Agricultural machinery automatic navigation system based on satellite positioning technology

Abstract

The invention provides an agricultural machinery automatic navigation system based on a satellite positioning technology, and belongs to the field of agricultural machinery navigation. The problem of low navigation efficiency of the agricultural machine during farming operation is solved; the method specifically comprises the following steps: a data acquisition module acquires field information and mechanical information, and calculates a basic tillage speed; the path planning module calculates the minimum reserved width of the agricultural machine according to the field piece information and the mechanical information, and defines a single agricultural machine field piece farming path; agricultural machines are distributed for the field parcels, and speed and steering constraints of cooperation of multiple agricultural machines are defined; the navigation control module controls the motion state of the agricultural machinery according to the farming route of the single agricultural machinery and the speed and steering constraint of cooperation of the multiple agricultural machinery, records an operation instruction and generates a sharing code; monitoring a to-be-cultivated area and a satellite cloud picture of the target area, and adding agricultural machinery for each field or improving the basic cultivation speed of the agricultural machinery; through obtaining, analyzing and processing the related data of the field parcels and the agricultural machinery, a corresponding route is provided for the agricultural machinery, and the working efficiency of the agricultural machinery is improved.

Description

Technical Field

[0001] The invention discloses an automatic navigation system for agricultural machinery based on satellite positioning technology, and relates to the field of agricultural machinery navigation. Background Art

[0002] The existing automatic navigation system for agricultural machinery has the following shortcomings:

[0003] Environmental adaptability: The performance of existing agricultural machinery navigation systems is closely related to the operating environment, and they exhibit significant differences in adaptability under different terrain and weather conditions. This is especially true in orchards with many trees or fields with tall crops, where dense vegetation can significantly attenuate satellite signals, resulting in positioning interruptions or reduced accuracy.

[0004] Single tillage mode: Most agricultural machinery navigation systems use predetermined straight or S-shaped trajectories when controlling agricultural machinery for tillage operations. This trajectory has very high requirements for the area, shape, and reserved positions of the field, and cannot be effectively adjusted according to the actual area of the field and the specific size of the agricultural implements, which can easily lead to over-tillage, missed tillage, and incorrect tillage.

[0005] Operational complexity: Existing automated navigation systems for agricultural machinery typically integrate multiple technologies, resulting in a complex interface and placing high technical demands on users. Effective operation of the equipment requires specialized knowledge in areas such as system calibration and path planning, which is not conducive to farmers' operation. Summary of the Invention

[0006] In view of the shortcomings of the existing technology, the purpose of the present invention is to provide an automatic navigation system for agricultural machinery based on satellite positioning technology, aiming to solve the problem of low navigation efficiency of agricultural machinery during farming operations.

[0007] In order to achieve the above-mentioned object, the present invention is implemented through the following technical solutions: an agricultural machinery automatic navigation system based on satellite positioning technology includes:

[0008] Data acquisition module: used to obtain the number of fields in the target area, the location and area of each field, and obtain field information; obtain the number and mechanical information of agricultural machinery and the maximum working time of agricultural machinery, and calculate the basic tillage speed of agricultural machinery;

[0009] Path planning module: This module calculates the minimum reserved width for agricultural machinery based on field and machine information; defines the tillage route for a single agricultural machinery plot based on the relationship between the minimum reserved width, field area, and the length of the entrance edge; obtains relevant data on agricultural machinery braking, allocates agricultural machinery to the plot based on the relationship between the number of agricultural machinery and field plots, and defines speed and steering constraints for multi-machine collaboration;

[0010] The navigation control module includes: a scheme sharing submodule and a speed control submodule;

[0011] Solution Sharing Submodule: This module is used to control the movement of agricultural machinery within all plots in the target area based on the speed and steering constraints of single-machine tillage routes and multi-machine collaboration. It also records the operating instructions of agricultural machinery in the fields and integrates the operating instructions with the location information of the fields to generate a sharing code. The sharing code and operating instructions are then stored in the data platform.

[0012] Speed control submodule: used to monitor the tillage area of each field in the target area; obtain satellite cloud images of the current time and target area, extract cloud features from the satellite cloud images, and use the NWP algorithm to determine whether it is raining in the target area; if it is not raining, no processing is performed; if it is raining, agricultural machinery is added to each field or the basic tillage speed of the agricultural machinery is increased.

[0013] Furthermore, the workflow for calculating the basic tillage speed is as follows:

[0014] Mechanical information of agricultural machinery includes: gross weight, tire pitch, wheelbase, length, maximum steering angle, frontal area, rated power, and length and width of the implement;

[0015] The number of plots is fa, and the area of all plots is Sf (1) ~Sf (fa) ;

[0016] Calculate the minimum tillage speed v of the agricultural machinery based on the width Wi of the agricultural implement and the maximum working time twr (min) ;

[0017] According to the total weight of the agricultural machinery Mm, the rated power P (max) , frontal area Aw, static friction coefficient μ, calculate v (min) The corresponding power P(v (min) );

[0018] Judge P(v (min) )≤P (max) whether it is established;

[0019] If true, the basic tillage speed of agricultural machinery is v (min) ;

[0020] If not, calculate P (max) The corresponding speed v(P (max) );

[0021] Let the initial velocity v (0) for:

[0022]

[0023] Use Newton's iterative algorithm to calculate v (0) Iterate and get the speed vg;

[0024] Judge v(P (max) ) is within ε, where ε represents the error determination coefficient.

[0025] If it is within ε, the basic tillage speed of the agricultural machinery is vg;

[0026] If it is not within ε, the basic tillage speed of the agricultural machinery is v(P (max) ).

[0027] Furthermore, the workflow of the path planning module is as follows:

[0028] According to the length of the agricultural machine La, the maximum steering angle θ (max) , tire distance Hf, wheelbase Lf and implement length Di, calculate the minimum turning radius R of the agricultural machinery (min) and the minimum reserved width W (min) ;

[0029] Obtain the basic tillage speed Vf of the agricultural machinery; define the tillage route of a single agricultural machinery field;

[0030] Compare the number of agricultural machines fmn and fa, and define the speed and steering constraints of multi-agricultural machine collaboration;

[0031] If fmn ≥ fa, then agricultural machinery is allocated to each field according to the area of the field, and the speed and steering constraints of multi-machine collaboration are defined;

[0032] If fmn < fa, it means that the target area is not suitable for multi-agricultural machinery cooperation. The fields are classified according to the length of the entrance side of each field;

[0033] Get the length of the entrance edge Le of the 1st to fath fields (1) ~Le (fa) , calculate the maximum number of agricultural machinery tillage nfm for the 1st to fath fields (1) ~nfm (fa) ;

[0034] Calculate the average value afm, and classify the fields with the maximum number of agricultural machinery cultivation greater than or equal to afm as Class B fields; the fields with the maximum number of agricultural machinery cultivation less than afm as Class C fields;

[0035] Count the number of Class B plots nfy and the number of Class C plots nfz;

[0036] Compare the size of fmn and nfy, and allocate agricultural machinery to Class B and Class C fields;

[0037] If fmn≤nfy, first allocate the agricultural machinery to the Class C plots, with one agricultural machinery allocated to each Class C plot; then allocate the agricultural machinery to the Class B plots;

[0038] If fmn>nfy, then calculate the mean afy of the maximum number of agricultural machinery cultivation corresponding to Class B fields, and the mean afz of the maximum number of agricultural machinery cultivation corresponding to Class C fields;

[0039] Calculate the total number of agricultural machinery Ayy allocated to all Class B plots; first allocate Ayy agricultural machinery to Class B plots, and allocate agricultural machinery;

[0040] Then allocate agricultural machinery to Class C plots of land.

