Irregular paddy field seedling claw independent control method, operation planning method and system

Abstract

The application discloses an irregular paddy field seedling gripper independent control method, a working planning method and a system. The rice transplanter seedling gripper independent control method provides a seedling gripper independent control method according to position, has the effect of reducing untransplanted seedling area and repeated transplanted seedling area, and has the effects of high automation degree and high working efficiency in application. The rice transplanter control method provides a rice transplanter route planning and control method matched with the rice transplanter seedling gripper independent control method, solves the problem of poor transplanter turning path transplanter effect, and further increases a calculation method and steps for avoiding land boundaries, is especially suitable for irregular paddy fields, and can realize better collision avoidance and transplanter effect through route planning and strategy selection.

Description

Technical Field

[0001] This invention relates to the field of rice transplanter control technology, and more specifically, to a method, operation planning method and system for independent control of rice seedling claws in irregular paddy fields. Background Technology

[0002] A rice transplanter is an agricultural machine used to plant rice seedlings in paddy fields. In existing transplanters, the seedling transplanters work synchronously with the seedlings. For typical rectangular fields, this synchronous seedling transplanting method allows for planting along the field ridges or close to the edges without negatively impacting the transplanting results. However, if the field shape is irregular, the transplanter needs to work in a zigzag pattern with specific directions and rows. If the seedling transplanters work synchronously, it can lead to missed or repeated planting areas.

[0003] See Figure 1 The rice transplanter is simplified into a C_rml model. When the transplanter reaches the edge of the field and needs to turn around, if the seedling claws are not independently controlled, and the intersection of the transplanter's planting platform and the working boundary is taken as the control point, and there is an angle between the working boundary and the planting platform, the working track, control point, working boundary, missed transplanting, and repeated transplanting are as follows: Figure 2 As shown, the total area of ​​missed planting and repeated planting is:

[0004]

[0005] Where S1 is the total area of ​​missed and repeated planting by the synchronous seedling claw, and w is the width of the seedling claw; however, for independently controlled seedling claws, the control points can be controlled according to different seedling claw positions, and their positional relationships are as follows: Figure 3 As shown, in this case, the total area of ​​missed planting and repeated planting is:

[0006]

[0007] S2 independently controls the total area of ​​missed and repeated planting by the seedling cutter. If a 6-row rice transplanter is used with a width w = 1.8m, and θ = 45°, then S1 = 1.62m. 2 S2 = 0.54m 2 Clearly, if the seedling claws can be independently controlled, high-quality rice planting can be achieved on polygonal and curved plots. Summary of the Invention

[0008] This invention overcomes the shortcomings of existing technologies that result in a large number of missed and repeated planting areas. It provides an independent control method for rice seedling claws in irregular paddy fields, a rice planting operation planning method, a control system, and a rice transplanter, in order to solve the problems existing in the prior art.

[0009] To address the aforementioned technical problems, this invention provides, in one aspect, a method for independent control of rice seedling claws in irregular paddy fields:

[0010] The method for independent control of rice seedling shoots in irregular paddy fields includes the following steps:

[0011] Calculate the boundary: Based on the shape and size of the field, calculate the boundary line for the straight-line operation;

[0012] Calculate control points: Based on the straight operation boundary line, calculate the vehicle control points for each seedling claw separately. The vehicle control points include stop control points and start control points.

[0013] Stop Control: When the rice transplanter moves to the stop control point according to the planned path, the transplanting work of the corresponding seedling claw at that stop control point is stopped;

[0014] Control activation: The rice transplanter continues to move along the planned path until it reaches the next activation control point, at which point the corresponding seedling claw is controlled to start transplanting.

[0015] Movement: The rice transplanter continues to move to the next stop control point according to the planned path, repeating the cycle of stopping and subsequent steps.

[0016] A further technical solution is that the computational boundary specifically includes the following steps:

[0017] Connect the boundary points of the land parcel in sequence to obtain the land parcel boundary line;

[0018] Based on the width of the rice transplanter's transplanting platform, the boundary line of the plot is shortened to obtain the internal straight working area and the edge finishing working path;

[0019] The inner route of the rice planting platform in the edge-gathering operation path is the operation boundary line.

[0020] A further technical solution is that the calculation of the control point specifically includes the following steps:

[0021] Calculate the intersection point of the seedling claw path and the straight operation boundary line. When the seedling claw is located at the intersection point, the rice transplanter is located at the control point of the seedling claw.

[0022] When the rice transplanter approaches the straight operation boundary line during the transplanting process, this control point is the stop control point;

[0023] When the rice transplanter approaches the straight work boundary line during the stopping process, this control point is the starting control point.

[0024] A further technical solution is to use a U-shaped turning path between adjacent straight work boundary lines;

[0025] The coordinates of the intersection of the seedling claw path and the straight working boundary, as well as the coordinates of the foot of the perpendicular line drawn from the intersection to the midpoint of the transplanting platform, are used as conditions to calculate the stop control point and the start control point.

[0026] A further technical solution involves performing the following steps before the rice transplanter reaches the last straight working path:

[0027] Let D be the distance between the longest line that is perpendicular to the straight operation path and inside the straight operation boundary line;

[0028] The width of the rice planting platform, i.e. the width between the left and right seedling claws, is defined as w;

[0029]

[0030] Let a be the number of seedling claws on the rice transplanter.

[0031] When Δd∈[0, w / a], there are a total of N rows of operation within the internal operation area, and all the seedling claws in the Nth row are working, which is completely consistent with the operation mode of the first N-1 rows;

[0032] When Δd∈(w / a, w / 2], there are a total of N+1 work rows in the internal work area, and only the inner claw works in the N+1th row.

[0033] When Δd∈(w / 2, a-1 / a*w], there are a total of N+1 rows of work within the internal work area, and the inner and middle claws work in the N+1th row.

[0034] When Δd∈(a-1 / a *w, w), there are a total of N+1 rows of operation within the internal operation area, and all the claws in the N+1th row are working.

[0035] In another aspect, the present invention also provides a method for planning rice transplanting operations.

[0036] The rice transplanting operation planning method includes the following steps: determining the boundaries of the operation plot to obtain the internal operation area and the boundary operation area;

[0037] Calculate the straight path for internal operations;

[0038] Calculate the U-turn routes between straight paths in internal operations;

[0039] The rice planting path is obtained by combining the straight internal operation path and the U-turn route.

[0040] The rice transplanting operation is completed by implementing the irregular paddy field seedling claw independent control method described above on the transplanting path.

