Method and device for generating agricultural machine guide line

Abstract

The invention provides an agricultural machine guide line generation method and device, and the method comprises the steps: determining a reference safety distance of an agricultural machine according to the minimum turning radius and a target offset distance of the agricultural machine; the reference safety distance represents the distance between the projection position of the current position of the agricultural machine on the target operation path and the target online position of the target operation path; according to the reference safety distance of the agricultural machine, continuously updating the target online position of the target operation path, and determining the online reference time of the agricultural machine; the on-line reference time is determined according to the initial speed and the initial position of the agricultural machine and the target on-line position of the target operation path; generating a target guide line of the agricultural machine according to the on-line reference time of the agricultural machine and a pre-constructed guide line trajectory generation equation; the acceleration, the impact degree and the curvature value of the target guide line in the running process of the agricultural machine all meet constraint conditions. The agricultural machine can stably, accurately and efficiently cut into the operation path, so that the operation efficiency and the operation quality of the agricultural machine are improved.

Description

Technical Field

[0001] The present application relates to the field of agricultural technology, and in particular to a method and device for generating agricultural machinery guide lines. Background Art

[0002] With the continuous development of intelligent agricultural technology, smart agriculture has become a focus of attention. Smart agriculture can effectively address the current problems and shortcomings in agricultural development, improve regional economic levels, and promote sustainable agricultural development. By rationally planning routes within the operating area, smart agricultural machinery can be ensured to follow the optimal route, avoiding duplicate operations or missed areas, reducing wasted work, and improving production efficiency.

[0003] Typically, the automated steering system of a smart agricultural machine controls the front wheel angle to gradually approach the planned work path and scientifically operate along it. The guideline design of smart agricultural machinery ensures that the machine can stably reach the tracked work path in the shortest possible time, while ensuring high energy efficiency, thus achieving efficient operation. However, existing technologies for generating guidelines for smart agricultural machinery often fail to meet user requirements due to the numerous factors that affect the machine's path of entry. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a method and device for generating agricultural machinery guide lines, which can ensure that agricultural machinery smoothly, accurately and efficiently cuts into the operation path, thereby improving the operation efficiency and quality of agricultural machinery.

[0005] In a first aspect, an embodiment of the present application provides a method for generating an agricultural machinery guide line, the method comprising:

[0006] Determining a reference safety distance for the agricultural machine based on the minimum turning radius of the agricultural machine and the target offset distance; wherein the reference safety distance represents the distance between the projection position of the current position of the agricultural machine on the target operating path and the target upper line position of the target operating path;

[0007] Continuously updating the target on-line position of the target operating path based on the reference safety distance of the agricultural machine, and determining a reference on-line time for the agricultural machine; wherein the reference on-line time is determined based on the initial speed and initial position of the agricultural machine and the target on-line position of the target operating path;

[0008] A target guide line for the agricultural machinery is generated based on the online reference time of the agricultural machinery and a pre-constructed guide line trajectory generation equation; wherein the acceleration, impact degree and curvature value of the target guide line during the driving process of the agricultural machinery all meet the constraint conditions.

[0009] In an optional embodiment, the method further includes:

[0010] Determining a target offset distance between the current position of the agricultural machine and the target working path, and a target offset angle between the orientation of the agricultural machine and the orientation of the target working path, based on the current position of the agricultural machine within the working area and the starting and ending positions of the target working path; wherein the target working path refers to a path that is shortest to the current position of the agricultural machine within the working area;

[0011] If the target offset distance is within a set distance range and the target offset angle is less than a set angle threshold, it is determined that a guide line needs to be generated.

[0012] In an optional embodiment, the target offset distance is calculated using the following formula:

[0013]

[0014] Wherein, e represents the target offset distance, AB x Represents the x-axis vector from the starting position to the end position of the target operation path, AB y The y-axis vector representing the starting position to the end position of the target operation path, AP x Represents the x-axis vector from the starting point of the target operation path to the current position of the agricultural machine, AP y It represents the y-axis vector from the starting point of the target operation path to the current position of the agricultural machine, and lenAB represents the distance between the starting point and the end point of the target operation path.

[0015] In an optional embodiment, the reference safety distance of the agricultural machinery is calculated by the following formula:

[0016]

[0017] Wherein, initL represents the reference safety distance of the agricultural machinery, r represents the minimum turning radius of the agricultural machinery, e represents the target offset distance, and const is a constant.

[0018] In an optional embodiment, the online reference time of the agricultural machinery is calculated by the following formula:

[0019]

[0020] Where T represents the on-line reference time of the agricultural machinery, initV represents the initial speed of the agricultural machinery, ceil() represents the upward rounding function, ΔT represents the time estimation offset, dist represents the distance between the initial position of the agricultural machinery and the target on-line position of the target operation path, spx represents the x-coordinate of the initial position of the agricultural machinery, spy represents the y-coordinate of the initial position of the agricultural machinery, gpx represents the x-coordinate of the target on-line position of the target operation path, and gpy represents the y-coordinate of the target on-line position of the target operation path.

[0021] In an optional embodiment, generating a target guide line for the agricultural machine based on the online reference time of the agricultural machine and a pre-constructed guide line trajectory generation equation includes:

[0022] Looping through the online reference time of the agricultural machinery with a first time step, calculating the target coefficient of the guide line trajectory generation equation for each first time step, and determining the guide line trajectory;

[0023] For each guideline trajectory determined by the first time step, traverse the target trajectory points on the guideline trajectory in a loop with a second time step, and calculate the acceleration and impact corresponding to the target trajectory point and the maximum curvature value of the guideline trajectory determined by the first time step;

[0024] Determining whether each guide line trajectory determined by the first time step satisfies the following constraints: the impact degree is less than the impact degree threshold, the acceleration is less than the acceleration threshold, and the maximum curvature value of the guide line trajectory is less than the curvature threshold;

[0025] If the constraint conditions are not met, adjust the second time step and recalculate the acceleration, impact degree and curvature value of the guide line trajectory until the generated guide line trajectory meets the constraint conditions;

[0026] Among all the guide line trajectories that meet the constraint conditions, the guide line trajectory with the smallest reference safety distance and the smallest online reference time is selected as the target guide line.

