A path planning method for a center-supported sprinkler arm system

Abstract

This invention provides a path planning method for a center-pivot sprinkler arm system, belonging to the technical field of center-pivot sprinkler equipment. The method includes: acquiring the basic parameters of the center-pivot sprinkler arm system; dividing the irrigation boundary to obtain planning parameters; and establishing a rectangular coordinate system with the center support of the center-pivot sprinkler as the origin; acquiring the first, second, and third expansion stages and calculating the paths for each expansion stage; acquiring the folding stage and calculating the path for the folding stage; and planning the paths for the remaining quadrants by repeating the path planning process for each stage, thus completing the path planning for the center-pivot sprinkler arm system. This invention provides a path planning method for a center-pivot sprinkler arm that achieves path planning for square plots of different sizes without physical guidance. Through a higher-level algorithm, it achieves effective coordination with the kinematic constraints and mechanical structure of the folding arm.

Description

Technical Field

[0001] This invention belongs to the technical field of center-pivot sprinkler irrigation equipment, and particularly relates to a path planning method for the center-pivot sprinkler irrigation machine's corner arm system. Background Technology

[0002] Center-pivot sprinkler systems are widely used in large-scale farmland irrigation due to their high degree of automation, uniform spraying, and compatibility with fertigation technology. However, their inherent rotation around a central pivot point leads to significant missed irrigation zones in the four corners of the most common square plots, severely limiting land utilization and overall irrigation efficiency. To address this issue, the corner arm system was developed. As a key innovation of center-pivot sprinkler systems, it actively extends to the corner areas through a retractable spanning structure, reducing the missed irrigation rate from 20% to approximately 5%. The effectiveness of the corner arm system depends not only on its mechanical structure but also on the precise path planning and control of the corner arms during movement.

[0003] In the current technology, the research on path planning for corner arm systems is still in its early stages. Early corner arm systems usually require the pre-burying of physical guide lines (such as magnetic tracks or induction lines) in the field. The corner arm system moves along the corners by detecting the fixed signal path. Although this "buried line" path planning method has achieved a certain degree of automation, its drawbacks are extremely prominent: once the path is buried, it is fixed and unchanging, with very poor flexibility. Moreover, the initial laying cost is high, the amount of engineering work is large, the line is easily damaged by agricultural operations, and maintenance and repair are difficult.

[0004] In recent years, with the popularization of satellite positioning technology, navigation solutions have emerged that utilize GPS and other positioning technologies to provide real-time location information for geoptery arms. This method eliminates the dependence on physical guidance lines and improves deployment convenience. However, these solutions mainly solve the "positioning" problem and have not fundamentally formed a complete, programmable path planning method. Many solutions rely on engineers' experience for pre-setting. They often lack path planning methods that are deeply integrated with the specific kinematic constraints and mechanical structural characteristics of the geoptery arm system. They cannot automatically generate optimal, smooth, and mechanically compatible motion trajectories based on different plot sizes, resulting in low system operating efficiency, increased mechanical wear, and the risk of missed spraying or mismatched actions when applied to plots of different sizes.

[0005] In summary, existing technologies have failed to provide an intelligent path planning method that can adapt to plots of different sizes and closely coordinate with programmable software algorithms, the kinematic model of the field arm, and its mechanical structure. This lack of core capability creates a fundamental contradiction between the fixed and rigid movement pattern of the field arm system and the complex and ever-changing field operation scenarios, thus limiting further improvements in its irrigation coverage and overall performance.

[0006] Therefore, how to provide an effective path planning method that is applicable to plots of different sizes, can get rid of dependence on physical guidance, and can coordinate with upper-level algorithms, kinematic constraints of the corner arm, and mechanical structures has become a core problem that needs to be solved by those skilled in the art. Summary of the Invention

[0007] To address the aforementioned shortcomings in the existing technology, this invention provides a path planning method for the corner arm system of a center-supported sprinkler irrigation machine. This method solves the problems in the existing technology where the path planning of the corner arm system relies on experience-based presets, lacks an adaptive planning algorithm that coordinates with the mechanical structure, and results in missed spraying or mismatched actions for plots of different sizes.

[0008] To achieve the above objectives, the technical solution adopted by this invention is: a path planning method for a center-supported sprinkler arm system, comprising the following steps: S1. Obtain the basic parameters of the center-supported sprinkler arm system, divide the irrigation boundary, obtain the planning parameters, and establish a rectangular coordinate system with the center support of the center-supported sprinkler as the origin, and obtain the starting point of the path planning. S2. Based on the starting point of the path planning, the end of the cantilever arm is extended along the irrigation boundary. In response to the end of the cantilever arm leaving the irrigation boundary, the first extension stage is obtained, and the path of the first extension stage is calculated according to the planning parameters. S3. Based on the fact that the end of the cantilever arm leaves the irrigation boundary, the cantilever arm is further extended. In response to the cantilever arm system reaching the maximum extension angle, the second extension stage is obtained, and the path of the second extension stage is calculated according to the planning parameters. S4. Maintaining the maximum deployment angle, the control center pivot sprinkler arm continues to move. In response to the end of the cantilever arm contacting the irrigation boundary on the other side, the third deployment stage is obtained, and the path of the third deployment stage is calculated according to the planning parameters. S5. The end of the cantilever arm is moved along the irrigation boundary on the other side and brought together. When the main span of the central support sprinkler reaches the intersection of the second and third quadrants, the gathering stage is obtained, and the path of the gathering stage is calculated according to the planning parameters. S6. By repeating the planning process of steps S2-S5, plan the paths for the remaining quadrants and integrate the paths of each stage to complete the path planning of the center pivot sprinkler arm system.

