Ridging machine in-field path planning method for soil mechanical compaction subduction

Abstract

The invention discloses a ridger in-field path planning method for soil mechanical compaction and reduction, and belongs to the field of agricultural machinery dispatching. The invention aims to solve the problem that the traditional ridging operation causes soil compaction and affects the growth of crops. Comprising the steps of collecting position information of an operation field to obtain an effective point set; extracting to obtain a contour boundary of the operation field parcel, and performing grid division to obtain a grid map matrix; a ridging operation direction angle is determined according to the effective point set of the operation field, and a ridger single-row operation path is planned based on a grid map matrix by adopting an algorithm, so that the ridging operation path is shortest; turning planning of two adjacent ridging operations is carried out by adopting an Ackerman turning strategy, and a turning mode is selected according to the current minimum turning radius; based on the single-row operation path, a grid map matrix is adopted for global path planning, so that the sum of the global path cost and the rolling cost is minimum; and a global optimal path is obtained through dynamic tabu search. The method is used for ridging path planning.

Description

TECHNICAL FIELD

[0001] The application relates to a ridge former in-field path planning method for soil mechanical compaction reduction, and belongs to the field of agricultural machinery scheduling. BACKGROUND

[0002] Soil is the basic carrier of agricultural production, and its physical structure, water, fertilizer, gas and heat conditions directly affect the growth and development of crops and the final yield. However, in modern large-scale agricultural production, the wide application of agricultural machinery not only improves the work efficiency, but also brings an increasingly serious problem of soil mechanical compaction. The physical degradation caused by soil mechanical compaction not only significantly reduces soil fertility, hinders root penetration, affects water infiltration and nutrient absorption, increases surface runoff and erosion risk, but also leads to crop yield reduction.

[0003] Ridging operation is a key link in the planting of many dryland crops, and its purpose is to form a suitable ridge structure, improve soil temperature, drainage conditions and root growth space. However, the ridge former usually needs to operate multiple times in the field, and its own weight and operation resistance are large, combined with the relatively fixed and concentrated operation path, which is easy to cause significant and localized soil compaction in the ridge and furrow area (especially the repeated rolling place of wheel rut). This compaction not only destroys the carefully constructed ridge structure, but also forms a hard plow layer at the bottom of the ridge and furrow, which seriously affects the root development and water management of crops on the ridge. The traditional ridge former operation path planning mainly focuses on the completeness of operation coverage and operational convenience, and rarely actively avoids or optimizes soil compaction as a core constraint condition.

[0004] Therefore, it is of important theoretical significance and practical value to develop a ridge former in-field path planning method specially for soil mechanical compaction reduction. SUMMARY

[0005] In view of the problem that the traditional ridging operation causes soil compaction and affects crop growth, the application provides a ridge former in-field path planning method for soil mechanical compaction reduction.

[0006] The ridge former in-field path planning method for soil mechanical compaction reduction provided by the application comprises the following steps:

[0007] Collect the position information of the operation field block to obtain an initial point set of the operation field block; pretreat the initial point set to obtain an effective point set; then extract the contour boundary of the operation field block and perform grid division to obtain a grid map matrix;

[0008] Determine the ridging operation direction angle according to the effective point set of the operation field block, and use the A* algorithm based on the grid map matrix to perform single-row operation path planning of the ridge former, so that the ridging operation path is the shortest;

[0009] ​Then, the turning planning of the adjacent two ridging operations is performed by using the Ackerman steering turning strategy, and the turning form is selected according to the current minimum turning radius; and based on the single-row operation path, the global path planning is performed by using the grid map matrix, so that the sum of the global path cost and the rolling cost is minimum; and then, the global optimal path is obtained by using the dynamic tabu search.

[0010] According to the method, the initial point set of the operation field is represented as ;

[0011] Data preprocessing is performed on the initial point set to obtain an effective point set ; wherein is the i-th effective point, , , is the number of effective points; , is the horizontal coordinate and the vertical coordinate of the effective point of the operation field;

[0012] The contour boundary of the operation field is determined according to the effective point set .

