing and processing it, a reasonable flat operation route is calculated and planned to more scientifically guide the work of the satellite navigation grader.

[0003] In the prior art, the operation paths of graders are mostly divided into two categories: one is regular operation routes such as S-shaped, spiral-shaped, diagonal-shaped, etc. This type of method has defects such as uneven leveling, repeated leveling, and the need for multiple repeated operations, and its adaptability is poor; the other is irregular paths planned according to the actual farmland to be operated, but this type of method still has defects such as the need to find a soil dumping position under overloading conditions, the need for multiple repetitions when the elevation difference is large, and low earthwork allocation cost but long allocation path. Therefore, there is an urgent need for a method for planning the operation path of a satellite navigation grader that overall considers the global terrain to solve the above problems. Summary of the Invention

[0004] In view of the problems existing in the existing method for planning the operation path of a satellite navigation grader, the present invention is proposed.

[0005] Therefore, the problem to be solved by the present invention is that there are uneven leveling, repeated leveling and the need for multiple repeated operations in the prior art.

[0006] To solve the above technical problems, the present invention provides the following technical solution: A method for planning the operation path of a satellite navigation grader with dynamically expanding neighborhood, which includes the following steps:

[0007] S1. Define the grid size according to the operation width of the satellite navigation grader;

[0008] S2. Traverse and search the entire farmland and select the working starting point;

[0009] S3. Generate the neighborhood near the current grid and plan the neighborhood matrix L nR ;

[0010] S4. Compare the current neighborhood with the farmland earthwork grid map to determine whether it covers the farmland earthwork grid map. If it completely covers, go to step S8; otherwise, go to step S5;

[0011] S5. Determine whether there is a grid in the current neighborhood that meets the conditions of no overload and no empty load. If the neighborhood matrix L nR There are one or more grids that meet the judgment conditions, and they are stored in the array validDirs in sequence for temporary storage. nR If there is no grid that meets the judgment condition, the search grid range is expanded and the process returns to step S3;

[0012] S6, selecting the next working grid with the smallest turning angle θ;

[0013] S7, record the path length and turning angle of this section of work according to the next work grid, and update the data, including the current work position (x n ,y n ), current load Loading, worked matrix Visited;

[0014] S8. Compare the worked matrix Visited and the original farmland earthwork grid map to determine whether all grids have been leveled. If all grids have been leveled, the global path planning is completed, otherwise return to step S3.

[0015] As a preferred solution of the satellite navigation grader dynamic expansion neighborhood operation path planning method of the present invention, the following steps are also included before step S1: firstly, the farmland terrain is measured, and the grid is marked with an optical level to obtain a three-dimensional terrain data set (x i ,y i ,z i ), set the farmland boundary according to the actual length and width of the farmland, use the interpolation method to interpolate the three-dimensional terrain data, and grid the three-dimensional model of the farmland according to the width L of the leveling shovel on the satellite navigation grader. The grid terrain map with a side length of L is used as the search range for the satellite navigation grader path planning.

[0016] As a preferred solution of the satellite navigation grader dynamic expansion neighborhood operation path planning method of the present invention, wherein: in the step S1, the specific step of dividing the grid is to set the maximum load Loading_max and the minimum load Loading_min according to the leveling shovel, record the current load as Loading, and the reference height as H avi , the earthwork volume of each grid is T(x,y); import the interpolated and gridded farmland earthwork grid map as the search range for path planning, and create a worked matrix Visited of the same size as the farmland earthwork grid map to record the completion information of the grid leveling work.

[0017] As a preferred solution of the satellite navigation grader dynamic expansion neighborhood operation path planning method of the present invention, wherein: the reference height Havi The calculation formula is

[0018] H avi = V t / 4n;

[0019] V t = ΣH j + 2ΣH b + 3∑H g + 4∑H z ;

[0020] Wherein, V t is the earthwork volume of the farmland to be worked, n is the total number of grids of the farmland to be worked, ∑H j is the sum of the corner elevations of the grids of the farmland to be worked, ∑H b is the sum of the side elevations of the grids of the farmland to be worked, ∑H g is the sum of the inflection point elevations of the grids of the farmland to be worked, ∑H z is the sum of the midpoint elevations of the grids of the farmland to be worked.