[0009] The beneficial effects of this invention are as follows: This invention automatically generates a motion trajectory that highly matches the geometric parameters of the plot through a path planning algorithm, changing the traditional path planning method that relies on experience-based presets; compared with traditional methods, this method flexibly adapts to the irrigation needs of plots of different sizes through programmable software algorithms, significantly improving the system's adaptability; the planning strategy of this invention can fully consider the mechanical motion constraints of the corner arm itself while reducing the missed spray rate, achieving optimized matching of path and structure, which not only improves the stability of operation and control accuracy, but also effectively extends the service life of the equipment, providing a reliable technical guarantee for achieving high coverage and high uniformity precision irrigation of plots; By transforming path planning from experience-based judgment to a model-driven automated process, it significantly reduces the rate of missed spraying and improves irrigation uniformity. Furthermore, due to the deep integration of the path and mechanical structure, it reduces actions such as sudden stops and sharp turns of the mechanism, which not only reduces system operating energy consumption and mechanical wear and extends equipment life, but also eliminates the cost of manual path measurement for different plots due to its high adaptability. It demonstrates significant advantages in both improving performance and reducing long-term maintenance costs. Furthermore, the resulting programmable algorithm framework lays a clear and sustainable technological upgrade path for subsequent integration of high-precision positioning information, online dynamic optimization, and access to smart agriculture management and control platforms.

[0010] Further, S1 includes the following steps: S101. Obtain plot information including plot side length and irrigation boundary side length, and obtain basic parameters of the central pivot sprinkler and the corner arm system including the distance from the central support of the central pivot sprinkler to the last span tower vehicle, the distance from the last span tower vehicle to the corner arm tower vehicle, and the cantilever length of the corner arm. Divide the irrigation boundary to obtain planning parameters. S102. Establish a rectangular coordinate system with the center support of the center-supported sprinkler as the origin. Define the position of the last span tower vehicle of the center-supported sprinkler as point P, the position of the ground-angle arm tower vehicle as point S, and the position of the cantilever end of the ground-angle arm as point E. Take the intersection of the third and fourth quadrants of the main span of the center-supported sprinkler as the starting point for path planning.

[0011] Furthermore, S2 includes the following steps: S201. Based on the starting point of the path planning, the end of the cantilever arm is extended along the irrigation boundary. In response to the end of the cantilever arm leaving the irrigation boundary, the first extension stage is obtained. S202. Based on the planning parameters, the first development stage is planned using the preset planning interval angle and the number of planning steps; S203. In the rectangular coordinate system, based on the distance from the central support to the last span tower vehicle, combined with the preset planning interval angle and the number of planning steps, the coordinates of point P in the first development stage are calculated. S204. Based on the irrigation boundary side length, the distance from the last span tower vehicle to the corner arm tower vehicle, the corner arm cantilever length, and the coordinates of point P in the first deployment stage, the coordinates of point E in the first deployment stage are calculated. S205. Obtain the unit vector from point P to point E in the first deployment stage, calculate the coordinates of point S in the first deployment stage, and based on the coordinate transformation of points P, S, and E in the first deployment stage from the starting point of the path planning to the end of the cantilever arm leaving the irrigation boundary, combined with the termination condition of the first deployment stage, obtain the path of the first deployment stage.

[0012] Furthermore, the expression for calculating the coordinates of point P in the first unfolding stage is as follows: ; in, Indicates the first The coordinates of point P in the first development phase of the next planning stage. Indicates the first During the first development phase of the sub-plan, point P... x coordinate, Indicates the first During the first development phase of the sub-plan, point P... y coordinate, This indicates that the geocentric arm system is in its first deployment stage. Indicates the number of planning attempts. Indicates the preset planning interval angle. This indicates the distance from the center support to the last span tower car; The expression for calculating the coordinates of point E in the first unfolding stage is as follows: ; in, Indicates the first The coordinates of point E in the first development phase of the next planning stage. Indicates the first The first development phase of the next planning stage, point E x coordinate, Indicates the first The first development phase of the next planning stage, point E y coordinate, Indicates the side length of the irrigation boundary. This indicates the distance from the last span tower crane to the ground-mounted angle arm tower crane. Indicates the cantilever length of the corner arm; The expression for calculating the coordinates of point S in the first unfolding stage is as follows: ; ; The expression for the termination condition of the first expansion phase is as follows: ; in, Point To the point The unit vector.

[0013] The beneficial effects of the above-mentioned further solutions are as follows: By defining the first unfolding stage and utilizing the geometric boundary constraint method, the present invention improves the coverage range of the corner arm system in the edge region and achieves a smooth transition from the edge to the corner.

[0014] Furthermore, step S3 includes the following steps: S301. Based on the fact that the end of the cantilever arm leaves the irrigation boundary, the cantilever arm system continues to unfold. In response to the cantilever arm reaching the maximum unfolding angle, the second unfolding stage is obtained. S302. Based on the planning parameters, the second development stage is planned using the preset planning interval angle and planning number; S303. In the rectangular coordinate system, based on the distance from the central support to the last span tower vehicle, combined with the preset planning interval angle and the number of planning steps, the coordinates of point P in the second development stage are calculated. S304. Based on the coordinates of point P in the second deployment stage, the distance between the last span tower vehicle in this planning stage and the last span tower vehicle in the previous planning stage, and the distance between the ground-mounted boom tower vehicle in this planning stage and the ground-mounted boom tower vehicle in the previous planning stage, point S in the second deployment stage is calculated. S305. Obtain the unit vector from point P to point S in the second expansion stage, and calculate point E in the second expansion stage. S306. Based on the coordinate transformation of points P, S, and E from the position where the cantilever arm leaves the irrigation boundary to the position where the cantilever arm reaches the maximum deployment angle, and combined with the termination condition of the second deployment stage, the path of the second deployment stage is obtained.

[0015] Furthermore, the coordinates of point S in the second expansion stage are obtained by simultaneously solving the following expressions: ; , ; in, Indicates the first During the second planning phase, the angle arm tower crane and the first The distance between the corner boom tower vehicle and the ground during the second planning stage. Indicates the first The coordinates of point S in the second development stage of the next planning phase. Indicates the first The coordinates of point S in the second development stage of the next planning phase. Indicates the first The coordinates of point P in the second development stage of the next planning phase. This indicates the distance from the last span tower crane to the ground-mounted angle arm tower crane. Indicates the first The second planning stage cross-tower vehicle and the first The distance between the last cross tower vehicle during the second planning stage Indicates the first The coordinates of point P in the second development stage of the next planning phase. This represents the ratio of the travel speed of the last span tower crane to that of the ground-mounted boom tower crane. This represents the safety factor, and the value of the safety factor must meet the following requirements. , This indicates that the ground arm system is in the second development stage; from the two solutions obtained by combining the expressions, the solution that is farthest from the central support is selected as the coordinate of point S in the second development stage; The expression for calculating the coordinates of point E in the second unfolding stage is as follows: ; ; in, Indicates the second development stage The coordinates of point E during the next planning phase. Point To the point , unit vector; The expression for the termination condition of the second expansion phase is as follows: ; in, Indicates the first During the second development phase of the sub-plan, point P... x coordinate, This indicates the maximum deployment angle of the ground arm. This indicates the coordinates of the center support of the center-supported sprinkler irrigation machine.

