Farmland operation path planning method and device, electronic equipment and storage medium

Abstract

The invention provides a farmland operation path planning method and device, electronic equipment and a storage medium. The method comprises the following steps: firstly, determining node coordinates of each boundary node of a farmland to be operated based on a pre-constructed farmland node map; and then obtaining the operation width of the agricultural machine, and determining the operation starting position of the to-be-operated farmland based on the node coordinates and the operation width. Coordinates of the position of the agricultural machine are obtained, and a moving path from the position of the agricultural machine to the operation starting position is planned; and then planning a full-coverage operation path of the farmland to be operated based on the node coordinates, the operation width and the operation line spacing of the agricultural machine. And finally, combining the moving path and the full-coverage operation path to obtain a final farmland operation path. By means of the method, the moving path from the position of the agricultural machine to the operation starting position and the full-coverage operation path of the farmland to be operated can be planned, so that the automatic operation path of one agricultural machine in one or more gathered farmlands is achieved, and it is ensured that no missing area exists.

Description

Technical Field

[0001] The present application relates to the field of agricultural machinery control technology, and in particular to a method, device, electronic device and storage medium for planning a farmland operation path. Background Art

[0002] With the development of science and technology, more and more automated equipment is being used, bringing great convenience to people's daily lives and work. Among them, automated agricultural machinery can automatically operate on farmland according to planned paths, reducing a large amount of manpower.

[0003] However, in the existing technology, it is often necessary to manually move the agricultural machinery to the starting position of the operation, and automatic operation can only be performed on a single farmland. In addition, the planning of the farmland operation path is unreasonable, and areas are easily missed during the operation, resulting in unsatisfactory automatic operation results of the agricultural machinery. Summary of the Invention

[0004] In view of this, the present application provides a method, device, electronic device and storage medium for planning a farmland operation path to solve the problem of unsatisfactory automatic operation effect of agricultural machinery in the prior art.

[0005] To achieve the above objectives, this application provides the following technical solutions:

[0006] The first aspect of the present application discloses a method for planning a farmland operation path, comprising:

[0007] Determine the node coordinates of each boundary node of the farmland to be operated based on a pre-constructed farmland node map; wherein the farmland node map is used to record the shape and node coordinates of each farmland within the target area;

[0008] Acquire the operation width of the agricultural machine, and determine the operation starting position of the farmland to be operated based on the node coordinates and the operation width;

[0009] Obtaining the coordinates of the agricultural machine position and planning a movement path from the agricultural machine position to the operation starting position;

[0010] Planning a full-coverage operation path for the farmland to be operated based on the node coordinates, the operation width, and the operation row spacing of the agricultural machinery;

[0011] The moving path and the full coverage operation path are combined to obtain the final farmland operation path.

[0012] Optionally, in the above method, obtaining the operation width of the farmland to be operated, and determining the operation starting position of the target farmland based on the node coordinates and the operation width, includes:

[0013] In the farmland to be operated, a straight line is drawn perpendicular to a first target boundary line and at a distance from the first target boundary line by 1 / 2 of the operation width; wherein the first target boundary line is a pre-set boundary line in the farmland to be operated;

[0014] Determining whether the angle between the first target boundary line and the second target boundary line is an obtuse angle; wherein the second target boundary line is one of the boundary lines in the farmland to be operated that intersects with the first target boundary line;

[0015] If it is determined that the angle between the first target boundary line and the second target boundary line is not an obtuse angle, taking the intersection of the first target boundary line and the second target boundary line and the foot point of the straight line as the operation starting position;

[0016] If it is determined that the angle between the first target boundary line and the second target boundary line is an obtuse angle, the intersection of the straight line and the second target boundary line is used as the operation starting position.

[0017] Optionally, in the above method, the obtaining of the position coordinates of the agricultural machine and planning of a movement path from the position coordinates of the agricultural machine to the operation starting position include:

[0018] If the agricultural machine is located on a boundary line of a certain farmland, the agricultural machine location is added to the node map, and a shortest path algorithm is used to plan the shortest path from the agricultural machine location to the operation starting position as the movement path;

[0019] If the agricultural machine is located in a non-operated farmland, the nearest point between the agricultural machine and each boundary line of the non-operated farmland is determined, and the agricultural machine position and each of the nearest points are added to the node map; wherein the non-operated farmland is a farmland in the farmland node map other than the farmland to be operated;

[0020] Each of the nearest points is used as a waypoint, and the shortest path algorithm is used to plan the shortest path from the agricultural machine position to the operation starting position as the movement path.

