A method and device for generating a guidance line for an agricultural machine

Abstract

The application provides a method and device for generating a farm machine guide line, the method comprising: determining a reference safety distance of the farm machine according to a minimum turning radius of the farm machine and a target offset distance; the reference safety distance representing a distance between a projected position of a current position of the farm machine on a target work path and a target upper line position of the target work path; constantly updating the target upper line position of the target work path and determining an upper line reference time of the farm machine according to the reference safety distance of the farm machine; the upper line reference time being determined according to an initial speed, an initial position of the farm machine and the target upper line position of the target work path; generating a target guide line of the farm machine according to the upper line reference time of the farm machine and a guide line trajectory generation equation constructed in advance; and the acceleration, impact and curvature value of the target guide line during the travel of the farm machine all satisfying constraint conditions. The application can ensure that the farm machine smoothly, accurately and efficiently cuts into the work path, so as to improve the work efficiency and work quality of the farm machine.

Description

Technical Field

[0001] This application relates to the field of agricultural technology, and more specifically, to a method and apparatus for generating agricultural machinery guide lines. Background Technology

[0002] With the continuous development of intelligent agricultural technologies, smart agriculture has become a focus of attention. Smart agriculture can effectively solve the problems and shortcomings in current agricultural development, improve regional economic levels, and promote sustainable agricultural development. By rationally planning the operating area, it can ensure that smart agricultural machinery travels along the optimal route, avoiding repetitive work or missed areas, reducing wasted effort, and improving production efficiency.

[0003] In general, the automatic steering system of smart agricultural machinery controls the front wheel angle to gradually approach the work path and scientifically operate along the planned path. The guide line design of smart agricultural machinery enables the machine to stably reach and track the work path in the shortest possible time, achieving efficient deployment, while ensuring high energy utilization. However, existing technologies, when generating guide lines for smart agricultural machinery, often fail to meet user needs due to numerous factors affecting the machine's entry into the work path. 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 enters the operation path, thereby improving the efficiency and quality of agricultural machinery operation.

[0005] In a first aspect, embodiments of this application provide a method for generating agricultural machinery guide lines, the method comprising:

[0006] Based on the minimum turning radius of the agricultural machinery and the target offset distance, a reference safety distance for the agricultural machinery is determined; wherein, the reference safety distance represents the distance between the projected 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;

[0007] Based on the reference safe distance of the agricultural machinery, the target upper limit position of the target operation path is continuously updated, and the upper limit reference time of the agricultural machinery is determined; wherein, the upper limit reference time is determined based on the initial speed, initial position of the agricultural machinery, and the target upper limit position of the target operation path;

[0008] Based on the reference time for the agricultural machinery to go online and the pre-constructed guide line trajectory generation equation, a target guide line for the agricultural machinery is generated; wherein, the acceleration, impact, and curvature value of the target guide line during the agricultural machinery's operation all satisfy the constraint conditions.

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

[0010] Based on the current position of the agricultural machinery in the work area and the starting and ending positions of the target work path, determine the target offset distance between the current position of the agricultural machinery and the target work path, as well as the target offset angle between the orientation of the agricultural machinery and the orientation of the target work path; wherein, the target work path refers to the path with the shortest distance to the current position of the agricultural machinery in the work 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, then it is determined that a guide line needs to be generated.

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

[0013]

[0014] Where e represents the target offset distance, AB x AB represents the x-axis vector from the start position to the end position of the target operation path. y AP represents the y-axis vector from the start position to the end position of the target operation path. x AP represents the x-axis vector from the starting point of the target operation path to the current position of the agricultural machinery. y lenAB represents the y-axis vector from the starting position of the target operation path to the current position of the agricultural machinery, and lenAB represents the distance between the starting position and the ending position of the target operation path.

[0015] In one optional embodiment, the reference safety distance for agricultural machinery is calculated using the following formula:

[0016]

[0017] Where initL represents the reference safe 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 value.

[0018] In one optional embodiment, the reference time for the agricultural machinery to go online is calculated using the following formula:

[0019]

[0020] Where T represents the reference time for the agricultural machinery to go online, initV represents the initial speed of the agricultural machinery, ceil() represents the rounding function, ΔT represents the time estimation offset, dist represents the distance between the initial position of the agricultural machinery and the target online 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 online position of the target operation path, and gpy represents the y-coordinate of the target online position of the target operation path.

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

[0022] The online reference time of the agricultural machinery is iterated in a loop with the first time step, and the target coefficient of the guide line trajectory generation equation is calculated for each first time step to determine the guide line trajectory.

[0023] For each guideline trajectory determined by the first time step, the target trajectory points on the guideline trajectory are iterated over in a loop with the second time step, and the acceleration and impact corresponding to the target trajectory points and the maximum curvature value of the guideline trajectory determined by the first time step are calculated.