[0041] Furthermore, the process of defining a single agricultural machine farming route is as follows:

[0042] Let the entrance edge of the field (A, B, C, D) be AD edge, and the length of AD edge be L (AD) ;

[0043] Take point E or F of the field as the starting point; point E is due south of point A and the distance from point A is W (min) ; Point F is due north of point D and its distance from point D is W (min) ; The length of side EF is L (EF) ;

[0044] If L (EF) Can be divided by Wi, then define route A(1):

[0045] Process S (1,1) :The agricultural machine starts from point E or F and travels in the east direction (L (AB) -W (min) ) distance, in Ja (1) Point steering;

[0046] Process S (1,2) :In Ja (1) Click Turn Right to turn the machine toward AD. The turning duration is Twh:

[0047] Calculate the left movement distance Xle of the agricultural implement from point 1 to (Twh / 4) (1) ~Xle (Twh / 4) ;

[0048] Turn 1 to Within seconds, press the Xle (1) ~Xle (Twh / 4) The distance is shifted to the left;

[0049] At the turning To Within seconds, press the Xle (Twh / 4) ~Xle (1) The distance moves right;

[0050] Repeat this process, the agricultural machine completes the turn and plows the area (E, F, Ja (1) ,Ka (1) );

[0051] Process S (1,3) : Comparison of Wi and W (min) Size, define area (A, B, C, D, F, Ka (1) ,Ja (1) ,E)’s farming routes;

[0052] Process S (1,4) :If Wi ≥ W (min) , then the agricultural machinery travels After seconds, turn right to the AD direction and complete the area (F,Ka (1) ,Oa (1) ,D) farming;

[0053] Agricultural machinery along the AB side, the farming area (A, B, Ua (1) ,E);

[0054] Process S (1,5) :If Wi<W (min) , then the agricultural machinery is along the AB side, the tillage area (A, B, Ua (1) ,E);

[0055] Agricultural machinery along the DC edge, farming area (F,Ua (2) ,C,D);

[0056] Summarize process S (1,1) ~ to process S (1,5) The corresponding agricultural machinery driving route and turning position are taken as route A(1);

[0057] If L (EF) If it is not divisible by Wi, then define route A(2).

[0058] Furthermore, the process of defining route A(2) is as follows:

[0059] Process S (2,1) :A (2) route operation process:

[0060] calculate The remainder Rem of The nearest integer Zap;

[0061] Compare L (EF) and the size of (Zap×Wi), determine the position of point Ia;

[0062] If L (EF) >(Zap×Wi), then point Ia is north of point F;

[0063] If L (EF) <(Zap×Wi), then point Ia is south of point F;

[0064] Process S (2,2) :Translate BC to the west by Wi distance, and get B (1) C (1) Side; Extend point Ia along the DC side to the BC side and connect it with B (1) C (1) Edges intersect at Ia (1) Point, intersecting with BC at Ia (2) point;

[0065] Add Ja to fields (A, B, C, D) (1) Point and Ua (1) Point, cultivated area (E, Ja (1) ,Ia (1) ,I) and area (A,B,Ua (1) ,E);

[0066] Process S (2,3) : Extend point F along the DC side to the BC side and connect it with B (1) C (1) Edges intersect at Fa (1) Point, intersecting with BC side at Fa (2) point;

[0067] Let the length of the IaD side be L (IaD) ;

[0068] Compare L (IaD) With the size of Wi, determine the area (Fa (1) ,Fa (2) ,Ia (1) ,Ia (2) ) and area (F,Fa (2) ,C,D) farming routes;

[0069] Process S (2,4) :If L (IaD) >Wi, then the agricultural machinery completion area (E,Ja (1) ,Ia (1) ,I) after the tillage operation, the agricultural machinery in Fa (2) Turn right to the AD side and move along the DC side toward point F. Move the implement back and forth to the left by Xlt per second to complete the area (Fa (1) ,Fa (2) ,Ia (1) ,Ia (2) )

[0070] Process S (2,5) :If L(IaD) <Wi, then move the agricultural machinery along DC edge, the tillage area (Fa (1) ,Fa (2) ,Ia (1) ,Ia (2) ) and area (F,Fa (2) ,C,D);

[0071] Summarize process S (1,1) ~Process S (1,5) The corresponding agricultural machinery driving route and turning position are taken as route A(2).

[0072] Furthermore, the process of allocating agricultural machinery to fields is as follows:

[0073] Get the area Sf of the 1st to fath fields (1) ~Sf (fa) Entrance side length Le (1) ~Le (fa) ;

[0074] Calculate the equivalent tillage time twk for the 1st to fath fields (1) ~twk (fa) ;

[0075] Calculate twk (1) ~twk (fa) The inverse of kin (1) ~kin (fa) ;

[0076] Calculating kin (1) ~kin (fa) of andaki;

[0077] The number of agricultural machines allocated to the first field is nft (1) :

[0078]

[0079] Similarly, the number of agricultural machines allocated to the fath field is nft (fa) :

[0080]

[0081] Furthermore, the process of defining speed and steering constraints is as follows:

[0082] Obtain the safe braking distance hs, braking time tbr, and shortest acceleration time tac of the agricultural machinery;

[0083] Assume that the agricultural machine α is at an angle δ in front of the agricultural machine β, and the distance from the tail of the agricultural machine α to the front of the agricultural machine β is h. (1) ;

[0084] Assume that the speed of the agricultural machine β is v (2) , the speed of the agricultural machine β after a change is vv (2) ;

[0085] Compare (h (1) × cos(δ)) and hs, we can obtain Formulas C1-1 to C1-3;

[0086] If (h (1) ×cos(δ))<hs, then formula C1-1 is:

[0087]

[0088] If (h (1) ×cos(δ))>hs, then formula C1-2 is:

[0089]

[0090] If (h (1) × cos(δ)) = hs, then formula C1-3 is:

[0091] vv (2) =v (2) =Vf;

[0092] Formula C1-1 to Formula C1-3 are used as speed constraints for multi-agricultural machinery collaboration;

[0093] Define the steering constraint:

[0094] Assume that when the agricultural machine α does not turn, the position of the tail of the agricultural machine α is (x (1) ,y (1) ), the position of the agricultural machinery β head is (x (1) ,y (1) );

[0095] Define the position constraint:

[0096]

[0097] Assume that the steering angle λ of the agricultural machine α when turning, and the tail position after turning is (tx (1) ,ty (1) ):

[0098]

[0099] Calculate the vertical distance lh (2) ; Assume that the speed of the agricultural machinery β after the second change is vv (3) , compared with lh (2) and the size of hs, we obtain Formulas C2-31 to C2-33;

[0100] If lh(2) <hs, then formula C2-31 is:

[0101]

[0102] If lh (2) >hs, then formula C2-32 is:

[0103]

[0104] If lh (2) =hs, then formula C2-33 is:

[0105] vv (3) =v (2) =Vf;

[0106] Formulas C2-1 to C2-33 are used as steering constraints for multi-agricultural machinery collaboration.