[0021] Optionally, in the above method, planning a full-coverage operation path for the farmland to be operated based on the node coordinates, the operation width, and the operation row spacing includes:

[0022] The farmland to be operated is divided into an inner spiral operation area and a reciprocating operation area; wherein the inner spiral operation area is the area between the boundary line of the farmland to be operated and the inner dividing line; the reciprocating operation area is the area within the inner dividing line; the inner dividing line is obtained by translating the boundary line by a preset distance;

[0023] For the inner spiral operation area, planning an operation path of the inner spiral operation area based on the node coordinates, the operation width, the operation row spacing, and a preset first turning form of the agricultural machine;

[0024] For the reciprocating working area, determining a second turning form of the agricultural machine based on a preset turning speed and working row spacing of the agricultural machine; wherein the second turning form includes a U-turn and a fishtail turn;

[0025] Planning an operation path of the reciprocating operation area based on the node coordinates, the operation width, the operation row spacing, and the second turning form;

[0026] The operation path of the inner spiral operation area and the operation path of the reciprocating operation area are combined to generate a full coverage operation path of the farmland to be operated.

[0027] Optionally, in the above method, determining the second turning form of the agricultural machine based on a preset turning speed and working row spacing of the agricultural machine includes:

[0028] Calculating the minimum turning radius corresponding to the turning speed based on a preset formula;

[0029] If the minimum turning radius is not greater than the working row spacing, the second turning form is a U-turn;

[0030] If the minimum turning radius is smaller than the working row spacing, the second turning form is a fishtail turn.

[0031] Optionally, in the above method, planning the working path of the reciprocating working area based on the node coordinates, the working row spacing and the second turning form includes:

[0032] Based on the node coordinates and the working row spacing, a straight line parallel to the target inner boundary line is planned to form a straight working path; wherein the target inner boundary is a preset inner boundary line;

[0033] planning a turning path based on the second turning form;

[0034] The straight working path and the turning path are combined to obtain the working path of the reciprocating working area.

[0035] The second aspect of the present application discloses a device for planning a farmland operation path, comprising:

[0036] A first determining unit is configured to determine the node coordinates of each boundary node of the farmland to be operated based on a pre-constructed farmland node map; wherein the farmland node map is configured to record the shape and node coordinates of each farmland within the target area;

[0037] a second determining unit, configured to obtain an operating width of the agricultural machine, and determine an operating starting position of the farmland to be operated based on the node coordinates and the operating width;

[0038] a first planning unit, configured to obtain the coordinates of the position of the agricultural machine and plan a movement path from the position of the agricultural machine to the operation starting position;

[0039] A second planning unit is configured to plan a full-coverage operation path for the farmland to be operated based on the node coordinates, the operation width, and the operation row spacing of the agricultural machinery;

[0040] A combining unit is used to combine the moving path and the full coverage operation path to obtain a final farmland operation path.

[0041] Optionally, in the above device, the second determining unit includes:

[0042] a marking sub-unit, configured to draw a straight line perpendicular to a first target boundary line in the farmland to be operated and spaced from the first target boundary line by 1 / 2 of the operation width; wherein the first target boundary line is a pre-set boundary line in the farmland to be operated;

[0043] a first determining subunit, configured to determine whether an angle between the first target boundary line and a second target boundary line is an obtuse angle; wherein the second target boundary line is one of the boundary lines in the farmland to be operated that intersects with the first target boundary line;

[0044] a second determining subunit, configured to use, if it is determined that the angle between the first target boundary line and the second target boundary line is not an obtuse angle, a perpendicular point between the intersection of the first target boundary line and the second target boundary line and the straight line as the operation starting position;

[0045] The third determining subunit is configured to use an intersection of the straight line and the second target boundary line as the operation starting position if it is determined that the angle between the first target boundary line and the second target boundary line is an obtuse angle.

[0046] Optionally, in the above device, the first planning unit includes:

[0047] a first planning subunit, configured to add the location of the agricultural machine to the node map if the location of the agricultural machine is on a boundary line of a certain farmland, and plan a shortest path from the location of the agricultural machine to the operation starting location as the movement path using a shortest path algorithm;

[0048] a fourth determining subunit, configured to, if the agricultural machine is located in a non-operated farmland, determine the closest point between the agricultural machine and each boundary line of the non-operated farmland, and add the agricultural machine position and each of the closest points to the node map; wherein the non-operated farmland is a farmland other than the farmland to be operated in the farmland node map;

[0049] The second planning subunit is used to use each of the nearest points as a waypoint and use a shortest path algorithm to plan the shortest path from the agricultural machine position to the operation starting position as the movement path.

[0050] A third aspect of the present application discloses an electronic device, comprising:

[0051] one or more processors;

[0052] a storage device having one or more programs stored thereon;

[0053] When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of the first aspects of the present application.

[0054] A fourth aspect of the present application discloses a computer storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the method described in any one of the first aspects of the present application is implemented.