[0024] Determine whether each guideline trajectory determined by the first time step satisfies the following constraints: the impact intensity is less than the impact intensity threshold, the acceleration is less than the acceleration threshold, and the maximum curvature value of the guideline trajectory is less than the curvature threshold.

[0025] If the constraints are not met, adjust the second time step and recalculate the acceleration, impact, and curvature values ​​of the guide line trajectory until the generated guide line trajectory meets the constraints.

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

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

[0028]

[0029] Where x(t) and y(t) represent the trajectory generation equations of the agricultural machinery's target guide line with respect to the reference online time, and 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] Wherein, the coefficient matrix

[0031] A = xState / T;

[0032] B = yState / T;

[0033]

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

[0035] In one optional embodiment, the curvature value of the guide line trajectory is calculated using 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] Wherein, denominator represents the intermediate quantity in the denominator 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 represent the x-coordinates of three adjacent points, and p1y, p2y, and p3y represent the y-coordinates of three adjacent points.

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

[0043] Based on the type of agricultural machinery and the terrain features of the operating area, the target online mode is determined. The target online mode is one of the following: overly aggressive online mode, aggressive online mode, moderate online mode, conservative online mode, and overly conservative online mode.

[0044] The initial speed of the agricultural machinery is determined according to the target online mode; 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 sequentially.

[0045] Secondly, embodiments of this application also provide an apparatus for generating agricultural machinery guide lines, the apparatus comprising:

[0046] The distance determination module is used to determine the reference safety distance of the agricultural machinery 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 projected position of the current position of the agricultural machinery on the target operation path and the target upper line position of the target operation path;

[0047] The time determination module is used to adjust the reference safety distance of the agricultural machinery to continuously update the target upper limit position of the target operation path and determine the upper limit reference time of the agricultural machinery; wherein, the upper limit reference time is determined based on the initial speed, initial position of the agricultural machinery and the target upper limit position of the target operation path;

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

[0049] Thirdly, embodiments of this application also provide an electronic device, including: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, the steps of the above-described method for generating agricultural machinery guide lines are performed.

[0050] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the above-described method for generating agricultural machinery guide lines.

[0051] This application provides a method and apparatus for generating a guideline for agricultural machinery. The method includes: determining a reference safety distance for the agricultural machinery based on its minimum turning radius and target offset distance; the reference safety distance represents the distance between the projected 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; continuously updating the target upper line position of the target operating path based on the reference safety distance of the agricultural machinery, and determining the upper line reference time of the agricultural machinery; the upper line reference time is determined based on the initial speed, initial position of the agricultural machinery, and the target upper line position of the target operating path; generating the target guideline for the agricultural machinery based on the upper line reference time of the agricultural machinery and a pre-constructed guideline trajectory generation equation; wherein the acceleration, impact, and curvature value of the target guideline during the agricultural machinery's operation all satisfy the constraint conditions. This 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 reference time for the agricultural machinery to enter the target operation path. Based on this reference time, a target guide line that meets the constraints of acceleration, impact, and curvature is generated. This enables the agricultural machinery to smoothly, accurately, and efficiently enter the target operation path while ensuring the safety of the agricultural machinery. It can avoid strong impacts during the operation of the agricultural machinery, effectively improving the efficiency and quality of agricultural machinery operation. At the same time, it rationally plans the driving trajectory, reduces the energy loss during the operation of the agricultural machinery, and helps to improve the efficiency and overall performance of agricultural machinery operation.

[0052] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0053] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0054] Figure 1 A flowchart illustrating a method for generating agricultural machinery guide lines provided in an embodiment of this application;

[0055] Figure 2 This is a schematic diagram of the agricultural machinery operation path in the embodiments of this application;

[0056] Figure 3 This is a curvature diagram of the path points of the agricultural machinery guide line in the embodiments of this application;

[0057] Figure 4 This is a speed diagram of the agricultural machinery guide line path points in the embodiments of this application;

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

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

[0060] Figure 7 This is a diagram showing the upper guide line pattern for agricultural machinery in this embodiment.

[0061] Figure 8 This is a schematic diagram of the structure of a device for generating agricultural machinery guide lines provided in an embodiment of this application;

[0062] Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0063] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. Based on the embodiments of this application, every other embodiment obtained by those skilled in the art without inventive effort falls within the scope of protection of this application.

[0064] Research has shown that with the continuous development of intelligent agricultural technologies, smart agriculture has become a focus of attention. Smart agriculture can effectively address the problems and shortcomings in current agricultural development, improve regional economic levels, and promote sustainable agricultural development. By rationally planning the work area, smart agricultural machinery can ensure it travels along the optimal route, avoiding repetitive work or missed areas, reducing wasted effort, and improving production efficiency. The automatic steering system of smart agricultural machinery controls the front wheel angle to gradually approach the work path and scientifically operate along the planned path. The guide line design of smart agricultural machinery can ensure high energy utilization while enabling the machinery to stably reach and track the work path in the shortest possible time, achieving efficient deployment. However, existing technologies, when generating guide lines for smart agricultural machinery, often fail to meet user needs due to numerous factors affecting the machine's entry into the work path.