[0107] Furthermore, the workflow of the speed control submodule is as follows:

[0108] Get the start time tsa and end time ten of the agricultural machinery work;

[0109] Get the current time tda; obtain the satellite cloud image of the target area, extract the cloud features of the satellite cloud image, and use the NWP algorithm to determine whether it is raining in the target area;

[0110] If it doesn’t rain, then no treatment;

[0111] If it rains, the estimated time it will start raining is tra;

[0112] Get the tillage area rS of the first to the fath plots in the target area (1) ~rS (fa) , maximum number of agricultural machinery tillage nfm (1) ~nfm (fa) ; Calculate the priority coefficient ffr of the 1st to fath fields (1) ~ffr (fa) ;

[0113] Calculate ffr (1) ~ffr (fa) The ratio rfr (1) ~rfr (fa) ;

[0114] Calculate rfr (1) ~rfr (fa) of and arf.

[0115] Furthermore, the workflow of the speed control submodule also includes:

[0116] Get the remaining number of agricultural machinery rfm;

[0117] Compare the size of rfm and fa to determine whether there are enough remaining agricultural machinery in the target area, allocate agricultural machinery to each field, and improve the tillage speed of agricultural machinery;

[0118] If rfm ≥ fa, then there is sufficient surplus agricultural machinery in the target area;

[0119] Assign sfn to the first agricultural machine (1) agricultural machinery;

[0120]

[0121] judge whether it is established;

[0122] If true, the speed of the agricultural machinery in the first field will not be changed;

[0123] If not, increase the speed of the agricultural machinery in the first field to Vfu (1) :

[0124]

[0125] Similarly, assign sfn to the fa-th agricultural machine (fa) Agricultural machinery:

[0126]

[0127] judge whether it is established;

[0128] If it is established, the speed of the agricultural machinery in the fa-th field will not be changed;

[0129] If not, increase the speed of the agricultural machinery in the fa-th field to Vfu (fa) :

[0130]

[0131] If rfm<fa, then press rfr (1) 、rfr (2) ~rfr (fa) Arrange the 1st, 2nd, and so on to the fath field in descending order to obtain the sequence Til;

[0132] Assign a piece of agricultural machinery to the first rfm fields in the sequence Til, and repeat the above Vfu (1) ~Vfu (fa) The calculation method is used to increase the speed of agricultural machinery performing tillage operations in the 1st to fath fields.

[0133] Compared with the prior art, the present invention has the following beneficial effects:

[0134] Improved operating efficiency: Through preset path planning, the present invention allows agricultural machinery to maintain a stable speed and straight travel, avoiding pauses and adjustments during manual operation, thereby improving operating efficiency. At the same time, the present invention also conducts mathematical modeling based on the actual area of the field and the relevant dimensions of the agricultural machinery and agricultural implements, controlling the system error within an acceptable range and avoiding problems such as missed cultivation and repeated cultivation.

[0135] Strong autonomous farming capability: The present invention relies on the satellite positioning function to obtain the location of relevant fields in the target area, and designs single-farm machinery farming mode and multi-farm machinery collaborative farming mode according to the area of the field and the actual performance parameters of the agricultural machinery. Within the established working time, it is guaranteed that each field can complete the farming operation with the highest efficiency of the agricultural machinery; at the same time, the present invention is designed with a weather analysis function, which can analyze the rainfall time of the target area in real time, improve the farming efficiency of agricultural machinery in each field within a controllable range, and reduce the impact of weather on agricultural production.

[0136] Operation data sharing: The present invention supports the operation record function. When the user uses the present invention, the present invention can record the specific operation instructions of the agricultural machinery operated by the user or the system in a certain field, save and upload them to the data storage platform. When the user performs farming operations next time, the user can use the sharing code to read the agricultural machinery operation instructions of himself or others, which significantly improves the working efficiency of the agricultural machinery. BRIEF DESCRIPTION OF THE DRAWINGS

[0137] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0138] Figure 1 Schematic diagram of the system of the present invention;

[0139] Figure 2 This is a schematic diagram of a field plot of the present invention;

[0140] Figure 3 This is a schematic diagram of a field plot of the present invention;

[0141] Figure 4 This is a schematic diagram of a field according to the present invention. DETAILED DESCRIPTION

[0142] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0143] See also Figure 1 , an agricultural machinery automatic navigation system based on satellite positioning technology includes:

[0144] Data acquisition module: used to obtain the number of fields in the target area, the location and area of each field, and obtain field information; obtain the number and mechanical information of agricultural machinery and the maximum working time of agricultural machinery (in a single day), and calculate the basic tillage speed of agricultural machinery;

[0145] Mechanical information of agricultural machinery includes: gross weight of the agricultural machinery (i.e. the sum of the weight of the agricultural machinery itself and the weight of the agricultural implements carried by the agricultural machinery), wheelbase (i.e. the larger of the front and rear wheelbases of the agricultural machinery), wheelbase, length, maximum steering angle, (frontal) frontal area, rated power, and length and width of the agricultural implements;

[0146] It should be noted that the "target area" in the present invention refers to the agricultural production area where the present invention (an automatic navigation system for agricultural machinery based on satellite positioning technology) is used for automatic navigation of agricultural machinery;

[0147] Process A: The workflow of the data acquisition module is as follows:

[0148] Process A1: Let the number of plots be fa, and the area of the first, second, and fath plots be Sf. (1) 、Sf (2) ~Sf (fa) ;

[0149] The width of the implement is recorded as Wi, and the maximum working time of the implement (in a single day) is recorded as twr;

[0150] Calculate Sf (1) ~Sf (fa) The sum aSf, calculate the equivalent length Lbe of all fields:

[0151]

[0152] Calculate the minimum tillage speed v of agricultural machinery (min) :

[0153]

[0154] Process A2: Let the total weight of the agricultural machinery be Mm and the rated power be P (max) , the frontal windward area of the agricultural machinery is recorded as Aw, and the static friction coefficient in the field is recorded as μ;

[0155] Assume that the actual speed of the agricultural machinery during tillage operation in the field is Vwo (independent variable) and the actual output power is Pwo (dependent variable); construct the structure equation A-1:

[0156] Among them, g represents the acceleration of gravity, ρa represents the air density, and Cd represents the air drag coefficient;

[0157] V (min) Substituting Vwo into the relational equation A-1, we can get the power P(v (min) );

[0158] Judge P(v (min) )≤P (max) whether it is established;

[0159] If true, the basic tillage speed of agricultural machinery is v (min) ;

[0160] If not, then P (max) Substituting Pwo into equation A-1, we get equation A-2:

[0161]

[0162] Process A3: Calculate the value of Vwo according to formula A-2 to obtain the speed v(P (max) );

[0163] Calculate the discriminant dis of formula A-2:

[0164]

[0165] According to the discriminant dis, v(P (max) ) value:

[0166]

[0167] Let the initial velocity v (0) for:

[0168]

[0169] Let the speed of iteration n be v (n) , the speed of (n+1) times is v (n+1) , define iterative formula A-3:

[0170]

[0171] According to formula A-3, use Newton iteration algorithm to calculate v (0) Iterate until |v (n+1) -v (n) |≤10 (-6) , get the speed vg;

[0172] Judge v(P (max) ) Whether the numerical difference between it and vg is within ε;

[0173] Wherein, ε represents the error determination coefficient (the value of ε is 5%, and the user or relevant technical personnel can adjust the value of ε according to actual needs);

[0174] If it is within ε, the basic tillage speed of the agricultural machinery is vg;

[0175] If it is not within ε, the basic tillage speed of the agricultural machinery is v(P (max) ).

