Agricultural machine trajectory tracking system based on multi-data fusion

Abstract

The invention relates to the technical field of agricultural machinery tracking, in particular to an agricultural machinery trajectory tracking system based on multi-data fusion, which comprises a farmland information processing module used for acquiring farmland information, and a farmland region division unit used for dividing a farmland into a working region and a field edge turning region; the working area strip processing unit is used for extending to the other side by taking the width of the agricultural machine as the width and taking any one of the longer boundary line segments as a starting point so as to segment the working area to generate a barrier-free running track; the obstacle strip processing unit is used for planning to generate a bypassing track of the agricultural machine under the condition that an obstacle exists in a normal working area; the turning-around path generating unit is used for generating a U-shaped turning-around path in an arc-line-arc form according to the turning radius parameter and the coordinates of the two working straight lines; therefore, the operation route of the agricultural machine can be accurately planned, and the agricultural machine can successfully avoid obstacles in the operation process.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery tracking technology, and in particular to an agricultural machinery trajectory tracking system based on multi-data fusion. Background Technology

[0002] With the rapid development of technologies such as integrated network positioning and high-precision positioning, automatic driving technology for agricultural machinery has been widely applied in agricultural production, thereby reducing the labor intensity of farmers and improving the overall quality and efficiency of operations. Compared to the traditional method of controlling agricultural machinery through the driver's subjective judgment, the planned paths calculated by computer planning algorithms can significantly improve the quality and efficiency of agricultural machinery operations while saving energy consumption.

[0003] Currently, the planning of agricultural machinery paths during farmland operations is not accurate enough, especially when there are obstacles in the farmland. How to ensure that the planned path successfully avoids obstacles during agricultural machinery operations is one of the urgent problems to be solved. Summary of the Invention

[0004] To address the technical problems existing in the background art, the present invention provides an agricultural machinery trajectory tracking system based on multi-data fusion, comprising: a farmland information processing module and a path planning module. The farmland information processing module is used to acquire farmland information, which includes rectangular farmland outline information and rectangular obstacle outline information. The path planning module is used to plan the travel path of agricultural machinery based on the acquired farmland information. The path planning module includes: a width calculation unit required for agricultural machinery to turn around, a farmland area division unit, a work area strip processing unit, an obstacle strip processing unit, and a turning path generation unit. The unit for calculating the width required for agricultural machinery to turn around is used to calculate the required width d for turning around the agricultural machinery based on the minimum turning radius r and the width w of the agricultural machinery. The calculation formula is as follows: ; Farmland area division unit, used to divide farmland into working area and field turning area based on rectangular farmland outline information and the width d required for agricultural machinery to turn around; The work area strip processing unit is used to extend from any one of the longer boundary segments to the other side, with the width of the agricultural machinery as the width, and finally complete the division of the entire work area into work strips to generate an unobstructed running trajectory. The obstacle strip processing unit is used to plan and generate the detour trajectory of agricultural machinery when there are obstacles in the normal working area; The U-turn path generation unit is used to generate a U-shaped turning path in the form of "arc-line-arc" based on the turning radius parameter and the coordinates of the two working straight lines.

[0005] Furthermore, the farmland information processing module includes: a farmland contour acquisition unit and an obstacle contour acquisition unit; The farmland contour acquisition unit is used to measure the farmland contour to obtain farmland contour data, and to process the obtained farmland contour data to generate rectangular farmland contour information. The obstacle contour acquisition unit is used to measure the contours of obstacles in farmland to obtain obstacle contour data, and to process the obstacle contour data to generate rectangular obstacle contour information.

[0006] Furthermore, the farmland area delineation unit includes a boundary determination unit and a delineation unit; Boundary determination unit is used to find two farmland boundary segments with relatively short lengths in the rectangular farmland outline information; The division unit is used to shift the boundary line segments of two smaller farmland segments inward by a distance d, dividing the farmland into a normal working area and a field turning area.