[0027] In an optional embodiment, the guide line trajectory generation equation includes:

[0028]

[0029] Among them, x(t) and y(t) represent the guide line trajectory generation equations of the target guide line of the agricultural machinery with respect to the reference online time, a0, a1, a2, a3, a4, a5, b0, b1, b2, b3, b4, b5 are the target coefficients of the guide line trajectory generation equations respectively;

[0030] Among them, the coefficient matrix

[0031] A = xState / T;

[0032] B = yState / T;

[0033]

[0034] initPosx, initVx, initAx, goalPosx, goalVx, and goalAx respectively represent the projections of the initial position initPos, initial velocity initV, initial acceleration initA, target position goalPos, target velocity goalV, and target acceleration goalA on the x-axis; initPosy, initVy, initAy, goalPosy, goalVy, and goalAy respectively represent the projections of the initial position initPos, initial velocity initV, initial acceleration initA, target position goalPos, target velocity goalV, and target acceleration goalA on the y-axis; the values of target velocity goalV and target acceleration goalA are 0.

[0035] In an optional embodiment, the curvature value of the guide line trajectory is calculated by the following formula:

[0036] deno minator=2×(p1x·(p2y-p3y)+p2x·(p3y-p1y)+p3x·(p1y-p2y));

[0037] xCenter=((p1x·p1x+p1y·p1y)·(p2y-p3y)+(p2x·p2x+p2y·p2y)·(p3y-p1y)+(p3x·p3x+p3y·p3y)·(p1y-p2y)) / (deno minator+1e-16);

[0038] yCenter=((p1x·p1x+p1y·p1y)·(p3x-p2x)+(p2x·p2x+p2y·p2y)·(p1x-p3x)+(p3x·p3x+p3y·p3y)·(p2x-p1x)) / (deno minator+1e-16);

[0039]

[0040] curvature = 1 / r;

[0041] Among them, denominator represents the denominator intermediate quantity used to calculate the center of the circle, xCenter represents the x coordinate of the center of the circle, yCenter represents the y coordinate of the center of the circle, r represents the radius of the circle, curvature represents the curvature value of the target guide line, p1x, p2x, and p3x respectively represent the x coordinates of three adjacent points, and p1y, p2y, and p3y respectively represent the y coordinates of three adjacent points.

[0042] In an optional embodiment, the initial speed of the agricultural machine is determined by the following steps:

[0043] Determining a target online mode according to the type of agricultural machinery and the topographical features of the operation area, wherein the target online mode is one of an overly aggressive online mode, an aggressive online mode, a moderate online mode, a conservative online mode, and an overly conservative online mode;

[0044] According to the target online mode, the initial speed of the agricultural machinery is determined; wherein, the initial speed of the agricultural machinery corresponding to the overly aggressive online mode, the initial speed of the agricultural machinery corresponding to the aggressive online mode, the initial speed of the agricultural machinery corresponding to the moderate online mode, the initial speed of the agricultural machinery corresponding to the conservative online mode, and the initial speed of the agricultural machinery corresponding to the overly conservative online mode decrease in sequence.

[0045] In a second aspect, an embodiment of the present application further provides a device for generating an agricultural machinery guide line, the device comprising:

[0046] a distance determination module, configured to determine a reference safety distance of the agricultural machine based on the minimum turning radius of the agricultural machine and the target offset distance; wherein the reference safety distance represents the distance between the projection position of the current position of the agricultural machine on the target operating path and the target upper line position of the target operating path;

[0047] a time determination module, configured to adjust the reference safety distance of the agricultural machine to continuously update the target upper line position of the target operating path, and determine a reference upper line time for the agricultural machine; wherein the reference upper line time is determined based on the initial speed and initial position of the agricultural machine and the target upper line position of the target operating path;

[0048] The guide line generation module is used to generate a target guide line for the agricultural machinery based on the online reference time of the agricultural machinery and a pre-built guide line trajectory generation equation; wherein the acceleration and impact degree of the agricultural machinery during driving and the maximum curvature value of the target guide line all meet the constraint conditions.

[0049] In a third aspect, an embodiment of the present application further provides an electronic device comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the memory communicate through the bus, and when the machine-readable instructions are executed by the processor, the steps of the method for generating agricultural machinery guide lines as described above are performed.

[0050] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method for generating agricultural machinery guide lines as described above are executed.

[0051] An embodiment of the present application provides a method and device for generating a guide line for agricultural machinery, the method comprising: determining a reference safety distance of the agricultural machinery based on a minimum turning radius of the agricultural machinery and a target offset distance; the reference safety distance characterizing the distance between a projection position of the current position of the agricultural machinery on a target operating path and a target upper line position of the target operating path; continuously updating the target upper line position of the target operating path based on the reference safety distance of the agricultural machinery, and determining an upper line reference time for the agricultural machinery; the upper line reference time is determined based on an initial speed, an initial position and a target upper line position of the target operating path of the agricultural machinery; generating a target guide line for the agricultural machinery based on the upper line reference time of the agricultural machinery and a pre-constructed guide line trajectory generation equation; wherein the acceleration, impact degree and curvature value of the target guide line during the driving process of the agricultural machinery all satisfy constraint conditions. This application determines the reference safety distance by comprehensively considering factors such as the minimum turning radius of agricultural machinery and the target offset distance, and then determines the reference time for the agricultural machinery to go online. Based on this reference time, a target guide line that meets the acceleration, impact degree and curvature constraints is generated. Under the premise of ensuring the safety of agricultural machinery driving, the agricultural machinery can be smoothly, accurately and efficiently cut into the target operation path, which can avoid strong impacts during the driving process of agricultural machinery and effectively improve the operation efficiency and quality of agricultural machinery. At the same time, the driving trajectory is reasonably planned to reduce the energy loss during the driving process of agricultural machinery, which helps to improve the operation efficiency and overall performance of agricultural machinery.

[0052] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0054] Figure 1 A flowchart of a method for generating an agricultural machinery guide line provided in an embodiment of the present application;

[0055] Figure 2 A schematic diagram of an agricultural machinery operation path in an embodiment of the present application;

[0056] Figure 3 A curvature diagram of the path points of the agricultural machinery guide line in the embodiment of the present application;

[0057] Figure 4 A speed diagram of the agricultural machinery guide line path points in the embodiment of the present application;

[0058] Figure 5This is an acceleration diagram of the path points of the agricultural machinery guide line in the embodiment of this application;

[0059] Figure 6 This is an impact degree diagram of the agricultural machinery guide line path points in the embodiment of this application;

[0060] Figure 7 This is a diagram of the upper line mode corresponding to the agricultural machinery guide line in the embodiment of this application;

[0061] Figure 8 A schematic structural diagram of a device for generating an agricultural machinery guide line according to an embodiment of the present application;

[0062] Figure 9 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0063] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application for which protection is claimed, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work falls within the scope of protection of the present application.