[0176] Path planning module: used to calculate the minimum reserved width of agricultural machinery based on field and machine information; define the tillage route of a single agricultural machinery field based on the relationship between the minimum reserved width, field area, and the length of the entrance edge; obtain relevant data on agricultural machinery braking (agricultural machinery's safe braking distance, braking time, and shortest acceleration time), allocate agricultural machinery to fields based on the relationship between the number of agricultural machinery and fields, and implement speed and steering constraints for multi-machine collaboration;

[0177] Process B: The workflow of the path planning module is as follows:

[0178] Process B1: Let the length of the agricultural machine be La and the maximum steering angle be θ (max) , tire pitch is recorded as Hf, wheelbase is recorded as Lf; the length of the farm implement is recorded as Di;

[0179] Calculate the minimum turning radius R of agricultural machinery (min) :

[0180]

[0181] Calculate the minimum reserved width W for agricultural machinery steering (min) :

[0182]

[0183] Process B2: Please refer to Figure 2 , obtain the basic tillage speed of the agricultural machinery, recorded as Vf; define the tillage route of a single agricultural machinery field;

[0184] Let the entrance edge of the field (A, B, C, D) be AD edge, and the length of AD edge be L (AD) AB, BC and DC are ridges, and the lengths of AB, BC and DC are L respectively. (AB) 、L (BC) and L (DC) Among them, L (AD) =L (BC) , L (AB) =L (DC) ;

[0185] Take point E or F of the field as the starting point; point E is due south of point A and the distance from point A is W (min) ; Point F is due north of point D and its distance from point D is W (min) ;

[0186] The length of side EF is L (EF) , L (EF) =L (AD) -(2×W (min) );

[0187] Judgment L (EF) Whether Wi is divisible by integers;

[0188] Process S (1,1) : Please refer to Figure 3 , if L (EF) If it is divisible by Wi, then the farming route of a single agricultural machine is defined as route A(1);

[0189] Operational procedures for route A(1):

[0190] A single agricultural machine starts from point E or F and moves in the east direction (L (AB) -W (min) ) distance (i.e. seconds), in Ja (1) Point steering;

[0191] Ja (1) The point is southwest of point B, Ja (1) The distance from the point to the AB side and the BC side is W (min) ;

[0192] Process S (1,2) :In Ja (1) Click Turn Right, turn 180°, and turn the front of the agricultural machine to the AD direction; the duration of the turn is Twh:

[0193] Assume the turning time is tl and define formula B-1:

[0194] Among them, Xle (tl) It represents the distance the implement moves left in the t1th second;

[0195] According to formula B-1, calculate the agricultural machinery in Ja (1) Turn at the point, and the turning time is 1st, 2nd, until the left movement distance of the implement (Twh / 4), and get Xle (1) 、Xle (2) ~Xle (Twh / 4) ;

[0196] Agricultural machinery in Ja (1) Point turn, from the 1st to the 2nd point Within seconds, press the Xle (1) ~Xle (Twh / 4) The distance is shifted to the left;

[0197] At the beginning of the turn To Within seconds, press the Xle (Twh / 4) ~Xle (1) The distance to the right (Xle (Twh / 4) ~Xle (1) Indicates Xle (1) ~Xle (Twh / 4) in reverse order);

[0198] At the beginning of the turn To Within seconds, press the Xle (1) ~Xle (Twh / 4) The distance is shifted to the left;

[0199] At the beginning of the turn From the time of Twh seconds, press the Xle (Twh / 4) ~Xle (1) The distance moves right;

[0200] Process S (1,3) :Repeat process S (1,2) ~Process S (1,2) tillage process until the completion of the area EFJa (1) Ka (1) of farming;

[0201] Ka (1) The point is northwest of point C, Ka (1) The distance from the point to the DC side and the BC side is W (min) ;

[0202] Completed area (E, F, Ja (1) ,Ka (1) ) after cultivation, compare Wi with W (min) Size, define area (A, B, C, D, F, Ka (1) ,Ja (1) ,E)’s farming routes;

[0203] Process S (1,4) :If Wi ≥ W (min) , then the agricultural machinery is due north of point F, at a distance of FKa (1) Wi-Fi (min) ) and start from the After 1 second, turn right and make a 180° turn until the front of the agricultural machine is facing the AD side;

[0204] Among them, during the turning process To Seconds, press the tool to Xle (1) ~Xle(Twh / 4) The distance is shifted to the left;

[0205] No. At Twh seconds, press the Xle key to (Twh / 4) ~Xle (1) The distance moves right;

[0206] After the agricultural machinery is turned, the tillage area (F,Ka (1) ,Oa (1) ,D);Oa (1) The point is on the edge of DC and is W away from point C. (min) ;

[0207] The agricultural machinery is in the east direction, close to the AB side, and the farming area (A, B, Ua (1) ,E);Ua (1) The point is on the edge of BC and is W away from point B. (min) ;

[0208] Process S (1,5) :If Wi<W (min) , then the agricultural machinery is in the east direction, close to the AB side, and the farming area (A, B, Ua (1) ,E);

[0209] Agricultural machinery is in the east direction, close to the DC edge, the farming area (F,Ua (2) ,C,D);Ua (2) The point is on the BC edge and is W away from point C. (min) ;

[0210] Summarize process S (1,1) ~ to process S (1,5) The corresponding agricultural machinery driving route and turning position are taken as route A(1);

[0211] Process S (2,1) : Please refer to Figure 4 , if L (EF) If it is not divisible by Wi, then the farming route of a single agricultural machine is defined as route A(2);

[0212] Operational procedures for route A(2):

[0213] calculate The remainder Rem of The closest integer Zap (for example: if is 3.2, then Zap is 3; if is 3.9, then Zap is 4; if is 3.5, then Zap is 3. In the process of determining the value of integer Zap, the present invention gives priority to rounding down;);

[0214] Compare L (EF)and the size of (Zap×Wi), determine the position of point Ia;

[0215] If L (EF) >(Zap×Wi), then point Ia is due north of point F and at a distance of [(1+Rem)×wi] from point D;

[0216] If L (EF) <(Zap×Wi), then point Ia is due south of point F, at a distance of (Rem×wi) from point D;

[0217] It should be noted that the premise for defining route A (2) in the present invention is: L (EF) It cannot be divided by Wi, so in the process of defining route A(2), there is no L (EF) =(Zap×Wi) and the subsequent L (IaD) =Wi situation;

