Path planning method for corner arm system of center pivot sprinkler suitable for irregular corners

Abstract

This invention provides a path planning method for center-pivot sprinkler arm systems with irregularly shaped plots, belonging to the technical field of center-pivot sprinkler equipment. The method includes: acquiring information about irregularly shaped plots and basic parameters of the center-pivot sprinkler arm system, and dividing the irrigation boundary to obtain planning parameters and a path planning starting point; planning paths for normal plots and calculating normal plot paths; obtaining irregularly shaped plot quadrants based on normal plot paths and irregularly shaped plot information, and replanning the paths in the irregularly shaped plot quadrants by determining whether the irregularity affects path planning, combined with the planning parameters; and completing the path planning by integrating the irregularly shaped plot quadrant paths and normal plot paths. This invention achieves effective path planning for common irregularly shaped plots in actual farmland and eliminates dependence on physical guidance.

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 corner arm system of a center-pivot sprinkler irrigation machine suitable for irregular corners. 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 areas in the four corners of the most common square plots, severely restricting 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 about 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 achieves corner movement 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] Furthermore, existing technologies often only plan the path of the corner arm system under regular square plots, resulting in complete failure when facing irregular corner plots commonly found in actual farmland. These irregular corners include, but are not limited to: missing corners formed to avoid fixed structures in the field (such as well houses), oblique angles formed due to high-voltage line restrictions, and irregular shapes formed by the influence of natural water bodies (such as ponds). Existing technologies cannot generate matching coverage paths, thus causing serious problems such as corner missed spraying, repeated spraying, or mechanical movement interference. Summary of the Invention

[0006] In view of the above-mentioned shortcomings in the prior art, the path planning method of the center-pivot sprinkler arm system for irregular corners provided by the present invention solves the problem that the path planning of the existing center-pivot sprinkler arm system for irregular corners is completely ineffective when facing irregular corner plots commonly found in actual farmland, and cannot generate a matching coverage path, which easily causes serious corner missed spraying, repeated spraying and mechanical movement interference.

[0007] To achieve the above objectives, the technical solution adopted by this invention is: a path planning method for a center-supported sprinkler arm system for irregularly shaped terrain, comprising the following steps: S1. Obtain information on irregular corner plots and basic parameters of the center-supported sprinkler arm system, divide the irrigation boundary, obtain planning parameters, establish a rectangular coordinate system, and obtain the starting point for path planning. S2. Based on the starting point of the path planning, the normal plot path is planned. The first expansion stage, the second expansion stage, the third expansion stage and the convergence stage of the normal plot path planning are obtained. Combined with the planning parameters, the normal plot path is calculated. S3. Based on the information of normal plot paths and irregular corner plots, obtain the irregular corner quadrant. By judging whether the irregular corner plots affect the path planning, and combining the planning parameters, obtain the negative slope stage and the positive slope or vertical stage. Then, replan the path of the irregular corner quadrant to obtain the irregular corner quadrant path. S4. By integrating the paths in the irregular corner quadrant and the paths in the normal plots in the other quadrants, the path planning for the center-supported sprinkler arm system under the irregular corner plot is completed.

[0008] The beneficial effects of this invention are as follows: This invention automatically generates a motion trajectory that closely matches the geometric shape of the land parcel through a path planning algorithm, thereby achieving rapid planning of normal paths. Furthermore, by obtaining the irregular corner quadrant and judging the impact of path planning, the path in the irregular corner quadrant is replanned to obtain the path in the irregular corner quadrant. It enables flexible adaptation to the needs of plots of different sizes and shapes, transforming path planning from experience-based judgment to a model-driven automated process. This significantly reduces the rate of missed spraying, improves irrigation uniformity, and, due to the deep integration of the path and mechanical structure, reduces sudden stops and sharp turns of the mechanism. This not only reduces system energy consumption and mechanical wear, extending 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.

[0009] Further, S1 includes the following steps: S101. Obtain information on irregular corner plots, including the location coordinates, length, and width of the irregular corners; obtain information on plots including the side length and irrigation boundary side length; obtain basic parameters of the center-supported sprinkler system and the corner arm system, including the distance from the center support 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; and 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. Based on the fact that the main span of the center-supported sprinkler is located at the intersection of the third and fourth quadrants, obtain the starting point of the path planning.

[0010] 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, and the path of the first extension stage is calculated according to the planning parameters. S202. 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. S203. 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. S204. 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 machine, thus obtaining the retraction stage. The retraction stage path is calculated based on the planning parameters. S205. By repeating the planning process of steps S201-S204, the paths of the remaining quadrants are planned, and the paths of each stage are integrated to obtain the normal plot path.

[0011] The beneficial effects of the above-mentioned further solutions are as follows: By setting up normal plot path planning, the present invention constructs a phased path planning that includes an unfolding stage, a third unfolding stage, and a closing stage. This can reduce the missed spraying rate while fully considering the mechanical movement constraints of the corner arm itself, achieving optimized matching of path and structure. This 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 precision irrigation of the plot.

[0012] Furthermore, step S3 includes the following steps: S301. Based on the normal plot path and irregular corner plot information, obtain the irregular corner quadrant, and obtain the irregular corner location point closest to the central support of the irregular corner irrigation boundary, as well as the position of the cantilever end of the corner arm corresponding to the irregular corner point. S302. Based on the location of the irregular corner and the end position of the corner arm cantilever, use a preset judgment expression and combine it with the range of the irregular corner to determine whether the irregular corner plot affects the path planning. If so, keep the normal path planning unchanged, take the path obtained by the normal path planning as the irregular corner quadrant path, and proceed to step S4. If not, proceed to step S303. S303. Based on the irregular corner location point, the distance from the center support to the last span tower car, the distance from the last span tower car to the corner arm tower car, and the corner arm cantilever length, calculate the position of the last span tower car corresponding to the irregular corner location point at the end of the corner arm cantilever, and define the position of the last span tower car corresponding to the irregular corner location point as point J. S304. By connecting point J with the irregular corner location point, a straight line is obtained. By calculating the slope of the straight line, it is determined whether the slope of the straight line is negative. If yes, proceed to step S305; otherwise, proceed to step S306. S305. By calculating the intersection of the connecting line and the bottom irrigation boundary, the negative slope irrigation boundary is obtained, and the number of times the negative slope irregular corner planning is started is calculated to obtain the first stage of negative slope. According to the planning parameters, the path of the first stage of negative slope is calculated, and the second expansion stage path, the third expansion stage path of normal plot path planning and the convergence stage path of normal plot path planning are integrated to obtain the irregular corner quadrant path, and then proceed to step S4. S306. Based on point E at the end of the cantilever arm and the location of the irregular corner, calculate the number of times the positive slope or vertical stage path planning starts, obtain the positive slope or vertical irrigation boundary, and obtain the first positive slope or vertical stage and the second positive slope or vertical stage. According to the planning parameters, calculate the first positive slope or vertical stage path and the second positive slope or vertical stage path respectively. Then, adopt the third expansion stage path of normal plot path planning and the convergence stage path of normal plot path planning. Through integration, obtain the irregular corner quadrant path and proceed to step S4.

[0013] Furthermore, the calculation expression for the location point of the irregular corner is as follows: ; in, Indicates the location of an irregular corner. Indicates the location of irregular corners x coordinate, Indicates the location of irregular corners y coordinate, Indicates the length of an irregular angle. Indicates the side length of the irrigation boundary. Indicates the width of an irregular corner. Indicates the spray radius of the terminal nozzle; The preset judgment expression is as follows: ; in, k express Secondary planning, n This indicates the total number of planning iterations in the current quadrant. Indicates the first The end position of the corner arm cantilever in the subnormal planning. x coordinate, Indicates the first The end position of the corner arm cantilever in the subnormal planning. y coordinate; The calculation expression for the position of the last span tower vehicle corresponding to the irregular corner location is as follows: ; in, This indicates the position of the last span tower vehicle corresponding to the location of the irregular corner. x coordinate, This indicates the position of the last span tower vehicle corresponding to the location of the irregular corner. y coordinate, This indicates the distance from the center support to the last span tower car. This indicates the distance from the last span tower crane to the ground-mounted angle arm tower crane. This indicates the length of the cantilever arm.

[0014] The beneficial effects of the above-mentioned further solutions are as follows: This invention automatically identifies and judges the geometric relationship between the boundary of irregular corners and the cantilever position at the end of the corner arm, and automatically classifies the path adjustment strategy into three cases: no impact, negative slope, and positive slope or vertical, based on the irregular corner shape. This achieves safe and high-coverage continuous path planning in plots containing irregular corners, and significantly improves the system's adaptability to irregular terrain and operational reliability.