[0065] Based on this, the embodiments of this application provide a method for generating agricultural machinery guide lines, which can ensure that agricultural machinery smoothly, accurately and efficiently enters the operation path, thereby improving the efficiency and quality of agricultural machinery operation.

[0066] Please see Figure 1 , Figure 1 This is a flowchart illustrating a method for generating agricultural machinery guide lines, as provided in an embodiment of this application. Figure 1 As shown in the embodiments of this application, the method includes:

[0067] S101, determine the reference safety distance of the agricultural machinery 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 projected position of the current position of the agricultural machinery on the target operation path and the target upper line position of the target operation path.

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

[0069] S103, based on the reference time of the agricultural machinery going online and the pre-constructed guide line trajectory generation equation, generate the target guide line of the agricultural machinery; wherein, the acceleration, impact degree and curvature value of the target guide line during the agricultural machinery driving process all meet the constraint conditions.

[0070] Steps S101 to S103 above determine a reference safety distance by comprehensively considering factors such as the minimum turning radius of the agricultural machinery and the target offset distance. This determines the reference time for the agricultural machinery to enter the target work path and generates a target guide line that meets the constraints of acceleration, impact, and curvature based on this reference time. This allows the agricultural machinery to smoothly and efficiently enter the target work path while ensuring its driving safety. It avoids strong impacts during the driving process and effectively improves the efficiency and quality of agricultural machinery operations. At the same time, it rationally plans the driving trajectory, reduces energy loss during the driving process, and helps to improve the efficiency and overall performance of agricultural machinery operations.

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

[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 projected position of the current position of the agricultural machinery on the target operation path and the target upper line position of the target operation path.

[0073] Here, the minimum turning radius of agricultural machinery refers to the minimum radius of the circle traced on the ground by the centerline of the outer wheel during the turning process. The target offset distance characterizes the degree to which the current position of the agricultural machinery deviates from the target working path; specifically, it is the minimum distance between the position of the agricultural machinery and the target working path. The reference safety distance characterizes the distance between the projected 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. Here, the reference safety distance is a distance parameter determined to ensure that the agricultural machinery can safely and smoothly enter the target working path; it clarifies the reasonable interval between the projected position of the current position of the agricultural machinery on the target working 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 implementation, based on the current position of the agricultural machinery in the work area and the starting and ending positions of the target work path, the target offset distance between the current position of the agricultural machinery and the target work path, and the target offset angle between the orientation of the agricultural machinery and the orientation of the target work path are determined; wherein, the target work path refers to the path with the shortest distance to the current position of the agricultural machinery in the work area; if the target offset distance is within a set distance range and the target offset angle is less than a set angle threshold, then it is determined that a guide line needs to be generated.

[0076] The current position of the agricultural machinery within the work area refers to its specific coordinates at that moment. The target work path is the path with the shortest distance to the current position of the agricultural machinery within the work area. This path can be a pre-planned path based on operational needs, such as a straight line or curve in a field designed for tasks like sowing and harvesting. The target offset angle measures the difference between the agricultural machinery's orientation and the orientation of the target work path. The set distance range and set angle threshold are pre-set judgment criteria based on practical experience and the performance of the agricultural machinery. When both the target offset distance and the target offset angle meet the corresponding conditions, it means that the agricultural machinery needs a guide line to adjust its travel path to accurately enter the target work path for operation.

[0077] For example, the distance range and angle threshold settings will differ depending on the type of agricultural machinery and the operational scenario. For instance, when a tractor with implements is performing precision seeding, the path accuracy requirement is high, so the distance range might be narrowed to 0-2 meters, and the angle threshold set to 10 degrees. Conversely, for harvester operations where path accuracy requirements are relatively low, the distance range might be widened to 0-8 meters, and the angle threshold set to 20 degrees. Only by flexibly setting the judgment criteria according to the actual situation can we more accurately determine whether a guide line needs to be generated, ensuring the accuracy and efficiency of agricultural machinery operations.

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

[0079]

[0080] Where e represents the target offset distance, AB x AB represents the x-axis vector from the start position to the end position of the target operation path. y AP represents the y-axis vector from the start position to the end position of the target operation path. x AP represents the x-axis vector from the starting point of the target operation path to the current position of the agricultural machinery. y lenAB represents the y-axis vector from the starting position of the target operation path to the current position of the agricultural machinery, and lenAB represents the distance between the starting position and the ending position of the target operation path.

