Navigation datum line generation method and device, electronic equipment and storage medium

Abstract

The invention discloses a navigation datum line generation method and device, electronic equipment and a storage medium, and the method and device are applied to vehicle-mounted electronic equipment of agricultural machinery, and specifically comprise the following steps: responding to a data acquisition request of a user, and obtaining boundary data of an operation land parcel; in response to a mode selection request of a user, a generation mode of the navigation datum line is selected, and the generation mode comprises a manual generation mode and an automatic generation mode; processing the boundary data based on the generation mode to obtain a datum line sequence, the datum line sequence comprising a plurality of navigation datum lines; and performing selfing verification on the navigation datum line, if the verification cannot be passed, returning to the step of selecting the generation mode of the navigation datum line, and if the verification can be passed, outputting a datum line sequence. According to the scheme, the navigation datum line can be generated after the boundary data of the working land parcel is obtained, so that the agricultural machine can perform path planning and realize automatic driving based on the navigation datum line, and the working efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of agricultural machinery automatic driving technology, and more specifically, to a method, apparatus, electronic device, and storage medium for generating navigation reference lines. Background Technology

[0002] With the popularization of the concept of precision agriculture, large and medium-sized agricultural machinery such as tractors and combine harvesters are rapidly evolving towards autonomous driving. Current autonomous driving solutions generally utilize GNSS-RTK antenna combinations to obtain centimeter-level positioning information through real-time dynamic differential methods, enabling the agricultural machinery to implement autonomous driving based on this high-precision positioning information. However, under current conditions, before operation, the driver needs to manually mark a path, that is, manually drive the agricultural machinery along the starting and ending points, and record the coordinates of the starting point, ending point, and the points along the way in chronological order during the journey, forming a trajectory baseline. This trajectory baseline is then copied into equally spaced parallel paths as the tracking target path during the autonomous driving phase. The path marking process, seemingly simple, has become the most time-consuming, experience-dependent, and error-accumulating part of the entire precision operation. This is because every time the work site is changed, or even when changing the work mode within the same work site, the path must be remarked, resulting in tedious path marking and low operational efficiency. Summary of the Invention

[0003] In view of this, this application provides a method, apparatus, electronic device and storage medium for generating navigation baselines based on the boundary data of the work site to support the automated driving of agricultural machinery, so as to improve work efficiency.

[0004] To achieve the above objectives, the following solution is proposed:

[0005] A method for generating navigation reference lines, applied to onboard electronic equipment of agricultural machinery, the method comprising the following steps:

[0006] Responding to user data collection requests, it obtains the boundary data of the work site;

[0007] In response to the user's mode selection request, the generation mode of the navigation baseline is selected, including manual generation mode and automatic generation mode;

[0008] The boundary data is processed based on the generation mode to obtain the baseline sequence, which includes multiple navigation baselines;

[0009] The navigation baseline is subjected to self-intersection verification. If it fails, the process returns to the step of selecting the generation mode of the navigation baseline. If the verification passes, the baseline sequence is output.

[0010] Optionally, the step of responding to a user's data collection request and obtaining the boundary data of the work site includes the following steps:

[0011] Acquire a series of trajectory data collected by the satellite positioning and navigation equipment configured on the agricultural machinery during its operation;

[0012] The boundary data is constructed based on all the trajectory data, and the boundary data is a set of trajectory points that includes all the trajectory data.

[0013] Optionally, the step of responding to a user's data collection request and collecting boundary data of the work area while the agricultural machinery is traveling around the work area further includes the step of:

[0014] The boundary data is subjected to a closure check and an automatic point filling operation is performed.

[0015] Optionally, the step of responding to a user's data collection request and collecting boundary data of the work area while the agricultural machinery is traveling around the work area further includes the step of:

[0016] The boundary data is then subjected to direction normalization processing.