[0013] According to the method, the method for obtaining the grid map matrix is as follows:

[0014] The grid length is calculated:

[0015] ,

[0016] wherein is the operation width of the ridger;

[0017] Grid scale division is performed:

[0018] ,

[0019] wherein is the number of X-axis grids, is the number of Y-axis grids; is the maximum value of the X-axis of the effective point on the contour boundary, is the minimum value of the X-axis of the effective point on the contour boundary, is the maximum value of the Y-axis of the effective point on the contour boundary, is the minimum value of the Y-axis of the effective point on the contour boundary;

[0020] The grid map matrix is obtained.

[0021] The method for determining the ridging operation direction angle of the method for planning the in-field path of the ridger for reducing the compaction of the soil machine comprises:

[0022] According to the contour boundary of the operation field block, the current operation field block is determined as a regular field block or an un-planned field block;

[0023] The ridging operation direction angle of the regular field block or the un-planned field block at the effective point is expressed as ;

[0024] The ridging operation direction angle of the regular field block is determined according to the row and column directions of the regular field block;

[0025] The ridging operation direction angle of the un-planned field block at the effective point is determined by the following method:

[0026] The convex hull starting point of the un-planned field block is determined by the following method:

[0027] ,

[0028] In the formula, x and y are the horizontal and vertical coordinates of the convex hull starting point; the convex hull starting point is the effective point with the smallest Y-axis coordinate, and if there are multiple effective points with the smallest Y-axis coordinate, the effective point with the smallest X-axis coordinate is taken;

[0029] .

[0030] The method for planning the in-field path of the ridger for reducing the compaction of the soil machine according to the present application adopts the algorithm to plan the single-row operation path of the ridger, and the method comprises the following steps:

[0031] An effective point , , is determined as the single-row operation starting position effective point; the horizontal and vertical coordinates of the single-row operation starting position effective point are x and y respectively; an effective point , , is determined as the single-row operation termination position effective point; the horizontal and vertical coordinates of the single-row operation termination position effective point are x and y respectively; a grid map matrix and a ridging operation direction angle are determined;

[0032] The 8-neighborhood expansion direction is set as , , , , , ,​​​​ and , the direction difference of the adjacent extension direction is calculated as the index difference, the index difference is taken as the single-row operation deflection angle, and the single-row operation deflection angle at the effective point is taken as the turning deflection penalty ;

[0033] The path cost function at the effective point is calculated :

[0034] ,

[0035] In the formula is the distance cost weight, is the Euclidean distance cost, is the turning cost weight;

[0036] ,

[0037] ,

[0038] In the formula is the ridging operation moving direction angle at the effective point ;

[0039] The ridging operation direction angle is transformed , the path cost function is calculated , the minimum path cost function is obtained; the path point corresponding to the minimum path cost function is updated, and finally the ridger single-row operation path is obtained:

[0040] .

[0041] According to the ridger in-field path planning method for soil mechanical compaction reduction of the present application, the minimum turning radius calculation method is as follows:

[0042] The Ackerman turning modeling is performed:

[0043] ,

[0044] ,

[0045] ,

[0046] ,

[0047] In the formula is the ridger outer front wheel turning angle, is the ridger inner front wheel turning angle, The wheel distance of the ridger, The axle distance of the ridger, The turning radius of the inner wheel, The turning radius of the outer wheel;

[0048] The equivalent turning angle Is:

[0049] ,

[0050] The turning ratio Is:

[0051] ;

[0052] The minimum turning radius Is:

[0053] ,

[0054] In the formula The maximum value of the equivalent turning angle is:

[0055] .

[0056] The in-field path planning method for soil-working machine compaction reduction according to the present application selects the method of turning form as:

[0057] If the width of the head of the work field plot , select the U-shaped turning form; the turning radius Is:

[0058] ,

[0059] In the formula The distance between adjacent ridges, Is the safety allowance;

[0060] If the width of the head of the work field plot Satisfies: , select the Ω-shaped turning form; the turning radius Is:

[0061] ;

[0062] If the width of the head of the work field plot Satisfies: , select the pear-shaped turning form; the turning radius Is:

[0063] .