[0064] Research has found that with the continuous development of intelligent agricultural technology, smart agriculture has become a focus of attention. Smart agriculture can effectively address the current problems and shortcomings in agricultural development, improve regional economic development, and promote sustainable agricultural development. By rationally planning the path within the operating area, smart agricultural machinery can ensure that it follows the optimal route, avoiding duplicate operations or missed areas, reducing wasted work, and improving production efficiency. The automatic steering system of smart agricultural machinery controls the front wheel angle to gradually approach the operating path and operate scientifically along the planned operating path. The guideline design of smart agricultural machinery ensures that the machinery can stably reach the tracking path in the shortest possible time while ensuring high energy utilization, achieving efficient operation. However, existing technologies for generating guidelines for smart agricultural machinery often fail to meet user needs due to the numerous factors that affect the smart agricultural machinery's path entry.

[0065] Based on this, an embodiment of the present application provides a method for generating agricultural machinery guide lines, which can ensure that agricultural machinery smoothly, accurately and efficiently cuts into the operation path, thereby improving the operation efficiency and quality of agricultural machinery.

[0066] See also Figure 1 , Figure 1 This is a flow chart of a method for generating an agricultural machinery guide line provided in an embodiment of the present application. Figure 1 As shown in , the method provided in the embodiment of the present application includes:

[0067] S101, determining a reference safety distance of the agricultural machinery based on a minimum turning radius of the agricultural machinery and a target offset distance; wherein the reference safety distance represents the distance between a projection position of the current position of the agricultural machinery on the target operating path and a target upper line position of the target operating path.

[0068] S102, based on the reference safety distance of the agricultural machinery, continuously update the target online position of the target operation path, and determine the online reference time of the agricultural machinery; wherein the online reference time is determined based on the initial speed and initial position of the agricultural machinery and the target online position of the target operation path.

[0069] S103: Generate a target guide line for the agricultural machine based on the online reference time of the agricultural machine and a pre-established guide line trajectory generation equation; wherein the acceleration, impact degree, and curvature value of the target guide line during the driving process of the agricultural machine all meet the constraint conditions.

[0070] The above steps S101 to S103 determine the reference safety distance by comprehensively considering factors such as the minimum turning radius of the agricultural machinery and the target offset distance, and then determine the online reference time of the agricultural machinery. Based on this online reference time, a target guide line that meets the acceleration, impact degree and curvature constraints can be generated. Under the premise of ensuring the safety of agricultural machinery driving, the agricultural machinery can be smoothly and efficiently cut into the target operation path, which can avoid strong impacts during the driving process of the agricultural machinery and effectively improve the operation efficiency and quality of the agricultural machinery. At the same time, the driving trajectory can be reasonably planned to reduce the energy loss during the driving process of the agricultural machinery, which helps to improve the operation efficiency and overall performance of the agricultural machinery.

[0071] The following is an exemplary description of steps S101 to S103:

[0072] In step S101, the reference safety distance of the agricultural machinery is determined based on the minimum turning radius of the agricultural machinery and the target offset distance; wherein the reference safety distance represents the distance between the projection position of the current position of the agricultural machinery on the target working path and the target upper line position of the target working path.

[0073] Here, the minimum turning radius of agricultural machinery refers to the minimum radius of the trajectory circle formed by the center line of the outer wheel of the agricultural machinery on the ground during the steering process. The target offset distance is used to characterize the degree to which the current position of the agricultural machinery deviates from the target operating path, specifically the minimum distance between the position of the agricultural machinery and the target operating path. The reference safety distance characterizes the distance between the projection position of the current position of the agricultural machinery on the target operating path and the target upper line position of the target operating path. Here, the reference safety distance is a distance parameter determined to ensure that the agricultural machinery can safely and smoothly cut into the target operating path. It clarifies the reasonable interval between the projection position of the current position of the agricultural machinery on the target operating path and the target upper line position.

[0074] Different types of agricultural machinery have different minimum turning radii. When different types of agricultural machinery deviate to varying degrees during operation, a reference safety distance needs to be determined based on their respective minimum turning radii.

[0075] In an optional embodiment, based on the current position of the agricultural machinery in the working area and the starting position and end position of the target working path, the target offset distance between the current position of the agricultural machinery and the target working path and the target offset angle between the direction of the agricultural machinery and the direction of the target working path are determined; wherein, the target working path refers to the path with the shortest distance to the current position of the agricultural machinery in the working area; if the target offset distance is within the set distance range and the target offset angle is less than the set angle threshold, it is determined that a guide line needs to be generated.

[0076] Among them, the current position of the agricultural machinery in the working area refers to the specific coordinate position of the agricultural machinery in the working area at the current moment. The target working path refers to the path with the shortest distance to the current position of the agricultural machinery in the working area. It can be a path pre-planned according to the working requirements. For example, in a piece of farmland, a straight line, curve or other shaped path is set according to the working tasks such as sowing and harvesting. The target offset angle is used to measure the degree of difference between the direction of the agricultural machinery and the direction of the target working path. The set distance range and the set angle threshold are pre-set judgment criteria based on actual working experience and agricultural machinery performance. When the target offset distance and the target offset angle meet the corresponding conditions at the same time, it means that the agricultural machinery needs a guide line to adjust the driving path to accurately cut into the target working path for operation.

[0077] For example, the set distance range and angle threshold may vary for different types of agricultural machinery and operating scenarios. For example, when a tractor with mounted implements performs precision seeding operations, which require higher path accuracy, the set distance range may be reduced to 0-2 meters, and the set angle threshold may be set to 10 degrees. However, for some harvester operating scenarios with relatively low path accuracy requirements, the set distance range may be relaxed to 0-8 meters, and the set angle threshold may be set to 20 degrees. Only by flexibly setting the judgment criteria according to actual conditions can we more accurately determine whether to generate guide lines and ensure the accuracy and efficiency of agricultural machinery operations.

[0078] Here, the target offset distance is calculated using the following formula:

[0079]

[0080] Among them, e represents the target offset distance, AB x Represents the x-axis vector from the starting position to the end position of the target operation path, AB y The y-axis vector representing the starting position to the end position of the target operation path, AP x Represents the x-axis vector from the starting point of the target operation path to the current position of the agricultural machine, AP y It represents the y-axis vector from the starting point of the target operation path to the current position of the agricultural machine, and lenAB represents the distance between the starting point and the end point of the target operation path.