[0055] It can be seen from the above technical solution that in a method for planning a farmland operation path provided by the present application, the node coordinates of each boundary node of the farmland to be operated are first determined based on a pre-constructed farmland node map. Then the operation width of the agricultural machinery is obtained, and the operation starting position of the farmland to be operated is determined based on the node coordinates and the operation width. Then the coordinates of the agricultural machinery position are obtained, and the moving path from the agricultural machinery position to the operation starting position is planned. Then, based on the node coordinates, the operation width, and the operation row spacing, the full coverage operation path of the farmland to be operated is planned. Finally, the moving path and the full coverage operation path are combined to obtain the final farmland operation path. It can be seen that using the method of the present application, the moving path from the agricultural machinery position to the operation starting position, as well as the full coverage operation path of the farmland to be operated can be planned, so as to realize the automatic operation path of an agricultural machinery in one or more aggregated farmlands, and ensure that no area is missed. It solves the problem of unsatisfactory automatic operation effect of agricultural machinery in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without any creative work.

[0057] Figure 1 This is a flow chart of a method for planning a farmland operation path disclosed in an embodiment of the present application;

[0058] Figure 2 This is a schematic diagram of a farmland node map disclosed in another embodiment of the present application;

[0059] Figure 3 This is a flowchart of an implementation of step S102 disclosed in another embodiment of the present application;

[0060] Figure 4 A schematic diagram of an operation starting position disclosed in another embodiment of the present application;

[0061] Figure 5 This is a schematic diagram of another operation starting position disclosed in another embodiment of the present application;

[0062] Figure 6 A schematic diagram of path planning from the position of an agricultural machine to the starting position of an operation disclosed in another embodiment of the present application;

[0063] Figure 7 This is a flowchart of an implementation of step S104 disclosed in another embodiment of the present application;

[0064] Figure 8 This is a schematic diagram of dividing the farmland to be operated into an inner spiral operation area and a reciprocating operation area according to another embodiment of the present application;

[0065] Figure 9 A schematic diagram of an operating path of an inner spiral region disclosed in another embodiment of the present application;

[0066] Figure 10 A schematic diagram of the working path spacing disclosed in another embodiment of the present application;

[0067] Figure 11 This is a schematic diagram of a first turning form disclosed in another embodiment of the present application;

[0068] Figure 12 A schematic diagram of a U-turn disclosed in another embodiment of the present application;

[0069] Figure 13 A schematic diagram of a fishtail turn disclosed in another embodiment of the present application;

[0070] Figure 14 A schematic diagram of an operation path for complex area planning under a U-turn disclosed in another embodiment of the present application;

[0071] Figure 15 A schematic diagram of an operation path for complex area planning under a fishtail turn disclosed in another embodiment of the present application;

[0072] Figure 16 This is a schematic diagram of a farmland operation path planning device disclosed in another embodiment of the present application;

[0073] Figure 17 This is a schematic diagram of an electronic device disclosed in another embodiment of the present application. DETAILED DESCRIPTION

[0074] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0075] In this application, the terms "comprises," "comprising," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0076] Furthermore, in this document, relational terms such as first and second, etc. are used merely to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any actual relationship or order between these entities or operations.

[0077] The present application embodiment provides a method for planning a farmland operation path, such as Figure 1 As shown, specifically including:

[0078] S101. Determine the node coordinates of each boundary node of the farmland to be operated based on a pre-constructed farmland node map; wherein the farmland node map is used to record the shape and node coordinates of each farmland within the target area;

[0079] It should be noted that the basic information of the farmland in the target area is obtained by using a drone or handheld surveying instrument, and the longitude and latitude data are converted into plane rectangular coordinate system data. Farmland and road obstacles are not considered. In order to improve the universality of the planning method, based on the fact that there are many square farmlands in China, all farmlands are divided into convex quadrilaterals. The intersection points of each quadrilateral boundary are key nodes. The distances between adjacent nodes are calculated to form a farmland node map, such as Figure 2 After a certain farmland is determined to be the farmland to be operated, the node coordinates of each boundary node of the farmland to be operated can be obtained according to the farmland node map.

[0080] S102: Obtain the operating width of the agricultural machine, and determine the operating starting position of the farmland to be operated based on the node coordinates and the operating width.

[0081] It should be noted that the machine's operating width W can be obtained from its equipment parameters. The distance from the machine's central axis to its left and right edges is W / 2. To prevent missed operations in border areas, the starting position should be W / 2 away from the field boundary. Based on the node coordinates, the positions of the four nodes of the field to be operated are determined. Assuming the four nodes are points A, B, C, and D, a boundary line, such as AB, is selected. The starting position of the field to be operated is determined at a distance of W / 2 from boundary line AB.

[0082] Optionally, in another embodiment of the present application, an implementation of the above step S102 is as follows: Figure 3 As shown, this may include:

[0083] S301. Draw a straight line perpendicular to a first target boundary line in the farmland to be operated and with a distance from the first target boundary line being 1 / 2 of the operation width; wherein the first target boundary line is a pre-set boundary line in the farmland to be operated.

