In-field path planning method for ridging machine to reduce soil mechanical compaction

Abstract

This invention relates to a field path planning method for ridging machines aimed at reducing soil compaction, belonging to the field of agricultural machinery scheduling. The invention addresses the problem of soil compaction caused by traditional ridging operations, which negatively impacts crop growth. The method includes: collecting the location information of the work area to obtain a valid point set; extracting the outline boundary of the work area and dividing it into a grid to obtain a grid map matrix; determining the ridging operation direction angle based on the valid point set of the work area; using an algorithm based on the grid map matrix to plan the single-row operation path of the ridging machine, minimizing the ridging operation path; employing an Ackerman turning strategy to plan the turning between adjacent ridging operations, selecting the turning form based on the current minimum turning radius; and using the grid map matrix to perform global path planning based on the single-row operation path, minimizing the sum of the global path cost and the compaction cost; and finally obtaining the globally optimal path through dynamic tabu search. This invention is used for ridging path planning.

Description

Technical Field

[0001] This invention relates to a field path planning method for ridging machines aimed at reducing soil mechanical compaction, and belongs to the field of agricultural machinery scheduling. Background Technology

[0002] Soil is the fundamental carrier of agricultural production, and its physical structure, water, fertilizer, air, and heat conditions directly affect crop growth, development, and final yield. However, in modern large-scale agricultural production, the widespread use of agricultural machinery, while improving operational efficiency, has also brought about increasingly serious problems of soil compaction. The physical degradation caused by soil compaction not only significantly reduces soil fertility, hinders root penetration, affects water infiltration and nutrient absorption, and increases the risk of surface runoff and erosion, but also leads to reduced crop yields.

[0003] Ridging is a crucial step in the cultivation of many dryland crops, aiming to create suitable ridge structures and improve soil temperature, drainage, and root growth space. However, ridging machines typically require multiple back-and-forth operations in the field, and their weight and operating resistance, coupled with their relatively fixed and concentrated operating paths, easily lead to significant and localized soil compaction in the furrow area (especially where the wheel ruts are repeatedly compacted). This compaction not only destroys the carefully constructed ridge structure but also forms a hard plow pan at the bottom of the furrow, severely impacting root development and water management of the crops on the ridge. Traditional ridging machine path planning primarily focuses on the integrity of the coverage and ease of operation, rarely considering soil compaction as a core constraint for proactive avoidance or optimization.

[0004] Therefore, developing a field path planning method for ridging machines specifically designed for reducing soil mechanical compaction is of significant theoretical and practical value. Summary of the Invention

[0005] To address the problem of soil compaction caused by traditional ridging operations, which affects crop growth, this invention provides a field path planning method for ridging machines aimed at reducing soil mechanical compaction.

[0006] The present invention provides a field path planning method for ridging machines aimed at reducing soil mechanical compaction, comprising:

[0007] The location information of the work plots is collected to obtain the initial point set of the work plots; the initial point set is preprocessed to obtain the effective point set; then the outline boundary of the work plots is extracted and gridded to obtain the grid map matrix.

[0008] 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;

[0009] 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.

[0010] According to the method for planning the path of a ridging machine in the field for reducing soil mechanical compaction according to the present invention, the initial point set of the working field is represented as follows: ;

[0011] 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;

[0012] Based on the valid point set Determine the outline and boundaries of the work area.

[0013] The method for planning the field path of a ridging machine for reducing soil mechanical compaction according to the present invention obtains the grid map matrix as follows:

[0014] Calculate the grid side length :

[0015] ,

[0016] In the formula This refers to the working width of the ridging machine;

[0017] Perform grid scaling:

[0018] ,

[0019] In the formula This represents 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;

[0020] Obtain the grid map matrix .

[0021] The method for determining the ridge-making direction angle according to the present invention, which is oriented towards reducing soil mechanical compaction, includes:

[0022] The current work field is determined as a regular field or an unplanned field based on its outline boundary.