[0016] The beneficial effects of the above-mentioned further solutions are as follows: By defining the second deployment stage, the present invention utilizes the kinematic recursive calculation technology based on the speed ratio of the end-end and ground-angle boom tower vehicles to achieve an efficient and smooth transition of the ground-angle boom system from the contact boundary to full deployment, thereby improving the deployment speed of the ground-angle boom system and avoiding mechanical impact caused by the asynchronous movement of the end-end tower vehicle and the ground-angle boom tower vehicle.

[0017] Furthermore, step S4 includes the following steps: S401. Maintaining the maximum deployment angle, the control center pivot sprinkler arm continues to move, and in response to the cantilever end of the arm contacting the irrigation boundary on the other side, the third deployment stage is achieved. S402. Based on the planning parameters, the third development stage is planned using the preset planning interval angle and planning number. S403. In the rectangular coordinate system, based on the distance from the central support to the last span tower vehicle, combined with the preset planning interval angle and the number of planning steps, the coordinates of point P in the third development stage are calculated. S404. Based on the coordinates of point P in the third deployment stage, the azimuth angle from the coordinates of the center support of the central support of the central support sprinkler to point P in the third deployment stage, the distance from the last span tower vehicle to the ground angle arm tower vehicle, and the maximum deployment angle, the coordinates of point E in the third deployment stage are calculated. S405. Obtain the unit vector from point P to point E in the third expansion stage, and calculate the coordinates of point S in the third expansion stage. S406. Based on the coordinate transformation of points P, S, and E from the position where the cantilever arm reaches its maximum deployment angle to the position where the cantilever arm contacts the irrigation boundary on the other side during the third deployment stage, and combined with the termination condition of the third deployment stage, the path of the third deployment stage is obtained.

[0018] Furthermore, the calculation expression for point E in the third expansion stage is as follows: ; ; ; in, Indicates the first The coordinates of point E in the third development stage of the next planning phase. Indicates the first The third phase of the sub-planning, point E x coordinate, Indicates the first The third phase of the sub-planning, point E y coordinate, Indicates the first The third phase of the sub-planning, point P x coordinate, Indicates the first During the third development phase of the sub-planning, point P... y coordinate, This indicates the distance from the last span tower crane to the ground-mounted angle arm tower crane. Indicates the first The vector in the third expansion stage of the sub-planning azimuth angle, Indicates the first The vector in the third expansion stage of the sub-planning azimuth angle, This indicates that the geocentric arm system is in its third developmental stage. This indicates the maximum deployment angle of the ground arm. Indicates the preset planning interval angle; The expression for calculating the coordinates of point S in the third unfolding stage is as follows: ; ; in, Point To the point , unit vector; The expression for the termination condition of the third expansion phase is as follows: ; in, This indicates the length of the irrigation boundary.

[0019] The beneficial effects of the above-mentioned further solutions are as follows: By defining the third deployment stage, the present invention utilizes a fixed vector calculation technique based on the maximum deployment angle to achieve stable and maximized extension of the ground-angle arm under mechanical limits, thereby significantly improving the coverage range of the ground-angle arm system.

[0020] Furthermore, step S5 includes the following steps: S501, the end of the cantilever arm is moved along the other irrigation boundary and brought together, in response to the main span of the center-supported sprinkler reaching the intersection of the second and third quadrants, thus completing the closing stage. S502. Based on the planning parameters, the convergence phase is planned using preset planning interval angles and planning times. S503. In the rectangular coordinate system, the coordinates of point P in the closing stage are calculated based on the distance from the central support to the last span tower vehicle, combined with the preset planning interval angle and the number of planning steps. S504. Based on the irrigation boundary length, the distance from the last span tower vehicle to the corner arm tower vehicle, the corner arm cantilever length, and the coordinates of point P in the closing stage, the coordinates of point E in the closing stage are calculated. S505. Obtain the unit vector from point P to point E in the closing stage, calculate the coordinates of point S in the closing stage, and based on the coordinate transformation of points P, S, and E in the closing stage from the end of the cantilever arm to the irrigation boundary on the other side to the intersection of the second and third quadrants of the main span of the central support sprinkler, and combined with the closing stage termination condition, obtain the closing stage path.

[0021] Furthermore, the calculation expression for point E in the convergence phase is as follows: ; in, Indicates the first The coordinates of point E are converged during the next planning phase. Indicates the first During the second planning phase, point E... x coordinate, Indicates the first During the second planning phase, point E... y coordinate, Indicates the first During the convergence phase of the next planning stage, point P... x coordinate, Indicates the first During the convergence phase of the next planning stage, point P... y coordinate, This indicates that the geocentric arm system is in the retraction phase. Indicates the side length of the irrigation boundary; The calculation expression for point S during the convergence phase is as follows: ; ; The expression for the termination condition of the convergence phase is as follows: ; in, Point To the point The unit vector.

[0022] The beneficial effects of the above-mentioned further solutions are as follows: By defining the shrinking stage, the present invention utilizes the same geometric boundary constraint calculation technology as the first unfolding stage to achieve close fitting and smooth shrinking of the corner arm along the other side boundary, thereby improving the coverage of the corner arm system in the edge area and providing the starting conditions for entering the next corner area. Attached Figure Description

[0023] Figure 1 This is a flowchart of the method of the present invention.

[0024] Figure 2 This is a schematic diagram of the overall path planning for the center-supported sprinkler arm system in this embodiment.

[0025] Figure 3 This is a schematic diagram of the path planning for the center-supported sprinkler arm system of the third quadrant in this embodiment.

[0026] Figure 4 This is a schematic diagram of the path planning for the first unfolding stage in this embodiment.

[0027] Figure 5 This is a schematic diagram of the path planning for the second unfolding stage in this embodiment.

[0028] Figure 6 This is a schematic diagram of the path planning for the third unfolding stage in this embodiment.