[0084] It should be noted that, in the farmland to be operated, a straight line Line1 is drawn which is perpendicular to the first target boundary line and has a distance W / 2 from the first target boundary line, wherein the first target boundary line is a pre-set boundary line in the farmland to be operated, such as boundary line AB.

[0085] S302: Determine whether the angle between the first target boundary line and the second target boundary line is an obtuse angle; wherein the second target boundary line is one of the boundary lines in the farmland to be operated that intersects with the first target boundary line.

[0086] It should be noted that it is determined whether the angle θ between the first target boundary line and the second target boundary line is an obtuse angle, wherein the second target boundary line is one of the boundary lines in the farmland to be operated that intersects with the first target boundary line, such as boundary line AD.

[0087] S303: If it is determined that the angle between the first target boundary line and the second target boundary line is not an obtuse angle, the foot point of the perpendicular line from the intersection of the first target boundary line and the second target boundary line is used as the operation starting position.

[0088] It should be noted that if the angle θ between the boundary line AB and the boundary line AD is not an obtuse angle, the intersection point A of the boundary line AB and the boundary line AD and the foot point of the straight line Line1 are used as the operation starting position SP, such as Figure 4 shown.

[0089] S304: If it is determined that the angle between the first target boundary line and the second target boundary line is an obtuse angle, the intersection of the straight line and the second target boundary line is used as the operation starting position.

[0090] It should be noted that if the angle θ between the boundary line AB and the boundary line AD is an obtuse angle, the intersection of the straight line Line1 and the boundary line AD is used as the operation starting position SP, such as Figure 5 shown.

[0091] S103: Obtain the coordinates of the agricultural machine's position and plan a moving path from the agricultural machine's position to the operation starting position.

[0092] It should be noted that when the agricultural machinery is far away from the farmland to be operated, or needs to move to the farmland to be operated after completing the operation on the previous farmland, the coordinate information of the current location of the agricultural machinery is obtained, and a moving path from the current position of the agricultural machinery to the starting position of the operation of the farmland to be operated is automatically planned according to the farmland node map.

[0093] Optionally, in another embodiment of the present application, an implementation of step S103 may include:

[0094] If the location of the agricultural machinery is on the boundary line of a certain farmland, the location of the agricultural machinery will be added to the node map, and the shortest path algorithm will be used to plan the shortest path from the location of the agricultural machinery to the starting position of the operation as the moving path.

[0095] If the agricultural machinery is located in a non-operated farmland, the nearest point of each boundary line from the agricultural machinery to the non-operated farmland is determined, and the agricultural machinery location and each nearest point are added to the node map; wherein, the non-operated farmland is a farmland in the farmland node map other than the farmland to be operated.

[0096] Each nearest point is regarded as a waypoint, and the shortest path algorithm is used to plan the shortest path from the agricultural machinery position to the operation starting position as the moving path.

[0097] It should be noted that if the agricultural machinery is located on the boundary of a field, the location of the agricultural machinery is added to the node map. Using the agricultural machinery location as the starting point and the operation start location as the end point, a shortest path algorithm is used to plan the shortest path from the agricultural machinery location to the operation start location as the movement path. The shortest path algorithm can be selected based on the actual situation. Examples include path finding and graph traversal algorithms such as the A* algorithm, or algorithms that search for the shortest path between two nodes, such as the Floyd algorithm or the Dijkstra algorithm.

[0098] If the position of the agricultural machine is not on the boundary line of a certain farmland, but in a farmland that is not to be operated, the nearest point of each boundary line between the agricultural machine and the farmland that is not to be operated is determined, and the position of the agricultural machine and each nearest point are added to the node map. Then, each nearest point is used as a waypoint, and the shortest path algorithm is used to plan the shortest path from the position of the agricultural machine to the starting position of the operation as the movement path. For example Figure 6 As shown in the figure, assume that the machine is located in field 1, the next field to be operated is field 3, and the starting point for the operation is Z2. The current machine position, Z1, is in field 1, and the target position, Z2, is on the boundary line. The nearest points, P1 to P4, to the boundary near Z1 are used. Z1, Z2, and P1 to P4 are temporarily added to the node map. Based on the distances between adjacent nodes in the node map, the A* algorithm can be used to find a route with the shortest total path: Z1-P1-N1-N2-N3-Z2.

[0099] S104: Planning a full-coverage operation path for the farmland to be operated based on the node coordinates, the operation width, and the operation row spacing of the agricultural machinery.

[0100] It should be noted that, starting from the starting position of the agricultural machinery, a fully covered operating path is planned based on the farmland node coordinates, operating width, and row spacing. The interval between parallel straight-line operations of the agricultural machinery is denoted as the row spacing D, which is typically less than or equal to the operating width W, with D = (0.9-1)W. To ensure that no areas are missed, a straight-line operating path is planned based on the operating width and row spacing during straight-line operations. During turning operations, the agricultural machinery adopts different turning methods to ensure full coverage of the turning area.