[0041] A further technical solution is that the calculation of the internal operation straight path specifically includes the following steps:

[0042] Calculate the farthest point within the internal work area corresponding to a specified edge of the internal work area.

[0043] Draw a perpendicular line from the farthest point to the specified side, and determine the intersection point M on the perpendicular line at a distance w. i M1 is set to a distance of 0.5w from the specified edge;

[0044] Through the intersection point M i Parallel to the specified side, an internal working straight path is set, the starting point of which is the control point position of the rice transplanter when transplanting begins;

[0045] The endpoint of the internal working straight path is the control point position of the rice transplanter when the transplanting ends.

[0046] A further technical solution is that the calculation of the turning routes between the straight paths of the internal operation specifically includes the following steps;

[0047] Connect the starting point of the internal work straight path with the ending point of the adjacent internal work straight path through straight line segments and semicircles to form a U-turn route connecting the adjacent internal work straight paths.

[0048] The starting point of the internal operation turning route is the control point corresponding to the end of the last seedling claw's transplanting when the entire seedling claw has driven out of the operation boundary.

[0049] The endpoint of the internal operation turning route is when the entire seedling claw enters the operation boundary, which is the control point corresponding to the start of the first seedling claw's transplanting.

[0050] A further technical solution is that the calculation of the turning routes between the straight paths of the internal operation also includes the following steps;

[0051] Plan the rice transplanter's route so that it does not collide with the plot boundary when moving along the turning route.

[0052] A further technical solution involves planning the rice transplanter route, which includes the following steps:

[0053] Determine the type of U-turn route;

[0054] If the starting point of the U-turn route is the endpoint of the semicircle, then it is classified as Type 1;

[0055] If the endpoint of the U-turn route is the endpoint of the semicircle, then it is classified as type two;

[0056] If it is type one, it is necessary to determine whether there will be a collision and design an avoidance route or avoidance operation so that the rice transplanter will not collide with the boundary of the plot when it moves according to the turning route.

[0057] If it is type two, no new steps are required.

[0058] A further technical solution involves determining whether a collision will occur and designing an avoidance route or avoidance maneuver, specifically including the following steps:

[0059] Determine whether the center of the semicircle of the U-turn route is inside the safety line. If it is inside, it is safe and no adjustment is needed. If it is not inside, an alternative route or alternative operation needs to be designed.

[0060] The safety line at the center is obtained by narrowing the minimum turning radius of the rice transplanter inward from the boundary of the plot.

[0061] A further technical solution is that the design avoids the circuit or operation, specifically including one of the following solutions:

[0062] Option 1:

[0063] When the rice transplanter reaches a safe turning point, the seedling claws stop rotating, the seedling platform is raised, and the turn is executed.

[0064] The safe turning point is calculated through the following steps:

[0065] Find the intersection of the extended line of the internal working straight path and the safety line of the circle. Draw the foot of the perpendicular from the intersection to the internal working straight path to obtain the safe turning point.

[0066] Option 2

[0067] For rice transplanters capable of reversing, Option 2 can be used, which includes the following steps:

[0068] When the vehicle reaches the outermost stop control point, the seedling claw stops rotating, the seedling platform is raised, and reverse gear is engaged;

[0069] Reverse to a safe turning point, then engage drive to make the turn.

[0070] The present invention also provides a rice transplanter control system, including a path navigation module and a seedling claw control module;

[0071] The path navigation module is used to control the rice transplanter to move according to the planned path;

[0072] The seedling claw control module controls the transplanting operation of the corresponding seedling claw individually according to the position reached by the rice transplanter.

[0073] A further technical solution is that the rice transplanter control system further includes a path planning module, which is used to calculate the straight operation boundary line and, based on the straight operation boundary line, calculate the vehicle body control points of each seedling claw separately.

[0074] The present invention also provides a rice transplanter, including, as described above, a rice transplanter control system.

[0075] Compared with existing technologies, the present invention has at least the following beneficial effects: The present invention provides an independent control method for rice seedling claws in irregular paddy fields, a rice transplanting operation planning method, a control system, and a rice transplanter. The independent control method for rice seedling claws in irregular paddy fields provides a location-based independent control method for the seedling claws, which reduces the area of ​​unplanted and duplicated planting, and has a high degree of automation and high operational efficiency in application. The rice transplanting operation planning method provides a rice transplanting route planning and control method adapted to the independent control method for rice seedling claws in irregular paddy fields. It not only solves the problem of poor transplanting effect when turning around during transplanting, but also further adds calculation methods and steps for avoiding plot boundaries, making it particularly suitable for irregularly shaped paddy fields. Through route planning and strategy selection, it can achieve better collision avoidance and transplanting effect. Attached Figure Description

[0076] Figure 1 This is a schematic diagram of an equivalent model of a rice transplanter;

[0077] Figure 2 This is a schematic diagram of existing synchronous seedling transplanting technology;

[0078] Figure 3 This is a schematic diagram of the independent control seedling claw for rice transplanting provided by the present invention;

[0079] Figure 4 This is a schematic diagram illustrating the planning steps for straight-line operations on a concave polygonal paddy field plot. Figure 4 (a) is the boundary of the land parcel, Figure 4 (b) for, Figure 4 (c) is the farthest point and connecting lines within the internal straight-line work area. Figure 4 (d) is the straight path for internal operations;

[0080] Figure 5 A schematic diagram showing the turning route and planting area for synchronous rice seedling transplanters;

[0081] Figure 6 This is a schematic diagram showing the U-turn route and rice planting area for Type 1 rice seedlings;

[0082] Figure 7 This is a schematic diagram showing the U-turn route, control points, and transplanting area for Type II rice seedlings;

[0083] Figure 8 This is a schematic diagram of a U-turn route for Type 1;

[0084] Figure 9 This is a schematic diagram of a U-turn route for type two.

[0085] Figure 10 This is a schematic diagram of the U-turn route calculation;

[0086] Figure 11A schematic diagram of the rice planting path is obtained by combining the straight path and the U-turn route for internal operations.

[0087] Figure 12 This is a schematic diagram of a vehicle-to-land boundary collision. Figure 12 (a) is a schematic diagram of the collision location between the vehicle body and the boundary. Figure 12 (b) is a schematic diagram of the collision position between the vehicle body and the boundary during its movement;

[0088] Figure 13 This is a schematic diagram showing the location of the U-shaped circular safety line relative to the work boundary and the plot boundary. Figure 13 (a) is a schematic diagram of a U-turn route where the center of the semicircle is located inside the safety line. Figure 13 (b) is a schematic diagram of a route where the center of the semicircle of the U-turn route is located outside the safety line of the center.