[0081] It should be noted that in actual farmland operations, due to factors such as complex terrain, coordinate measurement errors may occur. In such cases, the formula for calculating the target offset distance can be optimized, for example, by introducing an error correction coefficient to adjust the calculation results and improve accuracy. Alternatively, averaging multiple measurements can reduce the impact of random errors on the target offset distance calculation, ensuring the accuracy of the determination of whether to generate a guide line.

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

[0083]

[0084] Where initL represents the reference safe 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 value.

[0085] For example, when the minimum turning radius of a farm machine is 5 meters, the target offset distance is 2 meters, and the constant value is 1.5, substituting into the formula, we can get initL = 6.5 meters, that is, the reference safe distance of the farm 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 the performance of the agricultural machinery. For some agricultural machinery operation scenarios that require high steering accuracy, such as precision seeding, the constant value can be appropriately increased to make the calculated reference safety distance larger, thereby reserving more steering space and ensuring that the agricultural machinery safely and accurately enters the target operation path. For some operation scenarios that require relatively low steering accuracy, such as rough land preparation in farmland, the constant value can be appropriately decreased to improve the efficiency of agricultural machinery operation and reduce unnecessary path planning distances while ensuring safety.

[0087] In step S102, the target upper position of the target operation path is continuously updated based on the reference safe distance of the agricultural machinery, and the upper reference time of the agricultural machinery is determined; wherein, the upper reference time is determined based on the initial speed, initial position of the agricultural machinery and the target upper position of the target operation path.

[0088] Here, the target upper line position of the target operation path refers to the specific position where the agricultural machinery will ultimately enter the target operation path. Updating this position by referencing a safety distance ensures that the agricultural machinery enters the target operation path at the appropriate time and location. The initial speed of the agricultural machinery refers to its speed when the guide line generation calculation begins; this initial speed can be flexibly set according to actual conditions. The initial position refers to the starting coordinates of the agricultural machinery within the operation area, and the upper line reference time is the estimated time required for the agricultural machinery to enter the target operation path, calculated by comprehensively considering the initial state of the agricultural machinery and the target upper line position.

[0089] Once the reference safe distance for agricultural machinery is calculated, the target upper limit position changes accordingly each time the reference safe distance changes. Therefore, the upper limit reference time can be recalculated based on the new upper limit position.

[0090] For example, the reference time for agricultural machinery to go online can be calculated using the following formula:

[0091]

[0092] Where T represents the reference time for the agricultural machinery to go online, initV represents the initial speed of the agricultural machinery, ceil() represents the rounding function, ΔT represents the time estimation offset, dist represents the distance between the initial position of the agricultural machinery and the target online 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 online position of the target operation path, and gpy represents the y-coordinate of the target online position of the target operation path.

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

[0094] The time estimation offset can be adjusted according to the actual operating conditions. In complex operating environments, such as those with obstacles or varied terrain, the agricultural machinery's movement may be disrupted, and the actual travel time may be longer than the theoretically calculated time. In such cases, the time estimation offset can be appropriately increased to allow more time margin, ensuring that the agricultural machinery has sufficient time to safely enter the target operating path according to the guide line. Conversely, in relatively simple operating environments with smooth agricultural machinery movement, the time estimation offset can be appropriately decreased to improve operating efficiency and reduce unnecessary waiting time.

[0095] In an alternative implementation, the initial speed of the agricultural machinery can be determined by the following steps:

[0096] Based on the type of agricultural machinery and the terrain features of the operating area, a target online mode is determined. The target online mode can be one of the following: overly aggressive online mode, aggressive online mode, moderate online mode, conservative online mode, or overly conservative online mode. For example, the online mode could be as follows: Figure 7 As shown.

[0097] The initial speed of the agricultural machinery is determined according to the target online mode; the initial speed of the agricultural machinery corresponding to the overly aggressive online mode, the aggressive online mode, the moderate online mode, the conservative online mode, and the overly conservative online mode decreases in that order.

[0098] For example, if the agricultural machinery is a small seeder and the working area is flat farmland, you can choose the moderate top speed mode and set the initial speed to 5 km / h; if the working area is mountainous terrain with complex terrain and many obstacles, you can choose the conservative top speed mode and set the initial speed to 3 km / h.

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

[0100] The pre-constructed guideline trajectory generation equation is based on a mathematical model and describes the relationship between the agricultural machinery's trajectory and time. This equation calculates the position of the agricultural machinery within the work area at different time points, thus generating the guideline trajectory. The acceleration during the agricultural machinery's movement reflects the rate of change in its speed, the impact intensity measures the drastic change in acceleration, and the curvature value of the target guideline reflects the degree of bending of the guideline. Constraints are pre-set based on factors such as the performance of the agricultural machinery, operator comfort, and operational safety. Only when the acceleration, impact intensity, and curvature value of the target guideline all meet these constraints can the generated guideline be considered a compliant target guideline.