[0015] Furthermore, step S305 includes the following steps: S3051. Based on the location point of the irregular corner and point J, and combined with the side length of the irrigation boundary, calculate the intersection point of the connecting line and the bottom irrigation boundary. Connect the intersection point of the irregular corner and the bottom irrigation boundary to obtain the negative slope irrigation boundary. Based on the counterclockwise side of the intersection point of the connecting line and the bottom irrigation boundary relative to the location point of the irregular corner, obtain point E at the end of the corner arm cantilever. Based on the negative slope preset condition, calculate the number of times the negative slope irregular corner planning is started by minimizing the planning number in the planning parameters. S3052. The end of the cantilever arm is moved and retracted along the negative slope irrigation boundary. In response to the last span tower vehicle passing through point J, the first stage of negative slope is obtained. According to the planning parameters, the first stage of negative slope is planned using the preset planning interval angle and planning number. In the rectangular coordinate system, the coordinates of point P in the first stage of negative slope are calculated based on the distance from the central support to the last span tower vehicle, combined with the preset planning interval angle and planning number. S3053. Based on the coordinates of point P in the first stage of negative slope, the location of the irregular corner, the intersection of the connecting line and the bottom irrigation boundary, and the planning parameters, calculate the coordinates of point E in the first stage of negative slope, and obtain the unit vectors of point P and point E in the first stage of negative slope, and calculate the coordinates of point S in the first stage of negative slope. S3054. Based on the coordinate transformation of points P, S and E in the first stage of negative slope from the position where the end of the cantilever arm contacts the boundary of the negative slope irrigation to the end of the cantilever arm passing through point J, and combined with the termination condition of the first stage of negative slope, the path of the first stage of negative slope is obtained. S3055. Based on the fact that the end of the cantilever arm leaves the boundary of the negative slope irrigation, the end of the cantilever arm is extended. In response to the end of the cantilever arm reaching the maximum extension angle, the second stage of negative slope is obtained. According to the planning parameters, the second stage of negative slope is planned using the preset planning interval angle and the number of planning. In the rectangular coordinate system, the coordinates of point P in the second stage of negative slope 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. S3056. Based on the irregular corner location point and the corresponding last span tower car position, obtain the position of the corner boom tower car corresponding to the irregular corner location point. Then, based on the coordinates of point P in the first planning of the second stage of negative slope, the position of the corner boom tower car corresponding to the irregular corner location point, the distance between the last span tower car and the last span tower car corresponding to the irregular corner location point during this planning, and the distance between the corner boom tower car and the corner boom tower car corresponding to the irregular corner location point during this planning, calculate the coordinates of point S in the first planning of the second stage of negative slope. S3057. Based on the coordinates of point P in the second stage of negative slope, the distance between the last span tower vehicle and the last span tower vehicle corresponding to the irregular corner location point in this planning, and the distance between the corner boom tower vehicle and the corner boom tower vehicle corresponding to the irregular corner location point in this planning, calculate the coordinates of point S in the second stage of negative slope (excluding the first planning), and obtain the unit vector from point P to point S in the second stage of negative slope, and calculate the coordinates of point E in the second stage of negative slope. S3058. Based on the coordinate transformation of points P, S, and E in the second stage of negative slope from the position of the cantilever end of the ground angle arm leaving the boundary of negative slope irrigation to the position where the ground angle arm system reaches the maximum unfolding angle, and combined with the termination condition of the second stage of negative slope, the path of the second stage of negative slope is obtained. S3059. Using the third expansion stage of the normal plot path planning as the third stage of negative slope, and the contraction stage of the normal plot as the fourth stage of negative slope, by integrating the first stage path of negative slope, the second stage path of negative slope, the third stage of negative slope and the fourth stage of negative slope, the irregular corner quadrant path is obtained, and then proceed to step S4.

[0016] Furthermore, the expression for calculating the intersection of the connecting line and the bottom irrigation boundary is as follows: ; in, Indicates the intersection of the connecting line and the bottom irrigation boundary. x coordinate, Indicates the intersection of the connecting line and the bottom irrigation boundary. y coordinate, This indicates the position of the last span tower vehicle corresponding to the location of the irregular corner. x coordinate, This indicates the position of the last span tower vehicle corresponding to the location of the irregular corner. y coordinate, Indicates the location of irregular corners x coordinate, Indicates the location of irregular corners y coordinate, Indicates the side length of the irrigation boundary; The expression for calculating the number of times the negative slope irregular corner planning begins is as follows: ; in, This indicates the number of times the planning for irregular corners with negative slopes has begun. The vector representing the point from the irregular corner location to the intersection of the line connecting it and the bottom irrigation boundary. Let E be the vector from the location of the irregular corner to point E at the end of the corner arm cantilever. Indicates the location of an irregular corner. This indicates the intersection of the connecting line and the bottom irrigation boundary. Point E represents the end of the cantilever arm.

[0017] Furthermore, the expression for calculating the coordinates of point P in the first stage of the negative slope is as follows: ; in, Indicates the first The coordinates of point P in the first stage of the negative slope during the sub-planning. Indicates the first The negative slope at point P in the first stage of the sub-planning x coordinate, Indicates the first The negative slope at point P in the first stage of the sub-planning y coordinate, This indicates that the geocentric arm system is in the first stage of negative slope. 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 stage of the negative slope is as follows: ; in, Indicates the first The negative slope at point E in the first stage of the sub-planning x coordinate, Indicates the first The negative slope at point E in the first stage of the sub-planning y coordinate; The expression for calculating the coordinates of point S in the first stage of the negative slope is as follows: ; ; The expression for the termination condition of the first stage of the negative slope is as follows: ; in, Indicates the first The coordinates of point S in the first stage of the negative slope during the sub-planning. Point To the point The unit vector.

[0018] The beneficial effects of the above-mentioned further solutions are as follows: By defining the negative slope stage path and generating the negative slope irrigation boundary based on geometric constraints, the present invention achieves safe collision avoidance and effective coverage of irregular areas in the corner arm system under negative slope irregular corners.

[0019] Furthermore, step S306 includes the following steps: S3061. Based on the location of the irregular corner and the end position of the corner arm cantilever, using the preset conditions of positive slope or verticality, the number of times the positive slope or vertical stage path planning is started is calculated by minimizing the number of planning in the planning parameters. The irregular corner location is then connected to point E at the end of the corner arm cantilever of the previous planning start number of the positive slope or vertical stage path planning to obtain the positive slope or vertical irrigation boundary. S3062. The end of the cantilever arm is moved and retracted along the positive slope or vertical irrigation boundary. In response to the last span tower vehicle passing through point J, the first stage of positive slope or verticality is obtained. According to the planning parameters, the first stage of positive slope or verticality is planned using the preset planning interval angle and planning number. In the rectangular coordinate system, the coordinates of point P of the first stage of positive slope or verticality are calculated based on the distance from the central support to the last span tower vehicle, combined with the preset planning interval angle and planning number. S3063. Based on the positive slope or vertical first stage point P, the irregular corner location point, the previous planned corner arm cantilever end point E of the path planning start number of the positive slope or vertical stage, and the planning parameters, calculate the coordinates of the positive slope or vertical first stage point E, and obtain the unit vectors of the positive slope or vertical first stage point P and the positive slope or vertical first stage point E, and calculate the coordinates of the positive slope or vertical first stage point S. S3064. Based on the coordinate transformation of the position of the last span tower vehicle corresponding to the position of the end of the cantilever of the corner arm when it contacts the irrigation boundary of the positive slope or vertical first stage from the position of the end of the corner arm cantilever when it is located at the irregular corner position, and combined with the termination condition of the positive slope or vertical first stage, the path of the positive slope or vertical first stage is obtained. S3065. Based on the fact that the end of the cantilever arm leaves the positive slope or vertical irrigation boundary, the cantilever arm system is unfolded. In response to the cantilever arm system reaching the maximum unfolding angle, the positive slope or vertical second stage is obtained. According to the planning parameters, the positive slope or vertical second stage is planned using the preset planning interval angle and planning number. In the rectangular coordinate system, the coordinates of point P of the positive slope or vertical second 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 planning number. S3066. Based on the irregular corner location point and the corresponding last span tower car position, obtain the position of the corner boom tower car corresponding to the irregular corner location point. Then, based on the positive slope or the coordinates of point P in the first planning of the second stage, the position of the corner boom tower car corresponding to the irregular corner location point, the distance between the last span tower car and the last span tower car corresponding to the irregular corner location point during this planning, and the distance between the corner boom tower car and the corner boom tower car corresponding to the irregular corner location point during this planning, calculate the coordinates of point S in the first planning of the second stage. S3067. Based on the coordinates of point P in the positive slope or vertical second stage, the distance between the last span tower vehicle and the last span tower vehicle corresponding to the irregular corner position point in this planning, and the distance between the corner arm tower vehicle and the corner arm tower vehicle corresponding to the irregular corner position point in this planning, calculate the coordinates of point S in the positive slope or vertical second stage except for the first planning, and obtain the unit vector from point P in the positive slope or vertical second stage to point S in the positive slope or vertical second stage, and calculate the coordinates of point E in the positive slope or vertical second stage. S3068. Based on the coordinate transformation of the positions of points P, S and E in the positive slope or vertical second stage from the end of the cantilever arm away from the negative slope irrigation boundary to the position where the cantilever arm system reaches the maximum unfolding angle, and combined with the termination condition of the positive slope or vertical second stage, the path of the positive slope or vertical second stage is obtained. S3069. Using the third expansion stage of the normal plot path planning as the positive slope or vertical third stage, and the contraction stage of the normal plot path planning as the positive slope or vertical normal contraction stage, by integrating the positive slope or vertical first stage path, the positive slope or vertical second stage path, the positive slope or vertical third stage, and the positive slope or vertical normal contraction stage, the irregular corner quadrant path is obtained, and then proceed to step S4.