[0021] As a preferred solution of the dynamic extended neighborhood operation path planning method for the satellite navigation land leveler described in the present invention, wherein: in the step S2, the grid with the largest earthwork volume of the whole farmland is used as the starting grid (x 1 , y 1 ), and the carrying capacity Loading is updated to the earthwork value T(x 1 , y 1 ) of this grid.

[0022] As a preferred solution of the dynamic extended neighborhood operation path planning method for the satellite navigation land leveler described in the present invention, wherein: the step S3 specifically includes the following steps,

[0023] Introduce a neighborhood coefficient R, and set the initial value of R to 1;

[0024] Taking the current working grid (x n , y n ) as the center, plan a square neighborhood matrix L nR ,

[0025]

[0026] As a preferred solution of the dynamic extended neighborhood operation path planning method for the satellite navigation land leveler described in the present invention, wherein: the establishment process of the judgment condition in the step S5 is

[0027] The current working grid is (x n , y n ), in its neighborhood matrix L nRTraverse and search in it, calculate the new loading capacity newLoading after the new grid works,

[0028] newLoading = Loading + T(x n+1 y n+1 );

[0029] Find the next working grid (x n+1 , y n+1 ) that meets the judgment condition. The judgment condition is,

[0030]

[0031] As a preferred solution of the satellite navigation grader dynamic extended neighborhood operation path planning method described in the present invention, wherein: the calculation formula for the turning angle θ is,

[0032]

[0033] Wherein, x n-1 is the abscissa of the previous working grid, y n-1 is the ordinate of the previous working grid, x n is the abscissa of the current working grid, y n is the ordinate of the current working grid, x n+1 is the abscissa of the next working grid, y n+1 is the ordinate of the next working grid.

[0034] The beneficial effects of the present invention are as follows: the leveling shovel is neither unloaded nor overloaded, shortening the ineffective working time, reducing the number and angle of turns, and having a shorter operation path, which can better guide the farmland leveling operation. Brief Description of the Drawings

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0036] Figure 1 is the flowchart of the present invention.

[0037] Figure 2 is the schematic diagram when the "return" - shaped extended neighborhood is used in the present invention.

[0038] Figure 3 is the schematic diagram when selecting the next working grid with the minimum turning angle in the present invention.

[0039] Figure 4 is the three - dimensional model diagram of the experimental field established in Embodiment 2.

[0040] Figure 5 It is the earthwork grid diagram of the test field in Embodiment 2.

[0041] Figure 6 It is the S-shaped traversal flat ground operation path diagram in Embodiment 2.

[0042] Figure 7 It is the outer spiral-shaped traversal flat ground operation path diagram in Embodiment 2.

[0043] Figure 8 It is the flat ground operation path diagram using the present invention.

[0044] Figure 9 It is the comparison diagram of the leveling work efficiency between the traditional technology and the present invention.

[0045] Figure 10 It is the working process diagram of the S-shaped path traversal.

[0046] Figure 11 It is the working process diagram of the outer spiral-shaped path traversal. Detailed implementation manners

[0047] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following will describe the detailed implementation manners of the present invention in conjunction with the accompanying drawings of the specification.

[0048] Many specific details are set forth in the following description to facilitate a thorough understanding of the present invention. However, the present invention may be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0049] Secondly, the so-called "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation manner of the present invention. The appearances of "in one embodiment" in different places in this specification do not all refer to the same embodiment, nor are they separate or selectively exclusive embodiments from other embodiments.