[0017] Optionally, the step of processing the boundary data based on the generation mode to obtain the baseline sequence, wherein the baseline sequence includes multiple navigation baselines, includes the following steps:

[0018] In response to the user's automatic generation request, the boundary data is processed based on the user-given first offset distance, number of segments, target segment length, shortest segment distance, and segment adjustment length to obtain the baseline sequence;

[0019] In response to a user's manual generation request, offset boundary path points are generated and displayed based on the second offset distance and boundary simplification parameters given by the user, and the baseline sequence is generated based on the user's selection of some of the offset boundary path points.

[0020] Optionally, the step of responding to the user's automatic generation request by processing the boundary data based on the user-given first offset distance, number of segments, target segment length, shortest segment distance, and segment adjustment length to obtain the baseline sequence includes the following steps:

[0021] In response to the automatic generation request, the boundary data is subjected to boundary offset processing based on the first offset distance to obtain a safe operation edge line, the safe operation edge line including corners connected by arcs;

[0022] The thinning threshold is determined in reverse based on the number of segments, and the safe operation edge line is processed based on the thinning threshold to obtain a cluster of segments including multiple segments.

[0023] Each line segment is verified based on the shortest line segment distance, and the segments are merged according to the verification results.

[0024] Based on the line segment length adjustment, the line segments that have undergone verification and merging are synchronously extended or shortened to obtain the baseline sequence.

[0025] Optionally, the step of responding to a user's manual generation request, generating and displaying offset boundary path points based on the second offset distance and boundary simplification parameters given by the user, and generating the baseline sequence based on the user's selection of some of the offset boundary path points, includes the following steps:

[0026] In response to the manual generation request, the boundary data is subjected to boundary offset processing based on the second offset distance to obtain the safe operation boundary line;

[0027] Based on the boundary simplification parameters, the path points on the safe operation line are simplified to obtain and display multiple offset boundary path points that can satisfy the description of the safe operation edge line.

[0028] In response to the user's interactive point selection operation, select multiple target points from the multiple offset boundary path points;

[0029] The baseline sequence is generated based on the multiple target points.

[0030] A navigation baseline generation device, applied to onboard electronic equipment of agricultural machinery, the generation device comprising:

[0031] The data acquisition module is configured to respond to user data acquisition requests and obtain boundary data of the work site.

[0032] The mode selection module is configured to respond to a user's mode selection request and select the generation mode of the navigation baseline, the generation mode including manual generation mode and automatic generation mode;

[0033] The generation execution module is configured to process the boundary data based on the generation mode to obtain the baseline sequence, the baseline sequence including multiple navigation baselines;

[0034] The verification output module is configured to perform self-intersection verification on the navigation baseline. If the verification fails, it returns to the step of generating the selected navigation baseline. If the verification passes, it outputs the baseline sequence.

[0035] An electronic device, used in agricultural machinery, includes at least one processor and a memory connected to the processor, wherein:

[0036] The memory is used to store computer programs or instructions;

[0037] The processor is used to execute the computer program or instructions to enable the electronic device to implement the navigation baseline generation method as described above.

[0038] A computer-readable storage medium is applied to an electronic device, the storage medium carrying one or more computer programs that can be executed by the electronic device to enable the electronic device to implement the navigation baseline generation method as described above.

[0039] As can be seen from the above technical solution, this application discloses a method, apparatus, electronic device, and storage medium for generating navigation baselines. This method and apparatus are applied to the onboard electronic equipment of agricultural machinery. Specifically, it involves: responding to a user's data acquisition request to obtain the boundary data of the work area; responding to a user's mode selection request to select a navigation baseline generation mode, which includes a manual generation mode and an automatic generation mode; processing the boundary data based on the generation mode to obtain a baseline sequence, which includes multiple navigation baselines; and performing self-crossing verification on the navigation baselines. If the verification fails, the process returns to the step of selecting the selected navigation baseline generation mode; if the verification succeeds, the baseline sequence is output. Through this solution, navigation baselines can be generated after obtaining the boundary data of the work area, enabling agricultural machinery to perform path planning and achieve automatic driving based on the navigation baselines, thereby improving operational efficiency.