[0218] Process S (2,2) :Translate BC to the west by Wi distance, and get B (1) C (1) Side; Extend point Ia along the DC side to the BC side and connect it with B (1) C (1) Edges intersect at Ia (1) Point, intersecting with BC at Ia (2) point;

[0219] (Repeat process S (1,1) Workflow) Add Ja to the fields (A, B, C, D) (1) Point and Ua (1) point; repeat process S (1,1) ~Process S (2,1) Workflow, cultivation area (E, Ja (1) ,Ia (1) ,I) and area (A,B,Ua (1) ,E);

[0220] Process S (2,3) : Extend point F along the DC side to the BC side and connect it with B (1) C (1) Edges intersect at Fa (1) Point, intersecting with BC side at Fa (2) point;

[0221] Let the length of the IaD side be L (IaD) ;

[0222] Compare L (IaD) With the size of Wi, determine the area (Fa (1) ,Fa (2) ,Ia (1),Ia (2) ) and area (F,Fa (2) ,C,D) farming routes;

[0223] Process S (2,4) :If L (IaD) >Wi, then the agricultural machinery completion area (E,Ja (1) ,Ia (1) ,I) after the tillage operation, the agricultural machinery in Fa (2) Click to turn right, turn 180 degrees, turn the front of the agricultural machine to the AD side, and complete the area (Fa (1) ,Fa (2) ,Ia (1) ,Ia (2) )

[0224] At the beginning of the turn To Within seconds, press the Xle (Twh / 4) ~Xle (1) The distance to the right (Xle (Twh / 4) ~Xle (1) Indicates Xle (1) ~Xle (Twh / 4) in reverse order);

[0225] At the beginning of the turn To Within seconds, press the Xle (1) ~Xle (Twh / 4) The distance is shifted to the left;

[0226] At the beginning of the turn From the time of Twh seconds, press the Xle (Twh / 4) ~Xle (1) The distance moves right;

[0227] After the agricultural machine completes the turn, it moves back and forth to the left Xlt per second while moving along the DC edge toward point F: Xlt=L (IaD) -Wi;

[0228] Process S (2,5) :If L (IaD) <Wi, then move the agricultural machinery in the east direction, close to the DC edge, and the tillage area (Fa (1) ,Fa (2) ,Ia (1) ,Ia (2) ) and area (F,Fa (2) ,C,D);

[0229] Summarize process S (1,1) ~Process S (1,5)The corresponding agricultural machinery driving route and turning position are taken as route A(2);

[0230] Process B3: Let the number of agricultural machines be fmn. Comparing fmn with fa indicates that the target area is suitable for multi-agricultural machine collaboration. The speed and steering constraints of multi-agricultural machine collaboration are defined.

[0231] Process B31: If fmn ≥ fa, then allocate agricultural machinery to each field according to the area of the field, and define the speed and steering constraints of multi-agricultural machinery collaboration;

[0232] Process B311: Allocate agricultural machinery to each field according to the area of the field;

[0233] Get the area of the first, second, and fath fields and record it as Sf (1) 、Sf (2) ~Sf (fa) ;

[0234] Get the length of the entrance edge of the first, second, and fath fields, and get Le (1) 、Le (2) ~Le (fa) ;

[0235] Calculate the equivalent tillage time twk for the first field (single agricultural machine operation) (1) :

[0236]

[0237] Equivalent tillage time twk for the second field (with a single agricultural machine) (2) :

[0238]

[0239] Similarly, the equivalent tillage time twk of the fa-th field is (fa) :

[0240]

[0241] Calculate twk (1) :twk (2) :~:twk (fa) The inverse of kin (1) :kin (2) :~:kin (fa) ;

[0242] Calculating kin (1) 、kin (2) ~kin (fa) of andaki;

[0243] The number of agricultural machines allocated to the first field is nft(1) :

[0244]

[0245] The number of agricultural machines allocated to the second field is nft (2) :

[0246]

[0247] Similarly, the number of agricultural machines allocated to the fath field is nft (fa) :

[0248]

[0249] Among them, NFT (1) 、nft (2) ~nft (fa) are all rounded down and are at least 1;

[0250] Process B312: Obtain the safe braking distance hs, braking time tbr, and minimum acceleration time tac of the agricultural machinery; define the speed constraints for multi-agricultural machinery collaboration:

[0251] Obtain the position of agricultural machine α relative to agricultural machine β through satellite positioning;

[0252] Assume that the agricultural machine α is at an angle δ in front of the agricultural machine β, and the distance from the tail of the agricultural machine α to the front of the agricultural machine β is h. (1) ;

[0253] Assume the speed of the agricultural machine α is v (1) , the speed of agricultural machinery β is v (2) (Unless otherwise specified, (1) With v (2) The value of is Vf);

[0254] Compare (h (1) ×cos(δ)) and the size of hs, change the speed of the agricultural machinery β, and define vv (2) The calculation formula is as follows: Formula C1-1 to Formula C1-3;

[0255] If (h (1) ×cos(δ))<hs, then formula C1-1 is:

[0256]

[0257] If (h (1) ×cos(δ))>hs, then formula C1-2 is:

[0258]

[0259] If (h (1)× cos(δ)) = hs, then formula C1-3 is:

[0260] vv (2) =v (2) =Vf;

[0261] Formula C1-1 to Formula C1-3 are used as speed constraints for multi-agricultural machinery collaboration;

[0262] Define steering constraints for multi-machine collaboration:

[0263] Assume that when the agricultural machine α does not turn, the position of the tail of the agricultural machine α is (x (1) ,y (1) ), the position of the agricultural machinery β head is (x (1) ,y (1) );

[0264] Define the position constraints of agricultural machinery α and agricultural machinery β before turning, and obtain formula C2-1:

[0265]

[0266] Obtain the steering angle λ of the agricultural machine α when it turns, and the tail position of the agricultural machine α after turning is (tx (1) ,ty (1) ):

[0267]

[0268] When the agricultural machine α turns, the agricultural machine β stops the tillage operation and keeps the original position unchanged;

[0269] Calculate the vertical distance lh between agricultural machine α and agricultural machine β when turning (2) :lh (2) =ty (1) -y (1) ;

[0270] Compare lh (2) With the size of hs, change the speed of the agricultural machine β and define vv (3) The calculation formulas are as follows: Formulas C2-31 to C2-33;

[0271] If lh (2) <hs, then formula C2-31 is:

[0272]

[0273] If lh (2) >hs, then formula C2-32 is:

[0274]

[0275] If lh(2) =hs, then formula C2-33 is:

[0276] vv (3) =v (2) =Vf;

[0277] Formulas C2-1 to C2-33 are used as steering constraints for multi-agricultural machinery coordination:

[0278] Process B32: If fmn < fa, it means that the target area is not suitable for multi-agricultural machinery cooperation. The fields are classified according to the length of the entrance edge of each field.