[0064] The method for planning the in-field path of a ridger for reducing mechanical compaction of soil according to the application adopts an improved tabu search algorithm for global path planning, including establishing a path compaction objective function :

[0065] ,

[0066] wherein is a sequence of working rows, is a path weight, is a path length, is a rolling weight, is a rolling penalty;

[0067] , wherein is a single-row working path of the Mth ridger,

[0068] ,

[0069] wherein is an inter-row transfer distance matrix, ;

[0070] ,

[0071] wherein is a cell coordinate of a grid map matrix, A is the total number of horizontal cells, and B is the total number of vertical cells, is a rolling frequency, is a soil compaction sensitivity;

[0072]

[0073] wherein is a rolling coefficient:

[0074] ;

[0075] ,

[0076] wherein is a soil moisture weight coefficient, is a cell soil moisture, is a soil capacity weight coefficient, is a cell soil capacity.

[0077] The method for planning the in-field path of a ridger for reducing mechanical compaction of soil according to the application, the improved tabu search algorithm includes dynamic tabu search candidate solutions, and the dynamic tabu length is adjusted according to the dynamic search progress :

[0078] ,

[0079] wherein is the iteration number, is the maximum iteration number.

[0080] According to the ridge former field path planning method for soil mechanical compaction reduction of the present application, the improved tabu search algorithm further comprises performing a special pardon criterion judgment:

[0081] When the maximum iteration number is reached, if increases by less than or equal to 5%, and the rolling penalty increases by less than or equal to 10%, the special pardon criterion is met; the current optimal path is updated;

[0082] When the maximum iteration number is reached, if increases by more than 5% and less than or equal to 15%, and the rolling penalty increases by more than 10% and less than or equal to 20%, the special pardon criterion is met; the current optimal path is updated;

[0083] When the maximum iteration number is reached, if increases by more than 15% and less than or equal to 25%, and the rolling penalty increases by more than 20% and less than or equal to 30%, the special pardon criterion is not met; the iteration is restarted by returning to the loop;

[0084] until the global optimal path is obtained.

[0085] The present application has the following beneficial effects: under the premise of ensuring that the local planning of the ridge forming operation realizes the shortest path, the method of the present application optimizes the global moving trajectory of the agricultural machine in the field through the path planning algorithm, maximally reduces the rolling number of the tire / track on the soil, avoids repeated rolling on the ridge after the ridge forming operation, and optimizes the path in the turning area to reduce concentrated compaction, so as to effectively prevent or reduce the soil compaction problem caused by the ridge forming operation itself.

[0086] The method of the present application is based on three different turning strategies of Ackerman steering, adopts the algorithm local planning and the tabu search algorithm global planning to plan the field path of the ridge former, reduces the soil compaction and the repeated rolling number of the ridge forming operation, and can realize efficient and low-damage precision operation. BRIEF DESCRIPTION OF DRAWINGS

[0087] Figure 1 is the overall flowchart of the ridge former field path planning method for soil mechanical compaction reduction of the present application;

[0088] Figure 2is a single-row operation path planning flow chart of a ridger;

[0089] Figure 3 is an Ackerman steering turning strategy flow chart;

[0090] Figure 4 is a flow chart of global optimization path obtained by global planning with dynamic tabu search. DETAILED DESCRIPTION

[0091] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0092] DETAILED DESCRIPTION Figures 1 to 4 As shown in the drawings, the present application provides a ridger in-field path planning method for soil mechanical compaction reduction, comprising:

[0093] Collecting position information of a work field block to obtain an initial point set of the work field block; pre-processing the initial point set to obtain an effective point set; then extracting the contour boundary of the work field block and performing grid division to obtain a grid map matrix;

[0094] Determining a ridging operation direction angle according to the effective point set of the work field block, and performing single-row operation path planning of the ridger based on the grid map matrix by using an A* algorithm, so as to make the ridging operation path shortest;

[0095] Then, adopting an Ackerman steering turning strategy to perform turning planning of adjacent two times of ridging operation, selecting a turning form according to the current minimum turning radius; and based on the single-row operation path, performing global path planning by using the grid map matrix, so as to make the sum of the global path cost and the rolling cost smallest; and then obtaining a global optimal path by dynamic tabu search.

