Agricultural machine material supply method, agricultural machine and electronic equipment

Abstract

The invention provides an agricultural machinery material supply method, agricultural machinery and electronic equipment, and belongs to the technical field of agricultural machinery. The agricultural machinery material supply method comprises the following steps: in response to detection that a user selects a target supply point from a plurality of preset supply point positions, determining a supply path based on current position information of agricultural machinery and the target supply point; and based on the supply path, controlling the agricultural machinery to supply materials. In the operation process, when a user needs to go to the supply point to replenish materials, the user selects the target supply point from a plurality of preset supply point positions, and the automatic driving system can immediately plan a path to the target supply point according to the current position information and the target supply point, so that the user can quickly reach the target supply point to replenish the materials. The intelligent level of agricultural machinery is improved, the operation interruption time is greatly shortened, the labor cost is reduced, and the operation efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and particularly relates to a method for replenishing agricultural machinery supplies, an agricultural machinery, and an electronic device. Background Art

[0002] The field of agricultural machinery in China has reached a new height of intelligence and unmanned operation. In multiple key links such as crop sowing, planting, maintenance, and harvesting, the application of unmanned agricultural machinery is becoming increasingly widespread.

[0003] When an autonomous driving agricultural machine conducts farm operations such as field planting, it often needs to load specific supplies, such as seedlings, seeds, fertilizers, etc. However, the loading capacity of the autonomous driving agricultural machine itself is limited, and the supply vehicle usually cannot directly enter the interior of the field for replenishment. Therefore, the agricultural machine must rely on manual driving to go to the supply point at the field boundary to load supplies. The environment of the farm operation area is relatively open, usually polygonal in shape, there may be obstacles in the operation area, and at the same time, the travel path of the agricultural machine cannot roll over the operated area or cross the field boundary. Based on the above situation, replenishing supplies for the agricultural machine will consume a lot of time and reduce the operation efficiency. Summary of the Invention

[0004] The purpose of the embodiments of the present invention is to provide a method for replenishing agricultural machinery supplies, an agricultural machinery, and an electronic device. The method for replenishing agricultural machinery supplies improves the intelligent level of agricultural machinery, greatly shortens the time of operation interruption, reduces labor costs, and improves operation efficiency.

[0005] To achieve the above purpose, in the first aspect of the present application, a method for replenishing agricultural machinery supplies is provided, including:

[0006] In response to detecting that the user selects a target supply point from multiple preset supply point positions, a supply path is determined based on the current position information of the agricultural machine and the target supply point;

[0007] Based on the supply path, control the agricultural machine to replenish supplies.

[0008] In the embodiments of the present application, the determining the supply path based on the current position information of the agricultural machine and the target supply point includes:

[0009] Based on the boundary line of the operation area and the position of the target supply point, the position of the target supply point is corrected to obtain the corrected target supply point;

[0010] Based on the current position information of the agricultural machine and the corrected target supply point, the supply path is determined.

[0011] In an embodiment of the present application, determining the supply path based on the current position information of the agricultural machine and the corrected target supply point includes:

[0012] Determining the starting point state based on the current position information of the agricultural machine;

[0013] Determining the target point state based on the corrected target supply point;

[0014] Determining the supply path by using the Hybrid A* algorithm based on the starting point state and the target point state.

[0015] In an embodiment of the present application, determining the target point state based on the target supply point includes:

[0016] Determining the target point coordinates based on the corrected target supply point and the boundary line of the operation area;

[0017] Taking the plane where the material loading port of the agricultural machine is located to be parallel to the boundary line of the operation area where the corrected target supply point is located when the agricultural machine reaches the corrected target supply point as a constraint condition, and determining the target point heading angle;

[0018] Determining the target point state based on the target point coordinates and the target point heading angle.

[0019] In an embodiment of the present application, it further includes:

[0020] Determining the plane where the material loading port of the agricultural machine is located based on the type and model of the agricultural machine of the agricultural machine, and further determining the vehicle attitude of the agricultural machine when it reaches the target supply point.

[0021] In an embodiment of the present application, after controlling the agricultural machine to perform material supply based on the supply path, it further includes:

[0022] Responding to a continue operation instruction, and acquiring the position information of the agricultural machine after supply in real time;

[0023] Determining the return path based on the position information of the agricultural machine after supply and the interrupted operation position;

[0024] Controlling the agricultural machine to return to the interrupted operation position based on the return path.

[0025] In an embodiment of the present application, it further includes:

[0026] Responding to a first automatic supply instruction, and determining the boundary position of the operation area closest to the agricultural machine based on the current position information of the agricultural machine to obtain the closest target supply point;

[0027] Based on the current position information of the agricultural machine and the nearest target supply point, a first nearest supply path is determined.

[0028] Based on the first nearest supply path, the agricultural machine is controlled to reach the nearest target supply point for material supply.

[0029] In the embodiment of the present application, it further includes:

[0030] In response to a second automatic supply instruction, based on the current position information of the agricultural machine and the positions of multiple preset supply points, the reference paths from the agricultural machine to the positions of each preset supply point are respectively calculated.

[0031] The supply point position with the shortest length among the reference paths from the agricultural machine to the positions of each preset supply point is taken as the optimal target supply point.

[0032] Based on the current position information of the agricultural machine and the optimal target supply point, a second nearest supply path is determined.

[0033] Based on the second nearest supply path, the agricultural machine is controlled to reach the optimal target supply point for material supply.