[0040] Existing technologies rely entirely on the driver's experience and the control of vehicle speed and steering consistency. GNSS multipath drift, aircraft sideslip, and terrain undulations can cause random deviations of 2-10cm in the same ideal trajectory during multiple attempts, resulting in unsatisfactory tillage results in the subsequent autonomous driving phase. This application, however, is completely independent of driver experience, vehicle speed, and steering consistency, and avoids the impact of GNSS multipath drift, aircraft sideslip, and terrain undulations on the final navigation baseline, thereby further improving the quality of the navigation baseline. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a flowchart illustrating a method for generating navigation baselines according to an embodiment of this application;

[0043] Figure 2This is a rendering of the navigation baseline generated in the automatic generation mode according to an embodiment of this application;

[0044] Figure 3a This is a rendering of a linear navigation baseline generated in manual generation mode according to an embodiment of this application.

[0045] Figure 3b This is a rendering of the curved navigation baseline generated in manual generation mode according to an embodiment of this application;

[0046] Figure 4 This is a rendering of the navigation baseline and operation path output in this embodiment.

[0047] Figure 5 This is a block diagram of a navigation baseline generation device according to an embodiment of this application;

[0048] Figure 6 This is a block diagram of an electronic device according to an embodiment of this application. Detailed Implementation

[0049] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0050] This application addresses the problem of frequent line marking mentioned above by proposing a localized solution that only requires boundary point collection and eliminates the need for permanent line marking. Only a single collection of the closed boundary points of the plot is needed, and the system can then calculate, in real-time, a straight or curved baseline with adjustable direction, curvature, and density on the vehicle terminal. This solution upgrades the boundary point set into a parameterizable data source. When using different operational modes such as sowing, harrowing, and harvesting, only the same boundary point needs to be called to generate a matching baseline, fundamentally eliminating the traditional repetitive line marking process and significantly improving the versatility, economy, and intelligence of automated agricultural machinery. Therefore, the following embodiments are proposed.

[0051] Figure 1 This is a flowchart illustrating a method for generating navigation baselines according to an embodiment of this application.

[0052] like Figure 1 As shown, the generation method provided in this embodiment is applied to an electronic device, which can be a computer or control device deployed on agricultural machinery, or a computer, server, or cloud platform fixed at a certain location. This generation method is used to generate a navigation baseline for agricultural machinery to perform automated driving. The specific steps of generating this navigation baseline include:

[0053] S1. Obtain the boundary data of the work site according to the user's data collection request.

[0054] The work site can be a regular or irregular polygon. When a user issues a data collection request, the boundary data of the work site can be obtained in various ways. For example, it can be obtained by directly importing a pre-stored boundary file or by obtaining coordinate streams from drones or satellite mapping. Alternatively, it can be data collected on-site by a GNSS-RTK receiver deployed on the agricultural machinery as the machinery travels around the work site. Due to the diverse nature of work sites, collecting boundary data on-site is more valuable than other methods to improve operational flexibility and allows for better autonomous driving even without readily available data. This on-site data collection scheme includes the following specific methods.

[0055] As the user drives an agricultural machine equipped with a GNSS-RTK receiver around the outer edge of the work area, the receiver continuously records the machine's trajectory data at a set frequency, such as 1Hz. When the machine returns to the vicinity of the starting point after completing one circuit around the outer edge of the work area... When the recording stops, the system automatically stops recording, thus obtaining the original set of trajectory points. And use it as the boundary data obtained in this application.

[0056] Furthermore, boundary data must form a geometrically closed loop for accurate calculation of area, normal vector, and line segment offset. However, in practice, users cannot always guarantee that the endpoint of the recorded boundary point set is exactly near the starting point, thus preventing the formation of a closed loop. Therefore, it is necessary to perform closure checks and automatic point filling by calculating the distance between the first and last points to ensure the formation of a closed loop. (Distance between first and last points) The calculation formula is as follows:

[0057]

[0058] in, For the endpoint in the boundary points, Let be the starting point among the boundary points. Then in and Interpolate linearly at equidistant intervals of 0.5m until... This ensures the topological integrity of the boundary.