[0050] Embodiment 1

[0051] Refer to Figures 1 to 3 , which is the first embodiment of the present invention. This embodiment provides a method for planning the dynamic extended neighborhood operation path of a satellite navigation grader, including the following steps:

[0052] S1. Define the grid size according to the operation width of the satellite navigation grader. Set the maximum carrying capacity Loading_max and the minimum carrying capacity Loading_min for the leveling shovel. Denote the current carrying capacity as Loading and the reference elevation as H. avi, the earthwork volume of each grid is T(x, y); import the interpolated and rasterized farmland earthwork grid map as the search range for path planning, and create a worked matrix Visited with the same size as the farmland earthwork grid map to record the completion information of the grid leveling work.

[0053] Reference elevation H avi The calculation formula is

[0054] H avi = V t / 4n;

[0055] V t = ΣH j +2ΣH b +3∑H g +4∑H z ;

[0056] Among them, V t is the earthwork volume of the farmland to be worked, n is the total number of farmland grids to be worked, ∑H j is the sum of the corner point elevations of the farmland grids to be worked, ∑H b is the sum of the side point elevations of the farmland grids to be worked, ∑H g is the sum of the inflection point elevations of the farmland grids to be worked, ∑H z is the sum of the midpoint elevations of the farmland grids to be worked;

[0057] S2. Traverse and search the entire farmland, and take the grid with the largest earthwork volume in the entire farmland as the starting grid (x 1 , y 1 ), and update the carrying capacity Loading to the earthwork value T(x 1 , y 1 ) of this grid;

[0058] S3. Generate the neighborhood near the current grid, introduce a neighborhood coefficient R, and set the initial value of R to 1; with the current working grid (x n , y n ) as the center, plan a square neighborhood matrix L nR ,

[0059]

[0060] S4. Compare the current neighborhood with the farmland earthwork grid map to determine whether it covers the farmland earthwork grid map; if it completely covers, go to step S8, otherwise go to step S5;

[0061] S5. Judge whether there is a grid in the current neighborhood that meets the conditions of not overloading and not being empty. The current working grid is (x n , y n), perform a traversal search in its neighborhood matrix L nR to calculate the carrying capacity newLoading after the new grid works,

[0062] newLoading = Loading + T(x n+1 , y n+1 );

[0063] Find the next working grid (x n+1 , y n+1 ) that meets the determination condition. The determination condition is that

[0064]

[0065] If there is one or more grids in the neighborhood matrix L nR that meet the determination condition, store them in the array validDirs in sequence for temporary storage. If there is no grid in the neighborhood L nR that meets the determination condition, expand the neighborhood coefficient to R + 1 to make the neighborhood expand in a "square" shape, expand the search grid range, and return to step S3;

[0066] S6. Calculate the turning angle θ for each candidate of the next working grid stored in the array validDirs in sequence. The calculation formula for the turning angle θ is

[0067]

[0068] Select the next working grid with the smallest turning angle θ;

[0069] Among them, x n-1 is the abscissa of the previous working grid, y n-1 is the ordinate of the previous working grid, x n is the abscissa of the current working grid, y n is the ordinate of the current working grid, x n+1 is the abscissa of the next working grid, y n+1 is the ordinate of the next working grid. Select the next working grid with the smallest turning angle θ;

[0070] S7. Record the path length and turning angle of this section of work according to the next working grid, and update the data, including the current working position (x n , y n ), the current carrying capacity Loading, and the worked matrix Visited;

[0071] S8. Compare the worked matrix Visited with the original farmland earthwork grid map to determine whether all grids have been leveled. In this application, preferably, a certain element value in the worked matrix Visited is within [-0.001, 0.001], that is, the error of the earthwork volume for leveling is not more than 0.001 m 3 , which is recorded as the corresponding grid being leveled. If all grids have been leveled, then all grids have completed the work. Output the working path map, calculate the total working path length, calculate the total turning angle, and complete the global path planning for the farmland leveling task. Otherwise, return to step S3.