[0034] In the second aspect of the present application, an agricultural machine is provided, and the agricultural machine uses the above-mentioned agricultural machine material supply method for material supply.

[0035] In the third aspect of the present application, an electronic device is provided, and the electronic device includes:

[0036] At least one processor;

[0037] A memory connected to the at least one processor;

[0038] Wherein, the memory stores instructions executable by the at least one processor, and the at least one processor realizes the above-mentioned agricultural machine material supply method by executing the instructions stored in the memory.

[0039] Through the above technical solution, in response to detecting that the user selects a target supply point from multiple preset supply point positions, a supply path is determined based on the current position information of the agricultural machinery and the target supply point; and the agricultural machinery is controlled to perform material supply based on the supply path. During the operation process, when it is necessary to go to the supply point to replenish materials, the user selects a target supply point from multiple preset supply point positions. The autonomous driving system can immediately plan a path to the target supply point according to the current position information and the target supply point, so as to quickly reach the target supply point for material supply, improve the intelligent level of the agricultural machinery, greatly shorten the operation interruption time, reduce the labor cost, and improve the operation efficiency. The target supply point is determined by the user among multiple preset supply point positions, allowing the operator to arbitrarily select the material supply point, so as to meet various operation scenarios and make the material supply of the agricultural machinery more flexible and convenient.

[0040] Other features and advantages of the embodiments of the present invention will be described in detail in the following specific implementation manners. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The drawings are used to provide a further understanding of the embodiments of the present invention, and constitute a part of the specification, and are used to explain the embodiments of the present invention together with the following specific implementation manners, but do not constitute a limitation to the embodiments of the present invention. In the drawings:

[0042] Figure 1 Schematically shows a flowchart of a method for supplying materials to an agricultural machinery according to an embodiment of the present application;

[0043] Figure 2 Schematically shows an operation flowchart according to an embodiment of the present application;

[0044] Figure 3 Schematically shows a schematic diagram of an algorithm running according to an embodiment of the present application;

[0045] Figure 4 Schematically shows a schematic diagram of an algorithm running according to an embodiment of the present application (continued);

[0046] Figure 5 Schematically shows a schematic diagram of a starting point and a target point according to an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0047] The following details the specific implementation manners of the embodiments of the present invention with reference to the drawings. It should be understood that the specific implementation manners described herein are only used to illustrate and explain the embodiments of the present invention, and are not used to limit the embodiments of the present invention.

[0048] It should be noted that the acquisition, transmission, storage, use, processing, etc. of data in the technical solution of this application all comply with the relevant provisions of national laws and regulations. In the embodiments of this application, certain industry-existing solutions such as software, components, models, etc. may be mentioned. They should be regarded as exemplary. The purpose is only to illustrate the feasibility in the implementation of the technical solution of this application, but it does not mean that the applicant has already or necessarily used this solution.

[0049] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of this application, then such directional indications are only used to explain the relative positional relationship, movement conditions, etc. between components in a certain specific posture (as shown in the drawings). If this specific posture changes, then the directional indications will also change accordingly.

[0050] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of this application, then such descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0051] Technical term explanation:

[0052] Path planning: Path planning methods can be roughly divided into two categories according to the path type. One is full-coverage path planning, that is, given a working area (such as a farmland), the driving trajectory of the vehicle must cover the entire area; the other is point-to-point path planning, that is, the path from a specific starting point to a specific target point.

[0053] Hybrid A* algorithm: A point-to-point path planning algorithm often used in the fields of robot navigation and autonomous driving, which requires known map information. It takes into account the constraints of the vehicle kinematic model on the basis of the traditional A* algorithm. The traditional A* algorithm is similar to the direct forward, backward, left, right or diagonal movement in the game, while the Hybrid A* algorithm takes into account the actual trajectory of the vehicle, requiring the vehicle to move forward and backward or turn.

[0054] It should be noted that the agricultural machinery mentioned in this embodiment is the abbreviation of agricultural machinery. The agricultural machinery mentioned in this embodiment can be a rice transplanter, a rice throwing machine, a seeding machine, etc. The above agricultural machinery can be autonomous driving agricultural machinery.

[0055] Please refer to Figure 1 , Figure 1A schematic flowchart of an agricultural machinery material replenishment method according to an embodiment of the present application is shown. This embodiment provides an agricultural machinery material replenishment method, including the following steps:

[0056] Step 210: In response to detecting that the user selects a target replenishment point from multiple preset replenishment point positions, determine a replenishment path based on the current position information of the agricultural machinery and the target replenishment point;

[0057] In this embodiment, the position information of the agricultural machinery can be obtained by using an on-vehicle Beidou / Global Positioning System (GPS) navigation and positioning device to obtain the real-time coordinates and heading angle of the agricultural machinery during the farmland operation process. The replenishment point position can refer to a location located at the boundary of the operation area, such as at the boundary of a field block, for replenishing and loading agricultural machinery operation materials, which can be set by the user, and multiple replenishment point positions can be set according to the user's needs. The user can select the material replenishment point position in the satellite map through the operation panel of the display interaction terminal. The user can use the Beidou / GPS navigation and positioning device to obtain the material replenishment point position information on-site in the operation area, and then select this point as the replenishment point position through the operation panel of the display interaction terminal. Specifically, the specific coordinate position of the material replenishment point can be selected and determined on the operation panel or the mobile intelligent terminal, allowing the user to arbitrarily select the material replenishment point at the boundary of the operation area to obtain multiple replenishment point positions. When material replenishment is required, the user can select a target replenishment point from the replenishment point positions through the operation panel or the mobile intelligent terminal. After obtaining the target replenishment point selected by the user, the current position information of the agricultural machinery can be used as the starting point, and the target replenishment point as the end point for path planning to determine the replenishment path. The above path planning can be implemented by using existing path planning algorithms, such as: A* algorithm, Dijkstra algorithm, Hybrid A* algorithm, etc.