[0081] It should be noted that in actual farmland operations, coordinate measurement errors may occur due to factors such as complex terrain. In this case, when calculating the target offset distance, the formula can be optimized, for example by introducing an error correction factor to adjust the results to improve accuracy. Alternatively, by taking an average of multiple measurements, the impact of random errors on the target offset distance calculation can be reduced, ensuring the accuracy of the generated guideline.

[0082] In an optional embodiment, by combining the minimum turning radius of the agricultural machinery and the target offset distance and introducing a constant value, a quantitative calculation of the reference safety distance can be achieved. For example, the reference safety distance of the agricultural machinery can be calculated using the following formula:

[0083]

[0084] Wherein, initL represents the reference safety distance of the agricultural machinery, r represents the minimum turning radius of the agricultural machinery, e represents the target offset distance, and const is a constant.

[0085] For example, when the minimum turning radius of an agricultural machine is 5 meters, the target offset distance is 2 meters, and the constant is 1.5, substituting it into the formula yields initL = 6.5 meters, which means that the reference safety distance of the agricultural machine is determined to be 6.5 meters.

[0086] Optionally, the constant value const can be adjusted and optimized based on actual operational experience and agricultural machinery performance. For agricultural machinery operations requiring high steering precision, such as precision seeding, the constant value can be appropriately increased to increase the calculated reference safety distance, thereby reserving more steering space and ensuring that the agricultural machinery safely and accurately enters the target operating path. For operations requiring relatively low steering precision, such as rough field preparation, the constant value can be appropriately reduced to improve agricultural machinery operating efficiency while ensuring safety and reducing unnecessary path planning distance.

[0087] In step S102, the target online position of the target operation path is continuously updated according to the reference safety distance of the agricultural machinery, and the online reference time of the agricultural machinery is determined; wherein the online reference time is determined according to the initial speed, initial position and target online position of the target operation path of the agricultural machinery.

[0088] The target upper line position of the target operating path refers to the specific location where the agricultural machine will eventually enter the target operating path. By updating this position with reference to the safety distance, the agricultural machine can enter the target operating path at the appropriate time and location. The initial speed of the agricultural machine refers to the driving speed of the agricultural machine at the beginning of the guideline generation calculation. This initial speed can be flexibly set according to actual conditions. The initial position refers to the starting coordinate position of the agricultural machine within the operating area. The upper line reference time is the estimated time required for the agricultural machine to enter the target operating path, which is calculated by comprehensively considering the initial state of the agricultural machine and the target upper line position.

[0089] Among them, after the reference safety distance of the agricultural machinery is calculated, each time the reference safety distance changes, the target online position changes accordingly, and then, the online reference time can be recalculated according to the new online position.

[0090] For example, the online reference time of agricultural machinery can be calculated by the following formula:

[0091]

[0092] Where T represents the on-line reference time of the agricultural machinery, initV represents the initial speed of the agricultural machinery, ceil() represents the upward rounding function, ΔT represents the time estimation offset, dist represents the distance between the initial position of the agricultural machinery and the target on-line position of the target operation path, spx represents the x-coordinate of the initial position of the agricultural machinery, spy represents the y-coordinate of the initial position of the agricultural machinery, gpx represents the x-coordinate of the target on-line position of the target operation path, and gpy represents the y-coordinate of the target on-line position of the target operation path.

[0093] The above formula comprehensively considers multiple key parameters such as the initial speed, initial position and target on-line position of the agricultural machinery. Through precise calculation, the on-line reference time is obtained, which can provide an accurate time basis for the subsequent guide line trajectory generation, so that the agricultural machinery can travel according to a reasonable time plan.

[0094] The time estimation offset can be adjusted based on actual operating conditions. In complex operating environments, such as those with obstacles or complex, unpredictable terrain, the machine's movement may be disrupted, and the actual travel time may be longer than the theoretically calculated time. In these cases, the time estimation offset can be appropriately increased to allow for more time, ensuring the machine has sufficient time to safely follow the guide lines and enter the target operating path. In relatively simple operating environments, where the machine's movement is relatively smooth, the time estimation offset can be appropriately reduced to improve efficiency and reduce unnecessary waiting time.

[0095] In an optional embodiment, the initial speed of the agricultural machine may be determined by the following steps:

[0096] According to the type of agricultural machinery and the topographical features of the operation area, the target online mode is determined. The target online mode is one of the over-aggressive online mode, the aggressive online mode, the moderate online mode, the conservative online mode, and the over-conservative online mode. For example, the online mode is as follows: Figure 7 shown.

[0097] The initial speed of the agricultural machinery is determined according to the target online mode; among them, the initial speed of the agricultural machinery corresponding to the overly aggressive online mode, the initial speed of the agricultural machinery corresponding to the aggressive online mode, the initial speed of the agricultural machinery corresponding to the moderate online mode, the initial speed of the agricultural machinery corresponding to the conservative online mode, and the initial speed of the agricultural machinery corresponding to the overly conservative online mode decrease in sequence.

[0098] For example, if the agricultural machinery is a small seed drill and the operating area is a flat farmland, you can choose the moderate online mode and set the corresponding initial speed to 5 kilometers per hour; if the operating area is a mountainous area with complex terrain and many obstacles, you can choose the conservative online mode and set the initial speed to 3 kilometers per hour.

[0099] In step S103, a target guide line of the agricultural machinery is generated according to the online reference time of the agricultural machinery and a pre-constructed guide line trajectory generation equation; wherein the acceleration, impact degree and curvature value of the target guide line during the driving process of the agricultural machinery all meet the constraint conditions.

[0100] The pre-built guideline trajectory generation equation is based on a mathematical model that describes the relationship between the machine's trajectory and time. This equation can be used to calculate the machine's position within the work area at different points in time, thereby generating the guideline trajectory. The acceleration of the machine during operation reflects the speed of the machine's change, the impact degree measures the severity of the acceleration change, and the curvature value of the target guideline reflects the degree of curvature of the guideline. Constraints are pre-set based on factors such as the machine's performance, operator comfort, and operational safety. Only when the acceleration, impact degree, and curvature value of the target guideline during operation meet these constraints will the generated guideline meet the required target guideline.