[0029] Figure 7 This is a schematic diagram of the path planning for the convergence phase in this embodiment. Detailed Implementation

[0030] The specific embodiments of the present invention are described below to enable those skilled in the art to understand the present invention. However, it should be understood that the present invention is not limited to the scope of the specific embodiments. For those skilled in the art, various changes are obvious as long as they are within the spirit and scope of the present invention as defined and determined by the appended claims. All inventions utilizing the concept of the present invention are protected.

[0031] Example like Figure 1 As shown, the present invention provides a path planning method for a center-supported sprinkler arm system, the implementation method of which is as follows: S1. Obtain the basic parameters of the center-supported sprinkler arm system, divide the irrigation boundary, obtain the planning parameters, establish a rectangular coordinate system with the center support of the center-supported sprinkler as the origin, and obtain the starting point of the path planning. The specific steps are as follows: S101. Obtain plot information including plot side length and irrigation boundary side length, and obtain basic parameters of the central pivot sprinkler and the corner arm system including the distance from the central support of the central pivot sprinkler to the last span tower vehicle, the distance from the last span tower vehicle to the corner arm tower vehicle, and the cantilever length of the corner arm. Divide the irrigation boundary to obtain planning parameters. S102. Establish a rectangular coordinate system with the center support of the center-supported sprinkler as the origin. Define the position of the last span tower vehicle of the center-supported sprinkler as point P, the position of the ground-angle arm tower vehicle as point S, and the position of the cantilever end of the ground-angle arm as point E. Take the intersection of the third and fourth quadrants of the main span of the center-supported sprinkler as the starting point for path planning.

[0032] In this embodiment, land parcel information and basic parameters of the center-pivot sprinkler and corner arm system are acquired to delineate irrigation boundaries; land parcel information includes: land parcel side length. and the length of the irrigation boundary The basic parameters of center-supported sprinkler systems and corner arm systems include: the distance from the center support to the last span tower vehicle. Distance from the last span tower crane to the corner boom tower crane and the length of the ground corner arm cantilever ; Irrigation boundary side length The calculation expression is as follows: ; in, Indicates the spray radius of the terminal nozzle; The planning parameters, including plot information and basic parameters of the center-pivot sprinkler and the corner arm system, are obtained. A rectangular coordinate system is established with the center support of the center-supported sprinkler as the origin. Point P is defined as the position of the tower vehicle at the last span of the center-supported sprinkler, point S as the position of the tower vehicle at the base arm, and point E as the position of the cantilever end of the base arm. Path planning begins at the intersection of the third and fourth quadrants of the main span of the center-supported sprinkler, resulting in the following... Figure 2 The path planning diagram shown indicates the starting point for path planning.

[0033] In this embodiment, by connecting the planned points E and S in sequence, the travel path of the tower vehicle of the corner arm system and the actual irrigation boundary of the corner arm system can be obtained. like Figure 3 As shown, the path planning in the third quadrant is divided into four stages: No. 1 represents the first stage (first expansion), where the end of the cantilever arm moves close to one side of the plot boundary until it leaves the corner; No. 2 represents the second stage (second expansion), where the cantilever arm continues to swing outward until it reaches the maximum expansion angle allowed by its mechanical structure; No. 3 represents the third stage (third expansion), where the cantilever arm continues to move while maintaining the maximum expansion angle; No. 4 represents the fourth stage (retraction), where the end of the cantilever arm touches the other side of the plot boundary and begins to retract inward along that boundary.

[0034] S2. Based on the starting point of path planning, the end of the cantilever arm is extended along the irrigation boundary. In response to the end of the cantilever arm leaving the irrigation boundary, the first extension stage is obtained. The path of the first extension stage is calculated according to the planning parameters. The specific steps are as follows: S201. Based on the starting point of the path planning, the end of the cantilever arm is extended along the irrigation boundary. In response to the end of the cantilever arm leaving the irrigation boundary, the first extension stage is obtained. S202. Based on the planning parameters, the first development stage is planned using the preset planning interval angle and the number of planning steps; S203. In the rectangular coordinate system, based on the distance from the central support to the last span tower vehicle, combined with the preset planning interval angle and the number of planning steps, the coordinates of point P in the first development stage are calculated. S204. Based on the irrigation boundary side length, the distance from the last span tower vehicle to the corner arm tower vehicle, the corner arm cantilever length, and the coordinates of point P in the first deployment stage, the coordinates of point E in the first deployment stage are calculated. S205. Obtain the unit vector from point P to point E in the first deployment stage, calculate the coordinates of point S in the first deployment stage, and based on the coordinate transformation of points P, S, and E in the first deployment stage from the starting point of the path planning to the end of the cantilever arm leaving the irrigation boundary, combined with the termination condition of the first deployment stage, obtain the path of the first deployment stage.

[0035] In this embodiment, the path planning starts from the starting point and the initial point P. Point E and point S The cantilever arm gradually extends along the irrigation boundary until it stops moving away from the irrigation boundary, thus completing the first extension stage. Based on the planning parameters, using the preset planning interval angle and number of planning The number of planning iterations is equal to the number of global planning iterations. Starting from 0, path planning is performed for the first unfolding stage, resulting in the following: Figure 4 The path for the first unfolding stage is shown below; In a rectangular coordinate system, based on the distance from the central support to the last span of the tower crane... Combined with the preset planning interval angle and number of planning Calculate the coordinates of point P in the first unfolding stage, and the... The coordinates of point P in the first development phase of the sub-planning The calculation expression is as follows: ; in, Indicates the first The coordinates of point P in the first development phase of the next planning stage. Indicates the first During the first development phase of the sub-plan, point P... x coordinate, Indicates the first During the first development phase of the sub-plan, point P... y coordinate, This indicates that the geocentric arm system is in its first deployment stage; Based on the irrigation boundary length, the distance from the last span tower vehicle to the corner arm tower vehicle, the cantilever length of the corner arm, and the coordinates of point P in the first deployment stage, the coordinates of point E in the first deployment stage are calculated. The coordinates of point E in the first development phase of the next planning stage The calculation expression is as follows: ; in, Indicates the first The coordinates of point E in the first development phase of the next planning stage. Indicates the first The first development phase of the next planning stage, point E x coordinate, Indicates the first The first development phase of the next planning stage, point E y coordinate, Indicates the side length of the irrigation boundary; Obtain the unit vector from point P to point E in the first unfolding stage, and calculate point S in the first unfolding stage. The coordinates of point S during the second planning stage The calculation expression is as follows: ; ; in, Point To the point , unit vector; like Figure 5 As shown, the first unfolding stage is The termination point is defined as the end of the cantilever arm leaving the irrigation boundary, as shown in the following expression: Based on the coordinate transformation of points P, S, and E from the starting point of the path planning to the end of the cantilever arm leaving the irrigation boundary in the first deployment stage, and combined with the termination condition of the first deployment stage, the path of the first deployment stage is obtained.