[0089] Figure 14 A schematic diagram of the rice transplanter's body model and parameters;

[0090] Figure 15 A diagram illustrating the proof of path security for UTUrn_Type_II;

[0091] Figure 16 A diagram illustrating the proof of another UTUrn_Type_II path security;

[0092] Figure 17 A diagram illustrating the proof of another UTUrn_Type_II path security;

[0093] Figure 18 A diagram illustrating the proof of another UTUrn_Type_II path security;

[0094] Figure 19 A schematic diagram of the decision algorithm for independent control of the seedling claw and boundary collision avoidance;

[0095] Figure 20 A flowchart illustrating the point set calculation steps of the collision avoidance decision algorithm;

[0096] Figure 21 A schematic diagram of the decision-making process for a rice transplanter with drive-by-wire reversing capability;

[0097] Figure 22 A schematic diagram of the decision-making process for another rice transplanter;

[0098] Figure 23 Let YD_1_max be the directed distance from the Yanmar YR60D to BlueP;

[0099] Figure 24 Let YD_1_max be the directed distance from Kubota KA6 to BlueP;

[0100] Figure 25 A schematic diagram of the working area and working rows for the rice transplanter;

[0101] Figure 26 This is a schematic diagram of the inner seedling claw of a rice transplanter in operation.

[0102] Figure 27 A schematic diagram showing the operation of the inner and middle seedling claws of the rice transplanter;

[0103] Figure 28 Simulation diagram of independent control of seedling claw;

[0104] Figure 29 Simulation diagram of independent control of another seedling claw;

[0105] Figure 30 The diagram illustrates the calculation principle of the PointCal2 function. Detailed Implementation

[0106] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0107] Before introducing the embodiments, the model of the rice transplanter will be described first. Generally, a rice transplanter consists of a four-wheeled vehicle body and a seed-carrying platform. In the subsequent discussion considering the collision between the vehicle body and the plot boundary, the outer contour of the four-wheeled vehicle body is equivalent to a rectangle. In the following embodiments, the control point C (center of the rear wheel axle) of the vehicle body is used as the most fundamental position reference point. Taking a 6-claw rice transplanter as an example, the center position points of claws 1 and 2 are equivalent claw r, the center position points of claws 3 and 4 are equivalent claw m, and the center position points of claws 5 and 6 are equivalent claw l. It should be understood that the method of the present invention is applicable to any number of claws, and any number of claws can be simplified into 3 sets of equivalent claws.

[0108] It should be specifically pointed out that, such as Figure 1 As shown, there are safety bars on the outside of the seedling claws 1 and 6 to protect the seedling claws and guide rails. The distance from the outside of the safety bar to the outside of the width is defined as d_loopWsafe. This means that during the outer edge finishing operation, in order to prevent the seedling claws and guide rails from hitting the field ridges, in the most extreme case, only the outside of the safety bar is allowed to contact the boundary of the plot. The embodiments of this patent will be explained using the Kubota KA6 and Yanmar YR60D, two 6-row machines, as examples, with d_loopWsafe=0.2m.

[0109] Example 1

[0110] In this embodiment, taking a concave polygonal paddy field as an example, the rice transplanter adopts the C_m model, and a field path planning method includes the following steps:

[0111] S1 determines the boundary of the work site, resulting in the internal work area and the boundary work area;

[0112] In this embodiment, the method for determining the boundary of the work site is as follows: the boundary point of the work site (F) m The sets are connected in clockwise order. By rearranging the points, the plot boundaries {FieldEdge} with F1F2 as the operation direction are obtained. See [link / reference]. Figure 4 (a) By narrowing the edges, an inner straight-line working area is obtained. For example, the width of the narrowed edge is twice the width of the rice transplanter. Outside the straight-line working area are two concentric rings of finishing working paths, where the endpoint of the inner straight-line working area is P. m The boundary of the internal straight-line work area is denoted as {InnerEdge}, see [link / reference]. Figure 4 (b).

[0113] S2 calculates the straight path for internal operations;

[0114] The calculation of the internal operation straight path specifically includes the following steps, and the results of the intermediate steps can be referenced. Figure 4 .

[0115] S21 calculates the farthest point within the internal work area corresponding to a specified edge of the internal work area. (See also...) Figure 4 (c);

[0116] S22 draws a perpendicular line from the farthest point to the specified side, and determines the intersection point M on the perpendicular line at a distance w. i Where w is the width of the seedling claw, and M1 is set to a distance of 0.5w from the specified edge;

[0117] Through the intersection point M i Parallel to the specified edge, set the internal operation straight path, see [link / reference]. Figure 4 (d).

[0118] In this embodiment, reference Figure 4 The calculation of the straight path within the internal work area specifically includes the following steps:

[0119] Calculate the point P_far in {InnerEdge} that is farthest from one side P1P2 of the work area, and the foot of the perpendicular P_far from P_far on the line P1P2, P_far_cross. The line connecting P_far and P_far_cross divides {InnerEdge} into two boundary point sets {PL} and {PN}. The distance from P_far to P_far_cross is denoted as distance_max.

[0120] On the line connecting P_far_cross and P_far, set an intersection point M every w. iM1 is set to be 0.5w away from P1P2;

[0121] The straight path intersects the line connecting P_far and P_far_cross at point M. i They are equidistantly distributed along the line connecting P_far and P_far_cross.

[0122] Starting from P_far_cross towards P_far, the first point M1 is 0.5*w away from P_far_cross, the second point M2 is 1.5*w away from P_far_cross, and so on to obtain all points M.

[0123] The total number of rows can be calculated using the following formula;

[0124]

[0125] Where row represents the total number of rows;

[0126] The slope of the internal working line is determined. In this embodiment, the slope of P1P2 is the slope of the internal working line, and k is the slope passing through M. i The straight lines of points {PL} and {PN} intersect {Li} and {Ni}. The points on the straight line that are ±Limp (whether "+" or "-" needs to be determined) to {Li} and {Ni} are the vehicle control points when the middle claw m reaches the work boundary, and are denoted as point sets {Lcontrol} and {Ncontrol} respectively.

[0127] For example, this embodiment uses the PointCal2 function for calculation: [x_d,y_d] = PointCal2(x1,y1,xq,yq,d), where d is signed. When the point to be calculated is between 1 and q, d>0; when the point to be calculated is outside 1, d<0. d is the directed distance from the point to be calculated to point 1.

[0128] For a clearer explanation of the PointCal2 function, see [link to documentation]. Figure 30 The PointCal2 function is used to find the coordinates of point D, which is on the same side of A as B and is a distance d from A, given the coordinates of points A and B (xA, yA, xB, yB).