[0096] The present embodiment adopts satellite navigation positioning technology GNSS to collect position point information of the field block.

[0097] Further, the initial point set of the work field block is expressed as ;

[0098] Data pre-processing is performed on the initial point set to obtain an effective point set ; in the formula, is the i-th effective point, , , is the number of effective points; ,​ effective point horizontal coordinate and vertical coordinate of the work field block;

[0099] According to the effective point set determine the contour boundary of the work field block.

[0100] This embodiment can use the Graham scan method to extract the minimum convex polygon boundary of the irregular area in the field block from the scattered points. The original point set of the field block collected by GNSS is input, and the point set of the irregular boundary area is optimized. The points with the same coordinates are removed by de-duplication, and the elevation outliers are removed by filtering, and the effective field point set is output.

[0101] The method for obtaining the grid map matrix is:

[0102] Calculate the grid length based on the effective point set :

[0103] ,

[0104] In the formula is the working width of the ridger;

[0105] Perform grid scale division:

[0106] ,

[0107] In the formula is the number of X-axis grids, is the number of Y-axis grids; is the maximum value of the X-axis of the effective point on the contour boundary, is the minimum value of the X-axis of the effective point on the contour boundary, is the maximum value of the Y-axis of the effective point on the contour boundary, is the minimum value of the Y-axis of the effective point on the contour boundary;

[0108] Perform to obtain the grid map matrix .

[0109] The method for determining the ridging operation direction angle includes:

[0110] According to the contour boundary of the work field block, determine whether the current work field block is a regular field block or an irregular field block;

[0111] The ridging operation direction angle of the regular field block or the irregular field block at the effective point is represented as ;

[0112] The ridging operation direction angle of the regular field block is determined according to the row and column directions of the regular field block;

[0113] The ridging operation direction angle of the irregular field block at the effective point The direction angle of the ridging operation at the ridge starting point The determination method is as follows:

[0114] Determination of the convex hull starting point of irregular field blocks :

[0115] ,

[0116] In the formula is the horizontal coordinate and the vertical coordinate of the convex hull starting point; the convex hull starting point is the effective point with the smallest Y-axis coordinate, and if there are multiple effective points with the smallest Y-axis coordinate, the effective point with the smallest X-axis coordinate is taken;

[0117] .

[0118] The convex hull starting point is at the lowermost part of the convex hull boundary as the coordinate origin. Then, based on the coordinate origin, the ridging operation direction angle is calculated according to the current position point of the single-row operation .

[0119] Further, as shown in Figure 2 , the method for planning the single-row operation path of the ridger using the A* algorithm includes:

[0120] First, input the initial parameters: determine the effective point of the single-row operation starting position , , is the horizontal coordinate and the vertical coordinate of the effective point of the single-row operation starting position; the effective point of the single-row operation termination position , , is the horizontal coordinate and the vertical coordinate of the effective point of the single-row operation termination position; the grid map matrix and the ridging operation direction angle ;

[0121] Expand the range from the initial 4-neighborhood to achieve 8-neighborhood expansion search, and increase the diagonal movement option. Set the 8-neighborhood expansion directions as , , , , , , and , number the 8 directions as 0-7, calculate the direction difference of the adjacent expansion direction as the index difference, take the index difference as the single-row operation deflection angle, and take the single-row operation deflection angle at the effective point as the turning deflection cost ;

[0122] Calculate the effective point​ Path cost function at the point :

[0123] ,

[0124] wherein is the distance cost weight, is the Euclidean distance cost, is the turning cost weight;

[0125] ,

[0126] ,

[0127] wherein is the moving direction angle of the ridging operation at the effective point , which is obtained from the in-machine navigation data record.

[0128] Transform the ridging operation direction angle , calculate the path cost function , obtain the minimum path cost function ; update the path point according to the minimum path cost function corresponding, and finally obtain the single-row operation path of the ridger :

[0129] .