[0023] Place regular or non-planned fields at valid points The direction angle of ridging operation at the location is expressed as: ;

[0024] Ridging direction angle of regular plots Determined according to the row and column orientation of the regular plots;

[0025] Irregular plots in The direction angle of ridging operation at the location The method for determining it is as follows:

[0026] Determine the starting point of the convex hull of irregular fields. :

[0027] ,

[0028] 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.

[0029] .

[0030] The field path planning method for ridging machines for reducing soil mechanical compaction according to the present invention adopts... The methods for algorithmic single-row operation path planning for ridging machines include:

[0031] 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 ;

[0032] 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. ;

[0033] Calculate the effective point Path cost function at the location :

[0034] ,

[0035] In the formula For distance cost weights, For the cost of Euclidean distance, Weighted by the cost of turning;

[0036] ,

[0037] ,

[0038] In the formula For ridging operations at effective points The direction angle of movement at that location;

[0039] 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. :

[0040] .

[0041] According to the field path planning method for ridging machines aimed at reducing soil mechanical compaction of the present invention, the method for calculating the minimum turning radius is as follows:

[0042] Modeling the Ackermann steering:

[0043] ,

[0044] ,

[0045] ,

[0046] ,

[0047] 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;

[0048] Equivalent steering angle for:

[0049] ,

[0050] Steering ratio for:

[0051] ;

[0052] Minimum turning radius for:

[0053] ,

[0054] In the formula The maximum equivalent steering angle:

[0055] .

[0056] According to the field path planning method for ridging machines for reducing soil mechanical compaction of the present invention, the method for selecting turning patterns is as follows:

[0057] If the width of the field boundary is Choose the U-shaped turn type; turning radius for:

[0058] ,

[0059] In the formula The spacing between adjacent rows. For safety margin;

[0060] If the width of the field boundary is satisfy: Choose the Ω-shaped turning configuration; turning radius for:

[0061] ;

[0062] If the width of the field boundary is satisfy: Choose the pear-shaped turn pattern; turning radius for:

[0063] .

[0064] According to the method for field path planning of ridging machines for reducing soil mechanical compaction of the present invention, the global path planning is performed using an improved tabu search algorithm, including establishing a path compaction objective function. :

[0065] ,

[0066] In the formula For job row sequence, For path weights, For path length, To crush the weight, As a form of punishment for crushing;

[0067] In the formula This is the single-row operation path for the Mth row ridging machine;

[0068] ,

[0069] In the formula This is the inter-row transition distance matrix. ;

[0070] ,

[0071] 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;

[0072]

[0073] In the formula The compaction coefficient is:

[0074] ;

[0075] ,

[0076] In the formula 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.

[0077] According to the field path planning method for ridging machines aimed at reducing soil mechanical compaction of the present invention, 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] In the formula For the number of iterations, This represents the maximum number of iterations.

[0080] The improved tabu search algorithm of the present invention for the field path planning method of ridging machine for reducing soil mechanical compaction further includes determining the amnesty criterion:

[0081] 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;

[0082] 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;

[0083] 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 greater than 20% but less than or equal to 30% does not meet the amnesty criteria; return to the loop and iterate again.

[0084] Until the globally optimal path is obtained .

[0085] The beneficial effects of the present invention are as follows: Under the premise of ensuring that the local planning of the ridging operation achieves the shortest path, the method of the present invention optimizes the global movement trajectory of agricultural machinery in the field through the path planning algorithm, thereby minimizing the number of times the tires / tracks compact the soil, avoiding repeated compaction of the furrows after ridging, and optimizing the path in the turning area to reduce concentrated compaction. Thus, it can effectively prevent or reduce the soil compaction problem caused by the ridging operation itself.

[0086] The method of this invention is based on three different turning strategies of Ackermann steering, and employs... The algorithm combines local programming and tabu search with global programming to plan the path of the ridging machine in the field, reducing the number of times soil compaction and repeated rolling are performed, thus achieving high-efficiency and low-damage precision operation. Attached Figure Description

[0087] Figure 1 This is an overall flowchart of the field path planning method for ridging machines for reducing soil mechanical compaction as described in this invention;

[0088] Figure 2This is a flowchart of the single-row operation path planning for a ridging machine;

[0089] Figure 3 This is a flowchart of the Ackermann steering strategy.

