A ridge line planning and evaluation method
By parameterizing plot geometric features and prioritizing ridge orientation, the ridge layout and path planning in open-field vegetable production are optimized, solving problems such as low mechanization rate and path disconnection in traditional methods, and achieving efficient and scientific ridge planning and evaluation.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- CHINA AGRI UNIV
- Filing Date
- 2026-04-10
- Publication Date
- 2026-07-10
AI Technical Summary
Traditional ridge planning and operation paths in open-field vegetable production have problems such as low utilization rate of mechanized operation area, lack of unified decision-making basis for ridge direction selection, unscientific setting of reserved space at field ends and edges, logical disconnect of operation paths in different production stages, and lack of quantitative evaluation index system.
By parametrically representing the geometric features of plots, regularizing plots based on ridge priority, zoning and optimizing the layout parameters of the work space, standardizing the layout of ridges and planning differentiated work paths throughout the production cycle, and constructing a multi-factor comprehensive evaluation index system, the layout and evaluation methods of ridges are optimized.
It improved the utilization rate of mechanized operations, reduced the risk of damage from ridge pressing, collisions and harvesting, enhanced the consistency and efficiency of the entire production cycle path organization, and enabled the quantitative comparison and optimization of ridge layout schemes.
Smart Images
Figure CN122366974A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of intelligent agriculture technology and relates to a method for ridge planning and evaluation. Background Technology
[0002] In open-field vegetable production, traditional ridge planning and operation path organization mainly rely on manual experience, field habits, or simple navigation guidance, suitable for manual or semi-mechanized operations. In recent years, with the development of autonomous agricultural machinery, BeiDou navigation, and agricultural machinery path planning and collaborative control technologies, ridge preparation, transplanting, field management, and harvesting have gradually achieved unmanned or minimally manned operation. However, in practical applications, open-field vegetable plots have complex boundaries, significant terrain differences, and inconsistent machine parameters, leading to numerous problems with traditional ridge planning and operation paths, specifically:
[0003] (1) Irregular plots lead to low utilization rate of mechanized operation area. Natural plots are mostly irregular convex quadrilaterals or other polygonal shapes. If the traditional ridge planning layout and operation path are directly adopted, it is easy to form missed operation areas, repeated operation areas and manual supplementary operation areas in the corner areas, reducing the mechanized operation area ratio for unmanned production.
[0004] (2) There is a lack of unified decision-making basis for ridge orientation selection. Existing methods for determining ridge orientation mostly rely on experience or habit, which makes it difficult to take into account the uniformity of light exposure for open-field vegetable groups, the needs of irrigation and drainage organization of plots, the needs of long-stroke and high-efficiency operation of agricultural machinery, and the continuity requirements between different operation links.
[0005] (3) The space reserved at the edge of the field and the edge of the field (machine-cultivated road) lacks scientific basis. When unmanned agricultural machinery is ridging, transplanting and harvesting, sufficient space needs to be reserved at the edge of the field for passage and turning. If the space is insufficient, it is easy for the machine to press the ridge, collide with the boundary or fail to turn around; if the space is too large, it will reduce the effective planting area and cause land waste.
[0006] (4) The operational paths of different production stages are disconnected. Ridging, transplanting and harvesting have significant differences in their operational sequence. Ridging and transplanting usually require priority to protect the continuity of the core operation area, while harvesting requires priority to release the operation space at the edge of the field. Existing technologies and methods usually adopt a single coverage path approach, which cannot form a unified and efficient path organization strategy for the differences of each stage.
[0007] (5) There is a lack of quantitative evaluation index system and methods for ridge optimization layout schemes. Existing methods mostly remain at the stage of drawing or experience judgment, and lack the means to quantitatively compare schemes from multiple aspects such as mechanized operation area, light uniformity, agricultural machinery efficiency, non-operational travel loss, and operation coverage quality, which makes it difficult to support the selection of the best scheme.
[0008] To address the aforementioned problems, this invention proposes a method for ridge planning and evaluation. Summary of the Invention
[0009] The purpose of this invention is to provide a method for planning and evaluating ridge lines to solve the problems mentioned in the background art.