[0058] In some embodiments, the determining a replenishment path based on the current position information of the agricultural machinery and the target replenishment point includes the following steps:

[0059] First, correct the position of the target replenishment point based on the boundary line of the operation area and the position of the target replenishment point to obtain the corrected target replenishment point;

[0060] In this embodiment, after selecting the target supply point, the system can further draw a perpendicular line from the selected coordinates to the boundary line of the operation area according to the selected coordinates, and the foot of the perpendicular is the corrected coordinate position of the material supply point to correct the target supply point. The above-mentioned operation area boundary line refers to the boundary line segment surrounding the operation area, which can be a set of vertex coordinate points of the operation area obtained by using navigation and positioning devices such as Beidou / GPS, so as to form the boundary line segment information surrounding the operation area to obtain the operation area boundary line. The operation area boundary line information, supply point position, etc. can be stored in the computer terminal for direct use in the next operation without repeating the acquisition of relevant information.

[0061] Then, based on the current position information of the agricultural machinery and the corrected target supply point, the supply path is determined.

[0062] In this embodiment, with the corrected target supply point as the end point and the current position of the agricultural machinery as the starting point, the supply path is planned.

[0063] By correcting the position of the target supply point, the position of the supply point is on the boundary line of the operation area, which is convenient for determining the supply path and helps to better deliver materials.

[0064] In some embodiments, considering that the agricultural machinery is in a continuous state space scenario during operation, the Hybrid A* algorithm can be used for path planning to better conform to the motion characteristics of objects in the actual physical world and better adapt to complex terrain and environmental constraints.

[0065] Correspondingly, the determining the supply path based on the current position information of the agricultural machinery and the corrected target supply point includes:

[0066] First, based on the current position information of the agricultural machinery, the starting point state is determined;

[0067] In this embodiment, for the path to the material supply point, the starting point state is set to the state of the agricultural machinery at the operation interruption point, which can be expressed as (x s1 , y s1 , θ s1 ), where (x s1 , y s1 ) is the current real-time coordinate of the agricultural machinery, and θ s1 is the heading angle.

[0068] Then, based on the corrected target supply point, the target point state is determined;

[0069] In this embodiment, for the path to the material supply point, the target point state can be set to the state of the agricultural machinery at the corrected target supply point, which can be expressed as (xg , y g , θ g ), where (x g , y g ) are the coordinates of the end point, and θ g is the heading angle of the target point.

[0070] Considering that the material loading port of the agricultural machine should be aligned with the supply point when reaching the end point, it is convenient for material loading. Taking the rice transplanter as an example, if the front of the vehicle or the rear of the vehicle with the transplanting unit faces the field boundary, it is not convenient for seedling loading. The side of the rice transplanter should face the field boundary. Please refer to Figure 5 , Figure 5 which schematically shows the starting point and the target point according to the embodiment of the present application.

[0071] In some embodiments, determining the target point state based on the corrected target supply point includes:

[0072] First step, based on the corrected target supply point and the boundary line of the operation area, determine the target point coordinates;

[0073] In this embodiment, the target point coordinates can be set as the coordinates after the position of the target supply point is offset inward by half of the width or length of the agricultural machine along the normal line perpendicular to the boundary line of the operation area.

[0074] Second step, with the condition that when the agricultural machine reaches the corrected target supply point, the plane where the material loading port of the agricultural machine is located is parallel to the boundary line of the operation area where the corrected target supply point is located, determine the target point heading angle;

[0075] In this embodiment, the target point heading angle is the angle at which the plane where the material loading port of the agricultural machine is located is parallel to the boundary line of the operation area where the material supply point is located.

[0076] Third step, based on the target point coordinates and the target point heading angle, determine the target point state.

[0077] In this embodiment, the target point coordinates and the target point heading angle constitute the target point state.

[0078] By determining the target point coordinates based on the corrected target supply point and the boundary line of the operation area, with the condition that when the agricultural machine reaches the corrected target supply point, the plane where the material loading port of the agricultural machine is located is parallel to the boundary line of the operation area where the corrected target supply point is located, determine the target point heading angle, and based on the target point coordinates and the target point heading angle, determine the target point state, so that when the agricultural machine reaches the end point, the material loading port can be aligned with the supply point, thus facilitating material loading.

[0079] Further, it also includes: determining the plane where the material loading port of the agricultural machinery is located based on the type model of the agricultural machinery category of the agricultural machinery.

[0080] In this embodiment, according to the type model of the agricultural machinery, the plane where the material loading port on the agricultural machinery is located (the front of the vehicle, the rear of the vehicle or the side) can be accurately judged, so as to calculate at what angle the agricultural machinery should approach the boundary of the operation area when reaching the material supply point, and further accurately determine the heading angle of the agricultural machinery when reaching the target point, that is, obtain the target point heading angle.

[0081] Finally, based on the starting point state and the target point state, the Hybrid A* algorithm is used to determine the supply path.