[0279] Get the entrance edge length Le of the 1st, 2nd, and fath fields (1) 、Le (2) ~Le (fa) ;

[0280] Calculate the maximum number of agricultural machinery (parallel) tillage nfm for the first field (1) :

[0281] The maximum number of agricultural machines (parallel) tillage for the second field, nfm (2) :

[0282] Similarly, the maximum number of agricultural machines (parallel) tillage for the fa-th field is nfm (fa) :

[0283] Among them, nfm (1) 、nfm (2) ~nfm (fa) All are rounded down, and the minimum value is 1;

[0284] Extract the maximum value in nfm (max) , minimum value nfm (min) , let the maximum number of agricultural machinery (parallel) tillage for the sth field be nfm (s) , the value range of s is: 1~fa;

[0285] Calculating NFM (1) 、nfm (2) ~nfm (fa) The combined mean afm:

[0286]

[0287] The fields with the maximum number of agricultural machinery (parallel tillage) ≥ afm are regarded as Class B fields;

[0288] The fields with the maximum number of agricultural machinery (parallel tillage) less than afm are classified as Class C fields;

[0289] Count the number of Class B plots nfy and the number of Class C plots nfz; where nfy+nfz=fa;

[0290] Compare the size of fmn and nfy, and allocate agricultural machinery to Class B and Class C fields;

[0291] If fmn≤nfy, all agricultural machinery is allocated to Class C plots first, with one machine assigned to each Class C plot. After the Class C plots have completed tillage operations, all agricultural machinery is allocated to Class B plots (Class C plots or Class B plots with the largest number of agricultural machinery (in parallel) will be given priority for agricultural machinery use).

[0292] If fmn>nfy, then calculate the average value afy of the maximum number of agricultural machinery (parallel) tillage corresponding to all Class B plots, and the average value afz of the maximum number of agricultural machinery (parallel) tillage corresponding to all Class C plots; both afy and afz are rounded down, and the minimum value of afy and afz is 1;

[0293] Calculate the total number of agricultural machinery Ayy allocated to all Class B plots:

[0294] Ayy is rounded down;

[0295] Allocate Ayy agricultural machines to all Class B plots first, and allocate agricultural machinery; Round down and be at least 1;

[0296] The remaining agricultural machinery will be allocated to Class C plots, and Class C plots with the largest number of agricultural machinery (parallel farming) will be given priority in the use of agricultural machinery.

[0297] The navigation control module includes: a scheme sharing submodule and a speed control submodule;

[0298] Solution sharing submodule: used to control the movement of agricultural machinery in all fields in the target area according to the speed and steering constraints of single agricultural machinery farming routes and multi-agricultural machinery collaboration (defined by the path planning module);

[0299] Record the operating instructions of agricultural machinery for tilling in a field, and integrate the operating instructions with the location information of the field (that is, when the agricultural machinery enters a field for tillage operations, the system first creates a data storage space; then obtains the location information of the field through satellite positioning, and stores the location information of the field in the data storage space; when the agricultural machinery performs tillage operations in the field, the system records the position, speed, steering, and agricultural implement offset operating instructions of the "agricultural machinery controlled by the user" or "agricultural machinery controlled by this system" during the tillage operation in real time, and saves them in the storage space), generates a sharing code; and stores the sharing code and operating instructions in a data platform (such as a database, cloud server, or other platform for storing and sharing data);

[0300] When the system detects that a certain agricultural machine has input a sharing code, the system obtains the operation instructions defined by the sharing code on the data platform and loads them into the corresponding agricultural machine;

[0301] Speed control submodule: This module is used to monitor the tillage area of each field in the target area. It obtains satellite cloud images of the current time and target area, extracts cloud characteristics (such as infrared band, visible light band, water vapor band, etc.) from the satellite cloud images, and uses the NWP algorithm to determine whether it is raining in the target area. If it is not raining, no action is taken. If it is raining, agricultural machinery is added to each field or the basic tillage speed of the agricultural machinery is increased.

[0302] Process C: The workflow of the speed control submodule is as follows:

[0303] Get the time tsa when the agricultural machinery starts working and the time ten when it ends working in a single day; where ten-tsa=twr;

[0304] Get the current time tda; obtain the satellite cloud image of the target area, extract the cloud characteristics (such as infrared band, visible light band, water vapor band, etc.) of the satellite cloud image, and use the NWP algorithm to determine whether it is raining in the target area;

[0305] If it doesn’t rain, then no treatment;

[0306] If it rains, the NWP algorithm is used to estimate the time when rain will start in the target area on that day.

[0307] Get the arable area of the first, second, and fath fields in the target area and get rS (1) 、rS (2) ~rS (fa) ;

[0308] It should be noted that the "area to be cultivated" in the present invention refers to the area of the field that has not been cultivated by agricultural machinery;

[0309] Get the maximum number of agricultural machinery (parallel) tillage nfm corresponding to the 1st, 2nd, and fath fields in the target area (1) 、nfm (2) ~nfm (fa) ;

[0310] Assume that the area of the sth plot to be cultivated is rS (s) , the maximum number of agricultural machines (parallel) tillage is nfm (s) , the priority coefficient of the sth field is ffr (s) ; The value range of s is: 1~fa;

[0311] ffr (s) The calculation formula is:

[0312] Calculate the priority coefficients of the 1st, 2nd, and fath fields to get ffr (1) 、ffr (2) ~ffr (fa) ; Calculate ffr (1) :ffr (2) :~:ffr (fa) The ratio of rfr (1) :rfr (2) :~:rfr (fa) ;

[0313] Calculate rfr (1) 、rfr (2) ~rfr (fa) of and arf;

[0314] Get the remaining number of agricultural machinery in the target area (the number of unused agricultural machinery in the target area) rfm;

[0315] Compare the size of rfm and fa to determine whether there are enough remaining agricultural machinery in the target area, allocate agricultural machinery to each field, and improve the tillage speed of agricultural machinery;

[0316] If rfm ≥ fa, then there is sufficient surplus agricultural machinery in the target area;

[0317] Assign sfn to the first agricultural machine (1) Agricultural machinery, sfn (1) The calculation formula is:

[0318]

[0319] judge whether it is established;

[0320] If true, the speed of the agricultural machinery performing tillage operations in the first field will not be changed;

[0321] If not, increase the speed of the agricultural machinery used for tillage in the first field from Vf to Vfu. (1) ;

[0322] Vfu (1) The calculation formula is:

[0323]

[0324] Assign sfn to the second farm machine (2) Agricultural machinery, sfn (2) The calculation formula is:

[0325]

[0326] judge whether it is established;

[0327] If true, the speed of the agricultural machinery performing tillage operations in the second field will not be changed;

[0328] If not, increase the speed of the agricultural machinery used for tillage in the second field from Vf to Vfu. (2) ;

[0329] Vfu (2) The calculation formula is:

[0330]

[0331] And so on, assign sfn to the fa-th agricultural machine (fa) Agricultural machinery, sfn (fa) The calculation formula is:

[0332]

[0333] judge whether it is established;

[0334] If it is established, the speed of the agricultural machinery performing tillage operations in the fa-th field will not be changed;

[0335] If not, then increase the speed of the agricultural machinery for tillage operation in the fath field from Vf to Vfu. (fa) ;

[0336] Vfu (fa) The calculation formula is:

[0337]

[0338] Among them, Vfu (1) 、Vfu(2) ~Vfu (fa) Round down, and the minimum value is 1;

[0339] If rfm<fa, then press rfr (1) 、rfr (2) ~rfr (fa) Arrange the 1st, 2nd, and so on to the fath field in descending order to obtain the sequence Til;

[0340] Assign a piece of agricultural machinery to the first rfm fields in the sequence Til, and repeat the above Vfu (1) 、Vfu (2) ~Vfu (fa) The calculation method is used to increase the speed of agricultural machinery performing tillage operations in the 1st to fath fields.