[0129] Given the slope k and intercept b of line AB, list the system of equations:

[0130]

[0131] Where (x, y) are the coordinates of point D.

[0132] Solving for:

[0133]

[0134] The coordinates of point D are found to be on the same side of A as point B, satisfying the following:

[0135]

[0136] It is understood that the starting point of the internal working straight path is the control point position of the rice transplanter when the transplanting is started;

[0137] The endpoint of the internal working straight path is the control point position of the rice transplanter when the transplanting ends.

[0138] The control point represents the position of the entire rice transplanter. Therefore, other points besides the center of the rear wheel axle can also be used. In this embodiment, the center of the rear wheel axle is used as the control point. All derivations and calculations in this embodiment are based on the premise that the rice transplanter's position is represented by the center of the rear wheel axle as the control point.

[0139] refer to Figure 5 U1 is the end point of the straight path for internal operations on the right, and U3 is the starting point of the straight path for internal operations on the left. U1-U3 constitute the U-turn route.

[0140] S3 calculates the U-turn routes between straight paths in internal operations;

[0141] Path Reference Figure 5 The U-turn route includes both straight and semi-circular paths.

[0142] S31 connects the starting point of the internal work straight path with the ending point of the adjacent internal work straight path through straight line segments and semicircles to form a U-turn route connecting the adjacent internal work straight paths.

[0143] The starting point of the internal operation turning route in S32 is the control point corresponding to the end of the last seedling claw's rice planting when the entire seedling claw has driven out of the operation boundary.

[0144] The endpoint of the internal operation turning route is when the entire seedling claw enters the operation boundary, which is the control point corresponding to the start of the first seedling claw's transplanting.

[0145] Applicant combined Figure 6 , Figure 7 To elaborate further, Figure 6 U1 is the starting point of the U-turn route. When the rice transplanter control point reaches U1, the entire seedling claw will drive out of the working boundary, which is the control point corresponding to the end of the last seedling claw transplanting.

[0146] U3 is the end point of the U-turn route. When the rice transplanter control point travels to U3, the seedling claw enters the working boundary, which is the control point corresponding to the start of the first seedling claw transplanting.

[0147] exist Figure 7The starting and ending control points of the equivalent seedling claws l, m, and r are marked. l_start, m_start, and r_start are the positions of the center of the rear wheel axle of the rice transplanter when the corresponding seedling claw starts transplanting; l_stop, m_stop, and r_stop are similarly marked.

[0148] Specifically, in this embodiment, the UTurning function is used to calculate the U-turn route. The UTurning function is specifically a function that calculates the U-shaped U-turn path between U1 and U3.

[0149] The inputs to the UTurning function are: the slope k of the job line, the job width width_imp, the previous point pre_U1 of U1, U1, U3, the next point end_U3 of U3, and the path step size step. The outputs are the path UPath12 between U1 and U2 and its property12 (0 for straight lines and 1 for semicircles), and the path UPath23 between U2 and U3 and its property23 (0 for straight lines and 1 for semicircles).

[0150] In actual calculations, there are two situations: depending on the shape of the work boundary, the starting point of the semicircular line of the internal work turning-off route can be either the starting point or the ending point of the internal work turning-off route.

[0151] See Figure 8 In type one, i.e., UTurn_Type_I, the starting point of the semicircle is U1, i.e., UPath12 is a semicircle and UPath23 is a straight line;

[0152] exist Figure 9 In Type II, UTurn_Type_II, the starting point of the semicircle is U3, UPath12 is a straight line, and UPath23 is a semicircle.

[0153] Different calculation methods are used for different situations.

[0154] For type UTun_Type_II: Calculate the projection U1 onto the U3 job line. 1P ,calculate , .

[0155] For type UTUrn_Type_I: ; .

[0156] For type UTun_Type_I, For type UTurn_Type_II, U2 is the projection of U3 onto the current job line. 3P .

[0157] refer to Figure 10 , center o u :

[0158]

[0159] Set the number of discrete points:

[0160]

[0161] Parameters: t = linspace (0, pi, Nu), a vector on the plane rotated counterclockwise by t. i The rotation matrix in radians is

[0162]

[0163] vector Rotate counterclockwise to obtain :

[0164]

[0165] Should be with Forming an acute angle, check the sign of the dot product of these two vectors: if If the rotation direction is correct, it is counterclockwise, and the point on the semicircle is:

[0166]

[0167] like This indicates that the rotation direction is exactly reversed, and is clockwise. The rotation matrix is:

[0168]

[0169]

[0170]

[0171] After calculating the straight path and U-turn route for internal operations separately, the complete internal operation path can be obtained by splicing them together. (See reference for details.) Figure 11 .

[0172] In practical applications, it is necessary to avoid collisions between the rice transplanter and the plot boundary when the transplanter moves along the turning line.

[0173] Understandably, in some situations, following the path planned using the above method, the rice transplanter may travel too far from the work boundary, such as... Figure 12 As shown, this could cause the rice transplanter to collide with the boundary of the plot during a turn, requiring adjustments to the planned path to avoid such a collision.

[0174] In a further preferred embodiment, calculating the U-turn route further includes the following steps:

[0175] S33 plans the route for rice transplanters so that they do not collide with the boundaries of the plot when moving along the turning route.

[0176] In this embodiment, the planning of the rice transplanter route includes the following steps:

[0177] S331 determines the type of U-turn route;

[0178] If the starting point (U1) of the U-turn route is the endpoint of the semicircle, then it is classified as type one;

[0179] If the endpoint (U3) of the U-turn route is the endpoint of the semicircle, then it is classified as type two;

[0180] If it is type one, it is necessary to determine whether there will be a collision and design an avoidance route or avoidance operation so that the rice transplanter will not collide with the boundary of the plot when it moves according to the turning route.

[0181] If it is type two, it will not collide with the plot boundary, and no new steps are required.

[0182] S333's determination of whether a collision will occur and the design of an avoidance route or avoidance maneuver specifically includes the following steps:

[0183] Determine whether the center of the semicircle of the U-turn route is inside the safety line. If it is inside, it is safe and no adjustment is needed. If it is not inside, an alternative route or alternative operation needs to be designed.

[0184] The safety line at the center is obtained by narrowing the minimum turning radius of the rice transplanter inward from the boundary of the plot.

[0185] The design of the bypass route or bypass operation specifically includes one of the following solutions:

[0186] Option 1:

[0187] When the rice transplanter reaches a safe turning point, the seedling claws stop rotating, the seedling platform is raised, and the turn is executed.