[0101] Optionally, in another embodiment of the present application, an implementation of step S104 is as follows: Figure 7 As shown, this may include:

[0102] S701. Divide the farmland to be operated into an inner spiral operation area and a reciprocating operation area; wherein the inner spiral operation area is the area between the boundary line of the farmland to be operated and the inner dividing line; the reciprocating operation area is the area within the inner dividing line, and the inner dividing line is obtained by translating the boundary line by a preset distance.

[0103] It should be noted that the farmland to be operated is divided into an inner spiral operation area and a reciprocating operation area, wherein the inner spiral operation area is the area between the boundary line of the farmland to be operated and the inner dividing line, such as Figure 8 The area between the outer boundary ABCD and the inner boundary A1B1C1D1 in the reciprocating operation area is the area within the inner boundary line, that is, Figure 8 The area within the inner boundary A1B1C1D1 in . The inner boundary is obtained by shifting the outer boundary inward by d, where d is the minimum turning width of the agricultural machinery. In order to ensure that there is a turning extreme point (the point farthest from the boundary of the working area during the turn) for different turning forms, the minimum turning width under different turning forms needs to be determined. Figure 12 The U-turn shown and Figure 13 The fishtail turn shown, assuming Figure 12 and Figure 13 The angle between the midline and the working line is α. The minimum width for a U-turn is d = R(1 + |cosα|) + W / 2, and the minimum width for a fishtail turn is d = R(sinα + |cosα|) + W / 2, where R is the minimum radius corresponding to the turning speed of the agricultural machinery, and W is the working width. The actual headland width d1 is calculated from the working width W and the row spacing D using the formula: d1 = W / 2 + D / 2 + n*D, where n = round[(dW / 2 - D / 2) / D], rounded up.

[0104] S702 : For the inner spiral operation area, plan an operation path for the inner spiral operation area based on the node coordinates, the operation width, the operation row spacing, and the preset first turning form of the agricultural machinery.

[0105] It should be noted that when planning the operation path in the inner spiral area, Figure 9 As shown in the figure, the straight lines in the inner spiral area are parallel to the farmland boundary and circle inward in the order of ABCD. Figure 10 As shown in , in the inner spiral area, except for the straight line close to the boundary, the distance between the straight line and the boundary is half the working width W / 2, and the distance between the remaining planned straight lines and the previous reference parallel straight line is the input working row spacing D. Figure 11 As shown, the first turning form at the turning point is straight forward-arc reverse-arc forward form, the radius is the minimum turning radius, the two arcs are tangent, and are tangent to the current straight line and the next planned straight line respectively, which can ensure that no area is missed when turning.

[0106] S703: For the reciprocating operation area, determine a second turning form of the agricultural machinery based on a preset turning speed and working row spacing of the agricultural machinery; wherein the second turning form includes a U-turn and a fishtail turn.

[0107] It should be noted that, since the minimum turning radius R of agricultural machinery at different turning speeds is different, in order to ensure that the agricultural machinery does not miss any area when turning in parallel straight lines, it is necessary to determine the turning form of the agricultural machinery in parallel straight line operations according to the minimum radius R corresponding to the turning speed of the agricultural machinery and the working row spacing. Among them, the turning forms include U-shaped turns and fishtail turns, and the operating coverage areas of the two turning forms are different. U-shaped turns are as follows: Figure 12 As shown, the fishtail turn Figure 13 shown.

[0108] Optionally, in another embodiment of the present application, an implementation of step S703 may include:

[0109] Based on the preset formula, the minimum turning radius corresponding to the turning speed is calculated.

[0110] If the minimum turning radius is not greater than the working row spacing, the second turning form is a U-turn.

[0111] If the minimum turning radius is less than the working row spacing, the second turning form is a fishtail turn.

[0112] It should be noted that the minimum turning radius R of the agricultural machinery at different speeds is measured, and a polynomial fit is used to express the relationship between speed and minimum turning radius. For example, based on the minimum turning radius R measured at different speeds v, a set of data for the independent variable v and the dependent variable R is obtained, and a polynomial fit of R = f(v) can be obtained. Then, based on this preset formula, i.e., the relationship between speed and minimum turning radius, the minimum turning radius corresponding to the turning speed can be calculated. If the minimum turning radius is not greater than the working row spacing, the second turn form is determined to be a U-turn; if the minimum turning radius is less than the working row spacing, the second turn form is determined to be a fishtail turn.

[0113] S704: Plan an operation path for the reciprocating operation area based on the node coordinates, the operation row spacing, and the second turning form.

[0114] It should be noted that if Figure 9 As shown in , the straight lines in the reciprocating area are all parallel to the inner boundary A1B1. Figure 10 As shown, the distance between the initial straight line of the reciprocating area and the inner boundary A1B1 is D / 2, and the remaining distances are all D. The reciprocating method generates the next straight line and stops when the distance between the farthest boundary point C1 (or D1) and the current straight line is less than D / 2. When the second turn is a U-turn, the operating path planned in the reciprocating area is as follows Figure 14 When the second turn is a fishtail turn, the operation path of its reciprocating area planning is as follows. Figure 15 shown.