[0082] In this embodiment, the process of using the Hybrid A* algorithm to determine the supply path includes the following steps:

[0083] 1. Define the path search cost function f(n)

[0084] The path search cost function is a function used to measure the quality of the candidate path in the path search algorithm. f(n) is defined as the comprehensive cost from the starting node through the current node n to the target node, and the calculation formula is as follows:

[0085] f(n) = g(n) + h(n) + k ob ·φ(n),

[0086] g(n) is defined as the actual cost considering the vehicle's motion trajectory and kinematic constraints from the starting state to the current state, and the calculation formula is as follows:

[0087] g(n) = k l ·g length (n) + k r ·g reverse (n) + k θ ·g turn (n) + k c ·g curve (n),

[0088] Among them, g length (n) is the path length cost term, g reverse (n) is the reverse cost term, g turn (n) is the steering cost term, g curve (n) is the curvature cost term, k l ,k r ,k θ ,k cis the weight coefficient corresponding to each cost item. h(n) is defined as the minimum heuristic estimated cost from the current state to the target state, combining the Reeds-Shepp path ignoring obstacles and the A* algorithm path considering obstacles as the heuristic estimated cost. φ(n) is defined as the collision risk cost based on the voronoi potential field, which is used as an additional cost for path evaluation to ensure path safety. k ob is the weight coefficient of the collision risk cost item.

[0089] 2. Determine the starting and ending points and their states

[0090] For the path to the material supply point, set the starting point state as the state of the agricultural machine at the job interruption point (x s1 , y s1 , θ s1 ). The setting rules for the target point state are as follows:

[0091] The system determines the surface where the material loading port on the agricultural machine is located (the front, rear, or side) according to the type and model of the agricultural machine, which is used to calculate the angle at which the agricultural machine should approach the operation area boundary when it reaches the material supply point, so as to further determine the heading angle of the agricultural machine when it reaches the target point.

[0092] Set the target point coordinates as the coordinates after offsetting half of the width or length of the agricultural machine inward along the normal line perpendicular to the field boundary where the material supply point is located, and the target point heading angle as the angle at which the surface where the material loading port of the agricultural machine is located is parallel to the field boundary where the material supply point is located, so as to obtain the target point state (x g , y g , θ g ).

[0093] 3. Establish and initialize the OpenList list and the CloseList list

[0094] The OpenList list is used to store the nodes to be explored; the CloseList list is used to store the explored nodes. Add the starting point to the OpenList list and calculate its cost f(start) = g(start) + h(start).

[0095] 4. Start the loop search

[0096] When performing the target search task, the following steps need to be looped until the target is found or the OpenList list is empty:

[0097] First, take out the node with the smallest f(n) value from the OpenList list and set it as the current node. Set the target state search threshold, evaluate the state of the current search node. If the current node state is within the preset threshold range, determine that the node is the target point, then terminate the search process and perform path backtracking; otherwise, remove the current node from the OpenList list and add it to the CloseList list to mark that the node has completed the exploration process.

[0098] For the current node, dynamically set the frequency parameter according to the actual situation, and use the Reeds-Shepp path to directly analyze the optimal feasible path from this node to the target node. If this section of the path can exactly meet the dynamic constraints and at the same time does not collide with obstacles, then a feasible path is successfully obtained. This feasible path consists of two parts: one is the path from the starting point to this newly expanded node obtained by the Hybrid A* algorithm, and the other is the theoretically optimal path generated from this newly expanded node to the target point. At this time, the planning process can be terminated in advance.

[0099] Discretize the direction angle into a finite number of values, deduce the successor nodes that the autonomous driving agricultural machinery can reach according to the kinematic model, and screen out the invalid successor nodes through the collision detection mechanism to determine the set of valid successor nodes. For example, when searching for successor nodes, the possible positions that the vehicle will reach after driving 1m with different steering wheel angles.

[0100] Calculate the cost of the successor node and add it to the OpenList list. If a successor node is already in the list, compare whether the new g(n) value is less than the original g(n) value. If so, update the cost value of the node and modify its parent node to the current node.

[0101] 5. Node backtracking

[0102] Loop through the above operation process until the target is found or the open list is empty. When reaching the target point, obtain the complete optimal path by gradually backtracking from the target node to the parent node.

[0103] 6. Path smoothing and optimization

[0104] Since the path generated by the Hybrid A* algorithm is connected by a series of discrete points, there may be situations such as discontinuous curvature and sharp turns. Therefore, smoothing and optimization processing is required. It can be the spline interpolation smoothing method, the path smoothing method based on gradient descent, the smoothing method based on curvature, or the path smoothing method based on curvature, etc. according to the actual situation. Divide the path into the forward section and the reverse section according to the driving direction, and perform optimization processing respectively to obtain the final supply path.

[0105] It should be noted that for the search path, it is also possible to perform segmented processing based on its relative distances from the starting point and the target point, and configure different cost calculation rules for each segment: for the initial segment and the ending segment, the reverse driving cost item is not accumulated; for the intermediate segment, the search step size is appropriately increased to optimize the search efficiency. In the starting and ending segments of the path, the search step size is smaller due to the presence of obstacles, for example, 0.5m - 1m, and the intermediate segment may be set to 3m - 5m. By setting the cost calculation rules in segments, the search efficiency can be improved to facilitate quickly obtaining the supply path.

[0106] Specifically, during the path search process, segments are determined based on the distances between the current node and the starting point and the target point, and different search rules are configured:

[0107] 1. Set the distance parameter L1. When the distance from the starting point / target point is less than L1, it is called the starting segment and the ending segment, and the middle part is called the intermediate segment. When the straight-line distance between the starting point and the target point is less than 3*L1, no segmented processing is performed.