[0341] The above formulas are all dimensionless and calculated by taking their numerical values. The formula is a formula for the most recent real situation obtained by collecting a large amount of data and performing software simulation. The preset parameters in the formula are set by technicians in this field according to actual conditions. For example, if there are weight coefficients and proportional coefficients, the size of the settings is to quantify each parameter to obtain a specific value, which is convenient for subsequent comparison. Regarding the size of the weight coefficient and the proportional coefficient, as long as it does not affect the proportional relationship between the parameter and the quantized value, it is fine.

[0342] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the above-described 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-described embodiments within the technical scope disclosed by the present invention, or replace some of the technical features therein with equivalents. Such modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. An automatic navigation system for agricultural machinery based on satellite positioning technology, characterized in that: The system comprises: Data acquisition module: used to obtain the number of fields in the target area, the location and area of each field, and obtain field information; obtain the number and mechanical information of agricultural machinery and the maximum working time of agricultural machinery, and calculate the basic tillage speed of agricultural machinery; Path planning module: This module calculates the minimum reserved width for agricultural machinery based on field and machine information; defines the tillage route for a single agricultural machinery plot based on the relationship between the minimum reserved width, field area, and the length of the entrance edge; obtains relevant data on agricultural machinery braking, allocates agricultural machinery to the plot based on the relationship between the number of agricultural machinery and field plots, and defines speed and steering constraints for multi-machine collaboration; The navigation control module includes: a scheme sharing submodule and a speed control submodule; Solution Sharing Submodule: This module is used to control the movement of agricultural machinery within all plots in the target area based on the speed and steering constraints of single-machine tillage routes and multi-machine collaboration. It also records the operating instructions of agricultural machinery in the fields and integrates the operating instructions with the location information of the fields to generate a sharing code. The sharing code and operating instructions are then stored in the data platform. Speed control submodule: used to monitor the tillage area of each field in the target area; obtain satellite cloud images of the current time and target area, extract cloud features from the satellite cloud images, and add agricultural machinery to each field or increase the basic tillage speed of agricultural machinery.

2. The automatic navigation system for agricultural machinery based on satellite positioning technology according to claim 1, characterized in that: The workflow for calculating basic tillage speed is as follows: Mechanical information of agricultural machinery includes: gross weight, tire pitch, wheelbase, length, maximum steering angle, frontal area, rated power, and length and width of the implement; The number of plots is fa, and the area of all plots is Sf (1) ~Sf (fa) ; Calculate the minimum tillage speed v based on the width Wi of the implement and the maximum working time twr (min) ; According to the total weight of the agricultural machinery Mm, the rated power P (max) , frontal area Aw, static friction coefficient μ, calculate v (min) The corresponding power P(v (min) ); Judge P(v (min) )≤P (max) whether it is established; If this is true, the basic tillage speed of the agricultural machinery is v (min) ; If not, calculate P (max) The corresponding speed v(P (max) ); Let the initial velocity v (0) for: Among them, ρa represents the air density, Cd represents the air drag coefficient; Use Newton's iterative algorithm to calculate v (0) Iterate and get the speed vg; Judge v(P (max) ) is within ε, where ε represents the error determination coefficient. If it is within ε, the basic tillage speed of the agricultural machinery is vg; If it is not within ε, the basic tillage speed of the agricultural machinery is v(P (max) ) to enter the path planning module.

3. The automatic navigation system for agricultural machinery based on satellite positioning technology according to claim 2, characterized in that: The workflow of the path planning module is as follows: According to the length of the agricultural machine La, the maximum steering angle θ (max) , tire distance Hf, wheelbase Lf and implement length Di, calculate the minimum turning radius R of the agricultural machinery (min) and the minimum reserved width W (min) ; Obtain the basic tillage speed Vf of the agricultural machinery; define the tillage route of a single agricultural machinery field; Compare the number of agricultural machines fmn and fa, and define the speed and steering constraints of multi-agricultural machine collaboration; If fmn ≥ fa, then agricultural machinery is allocated to each field according to the area of the field, and the speed and steering constraints of multi-machine collaboration are defined; If fmn < fa, it means that the target area is not suitable for multi-agricultural machinery cooperation. The fields are classified according to the length of the entrance side of each field; Get the length of the entrance edge Le of the 1st to fath fields (1) ~Le (fa) , calculate the maximum number of agricultural machinery tillage nfm for the 1st to fath fields (1) ~nfm (fa) ; Calculate the average value afm, and classify the fields with the maximum number of agricultural machinery cultivation greater than or equal to afm as Class B fields; the fields with the maximum number of agricultural machinery cultivation less than afm as Class C fields; Count the number of Class B plots nfy and the number of Class C plots nfz; Compare the size of fmn and nfy, and allocate agricultural machinery to Class B and Class C fields; If fmn≤nfy, first allocate the agricultural machinery to the Class C plots, with one agricultural machinery allocated to each Class C plot; then allocate the agricultural machinery to the Class B plots; If fmn>nfy, then calculate the mean afy of the maximum number of agricultural machinery cultivation corresponding to Class B fields, and the mean afz of the maximum number of agricultural machinery cultivation corresponding to Class C fields; Calculate the total number of agricultural machinery Ayy allocated to all Class B plots; first allocate Ayy agricultural machinery to Class B plots, and then allocate the agricultural machinery to Class C plots.

4. The automatic navigation system for agricultural machinery based on satellite positioning technology according to claim 3, characterized in that: The process of defining a single agricultural machine farming route is as follows: Let the entrance edge of the field (A, B, C, D) be AD edge, and the length of AD edge be L (AD) ; Take point E or F of the field as the starting point; point E is due south of point A and the distance from point A is W (min) ; Point F is due north of point D and its distance from point D is W (min) ; The length of side EF is L (EF) ; If L (EF) Can be divided by Wi, then define route A(1): Process S (1,1) :The agricultural machine starts from point E or F and travels in the east direction (L (AB) -W (min) ) distance, in Ja (1) Point steering; Process S (1,2) :In Ja (1) Click Turn Right to turn the machine toward AD. The turning duration is Twh: Calculate the left movement distance Xle of the agricultural implement from point 1 to (Twh / 4) (1) ~Xle (Twh / 4) ; Turn 1 to Within seconds, press the Xle key to (1) ~Xle (Twh / 4) The distance is shifted to the left; At the turning To Within seconds, press the Xle key to (Twh / 4) ~Xle (1) The distance moves right; Repeat this process, the agricultural machine completes the turn and plows the area (E, F, Ja (1) ,Ka (1) ); Process S (1,3) : Comparison of Wi and W (min) Size, define area (A, B, C, D, F, Ka (1) ,Ja (1) ,E)’s farming routes; Process S (1,4) :If Wi ≥ W (min) , then the agricultural machinery travels After seconds, turn right to the AD direction and complete the area (F,Ka (1) ,Oa (1) ,D) farming; Agricultural machinery along the AB side, the farming area (A, B, Ua (1) ,E); Process S (1,5) :If Wi<W (min) , then the agricultural machinery is along the AB side, the tillage area (A, B, Ua (1) ,E); Agricultural machinery along the DC edge, farming area (F,Ua (2) ,C,D); Summarize process S (1,1) ~ to process S (1,5) The corresponding agricultural machinery driving route and turning position are taken as route A(1); If L (EF) If it is not divisible by Wi, then define route A(2).