[0101] Specifically, in actual operations, different types of agricultural machinery and operating scenarios may have different requirements for constraints. For large agricultural transport machinery, due to their greater weight, they are more sensitive to changes in acceleration and impact, thus requiring stricter acceleration and impact constraints to ensure stability and cargo safety during transport. Conversely, for smaller horticultural machinery, due to their relatively small operating area and slower speed, the requirements for curvature values ​​may be higher to adapt to narrow and complex operating environments. Therefore, when generating target guide lines, constraints can be reasonably set according to the specific type of agricultural machinery and operating scenario to ensure that the generated guide lines meet the actual operational needs.

[0102] Specifically, step S103 includes: iterating through the online reference time of the agricultural machinery at a first time step, calculating the target coefficients 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, iterating through the target trajectory points on the guide line trajectory at a second time step, calculating the acceleration and impact corresponding to the target trajectory points, as well as the maximum curvature value of the guide line trajectory determined by the first time step; determining whether each guide line trajectory determined by the first time step satisfies the following constraints: impact less than the impact threshold, acceleration less than the acceleration threshold, and the maximum curvature value of the guide line trajectory less than the curvature threshold; if the constraints are not met, adjusting the second time step, recalculating the acceleration, impact, and curvature values ​​of the guide line trajectory until the generated guide line trajectory satisfies the constraints; and selecting the guide line trajectory with the smallest reference safety distance and the smallest online reference time from all guide line trajectories that satisfy the constraints as the target guide line.

[0103] Here, the maximum curvature value is calculated by comparing the curvature values ​​of each target trajectory point along the guideline trajectory determined by iterating cyclically with the first time step. The curvature value with the largest value is the maximum curvature value of the guideline trajectory. In other words, the maximum curvature value is selected from numerous curvature values, and the calculation of each specific curvature value 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 reference time for the agricultural machinery to go online is 10 seconds, then the time will be iterated from 0 seconds to 10 seconds at 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 initial state parameters of the agricultural machinery, thus determining a guideline trajectory. Next, the second time step is set to 0.1 seconds. For each determined guideline trajectory, the target trajectory points on the trajectory are traversed at 0.1-second intervals, and the acceleration and impact corresponding to each target trajectory point, as well as the maximum curvature value of the guideline trajectory, are calculated. Suppose the calculated maximum curvature value of a certain guideline trajectory is 0.12, which is greater than the preset curvature threshold of 0.1 and does not meet the constraint conditions. In this case, 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 the guideline trajectories that meet the constraint conditions, the guideline trajectory with the smallest reference safety distance and the smallest online reference time is selected as the target guideline.

[0105] The equations for generating the guide line trajectory include:

[0106]

[0107] Where x(t) and y(t) represent the trajectory generation equations of the agricultural machinery's target guide line with respect to the reference online time, and 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, taking the first derivative of the equation for generating the guide line trajectory yields the state equation for the driving speed:

[0109]

[0110] Taking the second derivative of the equation for generating the trajectory of the guide line, we obtain the state equation for acceleration:

[0111]

[0112] Taking the third derivative of the equation for generating the guide line trajectory, we obtain the state equation for the impact:

[0113]

[0114] Let the initial time be t0 and the final time be t1. Solve the state equations for position, velocity, acceleration, and impact, and construct them in matrix form as follows:

[0115]

[0116]

[0117] Wherein, the coefficient matrix

[0118] A = xState / T;

[0119] B = yState / T;

[0120]

[0121] and then,

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

[0123] Specifically, the curvature value of the guide line trajectory is calculated using 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, denominator represents the intermediate quantity in the denominator 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 represent the x-coordinates of three adjacent points, and p1y, p2y, and p3y represent the y-coordinates of three adjacent points.

[0130] Furthermore, by substituting the reference time into the equation and combining it with parameters such as the initial position, initial velocity, and initial acceleration of the agricultural machinery, the target coefficient is calculated, thereby determining the guide line trajectory. During the calculation process, the acceleration, impact intensity, and curvature value of the guide line trajectory during the agricultural machinery's movement are also calculated simultaneously.

