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

By determining the reference safety distance and the reference time for going online, a target guide line that meets the constraints of acceleration, impact, and curvature is generated, which solves the problem of inaccurate entry paths of agricultural machinery in the existing technology and realizes stable, efficient operation and energy saving of agricultural machinery.

CN120467378BActive Publication Date: 2026-07-21LOVOL HEAVY IND CO LTD
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Patent Information

Application Number
CN202510690912.4
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2025-05-27
Publication Date
2026-07-21
Estimated Expiration
2045-05-27

AI Technical Summary

Technical Problem

Existing technologies, when generating smart agricultural machinery guide lines, suffer from numerous influencing factors, resulting in guide lines that fail to meet user needs and making it difficult to ensure that agricultural machinery smoothly, accurately, and efficiently enters the operating path.

Method used

By determining the reference safety distance, reference time, and guide line trajectory generation equation of the agricultural machinery, a target guide line that meets the constraints of acceleration, impact, and curvature is generated. Taking into account factors such as the minimum turning radius of the agricultural machinery and the target offset distance, the agricultural machinery is ensured to smoothly, accurately, and efficiently enter the operation path.

Benefits of technology

This achieves the goal of ensuring agricultural machinery operates safely while avoiding strong impacts, improving operational efficiency and quality, reducing energy consumption, and enhancing overall performance.

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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.
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