[0036] S3. Based on the fact that the end of the cantilever arm leaves the irrigation boundary, the cantilever arm is further extended. In response to the cantilever arm system reaching its maximum extension angle, the second extension stage is obtained. The path of the second extension stage is calculated according to the planning parameters. The specific steps are as follows: S301. Based on the fact that the end of the cantilever arm leaves the irrigation boundary, the cantilever arm system continues to unfold. In response to the cantilever arm reaching the maximum unfolding angle, the second unfolding stage is obtained. S302. Based on the planning parameters, the second development stage is planned using the preset planning interval angle and planning number; S303. In the rectangular coordinate system, based on the distance from the central support to the last span tower vehicle, combined with the preset planning interval angle and the number of planning steps, the coordinates of point P in the second development stage are calculated. S304. Based on the coordinates of point P in the second deployment stage, the distance between the last span tower vehicle in this planning stage and the last span tower vehicle in the previous planning stage, and the distance between the ground-mounted boom tower vehicle in this planning stage and the ground-mounted boom tower vehicle in the previous planning stage, point S in the second deployment stage is calculated. S305. Obtain the unit vector from point P to point S in the second expansion stage, and calculate point E in the second expansion stage. S306. Based on the coordinate transformation of points P, S, and E from the position where the cantilever arm leaves the irrigation boundary to the position where the cantilever arm reaches the maximum deployment angle, and combined with the termination condition of the second deployment stage, the path of the second deployment stage is obtained.

[0037] In this embodiment, as Figure 5 As shown, the ground arm continues to extend after leaving the irrigation boundary until it reaches the maximum extension angle, thus obtaining the second extension stage; Based on the planning parameters, using the preset planning interval angle and number of planning The second development phase is planned; in a rectangular coordinate system, the distance from the central support to the last span tower is used as the basis for the planning. Combined with the preset planning interval angle and number of planning Calculate the coordinates of point P in the second expansion stage. The coordinates of point P during the second development phase of the sub-planning The computation expression is the same as in the first expansion stage; Coordinates of point P in the second stage of simultaneous development The distance between the last span tower vehicle in this planning phase and the last span tower vehicle in the previous planning phase. And the distance between the ground-mounted boom tower crane vehicle in this planning and the ground-mounted boom tower crane vehicle in the previous planning. The coordinates of point S in the second expansion stage were calculated. The coordinates of point S during the second planning stage Solve the following equations simultaneously to obtain the answer: ; , ; in, Indicates the first The coordinates of point S in the second development stage of the next planning phase. Indicates the first The coordinates of point S in the second development stage of the next planning phase. Indicates the first The coordinates of point P in the second development stage of the next planning phase. Indicates the first The coordinates of point P in the second development stage of the next planning phase. Indicates the first The second planning stage cross-tower vehicle and the first The distance between the last cross tower vehicle during the second planning stage Indicates the first During the second planning phase, the angle arm tower crane and the first The distance between the corner boom tower vehicle and the ground during the second planning stage. This represents the ratio of the travel speed of the last span tower crane to that of the ground-mounted boom tower crane. This represents the safety factor, and the value of the safety factor must meet the following requirements. , This indicates that the ground arm system is in the second development stage; from the two solutions obtained by combining the expressions, the solution that is farthest from the central support is selected as the coordinate of point S in the second development stage; Obtain the unit vectors of point P and point S in the second expansion stage, and calculate point E in the second expansion stage. The coordinates of point E during the next planning phase The calculation expression is as follows: ; ; in, Indicates the second development stage The coordinates of point E during the next planning phase. Point To the point , unit vector; like Figure 5 As shown, the second unfolding stage is The termination point is defined as the angle arm being fully extended to its maximum angle. ; in, Indicates the first The coordinates of point E in the second development phase of the next planning stage. This indicates the maximum deployment angle of the ground-mounted arm, which is related to the mechanical properties of the ground-mounted arm system. This indicates the coordinates of the center support of the center-supported sprinkler irrigation machine; here, we take... According to point P in the second development phase Point E and point S The coordinate transformation from the position where the end of the cantilever arm leaves the irrigation boundary to the position where the end of the cantilever arm reaches the maximum deployment angle yields the path for the second deployment stage.

[0038] S4. Maintaining the maximum deployment angle, the control center pivot sprinkler arm continues to move. The third deployment stage occurs when the cantilever end of the pivot arm contacts the irrigation boundary on the other side. The path for the third deployment stage is calculated based on the planning parameters. The specific steps are as follows: S401. Maintaining the maximum deployment angle, the control center pivot sprinkler arm continues to move, and in response to the cantilever end of the arm contacting the irrigation boundary on the other side, the third deployment stage is achieved. S402. Based on the planning parameters, the third development stage is planned using the preset planning interval angle and planning number. S403. In the rectangular coordinate system, based on the distance from the central support to the last span tower vehicle, combined with the preset planning interval angle and the number of planning steps, the coordinates of point P in the third development stage are calculated. S404. Based on the coordinates of point P in the third deployment stage, the azimuth angle from the coordinates of the center support of the central support of the central support sprinkler to point P in the third deployment stage, the distance from the last span tower vehicle to the ground angle arm tower vehicle, and the maximum deployment angle, the coordinates of point E in the third deployment stage are calculated. S405. Obtain the unit vector from point P to point E in the third expansion stage, and calculate the coordinates of point S in the third expansion stage. S406. Based on the coordinate transformation of points P, S, and E from the position where the cantilever arm reaches its maximum deployment angle to the position where the cantilever arm contacts the irrigation boundary on the other side during the third deployment stage, and combined with the termination condition of the third deployment stage, the path of the third deployment stage is obtained.