5. The automatic navigation system for agricultural machinery based on satellite positioning technology according to claim 4, characterized in that: The process of defining route A(2) is as follows: Process S (2,1) :A (2) route operation process: calculate The remainder Rem of The nearest integer Zap; Compare L (EF) and the size of (Zap×Wi), determine the position of point Ia; If L (EF) >(Zap×Wi), then point Ia is north of point F; If L (EF) <(Zap×Wi), then point Ia is south of point F; Process S (2,2) :Translate BC to the west by Wi distance, and get B (1) C (1) Side; Extend point Ia along the DC side to the BC side and connect it with B (1) C (1) Edges intersect at Ia (1) Point, intersecting with BC at Ia (2) point; Add Ja to fields (A, B, C, D) (1) Point and Ua (1) Point, cultivated area (E, Ja (1) ,Ia (1) ,I) and area (A,B,Ua (1) ,E); Process S (2,3) : Extend point F along the DC side to the BC side and connect it with B (1) C (1) Edges intersect at Fa (1) Point, intersecting with BC side at Fa (2) point; Let the length of the IaD side be L (IaD) ; Compare L (IaD) With the size of Wi, determine the area (Fa (1) ,Fa (2) ,Ia (1) ,Ia (2) ) and area (F,Fa (2) ,C,D) farming routes; Process S (2,4) :If L (IaD) >Wi, then the agricultural machinery completion area (E,Ja (1) ,Ia (1) ,I) after the tillage operation, the agricultural machinery in Fa (2) Turn right to the AD side and move along the DC side toward point F. Move the implement back and forth to the left by Xlt per second to complete the area (Fa (1) ,Fa (2) ,Ia (1) ,Ia (2) ) Process S (2,5) :If L (IaD) <Wi, then move the agricultural machinery along DC edge, the tillage area (Fa (1) ,Fa (2) ,Ia (1) ,Ia (2) ) and area (F,Fa (2) ,C,D); Summarize process S (1,1) ~Process S (1,5) The corresponding agricultural machinery driving route and turning position are taken as route A(2).

6. The automatic navigation system for agricultural machinery based on satellite positioning technology according to claim 3, characterized in that: The process of assigning agricultural machinery to a field is as follows: Get the area Sf of the 1st to fath fields (1) ~Sf (fa) Entrance side length Le (1) ~Le (fa) ; Calculate the equivalent tillage time twk for the 1st to fath fields (1) ~twk (fa) ; Calculate twk (1) ~twk (fa) The inverse of kin (1) ~kin (fa) ; Calculating kin (1) ~kin (fa) of andaki; The number of agricultural machines allocated to the first field is nft (1) : Similarly, the number of agricultural machines allocated to the fath field is nft (fa) .

7. The automatic navigation system for agricultural machinery based on satellite positioning technology according to claim 3, characterized in that: The process of defining speed and steering constraints is as follows: Obtain the safe braking distance hs, braking time tbr, and shortest acceleration time tac of the agricultural machinery; Assume that the agricultural machine α is at an angle δ in front of the agricultural machine β, and the distance from the tail of the agricultural machine α to the front of the agricultural machine β is h. (1) ; Assume that the speed of the agricultural machine β is v (2) , the speed of the agricultural machine β after a change is vv (2) ; Compare (h (1) × cos(δ)) and hs, we can obtain Formulas C1-1 to C1-3; If (h (1) ×cos(δ))<hs, then formula C1-1 is: If (h (1) ×cos(δ))>hs, then formula C1-2 is: If (h (1) × cos(δ)) = hs, then formula C1-3 is: vv (2) =v (2) =Vf; Formula C1-1 to Formula C1-3 are used as speed constraints for multi-agricultural machinery collaboration; Define the steering constraint: Assume that when the agricultural machine α does not turn, the position of the tail of the agricultural machine α is (x (1) ,y (1) ), the position of the agricultural machinery β head is (x (1) ,y (1) ); Define the position constraint: Assume that the steering angle λ of the agricultural machine α when turning, and the tail position after turning is (tx (1) ,ty (1) ): Calculate the vertical distance lh (2) ; Assume that the speed of the agricultural machinery β after the second change is vv (3) , compared with lh (2) and the size of hs, we obtain Formulas C2-31 to C2-33; If lh (2) <hs, then formula C2-31 is: If lh (2) >hs, then formula C2-32 is: If lh (2) =hs, then formula C2-33 is: vv (3) =v (2) =Vf; Formulas C2-1 to C2-33 are used as steering constraints for multi-agricultural machinery collaboration.

8. The automatic navigation system for agricultural machinery based on satellite positioning technology according to claim 1, characterized in that: The workflow of the speed control submodule is as follows: Get the start time tsa and end time ten of the agricultural machinery work; Get the current time tda; obtain the satellite cloud image of the target area, extract the cloud features of the satellite cloud image, and use the NWP algorithm to determine whether it is raining in the target area; If it doesn’t rain, then no treatment; If it rains, the estimated time it will start raining is tra; Get the tillage area rS of the first to fath fields in the target area (1) ~rS (fa) , maximum number of agricultural machinery tillage nfm (1) ~nfm (fa) ; Calculate the priority coefficient ffr of the 1st to fath fields (1) ~ffr (fa) ; Calculate ffr (1) ~ffr (fa) The ratio rfr (1) ~rfr (fa) ; Calculate rfr (1) ~rfr (fa) of and arf.

9. The automatic navigation system for agricultural machinery based on satellite positioning technology according to claim 8, characterized in that: The workflow of the speed control submodule also includes: Get the remaining number of agricultural machinery rfm; Compare the size of rfm and fa to determine whether there are enough remaining agricultural machinery in the target area, allocate agricultural machinery to each field, and improve the tillage speed of agricultural machinery; If rfm ≥ fa, then there is sufficient surplus agricultural machinery in the target area; Assign sfn to the first agricultural machine (1) agricultural machinery; Judgment [[(sfn (1) ×Wi×Vf)×(tra-tda)]-rS (1) ]≥0 is true; If true, the speed of the agricultural machinery in the first field will not be changed; If not, increase the speed of the agricultural machinery in the first field to Vfu (1) : Similarly, assign sfn to the fa-th agricultural machine (fa) Farm machines and increase the speed of the farm machines in the fath field; If rfm<fa, then press rfr (1) 、rfr (2) ~rfr (fa) Arrange the 1st, 2nd, and so on to the fath field in descending order to obtain the sequence Til; Assign a piece of agricultural machinery to the first rfm fields in the sequence Til, and repeat the above Vfu (1) ~Vfu (fa) The calculation method is used to increase the speed of agricultural machinery performing tillage operations in the 1st to fath fields.

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