[0108] 2. Special path search rules for the starting segment and the ending segment: Use a smaller search step size when searching for successor nodes; when calculating the g(n) value of successor nodes, cancel the reverse driving cost item and at the same time reduce the weight coefficients k θ 、k c of the steering cost item and the curvature cost item.

[0109] 3. Special path search rules for the intermediate segment: Set the distance parameter L2. During the process of searching for successor nodes, when the distance between the current node and the obstacle boundary is greater than L2, use a larger search step size to improve the search efficiency; when the distance between the current node and the obstacle boundary is less than L2, use a smaller search step size.

[0110] Based on the current position information of the agricultural machinery, the starting point state is determined; based on the corrected target supply point, the target point state is determined; based on the starting point state and the target point state, the path search cost function in the Hybrid A* algorithm function takes more factors into account. Since it faces a complex continuous space and an actual motion model, the path search cost function is more complex and accurate, which can effectively guide the search towards the optimal path, while meeting the motion constraints and environmental requirements, and improving the practicality and feasibility of the path planning.

[0111] Step 220: Control the agricultural machinery to perform material supply based on the supply path.

[0112] In this embodiment, the agricultural machinery is controlled to travel along the supply path to the target supply point, and material supply is performed after reaching the target supply point.

[0113] In the above implementation process, by responding to the detection that the user selects a target supply point from multiple preset supply point positions, based on the current position information of the agricultural machinery and the target supply point, a supply path is determined; based on the supply path, the agricultural machinery is controlled to perform material supply. During the operation, when it is necessary to go to the supply point to replenish materials, the user selects a target supply point from multiple preset supply point positions. The automatic driving system can immediately plan a path to the target supply point according to the current position information and the target supply point, so as to quickly reach the target supply point for material supply, improve the intelligent level of the agricultural machinery, greatly shorten the time of operation interruption, reduce the labor cost, and improve the operation efficiency. The target supply point is determined by the user among multiple preset supply point positions, allowing the operator to arbitrarily select the material supply point, so as to meet various operation scenarios and make the material supply of the agricultural machinery more flexible and convenient.

[0114] In some embodiments, after controlling the agricultural machinery to perform material supply based on the supply path, it further includes:

[0115] First, in response to a continue operation instruction, the position information of the agricultural machinery after replenishment is obtained in real time;

[0116] In this embodiment, after the agricultural machinery arrives at the target supply point and completes the material loading, the operator can issue an instruction to return to the operation interruption position to the automatic driving system by clicking the operation panel of the display interaction terminal or the in-vehicle quick button and other devices, that is, obtain the continue operation instruction. The above position information of the agricultural machinery after replenishment can be the position information of the target supply point, or the real-time coordinates and heading angle of the agricultural machinery can be obtained by using the in-vehicle Beidou / GPS navigation and positioning device to obtain the position information of the agricultural machinery after replenishment.

[0117] Then, based on the position information of the agricultural machinery after replenishment and the operation interruption position, a return path is determined;

[0118] In this embodiment, the above operation interruption position can be the position information obtained by previously responding to the detection that the user selects a target supply point from multiple preset supply point positions and obtaining the current position information of the agricultural machinery in real time. The above determination of the return path is a path planned with the position information of the agricultural machinery after replenishment as the starting point and the operation interruption position as the target point. The return path is used to make the agricultural machinery return to the operation interruption point. For the path to return to the operation interruption point, the starting point state can be set as the current state of the agricultural machinery (x s2 , y s2 , θ s2 ), and the target point state can be set as the state of the agricultural machinery at the operation interruption point (x g2 , y g2 , θ g2)。The process of the above path planning is the same as that of determining the supply path, which will not be elaborated here.

[0119] Finally, based on the returned path, control the agricultural machinery to return to the interrupted operation position.

[0120] In this embodiment, control the agricultural machinery to drive to the interrupted operation position along the returned path to facilitate continuous operation.

[0121] By issuing a continue operation instruction to the automatic driving system, after receiving the corresponding instruction, the automatic driving system immediately calculates the returned path and, after arriving at the operation interruption point according to the returned path, resumes the normal operation state to continue the operation. This enables the agricultural machinery to automatically travel back and forth between the operation area and the material supply point, further shortening the operation interruption time and improving the coherence of the operation.

[0122] In some embodiments, it further includes:

[0123] First, in response to the first automatic supply instruction, based on the current position information of the agricultural machinery, determine the boundary position of the operation area closest to the agricultural machinery to obtain the nearest target supply point;

[0124] In this embodiment, during the operation, it can pull over to the side nearby, that is, dynamically set the target supply point as the boundary position of the operation area closest to the position of the agricultural machinery during the operation, so as to obtain the nearest target supply point. The above first supply instruction can be input by the operator. For example, there is a virtual shortcut button on the display interaction terminal operation panel. When the operator determines that supplies need to be replenished, the operator can click the corresponding button to issue an instruction to the driving system to go to the supply point position, that is, the first supply instruction. In specific implementation, the functions of this button can be implemented by in-vehicle physical buttons, Bluetooth remote controls, mobile phone applications (APPs), etc. The above first automatic supply instruction can also be provided by a certain in-vehicle real-time monitoring and judgment device. When it monitors that the supplies are lacking, it automatically issues an instruction to the system to go to the supply point position, that is, the first automatic supply instruction. After the first automatic supply instruction is issued, obtain the current position information of the agricultural machinery. The current position of the above agricultural machinery is the interrupted operation position. After obtaining the first automatic supply instruction, the automatic driving system issues instructions to the operation execution mechanism to decelerate and stop and stop the operation, and saves the coordinates and heading angle of the agricultural machinery at the operation interruption point. The acquisition of the current position information of the agricultural machinery is the same as the acquisition method in step 210, which will not be elaborated here.