[0007] Furthermore, the obstacle strip processing unit includes an obstacle judgment module and an obstacle avoidance processing module; The obstacle detection module is used to determine whether an obstacle is a large obstacle or a small obstacle; The obstacle avoidance processing module is used to process obstacle paths to generate avoidance paths.

[0008] Furthermore, the obstacle path avoidance processing to generate an avoidance path includes: If the obstacle is small, perform the following steps: If the minimum turning radius of the agricultural machinery is R≤w / 2, the turning radius of arcs AB and EG is the minimum turning radius of the agricultural machinery R, ​​the turning radius of arcs BC and DE is w / 2, and the centers O3 and O4 of arcs BC and DE are the two upper boundary points of the obstacle. The length of the straight line CD segment is the same as the length of the upper boundary of the obstacle, and the distance between the straight line CD and the boundary of the obstacle is kept at w / 2. If the minimum turning radius R of the agricultural machinery satisfies w≥R>w / 2, then the centers O3 and O4 of the arcs BC and DE are respectively shifted downwards by a distance of Rw / 2 along the vertical direction of the working path, and the straight line segment CD is adjusted so that the distance between the straight line segment CD and the obstacle is always kept at a distance of w / 2. This helps the agricultural machinery shorten the obstacle avoidance path length and reduce the leveling repetition rate when turning normally.

[0009] Furthermore, the obstacle path avoidance processing to generate an avoidance path includes: If the obstacle is a large obstacle, perform the following steps: B1: Divide the farmland into four regions P1, P2, P3 and P4 according to the top, bottom and left and right sides of the obstacle boundary; among them, regions P1 and P2 are the regions on the left and top sides of the obstacle, respectively, and regions P3 and P4 are the regions on the bottom and right sides of the obstacle. B2: Select the farmland entrance and exit in the upper left corner, and the turning mode at the edge of the field is semi-circular. Plan the reciprocating path for P1, P2, P3 and P4 in sequence under the condition of no obstacles, and then connect the paths of each sub-area. The paths from P1 to P2 and from P3 to P4 can be directly connected end to end, but the paths from P2 and P3 need to be detoured clockwise along the boundary of the obstacle before connecting.

[0010] The beneficial effects of this invention are as follows: (1) This invention divides the farmland into working areas and turning areas by surveying the farmland outline and obstacle outline, and according to the farmland outline, obstacle outline, and the parameters of the agricultural machinery itself, and plans the route according to the size of the obstacle, which helps to achieve accurate planning of the agricultural machinery operation route, and also enables the successful avoidance of obstacles during the operation of the agricultural machinery.

[0011] (2) This invention addresses the problem of full-coverage path planning for automatic operation of agricultural machinery vehicles under different sizes and types of obstacles, and proposes a static full-coverage path planning method and path optimization scheme. Based on rectangular field information, obstacle information, minimum turning radius of agricultural machinery and width of implements, the working direction, working row spacing, turning area at the edge of the field and turning mode are automatically selected; the algorithm is optimized and adjusted according to the shape of obstacles and the requirements of high coverage and high working path ratio to achieve better working results. Attached Figure Description

[0012] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0013] Figure 1 This is a block diagram of an agricultural machinery trajectory tracking system based on multi-data fusion according to the present invention; Figure 2 This is a schematic diagram of obstacle avoidance for small obstacles when R≤w / 2 according to the present invention; Figure 3 This is a schematic diagram of obstacle avoidance for small obstacles when R > w / 2 according to the present invention; Figure 4 This is a schematic diagram of the reciprocating path field segmentation of the present invention. Detailed Implementation

[0014] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0015] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, each technical and scientific term used in these embodiments has the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0016] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0017] In this invention, terms such as "upper," "lower," "left," "right," "front," "back," "vertical," "horizontal," "side," and "bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are used only to facilitate the description of the structural relationships of the various components or elements of this invention and do not specifically refer to any component or element in this invention. They should not be construed as limiting the invention.

[0018] In this invention, terms such as "fixed connection," "connected," and "linked" should be interpreted broadly, indicating a fixed connection, an integral connection, or a detachable connection; a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can determine the specific meaning of these terms in this invention based on the specific circumstances, and they should not be construed as limitations on the invention.