[0130] Further, in combination with the method for calculating the minimum turning radius shown in Figure 3 , the method for calculating the minimum turning radius is:

[0131] Perform Ackerman steering modeling:

[0132] ,

[0133] ,

[0134] ,

[0135] ,

[0136] wherein is the turning angle of the outer front wheel of the ridger, is the turning angle of the inner front wheel of the ridger, is the wheelbase of the ridger, is the wheelbase of the ridger, is the turning radius of the inner wheel, is the turning radius of the outer wheel; ;

[0137] The equivalent turning angle is:

[0138] ,

[0139] represents the actual control steering wheel angle and the wheel steering angle;

[0140] steering ratio is:

[0141] ;

[0142] In-field turning strategy. For the different width in-field head turning situations in the small and fragmented farmland field blocks, the turning link does not carry out ridge forming operation, and three different turning strategies are designed to adapt to the turning situations under different turning radii with the minimum compaction range, taking the soil rolling of the ridge forming machine as the main compaction source.

[0143] The minimum turning radius is:

[0144] ,

[0145] In the formula is the maximum value of the equivalent steering angle:

[0146] .

[0147] The method for selecting the turning form is:

[0148] If the head width of the operation field block satisfies: , the U-shaped turning form is selected; the turning radius is:

[0149] ,

[0150] In the formula is the distance between adjacent ridges, is a safety allowance;

[0151] The U-shaped turning form completes the in-row wide head turning to the target ridge operation through single continuous turning. This turning process can reduce the stopping time and improve the efficiency, and is suitable for the situation that the soil bearing capacity is good.

[0152] If the head width of the operation field block satisfies: , the Ω-shaped turning form is selected; the turning radius is:

[0153] ;

[0154] The three-segment circular arc turning radius of the Ω-shaped turning form is equal, and the middle width head turning reaches the target ridge operation through the combination of three-segment circular arcs. It is suitable for operation without special time pressure and needs to protect the field area of crop rotation.

[0155] If the operation field block head width satisfies: , the pear-shaped turning form is selected; the turning radius is:

[0156] .

[0157] The pear-shaped turning form completes the narrow head turning of small field blocks to reach the target ridge operation through the combination of reversing + forward, and the compaction overlap rate of the reversing process is suitable for the situation of sacrificing efficiency to protect the soil and reduce compaction.

[0158] Further, as shown in Figure 4 , the global path planning is carried out by using an improved tabu search algorithm, including establishing a path compaction objective function :

[0159] ,

[0160] In the formula , is the operation row sequence, is the path weight, is the path length, is the compaction weight, is the compaction penalty;

[0161] , in the formula , is the single-row operation path of the Mth row of the ridger;

[0162] ,

[0163] In the formula , is the inter-row transfer distance matrix, ;

[0164] ,

[0165] In the formula , is the cell coordinates of the grid map matrix, A is the total number of horizontal cells, B is the total number of vertical cells, is the compaction frequency, is the soil compaction sensitivity;

[0166]

[0167] In the formula , is the compaction coefficient:

[0168] ;

[0169] ,

[0170] wherein is the soil moisture weight coefficient, is the cell soil moisture, is the soil capacity weight coefficient, is the cell soil capacity.

[0171] Then tabu list initialization, adaptive neighborhood operation selection. Neighborhood operation definition: REVERSE operation type, reverse sub-sequence, represented as A-B-C-D to D-C-B-A; this operation is represented as the exploration phase, the iteration process is 0-30%, fast exploration of the solution space, to avoid premature convergence. INSERT operation type, move the job row position, represented as A-B-C-D to A-C-D-B; this operation iteration process is 30%-70%, while maintaining the solution quality continues to explore, gradually convergent. SWAP operation type, exchange two job positions, represented as A-B-C-D to A-C-B-D. This operation iteration process is 70%-100%, significantly improve the probability of finding the global optimal solution, the final convergence.

[0172] Improved tabu search algorithm includes dynamic tabu search candidate solution, according to the dynamic search progress adjustment dynamic tabu length :

[0173] ,

[0174] wherein is the iteration number, is the maximum iteration number, used to control the calculation timing. This process represents the search progress of candidate solution generation.