[0072] Before step S1, first conduct farmland terrain measurement, use an optical level to mark points for grids, and obtain the three-dimensional terrain data set (x i , y i , z i ) of the farmland to be worked. Set the farmland boundary according to the actual length and width of the farmland, use the interpolation method to interpolate the three-dimensional terrain data, and rasterize the three-dimensional farmland model according to the width L of the leveling shovel on the satellite navigation grader, dividing it into a grid topographic map with side length L as the search range for the path planning of the satellite navigation grader.

[0073] When using the present invention to perform path planning for a satellite navigation grader, the leveling shovel in the grader is neither unloaded nor overloaded, shortening the ineffective working time, reducing the number and angle of turns, and having a shorter operation path, which can better guide the farmland leveling operation.

[0074] Embodiment 2

[0075] Refer to Figures 4 to 11 , which is the second embodiment of the present invention. This embodiment is different from the previous one. In this embodiment, scientific experimental technical means are used to verify the technical effects of the present invention.

[0076] Select a test field in Shijiazhuang, Yiling Town, Yangzhou City, collect its real terrain data. The size of this test field is 60 m * 60 m, the previous crop is wheat, and after harvesting, deep rotary tillage and returning to the field treatment is carried out. Use a level and a leveling rod to collect its real terrain data. As Figure 4 and Figure 5 shown, generate a three-dimensional farmland model and an earthwork grid map, and the difference between the grid with the most and the least earthwork volume exceeds 1.8 m 3 .

[0077] To verify the feasibility of the dynamic extended neighborhood operation path planning method for the satellite navigation grader proposed in this application, use Matlab 2022 software to program and generate path planning, and compare it with two conventional path planning methods, the S-shaped path and the outer spiral path, and analyze the situation of indicators such as path length, number of turns, and turning angle in the case of complete leveling (all grids need to reach the farmland reference elevation Havi).

[0078] The starting point of the conventional S-shaped path is at the upper left corner (1,1) grid, and its earthwork volume is 1.01 m 3 , moving along the x-axis direction. When it reaches the farmland boundary, it turns to the adjacent row to continue working, and levels each grid one by one. When it reaches the end point, the grader needs to return to the starting point and perform the second leveling according to the route. Repeat this process until complete leveling is achieved. The leveling operation path diagram for each traversal is as Figure 6 shown.

[0079] To complete the leveling of the experimental field through the conventional S-shaped path, a total of 8 traversals of the farmland are required, and the leveling rates are 81.75%, 85.25%, 87.25%, 89%, 90.75%, 95%, 98%, 100% respectively, and finally the complete leveling goal is achieved, as Figure 10 shown. Most of the grids are leveled during the first traversal of the conventional S-shaped path. However, because it is a fixed route, it is impossible to arrange a specific route for grid groups with large earthwork transportation requirements such as (1,12) and its surrounding areas, and multiple subsequent traversals are required to achieve complete leveling. This method has a high operation efficiency when facing special working conditions where the terrain gradually transitions from high to low and the earthwork volume is distributed in a slope shape, but it is difficult to efficiently complete the leveling operation in the face of most cases where the earthwork volume is disorderly distributed.

[0080] The starting point of the conventional outer spiral path is at the upper left corner (1,1) grid, and its earthwork volume is 1.01 m 3 , moving counterclockwise along the farmland edge and gradually shrinking inward. During the movement, the grader maintains a spiral trajectory. When approaching the farmland boundary, the grader needs to adjust its direction and continue to push inward along the spiral path to enter the next layer of operation; when it reaches the end point, the grader needs to return to the starting point and perform the second leveling according to the route. Repeat the above process until complete leveling is achieved. The leveling operation path diagram for each traversal is as Figure 7 shown.