[0101] Specifically, in actual operations, different types of agricultural machinery and operating scenarios may have different requirements for constraints. For some large agricultural transport machinery, due to their heavy weight, they are more sensitive to changes in acceleration and impact, and therefore require stricter acceleration and impact constraints to ensure stability during transportation and the safety of the cargo. For some small horticultural agricultural machinery, due to their relatively small operating areas and slow travel speeds, higher curvature requirements may be required to adapt to narrow and complex operating environments. Therefore, when generating target guide lines, it is possible to reasonably set constraints based on the specific agricultural machinery type and operating scenario to ensure that the generated guide lines meet actual operational needs.

[0102] Among them, step S103 specifically includes: looping through the online reference time of the agricultural machinery with a first time step, calculating the target coefficient of the guide line trajectory generation equation for each first time step, and determining the guide line trajectory; for each guide line trajectory determined by the first time step, looping through the target trajectory point on the guide line trajectory with a second time step, calculating the acceleration and impact degree corresponding to the target trajectory point and the maximum curvature value of the guide line trajectory determined by the first time step; judging whether each guide line trajectory determined by the first time step meets the following constraints: the impact degree is less than the impact degree threshold, the acceleration is less than the acceleration threshold, and the maximum curvature value of the guide line trajectory is less than the curvature threshold; if the constraints are not met, adjusting the second time step, recalculating the acceleration, impact degree and curvature value of the guide line trajectory until the generated guide line trajectory meets the constraints; among all guide line trajectories that meet the constraints, screening out the guide line trajectory with the smallest reference safety distance and the smallest online reference time as the target guide line.

[0103] Here, the maximum curvature value is calculated by comparing the curvature values calculated for each target trajectory point along the guideline trajectory determined by the first time step. The curvature value with the largest value is considered the maximum curvature value of the guideline trajectory. It can be said that the maximum curvature value is selected from a large number of curvature values, and each specific curvature value calculation is the basis for obtaining the maximum curvature value.

[0104] Specifically, for example, if the first time step is set to 0.5 seconds and the agricultural machinery's on-line reference time is 10 seconds, the algorithm will iterate from 0 to 10 seconds in 0.5-second intervals. Within each 0.5-second time step, the target coefficient is calculated based on the guideline trajectory generation equation and the agricultural machinery's initial state parameters, thereby determining a guideline trajectory. Next, the second time step is set to 0.1 seconds. For each determined guideline trajectory, the algorithm iterates through the target trajectory points at 0.1-second intervals, calculating the acceleration and impact corresponding to each target trajectory point, as well as the maximum curvature value of the guideline trajectory. For example, if the calculated maximum curvature value of a guideline trajectory is 0.12, which is greater than the pre-set curvature threshold of 0.1 and does not meet the constraint conditions, the second time step is adjusted to 0.05 seconds, and the acceleration, impact, and curvature values are recalculated until the constraint conditions are met. Finally, among all guideline trajectories that meet the constraint conditions, the one with the minimum reference safety distance and the minimum on-line reference time is selected as the target guideline.

[0105] The guide line trajectory generation equation includes:

[0106]

[0107] Among them, x(t) and y(t) represent the guide line trajectory generation equations of the target guide line of the agricultural machinery with respect to the reference online time, a0, a1, a2, a3, a4, a5, b0, b1, b2, b3, b4, b5 are the target coefficients of the guide line trajectory generation equations respectively;

[0108] Here, the first-order derivative of the guide line trajectory generation equation is obtained to obtain the state equation of the driving speed:

[0109]

[0110] Taking the second-order derivative of the guide line trajectory generation equation, we get the state equation of acceleration:

[0111]

[0112] Taking the third-order derivative of the guide line trajectory generation equation, we get the state equation of the impact degree:

[0113]

[0114] Assume that the initial time is t0 and the end time is t1, solve the state equations of position, driving speed, acceleration and impact degree, and construct the matrix form as follows:

[0115]

[0116]

[0117] Among them, the coefficient matrix

[0118] A = xState / T;

[0119] B = yState / T;

[0120]

[0121] and then,

[0122] initPosx, initVx, initAx, goalPosx, goalVx, and goalAx respectively represent the projections of the initial position initPos, initial velocity initV, initial acceleration initA, target position goalPos, target velocity goalV, and target acceleration goalA on the x-axis; initPosy, initVy, initAy, goalPosy, goalVy, and goalAy respectively represent the projections of the initial position initPos, initial velocity initV, initial acceleration initA, target position goalPos, target velocity goalV, and target acceleration goalA on the y-axis; the values of target velocity goalV and target acceleration goalA are 0.

[0123] Specifically, the curvature value of the guide line trajectory is calculated by the following formula:

[0124] deno minator=2×(p1x·(p2y-p3y)+p2x·(p3y-p1y)+p3x·(p1y-p2y));

[0125] xCenter=((p1x·p1x+p1y·p1y)·(p2y-p3y)+(p2x·p2x+p2y·p2y)·(p3y-p1y)+(p3x·p3x+p3y·p3y)·(p1y-p2y)) / (deno minator+1e-16);

[0126] yCenter=((p1x·p1x+p1y·p1y)·(p3x-p2x)+(p2x·p2x+p2y·p2y)·(p1x-p3x)+(p3x·p3x+p3y·p3y)·(p2x-p1x)) / (deno minator+1e-16);

[0127]

[0128] curvature = 1 / r;

[0129] Wherein, deno min ator represents the denominator intermediate quantity used to calculate the center of the circle, xCenter represents the x coordinate of the center of the circle, yCenter represents the y coordinate of the center of the circle, r represents the radius of the circle, curvature represents the curvature value of the target guide line, p1x, p2x, and p3x respectively represent the x coordinates of three adjacent points, and p1y, p2y, and p3y respectively represent the y coordinates of three adjacent points.

[0130] Then, by substituting the reference time for the on-line into the equation and combining it with parameters such as the machine's initial position, initial velocity, and initial acceleration, the target coefficient is calculated, thereby determining the guideline trajectory. The calculation also includes the acceleration and impact force of the machine during travel, as well as the curvature of the guideline trajectory.