[0125] Then, based on the current position information of the agricultural machinery and the nearest target supply point, determine the first nearest supply path;

[0126] In this embodiment, the method for determining the first nearest supply path is the same as that determined in step 210, and thus will not be elaborated herein.

[0127] Finally, based on the first nearest supply path, control the agricultural machinery to reach the nearest target supply point for material supply.

[0128] In this embodiment, control the agricultural machinery to travel along the first nearest supply path to the nearest target supply point, and perform material supply after reaching the nearest target supply point.

[0129] By determining the boundary position of the operation area closest to the agricultural machinery based on the current position information of the agricultural machinery as the nearest target supply point, the target supply point can be determined more quickly, which helps to quickly determine the supply path for material supply, thereby further improving the material supply efficiency.

[0130] In some embodiments, it further includes:

[0131] First, in response to the second automatic supply instruction, based on the current position information of the agricultural machinery and the positions of multiple preset supply points, calculate the reference paths from the agricultural machinery to each of the preset supply point positions respectively;

[0132] Then, take the supply point position with the shortest length among the reference paths from the agricultural machinery to each of the preset supply point positions as the optimal target supply point;

[0133] Then, based on the current position information of the agricultural machinery and the optimal target supply point, determine the second nearest supply path;

[0134] Finally, based on the second nearest supply path, control the agricultural machinery to reach the optimal target supply point for material supply.

[0135] In this embodiment, the acquisition of the second automatic supply instruction is the same as that of the first supply instruction, and thus will not be elaborated herein. The above reference path can be obtained through a path planning algorithm. For example, based on the current position information of the agricultural machinery and the obstacle information within the operation range, for the multiple preset supply points P i =(x i , y i ), P i ∈S={P1, P2, … P n}, the A* algorithm can be used to determine the reference paths from the agricultural machinery to each of the supply points, and the supply point with the shortest reference path length is taken as the optimal supply point P goalIt should be noted that the obstacles mentioned in this embodiment refer to static obstacles in the field, such as wells, telegraph poles, etc.; then the areas that the agricultural machinery has already operated on cannot be rolled over, so they also need to be regarded as obstacles. The obstacle information includes the positions of each obstacle, and the obstacle positions are coordinate information, which can be determined by navigation and positioning devices such as Beidou / GPS. For multiple preset supply points, the A* algorithm process is independently executed respectively, and the reference paths to each supply point can be planned. The A* algorithm can combine the prior knowledge of the agricultural machinery operation environment, such as the layout of the farmland, the general distribution of obstacles, etc., and guide the search direction through a heuristic function to find a feasible path more quickly. So that the agricultural machinery can quickly determine the optimal target supply point in a complex operation environment. Then, based on the current position information of the agricultural machinery and the optimal target supply point, the second nearest supply path is recalculated through the above Hybrid A* algorithm, and the agricultural machinery is controlled to perform material supply based on the second nearest supply path.

[0136] By calculating and comparing the lengths of the reference paths generated based on the A* algorithm, it helps to quickly determine the target point for further more accurate path planning, thereby further improving the material supply efficiency and the intelligent level of the agricultural machinery.

[0137] By setting two automatic supply instructions, the user can select according to needs, so as to meet a variety of operation scenarios, and further make the material supply of the agricultural machinery more flexible and convenient.

[0138] Please refer to Figure 2 , Figure 2 which schematically shows the operation flow chart according to the embodiment of the present application. The following uses a specific example to illustrate the solution.

[0139] First, obtain the boundary coordinate information of the area to be operated and generate a full-coverage operation path. Set the positions of the supply points, and then the autonomous driving agricultural machinery starts to operate. During the operation, it is judged whether materials need to be replenished. If not, it is further judged whether the operation area task is completed. If so, the operation ends; otherwise, it returns again to judge whether materials need to be replenished. When materials need to be replenished, click the material supply button, and then the system starts to plan the optimal path to the nearest supply point. The autonomous driving agricultural machinery goes to the supply point for material supply. After the material loading is completed, click the continue operation button, and the system starts to plan the optimal path to return to the operation interruption point. The autonomous driving agricultural machinery goes to the operation interruption point to continue the operation, and it is judged whether the operation area task is completed. If so, the operation ends; otherwise, it returns again to judge whether materials need to be replenished.