[0081] To complete the leveling of the experimental field through the conventional outer spiral path, a total of 11 traversals of the farmland are required, and the leveling rates are 57.75%, 69.25%, 76%, 80.5%, 83.25%, 87.25%, 91%, 92.25%, 96.5%, 99.5%, 100% respectively, and finally the complete leveling goal is achieved, as Figure 11 shown. The conventional outer spiral route goes from the outside to the inside. Due to the fixed route, when encountering grid groups that require continuous soil transportation in, for example, column x = 1, due to the limited carrying capacity of the leveling shovel, multiple traversals are required to achieve leveling. This method has a high working efficiency when facing special working conditions where the terrain of the field gradually rises from the inside to the outside, but it is difficult to efficiently complete the leveling operation in the face of most cases where the earthwork volume is disorderly distributed.

[0082] The starting point of the path planning method is selected at the grid with the highest earthwork volume (12,1), which is 1.24m 3 The complete path diagram of the leveling operation is as follows: Figure 8 As shown. By planning the path through the dynamic expansion neighborhood method, each grid only works once, that is, traverses the farmland once, and finally achieves the goal of complete leveling. The dynamic expansion neighborhood path planning method starts from the grid with the highest earthwork volume. Each time the next working grid is selected, it can ensure that it reaches the benchmark elevation. For grid groups with large earthwork transportation and unloading requirements, continuous work can be avoided, and the transportation and unloading routes can be arranged more reasonably.

[0083] In order to better compare the working efficiency of the three methods under different leveling requirements, the working length of the traditional route traversal is 1200m, and the analysis is divided into stages. Figure 9 As shown. Under the condition that only rough leveling is needed, that is, the leveling rate reaches 60%, the working efficiency of the three methods is close, and all can achieve rough leveling quickly; under the condition that semi-fine leveling is needed, that is, the leveling rate reaches 80%, the S-shaped route and the dynamic expansion neighborhood method can plan the route and achieve semi-fine leveling quickly, among which the S-shaped route is slightly more efficient, while the outer spiral route is the least efficient, and the convergence speed of the latter half is significantly reduced; under the condition that fine leveling is needed, that is, the leveling rate reaches 100%, the speed of the S-shaped route and the outer spiral route converging to the leveling rate of 100% is significantly reduced, and the dynamic expansion neighborhood method can still maintain a high rate of convergence to the leveling rate of 100%, and its working efficiency is higher than that of the two conventional path planning methods, and can achieve fine leveling quickly.

[0084] The path length, number of turns, turning angle and number of work traversal calculated by three different methods are shown in Table 1. It can be seen from Table 1 that the path planned by this method is shortened by 66.4% and 75.6% in path length, 16.9% and 39.4% in number of turns, and 14.4% and 37.6% in turning angle, respectively, with high leveling efficiency; the S-shaped path and the outer spiral path planning method cannot reasonably arrange the route in the face of grid groups with large earthwork transportation and unloading requirements due to the fixed path, and invalid operations are prone to occur during the farmland leveling operation. It takes multiple leveling operations to achieve complete leveling, which takes a long time and has low leveling efficiency. Compared with the traditional path planning method, the leveling shovel of the present invention is not empty or overloaded, which shortens the invalid working time, reduces the number of turns and angles, and has a shorter operation path, which can better guide farmland leveling operations.

[0085] Table 1. Comparison of complete leveling operation data

[0086]

[0087] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0088] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered within the scope of the claims of the present invention.