[0188] The safe turning point is calculated through the following steps:

[0189] Find the intersection of the extended line of the internal working straight path and the safety line of the circle. Draw the foot of the perpendicular from the intersection to the internal working straight path to obtain the safe turning point.

[0190] The principle is explained below; see [link / reference]. Figure 12 ,in Figure 12 (a) is a schematic diagram of the positional relationships during the collision, where Figure 12(b) is a schematic diagram of the positional relationship during the entire movement process. It can be observed that the trajectory of point K is actually around the center of the U-shaped circle. u , radius is The arc, obviously o u The point on the vertical projection of the land parcel boundary is the collision point.

[0191] When making a U-turn, the outermost front wheel's front and rear contour edges are most likely to hit the ridge. The minimum turning radius ou-K is:

[0192]

[0193] Therefore, calculating the U-shaped center safety line includes the following steps:

[0194] Calculate the point where the rice transplanter's turning radius is maximum, and the distance from this point to the center of rotation is the minimum turning radius R. ouKmin ;

[0195] Shrinking inward from the boundary of the land parcel R ouKmin This forms a U-shaped safety line at the center.

[0196] It is understandable that the center of the U-shaped circle is o u If the distance to the boundary of the plot is greater than or equal to R ouKmin Therefore, such a U-turn will not cause the vehicle to collide with the boundary of the plot. Thus, the plot boundary is contracted inward by R... ouKmin The boundary formed is set as the safety line of the U-shaped circle. That is, the U-shaped turn is safe when the center of the U-turn is inside the safety line of the U-shaped circle.

[0197] Based on the above principle, if the center of the semicircle of the U-turn route is inside the safety line, a collision will not occur. See [link / reference]. Figure 13 (a);

[0198] If the center of the semicircle of the U-turn route is outside the safety line at the center, a collision will occur. See [link / reference]. Figure 13 (b);

[0199] Substitute existing equipment for calculation, see [link / reference] Figure 14 For Yanmar YR60D: w=1.8m, W f =1.2m, L 轴 =1.06m, r fw =0.3m, R is calculated ouKmin =1.86m;

[0200] For Kubota KA6: w=1.8m, W f =1.1m, L 轴 =1.2m, r fw=0.3m, R is calculated ouKmin =1.91m.

[0201] Option 2

[0202] For rice transplanters capable of reversing, Option 2 can be used, which includes the following steps:

[0203] When the vehicle reaches the outermost stop control point, the seedling claw stops rotating, the seedling platform is raised, and reverse gear is engaged;

[0204] Reverse to a safe turning point, then engage drive to make the turn.

[0205] Once the field path planning is completed, the independent control method for irregular paddy field seedlings can be implemented according to the planned path.

[0206] This application will further explain the collision avoidance steps in conjunction with calculations. In the following descriptions and figures, the blue dot BlueP represents the safe turning point; and the black dot BlackP represents the starting point of the U-turn (U1).

[0207] The verification steps to ensure that Type II (UTurn_Type_II) will not collide with the parcel boundary are as follows:

[0208] See Figure 15-18 The starting point of the U-turn, the black dot, is always inside the blue safety turn point.

[0209]

[0210] Where S1 is: the distance from the intersection of the interline and the inner boundary to the intersection of the interline and the center safety line;

[0211] d_loopWsafe is the distance from the outer edge of the bumper to the outer edge of the width.

[0212] S2 is the distance from the intersection of the interline and the inner boundary to the perpendicular point from the end of the semicircle to the interline;

[0213] The distance from the black dot to the blue safe turning point is

[0214]

[0215] For Yanmar YR60D: Substitute the value w=1.8m, R ouKmin =1.86m, L imp =1.15m, thus obtaining

[0216]

[0217] For Kubota KA6: Substitute the value w=1.8m, R ouKmin =1.91m, L imp=1.17m, thus obtaining

[0218]

[0219] Therefore, the black dot is always inside the blue safety turning point.

[0220] Conclusion: Paths of type II (UTurn_Type_II) are always safe; the possibility of boundary collisions always occurs in type I (UTurn_Type_I).

[0221] To illustrate in detail the decision-making calculation steps for avoiding collisions with plot boundaries during U-turns, the attached diagram is used. Figure 19 Further explanation:

[0222] The specific calculation includes the following steps:

[0223] I. Point set calculation, see [link / reference] Figure 20 :

[0224] Step 1: Calculate the safety line of the U-shaped center of the entire plot;

[0225] Step 2: Calculate the seedling claw line l1, path1, seedling claw line r1, seedling claw line r2, path2, and seedling claw line l2;

[0226] Step 3: Calculate the GreenCross points: GC_l1, GC_m1, GC_r1, GC_r2, GC_m2, GC_l2. These are the intersection points of the seedling claw lines l1, path1, r1, r2, path2, and l2 with the work boundary.

[0227] Step 4: Draw perpendiculars H_GC_l1, H_GC_m1 (= GC_m1), and H_GC_r1 from the green intersections GC_l1, GC_m1, and GC_r1 to path1;

[0228] Green intersections GC_l2, GC_m2, GC_r2 make perpendiculars H_GC_l2, H_GC_m2 (= GC_m2), H_GC_r2 to path2;

[0229] Step 5: Calculate the yellow decision point: Use the PointCal2 function to calculate the outward distance d = -L from H_GC_l1, H_GC_m1, and H_GC_r1. imp The points are the yellow decision points: YD_l1, YD_m1, YD_r1;

[0230] Calculate the inward distance of H_GC_l2, H_GC_m2, and H_GC_r2 as d = +Limp The points are also designated as Yellow Decision points: YD_l2, YD_m2, YD_r2.

[0231] Find the outermost point YD_1_max of {YD_l1, YD_m1, YD_r1}, and find the outermost point YD_2_max of {YD_l2, YD_m2, YD_r2}.

[0232] Find the innermost point YD_1_min of {YD_l1, YD_m1, YD_r1}, and find the innermost point YD_2_min of {YD_l2, YD_m2, YD_r2}.

[0233] Step 6: Calculate the black point: Draw the foot of the perpendicular from YD_2_max to path1, which is the black point BlackP (BlackPoint).

[0234] Step 7: Calculate the blue safety point: Find the intersection of the line between the row and the U-shaped safety line, which is the red intersection point RedC (RedCross) in the diagram. Draw the foot of the perpendicular from RedC to path1, which is the blue point BlueP (BluePoint). This point determines whether the vehicle's outer contour will collide with the boundary of the plot, and is therefore also called the blue safety point.