[0020] Furthermore, the calculation expression for the positive slope or vertical stage path planning is as follows: ; in, Indicates the first During the second planning phase, point E at the end of the cantilever arm of the ground angle arm... x coordinate, Indicates the first During the second planning phase, point E at the end of the cantilever arm of the ground angle arm... y coordinate, Indicates the number of times the positive slope or vertical phase path planning is initiated; The expression for the positive slope or vertical first-stage termination condition is as follows: ; in, Indicates the first During the secondary planning, the positive slope or perpendicularity to point P in the first stage is used. y coordinate, This indicates the position of the last span tower vehicle corresponding to the location of the irregular corner. y coordinate.

[0021] The beneficial effects of the above-mentioned further solutions are as follows: By defining positive slope or vertical stage paths and generating positive slope or vertical irrigation boundaries based on irregular corner points and normal planning paths, the present invention achieves smooth movement and continuous operation of the corner arm system under positive slope or vertical irregular corners. Attached Figure Description

[0022] Figure 1 This is a flowchart of the method of the present invention.

[0023] Figure 2 This is a schematic diagram of irregular corner path planning in this embodiment.

[0024] Figure 3 This is a schematic diagram of normal plot path planning in this embodiment.

[0025] Figure 4 This is a flowchart of the path planning for irregular corner plots in this embodiment.

[0026] Figure 5 This is a schematic diagram of irregular corner identification in this embodiment.

[0027] Figure 6 This is a schematic diagram illustrating that irregular terrain features have no impact on path planning in this embodiment.

[0028] Figure 7 This is a schematic diagram of the first stage path planning with negative slope in this embodiment.

[0029] Figure 8 This is a schematic diagram of the second-stage path planning with negative slope in this embodiment.

[0030] Figure 9 This is a schematic diagram of the first-stage path planning with positive slope or verticality in this embodiment.

[0031] Figure 10 This is a schematic diagram of the second-stage path planning with positive slope or verticality in this embodiment. Detailed Implementation

[0032] 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.

[0033] Example like Figure 1 As shown, this invention provides a path planning method for a center-supported sprinkler arm system suitable for irregular terrain corners, the implementation method of which is as follows: S1. Obtain information on irregular corner plots and the basic parameters of the center-supported sprinkler arm system, delineate the irrigation boundary, obtain planning parameters, establish a rectangular coordinate system, and obtain the starting point for path planning. The specific steps are as follows: S101. Obtain information on irregular corner plots, including the location coordinates, length, and width of the irregular corners; obtain information on plots including the side length and irrigation boundary side length; obtain basic parameters of the center-supported sprinkler system and the corner arm system, including the distance from the center support 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; and 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. Based on the fact that the main span of the center-supported sprinkler is located at the intersection of the third and fourth quadrants, obtain the starting point of the path planning.

[0034] In this embodiment, as Figure 2 As shown, information on irregular corner plots, plot information, and basic parameters of the center-pivot sprinkler system and corner arm system are obtained to delineate irrigation boundaries; the information on irregular corner plots includes: the length of the irregular corner. and irregular corner width (In practical applications, irregular boundaries or obstacle areas in field corners can be described and defined by their circumscribed rectangles or simplified rectangles that substantially affect irrigation. The irregular corner plot information described in this invention includes the location coordinates, length, and width of such simplified rectangular corners); Plot information includes: plot side length and irrigation boundary length 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 ; The length of the irrigation boundary The calculation expression is as follows: ; in, Indicates the spray radius of the terminal nozzle; The planning parameters include information on irregular corner plots, plot information, and basic parameters of the center-pivot sprinkler and corner arm system; 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. By connecting points E and S sequentially after the planning is completed, 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.

[0035] S2. Based on the starting point of path planning, plan the path for the normal plot. By obtaining the first expansion stage, second expansion stage, third expansion stage, and convergence stage of the normal plot path planning, and combining the planning parameters, calculate the normal plot path. 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, and the path of the first extension stage is calculated according to the planning parameters.

[0036] 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 3 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 3 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.

[0037] S202. 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.

[0038] In this embodiment, 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; among the two solutions obtained by combining the above expressions, the point farther from the central support is taken 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 3 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 stage 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.

[0039] S203. 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.

[0040] Maintaining the corner arm at its maximum deployment angle, the corner arm of the control center pivot sprinkler continues to move until the cantilever end of the corner arm contacts the irrigation boundary on the other side, thus reaching 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 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, 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 3 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.

[0041] S204. 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 machine, thus obtaining the retraction stage. The retraction stage path is calculated based on the planning parameters. S205. By repeating the planning process of steps S201-S204, the paths of the remaining quadrants are planned, and the paths of each stage are integrated to obtain the normal plot path.

[0042] In this embodiment, after the end of the ground angle arm cantilever contacts the irrigation boundary on the other side, it moves along the irrigation boundary on the other side and retracts 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 corner arm cantilever length, 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 3 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. By repeating the planning process of the first stage path, the second expansion stage path, the third expansion stage path, and the convergence stage path, the paths in 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. The paths of each stage are then integrated to obtain the normal plot path.

[0043] S3. Based on the information of normal plot paths and irregular corner plots, the irregular corner quadrant is obtained. By determining whether irregular corner plots affect path planning, and combining planning parameters, the negative slope stage and the positive slope or vertical stage are obtained. The path in the irregular corner quadrant is then replanned to obtain the irregular corner quadrant path. The specific steps are as follows: S301. Based on the normal plot path and irregular corner plot information, obtain the irregular corner quadrant, and obtain the irregular corner location point closest to the central support of the irregular corner irrigation boundary, as well as the position of the cantilever end of the corner arm corresponding to the irregular corner point. S302. Based on the location of the irregular corner and the end position of the corner arm cantilever, use a preset judgment expression and combine it with the range of the irregular corner to determine whether the irregular corner plot affects the path planning. If so, keep the normal path planning unchanged, take the path obtained by the normal path planning as the irregular corner quadrant path, and proceed to step S4. If not, proceed to step S303. S303. Based on the irregular corner location point, the distance from the center support to the last span tower car, the distance from the last span tower car to the corner arm tower car, and the corner arm cantilever length, calculate the position of the last span tower car corresponding to the irregular corner location point at the end of the corner arm cantilever, and define the position of the last span tower car corresponding to the irregular corner location point as point J. S304. By connecting point J with the irregular corner location point, a straight line is obtained. By calculating the slope of the straight line, it is determined whether the slope of the straight line is negative. If yes, proceed to step S305; otherwise, proceed to step S306.

[0044] In this embodiment, as Figure 4 As shown, based on the information of normal plot paths and irregular corner plots, the irregular corner quadrant is obtained. Path planning is then performed in the irregular corner quadrant, based on the irregular corner points, such as... Figure 5 As shown, the location points of the irregular corners are obtained. And based on the position of the cantilever end of the ground arm at this time, the position of the cantilever end of the ground arm is obtained. The irregular corner location point The calculation expression is as follows: ; in, Indicates the location of an irregular corner. Indicates the location of irregular corners x coordinate, Indicates the location of irregular corners y coordinate, Indicates the length of an irregular angle. Indicates the side length of the irrigation boundary. Indicates the width of an irregular corner; Based on the location of the irregular corner and the end position of the ground angle arm cantilever Using a preset judgment expression and considering the range of irregular corners, it determines whether irregular corners affect path planning. The preset judgment expression is as follows: ; in, k express Secondary planning, n This indicates the total number of planning iterations in the current quadrant. Indicates the first The end position of the corner arm cantilever in the subnormal planning. x coordinate, Indicates the first The end position of the corner arm cantilever in the subnormal planning. y coordinate.