[0059] In addition, to ensure that the positive and negative directions of the subsequent boundary offset algorithm strictly correspond to the left / right working direction of the agricultural machinery, the following boundary data processing procedure is also included.

[0060] In computational geometry, the order of polygon vertices determines the direction of the outward normal, and the sign must be globally consistent during offset operations. The Shoelace (Gaussian area) formula is used to calculate the sign area.

[0061]

[0062] in, This is a parameter representing the coordinates of the i-th boundary point in the boundary data. This is another parameter of the coordinate data.

[0063] like If the vertices are stored in clockwise order, then the reverse order algorithm will be called for calculation:

[0064]

[0065] make This ensures that the boundary point list is always arranged counterclockwise, and this step ensures that the positive and negative directions of the subsequent boundary offset algorithm strictly correspond to the left / right working direction of the agricultural machinery.

[0066] S2. Select the navigation baseline generation mode based on the user's mode selection request.

[0067] The generation modes here include automatic and manual modes. In automatic mode, navigation baselines are automatically generated based on the boundary data mentioned above. In manual mode, the boundary data is processed step-by-step by the user to generate navigation baselines. The former improves generation efficiency, while the latter offers greater flexibility.

[0068] S3. Process the boundary data according to the generation mode to obtain a baseline sequence including multiple navigation baselines.

[0069] This involves automatically or manually processing the boundary data based on the user-selected generation mode to obtain the baseline sequence.

[0070] On the one hand, when the user selects the automatic generation mode, the system responds to the user's automatic generation request and processes the boundary data based on the user-given first offset distance, number of segments, target segment length, shortest segment distance, and segment adjustment length to obtain the baseline sequence.

[0071] First, boundary offset processing is performed on the boundary data. For the original boundary closure point sequence... The first offset distance given by the user is 1 (outward expansion is positive, inward contraction is negative), then for each side segment Translate along its outer normal direction 1. Connect the corners with arcs to obtain a new safe working boundary line. This step ensures that the equipment has sufficient buffer space at the edge of the field or outside obstacles. To ensure the curvature continuity of the offset boundary, a Bézier curve smoothing algorithm can be used to smooth it, resulting in a safe operating boundary line. .

[0072] Then, using the number of segments N as input, the thinning threshold is determined in reverse. The safe operating boundary line is then calculated. Total perimeter :

[0073]

[0074] During the calculation process, the target segment length is set. , with initial threshold The Douglas-Peucker algorithm is used for thinning. If the number of output segments is not equal to N, adjustments are made. The value is calculated so that it converges to exactly N line segments, forming a cluster of line segments containing multiple line segments. .

[0075] Next, based on the introduced shortest line segment distance The length of each line segment is checked:

[0076]

[0077] like If the length of a segment is not found, it is merged with the adjacent segment, and the node coordinates are updated. This process is repeated until all segment lengths meet the requirement. This eliminates shorter path segments and ensures smooth steering of agricultural machinery.

[0078] Finally, adjust the length using line segments. Simultaneously extend or shorten both ends of each line segment:

[0079]

[0080] in As the unit direction vector of the line segment, this step provides the necessary upper and lower limits for automatic driving control, and provides a buffer for machine lifting, lowering and changing lanes.

[0081] Through the above processing, in automatic generation mode, a baseline sequence comprising multiple navigation baselines with continuous curvature and adjustable length is ultimately generated. This sequence can be directly used for parallel path planning and autonomous driving control, as detailed below. Figure 2 As shown. It should be noted that in automatic generation mode, due to the limitation of the shortest line segment distance, the baseline segments may be merged, and the final number of navigation baselines generated may be less than or equal to the number of segments N set above.