[0131] For example, such as Figures 2 to 6 As shown, the example uses a large combine harvester to harvest crops in a rectangular field of 100 mu (approximately 6.7 hectares). First, the current coordinates of the harvester within the field, as well as the starting and ending coordinates of the target operation path, are obtained. The target offset distance *e* is calculated. Given the harvester's minimum turning radius *r*, the reference safety distance *initL* is calculated. The target upper line position of the target operation path is updated based on the reference safety distance. Since the operating area is relatively flat and harvesting efficiency is required, a moderate upper line mode is selected, setting the harvester's initial speed to 3 km / h. Combined with the harvester's initial position, the upper line reference time *T* is calculated. Then, the upper line reference time *T* is iterated over with an appropriate time step. Based on a pre-constructed fifth-order polynomial form of the guide line trajectory generation equation, the target coefficients are calculated to determine the guide line trajectory. Acceleration, impact, and curvature values ​​are calculated for each target trajectory point on the trajectory. During the calculation process, the time step is continuously adjusted to ensure that the impact is less than the impact threshold, the acceleration is less than the acceleration threshold, and the maximum curvature value is less than the curvature constraint threshold. After iterative traversal and filtering, a target guideline with the minimum reference safety distance and minimum on-line reference time is finally obtained. This allows the combine harvester to smoothly and efficiently enter the target operation path along this guideline and complete the harvesting task. Here, the generated optimal agricultural machinery guideline path is as follows: Figure 2As shown, the curvature values ​​of the optimal agricultural machinery guideline path points are as follows: Figure 3 As shown, the speed of the optimal agricultural machinery guide line path point is as follows: Figure 4 As shown, the acceleration of the optimal agricultural machinery guide line path point is as follows: Figure 5 As shown, the impact intensity of the optimal agricultural machinery guide line path point is as follows: Figure 6 As shown.

[0132] This 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 reference time for the agricultural machinery to enter the target operation path. Based on this reference time, a target guide line that meets the constraints of acceleration, impact, and curvature is generated. This enables the agricultural machinery to smoothly, accurately, and efficiently enter the target operation path while ensuring the safety of the agricultural machinery. It can avoid strong impacts during the operation of the agricultural machinery, effectively improving the efficiency and quality of agricultural machinery operation. At the same time, it rationally plans the driving trajectory, reduces the energy loss during the operation of the agricultural machinery, and helps to improve the efficiency and overall performance of agricultural machinery operation.

[0133] Based on the same inventive concept, this application also provides an agricultural machinery guide line generation device corresponding to the agricultural machinery guide line generation method. Since the principle of the device in this application is similar to the above-mentioned agricultural machinery guide line generation method in this application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0134] Please see Figure 8 , Figure 8 This is a schematic diagram of the structure of a device for generating agricultural machinery guide lines provided in an embodiment of this application. Figure 8 As shown, the device 800 includes:

[0135] The distance determination module 801 is used to determine the reference safety distance of the agricultural machinery 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 projected position of the current position of the agricultural machinery on the target operation path and the target upper line position of the target operation path;

[0136] The time determination module 802 is used to adjust the reference safety distance of the agricultural machinery to continuously update the target upper limit position of the target operation path, and determine the upper limit reference time of the agricultural machinery; wherein, the upper limit reference time is determined based on the initial speed, initial position of the agricultural machinery and the target upper limit position of the target operation path;

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

[0138] Furthermore, the device 800 also includes a distance determination module (not shown in the figure), which is used for:

[0139] Based on the current position of the agricultural machinery in the work area and the starting and ending positions of the target work path, determine the target offset distance between the current position of the agricultural machinery and the target work path, as well as the target offset angle between the orientation of the agricultural machinery and the orientation of the target work path; wherein, the target work path refers to the path with the shortest distance to the current position of the agricultural machinery in the work 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, then it is determined that a guide line needs to be generated.

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

[0142]

[0143] Where e represents the target offset distance, AB x AB represents the x-axis vector from the start position to the end position of the target operation path. y AP represents the y-axis vector from the start position to the end position of the target operation path. x AP represents the x-axis vector from the starting point of the target operation path to the current position of the agricultural machinery. y lenAB represents the y-axis vector from the starting position of the target operation path to the current position of the agricultural machinery, and lenAB represents the distance between the starting position and the ending position of the target operation path.

[0144] In one optional embodiment, the distance determination module 801 is used to calculate the reference safe distance of the agricultural machinery using the following formula:

[0145]

[0146] Where initL represents the reference safe 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 value.

[0147] In one optional embodiment, the time determination module 802 is used to calculate the reference time for the agricultural machinery to go online using the following formula:

[0148]

[0149] Where T represents the reference time for the agricultural machinery to go online, initV represents the initial speed of the agricultural machinery, ceil() represents the rounding function, ΔT represents the time estimation offset, dist represents the distance between the initial position of the agricultural machinery and the target online 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 online position of the target operation path, and gpy represents the y-coordinate of the target online position of the target operation path.

[0150] In one optional embodiment, the guide line generation module 803 is specifically used for:

[0151] The online reference time of the agricultural machinery is iterated in a loop with the first time step, and the target coefficient of the guide line trajectory generation equation is calculated for each first time step to determine the guide line trajectory.

[0152] For each guideline trajectory determined by the first time step, the target trajectory points on the guideline trajectory are iterated over in a loop with the second time step, and the acceleration and impact corresponding to the target trajectory points and the maximum curvature value of the guideline trajectory determined by the first time step are calculated.