Claims

1. A method for dynamically expanding neighborhood operation path planning for a satellite navigation grader, characterized in that: include, S1. Determine the grid size according to the operating width of the satellite navigation grader; S2, traverse and search the entire farmland and select the starting point of the work; S3. Generate the neighborhood near the current grid and plan the neighborhood matrix L nR ; S4, comparing the current neighborhood with the farmland earthwork grid map to determine whether it covers the farmland earthwork grid map; If it is fully covered, go to step S8, otherwise go to step S5; S5. Determine whether there is a grid in the current neighborhood that meets the conditions of no overload and no empty load. If the neighborhood matrix L nR There are one or more grids that meet the judgment conditions, and they are stored in the array validDirs in sequence for temporary storage. L nR If there is no grid that meets the judgment condition, the search grid range is expanded and the process returns to step S3; S6, selecting the next working grid with the smallest turning angle θ; S7, record the path length and turning angle of this section of work according to the next work grid, and update the data, including the current work position ( x n , y n )、Current load Loading、Worked matrix Visited; S8. Compare the worked matrix Visited and the original farmland earthwork grid map to determine whether all grids have been leveled. If all grids have been leveled, the global path planning is completed, otherwise return to step S3.

2. The satellite navigation grader dynamic expansion neighborhood operation path planning method according to claim 1, characterized in that: Before step S1 The following steps are included: first, the farmland topography is measured, and the grid points are marked using an optical level to obtain a three-dimensional topographic data set of the farmland to be worked on ( x i , y i , z i ), the farmland boundary is set according to the actual length and width of the farmland, the three-dimensional terrain data is interpolated using the interpolation method, and the three-dimensional model of the farmland is gridded according to the width L of the leveling shovel on the satellite navigation grader. It is divided into a grid terrain map with a side length of L, which serves as the search range for the satellite navigation grader path planning.

3. The method for dynamically expanding the neighborhood operation path planning of a satellite navigation grader according to claim 2, characterized in that: In step S1, the specific steps of dividing the grid are as follows: Loading_max and minimum load Loading_min , the current carrying capacity is Loading , the base elevation is H avi , the earthwork volume of each grid is T(x, y) ; Import the interpolated and gridded farmland earthwork grid map as the search range for path planning, and create a worked matrix Visited of the same size as the farmland earthwork grid map to record the completion information of the grid leveling work.

4. The method for dynamically expanding the neighborhood operation path planning of a satellite navigation grader according to claim 3, characterized in that: Benchmark elevation H avi The calculation formula is, ； ； in, V t is the earthwork volume of the farmland to be operated, n is the total number of farmland grids to be worked on, ∑H j is the sum of the grid corner elevations of the farmland to be worked on, ∑H b is the elevation of the edge points of the farmland grid to be worked on, ∑H g is the inflection point elevation of the farmland grid to be worked, ∑H z is the sum of the midpoint elevations of the farmland grid to be worked on.

5. The method for dynamically expanding the neighborhood operation path planning of a satellite navigation grader according to claim 3, characterized in that: In step S2, the grid with the largest earthwork volume of the entire farmland is used as the starting grid for path planning. （x 1 , y 1 ） , and update the carrying capacity Loading is the earthwork value of the grid T(x 1 , y 1 ） .

6. The method for dynamically expanding the neighborhood operation path planning of a satellite navigation grader according to claim 5, characterized in that: The step S3 specifically The following steps are included: Introducing a neighborhood coefficient R ,set up R The initial value of is 1; With the current working grid ( x n , y n ) as the center, and plan a block neighborhood matrix controlled by R L nR , 。 7. The method for dynamically expanding the neighborhood operation path planning of a satellite navigation grader according to claim 6, characterized in that: The process of establishing the determination condition in step S5 is as follows: The current working grid is ( x n , y n ), in its neighborhood matrix L nR Perform traversal search in and calculate the carrying capacity after the new grid works newLoading , ； Find the next working grid that meets the judgment conditions ( x n+1 , y n+1 ), the judgment condition is, 。 8. The method for dynamically expanding the neighborhood operation path planning of a satellite navigation grader according to claim 6, characterized in that: The calculation formula for the turning angle θ is, ； in, x n-1 is the horizontal coordinate of the previous working grid, y n-1 is the ordinate of the previous working grid, x n is the horizontal coordinate of the current working grid, y n is the ordinate of the current working grid, x n+1 is the horizontal coordinate of the next working grid, y n+1 The vertical coordinate of the next working grid.

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