[0115] Optionally, in another embodiment of the present application, an implementation of the above step S704 may include:

[0116] Based on the node coordinates and the spacing between work rows, a straight line parallel to the target inner boundary line is planned to form a straight work path; wherein the target inner boundary is a preset inner boundary line.

[0117] Based on the second turning form, a turning path is planned.

[0118] Combining the straight working path and the turning path, the working path of the reciprocating working area is obtained.

[0119] It should be noted that the coordinates of the inner boundary A1B1C1D1 are derived from the node coordinates of each boundary node ABCD of the field to be operated. Then, using A1B1 as the target inner boundary line, an initial straight line is drawn within the reciprocating area, parallel to A1B1, with a spacing of D / 2. Next, based on this initial line, the next parallel line is generated in a reciprocating manner, with a spacing of D, until the current line intersects the farthest boundary point C1, thus forming a straight working path. When the agricultural machinery reaches the intersection of the parallel line and the inner boundary line, it must turn to continue working. At each turn, a turning path is generated based on the secondary turning form (U-turn or fishtail turn) according to the operating direction of the agricultural machinery. Finally, the straight working path and the turning path are combined to obtain the complete working path for the reciprocating working area.

[0120] S705 , combining the operation path of the inner spiral operation area and the operation path of the reciprocating operation area to generate a full-coverage operation path for the farmland to be operated.

[0121] It should be noted that after planning the operation path of the inner spiral operation area and the operation path of the reciprocating operation area, the operation path of the full coverage of the farmland to be operated can be generated by combining the operation path of the inner spiral operation area and the operation path of the reciprocating operation area. Figure 14 and Figure 15 , where the starting point is SP and the end point is EP.

[0122] S105: Combining the moving path and the full coverage operation path to obtain a final farmland operation path.

[0123] It should be noted that the final farmland operation path is formed by combining the movement path from the machine's position to the operation starting position with the full coverage operation path for the farmland to be operated. After the operation on the current farmland to be operated is completed, if there are other farmlands that need to be operated, the farmland operation path can be regenerated according to the above steps until the operation path planning for all farmlands to be operated is completed.

[0124] In a method for planning a farmland operation path provided in an embodiment of the present application, the node coordinates of each boundary node of the farmland to be operated are first determined based on a pre-constructed farmland node map. Then the operation width of the agricultural machinery is obtained, and the operation starting position of the farmland to be operated is determined based on the node coordinates and the operation width. Then the coordinates of the agricultural machinery position are obtained, and the moving path from the agricultural machinery position to the operation starting position is planned. Then, based on the node coordinates, the operation width, and the operation row spacing of the agricultural machinery, the full coverage operation path of the farmland to be operated is planned. Finally, the moving path and the full coverage operation path are combined to obtain the final farmland operation path. It can be seen that using the method of the present application, the moving path from the agricultural machinery position to the operation starting position and the full coverage operation path of the farmland to be operated can be planned, thereby realizing the automatic operation path of an agricultural machinery in one or more aggregated farmlands, and ensuring that no area is missed. The problem of unsatisfactory automatic operation effect of agricultural machinery in the prior art is solved.

[0125] Another embodiment of the present application also provides a device for planning a farmland operation path, such as Figure 16 As shown, specifically including:

[0126] The first determining unit 1601 is configured to determine the node coordinates of each boundary node of the farmland to be operated based on a pre-constructed farmland node map; wherein the farmland node map is configured to record the shape and node coordinates of each farmland within the target area.

[0127] The second determining unit 1602 is configured to obtain the operating width of the agricultural machine and determine the operating start position of the farmland to be operated based on the node coordinates and the operating width.

[0128] The first planning unit 1603 is used to obtain the coordinates of the agricultural machine position and plan a movement path from the agricultural machine position to the operation starting position.

[0129] The second planning unit 1604 is used to plan a full-coverage operation path for the farmland to be operated based on the node coordinates, the operation width, and the operation row spacing of the agricultural machinery.

[0130] The combining unit 1605 is used to combine the moving path and the full coverage operation path to obtain a final farmland operation path.

[0131] In this embodiment, the specific execution process of the first determining unit 1601, the second determining unit 1602, the first planning unit 1603, the second planning unit 1604 and the combining unit 1605 can be found in the corresponding Figure 1 The content of the method embodiment will not be repeated here.