[0082] On the other hand, in response to the user's manual generation request, offset boundary path points are generated and displayed based on the second offset distance and boundary simplification parameters given by the user. The baseline sequence is generated according to the user's selection of some of the offset boundary path points. The manual mode is simple and allows for more flexible determination of the baseline.

[0083] First, similar to the automatic mode, the original boundary point list... Translate along the normal direction by the user-defined second offset distance Obtain the safe working boundary line This provides space for turning around at the edge of the field or avoiding obstacles.

[0084] Then, based on the boundary simplification parameters, the path points on the safe operation line are simplified to obtain and display multiple offset boundary path points that can satisfy the description of the safe operation edge line.

[0085] The boundary simplification parameter is a user-defined simplification percentage. The system according to Calculate the target number of points, and then use the Douglas-Peucker algorithm to reduce the number of boundary points of the plots to a minimum. This yields the aforementioned multiple offset boundary path points, preserving the plot shape characteristics while reducing screen occlusion during subsequent point selection. After simplification, these offset boundary path points are displayed through a responsive interface.

[0086] After simplification, the user proceeds to interactive point selection. Users can sequentially select the starting point S and ending point E from multiple offset boundary path points using corresponding operations. If the selected baseline type is "AB straight line," the two points are directly connected, and the final straight baseline equation is... If the "Curve" type is selected, the curve baseline path will be the starting point S, all intermediate points from point S in a counter-clockwise direction to point E, and the ending point E. The final curve baseline will be... Finally, users can switch the "direction" with one click: the system reverses the order of the baseline points to achieve forward / reverse driving direction switching without the need to reselect points.

[0087] Finally, a baseline sequence comprising multiple navigation baselines is generated based on the selected start and end points. The generated linear navigation baselines are as follows: Figure 3a As shown, the generated curved navigation baseline is as follows: Figure 3b As shown.

[0088] S4. Perform self-intersection verification on the navigation baseline.

[0089] That is, each navigation baseline is self-crossed. If it fails, return to step S2 above and re-execute the selection of the navigation baseline generation mode. If it passes the verification, the baseline sequence is output.

[0090] Because self-intersection of the baseline may occur during the boundary offset step, leading to repeated rolling or loss of path tracking control in autonomous driving systems, self-intersection detection of the baseline point sequence is necessary. During verification, the baseline segment sequence... Take all ordinal pairs satisfy and For line segments that meet the above conditions Perform a cross-sectional experiment. For example, a line segment. line segment If both conditions 1 and 2 are met, then the two line segments are determined to intersect, i.e., they are self-intersecting.

[0091] Condition 1: and Different signs;

[0092] Condition 2: and Different signs;

[0093] If any intersection is detected, and the self-intersection verification fails, the user is prompted to readjust parameters or select points. Once the baseline passes all verifications and the preview results meet expectations, it can be locked and output, providing a foundation for subsequent parallel path generation and autonomous driving tracking control. Figure 4 As shown, the generated navigation baseline is used for the operation path planning effect diagram.

[0094] As can be seen from the above technical solution, this embodiment provides a method for generating navigation baselines. This method is applied to the on-board electronic equipment of agricultural machinery. Specifically, it involves responding to a user's data acquisition request to obtain the boundary data of the work area; responding to a user's mode selection request to select a navigation baseline generation mode, which includes a manual generation mode and an automatic generation mode; processing the boundary data based on the generation mode to obtain a baseline sequence, which includes multiple navigation baselines; and performing self-crossing verification on the navigation baselines. If the verification fails, the process returns to the step of selecting the navigation baseline generation mode; if the verification succeeds, the baseline sequence is output. With this solution, navigation baselines can be generated after obtaining the boundary data of the work area, enabling agricultural machinery to perform path planning and achieve automatic driving based on the navigation baselines, thereby improving operational efficiency.