[0175] Improved tabu search algorithm also includes performing the exemption criteria:

[0176] When the maximum iteration number is reached, the three scenarios that meet the exemption are:

[0177] When the maximum iteration number is reached, if increases by less than or equal to 5%, and the rolling penalty increases by less than or equal to 10%, the exemption criteria are met; update the current optimal path;

[0178] When the maximum iteration number is reached, if increases by more than 5% and less than or equal to 15%, and the rolling penalty increase greater than 10% and less than or equal to 20%, meet the mercy criterion; update the current best path;

[0179] when the maximum number of iterations is reached , if increase greater than 15% and less than or equal to 25%, and the crush penalty increase greater than 20% and less than or equal to 30%, does not meet the mercy criterion; return to loop to iterate again;

[0180] until a global best path is obtained .

[0181] update the current solution and the tabu list with the candidate solution that meets the mercy criterion, output the best job sequence; the global path length is ; the crush frequency is updated to .

[0182] While the application has been described with reference to particular embodiments, it will be understood that the examples are merely illustrative of the principles and applications of the application. It will be understood that various modifications can be made to the illustrative embodiments, and other arrangements can be devised without departing from the spirit and scope of the application as defined by the appended claims. It will be understood that the features of the various embodiments can be combined with each other, in different ways than as described herein. It will be understood that features described with reference to individual embodiments can be used in other described embodiments.

Claims

1. A method for planning the field path of a ridging machine for reducing soil mechanical compaction, characterized in that, include: Collect the location information of the work plots to obtain the initial point set of the work plots; The initial point set is preprocessed to obtain the effective point set; The outline boundaries of the work plots are then extracted and divided into grids to obtain a grid map matrix; The ridging direction angle is determined based on the effective point set of the work plots, and then a grid map matrix is ​​used. The algorithm plans the single-row operation path of the ridging machine to minimize the ridging operation path; Then, the Ackerman turning strategy is used to plan the turning between two adjacent ridging operations, and the turning form is selected according to the current minimum turning radius. Based on the single-row operation path, a grid map matrix is ​​used for global path planning to minimize the sum of global path cost and compaction cost. Finally, the global optimal path is obtained through dynamic taboo search.

2. The method for planning the field path of a ridging machine for reducing soil mechanical compaction according to claim 1, characterized in that, The initial point set of the working field is represented as: ; For the initial point set Data preprocessing is performed to obtain the effective point set. In the formula For the first One effective point, , Valid points; , The x and y coordinates of the effective points of the work area; Based on the valid point set Determine the outline and boundaries of the work area.

3. The method for planning the field path of a ridging machine for reducing soil mechanical compaction according to claim 2, characterized in that, The method for obtaining the grid map matrix is ​​as follows: Calculate the grid side length : ， In the formula This refers to the working width of the ridging machine; Perform grid scaling: ， In the formula This refers to the number of grid cells along the X-axis. This represents the number of grid cells along the Y-axis. The maximum X-axis value of the valid points on the contour boundary. The minimum X-axis value of the valid points on the contour boundary. The maximum Y-axis value of the valid points on the contour boundary. The minimum Y-axis value of the valid points on the contour boundary; Obtain the grid map matrix .