[0019] Example 1: As Figure 1 As shown, this embodiment provides an agricultural machinery trajectory tracking system based on multi-data fusion, including: (a) Farmland information processing module, used to acquire farmland information, including farmland outline information and obstacle outline information; The farmland information processing module includes: a farmland outline acquisition unit and an obstacle outline acquisition unit; The farmland contour acquisition unit is used to measure the farmland contour to obtain farmland contour data, and to process the obtained farmland contour data to generate rectangular farmland contour information. The obstacle contour acquisition unit is used to measure the contours of obstacles in farmland to obtain obstacle contour data, and to process the obstacle contour data to generate rectangular obstacle contour information. (ii) Path planning module, used to plan the travel path of agricultural machinery based on the acquired farmland information.

[0020] The route planning module includes: (1) The width calculation unit required for agricultural machinery to turn around is used to calculate the width d required for agricultural machinery to turn around based on the minimum turning radius r and the width w of the agricultural machinery. The calculation formula is as follows: ; (2) Farmland area division unit, used to divide farmland into working area and field turning area based on rectangular farmland outline information and the width d required for agricultural machinery to turn around; Farmland area delineation units include boundary definition units and delineation units; Boundary determination unit is used to find two farmland boundary segments with relatively short lengths in the rectangular farmland outline information; The division unit is used to shift the boundary line segments of two smaller farmland segments inward by a distance d, dividing the farmland into a normal working area and a field turning area.

[0021] (3) The working area strip processing unit is used to extend the working area strip from the width of the agricultural machinery to the other side, starting from any one of the longer boundary line segments, and finally complete the division of the working area into working strips to generate the agricultural machinery running trajectory.

[0022] (4) Obstacle strip processing unit, used to plan the detour trajectory of agricultural machinery when there are obstacles in the normal working area; The obstacle strip processing unit is used to determine whether an obstacle is a large obstacle or a small obstacle.

[0023] Specifically, the size of the obstacle is determined by judging the relationship between the radius R of the circumcircle of the obstacle and the width w of the agricultural machinery; It should be noted that the obstacle outlines obtained in this paper are rectangular obstacle outlines. Therefore, the relationship between the minimum circumscribed circle radius of the rectangular obstacle outline and the working row spacing is used as the standard for distinguishing between small and large obstacles. When the circumscribed circle radius R of the obstacle is less than or equal to the width w of the agricultural machinery, the obstacle is defined as a small obstacle; otherwise, the obstacle is defined as a large obstacle.

[0024] A: If the obstacle is small, then perform the following steps (e.g.) Figure 2 (as shown) A1: If the minimum turning radius of the agricultural machinery R ≤ w / 2, perform the following steps: A11: Divide the obstacle avoidance trajectory into circular arc AB, circular arc BC, straight line CD, circular arc DE, and circular arc EG; Specifically, the turning radius of arcs AB and EG is the minimum turning radius R of the agricultural machinery, the turning radius of arcs BC and DE is w / 2, and the centers O3 and O4 of arcs BC and DE are the two upper boundary points of the obstacle. The length of the straight line CD segment is the same as the length of the upper boundary of the obstacle, and the distance between the straight line CD and the boundary of the obstacle is kept at w / 2.

[0025] A12: Obtain the coordinates of the starting point (point A) and ending point (point G) of the obstacle avoidance trajectory, as well as the coordinates of the center of the obstacle, the center O3 of arc BC, and the center O4 of arc DE; A13: Based on the coordinates of the starting point (point A) and ending point (point G) of the obstacle avoidance trajectory, as well as the coordinates of the center of the obstacle, the center O3 of arc BC, and the center O4 of arc DE, calculate the angles of arcs AB, EG, DE, and BC respectively.

[0026] A14: Use the parametric equations of the arcs to iteratively find the coordinates of the three arc segments.