[0045] If all corner arm cantilever ends position None of them are within the range of irregular corners, such as Figure 6 As shown, the normal path planning remains unchanged as the operating path of the center support sprinkler arm system of the irregular corner plot, and the path obtained by the normal path planning is used as the quadrant path of the irregular corner. If there is a cantilever end position of the ground arm Within the range of irregular terrain features, based on the location points of the irregular terrain features. Distance from the center support to the last span tower car Distance from the last span tower crane to the corner boom tower crane and the length of the ground corner arm cantilever By solving the following system of equations, the position of the last span tower car corresponding to the location of the irregular corner can be obtained. The calculation expression is as follows: ; in, This indicates the position of the last span tower vehicle corresponding to the location of the irregular corner. x coordinate, This indicates the position of the last span tower vehicle corresponding to the location of the irregular corner. y Coordinates; and when taking When the solution is larger, the position of the last span tower car corresponding to the irregular corner location is obtained. Point coordinates; The location of the last span tower car corresponding to the irregular corner location. and irregular corner locations Connect them into a straight line By calculating the slope of the connecting line, we can determine whether the slope of the connecting line is negative, as follows: like That is, a straight line If the slope is negative, proceed to the first stage path planning and the second stage path planning steps for negative slope. like That is, a straight line If the slope is positive or vertical, proceed to the first stage path planning steps (positive slope or vertical) and the second stage path planning steps (positive slope or vertical).

[0046] S305. By calculating the intersection of the connecting line and the bottom irrigation boundary, the negative slope irrigation boundary is obtained. The number of times the negative slope irregular corner planning starts is calculated to obtain the first stage of negative slope. Based on the planning parameters, the path of the first stage of negative slope is calculated. The second and third expansion stages of the normal plot path planning and the convergence stage of the normal plot path planning are integrated to obtain the irregular corner quadrant path. Proceed to step S4. The specific steps are as follows: S3051. Based on the location point of the irregular corner and point J, and combined with the side length of the irrigation boundary, calculate the intersection point of the connecting line and the bottom irrigation boundary. Connect the intersection point of the irregular corner and the bottom irrigation boundary to obtain the negative slope irrigation boundary. Based on the counterclockwise side of the intersection point of the connecting line and the bottom irrigation boundary relative to the location point of the irregular corner, obtain point E at the end of the corner arm cantilever. Based on the negative slope preset condition, calculate the number of times the negative slope irregular corner planning is started by minimizing the planning number in the planning parameters. S3052. The end of the cantilever arm is moved and retracted along the negative slope irrigation boundary. In response to the last span tower vehicle passing through point J, the first stage of negative slope is obtained. According to the planning parameters, the first stage of negative slope is planned using the preset planning interval angle and planning number. In the rectangular coordinate system, the coordinates of point P in the first stage of negative slope are calculated based on the distance from the central support to the last span tower vehicle, combined with the preset planning interval angle and planning number. S3053. Based on the coordinates of point P in the first stage of negative slope, the location of the irregular corner, the intersection of the connecting line and the bottom irrigation boundary, and the planning parameters, calculate the coordinates of point E in the first stage of negative slope, and obtain the unit vectors of point P and point E in the first stage of negative slope, and calculate the coordinates of point S in the first stage of negative slope. S3054. Based on the coordinate transformation of points P, S, and E in the first stage of negative slope, from the position where the end of the cantilever arm contacts the boundary of the negative slope irrigation to the end of the cantilever arm passing through point J, and combined with the termination condition of the first stage of negative slope, the path of the first stage of negative slope is obtained.

[0047] In this embodiment, as Figure 7 As shown, extend the connecting line, and based on the location of the irregular corner and the corresponding position of the last span tower vehicle, combined with the side length of the irrigation boundary, obtain the intersection point of the connecting line and the bottom irrigation boundary. The expression is as follows: ; in, Indicates the intersection of the connecting line and the bottom irrigation boundary.x coordinate, Indicates the intersection of the connecting line and the bottom irrigation boundary. y coordinate; and irregular corner locations The intersection of the line connecting the two points and the bottom irrigation boundary. Connect to obtain the negative slope irrigation boundary. ; Calculate from the first The initial planning path was influenced by the negative slope irrigation boundary, i.e., from the first... The next planning phase begins with the corner arm system entering the first stage of negative slope, requiring re-path planning based on the preset conditions for negative slope. and The cross product is non-negative. Point E is located at the end of the cantilever arm, specifically at the intersection of the straight line connecting the two points and the bottom irrigation boundary. Relative to irregular corner location points The counterclockwise side or collinear, and To satisfy this condition, the minimum Value, number of times the negative slope irregular corner planning is started. The calculation expression is as follows: ; in, This indicates the number of times the planning for irregular corners with negative slopes has begun. This represents the direction vector from the location of the irregular corner to the intersection of the line connecting it and the bottom irrigation boundary. The vector representing the point from the irregular corner location to point E at the end of the corner arm cantilever; The end of the cantilever arm is moved and retracted along the negative slope irrigation boundary, responding to the position of the last span tower vehicle corresponding to the location of the irregular corner where the last span tower vehicle passes. J Point, to obtain the first stage of negative slope; Negative slope, first stage In this plan The coordinates of the point are determined based on the planning parameters and using a preset planning interval angle. and number of planning The first stage of the negative slope is planned, and in the rectangular coordinate system, the distance from the central support to the last span tower is used as the basis. Combined with the preset planning interval angle and number of planning Calculate the coordinates of point P in the first stage with negative slope. The coordinates of point P in the first stage of the negative slope during the sub-planning The calculation expression is the same as the calculation expression for point P in the first unfolding stage of normal plot path planning; And by simultaneously solving the coordinate system of point P in the first stage with negative slope Irregular corner coordinates Connecting lines (straight lines) Intersection with irrigation boundary Distance from the last span tower crane to the corner boom tower crane and the length of the ground corner arm cantilever The first stage point E with negative slope was calculated. The coordinates of point E in the first stage of the negative slope during the sub-planning The calculation equation is shown below: ; in, Indicates the first The negative slope at point E in the first stage of the sub-planning x coordinate, Indicates the first The negative slope at point E in the first stage of the sub-planning y coordinate, Indicates the first The negative slope at point P in the first stage of the sub-planning x coordinate, Indicates the first The negative slope at point P in the first stage of the sub-planning y Coordinates, when taken When the solution is larger, the coordinates of point E in the first stage with negative slope are obtained; Obtain the unit vectors of point P and point E in the first stage of the negative slope, and calculate point S in the first stage of the negative slope. The coordinates of point S in the first stage of the negative slope during the secondary planning process. The calculation expression is as follows: ; ; in, Indicates the first The coordinates of point S in the first stage of the negative slope during the sub-planning. Point To the point , unit vector; The termination condition for the first stage of negative slope is the passage of the last span tower vehicle. J Point, the cap arm system passes through irregular capes, that is Based on the first stage of the negative slope, points P, S, and E, the distance from the end of the cantilever arm contacting the negative slope irrigation boundary to the final span tower vehicle passing through... J By transforming the coordinates of the points and combining them with the termination condition of the first stage of negative slope, the path of the first stage of negative slope is obtained.