[0095] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0096] Although the operations are described in a specific order, this should not be construed as requiring these operations to be performed in the specific order shown or in a sequential order. In certain environments, multitasking and parallel processing may be advantageous.

[0097] It should be understood that the steps described in the method embodiments of this disclosure may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of this disclosure is not limited in this respect.

[0098] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including but not limited to object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer.

[0099] Figure 5 This is a flowchart illustrating a method for generating navigation baselines according to an embodiment of this application.

[0100] like Figure 5As shown, the generation device provided in this embodiment is applied to an electronic device, which can be a computer device, control device, etc. deployed on agricultural machinery, or a computer, server, or cloud platform fixedly deployed at a certain location. The generation device is used to generate a navigation baseline for agricultural machinery to perform automated driving, and specifically includes a data acquisition module 10, a mode selection module 20, a generation execution module 30, and a verification output module 40.

[0101] The data acquisition module is used to obtain the boundary data of the work site according to the user's data acquisition request.

[0102] The work site can be a regular or irregular polygon. When a user issues a data collection request, the boundary data of the work site can be obtained in various ways, such as directly importing a pre-stored boundary file, obtaining coordinate streams through drone or satellite mapping, or collecting data on-site by a GNSS-RTK receiver deployed on the agricultural machinery as the machinery travels around the work site. Due to the diverse nature of work sites, collecting boundary data on-site is more practically valuable than other methods to improve operational flexibility and allows for better autonomous driving even without readily available data. This application has already detailed the data collection process, which will not be repeated here.

[0103] The mode selection module is used to select the generation mode of the navigation baseline according to the user's mode selection request.

[0104] The generation modes here include automatic and manual modes. In automatic mode, navigation baselines are automatically generated based on the boundary data mentioned above. In manual mode, the boundary data is processed step-by-step by the user to generate navigation baselines. The former improves generation efficiency, while the latter offers greater flexibility.

[0105] The generation and execution module is used to process the boundary data according to the generation mode to obtain a baseline sequence including multiple navigation baselines.

[0106] This involves automatically or manually processing the boundary data based on the user-selected generation mode to obtain the baseline sequence.

[0107] On the one hand, when the user selects the automatic generation mode, the system responds to the user's automatic generation request and processes the boundary data based on the user-given first offset distance, number of segments, target segment length, shortest segment distance, and segment adjustment length to obtain the baseline sequence.

[0108] On the other hand, in response to the user's manual generation request, offset boundary path points are generated and displayed based on the second offset distance and boundary simplification parameters given by the user. The baseline sequence is generated according to the user's selection of some of the offset boundary path points. The manual mode is simple and allows for more flexible determination of the baseline.

[0109] The verification output module is used to perform self-intersection verification on the navigation baseline.

[0110] That is, each navigation baseline is self-crossed. If it fails, the control mode selection module re-executes the selection of the navigation baseline generation mode. If it passes the verification, the baseline sequence is output.

[0111] Because self-intersection of the baseline may occur during the boundary offset step, leading to repeated rolling or loss of path tracking control in autonomous driving systems, self-intersection detection of the baseline point sequence is necessary. During verification, the baseline segment sequence... Take all ordinal pairs satisfy and For line segments that meet the above conditions Perform a cross-sectional experiment. For example, a line segment. line segment If both conditions 1 and 2 are met, then the two line segments are determined to intersect, i.e., they are self-intersecting.

[0112] Condition 1: and Different signs;

[0113] Condition 2: and Different signs;

[0114] If any intersection is detected, and the self-intersection verification fails, the user is prompted to readjust parameters or select points. Once the baseline passes all verifications and the preview results meet expectations, it can be locked and output, providing a foundation for subsequent parallel path generation and autonomous driving tracking control. Figure 4 As shown, the generated navigation baseline is used for the operation path planning effect diagram.