[0131] For example, Figures 2 to 6 As shown in the figure, a large combine harvester is used to harvest a 100-mu rectangular farmland. First, the current coordinates of the harvester within the field, as well as the starting and ending coordinates of the target operating path, are obtained. The target offset distance e is calculated. Given the harvester's minimum turning radius r, a reference safety distance initL is calculated. The target upper limit position of the target operating path is updated based on the reference safety distance. Because the operating area is relatively flat and there are certain requirements for harvesting efficiency, a moderate upper limit mode is selected, with the harvester's initial speed set to 3 km / h. Based on the harvester's initial position, a reference upper limit time T is calculated. The upper limit time T is then iterated over at an appropriate time step. Based on a pre-constructed fifth-order polynomial-formed guideline trajectory generation equation, the target coefficients are calculated to determine the guideline trajectory. For each target trajectory point on the trajectory, the acceleration, jerkiness, and curvature values are calculated. During the calculation process, the time step is continuously adjusted to ensure that the jerkiness is less than the jerkiness threshold, the acceleration is less than the acceleration threshold, and the maximum curvature is less than the curvature constraint threshold. After traversal and screening, a target guide line with the minimum reference safety distance and the minimum reference time is finally obtained, so that the combine harvester can smoothly and efficiently cut into the target operation path along the guide line and complete the harvesting task. Here, the optimal agricultural machinery guide line path generated is as follows Figure 2As shown in the figure, the curvature value of the optimal agricultural machinery guidance line path point is as follows: Figure 3 As shown, the speed of the optimal agricultural machinery guidance line path point is as follows Figure 4 As shown in the figure, the acceleration of the optimal agricultural machinery guidance line path point is as follows: Figure 5 As shown in the figure, the impact degree of the optimal agricultural machinery guidance line path point is as follows Figure 6 shown.

[0132] This application determines the reference safety distance by comprehensively considering factors such as the minimum turning radius of agricultural machinery and the target offset distance, and then determines the reference time for the agricultural machinery to go online. Based on this reference time, a target guide line that meets the acceleration, impact degree and curvature constraints is generated. Under the premise of ensuring the safety of agricultural machinery driving, the agricultural machinery can be smoothly, accurately and efficiently cut into the target operation path, which can avoid strong impacts during the driving process of agricultural machinery and effectively improve the operation efficiency and quality of agricultural machinery. At the same time, the driving trajectory is reasonably planned to reduce the energy loss during the driving process of agricultural machinery, which helps to improve the operation efficiency and overall performance of agricultural machinery.

[0133] Based on the same inventive concept, an embodiment of the present application also provides a device for generating agricultural machinery guide lines corresponding to the method for generating agricultural machinery guide lines. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the method for generating agricultural machinery guide lines in the above-mentioned embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0134] See also Figure 8 , Figure 8 This is a schematic diagram of the structure of a device for generating an agricultural machinery guide line provided in an embodiment of the present application. Figure 8 As shown in , the apparatus 800 includes:

[0135] The distance determination module 801 is configured to determine a reference safety distance of the agricultural machine based on the minimum turning radius of the agricultural machine and the target offset distance; wherein the reference safety distance represents the distance between the projection position of the current position of the agricultural machine on the target working path and the target upper line position of the target working path;

[0136] A time determination module 802 is configured to adjust the reference safety distance of the agricultural machine to continuously update the target upper line position of the target operating path, and to determine a reference upper line time for the agricultural machine; wherein the reference upper line time is determined based on the initial speed and initial position of the agricultural machine and the target upper line position of the target operating path;

[0137] The guide line generation module 803 is used to generate a target guide line for the agricultural machinery based on the online reference time of the agricultural machinery and a pre-constructed guide line trajectory generation equation; wherein the acceleration, impact degree and maximum curvature value of the target guide line during the driving process of the agricultural machinery all meet the constraint conditions.

[0138] Furthermore, the apparatus 800 further includes a distance determination module (not shown in the figure), which is configured to:

[0139] Determining a target offset distance between the current position of the agricultural machine and the target working path, and a target offset angle between the orientation of the agricultural machine and the orientation of the target working path, based on the current position of the agricultural machine within the working area and the starting and ending positions of the target working path; wherein the target working path refers to a path that is shortest to the current position of the agricultural machine within the working area;

[0140] If the target offset distance is within a set distance range and the target offset angle is less than a set angle threshold, it is determined that a guide line needs to be generated.

[0141] In an optional embodiment, the distance determination module is configured to calculate the target offset distance using the following formula:

[0142]

[0143] Wherein, e represents the target offset distance, AB x Represents the x-axis vector from the starting position to the end position of the target operation path, AB y The y-axis vector representing the starting position to the end position of the target operation path, AP x Represents the x-axis vector from the starting point of the target operation path to the current position of the agricultural machine, AP y It represents the y-axis vector from the starting point of the target operation path to the current position of the agricultural machine, and lenAB represents the distance between the starting point and the end point of the target operation path.

[0144] In an optional embodiment, the distance determination module 801 is configured to calculate the reference safety distance of the agricultural machinery using the following formula:

[0145]

[0146] Wherein, initL represents the reference safety distance of the agricultural machinery, r represents the minimum turning radius of the agricultural machinery, e represents the target offset distance, and const is a constant.

[0147] In an optional embodiment, the time determination module 802 is configured to calculate the online reference time of the agricultural machinery using the following formula:

[0148]

[0149] Where T represents the on-line reference time of the agricultural machinery, initV represents the initial speed of the agricultural machinery, ceil() represents the upward rounding function, ΔT represents the time estimation offset, dist represents the distance between the initial position of the agricultural machinery and the target on-line position of the target operation path, spx represents the x-coordinate of the initial position of the agricultural machinery, spy represents the y-coordinate of the initial position of the agricultural machinery, gpx represents the x-coordinate of the target on-line position of the target operation path, and gpy represents the y-coordinate of the target on-line position of the target operation path.

[0150] In an optional embodiment, the guide line generating module 803 is specifically configured to:

[0151] Looping through the online reference time of the agricultural machinery with a first time step, calculating the target coefficient of the guide line trajectory generation equation for each first time step, and determining the guide line trajectory;

[0152] For each guideline trajectory determined by the first time step, traverse the target trajectory points on the guideline trajectory in a loop with a second time step, and calculate the acceleration and impact corresponding to the target trajectory point and the maximum curvature value of the guideline trajectory determined by the first time step;

[0153] Determining whether each guide line trajectory determined by the first time step satisfies the following constraints: the impact degree is less than the impact degree threshold, the acceleration is less than the acceleration threshold, and the maximum curvature value of the guide line trajectory is less than the curvature threshold;

[0154] If the constraint conditions are not met, adjust the second time step and recalculate the acceleration, impact degree and curvature value of the guide line trajectory until the generated guide line trajectory meets the constraint conditions;

[0155] Among all the guide line trajectories that meet the constraint conditions, the guide line trajectory with the smallest reference safety distance and the smallest online reference time is selected as the target guide line.