[0140] Please refer to Figure 3 and Figure 4 , Figure 3Schematically shows a schematic diagram of the algorithm running according to an embodiment of the present application; Figure 4 Schematically shows a schematic diagram of the algorithm running according to an embodiment of the present application (continued). When the algorithm is executed, first define the path cost function f(n), and then determine whether it is a forward journey or a return journey. If it is a forward journey, the starting point state is the state of the agricultural machinery at the job interruption point (x s1 , y s1 , θ s1 ). Based on the original A* algorithm, evaluate the optimal supply point P goal , and obtain the target point state (x g , y g , θ g ). Establish and initialize the OpenList list and the CloseList list, and start the loop search. If it is a return journey, the starting point state is the current state of the agricultural machinery (x s2 , y s2 , θ s2 ), and the target point state is the state of the agricultural machinery at the job interruption point (x s1 , y s1 , θ s1 ). Establish and initialize the OpenList list and the CloseList list, and start the loop search. During the loop search process, determine whether the OpenList list is empty. If it is empty, the algorithm ends and no path is found; if it is not empty, take out the node with the smallest f(n) value as the current node, move the current node to the CloseList list, and determine whether it is the target node based on the target state search threshold. If so, find the target node, generate a path through node backtracking, and smooth and optimize the path to obtain the path. If it is not the target node, configure different search rules for different segments of the path, calculate the successor nodes based on the kinematic model, screen the valid successor nodes through collision detection, and calculate the f(n) value of the successor nodes; during the process of searching for the target node, a dynamic frequency can also be set, directly analyze the optimal feasible path from the current node to the target node based on the RS curve, determine whether it meets the kinematic constraints and collision detection, if it meets, generate a path through node backtracking, and smooth and optimize the path to obtain the path; if it does not meet, configure different search rules for different segments of the path, calculate the successor nodes based on the kinematic model, screen the valid successor nodes through collision detection, and calculate the f(n) value of the successor nodes. After calculating the f(n) value of the successor node, determine whether the successor node is already in the OpenList list. If it is not, add it to the OpenList list and return to determine whether the OpenList list is empty again; if the successor node is already in the OpenList list, compare whether the new g(n) value is less than the original g(n) value. If it is less, update its cost value and modify the parent node to the current node, and return to determine whether the OpenList list is empty again; if it is not less, retain the original state and return to determine whether the OpenList list is empty again.

[0141] Figure 1 It is a schematic flow chart of the agricultural machinery material supply method in the embodiment. It should be understood that although each step in the Figure 1 flow chart is shown in sequence according to the indication of the arrow, these steps are not necessarily executed in the order indicated by the arrow. Unless there is a clear description in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, Figure 1 at least a part of the steps in the

[0142] This embodiment provides an agricultural machine, and the agricultural machine uses the above-mentioned agricultural machinery material supply method for material supply.

[0143] In this embodiment, the above-mentioned agricultural machine can be an autonomous driving agricultural machine, such as a transplanter, a throwing seedling machine, and a seeding machine, etc., and is mainly applied to scenarios where materials need to be loaded for field operations. By responding to detecting that the user selects a target supply point from multiple preset supply point positions, based on the current position information of the agricultural machine and the target supply point, a supply path is determined; based on the supply path, the agricultural machine is controlled to perform material supply. During the operation, when it is necessary to go to the supply point to replenish materials, the user selects a target supply point from multiple preset supply point positions, and the autonomous driving system can immediately plan a path to the target supply point according to the current position information, so as to quickly reach the target supply point for material supply, improve the intelligent level of the agricultural machine, greatly shorten the operation interruption time, reduce the labor cost, and improve the operation efficiency. The target supply point is determined by the user among multiple preset supply point positions, allowing the operator to arbitrarily select the material supply point, so that various operation scenarios can be satisfied, and the agricultural machinery material supply is more flexible and convenient.

[0144] This application embodiment provides an electronic device, which includes: at least one processor; a memory connected to the at least one processor; wherein, the memory stores instructions that can be executed by the at least one processor, and the at least one processor realizes the above-mentioned agricultural machinery material supply method by executing the instructions stored in the memory. When the processor executes the instructions, the following steps are realized:

[0145] In response to detecting that a user selects a target supply point from multiple preset supply point positions, a supply path is determined based on the current position information of the agricultural machine and the target supply point;

[0146] Based on the supply path, control the agricultural machine to perform material supply.

[0147] In one embodiment, the determining the supply path based on the current position information of the agricultural machine and the target supply point includes:

[0148] Based on the boundary line of the operation area and the position of the target supply point, correct the position of the target supply point to obtain the corrected target supply point;

[0149] Based on the current position information of the agricultural machine and the corrected target supply point, determine the supply path.

[0150] In one embodiment, the determining the supply path based on the current position information of the agricultural machine and the corrected target supply point includes:

[0151] Based on the current position information of the agricultural machine, determine the starting point state;

[0152] Based on the corrected target supply point, determine the target point state;

[0153] Based on the starting point state and the target point state, use the Hybrid A* algorithm to determine the supply path.

[0154] In one embodiment, the determining the target point state based on the corrected target supply point includes:

[0155] Based on the corrected target supply point and the boundary line of the operation area, determine the target point coordinates;

[0156] Taking the plane where the material loading port of the agricultural machine is parallel to the boundary line of the operation area where the corrected target supply point is located when the agricultural machine arrives at the corrected target supply point as a constraint condition, determine the target point heading angle;

[0157] Based on the target point coordinates and the target point heading angle, determine the target point state.

[0158] In one embodiment, it further includes:

[0159] Based on the agricultural machine type and model, determine the plane where the material loading port of the agricultural machine is located, and further determine the vehicle attitude of the agricultural machine when it arrives at the target supply point.

[0160] In one embodiment, after controlling the agricultural machinery to perform material replenishment based on the replenishment path, the following steps are further included:

[0161] In response to a continue operation instruction, real-time obtain the position information of the agricultural machinery after replenishment;

[0162] Based on the position information of the agricultural machinery after replenishment and the position of the interrupted operation, determine a return path;

[0163] Based on the return path, control the agricultural machinery to return to the position of the interrupted operation.

[0164] In one embodiment, the following steps are further included:

[0165] In response to a first automatic replenishment instruction, based on the current position information of the agricultural machinery, determine the boundary position of the operation area closest to the agricultural machinery to obtain the nearest target replenishment point;

[0166] Based on the current position information of the agricultural machinery and the nearest target replenishment point, determine a first nearest replenishment path;

[0167] Based on the first nearest replenishment path, control the agricultural machinery to reach the nearest target replenishment point to perform material replenishment.