[0039] In this embodiment, as Figure 6 As shown, the corner arm is kept at its maximum deployment angle, and the corner arm of the control center pivot sprinkler continues to move until the end of the corner arm cantilever contacts the irrigation boundary on the other side, thus obtaining the third deployment stage; Based on the planning parameters, using the preset planning interval angle and number of planning Planning is carried out for the third development stage; in a rectangular coordinate system, based on the distance from the central support to the last span tower vehicle... Combined with the preset planning interval angle and number of planning Calculate point P in the third expansion stage. The coordinates of point P during the sub-planning The computation expression is the same as in the first expansion stage; According to point P in the third development stage The azimuth angle from the center support coordinates of the center-supported sprinkler irrigation machine to point P in the third deployment stage. Distance from the last span tower crane to the corner boom tower crane and maximum unfolding angle Calculate point E in the third expansion stage. The coordinates of point E during the next planning phase The calculation expression is as follows: ; ; ; in, Indicates the first The coordinates of point E in the third development stage of the next planning phase. Indicates the first The third phase of the sub-planning, point E x coordinate, Indicates the first The third phase of the sub-planning, point E y coordinate, Indicates the first The third phase of the sub-planning, point P x coordinate, Indicates the first During the third development phase of the sub-planning, point P... y coordinate, Indicates the third stage of development. Vector during secondary planning azimuth (and) x (Angle in the positive direction of the axis) Indicates the third stage of development. Vector during secondary planning azimuth (and) x (Angle in the positive direction of the axis) This indicates the third stage of development; Obtain the unit vectors of point P and point E in the third expansion stage, and calculate point S in the third expansion stage. The coordinates of point S during the third development phase of the sub-planning The calculation expression is as follows: ; ; in, Point To the point , unit vector; like Figure 6 As shown in the figure, the third unfolding stage is... The termination point is defined as the end of the cantilever arm contacting the irrigation boundary on the other side, as shown in the following expression: ; The path for the third deployment stage is obtained by transforming the coordinates of points P, S, and E from the position where the cantilever end of the ground angle arm reaches the maximum deployment angle to the position where the cantilever end of the ground angle arm contacts the irrigation boundary on the other side.

[0040] S5. The end of the cantilever arm is moved along the irrigation boundary on the other side to retract, responding to the intersection of the second and third quadrants of the main span of the center-supported sprinkler irrigation machine. This is the retraction stage. The retraction stage path is calculated based on the planning parameters. The specific steps are as follows: S501, the end of the cantilever arm is moved along the other irrigation boundary and brought together, in response to the main span of the center-supported sprinkler reaching the intersection of the second and third quadrants, thus completing the closing stage. S502. Based on the planning parameters, the convergence phase is planned using preset planning interval angles and planning times. S503. In the rectangular coordinate system, the coordinates of point P in the closing stage are calculated based on the distance from the central support to the last span tower vehicle, combined with the preset planning interval angle and the number of planning steps. S504. Based on the irrigation boundary length, the distance from the last span tower vehicle to the corner arm tower vehicle, the corner arm cantilever length, and the coordinates of point P in the closing stage, the coordinates of point E in the closing stage are calculated. S505. Obtain the unit vector from point P to point E in the closing stage, calculate the coordinates of point S in the closing stage, and based on the coordinate transformation of points P, S, and E in the closing stage from the end of the cantilever arm to the irrigation boundary on the other side to the intersection of the second and third quadrants of the main span of the central support sprinkler, and combined with the closing stage termination condition, obtain the closing stage path.

[0041] In this embodiment, after the end of the ground angle arm cantilever contacts the irrigation boundary on the other side, it travels and retracts along the irrigation boundary on the other side until the main span of the central support shaft sprinkler reaches the intersection of the second and third quadrants, thus reaching the retraction stage. Based on the planning parameters, using the preset planning interval angle and number of planning The closing phase is planned; in a rectangular coordinate system, based on the distance from the central support to the last span tower vehicle, combined with the preset planned interval angle... and number of planning Calculate the coordinates of point P during the closing phase, the first... The coordinates of point P during the convergence phase of the next planning stage The computation expression is the same as in the first expansion stage; Based on the irrigation boundary length, the distance from the last span tower truck to the corner arm tower truck, the cantilever length of the corner arm, and the coordinates of point P during the closing stage, the coordinates of point E during the closing stage are calculated. The coordinates of point E during the convergence phase of the next planning stage The calculation expression is as follows: ; in, Indicates the first stage of the collection phase The coordinates of point E during the next planning phase. Indicates the first stage of the collection phase Point E during the next planning phase x coordinate, Indicates the first stage of the collection phase Point E during the next planning phase y coordinate, Indicates the first stage of the collection phase During the sub-planning, point P... x coordinate, Indicates the first stage of the collection phase During the sub-planning, point P... y coordinate, Indicates the closing phase; Obtain the unit vector from point P to point E in the closing phase, and calculate the coordinates of point S in the closing phase. The coordinates of point S during the convergence phase of the secondary planning The calculation expression is the same as the calculation expression for point S in the third expansion stage; like Figure 7 As shown in the figure, the convergence phase is... The termination condition for the convergence phase is that the main span of the center-supported sprinkler reaches the intersection of the second and third quadrants, as shown in the following expression: The path for the closing stage is obtained by transforming the coordinates of points P, S, and E from the end of the cantilever arm to the irrigation boundary on the other side to the intersection of the second and third quadrants of the main span of the central support sprinkler.

[0042] S6. By repeating the planning process of steps S2-S5, plan the paths for the remaining quadrants and integrate the paths of each stage to complete the path planning of the center pivot sprinkler arm system.

[0043] In this embodiment, by repeating the planning process of the first deployment stage path, the second deployment stage path, the third deployment stage path, and the convergence stage path, the paths of the remaining quadrants are planned, namely from the fourth quadrant to the first quadrant, from the first quadrant to the second quadrant, and from the second quadrant to the third quadrant, and the paths of each stage are integrated to complete the path planning of the center-supported sprinkler arm system.