[0156] In an optional embodiment, the guide line trajectory generation equation includes:

[0157]

[0158] Among them, x(t) and y(t) represent the guide line trajectory generation equations of the target guide line of the agricultural machinery with respect to the reference online time, a0, a1, a2, a3, a4, a5, b0, b1, b2, b3, b4, b5 are the target coefficients of the guide line trajectory generation equations respectively;

[0159] Among them, the coefficient matrix

[0160] A = xState / T;

[0161] B = yState / T;

[0162]

[0163] initPosx, initVx, initAx, goalPosx, goalVx, and goalAx respectively represent the projections of the initial position initPos, initial velocity initV, initial acceleration initA, target position goalPos, target velocity goalV, and target acceleration goalA on the x-axis; initPosy, initVy, initAy, goalPosy, goalVy, and goalAy respectively represent the projections of the initial position initPos, initial velocity initV, initial acceleration initA, target position goalPos, target velocity goalV, and target acceleration goalA on the y-axis; the values of target velocity goalV and target acceleration goalA are 0.

[0164] In an optional embodiment, the guide line generation module 803 is specifically configured to calculate the curvature value of the guide line trajectory using the following formula:

[0165] denominator=2×(p1x·(p2y-p3y)+p2x·(p3y-p1y)+p3x·(p1y-p2y));

[0166] xCenter=((p1x·p1x+p1y·p1y)·(p2y-p3y)+(p2x·p2x+p2y·p2y)·(p3y-p1y)+(p3x·p3x+p3y·p3y)·(p1y-p2y)) / (deno minator+1e-16);

[0167] yCenter=((p1x·p1x+p1y·p1y)·(p3x-p2x)+(p2x·p2x+p2y·p2y)·(p1x-p3x)+(p3x·p3x+p3y·p3y)·(p2x-p1x)) / (deno minator+1e-16);

[0168]

[0169] curvature = 1 / r;

[0170] Among them, denominator represents the denominator intermediate quantity used to calculate the center of the circle, xCenter represents the x coordinate of the center of the circle, yCenter represents the y coordinate of the center of the circle, r represents the radius of the circle, curvature represents the curvature value of the target guide line, p1x, p2x, and p3x respectively represent the x coordinates of three adjacent points, and p1y, p2y, and p3y respectively represent the y coordinates of three adjacent points.

[0171] In an optional embodiment, the time determination module 802 is configured to determine the initial speed of the agricultural machine through the following steps:

[0172] Determining a target online mode according to the type of agricultural machinery and the topographical features of the operation area, wherein the target online mode is one of an overly aggressive online mode, an aggressive online mode, a moderate online mode, a conservative online mode, and an overly conservative online mode;

[0173] According to the target online mode, the initial speed of the agricultural machinery is determined; wherein, the initial speed of the agricultural machinery corresponding to the overly aggressive online mode, the initial speed of the agricultural machinery corresponding to the aggressive online mode, the initial speed of the agricultural machinery corresponding to the moderate online mode, the initial speed of the agricultural machinery corresponding to the conservative online mode, and the initial speed of the agricultural machinery corresponding to the overly conservative online mode decrease in sequence.

[0174] The device provided in the embodiment of the present application determines a reference safety distance by comprehensively considering factors such as the minimum turning radius of the agricultural machinery and the target offset distance, and then determines the online reference time of the agricultural machinery, and generates a target guide line that meets the acceleration, impact degree and curvature constraints based on this online reference time. It can ensure the safety of the agricultural machinery while ensuring the driving safety of the agricultural machinery, so that the agricultural machinery can smoothly, accurately and efficiently cut into the target operation path, avoid strong impacts during the driving process of the agricultural machinery, and effectively improve the operating efficiency and quality of the agricultural machinery; at the same time, it can reasonably plan the driving trajectory and reduce the energy loss during the driving process of the agricultural machinery, which helps to improve the operating efficiency and overall performance of the agricultural machinery.

[0175] See also Figure 9 , Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 9 As shown in FIG, the electronic device 900 includes a processor 901, a memory 902 and a bus 903.

[0176] The memory 902 stores machine-readable instructions executable by the processor 901. When the electronic device 900 is running, the processor 901 communicates with the memory 902 via the bus 903. When the machine-readable instructions are executed by the processor 901, the above-mentioned Figure 1The steps of the method for generating the agricultural machinery guide line in the method embodiment shown are specifically implemented in accordance with the method embodiment and will not be described in detail here.

[0177] The embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 1 The steps of the method for generating the agricultural machinery guide line in the method embodiment shown are specifically implemented in accordance with the method embodiment and will not be described in detail here.

[0178] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0179] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. There may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be through some communication interface, indirect coupling or communication connection of devices or units, which may be electrical, mechanical or other forms.

[0180] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0181] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0182] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0183] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The scope of protection of the present application is not limited thereto. Although the present application has been described in detail with reference to the above-mentioned embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above-mentioned embodiments within the technical scope disclosed in the present application, or perform equivalent replacements for some of the technical features thereof. These modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A method for generating an agricultural machinery guide line, characterized in that: The method comprises: Determining a reference safety distance for the agricultural machine based on the minimum turning radius of the agricultural machine and the target offset distance; wherein the reference safety distance represents the distance between the projection position of the current position of the agricultural machine on the target operating path and the target upper line position of the target operating path; Continuously updating the target on-line position of the target operating path based on the reference safety distance of the agricultural machine, and determining a reference on-line time for the agricultural machine; wherein the reference on-line time is determined based on the initial speed and initial position of the agricultural machine and the target on-line position of the target operating path; A target guide line for the agricultural machinery is generated based on the online reference time of the agricultural machinery and a pre-constructed guide line trajectory generation equation; wherein the acceleration, impact degree and curvature value of the target guide line during the driving process of the agricultural machinery all meet the constraint conditions.

2. The method according to claim 1, characterized in that The method further comprises: Determining a target offset distance between the current position of the agricultural machine and the target working path, and a target offset angle between the orientation of the agricultural machine and the orientation of the target working path, based on the current position of the agricultural machine within the working area and the starting and ending positions of the target working path; wherein the target working path refers to a path that is shortest to the current position of the agricultural machine within the working area; If the target offset distance is within a set distance range and the target offset angle is less than a set angle threshold, it is determined that a guide line needs to be generated.