[0048] S3055. Based on the fact that the end of the cantilever arm leaves the boundary of the negative slope irrigation, the end of the cantilever arm is extended. In response to the end of the cantilever arm reaching the maximum extension angle, the second stage of negative slope is obtained. According to the planning parameters, the second stage of negative slope is planned using the preset planning interval angle and the number of planning. In the rectangular coordinate system, the coordinates of point P in the second stage of negative slope 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. S3056. Based on the irregular corner location point and the corresponding last span tower car position, obtain the position of the corner boom tower car corresponding to the irregular corner location point. Then, based on the coordinates of point P in the first planning of the second stage of negative slope, the position of the corner boom tower car corresponding to the irregular corner location point, the distance between the last span tower car and the last span tower car corresponding to the irregular corner location point during this planning, and the distance between the corner boom tower car and the corner boom tower car corresponding to the irregular corner location point during this planning, calculate the coordinates of point S in the first planning of the second stage of negative slope. S3057. Based on the coordinates of point P in the second stage of negative slope, the distance between the last span tower vehicle and the last span tower vehicle corresponding to the irregular corner location point in this planning, and the distance between the corner boom tower vehicle and the corner boom tower vehicle corresponding to the irregular corner location point in this planning, calculate the coordinates of point S in the second stage of negative slope (excluding the first planning), and obtain the unit vector from point P to point S in the second stage of negative slope, and calculate the coordinates of point E in the second stage of negative slope. S3058. Based on the coordinate transformation of points P, S, and E in the second stage of negative slope, from the position of the cantilever end of the ground angle arm leaving the boundary of negative slope irrigation to the position where the ground angle arm system reaches the maximum unfolding angle, and combined with the termination condition of the second stage of negative slope, the path of the second stage of negative slope is obtained.

[0049] In this embodiment, as Figure 8 As shown, after the first stage of negative slope ends, the corner arm system enters the second stage of negative slope. Based on the fact that the cantilever end of the corner arm leaves the negative slope irrigation boundary, the corner arm system is deployed. In response to the corner arm system reaching the maximum deployment angle, the second stage of negative slope is obtained. Negative slope, second stage Sub-planning The point coordinate expression is the same as the expression for calculating point P in the unfolding stage of normal plot path planning; Based on the location of the irregular corner Q The position of the last span tower car corresponding to the irregular corner location. J The position of the corner boom tower vehicle corresponding to the irregular corner location is obtained. The coordinates of point P in the first planning stage within the second phase with negative slope are combined. The location of the corner boom tower vehicle corresponding to the irregular corner location. The distance between the last span tower in this planning period J Distance between points And the distance between the corner arm towers and the vehicle in this plan. Distance between points The coordinates of point S in the first planning stage of the second phase with negative slope are obtained by solving the following system of equations. The expression is as follows: ; , ; , ; in, This indicates the location of the corner boom tower vehicle corresponding to the irregular corner location; Indicates the first The distance between the end towers during the second planning stage Distance between points Indicates the first The distance between the ground-mounted jib towers during the second planning phase Distance between points This represents the ratio of the travel speed of the end-cap 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. ; And based on the coordinates of point P in the second stage with negative slope 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 stage of negative slope (excluding the first planning stage) are calculated, and the unit vector from point P to point S in the second stage of negative slope is obtained. The coordinates of point E in the second stage of negative slope are calculated. The specific calculation expression is the same as the calculation expression of point S and point E in the second unfolding stage of normal plot path planning. Furthermore, the termination condition is that the corner arm is fully extended to its maximum angle, which is the same as the termination condition in the second extension stage of normal plot path planning.

[0050] S3059. Using the third expansion stage of the normal plot path planning as the third stage of negative slope, and the contraction stage of the normal plot as the fourth stage of negative slope, by integrating the first stage path of negative slope, the second stage path of negative slope, the third stage of negative slope and the fourth stage of negative slope, the irregular corner quadrant path is obtained, and then proceed to step S4.

[0051] In this embodiment, after the second stage of negative slope ends, the corner arm system enters the third stage and the fourth stage of negative slope in sequence. At this time, it has passed through the irregular corner plot. Therefore, the third expansion stage of normal plot path planning is used as the third stage of negative slope, and the contraction stage of normal plot path planning is used as the fourth stage of negative slope. By integrating the negative slope first-stage path, negative slope second-stage path, negative slope third-stage path, and negative slope fourth-stage path, the irregular angle quadrant path is obtained.

[0052] S306. Based on point E at the end of the cantilever arm and the location of the irregular corner, calculate the number of times the positive slope or vertical stage path planning begins, obtain the positive slope or vertical irrigation boundary, and obtain the first and second positive slope or vertical stages. According to the planning parameters, calculate the paths for the first and second positive slope or vertical stages respectively. Then, using the third expansion stage path and the convergence stage path of the normal plot path planning, and through integration, obtain the path for the irregular corner quadrant, and proceed to step S4. The specific steps are as follows: S3061. Based on the location of the irregular corner and the end position of the corner arm cantilever, using the preset conditions of positive slope or verticality, the number of times the positive slope or vertical stage path planning is started is calculated by minimizing the number of planning in the planning parameters. The irregular corner location is then connected to point E at the end of the corner arm cantilever of the previous planning start number of the positive slope or vertical stage path planning to obtain the positive slope or vertical irrigation boundary. S3062. The end of the cantilever arm is moved and retracted along the positive slope or vertical irrigation boundary. In response to the last span tower vehicle passing through point J, the first stage of positive slope or verticality is obtained. According to the planning parameters, the first stage of positive slope or verticality is planned using the preset planning interval angle and planning number. In the rectangular coordinate system, the coordinates of point P of the first stage of positive slope or verticality are calculated based on the distance from the central support to the last span tower vehicle, combined with the preset planning interval angle and planning number. S3063. Based on the positive slope or vertical first stage point P, the irregular corner location point, the previous planned corner arm cantilever end point E of the path planning start number of the positive slope or vertical stage, and the planning parameters, calculate the coordinates of the positive slope or vertical first stage point E, and obtain the unit vectors of the positive slope or vertical first stage point P and the positive slope or vertical first stage point E, and calculate the coordinates of the positive slope or vertical first stage point S. S3064. Based on the coordinate transformation of the position of the last span tower vehicle corresponding to the position of the end of the cantilever when the end of the cantilever is located at the irregular corner location, the path of the first stage of positive slope or vertical is obtained by combining the termination condition of the first stage of positive slope or vertical.

[0053] In this embodiment, as Figure 9 As shown, based on the coordinates of point E at the end of the cantilever arm... and irregular corner locations Number of times to start path planning from positive slope or vertical phase At the start of this planning phase, the corner arm system enters the first stage of positive slope or verticality, requiring re-path planning. The preset condition for positive slope or verticality is the coordinates of point E at the end of the corner arm cantilever. Located at an irregular corner The number of times the stage path planning starts, with a positive slope or verticality, is located in the lower left corner. Satisfy minimum The value, the number of times the positive slope or vertical stage path planning begins. The expression is as follows: ; in, Indicates the first During the second planning phase, point E at the end of the cantilever arm of the ground angle arm... x coordinate, Indicates the first During the second planning phase, point E at the end of the cantilever arm of the ground angle arm... y coordinate, Indicates the number of times the positive slope or vertical phase path planning is initiated; No. The next phase of planning begins with the geocentric arm system entering the first stage of positive slope or verticality, and the irregular geocentric locations will be... The last planned point E at the end of the cantilever arm, relative to the number of times the path planning for the positive slope or vertical phase began. Connect them to obtain a positive slope or a vertical irrigation boundary. ; The end of the cantilever arm is along a positive slope or perpendicular to the irrigation boundary. The movement and retraction are responsive to the position of the last span tower car corresponding to the location of the irregular corner where the last span tower car passes. The point, the corner arm system passes through irregular corners and calculates the positive slope or the vertical first-stage path according to the planning parameters; Based on the distance from the central support to the last span tower vehicle, combined with the preset planning interval angle and planning number, the coordinates of point P in the first stage of the positive slope or verticality are calculated; the coordinates of point P in the first stage of the positive slope or verticality are the same as the calculation expression of point P in the first unfolding stage of normal plot path planning. Based on the positive slope or perpendicular to point P in the first stage Irregular corner locations The number of times the positive slope or vertical phase path planning started was the last planned point E at the end of the cantilever arm. In addition to planning parameters, the coordinates of point E in the first stage with positive slope or verticality are calculated, and the unit vectors of point P and point E in the first stage with positive slope or verticality are obtained. The coordinates of point S in the first stage with positive slope or verticality are calculated. The calculation expression of the coordinates of point S in the first stage with positive slope or verticality is the same as the calculation expression of the coordinates of point S in the first stage with negative slope. The first During the secondary planning, the positive slope or the coordinates perpendicular to point E in the first stage are used. The calculation equation is shown below: ; in, Indicates the first During the secondary planning, the positive slope or perpendicularity to point E in the first stage is used. x coordinate, Indicates the first During the secondary planning, the positive slope or perpendicularity to point E in the first stage is used. y coordinate, Indicates the first During the secondary planning, the positive slope or perpendicularity to point P in the first stage is used. x coordinate, Indicates the first During the secondary planning, the positive slope or perpendicularity to point P in the first stage is used. y coordinate, The last planned point E, representing the starting number of the positive slope or vertical phase path planning, is the end point of the cantilever arm. x coordinate, The last planned point E, representing the starting number of the positive slope or vertical phase path planning, is the end point of the cantilever arm. y Coordinates, when taken When the solution is larger, the coordinates of point E in the first stage with negative slope are obtained; The termination condition for the first stage, which is either positive slope or vertical, is the position of the last span tower car corresponding to the location of the irregular ground angle. Point, that is, the cape arm system passes through an irregular cape; And the termination condition is ,in, Indicates positive slope or verticality in the first stage. During the sub-planning, point P... y coordinate.