[0044] In this embodiment, during specific implementation, a coordinate system is first established with the central support as the origin, and the starting point of the main span of the sprinkler is set at the intersection of the coordinate axes of the third and fourth quadrants. The path planning is automatically executed as follows: First stage (first expansion), the end of the corner arm cantilever moves close to one side of the plot boundary until it leaves the corner; Second stage (second expansion), the corner arm span continues to expand outward until it reaches the maximum expansion angle allowed by its mechanical structure; Third stage (third expansion), the corner arm continues to move while maintaining the maximum expansion angle; Fourth stage (retraction), when the end of the corner arm cantilever touches the other side of the plot boundary, it begins to retract inward along that boundary. The corner arm system cycles through these four stages of action during the rotation of the main span, ultimately achieving precise irrigation with high coverage of the four corners of the square plot.

Claims

1. A path planning method for a center-supported sprinkler irrigation machine's corner arm system, characterized in that, Includes the following steps: S1. Obtain the basic parameters of the center-supported sprinkler arm system, divide the irrigation boundary, obtain the planning parameters, and establish a rectangular coordinate system with the center support of the center-supported sprinkler as the origin. The starting point for path planning is the intersection of the third and fourth quadrants of the main span of the center-supported sprinkler. Specifically: S101. Obtain plot information including plot side length and irrigation boundary side length, and obtain basic parameters of the central pivot sprinkler and the corner arm system including the distance from the central support of the central pivot sprinkler to the last span tower vehicle, the distance from the last span tower vehicle to the corner arm tower vehicle, and the cantilever length of the corner arm. Divide the irrigation boundary to obtain planning parameters. S102. Establish a rectangular coordinate system with the center support of the center-supported sprinkler as the origin. Define the position of the last span tower vehicle of the center-supported sprinkler as point P, the position of the ground-angle arm tower vehicle as point S, and the position of the cantilever end of the ground-angle arm as point E. Take the intersection of the third and fourth quadrants of the main span of the center-supported sprinkler as the starting point for path planning. S2. Based on the starting point of the path planning, the end of the cantilever arm is extended along the irrigation boundary. In response to the end of the cantilever arm leaving the irrigation boundary, the first extension stage is obtained. The path of the first extension stage is calculated using the geometric boundary constraint method according to the planning parameters. S3. Based on the fact that the end of the cantilever arm leaves the irrigation boundary, the cantilever arm is further extended. In response to the cantilever arm system reaching the maximum extension angle, the second extension stage is obtained. According to the planning parameters, the path of the second extension stage is calculated using the kinematic recursive calculation technique based on the speed ratio between the end and the cantilever arm tower vehicle. S4. Maintaining the maximum deployment angle, the control center pivot sprinkler arm continues to move. In response to the end of the cantilever arm contacting the irrigation boundary on the other side, the third deployment stage is obtained. Based on the planning parameters, the path of the third deployment stage is calculated using the fixed vector calculation technology based on the maximum deployment angle. S5. The end of the cantilever arm is moved along the irrigation boundary on the other side and brought together. In response to the main span of the central support sprinkler reaching the intersection of the second and third quadrants, the gathering stage is obtained. Based on the planning parameters, the same geometric boundary constraint calculation technology as the first unfolding stage is used to calculate the path of the gathering stage. S6. By repeating the planning process of steps S2-S5, plan the paths for the remaining quadrants and integrate the paths of each stage to complete the path planning of the center pivot sprinkler arm system.

2. The path planning method for the center-supported sprinkler arm system according to claim 1, characterized in that, S2 includes the following steps: S201. Based on the starting point of the path planning, the end of the cantilever arm is extended along the irrigation boundary. The extension stage is obtained in response to the end of the cantilever arm leaving the irrigation boundary. S202. Based on the planning parameters, the development stage is planned using preset planning interval angles and planning times; S203. In the rectangular coordinate system, based on the distance from the central support to the last span tower vehicle, combined with the preset planning interval angle and the number of planning steps, the coordinates of point P in the first development stage are calculated. S204. Based on the irrigation boundary side length, the distance from the last span tower vehicle to the corner arm tower vehicle, the corner arm cantilever length, and the coordinates of point P in the first deployment stage, the coordinates of point E in the first deployment stage are calculated. S205. Obtain the unit vector from point P to point E in the first deployment stage, calculate the coordinates of point S in the first deployment stage, and based on the coordinate transformation of points P, S, and E in the first deployment stage from the starting point of the path planning to the end of the cantilever arm leaving the irrigation boundary, combined with the termination condition of the first deployment stage, obtain the path of the first deployment stage.

3. The path planning method for the center-supported sprinkler arm system according to claim 2, characterized in that, The expression for calculating the coordinates of point P in the first unfolding stage is as follows: in, Indicates the first The coordinates of point P in the first development phase of the next planning stage. Indicates the first During the first development phase of the sub-plan, point P... x coordinate, Indicates the first During the first development phase of the sub-plan, point P... y coordinate, This indicates that the geocentric arm system is in its first deployment stage. Indicates the number of planning attempts. Indicates the preset planning interval angle. This indicates the distance from the center support to the last span tower car; The expression for calculating the coordinates of point E in the first unfolding stage is as follows: in, Indicates the first The coordinates of point E in the first development phase of the next planning stage. Indicates the first The first development phase of the next planning stage, point E x coordinate, Indicates the first The first development phase of the next planning stage, point E y coordinate, Indicates the length of the irrigation boundary. This indicates the distance from the last span tower crane to the ground-mounted angle arm tower crane. Indicates the cantilever length of the corner arm; The expression for calculating the coordinates of point S in the first unfolding stage is as follows: The expression for the termination condition of the first expansion phase is as follows: in, Point To the point The unit vector.

4. The path planning method for the center-supported sprinkler arm system according to claim 1, characterized in that, S3 includes the following steps: S301. Based on the fact that the end of the cantilever arm leaves the irrigation boundary, the cantilever arm system continues to unfold. In response to the cantilever arm reaching the maximum unfolding angle, the second unfolding stage is obtained. S302. Based on the planning parameters, the second development stage is planned using the preset planning interval angle and planning number; S303. In the rectangular coordinate system, based on the distance from the central support to the last span tower vehicle, combined with the preset planning interval angle and the number of planning steps, the coordinates of point P in the second development stage are calculated. S304. Based on the coordinates of point P in the second deployment stage, the distance between the last span tower vehicle in this planning stage and the last span tower vehicle in the previous planning stage, and the distance between the ground-mounted boom tower vehicle in this planning stage and the ground-mounted boom tower vehicle in the previous planning stage, point S in the second deployment stage is calculated. S305. Obtain the unit vector from point P to point S in the second expansion stage, and calculate point E in the second expansion stage. S306. Based on the coordinate transformation of points P, S, and E from the position where the cantilever arm leaves the irrigation boundary to the position where the cantilever arm reaches the maximum deployment angle, and combined with the termination condition of the second deployment stage, the path of the second deployment stage is obtained.