[0027] A2: If the minimum turning radius R of the agricultural machinery satisfies w≥R>w / 2 ( Figure 3 (As shown), perform the following steps; The centers O3 and O4 of arcs BC and DE are shifted downwards by a distance Rw / 2 along the vertical direction of the work path, respectively. The straight line segment CD is adjusted so that the distance between the straight line segment CD and the obstacle is always kept at w / 2. This helps the agricultural machinery shorten the obstacle avoidance path length and reduce the leveling repetition rate when turning normally.

[0028] B: If the obstacle is a large obstacle, then perform the following steps: B1: Divide the farmland into four regions P1, P2, P3, and P4 according to the top, bottom, left, and right boundaries of the obstacle (e.g., ...). Figure 4 (as shown in the figure). Among them, P1 and P2 are the areas on the left and top sides of the obstacle, respectively, and P3 and P4 are the areas on the bottom and right sides of the obstacle.

[0029] B2: Select the farmland entrance and exit in the upper left corner, and the turning mode at the edge of the field is semi-circular. Plan the reciprocating path for P1, P2, P3 and P4 in sequence under the condition of no obstacles, and then connect the paths of each sub-area. The paths from P1 to P2 and from P3 to P4 can be directly connected end to end, but the paths from P2 and P3 need to be detoured clockwise along the boundary of the obstacle before connecting.

[0030] (5) U-turn path generation unit, which can generate a U-shaped turning path in the form of "arc-line-arc" based on the turning radius parameter and the coordinates of the two working straight lines; (6) Final path generation unit, used to generate the final agricultural machinery driving path based on the turning and U-turn path, the detour trajectory of the agricultural machinery and the barrier-free operation trajectory.

[0031] Example 2: This example provides a method for tracking agricultural machinery trajectories based on multi-data fusion, including: S1: Obtain farmland information, which includes farmland outline information and obstacle outline information; Specifically, it includes the following steps: S1-1: Measure the farmland outline to obtain farmland outline data, and process the obtained farmland outline data to generate rectangular farmland outline information; S1-2: Measure the outline of obstacles in the farmland to obtain obstacle outline data, and process the obstacle outline data to generate rectangular obstacle outline information; S2: Based on the acquired farmland information, plan the travel path of agricultural machinery.

[0032] Specifically, the following steps are included: S2-1: Based on the minimum turning radius r and width w of the agricultural machinery, calculate the width d required for the agricultural machinery to turn around. The calculation formula is as follows: ; S2-2: Based on the rectangular farmland outline information and the width d required for the agricultural machinery to turn around, the farmland is divided into a working area and a turning area at the edge of the field; Specifically, the two shorter farmland boundary segments in the rectangular farmland outline information are identified by the boundary determination unit, and the two shorter farmland boundary segments are each shifted inward by a distance d to divide the farmland into a normal working area and a field turning area.

[0033] S2-3: Using the width of the agricultural machinery as the width, starting from any one of the longer boundary segments, extend to the other side to finally complete the division of the entire work area into work strips, so as to generate the agricultural machinery running trajectory.

[0034] S2-4: Plan the detour trajectory of agricultural machinery when there are obstacles in the normal working area; Specifically, the following steps are included: First, determine whether the obstacle is large or small. Specifically, determine the size of the obstacle by judging the relationship between the radius R of the obstacle's circumscribed circle and the width w of the agricultural machinery. It should be noted that the obstacle outlines obtained in this paper are rectangular obstacle outlines. Therefore, the relationship between the minimum circumscribed circle radius of the rectangular obstacle outline and the working row spacing is used as the standard for distinguishing between small and large obstacles. When the circumscribed circle radius R of the obstacle is less than or equal to the width w of the agricultural machinery, the obstacle is defined as a small obstacle; otherwise, the obstacle is defined as a large obstacle.