[0054] S3065. Based on the fact that the end of the cantilever arm leaves the positive slope or vertical irrigation boundary, the cantilever arm system is unfolded. In response to the cantilever arm system reaching the maximum unfolding angle, the positive slope or vertical second stage is obtained. According to the planning parameters, the positive slope or vertical second stage is planned using the preset planning interval angle and planning number. In the rectangular coordinate system, the coordinates of point P of the positive slope or vertical second 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 planning number. S3066. Based on the irregular corner location point and the corresponding last span tower car position, obtain the position of the corner boom tower car corresponding to the irregular corner location point. Then, based on the positive slope or the coordinates of point P in the first planning of the second stage, the position of the corner boom tower car corresponding to the irregular corner location point, the distance between the last span tower car and the last span tower car corresponding to the irregular corner location point during this planning, and the distance between the corner boom tower car and the corner boom tower car corresponding to the irregular corner location point during this planning, calculate the coordinates of point S in the first planning of the second stage. S3067. Based on the coordinates of point P in the positive slope or vertical second stage, the distance between the last span tower vehicle and the last span tower vehicle corresponding to the irregular corner position point in this planning, and the distance between the corner arm tower vehicle and the corner arm tower vehicle corresponding to the irregular corner position point in this planning, calculate the coordinates of point S in the positive slope or vertical second stage except for the first planning, and obtain the unit vector from point P in the positive slope or vertical second stage to point S in the positive slope or vertical second stage, and calculate the coordinates of point E in the positive slope or vertical second stage. S3068. Based on the coordinate transformation of points P, S, and E in the positive slope or vertical second stage from the position of the cantilever end of the ground angle arm away from the negative slope irrigation boundary to the position where the ground angle arm system reaches the maximum unfolding angle, and combined with the termination condition of the positive slope or vertical second stage, the path of the positive slope or vertical second stage is obtained.

[0055] In this embodiment, as Figure 10 As shown, after the first stage of positive slope or verticality ends, the geocentric arm system enters the second stage of positive slope or verticality, specifically: Based on the distance of the cantilever end from the positive slope or perpendicular to the irrigation boundary. When the end of the ground-angle arm cantilever is extended, in response to the ground-angle arm system reaching the maximum extension angle, a positive slope or vertical second stage is obtained, and the ground-angle arm system enters the positive slope or vertical second stage. Based on the distance from the central support to the last span tower, combined with the preset planning interval angle and the number of planning iterations, the coordinates of point P in the second stage (positive slope or vertical) are obtained. During the second planning stage, the positive slope or the vertical coordinates of point P in the second phase are considered. The calculation expression for point P is the same as that in the first development stage of normal plot path planning. Parallel calculation of positive slope or perpendicular coordinates of point P during the first planning stage in the second phase. The location of the corner boom tower vehicle corresponding to the irregular corner location. The distance between the last span tower in this planning period J Distance between points And the distance between the corner arm towers and the vehicle in this plan. Distance between points The coordinates of point S in the first planning stage within the second phase are obtained by solving the following system of equations. The expression is as follows: ; , ; , ; in, This indicates the location of the corner boom tower vehicle corresponding to the irregular corner location; Indicates the first The distance between the end towers during the second planning stage Distance between points Indicates the first The distance between the ground-mounted jib towers during the second planning phase Distance between points This represents the ratio of the travel speed of the end-cap tower crane to that of the ground-mounted boom tower crane. Indicates the safety factor; And based on the positive slope or the coordinates of point P in the second stage. 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 stage with positive slope or verticality are calculated, except for the first planning stage. The unit vector from point P in the second stage with positive slope or verticality to point S in the second stage with positive slope or verticality is obtained. The coordinates of point E in the second stage with negative slope are calculated. The specific calculation expression is the same as the calculation expression of point S and point E in the second unfolding stage of normal plot path planning. Furthermore, the termination condition is that the corner arm is fully extended to its maximum angle, which is the same as the termination condition in the second extension stage of normal plot path planning.

[0056] S3069. Using the third expansion stage of the normal plot path planning as the positive slope or vertical third stage, and the contraction stage of the normal plot path planning as the positive slope or vertical normal contraction stage, by integrating the positive slope or vertical first stage path, the positive slope or vertical second stage path, the positive slope or vertical third stage, and the positive slope or vertical normal contraction stage, the irregular corner quadrant path is obtained, and then proceed to step S4.

[0057] In this embodiment, after the second stage of positive slope or verticality is completed, the corner arm system sequentially enters the third stage of positive slope or verticality and the normal closing stage of positive slope or verticality. At this time, it has passed through the irregular corner plot, so the third unfolding stage of normal plot path planning is used as the third stage of positive slope or verticality, and the closing stage of normal plot path planning is used as the normal closing stage of positive slope or verticality. By integrating the first-stage path with positive slope or verticality, the second-stage path with positive slope or verticality, the third-stage path with positive slope or verticality, and the normal convergence stage with positive slope or verticality, the irregular corner quadrant path is obtained.

[0058] S4. By integrating the paths in the irregular corner quadrant and the normal plot paths in the other quadrants, the path planning for the center-supported sprinkler arm system under the irregular corner plot is completed.

[0059] In this embodiment, the third quadrant is used as the irregular corner quadrant for implementation. If there are other quadrants with irregular corner plots, the steps of obtaining the irregular corner quadrant path are repeated to realize the path planning of the center-supported sprinkler arm system under the irregular corner plots in all quadrants.

[0060] In this embodiment, during the specific implementation, in the normal plot path planning, a rectangular coordinate system is first established with the central support as the origin, and the main span of the central support sprinkler machine is set to start at the intersection of the coordinate axes; the path planning is executed automatically throughout: the first stage (first expansion stage) is when the end of the corner arm cantilever moves close to the irrigation boundary until it leaves the corner area; the second stage (second expansion stage) is when the corner arm continues to expand outward until it reaches the maximum expansion angle allowed by the mechanical structure; the third stage (third expansion stage) is when the corner arm maintains the maximum expansion angle; the fourth stage (retraction stage) is when the end of the corner arm cantilever contacts the irrigation boundary on the other side, it begins to retract inward along the boundary; the corner arm system cyclically executes the above four stages of action during the rotation of the main span, achieving precise, seamless, and full-coverage irrigation of the corners of the plot in a normal plot; For plots with irregular corners, the system adaptively classifies them into three cases: "no impact," "negative slope," and "positive slope or vertical," based on the location and geometric parameters of the irregular corners. By dynamically adjusting the irrigation boundary and the walking trajectory, the system ensures that complete and continuous irrigation operations are achieved while avoiding irregular corners.

[0061] In the planning of irregular corners with negative slopes, the first step is to make a preset judgment to determine that the current irregular corner affects the path planning and that the slope of the connecting line is negative. The path planning is automatically adjusted and executed at the irregular corner: In the first stage of negative slope, the end of the cantilever is close to the boundary of the negative slope irrigation and moves inward along the boundary until the last span tower vehicle passes the position of the last span tower vehicle corresponding to the location of the irregular corner; In the second stage of negative slope, the end of the corner arm cantilever leaves the boundary of the negative slope irrigation and the corner arm system begins to extend outward until it reaches the maximum extension angle allowed by its mechanical structure; In the third stage of negative slope, the corner arm continues to move while maintaining the maximum extension angle; In the fourth stage of negative slope, when the end of the corner arm cantilever touches the boundary on the other side of the plot, it begins to retract inward along the boundary.

[0062] In the planning of irregular corners with positive or vertical slopes, a preset judgment is first completed to determine that the current irregular corner affects the path planning and the slope of the connecting line is positive or vertical. The path planning is automatically adjusted and executed in the irregular corner: In the first stage of positive or vertical slope, the end of the cantilever is close to the positive or vertical irrigation boundary and moves inward along the boundary until the last span tower vehicle passes the position of the last span tower vehicle corresponding to the location of the irregular corner; In the second stage of positive or vertical slope, the end of the corner arm cantilever leaves the positive or vertical irrigation boundary and the corner arm system begins to extend outward until it reaches the maximum extension angle allowed by its mechanical structure; In the third stage of positive or vertical slope, the corner arm continues to move while maintaining the maximum extension angle; In the fourth stage of positive or vertical slope, when the end of the corner arm cantilever touches the boundary on the other side of the plot, it begins to retract inward along the boundary.