[0090] Figure 4 It is a flowchart of a process that uses dynamic tabu search to perform global planning and obtain the globally optimal path. Detailed Implementation

[0091] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0092] Specific Implementation Method 1: Combination Figures 1 to 4 As shown, this invention provides a field path planning method for ridging machines aimed at reducing soil mechanical compaction, comprising:

[0093] The location information of the work plots is collected to obtain the initial point set of the work plots; the initial point set is preprocessed to obtain the effective point set; then the outline boundary of the work plots is extracted and gridded to obtain the grid map matrix.

[0094] 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;

[0095] 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.

[0096] This implementation method uses GNSS (Global Navigation Satellite System) technology to collect field location information.

[0097] Furthermore, the initial point set of the work plots is represented as follows: ;

[0098] 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;

[0099] Based on the valid point set Determine the outline and boundaries of the work area.

[0100] This implementation method uses the Graham scan method to extract the minimum convex polygon boundary of irregular areas in a field from scattered points. The original point set of the field acquired by GNSS is input, and the point set for irregular boundary areas is optimized. Duplicate points with the same coordinates are removed, and points with prominent elevations are deleted through filtering, resulting in the output of a valid field point set.

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

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

[0103] ,

[0104] In the formula This refers to the working width of the ridging machine;

[0105] Perform grid scaling:

[0106] ,

[0107] In the formula This represents 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;

[0108] Obtain the grid map matrix .

[0109] Methods for determining the direction angle of ridging operations include:

[0110] The current work field is determined as a regular field or an unplanned field based on its outline boundary.

[0111] Place regular or non-planned fields at valid points The direction angle of ridging operation at the location is expressed as: ;

[0112] Ridging direction angle of regular plots Determined according to the row and column orientation of the regular plots;

[0113] Irregular plots in The direction angle of ridging operation at the location The method for determining it is as follows:

[0114] Determine the starting point of the convex hull of irregular fields. :

[0115] ,

[0116] 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.

[0117] .

[0118] Convex hull starting point The origin of the coordinate system should be located at the lowest point of the convex hull boundary. Then, based on this origin, the direction angle of the ridging operation should be calculated according to the current position of the single-row operation. .

[0119] Furthermore, combining Figure 2 As shown, using The methods for algorithmic single-row operation path planning for ridging machines include:

[0120] First, input the initial parameters: determine the valid starting point of the 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 ;

[0121] Expanding from an initial 4-neighborhood to an 8-neighborhood exploration search, and adding a diagonal movement option. The 8-neighborhood expansion direction is set to... , , , , , , and The eight directions are numbered 0-7. The direction difference between adjacent expansion directions is calculated as the index difference. The index difference is used as the deflection angle of a single-line operation. The valid points are... The single-line operation deflection angle at the location serves as the cost of steering deviation. ;

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

[0123] ,

[0124] In the formula For distance cost weights, For the cost of Euclidean distance, Weighted by the cost of turning;

[0125] ,

[0126] ,

[0127] In the formula For ridging operations at effective points The direction angle of movement at that location; obtained from the internal navigation data record.

[0128] 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. :

[0129] .

[0130] Furthermore, combining Figure 3 As shown, the method for calculating the minimum turning radius is as follows:

[0131] Modeling the Ackermann steering:

[0132] ,

[0133] ,

[0134] ,

[0135] ,

[0136] 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; ;

[0137] Equivalent steering angle for:

[0138] ,

[0139] This indicates that the actual control is achieved by turning the steering wheel. Relationship with wheel steering angle;

[0140] Steering ratio for:

[0141] ;

[0142] In-field turning strategies. For small, fragmented farmland plots with varying widths of field edges, three different turning strategies are designed to minimize the compaction range and adapt to different turning radii by eliminating ridging operations during the turning process and relying primarily on soil compaction by the ridging machine.