[0153] Determine whether each guideline trajectory determined by the first time step satisfies the following constraints: the impact intensity is less than the impact intensity threshold, the acceleration is less than the acceleration threshold, and the maximum curvature value of the guideline trajectory is less than the curvature threshold.

[0154] If the constraints are not met, adjust the second time step and recalculate the acceleration, impact, and curvature values ​​of the guide line trajectory until the generated guide line trajectory meets the constraints.

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

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

[0157]

[0158] Where x(t) and y(t) represent the trajectory generation equations of the agricultural machinery's target guide line with respect to the reference online time, and 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] Wherein, the coefficient matrix

[0160] A = xState / T;

[0161] B = yState / T;

[0162]

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

[0164] In one optional embodiment, the guide line generation module 803 is specifically used 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] Wherein, denominator represents the intermediate quantity in the denominator 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 represent the x-coordinates of three adjacent points, and p1y, p2y, and p3y represent the y-coordinates of three adjacent points.

[0171] In one optional embodiment, the time determination module 802 is used to determine the initial speed of the agricultural machinery through the following steps:

[0172] Based on the type of agricultural machinery and the terrain features of the operating area, the target online mode is determined. The target online mode is one of the following: overly aggressive online mode, aggressive online mode, moderate online mode, conservative online mode, and overly conservative online mode.

[0173] The initial speed of the agricultural machinery is determined according to the target online mode; 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 sequentially.

[0174] The device provided in this 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 reference time for the agricultural machinery to enter the target operation path. Based on this reference time, a target guide line that meets the constraints of acceleration, impact, and curvature is generated. Under the premise of ensuring the safety of agricultural machinery operation, it can enable the agricultural machinery to smoothly, accurately, and efficiently enter the target operation path, avoid strong impacts during the operation of the agricultural machinery, and effectively improve the efficiency and quality of agricultural machinery operation. At the same time, it rationally plans the driving trajectory, reduces the energy loss during the operation of the agricultural machinery, and helps to improve the efficiency and overall performance of agricultural machinery operation.

[0175] Please see Figure 9 , Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 9 As shown, 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, they can perform the operations described above. Figure 1The steps of the method for generating agricultural machinery guide lines in the illustrated method embodiment can be found in the method embodiment for specific implementation methods, which will not be repeated here.

[0177] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can perform the above-described actions. Figure 1 The steps of the method for generating agricultural machinery guide lines in the illustrated method embodiment can be found in the method embodiment for specific implementation methods, which will not be repeated here.

[0178] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing 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, apparatuses, and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the shown or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0180] The units described as separate components may or may not be physically separate. 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 the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0181] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0182] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0183] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The scope of protection of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application. Such modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for generating agricultural machinery guide lines, characterized in that, The method includes: The reference safety distance of the agricultural machinery is determined based on the minimum turning radius and the target offset distance; wherein, the reference safety distance represents the distance between the projected 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; Based on the agricultural machinery's reference safe distance, the target upper limit position of the target operation path is continuously updated, and the upper limit reference time of the agricultural machinery is determined. The upper limit reference time is determined based on the agricultural machinery's initial speed, initial position, and the target upper limit position of the target operation path. The upper limit reference time of the agricultural machinery is calculated using the following formula: T=ceil( )+ Where T represents the reference time for the agricultural machinery to go online, initV represents the initial speed of the agricultural machinery, and ceil() represents the floor function. This represents the time estimate offset. This indicates the distance between the initial position of the agricultural machinery and the target upper line position of the target operation path. The x-coordinate represents the initial position of the agricultural machinery. The y-coordinate represents the initial position of the agricultural machinery. The x-coordinate represents the target's upper position on the target operation path. The y-coordinate representing the target's upper position on the target operation path; The system iterates through the agricultural machinery's online reference time using a first time step, calculating the target coefficients of the guideline trajectory generation equation for each first time step to determine the guideline trajectory. For each guideline trajectory determined by the first time step, the system iterates through the target trajectory points on the guideline trajectory using a second time step, calculating the acceleration and impact corresponding to the target trajectory points, as well as the maximum curvature value of the guideline trajectory determined by the first time step. It then determines whether each guideline trajectory determined by the first time step satisfies the following constraints: the impact is less than an impact threshold, the acceleration is less than an acceleration threshold, and the maximum curvature value of the guideline trajectory is less than a curvature threshold. If the constraints are not met, the second time step is adjusted, and the acceleration, impact, and curvature values ​​of the guideline trajectory are recalculated until the generated guideline trajectory satisfies the constraints. Among all guideline trajectories that satisfy the constraints, the guideline trajectory with the smallest reference safety distance and the smallest online reference time is selected as the target guideline.