[0235] The above steps yielded the point set for use by the decision-making algorithm:

[0236] 1. Yellow decision point set: {YD_l1, YD_m1, YD_r1; YD_l2, YD_m2, YD_r2}, and the outermost yellow points YD_1_max and YD_2_max of path1 and path2.

[0237] 2. Black dot: {BlackP};

[0238] 3. Blue anti-collision safety point: {BlueP};

[0239] II. Route Planning and Decision-Making:

[0240] Based on the previous conclusions: the path of UTurn_Type_II is always safe; the situation requiring reversing always occurs in UTurn_Type_I. For rice transplanters with drive-by-wire reversing capability, the following independent control decision algorithm for the seedling claws is designed.

[0241] DecisionStep1: If {BlackP} is inside YD_1_max, then the U Turn type is type I; if {BlackP} is outside YD_1_max, then the U Turn type is type II.

[0242] DecisionStep2 (U Turn type is II): If the U Turn type is II, then take {BlackP} as the starting point of the U Turn arc, and make a U-turn at BlackP for safety. BlueP does not need to be considered, and the program will perform subsequent calculations.

[0243] DecisionStep3 (U Turn type is I): If the U Turn type is I, calculate whether {YD_1_max} is inside {BlueP}. If it is, then {YD_1_max} is the starting point of the U Turn arc, and the program executes subsequent calculations.

[0244] If {YD_1_max} is outside {BlueP}, then two collision avoidance path planning schemes can be adopted:

[0245] Decision Algorithm 1, see Figure 21 (A rice transplanter with drive-by-wire reversing capability):

[0246] After the rice transplanter reaches {YD_1_max}, it stops rotating all the seedling claws, raises the seedling platform, and reverses to {BlueP}. Then it engages forward gear, with {BlueP} being the starting point of the U-turn arc. The program then performs subsequent calculations.

[0247] DecisionStep4: {YD_l1, YD_m1, YD_r1} are the decision points for stopping the l, m, and r seedling claws in the first row, respectively; {YD_l2, YD_m2, YD_r2} are the starting working points for the l, m, and r seedling claws in the second row, respectively.

[0248] Decision Algorithm 2, see Figure 22 (Rice transplanters without drive-by-wire reversing capability):

[0249] Since only UTurnTypeI has the potential to cause a collision between the vehicle body and the land parcel boundary, we will analyze UTurnTypeI as follows:

[0250]

[0251] Directed distance from YD_1_max to BlueP:

[0252]

[0253] Substitute existing equipment for calculation:

[0254] For Yanmar YR60D: Substitute the value w=1.8m, R ouKmin =1.86m, L imp =1.15m, therefore:

[0255]

[0256] For Kubota KA6: Substitute the value w=1.8m, R ouKmin =1.91m, L imp =1.17m, therefore:

[0257]

[0258] Therefore, it can be seen that for the Yanmar YR60D or Kubota KA6, when using R... ouKmin When using the safety line distance, the rice transplanter should be raised and all seedling claws closed as soon as it reaches BlueP, and a U-shaped turn should be made immediately. Theoretically, this can always ensure that the rice transplanter body does not collide with the plot boundary, achieving full planting of seedlings.

[0259] Calculation results (see attached) Figure 23 , 24 Among them, 23 is Yanmar YR60D and 24 is Kubota KA6.

[0260] In practice, considering control errors during U-turns, psychological pressure on personnel when too close to the boundary, or inaccurate boundary mapping, safety issues may arise due to the outer front wheel of the rice transplanter running over the paddy field ridge. Therefore, when setting the safety line at the center of the U-shape, we move the safety line further inwards from the plot, so that the distance between the safety line and the plot boundary is R. ouK

[0261] Example 2

[0262] The method for independent control of rice seedling shoots in irregular paddy fields includes the following steps:

[0263] A1 Calculate the boundary: Calculate the boundary line for straight operations based on the shape and size of the field;

[0264] The calculation boundary specifically includes the following steps:

[0265] A11 connects the boundary points of the land parcel in sequence to obtain the land parcel boundary line;

[0266] A12 uses the width of the rice transplanter's transplanting platform to shrink the boundary line of the plot, thus obtaining the internal straight-line working area and the edge-collecting working path;

[0267] The inner route of the rice planting platform in the edge-gathering operation path described in A13 is the operation boundary line.

[0268] A2 Calculate control points: Based on the straight operation boundary line, calculate the vehicle body control points for each seedling claw separately. The vehicle body control points include stop control points and start control points.

[0269] The calculation of the control point specifically includes the following steps:

[0270] A21 calculates the intersection of the seedling claw path and the straight operation boundary line. When the seedling claw is located at this intersection point, the rice transplanter is located at the control point of the seedling claw.

[0271] A22 When the rice transplanter approaches the straight operation boundary line during the transplanting process, this control point is the stop control point;

[0272] A23 When the rice transplanter approaches the straight operation boundary line during the stopping process, this control point is the starting control point.

[0273] In a further preferred embodiment, the boundary lines of adjacent straight-line operations form a U-shaped turning path;

[0274] Substitute the intersection of the seedling claw path and the straight operation boundary, as well as the foot of the perpendicular line drawn from the intersection to the midpoint of the transplanting platform, into the PointCal2 function to obtain the stop control point and the start control point.

[0275] The steps are the same as in Example 1, and will not be repeated here.

[0276] A3 Control Stop: When the rice transplanter moves to the stop control point according to the planned path, the transplanting work of the corresponding seedling claw at that stop control point will be stopped;

[0277] A4 control activation: The rice transplanter continues to move along the planned path until it reaches the next activation control point, and controls the corresponding seedling claw to start transplanting.

[0278] A5 Movement: The rice transplanter continues to move to the next stop control point according to the planned path, repeating the cycle of stopping and subsequent steps.

[0279] In a further preferred embodiment, the following steps are performed before the rice transplanter reaches the last straight working path:

[0280] Let D be the distance between the longest line that is perpendicular to the straight operation path and inside the straight operation boundary line;

[0281] The width of the rice planting platform, i.e. the width between the left and right seedling claws, is defined as w;

[0282]

[0283] Let a be the number of seedling claws on the rice transplanter.

[0284] When Δd∈[0, w / a], there are a total of N rows of operation within the internal operation area, and all the seedling claws in the Nth row are working, which is completely consistent with the operation mode of the first N-1 rows;

[0285] When Δd∈(w / a, w / 2], there are a total of N+1 work rows in the internal work area, and only the inner claw works in the N+1th row.