3. The method according to claim 2, characterized in that The target offset distance is calculated using the following formula: Wherein, e represents the target offset distance, AB x Represents the x-axis vector from the starting position to the end position of the target operation path, AB y The y-axis vector representing the starting position to the end position of the target operation path, AP x Represents the x-axis vector from the starting point of the target operation path to the current position of the agricultural machine, AP y It represents the y-axis vector from the starting point of the target operation path to the current position of the agricultural machine, and lenAB represents the distance between the starting point and the end point of the target operation path.

4. The method according to claim 1, wherein The reference safety distance of agricultural machinery is calculated using the following formula: Wherein, initL represents the reference safety distance of the agricultural machinery, r represents the minimum turning radius of the agricultural machinery, e represents the target offset distance, and const is a constant.

5. The method according to claim 1, wherein The reference time for agricultural machinery to go online is calculated using the following formula: Where T represents the on-line reference time of the agricultural machinery, initV represents the initial speed of the agricultural machinery, ceil() represents the upward rounding function, ΔT represents the time estimation offset, dist represents the distance between the initial position of the agricultural machinery and the target on-line position of the target operation path, spx represents the x-coordinate of the initial position of the agricultural machinery, spy represents the y-coordinate of the initial position of the agricultural machinery, gpx represents the x-coordinate of the target on-line position of the target operation path, and gpy represents the y-coordinate of the target on-line position of the target operation path.

6. The method according to claim 1, wherein The method of generating a target guide line for the agricultural machine based on the online reference time of the agricultural machine and a pre-constructed guide line trajectory generation equation includes: Looping through the online reference time of the agricultural machinery with a first time step, calculating the target coefficient of the guide line trajectory generation equation for each first time step, and determining the guide line trajectory; For each guideline trajectory determined by the first time step, traverse the target trajectory points on the guideline trajectory in a loop with a second time step, and calculate the acceleration and impact corresponding to the target trajectory point and the maximum curvature value of the guideline trajectory determined by the first time step; Determining whether each guide line trajectory determined by the first time step satisfies the following constraints: the impact degree is less than the impact degree threshold, the acceleration is less than the acceleration threshold, and the maximum curvature value of the guide line trajectory is less than the curvature threshold; If the constraint conditions are not met, adjust the second time step and recalculate the acceleration, impact degree and curvature value of the guide line trajectory until the generated guide line trajectory meets the constraint conditions; Among all the guide line trajectories that meet the constraint conditions, the guide line trajectory with the smallest reference safety distance and the smallest online reference time is selected as the target guide line.

7. The method according to claim 6, characterized in that The guide line trajectory generation equation includes: Among them, x(t) and y(t) represent the guide line trajectory generation equations of the target guide line of the agricultural machinery with respect to the reference online time, a0, a1, a2, a3, a4, a5, b0, b1, b2, b3, b4, b5 are the target coefficients of the guide line trajectory generation equations respectively; Among them, the coefficient matrix A = xState / T; B = yState / T; initPosx, initVx, initAx, goalPosx, goalVx, and goalAx respectively represent the projections of the initial position initPos, initial velocity initV, initial acceleration initA, target position goalPos, target velocity goalV, and target acceleration goalA on the x-axis; initPosy, initVy, initAy, goalPosy, goalVy, and goalAy respectively represent the projections of the initial position initPos, initial velocity initV, initial acceleration initA, target position goalPos, target velocity goalV, and target acceleration goalA on the y-axis; the values of target velocity goalV and target acceleration goalA are 0.

8. The method according to claim 6, characterized in that The curvature value of the guide line trajectory is calculated using the following formula: denominator=2×(p1x·(p2y-p3y)+p2x·(p3y-p1y)+p3x·(p1y-p2y)); xCenter=((p1x·p1x+p1y·p1y)·(p2y-p3y)+(p2x·p2x+p2y·p2y)·(p3y-p1y)+(p3x·p3x+p3y·p3y)·(p1y-p2y)) / (denominator+1e-16); yCenter=((p1x·p1x+p1y·p1y)·(p3x-p2x)+(p2x·p2x+p2y·p2y)·(p1x-p3x)+(p3x·p3x+p3y·p3y)·(p2x-p1x)) / (denominator+1e-16); curvature = 1 / r; Among them, denominator represents the denominator intermediate quantity used to calculate the center of the circle, xCenter represents the x coordinate of the center of the circle, yCenter represents the y coordinate of the center of the circle, r represents the radius of the circle, curvature represents the curvature value of the target guide line, p1x, p2x, and p3x respectively represent the x coordinates of three adjacent points, and p1y, p2y, and p3y respectively represent the y coordinates of three adjacent points.

9. The method according to claim 1, characterized in that The initial speed of the agricultural machine is determined by the following steps: Determining a target online mode according to the type of agricultural machinery and the topographical features of the operation area, wherein the target online mode is one of an overly aggressive online mode, an aggressive online mode, a moderate online mode, a conservative online mode, and an overly conservative online mode; According to the target online mode, the initial speed of the agricultural machinery is determined; wherein, the initial speed of the agricultural machinery corresponding to the overly aggressive online mode, the initial speed of the agricultural machinery corresponding to the aggressive online mode, the initial speed of the agricultural machinery corresponding to the moderate online mode, the initial speed of the agricultural machinery corresponding to the conservative online mode, and the initial speed of the agricultural machinery corresponding to the overly conservative online mode decrease in sequence.

10. A device for generating a guide line for agricultural machinery, characterized in that: The device comprises: a distance determination module, configured to determine a reference safety distance of the agricultural machine based on the minimum turning radius of the agricultural machine and the target offset distance; wherein the reference safety distance represents the distance between the projection position of the current position of the agricultural machine on the target operating path and the target upper line position of the target operating path; a time determination module, configured to adjust the reference safety distance of the agricultural machine to continuously update the target upper line position of the target operating path, and determine a reference upper line time for the agricultural machine; wherein the reference upper line time is determined based on the initial speed and initial position of the agricultural machine and the target upper line position of the target operating path; The guide line generation module is used to generate a target guide line for the agricultural machinery based on the online reference time of the agricultural machinery and a pre-built guide line trajectory generation equation; wherein the acceleration and impact degree of the agricultural machinery during driving and the maximum curvature value of the target guide line all meet the constraint conditions.

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