2. The method according to claim 1, characterized in that, The method further includes: Based on the current position of the agricultural machinery in the work area and the starting and ending positions of the target work path, determine the target offset distance between the current position of the agricultural machinery and the target work path, as well as the target offset angle between the orientation of the agricultural machinery and the orientation of the target work path; wherein, the target work path refers to the path with the shortest distance to the current position of the agricultural machinery in the work area. If the target offset distance is within a set distance range and the target offset angle is less than a set angle threshold, then 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: e= lenAB= Where e represents the target offset distance. The x-axis vector represents the distance from the start point to the end point of the target operation path. The y-axis vector represents the distance from the start point to the end point of the target operation path. The x-axis vector represents the distance from the starting point of the target operation path to the current position of the agricultural machinery. This represents the y-axis vector from the starting point of the target operation path to the current position of the agricultural machinery. This indicates the distance between the starting and ending points of the target operation path.

4. The method according to claim 1, characterized in that, The reference safe distance for agricultural machinery can be calculated using the following formula: = Where initL represents the reference safe 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 value.

5. The method according to claim 1, characterized in that, The equation for generating the guide line trajectory includes: ； in, , This represents the equation for generating the trajectory of the agricultural machinery's target guide line with respect to the reference online time. , , , , , , , , , , , These are the target coefficients of the equation for generating the guide line trajectory; Where, coefficient matrix A= B= , A = xState / T; B = yState / T; ； T= ； initPosx, initVx, initAx, goalPosx, goalVx, and goalAx represent the projections of the initial position initPos, initial velocity initV, initial acceleration initA, target position goalPos, target velocity goalV, and target acceleration goalA onto the x-axis, respectively. initPosy, initVy, initAy, goalPosy, goalVy, and goalAy represent the projections of the initial position initPos, initial velocity initV, initial acceleration initA, target position goalPos, target velocity goalV, and target acceleration goalA onto the y-axis, respectively. The values ​​of target velocity goalV and target acceleration goalA are 0.

6. The method according to claim 1, characterized in that, The curvature value of the guide line trajectory is calculated using the following formula: ； ； ； ； ； in, This represents the intermediate quantity in the denominator used to calculate the center of the circle. Indicates the center of the circle coordinate, Indicates the center of the circle coordinate, Indicates the radius of the circle. This represents the curvature value of the target guide line. , , Representing three adjacent points respectively coordinate, , , Representing three adjacent points respectively coordinate.

7. The method according to claim 1, characterized in that, The initial speed of the agricultural machinery is determined by the following steps: Based on the type of agricultural machinery and the terrain features of the operating area, the target online mode is determined. The target online mode is one of the following: overly aggressive online mode, aggressive online mode, moderate online mode, conservative online mode, and overly conservative online mode. The initial speed of the agricultural machinery is determined according to the target online mode; 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 sequentially.

8. A device for generating agricultural machinery guide lines, characterized in that, The device includes: The distance determination module is used to determine the reference safety distance of the agricultural machinery based on the minimum turning radius and the target offset distance; wherein, the reference safety distance represents the distance between the projected position of the current position of the agricultural machinery on the target operation path and the target upper line position of the target operation path; The time determination module is used to adjust the reference safety distance of the agricultural machinery to continuously update the target upper limit position of the target operation path and determine the upper limit reference time of the agricultural machinery; wherein, the upper limit reference time is determined based on the initial speed, initial position of the agricultural machinery, and the target upper limit position of the target operation path; the upper limit reference time of the agricultural machinery is calculated using the following formula: T=ceil( )+ Where T represents the reference time for the agricultural machinery to go online, initV represents the initial speed of the agricultural machinery, and ceil() represents the floor function. This represents the time estimate offset. This indicates the distance between the initial position of the agricultural machinery and the target upper line position of the target operation path. The x-coordinate represents the initial position of the agricultural machinery. The y-coordinate represents the initial position of the agricultural machinery. The x-coordinate represents the target's upper position on the target operation path. The y-coordinate representing the target's upper position on the target operation path; The guideline generation module is used to iterate through the online reference time of the agricultural machinery at a first time step, calculate the target coefficients of the guideline trajectory generation equation for each first time step, and determine the guideline trajectory. For each guideline trajectory determined by the first time step, the module iterates through the target trajectory points on the guideline trajectory at a second time step, calculates the acceleration and impact corresponding to the target trajectory points, and the maximum curvature value of the guideline trajectory determined by the first time step. The module determines whether each guideline trajectory determined by the first time step meets the following constraints: the impact is less than the impact threshold, the acceleration is less than the acceleration threshold, and the maximum curvature value of the guideline trajectory is less than the curvature threshold. If the constraints are not met, the module adjusts the second time step and recalculates the acceleration, impact, and curvature values ​​of the guideline trajectory until the generated guideline trajectory meets the constraints. Among all guideline trajectories that meet the constraints, the guideline trajectory with the smallest reference safety distance and the smallest online reference time is selected as the target guideline.

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