[0168] In one embodiment, the following steps are further included:

[0169] In response to a second automatic replenishment instruction, based on the current position information of the agricultural machinery and the positions of multiple preset replenishment points, respectively calculate the reference paths from the agricultural machinery to the positions of each preset replenishment point;

[0170] Take the replenishment point position with the shortest length among the reference paths from the agricultural machinery to the positions of each preset replenishment point as the optimal target replenishment point;

[0171] Based on the current position information of the agricultural machinery and the optimal target replenishment point, determine a second nearest replenishment path;

[0172] Based on the second nearest replenishment path, control the agricultural machinery to reach the optimal target replenishment point to perform material replenishment.

[0173] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memory, CD-ROM, optical memory, etc.) that contain computer-usable program code.

[0174] The present application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in Figure 1 one or more of the processes or multiple processes and / or blocks Figure 1 one or more of the blocks or multiple blocks.

[0175] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including instruction means that implement the functions specified in Figure 1 one or more of the processes or multiple processes and / or blocks Figure 1 one or more of the blocks or multiple blocks.

[0176] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in Figure 1 one or more of the processes or multiple processes and / or blocks Figure 1 one or more of the blocks or multiple blocks.

[0177] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0178] The memory may include non-permanent memory in the computer-readable medium, in the form of random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

[0179] A computer-readable medium includes both permanent and non-permanent, removable and non-removable media and can implement information storage by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette tapes, magnetic tape disk storage or other magnetic storage devices, or any other non-transitory medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer-readable medium does not include transitory computer-readable media, such as modulated data signals and carrier waves.

[0180] It should also be noted that the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, commodity or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, commodity or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the existence of additional identical elements in the process, method, commodity or device comprising the element.

[0181] The above are only embodiments of the present application and are not used to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. An agricultural machinery material supply method, characterized in that, Including: In response to detecting that the user selects a target supply point from multiple preset supply point positions, determining a supply path based on the current position information of the agricultural machinery and the target supply point; Controlling the agricultural machinery to perform material supply based on the supply path.

2. The agricultural machinery material supply method according to claim 1, characterized in that The determining of the supply path based on the current position information of the agricultural machinery and the target supply point includes: Based on the boundary line of the operation area and the position of the target supply point, correcting the position of the target supply point to obtain the corrected target supply point; Determining the supply path based on the current position information of the agricultural machinery and the corrected target supply point.

3. The agricultural machinery material supply method according to claim 2, wherein The determining of the supply path based on the current position information of the agricultural machinery and the corrected target supply point includes: Determining the starting point state based on the current position information of the agricultural machinery; Determining the target point state based on the corrected target supply point; Determining the supply path by using the Hybrid A* algorithm based on the starting point state and the target point state.

4. The agricultural machinery material supply method according to claim 3, wherein The determining of the target point state based on the corrected target supply point includes: Determining the target point coordinates based on the corrected target supply point and the boundary line of the operation area; Taking the plane where the material loading port of the agricultural machinery is located to be parallel to the boundary line of the operation area where the corrected target supply point is located when the agricultural machinery arrives at the corrected target supply point as a constraint condition, and determining the target point heading angle; Determining the target point state based on the target point coordinates and the target point heading angle.

5. The agricultural machinery material supply method according to claim 4, characterized in that, Also including: Based on the type model of the agricultural machinery, determining the plane where the material loading port of the agricultural machinery is located, and further determining the vehicle attitude of the agricultural machinery when it arrives at the target supply point.

6. The agricultural machinery material supply method according to any one of claims 1 to 5, characterized in that, After the controlling the agricultural machinery to perform material supply based on the supply path, it also includes: In response to a continue operation instruction, real-time obtaining the position information of the agricultural machinery after supply; Determining a return path based on the position information of the agricultural machinery after supply and the interrupted operation position; Controlling the agricultural machinery to return to the interrupted operation position based on the return path.

7. The agricultural machinery material supply method according to any one of claims 1 to 5, characterized in that, Also including: In response to a first automatic supply instruction, determining the boundary position of the operation area closest to the agricultural machinery based on the current position information of the agricultural machinery to obtain the closest target supply point; Determining a first closest supply path based on the current position information of the agricultural machinery and the closest target supply point; Controlling the agricultural machinery to reach the closest target supply point based on the first closest supply path to perform material supply.

8. The agricultural machinery material supply method according to any one of claims 1 to 5, characterized in that, Also including: In response to a second automatic supply instruction, respectively calculating reference paths from the agricultural machinery to each of the preset supply point positions based on the current position information of the agricultural machinery and the multiple preset supply point positions; Taking the supply point position with the shortest length among the reference paths from the agricultural machinery to each of the preset supply point positions as the optimal target supply point. Determine a second nearest supply path based on the current position information of the agricultural machinery and the optimal target supply point; Based on the second nearest supply path, control the agricultural machinery to reach the optimal target supply point for material supply.

9. An agricultural machine, characterized in that, The agricultural machinery performs material supply by using the agricultural machinery material supply method described in any one of claims 1-8.

10. An electronic device, characterized in that, The electronic device includes: At least one processor; A memory connected to the at least one processor; Wherein, the memory stores instructions executable by the at least one processor, and the at least one processor realizes the agricultural machinery material supply method described in any one of claims 1 to 8 by executing the instructions stored in the memory.

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