5. The path planning method for the center-supported sprinkler arm system according to claim 4, characterized in that, The coordinates of point S in the second development stage are obtained by simultaneously solving the following expressions: ， in, Indicates the first During the second planning phase, the angle arm tower crane and the first The distance between the corner boom tower vehicle and the ground plan during the second planning stage. Indicates the first The coordinates of point S in the second development stage of the next planning phase. Indicates the first The coordinates of point S in the second development stage of the next planning phase. Indicates the first The coordinates of point P in the second development stage of the next planning phase. This indicates the distance from the last span tower crane to the ground-mounted angle arm tower crane. Indicates the first The second planning stage cross-tower vehicle and the first The distance between the last cross tower vehicle during the second planning stage Indicates the first The coordinates of point P in the second development stage of the next planning phase. This represents the ratio of the travel speed of the last span tower crane to that of the ground-mounted boom tower crane. This represents the safety factor, and the value of the safety factor must meet the following requirements. , This indicates that the ground arm system is in the second development stage; from the two solutions obtained by combining the expressions, the solution that is farthest from the central support is selected as the coordinate of point S in the second development stage; The expression for calculating the coordinates of point E in the second unfolding stage is as follows: in, Indicates the second development stage The coordinates of point E during the next planning phase. Point To the point , unit vector; The expression for the termination condition of the second expansion phase is as follows: in, Indicates the first During the second development phase of the sub-plan, point P... x coordinate, This indicates the maximum deployment angle of the ground arm. This indicates the coordinates of the center support of the center-supported sprinkler irrigation machine.

6. The path planning method for the center-supported sprinkler arm system according to claim 1, characterized in that, S4 includes the following steps: S401. Maintaining the maximum deployment angle, the control center pivot sprinkler arm continues to move, and in response to the cantilever end of the arm contacting the irrigation boundary on the other side, the third deployment stage is achieved. S402. Based on the planning parameters, the third development stage is planned using the preset planning interval angle and planning number. S403. In the rectangular coordinate system, based on the distance from the central support to the last span tower vehicle, combined with the preset planning interval angle and the number of planning steps, the coordinates of point P in the third development stage are calculated. S404. Based on the coordinates of point P in the third deployment stage, the azimuth angle from the coordinates of the center support of the central support of the central support sprinkler to point P in the third deployment stage, the distance from the last span tower vehicle to the ground angle arm tower vehicle, and the maximum deployment angle, the coordinates of point E in the third deployment stage are calculated. S405. Obtain the unit vector from point P to point E in the third expansion stage, and calculate the coordinates of point S in the third expansion stage. S406. Based on the coordinate transformation of points P, S, and E from the position where the cantilever arm reaches its maximum deployment angle to the position where the cantilever arm contacts the irrigation boundary on the other side during the third deployment stage, and combined with the termination condition of the third deployment stage, the path of the third deployment stage is obtained.

7. The path planning method for the center-supported sprinkler arm system according to claim 6, characterized in that, The calculation expression for point E in the third expansion stage is as follows: in, Indicates the first The coordinates of point E in the third unfolding stage of the next planning phase. Indicates the first The third phase of the sub-planning, point E x coordinate, Indicates the first The third phase of the sub-planning, point E y coordinate, Indicates the first The third phase of the sub-planning, point P. x coordinate, Indicates the first During the third development phase of the sub-plan, point P... y coordinate, This indicates the distance from the last span tower crane to the ground-mounted angle arm tower crane. Indicates the first The vector in the third expansion stage of the sub-planning azimuth angle, Indicates the first The vector in the third expansion stage of the sub-planning azimuth angle, This indicates that the geocentric arm system is in its third developmental stage. This indicates the maximum deployment angle of the ground arm. Indicates the preset planning interval angle; The expression for calculating the coordinates of point S in the third unfolding stage is as follows: in, Point To the point , unit vector; The expression for the termination condition of the third expansion phase is as follows: in, This indicates the length of the irrigation boundary.

8. The path planning method for the center-supported sprinkler arm system according to claim 1, characterized in that, S5 includes the following steps: S501, the end of the cantilever arm is moved along the other irrigation boundary and brought together, in response to the main span of the center-supported sprinkler reaching the intersection of the second and third quadrants, thus completing the closing stage. S502. Based on the planning parameters, the convergence phase is planned using preset planning interval angles and planning times. S503. In the rectangular coordinate system, the coordinates of point P in the closing stage are calculated based on the distance from the central support to the last span tower vehicle, combined with the preset planning interval angle and the number of planning steps. S504. Based on the irrigation boundary length, the distance from the last span tower vehicle to the corner arm tower vehicle, the corner arm cantilever length, and the coordinates of point P in the closing stage, the coordinates of point E in the closing stage are calculated. S505. Obtain the unit vector from point P to point E in the closing stage, calculate the coordinates of point S in the closing stage, and based on the coordinate transformation of points P, S, and E in the closing stage from the end of the cantilever arm to the irrigation boundary on the other side to the intersection of the second and third quadrants of the main span of the central support sprinkler, and combined with the closing stage termination condition, obtain the closing stage path.

9. The path planning method for the center-supported sprinkler arm system according to claim 8, characterized in that, The calculation expression for point E during the convergence phase is as follows: ； in, Indicates the first The coordinates of point E are converged during the next planning phase. Indicates the first During the second planning phase, point E... x coordinate, Indicates the first During the second planning phase, point E... y coordinate, Indicates the first During the convergence phase of the next planning stage, point P... x coordinate, Indicates the first During the convergence phase of the next planning stage, point P... y coordinate, This indicates that the geocentric arm system is in the retraction phase. Indicates the side length of the irrigation boundary; The calculation expression for point S during the convergence phase is as follows: The expression for the termination condition of the convergence phase is as follows: in, Point To the point The unit vector.

Images