[0035] A: If the obstacle is small, then perform the following steps: A1: If the minimum turning radius of the agricultural machinery R ≤ w / 2 (e.g. Figure 2 (As shown), perform the following steps: A11: Divide the obstacle avoidance trajectory into circular arc AB, circular arc BC, straight line CD, circular arc DE, and circular arc EG; Specifically, the turning radius of arcs AB and EG is the minimum turning radius R of the agricultural machinery, the turning radius of arcs BC and DE is w / 2, and the centers O3 and O4 of arcs BC and DE are the two upper boundary points of the obstacle. The length of the straight line CD segment is the same as the length of the upper boundary of the obstacle, and the distance between the straight line CD and the boundary of the obstacle is kept at w / 2.

[0036] A12: Obtain the coordinates of the starting point (point A) and ending point (point G) of the obstacle avoidance trajectory, as well as the coordinates of the center of the obstacle, the center O3 of arc BC, and the center O4 of arc DE; A13: Based on the coordinates of the starting point (point A) and ending point (point G) of the obstacle avoidance trajectory, as well as the coordinates of the center of the obstacle, the center O3 of arc BC, and the center O4 of arc DE, calculate the angles of arcs AB, EG, DE, and BC respectively.

[0037] A14: Use the parametric equations of the arcs to iteratively find the coordinates of the three arc segments.

[0038] A2: If the minimum turning radius R of the agricultural machinery satisfies w≥R>w / 2 ( Figure 3 (As shown), perform the following steps; The centers O3 and O4 of arcs BC and DE are shifted downwards by a distance Rw / 2 along the vertical direction of the work path, respectively. The straight line segment CD is adjusted so that the distance between the straight line segment CD and the obstacle is always kept at w / 2. This helps the agricultural machinery shorten the obstacle avoidance path length and reduce the leveling repetition rate when turning normally.

[0039] B: If the obstacle is a large obstacle, then perform the following steps: B1: Divide the farmland into four regions P1, P2, P3, and P4 according to the top, bottom, left, and right boundaries of the obstacle. Figure 4 (as shown in the figure). Among them, P1 and P2 are the areas on the left and top sides of the obstacle, respectively, and P3 and P4 are the areas on the bottom and right sides of the obstacle.

[0040] B2: Select the farmland entrance and exit in the upper left corner, and the turning mode at the edge of the field is semi-circular. Plan the reciprocating path for P1, P2, P3 and P4 in sequence under the condition of no obstacles, and then connect the paths of each sub-area. The paths from P1 to P2 and from P3 to P4 can be directly connected end to end, but the paths from P2 and P3 need to be detoured clockwise along the boundary of the obstacle before connecting.

[0041] S2-5: Based on the turning radius parameters and the coordinates of the two working straight lines, a U-shaped turning path in the form of "arc-line-arc" can be generated; S2-6: Generate the final agricultural machinery driving path based on the turning and U-turn path, the detour trajectory of the agricultural machinery, and the unobstructed operation trajectory.

[0042] The same or similar parts between the various embodiments in this specification can be referred to mutually. In particular, the terminal embodiments are basically similar to the method embodiments, so the description is relatively simple, and the relevant parts can be referred to the description in the method embodiments.

[0043] In the embodiments provided by this invention, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between systems or units may be electrical, mechanical, or other forms.

[0044] 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.

[0045] Additionally, it should be noted that the flowcharts in the accompanying drawings illustrate methods according to embodiments of this disclosure. In the descriptions corresponding to the flowcharts or block diagrams in the drawings, the operations or steps corresponding to different blocks may occur in a different order than disclosed in the description; sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps may actually be executed substantially in parallel, or sometimes in reverse order, depending on the function involved. Each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions.