[0132] In a farmland operation path planning device provided by an embodiment of the present application, first, a first determination unit 1601 determines the node coordinates of each boundary node of the farmland to be operated based on a pre-constructed farmland node map. Then, a second determination unit 1602 obtains the operation width of the agricultural machinery and determines the operation starting position of the farmland to be operated based on the node coordinates and the operation width. The first planning unit 1603 then obtains the coordinates of the agricultural machinery position and plans a movement path from the agricultural machinery position to the operation starting position. Then, the second planning unit 1604 plans a full coverage operation path for the farmland to be operated based on the node coordinates, the operation width, and the operation row spacing. Finally, the combining unit 1605 combines the movement path and the full coverage operation path to obtain the final farmland operation path. It can be seen that using the method of the present application, it is possible to plan the movement path from the agricultural machinery position to the operation starting position, as well as the full coverage operation path for the farmland to be operated, thereby realizing the automatic operation path of an agricultural machinery within one or more aggregated farmlands and ensuring that no areas are missed. This solves the problem of unsatisfactory automatic operation effects of agricultural machinery in the prior art.

[0133] Optionally, in another embodiment of the present application, an implementation of the second determining unit 1602 includes:

[0134] The marking sub-unit is used to make a straight line perpendicular to the first target boundary line in the farmland to be operated and with a distance from the first target boundary line being 1 / 2 of the operation width; wherein the first target boundary line is a pre-set boundary line in the farmland to be operated.

[0135] The first determination subunit is used to determine whether the angle between the first target boundary line and the second target boundary line is an obtuse angle; wherein the second target boundary line is one of the boundary lines in the farmland to be operated that intersects with the first target boundary line.

[0136] The second determining subunit is used to use the foot point of the perpendicular from the intersection of the first target boundary line and the second target boundary line to the straight line as the operation starting position if it is determined that the angle between the first target boundary line and the second target boundary line is not an obtuse angle.

[0137] The third determining subunit is configured to use an intersection of the straight line and the second target boundary line as an operation starting position if it is determined that the angle between the first target boundary line and the second target boundary line is an obtuse angle.

[0138] In this embodiment, the specific execution process of the marking subunit, the first determining subunit, the second determining subunit and the third determining subunit can be found in the corresponding Figure 3 The content of the method embodiment will not be repeated here.

[0139] Optionally, in another embodiment of the present application, an implementation of the first planning unit 1603 includes:

[0140] The first planning subunit is used to add the agricultural machinery position to the node map if the agricultural machinery position is on the boundary line of a certain farmland, and use the shortest path algorithm to plan the shortest path from the agricultural machinery position to the operation starting position as the movement path.

[0141] The fourth determination subunit is used to determine the nearest point of each boundary line from the agricultural machinery to the non-operated farmland if the agricultural machinery is located in the non-operated farmland, and add the agricultural machinery location and each nearest point to the node map; wherein, the non-operated farmland is a farmland other than the farmland to be operated in the farmland node map.

[0142] The second planning subunit is used to take each nearest point as a waypoint and use the shortest path algorithm to plan the shortest path from the agricultural machinery position to the operation starting position as the movement path.

[0143] In this embodiment, the specific execution process of the first planning subunit, the fourth determining subunit, and the second planning subunit can be found in the corresponding method embodiments described above and will not be repeated here.

[0144] Another embodiment of the application further provides an electronic device, such as Figure 17 As shown, specifically including:

[0145] One or more processors 1701.

[0146] The storage device 1702 stores one or more programs.

[0147] When one or more programs are executed by one or more processors 1701 , the one or more processors 1701 implement any one of the methods in the above embodiments.

[0148] Another embodiment of the present application further provides a computer storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, any one of the methods in the above embodiments is implemented.

[0149] Each embodiment in this specification is described in a progressive manner. The same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple. For relevant parts, refer to the partial description of the method embodiment. The system and system embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without expending creative work.

[0150] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0151] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for planning a farmland operation path, characterized in that: include: Determine the node coordinates of each boundary node of the farmland to be operated based on a pre-constructed farmland node map; wherein the farmland node map is used to record the shape and node coordinates of each farmland within the target area; Acquire the operation width of the agricultural machine, and determine the operation starting position of the farmland to be operated based on the node coordinates and the operation width; Obtaining the coordinates of the agricultural machine position and planning a movement path from the agricultural machine position to the operation starting position; Planning a full-coverage operation path for the farmland to be operated based on the node coordinates, the operation width, and the operation row spacing of the agricultural machinery; The moving path and the full coverage operation path are combined to obtain the final farmland operation path.

2. The method according to claim 1, characterized in that The obtaining of the operation width of the farmland to be operated and determining the operation starting position of the target farmland based on the node coordinates and the operation width includes: In the farmland to be operated, a straight line is drawn perpendicular to a first target boundary line and at a distance from the first target boundary line by 1 / 2 of the operation width; wherein the first target boundary line is a pre-set boundary line in the farmland to be operated; Determining whether the angle between the first target boundary line and the second target boundary line is an obtuse angle; wherein the second target boundary line is one of the boundary lines in the farmland to be operated that intersects with the first target boundary line; If it is determined that the angle between the first target boundary line and the second target boundary line is not an obtuse angle, taking the intersection of the first target boundary line and the second target boundary line and the foot point of the straight line as the operation starting position; If it is determined that the angle between the first target boundary line and the second target boundary line is an obtuse angle, the intersection of the straight line and the second target boundary line is used as the operation starting position.