[0115] As can be seen from the above technical solution, this embodiment provides a navigation baseline generation device. This device is applied to the on-board electronic equipment of agricultural machinery. Specifically, it responds to a user's data acquisition request to obtain the boundary data of the work area; responds to a user's mode selection request to select a navigation baseline generation mode, which includes a manual generation mode and an automatic generation mode; processes the boundary data based on the generation mode to obtain a baseline sequence, which includes multiple navigation baselines; performs self-intersection verification on the navigation baselines; if it fails, it returns to the step of selecting the navigation baseline generation mode; if it passes the verification, it outputs the baseline sequence. With this solution, navigation baselines can be generated after obtaining the boundary data of the work area, enabling agricultural machinery to perform path planning and achieve automatic driving based on the navigation baselines, thereby improving operational efficiency.

[0116] The units described in the embodiments of this disclosure can be implemented in software or in hardware. The name of a unit does not necessarily limit the unit itself; for example, the first acquisition unit can also be described as "a unit that acquires at least two Internet Protocol addresses".

[0117] The functions described above in this document can be performed at least in part by one or more hardware logic components. For example, exemplary types of hardware logic components that can be used, without limitation, include: field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip (SoCs), complex programmable logic devices (CPLDs), and so on.

[0118] Figure 6 This is a block diagram of an electronic device according to an embodiment of this application.

[0119] The following is for reference. Figure 6 This document illustrates a structural diagram suitable for implementing the electronic device in the embodiments of this disclosure. The terminal device in the embodiments of this disclosure may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. This electronic device is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this disclosure.

[0120] The electronic device may include a processing unit (e.g., a central processing unit, a graphics processing unit, etc.) 601, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 602 or a program loaded from an input device 606 into a random access memory (RAM) 603. The RAM also stores various programs and data required for the operation of the electronic device. The processing unit, ROM, and RAM are interconnected via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0121] Typically, the following devices can be connected to the I / O interface: input devices including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 607 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 608 including, for example, magnetic tapes, hard disks, etc.; and communication devices 609. Communication device 609 allows the electronic device to communicate wirelessly or wiredly with other devices to exchange data. Although electronic devices with various devices are shown in the figures, it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed alternatively.

[0122] This application also provides an embodiment of a computer-readable storage medium.

[0123] The aforementioned computer-readable storage medium is applied to an electronic device and carries one or more computer programs. When these programs are executed by the electronic device, the device responds to a user's data acquisition request, obtains the boundary data of the work area, responds to the user's mode selection request, selects a navigation baseline generation mode (including manual and automatic generation modes), processes the boundary data based on the generation mode to obtain a baseline sequence, which includes multiple navigation baselines, and performs self-crossing verification on the navigation baselines. If the verification fails, the device returns to the step of selecting the navigation baseline generation mode; if the verification succeeds, the baseline sequence is output. This solution allows navigation baselines to be generated after obtaining the boundary data of the work area, enabling agricultural machinery to perform path planning and achieve automatic driving based on the navigation baselines, thus improving operational efficiency.

[0124] It should be noted that the computer-readable medium described above in this disclosure can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0125] In this disclosure, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus, or device. In this disclosure, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0126] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0127] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.

[0128] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0129] The technical solution provided by the present invention has been described in detail above. Specific examples have been used to illustrate the principle and implementation of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation and application scope based on the idea of ​​the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for generating navigation reference lines, applied to onboard electronic equipment of agricultural machinery, characterized in that, The generation method includes the following steps: Responding to user data collection requests, it obtains the boundary data of the work site; In response to the user's mode selection request, the generation mode of the navigation baseline is selected, including manual generation mode and automatic generation mode; The boundary data is processed based on the generation mode to obtain the baseline sequence, which includes multiple navigation baselines; The navigation baseline is subjected to self-intersection verification. If it fails, the process returns to the step of selecting the generation mode of the navigation baseline. If the verification passes, the baseline sequence is output.