[0063] This paper presents an intelligent path planning method for corner arm irrigation that integrates plot geometry information and system kinematic constraints. By transforming the traditional path setting, which relies on manual experience or fixed guidance, into an automated planning process based on mathematical models and constraints, it significantly reduces corner spraying and repeated spraying, effectively improving irrigation uniformity and operational accuracy. At the same time, due to the deep synergy between the path and mechanical characteristics, it avoids non-stable movements such as sudden stops and violent swings, which not only reduces operating energy consumption and mechanical wear and extends equipment life, but also eliminates the cost of manual surveying and guidance for different plots due to its high adaptability and reconfigurability. It demonstrates significant technical advantages and economic benefits in terms of both improving operational quality and reducing long-term operation and maintenance costs.

Claims

1. A path planning method for a center-supported sprinkler arm system suitable for irregularly shaped terrain, characterized in that: Includes the following steps: S1. Obtain information on irregular corner plots and basic parameters of the center-supported sprinkler arm system, divide the irrigation boundary, obtain planning parameters, establish a rectangular coordinate system, and obtain the starting point for path planning. S2. Based on the starting point of the path planning, the normal plot path is planned. The first expansion stage, the second expansion stage, the third expansion stage and the convergence stage of the normal plot path planning are obtained. Combined with the planning parameters, the normal plot path is calculated. S3. Based on the information of normal plot paths and irregular corner plots, obtain the irregular corner quadrant. By judging whether the irregular corner plots affect the path planning, and combining the planning parameters, obtain the negative slope stage and the positive slope or vertical stage. Then, replan the path of the irregular corner quadrant to obtain the irregular corner quadrant path. S4. By integrating the paths in the irregular corner quadrant and the paths in the normal plots in the other quadrants, the path planning for the center-supported sprinkler arm system under the irregular corner plot is completed.

2. The path planning method for a center-supported sprinkler arm system for irregular corner irrigation as described in claim 1, characterized in that, S1 includes the following steps: S101. Obtain information on irregular corner plots, including the location coordinates, length, and width of the irregular corners; obtain information on plots including the side length and irrigation boundary side length; obtain basic parameters of the center-supported sprinkler system and the corner arm system, including the distance from the center support 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; and 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. Based on the fact that the main span of the center-supported sprinkler is located at the intersection of the third and fourth quadrants, obtain the starting point of the path planning.

3. The path planning method for a center-supported sprinkler arm system for irregular corner irrigation machines according to claim 2, 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. 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. S202. 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. S203. 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. S204. 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 machine, thus obtaining the retraction stage. The retraction stage path is calculated based on the planning parameters. S205. By repeating the planning process of steps S201-S204, the paths of the remaining quadrants are planned, and the paths of each stage are integrated to obtain the normal plot path.

4. The path planning method for a center-supported sprinkler arm system for irregular corner irrigation machines according to claim 2, characterized in that, S3 includes the following steps: S301. Based on the normal plot path and irregular corner plot information, obtain the irregular corner quadrant, and obtain the irregular corner location point closest to the central support of the irregular corner irrigation boundary, as well as the position of the cantilever end of the corner arm corresponding to the irregular corner point. S302. Based on the location of the irregular corner and the end position of the corner arm cantilever, use a preset judgment expression and combine it with the range of the irregular corner to determine whether the irregular corner plot affects the path planning. If so, keep the normal path planning unchanged, take the path obtained by the normal path planning as the irregular corner quadrant path, and proceed to step S4. If not, proceed to step S303. S303. Based on the irregular corner location point, the distance from the center support to the last span tower car, the distance from the last span tower car to the corner arm tower car, and the corner arm cantilever length, calculate the position of the last span tower car corresponding to the irregular corner location point at the end of the corner arm cantilever, and define the position of the last span tower car corresponding to the irregular corner location point as point J. S304. By connecting point J with the irregular corner location point, a straight line is obtained. By calculating the slope of the straight line, it is determined whether the slope of the straight line is negative. If yes, proceed to step S305; otherwise, proceed to step S306. S305. By calculating the intersection of the connecting line and the bottom irrigation boundary, the negative slope irrigation boundary is obtained, and the number of times the negative slope irregular corner planning is started is calculated to obtain the first stage of negative slope. According to the planning parameters, the path of the first stage of negative slope is calculated, and the second expansion stage path, the third expansion stage path of normal plot path planning and the convergence stage path of normal plot path planning are integrated to obtain the irregular corner quadrant path, and then proceed to step S4. S306. Based on point E at the end of the cantilever arm and the location of the irregular corner, calculate the number of times the positive slope or vertical stage path planning starts, obtain the positive slope or vertical irrigation boundary, and obtain the first positive slope or vertical stage and the second positive slope or vertical stage. According to the planning parameters, calculate the first positive slope or vertical stage path and the second positive slope or vertical stage path respectively. Then, adopt the third expansion stage path of normal plot path planning and the convergence stage path of normal plot path planning. Through integration, obtain the irregular corner quadrant path and proceed to step S4.

5. The path planning method for a center-supported sprinkler arm system for irregular corner irrigation as described in claim 4, characterized in that, The calculation expression for the irregular corner location point is as follows: in, Indicates the location of an irregular corner. Indicates the location of irregular corners x coordinate, Indicates the location of irregular corners y coordinate, Indicates the length of an irregular angle. Indicates the length of the irrigation boundary. Indicates the width of an irregular corner. Indicates the spray radius of the terminal nozzle; The preset judgment expression is as follows: in, k express Secondary planning, n This indicates the total number of planning iterations in the current quadrant. Indicates the first The end position of the corner arm cantilever in the subnormal planning location x coordinate, Indicates the first The end position of the corner arm cantilever in the subnormal planning location y coordinate; The calculation expression for the position of the last span tower vehicle corresponding to the irregular corner location is as follows: in, This indicates the position of the last span tower vehicle corresponding to the location of the irregular corner. x coordinate, This indicates the position of the last span tower vehicle corresponding to the location of the irregular corner. y coordinate, This indicates the distance from the center support to the last span tower car. This indicates the distance from the last span tower crane to the ground-mounted angle arm tower crane. This indicates the length of the cantilever arm.

6. The path planning method for a center-supported sprinkler arm system for irregular corner irrigation as described in claim 4, characterized in that, S305 includes the following steps: S3051. Based on the location point of the irregular corner and point J, and combined with the side length of the irrigation boundary, calculate the intersection point of the connecting line and the bottom irrigation boundary. Connect the intersection point of the irregular corner and the bottom irrigation boundary to obtain the negative slope irrigation boundary. Based on the counterclockwise side of the intersection point of the connecting line and the bottom irrigation boundary relative to the location point of the irregular corner, obtain point E at the end of the corner arm cantilever. Based on the negative slope preset condition, calculate the number of times the negative slope irregular corner planning is started by minimizing the planning number in the planning parameters. S3052. The end of the cantilever arm is moved and retracted along the negative slope irrigation boundary. In response to the last span tower vehicle passing through point J, the first stage of negative slope is obtained. According to the planning parameters, the first stage of negative slope is planned using the preset planning interval angle and planning number. In the rectangular coordinate system, the coordinates of point P in the first stage of negative slope are calculated based on the distance from the central support to the last span tower vehicle, combined with the preset planning interval angle and planning number. S3053. Based on the coordinates of point P in the first stage of negative slope, the location of the irregular corner, the intersection of the connecting line and the bottom irrigation boundary, and the planning parameters, calculate the coordinates of point E in the first stage of negative slope, and obtain the unit vectors of point P and point E in the first stage of negative slope, and calculate the coordinates of point S in the first stage of negative slope. S3054. Based on the coordinate transformation of points P, S and E in the first stage of negative slope from the position where the end of the cantilever arm contacts the boundary of the negative slope irrigation to the end of the cantilever arm passing through point J, and combined with the termination condition of the first stage of negative slope, the path of the first stage of negative slope is obtained. S3055. Based on the fact that the end of the cantilever arm leaves the boundary of the negative slope irrigation, the end of the cantilever arm is extended. In response to the end of the cantilever arm reaching the maximum extension angle, the second stage of negative slope is obtained. According to the planning parameters, the second stage of negative slope is planned using the preset planning interval angle and the number of planning. In the rectangular coordinate system, the coordinates of point P in the second stage of negative slope 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. S3056. Based on the irregular corner location point and the corresponding last span tower car position, obtain the position of the corner boom tower car corresponding to the irregular corner location point. Then, based on the coordinates of point P in the first planning of the second stage of negative slope, the position of the corner boom tower car corresponding to the irregular corner location point, the distance between the last span tower car and the last span tower car corresponding to the irregular corner location point during this planning, and the distance between the corner boom tower car and the corner boom tower car corresponding to the irregular corner location point during this planning, calculate the coordinates of point S in the first planning of the second stage of negative slope. S3057. Based on the coordinates of point P in the second stage of negative slope, the distance between the last span tower vehicle and the last span tower vehicle corresponding to the irregular corner location point in this planning, and the distance between the corner boom tower vehicle and the corner boom tower vehicle corresponding to the irregular corner location point in this planning, calculate the coordinates of point S in the second stage of negative slope (excluding the first planning), and obtain the unit vector from point P to point S in the second stage of negative slope, and calculate the coordinates of point E in the second stage of negative slope. S3058. Based on the coordinate transformation of points P, S, and E in the second stage of negative slope from the position of the cantilever end of the ground angle arm leaving the boundary of negative slope irrigation to the position where the ground angle arm system reaches the maximum unfolding angle, and combined with the termination condition of the second stage of negative slope, the path of the second stage of negative slope is obtained. S3059. Using the third expansion stage of the normal plot path planning as the third stage of negative slope, and the contraction stage of the normal plot as the fourth stage of negative slope, by integrating the first stage path of negative slope, the second stage path of negative slope, the third stage of negative slope and the fourth stage of negative slope, the irregular corner quadrant path is obtained, and then proceed to step S4.