4. The method for planning the field path of a ridging machine for reducing soil mechanical compaction according to claim 3, characterized in that, Methods for determining the direction angle of ridging operations include: The current work field is determined as a regular field or an unplanned field based on its outline boundary. Place regular or non-planned fields at valid points The direction angle of ridging operation at the location is expressed as: ; Ridging direction angle of regular plots Determined according to the row and column orientation of the regular plots; Irregular plots in The direction angle of ridging operation at the location The method for determining it is as follows: Determine the starting point of the convex hull of irregular fields. : ， In the formula Here are the x and y coordinates of the starting point of the convex hull; convex hull starting point The point with the smallest Y-axis coordinate is selected. If there are multiple valid points with the smallest Y-axis coordinate, the valid point with the smallest X-axis coordinate is selected. 。 5. The method for planning the field path of a ridging machine for reducing soil mechanical compaction according to claim 4, characterized in that, use The methods for algorithmic single-row operation path planning for ridging machines include: Determine the effective starting point of a single-line operation , , The x and y coordinates of the valid starting point of the single-line operation; the valid ending point of the single-line operation. , , The x and y coordinates of the valid point at the end position of a single-line operation; grid map matrix. and the direction angle of ridging operation ; Set the 8-neighbor expansion direction to , , , , , , and Calculate the direction difference between adjacent expansion directions as the index difference, use the index difference as the deflection angle of a single row of operations, and set the effective points... The single-line operation deflection angle at the location serves as the cost of steering deviation. ; Calculate the effective point Path cost function at the location : ， In the formula For distance cost weights, For the cost of Euclidean distance, Weighted by the cost of turning; ， ， In the formula For ridging operations at effective points The direction angle of movement at that location; Changing the direction angle of ridging operation Calculate the path cost function Obtain the minimum path cost function According to the minimum path cost function By updating the corresponding path points, the single-row operation path of the ridging machine is finally obtained. : 。 6. The method for planning the field path of a ridging machine for reducing soil mechanical compaction according to claim 5, characterized in that, The method for calculating the minimum turning radius is as follows: Modeling the Ackermann steering: ， ， ， ， In the formula The steering angle of the outer front wheel of the ridging machine. This refers to the steering angle of the inner front wheel of the ridging machine. For the wheel gauge of the ridging machine, This refers to the wheelbase of the ridging machine. The inner wheel's turning radius. The outer wheel's turning radius; Equivalent steering angle for: ， Steering ratio for: ； Minimum turning radius for: ， In the formula The maximum equivalent steering angle: 。 7. The method for planning the field path of a ridging machine for reducing soil mechanical compaction according to claim 6, characterized in that, The method for selecting the turning mode is as follows: If the width of the field boundary is Choose the U-shaped turn type; turning radius for: ， In the formula The spacing between adjacent rows. For safety margin; If the width of the field boundary is satisfy: Choose the Ω-shaped turning configuration; turning radius for: ； If the width of the field boundary is satisfy: Choose the pear-shaped turn pattern; turning radius for: 。 8. The method for planning the field path of a ridging machine for reducing soil mechanical compaction according to claim 7, characterized in that, Global path planning employs an improved tabu search algorithm, including establishing a path compaction objective function. : ， In the formula For job row sequence, For path weights, For path length, To crush the weight, As a form of punishment for crushing; In the formula This is the single-row operation path for the Mth row ridging machine; ， In the formula This is the inter-row transition distance matrix. ; ， In the formula Here are the cell coordinates of the grid map matrix, where A represents the total number of cells horizontally and B represents the total number of cells vertically. For the frequency of compaction, Soil compaction sensitivity; In the formula The compaction coefficient is: ； ， In the formula This is the soil moisture content weighting coefficient. This represents the soil moisture content of the cell. Soil capacity weighting coefficient, This represents the soil volume of the cell.

9. The method for planning the field path of a ridging machine for reducing soil mechanical compaction according to claim 8, characterized in that, The improved tabu search algorithm includes dynamic tabu search for candidate solutions, adjusting the dynamic tabu length according to the progress of the dynamic search. : ， In the formula For the number of iterations, This represents the maximum number of iterations.

10. The field path planning method for ridging machines for reducing soil mechanical compaction according to claim 9, characterized in that, The improved tabu search algorithm also includes determining the amnesty criterion: When the maximum number of iterations is reached At that time, if Increase of 5% or less, and crushing penalty Increase by less than or equal to 10%, satisfying the amnesty criteria; update the current optimal path; When the maximum number of iterations is reached At that time, if Increase by more than 5% and less than or equal to 15%, and crushing penalty. Increase by more than 10% and less than or equal to 20%, satisfying the amnesty criteria; update the current optimal path; When the maximum number of iterations is reached At that time, if Increase by more than 15% and less than or equal to 25%, and crushing penalty. An increase of more than 20% but less than or equal to 30% does not meet the amnesty criteria; Return to the loop and iterate again; Until the globally optimal path is obtained .

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