3. The method according to claim 1, characterized in that The obtaining of the position coordinates of the agricultural machine and planning a moving path from the position coordinates of the agricultural machine to the operation starting position includes: If the agricultural machine is located on a boundary line of a certain farmland, the agricultural machine location is added to the node map, and a shortest path algorithm is used to plan the shortest path from the agricultural machine location to the operation starting position as the movement path; If the agricultural machine is located in a non-operated farmland, the nearest point between the agricultural machine and each boundary line of the non-operated farmland is determined, and the agricultural machine position and each of the nearest points are added to the node map; wherein the non-operated farmland is a farmland in the farmland node map other than the farmland to be operated; Each of the nearest points is used as a waypoint, and the shortest path algorithm is used to plan the shortest path from the agricultural machine position to the operation starting position as the movement path.

4. The method according to claim 1, wherein The planning of a full-coverage operation path for the farmland to be operated based on the node coordinates, the operation width, and the operation row spacing includes: The farmland to be operated is divided into an inner spiral operation area and a reciprocating operation area; wherein the inner spiral operation area is the area between the boundary line of the farmland to be operated and the inner dividing line; the reciprocating operation area is the area within the inner dividing line; the inner dividing line is obtained by translating the boundary line by a preset distance; For the inner spiral operation area, planning an operation path of the inner spiral operation area based on the node coordinates, the operation width, the operation row spacing, and a preset first turning form of the agricultural machine; For the reciprocating working area, determining a second turning form of the agricultural machine based on a preset turning speed and working row spacing of the agricultural machine; wherein the second turning form includes a U-turn and a fishtail turn; Planning an operation path of the reciprocating operation area based on the node coordinates, the operation row spacing, and the second turning form; The operation path of the inner spiral operation area and the operation path of the reciprocating operation area are combined to generate a full coverage operation path of the farmland to be operated.

5. The method according to claim 4, characterized in that The determining of the second turning form of the agricultural machine based on a preset turning speed and working row spacing of the agricultural machine includes: Calculating the minimum turning radius corresponding to the turning speed based on a preset formula; If the minimum turning radius is not greater than the working row spacing, the second turning form is a U-turn; If the minimum turning radius is smaller than the working row spacing, the second turning form is a fishtail turn.

6. The method according to claim 4, characterized in that The planning of the working path of the reciprocating working area based on the node coordinates, the working row spacing and the second turning form includes: Based on the node coordinates and the working row spacing, a straight line parallel to the target inner boundary line is planned to form a straight working path; wherein the target inner boundary is a preset inner boundary line; planning a turning path based on the second turning form; The straight working path and the turning path are combined to obtain the working path of the reciprocating working area.

7. A device for planning farmland operation paths, characterized in that: include: A first determining unit is configured to determine the node coordinates of each boundary node of the farmland to be operated based on a pre-constructed farmland node map; wherein the farmland node map is configured to record the shape and node coordinates of each farmland within the target area; a second determining unit, configured to obtain an operating width of the agricultural machine, and determine an operating starting position of the farmland to be operated based on the node coordinates and the operating width; a first planning unit, configured to obtain the coordinates of the position of the agricultural machine and plan a movement path from the position of the agricultural machine to the operation starting position; A second planning unit is configured to plan a full-coverage operation path for the farmland to be operated based on the node coordinates, the operation width, and the operation row spacing of the agricultural machinery; A combining unit is used to combine the moving path and the full coverage operation path to obtain a final farmland operation path.

8. The device according to claim 7, characterized in that The second determining unit includes: a marking sub-unit, configured to draw a straight line perpendicular to a first target boundary line in the farmland to be operated and spaced from the first target boundary line by 1 / 2 of the operation width; wherein the first target boundary line is a pre-set boundary line in the farmland to be operated; a first determining subunit, configured to determine whether an angle between the first target boundary line and a second target boundary line is an obtuse angle; wherein the second target boundary line is one of the boundary lines in the farmland to be operated that intersects with the first target boundary line; a second determining subunit, configured to use, if it is determined that the angle between the first target boundary line and the second target boundary line is not an obtuse angle, a perpendicular point between the intersection of the first target boundary line and the second target boundary line and the straight line as the operation starting position; The third determining subunit is configured to use an intersection of the straight line and the second target boundary line as the operation starting position if it is determined that the angle between the first target boundary line and the second target boundary line is an obtuse angle.

9. An electronic device, characterized in that: include: one or more processors; a storage device having one or more programs stored thereon; When the one or more programs are executed by the one or more processors, the one or more processors are enabled to implement the method according to any one of claims 1 to 6.

10. A computer storage medium, characterized in that A computer program is stored thereon, wherein when the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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