[0046] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An agricultural machinery trajectory tracking system based on multi-data fusion, characterized in that, include: Farmland information processing module and path planning module, The farmland information processing module is used to acquire farmland information, which includes rectangular farmland outline information and rectangular obstacle outline information. The path planning module is used to plan the travel path of agricultural machinery based on the acquired farmland information. The path planning module includes: a width calculation unit required for agricultural machinery to turn around, a farmland area division unit, a work area strip processing unit, an obstacle strip processing unit, and a turning path generation unit. The unit for calculating the width required for agricultural machinery to turn around is used to calculate the required width d for turning around the agricultural machinery based on the minimum turning radius r and the width w of the agricultural machinery. The calculation formula is as follows: ； Farmland area division unit, used to divide farmland into working area and field turning area based on rectangular farmland outline information and the width d required for agricultural machinery to turn around; The work area strip processing unit is used to extend from any one of the longer boundary segments to the other side, with the width of the agricultural machinery as the width, and finally complete the division of the entire work area into work strips to generate an unobstructed running trajectory. The obstacle strip processing unit is used to plan and generate the detour trajectory of agricultural machinery when there are obstacles in the normal working area; The U-turn path generation unit is used to generate a U-shaped turning path in the form of "arc-line-arc" based on the turning radius parameter and the coordinates of the two working straight lines.

2. The agricultural machinery trajectory tracking system based on multi-data fusion according to claim 1, characterized in that, The farmland information processing module includes: a farmland outline acquisition unit and an obstacle outline acquisition unit; The farmland contour acquisition unit is used to measure the farmland contour to obtain farmland contour data, and to process the obtained farmland contour data to generate rectangular farmland contour information. The obstacle contour acquisition unit is used to measure the contours of obstacles in farmland to obtain obstacle contour data, and to process the obstacle contour data to generate rectangular obstacle contour information.

3. The agricultural machinery trajectory tracking system based on multi-data fusion according to claim 1, characterized in that, The farmland area delineation unit includes a boundary determination unit and a delineation unit; Boundary determination unit is used to find two farmland boundary segments with relatively short lengths in the rectangular farmland outline information; The division unit is used to shift the boundary line segments of two smaller farmland segments inward by a distance d, dividing the farmland into a normal working area and a field turning area.

4. The agricultural machinery trajectory tracking system based on multi-data fusion according to claim 1, characterized in that, The obstacle strip processing unit includes an obstacle judgment module and an obstacle avoidance processing module; The obstacle detection module is used to determine whether an obstacle is a large obstacle or a small obstacle; The obstacle avoidance processing module is used to process obstacle paths to generate avoidance paths.

5. The agricultural machinery trajectory tracking system based on multi-data fusion according to claim 4, characterized in that, The obstacle path avoidance process to generate an avoidance path includes: If the obstacle is small, perform the following steps: If the minimum turning radius of the agricultural machinery is R≤w / 2, the turning radius of arcs AB and EG is the minimum turning radius of the agricultural machinery R, ​​the turning radius of arcs BC and DE is w / 2, and the centers O3 and O4 of arcs BC and DE are the two upper boundary points of the obstacle. The length of the straight line CD segment is the same as the length of the upper boundary of the obstacle, and the distance between the straight line CD and the boundary of the obstacle is kept at w / 2. If the minimum turning radius R of the agricultural machinery satisfies w≥R>w / 2, then the centers O3 and O4 of the arcs BC and DE are respectively shifted downwards by a distance of Rw / 2 along the vertical direction of the working path, and the straight line segment CD is adjusted so that the distance between the straight line segment CD and the obstacle is always kept at a distance of w / 2. This helps the agricultural machinery shorten the obstacle avoidance path length and reduce the leveling repetition rate when turning normally.

6. The agricultural machinery trajectory tracking system based on multi-data fusion according to claim 4, characterized in that, The obstacle path avoidance process to generate an avoidance path includes: If the obstacle is a large obstacle, perform the following steps: B1: Divide the farmland into four regions P1, P2, P3 and P4 according to the top, bottom and left and right sides of the obstacle boundary; among them, regions P1 and P2 are the regions on the left and top sides of the obstacle, respectively, and regions P3 and P4 are the regions on the bottom and right sides of the obstacle. B2: Select the farmland entrance and exit in the upper left corner, and the turning mode at the edge of the field is semi-circular. Plan the reciprocating path for P1, P2, P3 and P4 in sequence under the condition of no obstacles, and then connect the paths of each sub-area. The paths from P1 to P2 and from P3 to P4 can be directly connected end to end, but the paths from P2 and P3 need to be detoured clockwise along the boundary of the obstacle before connecting.

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