[0286] When Δd∈(w / 2, a-1 / a*w], there are a total of N+1 rows of work within the internal work area, and the inner and middle claws work in the N+1th row.

[0287] When Δd∈(a-1 / a *w, w), there are a total of N+1 rows of operation within the internal operation area, and all the claws in the N+1th row are working.

[0288] The above steps are mainly to optimize the transplanting technology for the last row. Because this application employs separate control technology for the seedling claws, transplanting can be carried out on land where transplanters with synchronous seedling claw transplanting cannot operate. See Appendix. Figure 25 Its 18w row has a field with a width of Δd on the far right. For this width, see Appendix. Figure 26 Appendix Figure 27 Based on the above conditions, it can be determined whether to use the inner seedling claw or the inner seedling claw and middle seedling claw to complete the transplanting.

[0289] To demonstrate in detail the calculation steps for the last row (which does not represent all working rows), the specific calculation steps are further explained:

[0290] For Δd∈(w / 6, w / 2], only the inner claw works in the N+1th row:

[0291] Step 1: Calculate the intersection points GC_in_L and GC_in_N between the inner claw line and the upper and lower boundaries PL and PN of the inner working area InnerEdge;

[0292] Step 2: Calculate point M_final on the path in the N+1th row, and find the intersection points L_F_final and N_F_final of the line with slope k that passes through M_final and the field boundary FieldEdge.

[0293] Step 3: Find the perpendicular feet of GC_in_L and GC_in_N on the path in the N+1th row: H_GC_in_L, H_GC_in_N;

[0294] Step 4: Use the PointCal2 function to calculate the points with a distance of ±Limp between H_GC_in_L and H_GC_in_N (whether it is positive or negative depends on the parity of N+1. When the first row is N→L, if N+1 is odd, the distance between H_GC_in_N is +Limp and the distance between H_GC_in_L is -Limp; if N+1 is even, the distance between H_GC_in_N is -Limp and the distance between H_GC_in_L is +Limp). These are the yellow decision points YD_GC_in_L and YD_GC_in_N.

[0295] Step 5: The straight path in the N+1th row is the line segment between YD_GC_in_L and YD_GC_in_N;

[0296] Step 6: The U_End of the U-shaped turn from row N to row N+1 is a point between YD_GC_in_L and YD_GC_in_N. Specifically: if the U-shaped turn is on the PN boundary, then U_End is YD_GC_in_N; if the U-shaped turn is on the PL boundary, then U_End is YD_GC_in_L. U_Start needs to be selected from the yellow decision point and BlueP.

[0297] For Δd∈(w / 2, 5 / 6*w], the operations in the (N+1)th row are as follows:

[0298] Step 1: Calculate the intersection points GC_in_L and GC_in_N between the inner claw line and the upper and lower boundaries PL and PN of the inner working area InnerEdge;

[0299] Step 2: Calculate point M_final on the path in the (N+1)th row, find the intersection points L_F_final and N_F_final of the line with slope k passing through M_final and the field boundary FieldEdge; find the intersection points L_final and N_final of the line with slope k passing through M_final and the InnerEdge.

[0300] Step 3: Find the perpendicular feet of GC_in_L and GC_in_N on the path in the N+1th row: H_GC_in_L, H_GC_in_N;

[0301] Step 4: Use the PointCal2 function to calculate the points with a distance of ±Limp between H_GC_in_L and H_GC_in_N (whether it is positive or negative depends on the parity of N+1. When the first row is N→L, if N+1 is odd, the distance between H_GC_in_N is +Limp and the distance between H_GC_in_L is -Limp; if N+1 is even, the distance between H_GC_in_N is -Limp and the distance between H_GC_in_L is +Limp). These are the yellow decision points YD_GC_in_L and YD_GC_in_N.

[0302] Calculate the points whose distances to L_final and N_final are ±Limp (whether they are positive or negative depends on the parity of N+1; when the first row is N→L, if N+1 is odd, N_final distance +Limp, L_final distance -Limp; if N+1 is even, N_final distance -Limp, L_final distance +Limp), which are the yellow decision points YD_middle_L_final and YD_middle_N_final.

[0303] Step 5: Find the outermost point YD_L_final_max of {YD_GC_in_L, YD_middle_L_final}, and find the outermost point YD_N_final_max of {YD_GC_in_N, YD_middle_N_final}. The straight path in the N+1th row is the line segment between YD_L_final_max and YD_N_final_max.

[0304] Step 6: The U_End of the U-shaped turn from row N to row N+1 is a point between YD_L_final_max and YD_N_final_max. Specifically: if the U-shaped turn is on the PN boundary, then U_End is YD_N_final_max; if the U-shaped turn is on the PL boundary, then U_End is YD_L_final_max. U_Start needs to be selected from the yellow decision point and BlueP.

[0305] Obviously, for the above situation, whether the inner seedling claw is the left seedling claw or the right seedling claw is: when N+1 is odd, the inner seedling claw has the same name as the inner seedling claw in the first row; when N+1 is even, the inner seedling claw has a different name from the inner seedling claw in the first row.

[0306] The path planning and rice transplanting simulation were performed using the methods in Examples 1 and 2, and the results are as follows: Figure 28 and Figure 29 As shown, compared to existing technologies, independently controlled seedling claws can achieve better rice transplanting results.

[0307] Example 3

[0308] A rice transplanter control system includes a path navigation module, a seedling claw control module, and a path planning module;

[0309] The path navigation module is used to control the rice transplanter to move according to the planned path;

[0310] The seedling claw control module controls the transplanting operation of the corresponding seedling claw individually according to the position reached by the rice transplanter.

[0311] The path planning module is used to calculate the straight operation boundary line and, based on the straight operation boundary line, to calculate the vehicle control points of each seedling claw separately.

[0312] Example 4

[0313] A rice transplanter, comprising, as described above, a rice transplanter control system.

[0314] Although the invention has been described herein with reference to illustrative embodiments, it should be understood that many other modifications and implementations can be devised by those skilled in the art, which will fall within the scope and spirit of the principles disclosed herein. More specifically, various variations and modifications can be made to the components and / or layout of the subject matter combination within the scope of this disclosure. Besides variations and modifications to the components and / or layout, other uses will be apparent to those skilled in the art.