[0143] Minimum turning radius for:

[0144] ,

[0145] In the formula The maximum equivalent steering angle:

[0146] .

[0147] The method for selecting the turning mode is as follows:

[0148] If the width of the field boundary is Choose the U-shaped turn type; turning radius for:

[0149] ,

[0150] In the formula The spacing between adjacent rows. For safety margin;

[0151] The U-shaped turn method completes the wide-angle turning between rows to reach the target ridge through a single continuous turn. This turning process can reduce the stopping time and improve efficiency, and is suitable for soils with good bearing capacity.

[0152] If the width of the field boundary is satisfy: Choose the Ω-shaped turning configuration; turning radius for:

[0153] ;

[0154] The Ω-shaped turn has three equal arcs. By combining the three arcs, the middle width of the field is turned to reach the target ridge. It is suitable for fields where there is no special time pressure and crop rotation protection is required.

[0155] If the width of the field boundary is satisfy: Choose the pear-shaped turn pattern; turning radius for:

[0156] .

[0157] The pear-shaped turn method uses a combination of reversing and forward movement to complete the turning at the narrow end of small plots and reach the target ridge. The compaction overlap rate during the reversing process is high. This is suitable for situations where efficiency is sacrificed to protect the soil and reduce compaction.

[0158] Furthermore, combining Figure 4 As shown, global path planning is performed using an improved tabu search algorithm, including establishing a path compaction objective function. :

[0159] ,

[0160] In the formula For job row sequence, For path weights, For path length, To crush the weight, As a form of punishment for crushing;

[0161] In the formula This is the single-row operation path for the Mth row ridging machine;

[0162] ,

[0163] In the formula This is the inter-row transition distance matrix. ;

[0164] ,

[0165] 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;

[0166]

[0167] In the formula The compaction coefficient is:

[0168] ;

[0169] ,

[0170] In the formula 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.

[0171] Then, the tabu list is initialized, and adaptive neighborhood operation selection is performed. Neighborhood operations are defined as follows: REVERSE operation type: reverses the subsequence, represented as from ABCD to DCBA; this operation represents the exploration phase, with an iteration rate of 0-30%, quickly exploring the solution space and avoiding premature convergence. INSERT operation type: moves the job row position, represented as from ABCD to ACDB; this operation has an iteration rate of 30%-70%, maintaining solution quality while continuing exploration and gradually converging. SWAP operation type: swaps the positions of two jobs, represented as from ABCD to ACBD. This operation has an iteration rate of 70%-100%, significantly increasing the probability of finding a globally high-quality solution, ultimately leading to convergence.

[0172] 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. :

[0173] ,

[0174] In the formula For the number of iterations, This represents the maximum number of iterations, used to control the computation time. This process indicates the search progress in generating candidate solutions.

[0175] The improved tabu search algorithm also includes determining the amnesty criterion:

[0176] When the maximum number of iterations is reached The three scenarios in which convergence occurs and a pardon is granted are:

[0177] 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;

[0178] 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;

[0179] 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 greater than 20% but less than or equal to 30% does not meet the amnesty criteria; return to the loop and iterate again.

[0180] Until the globally optimal path is obtained .

[0181] Update the current solution and tabu list while ensuring candidate solutions satisfy the amnesty criterion, and output the optimal job sequence; the global path length is... The frequency of compaction has been updated to... .

[0182] While the invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that different dependent claims and features described herein can be combined in ways different from those described in the original claims. It is also understood that features described in conjunction with 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; and based on the single-row operation path, a grid map matrix is ​​used to plan the global path to minimize the sum of the global path cost and the compaction cost; and then the global optimal path is obtained through dynamic tabu search. 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 This refers to the number of grid cells along the X-axis. This represents the number of grid cells along the Y-axis. ， 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 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.

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 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 or irregular field based on its outline boundary. Place regular or irregular plots 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 turning cost; ， ， 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, 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.

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 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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