2. The generation method as described in claim 1, characterized in that, The step of responding to a user's data collection request and obtaining the boundary data of the work site includes the following steps: Acquire a series of trajectory data collected by the satellite positioning and navigation equipment configured on the agricultural machinery during its operation; The boundary data is constructed based on all the trajectory data, and the boundary data is a set of trajectory points that includes all the trajectory data.

3. The generation method as described in claim 2, characterized in that, The step of responding to a user's data collection request and obtaining the boundary data of the work site further includes the following steps: The boundary data is subjected to a closure check and an automatic point filling operation is performed.

4. The generation method as described in claim 2, characterized in that, The step of responding to a user's data collection request and collecting boundary data of the work area while the agricultural machinery is traveling around the work area also includes the following steps: The boundary data is then subjected to direction normalization processing.

5. The generation method as described in claim 1, characterized in that, The process of processing the boundary data based on the generation mode to obtain the baseline sequence, wherein the baseline sequence includes multiple navigation baselines, includes the following steps: In response to the user's automatic generation request, the boundary data is processed based on the user-given first offset distance, number of segments, target segment length, shortest segment distance, and segment adjustment length to obtain the baseline sequence; In response to a user's manual generation request, offset boundary path points are generated and displayed based on the second offset distance and boundary simplification parameters given by the user, and the baseline sequence is generated based on the user's selection of some of the offset boundary path points.

6. The generation method as described in claim 5, characterized in that, The process of responding to the user's automatic generation request, processing the boundary data based on the user-provided first offset distance, number of segments, target segment length, shortest segment distance, and segment adjustment length to obtain the baseline sequence, includes the following steps: In response to the automatic generation request, the boundary data is subjected to boundary offset processing based on the first offset distance to obtain a safe operation edge line, the safe operation edge line including corners connected by arcs; The thinning threshold is determined in reverse based on the number of segments, and the safe operation edge line is processed based on the thinning threshold to obtain a cluster of segments including multiple segments. Each line segment is verified based on the shortest line segment distance, and the segments are merged according to the verification results. Based on the line segment length adjustment, the line segments that have undergone verification and merging are synchronously extended or shortened to obtain the baseline sequence.

7. The generation method as described in claim 5, characterized in that, The process of responding to a user's manual generation request, generating and displaying offset boundary path points based on the second offset distance and boundary simplification parameters given by the user, and generating the baseline sequence based on the user's selection of some of the offset boundary path points includes the following steps: In response to the manual generation request, the boundary data is subjected to boundary offset processing based on the second offset distance to obtain the safe operation boundary line; Based on the boundary simplification parameters, the path points on the safe operation line are simplified to obtain and display multiple offset boundary path points that can satisfy the description of the safe operation edge line. In response to the user's interactive point selection operation, select multiple target points from the multiple offset boundary path points; The baseline sequence is generated based on the multiple target points.

8. A device for generating navigation reference lines, applied to onboard electronic equipment of agricultural machinery, characterized in that, The generating apparatus includes: The data acquisition module is configured to respond to user data acquisition requests and obtain boundary data of the work site. The mode selection module is configured to respond to a user's mode selection request and select the generation mode of the navigation baseline, the generation mode including manual generation mode and automatic generation mode; The generation execution module is configured to process the boundary data based on the generation mode to obtain the baseline sequence, the baseline sequence including multiple navigation baselines; The verification output module is configured to perform self-intersection verification on the navigation baseline. If the verification fails, it returns to the step of generating the selected navigation baseline. If the verification passes, it outputs the baseline sequence.

9. An electronic device used in agricultural machinery, characterized in that, The electronic device includes at least one processor and a memory connected to the processor, wherein: The memory is used to store computer programs or instructions; The processor is used to execute the computer program or instructions to enable the electronic device to implement the method for generating navigation reference lines as described in any one of claims 1 to 7.

10. A computer-readable storage medium for use in electronic devices, characterized in that, The storage medium carries one or more computer programs that can be executed by the electronic device, thereby enabling the electronic device to implement the navigation baseline generation method as described in any one of claims 1 to 7.

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