7. The path planning method for a center-supported sprinkler arm system for irregular corner irrigation machines according to claim 6, characterized in that, The expression for calculating the intersection of the connecting line and the bottom irrigation boundary is as follows: in, Indicates the intersection of the connecting line and the bottom irrigation boundary. x coordinate, Indicates the intersection of the connecting line and the bottom irrigation boundary. y coordinate, This indicates the position of the last span tower vehicle corresponding to the location of the irregular corner. x coordinate, This indicates the position of the last span tower vehicle corresponding to the location of the irregular corner. y coordinate, Indicates the location of irregular corners x coordinate, Indicates the location of irregular corners y coordinate, Indicates the side length of the irrigation boundary; The expression for calculating the number of times the negative slope irregular corner planning begins is as follows: in, This indicates the number of times the planning for irregular corners with negative slopes has begun. The vector representing the point from the irregular corner location to the intersection of the line connecting it and the bottom irrigation boundary. Let E be the vector from the location of the irregular corner to point E at the end of the corner arm cantilever. Indicates the location of an irregular corner. This indicates the intersection of the connecting line and the bottom irrigation boundary. Point E represents the end of the cantilever arm.

8. The path planning method for a center-supported sprinkler arm system for irregular corner irrigation machines according to claim 7, characterized in that, The expression for calculating the coordinates of point P in the first stage of the negative slope is as follows: in, Indicates the first The coordinates of point P in the first stage of the negative slope during the sub-planning. Indicates the first The negative slope at point P in the first stage of the sub-planning x coordinate, Indicates the first The negative slope at point P in the first stage of the sub-planning y coordinate, This indicates that the geocentric arm system is in the first stage of negative slope. 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 stage of the negative slope is as follows: in, Indicates the first The negative slope at point E in the first stage of the sub-planning x coordinate, Indicates the first The negative slope at point E in the first stage of the sub-planning y coordinate; The expression for calculating the coordinates of point S in the first stage of the negative slope is as follows: The expression for the termination condition of the first stage of the negative slope is as follows: in, Indicates the first The coordinates of point S in the first stage of the negative slope during the sub-planning. Point To the point The unit vector.

9. The path planning method for a center-supported sprinkler arm system for irregular corner irrigation machines according to claim 4, characterized in that, S306 includes the following steps: S3061. Based on the location of the irregular corner and the end position of the corner arm cantilever, using the preset conditions of positive slope or verticality, the number of times the positive slope or vertical stage path planning is started is calculated by minimizing the number of planning in the planning parameters. The irregular corner location is then connected to point E at the end of the corner arm cantilever of the previous planning start number of the positive slope or vertical stage path planning to obtain the positive slope or vertical irrigation boundary. S3062. The end of the cantilever arm is moved and retracted along the positive slope or vertical irrigation boundary. In response to the last span tower vehicle passing through point J, the first stage of positive slope or verticality is obtained. According to the planning parameters, the first stage of positive slope or verticality is planned using the preset planning interval angle and planning number. In the rectangular coordinate system, the coordinates of point P of the first stage of positive slope or verticality are calculated based on the distance from the central support to the last span tower vehicle, combined with the preset planning interval angle and planning number. S3063. Based on the positive slope or vertical first stage point P, the irregular corner location point, the previous planned corner arm cantilever end point E of the path planning start number of the positive slope or vertical stage, and the planning parameters, calculate the coordinates of the positive slope or vertical first stage point E, and obtain the unit vectors of the positive slope or vertical first stage point P and the positive slope or vertical first stage point E, and calculate the coordinates of the positive slope or vertical first stage point S. S3064. Based on the coordinate transformation of the position of the last span tower vehicle corresponding to the position of the end of the cantilever of the corner arm when it contacts the irrigation boundary of the positive slope or vertical first stage from the position of the end of the corner arm cantilever when it is located at the irregular corner position, and combined with the termination condition of the positive slope or vertical first stage, the path of the positive slope or vertical first stage is obtained. S3065. Based on the fact that the end of the cantilever arm leaves the positive slope or vertical irrigation boundary, the cantilever arm system is unfolded. In response to the cantilever arm system reaching the maximum unfolding angle, the positive slope or vertical second stage is obtained. According to the planning parameters, the positive slope or vertical second stage is planned using the preset planning interval angle and planning number. In the rectangular coordinate system, the coordinates of point P of the positive slope or vertical second 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 planning number. S3066. Based on the irregular corner location point and the corresponding last span tower car position, obtain the position of the corner boom tower car corresponding to the irregular corner location point. Then, based on the positive slope or the coordinates of point P in the first planning of the second stage, the position of the corner boom tower car corresponding to the irregular corner location point, the distance between the last span tower car and the last span tower car corresponding to the irregular corner location point during this planning, and the distance between the corner boom tower car and the corner boom tower car corresponding to the irregular corner location point during this planning, calculate the coordinates of point S in the first planning of the second stage. S3067. Based on the coordinates of point P in the positive slope or vertical second stage, the distance between the last span tower vehicle and the last span tower vehicle corresponding to the irregular corner position point in this planning, and the distance between the corner arm tower vehicle and the corner arm tower vehicle corresponding to the irregular corner position point in this planning, calculate the coordinates of point S in the positive slope or vertical second stage except for the first planning, and obtain the unit vector from point P in the positive slope or vertical second stage to point S in the positive slope or vertical second stage, and calculate the coordinates of point E in the positive slope or vertical second stage. S3068. Based on the coordinate transformation of the positions of points P, S and E in the positive slope or vertical second stage from the end of the cantilever arm away from the negative slope irrigation boundary to the position where the cantilever arm system reaches the maximum unfolding angle, and combined with the termination condition of the positive slope or vertical second stage, the path of the positive slope or vertical second stage is obtained. S3069. Using the third expansion stage of the normal plot path planning as the positive slope or vertical third stage, and the contraction stage of the normal plot path planning as the positive slope or vertical normal contraction stage, by integrating the positive slope or vertical first stage path, the positive slope or vertical second stage path, the positive slope or vertical third stage, and the positive slope or vertical normal contraction stage, the irregular corner quadrant path is obtained, and then proceed to step S4.

10. The path planning method for a center-supported sprinkler arm system for irregular corner irrigation as described in claim 1, characterized in that, The calculation expression for the positive slope or vertical stage path planning is as follows: in, Indicates the first During the second planning phase, point E at the end of the cantilever arm of the ground angle arm... x coordinate, Indicates the first During the second planning phase, point E at the end of the cantilever arm of the ground angle arm... y coordinate, Indicates the number of times the positive slope or vertical phase path planning is initiated; The expression for the positive slope or vertical first-stage termination condition is as follows: in, Indicates the first During the secondary planning, the positive slope or perpendicularity to point P in the first stage is used. y coordinate, This indicates the position of the last span tower vehicle corresponding to the location of the irregular corner. y coordinate.

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