Claims

1. A method for independent control of rice seedling claws in irregular paddy fields, characterized in that, Includes the following steps: Calculate the boundary: Based on the shape and size of the field, calculate the boundary line for the straight-line operation; Calculate control points: Based on the straight operation boundary line, calculate the vehicle control points for each seedling claw separately. The vehicle control points include stop control points and start control points. The calculation of the control point specifically includes the following steps: Calculate the intersection point of the seedling claw path and the straight operation boundary line. When the seedling claw is located at the intersection point, the rice transplanter is located at the control point of the seedling claw. When the rice transplanter approaches the straight work boundary line during the transplanting process, this control point is the stop control point; When the rice transplanter approaches the straight operation boundary line during the stopping process, this control point is the starting control point; The boundary lines of adjacent straight-line operations form a U-shaped turning path; The coordinates of the intersection of the seedling claw path and the straight operation boundary, as well as the coordinates of the foot of the perpendicular line drawn from the intersection to the midpoint of the transplanting platform, are used as conditions to calculate the stop control point and the start control point. Stop Control: When the rice transplanter moves to the stop control point according to the planned path, the transplanting work of the corresponding seedling claw at that stop control point is stopped; Control activation: The rice transplanter continues to move along the planned path until it reaches the next activation control point, at which point the corresponding seedling claw is controlled to start transplanting. Movement: The rice transplanter continues to move to the next stop control point according to the planned path, repeating the cycle of stopping and subsequent steps.

2. The method for independent control of rice seedling claws in irregular paddy fields as described in claim 1, characterized in that, The calculation boundary specifically includes the following steps: Connect the boundary points of the land parcel in sequence to obtain the land parcel boundary line; Based on the width of the rice transplanter's transplanting platform, the boundary line of the plot is shortened to obtain the internal straight working area and the edge finishing working path; The inner route of the rice planting platform in the edge-gathering operation path is the operation boundary line.

3. The method for independent control of rice seedling claws in irregular paddy fields as described in claim 1 or 2, characterized in that, Before the rice transplanter reaches the last straight working path, perform the following steps: Let D be the distance between the longest line that is perpendicular to the straight operation path and inside the straight operation boundary line; The width of the rice planting platform, i.e. the width between the left and right seedling claws, is defined as w; ； Let a be the number of seedling claws on the rice transplanter. When Δd∈[0, w / a], there are a total of N rows of operation within the internal operation area, and all the seedling claws in the Nth row are working, which is completely consistent with the operation mode of the first N-1 rows; When Δd∈(w / a, w / 2], there are a total of N+1 rows of work within the internal work area, and only the inner claw works in the N+1th row. When Δd∈(w / 2, a-1 / a*w], there are a total of N+1 rows of work within the internal work area, and the inner and middle claws work in the N+1th row. When Δd∈(a-1 / a *w, w), there are a total of N+1 rows of operation within the internal operation area, and all the claws in the N+1th row are working.

4. A method for planning rice transplanting operations, characterized in that, Includes the following steps: Determine the boundaries of the work site to obtain the internal work area and the boundary work area; Calculate the straight path for internal operations; Calculate the U-turn routes between straight paths in internal operations; The rice planting path is obtained by combining the straight internal operation path and the U-turn route. The method for independent control of irregular paddy field seedling claws as described in any one of claims 1-3 is executed on the rice transplanting path.

5. The rice transplanting operation planning method as described in claim 4, characterized in that, The calculation of the internal operation's straight path specifically includes the following steps: Calculate the farthest point within the internal work area corresponding to a specified edge of the internal work area. Draw a perpendicular line from the farthest point to the specified side, and determine the intersection point M on the perpendicular line at a distance w. i M1 is set to a distance of 0.5w from the specified edge; Through the intersection point M i Parallel to the specified side, an internal working straight path is set, the starting point of which is the control point position of the rice transplanter when transplanting begins; The endpoint of the internal working straight path is the control point position of the rice transplanter when the transplanting is completed.

6. The rice transplanting operation planning method as described in claim 4, characterized in that, The calculation of the turning routes between straight paths in the internal operation specifically includes the following steps; Connect the starting point of the internal work straight path with the ending point of the adjacent internal work straight path through straight line segments and semicircles to form a U-turn route connecting the adjacent internal work straight paths. The starting point of the internal operation turning route is the control point corresponding to the end of the last seedling claw's transplanting when the entire seedling claw has driven out of the operation boundary. The endpoint of the internal operation turning route is when the entire seedling claw enters the operation boundary, which is the control point corresponding to the start of the first seedling claw's transplanting.

7. The rice transplanting operation planning method as described in claim 5, characterized in that, The calculation of the U-turn routes between the straight paths of the internal operation also includes Includes the following steps; Plan the rice transplanter's route so that it does not collide with the plot boundary when moving along the turning route.

8. The rice transplanting operation planning method as described in claim 7, characterized in that, The planned route for the rice transplanter includes the following steps: Determine the type of U-turn route; If the starting point of the U-turn route is the endpoint of the semicircle, then it is classified as Type 1; If the endpoint of the U-turn route is the endpoint of the semicircle, then it is classified as type two; If it is type one, it is necessary to determine whether there will be a collision and design an avoidance route or avoidance operation so that the rice transplanter will not collide with the boundary of the plot when it moves according to the turning route. If it is type two, no new steps are required.

9. The rice transplanting operation planning method as described in claim 8, characterized in that, The process of determining whether a collision will occur and designing an avoidance route or avoidance maneuver specifically includes the following steps: Determine whether the center of the semicircle of the U-turn route is inside the safety line. If it is inside, it is safe and no adjustment is needed. If it is not inside, an alternative route or alternative operation needs to be designed. The safety line at the center is obtained by narrowing the minimum turning radius of the rice transplanter inward from the boundary of the plot.

10. The rice transplanting operation planning method as described in claim 9, characterized in that, The design of the bypass route or bypass operation specifically includes one of the following solutions: Option 1: When the rice transplanter reaches a safe turning point, the seedling claws stop rotating, the seedling platform is raised, and the turn is executed. The safe turning point is calculated through the following steps: Find the intersection of the extended line of the internal working straight path and the safety line of the circle. Draw the foot of the perpendicular from the intersection to the internal working straight path to obtain the safe turning point. Option 2: For rice transplanters capable of reversing, use Option Two, which includes the following steps: When the vehicle reaches the outermost stop control point, the seedling claw stops rotating, the seedling platform is raised, and reverse gear is engaged; Reverse to a safe turning point, then engage drive to make the turn.

11. A rice transplanter control system, executing the rice transplanting operation planning method as described in any one of claims 4-10, characterized in that, This includes a path navigation module and a seedling claw control module; The path navigation module is used to control the rice transplanter to move according to the planned path; The seedling claw control module controls the transplanting operation of the corresponding seedling claw individually according to the position reached by the rice transplanter.

12. A rice transplanter, characterized in that, This includes the rice transplanter control system as described in claim 11.

Images