[0010] To achieve the above objectives, the present invention adopts the following technical solution: A method for planning and evaluating ridge lines includes the following steps: S1. Parametric representation of plot geometric features: By collecting the coordinates of the boundary points of the target plot, a geometric model of a convex quadrilateral plot is established; the side length is calculated using the Euclidean distance formula, the interior angle of the vertex is calculated using the dot product formula, and the plot area is calculated using the shoelace formula, providing basic data for subsequent ridge orientation decision-making and plot regularization.
[0011] S2. Parcel regularization based on ridge orientation priority: Prioritize the north-south ridge direction as the base ridge direction; when the single operation length in the north-south direction of the plot is less than the preset threshold and the east-west direction has the conditions for long-distance operation, switch to the east-west ridge direction; select the longer side as the normalization reference side on both sides of the selected ridge direction, and determine the coordinates of the normalization point D' through geometric calculation, so that the opposite side boundary is parallel to the reference side, forming a normalized operation plot.
[0012] S3. Workspace Layout Partitioning and Parameter Optimization: Based on the operating width F, the unit passage width B, and the unit turning distance LE, determine the reserved width at the edge and the reserved width at the beginning of the land. When the turning distance at the beginning of the land LE is less than or equal to 2F, E is taken as 2F; when LE is greater than 2F, E is taken as 3F. On this basis, the regularized plot is divided into the beginning area, the edge area, and the core operating area, where the width C of the core operating area is set as an integer multiple of the operating width F.
[0013] S4, Standardized ridge layout: Starting with the standardized baseline edge as the initial boundary, and according to the preset ridge type parameters, ridge center distance and working width, standardized ridge lines parallel to the baseline edge are gradually generated from the edge of the field towards the core working area; buffer markings or manual auxiliary markings are used for the remaining corner areas that cannot meet the full working width.
[0014] S5. Differentiated work path planning throughout the entire production cycle: Differentiated operational paths are generated for different production stages such as ridging, mulching, transplanting, and harvesting. Among them, the ridging, mulching, and transplanting stages follow the path strategy of "core first, then field edge," using a shuttle-shaped reciprocating path in the core operation area, and then closing the field edge and field edge areas after completion. The harvesting stage follows the path strategy of "field edge first, then core," prioritizing the harvesting of the field edge and side areas to free up space for turning around and transportation, and then carrying out continuous shuttle-shaped harvesting in the core operation area.
[0015] Evaluation of the effectiveness of S6, ridge lines, and optimized work path layout: An evaluation index system for the layout and operation path planning of unmanned open-field vegetable production ridges is constructed, and different schemes are scored and ranked by a multi-factor comprehensive evaluation method to output the optimal layout scheme.
[0016] Preferably, in step S1, the target plot is a convex quadrilateral; when the plot is a non-convex polygon, it is first divided into several convex sub-plots and then regularized and ridge planning is performed respectively.
[0017] Preferably, in step S2, the ridge direction is north-south; wherein, when the north-south length of the plot is less than the set minimum threshold and the east-west length is greater than the minimum threshold, the ridge direction is switched to east-west; when the single operation travel length of the plot along the ridge direction is greater than the set maximum threshold, the plot is divided into two or more operation sub-areas.
[0018] Preferably, in step S3, the reserved width at the edge of the ground is determined by the unit's passage width B and the safety redundancy; the reserved width at the head of the ground E is determined by the unit's turning distance LE and the operating width F; and the width C of the core operating area is rounded down to the nearest integer multiple of the operating width F to ensure full-width mechanized operation.
[0019] Preferably, in step S4, the standardized ridge line should meet the requirements of being parallel to the standardized reference edge, having the same center distance between adjacent ridges, and having continuous ridge lines within the core area, thereby adapting to continuous path tracking of unmanned agricultural machinery.
[0020] Preferably, in step S5, the ridging, mulching, and transplanting paths adopt a "core priority" strategy to reduce repeated compaction of the formed ridges; the harvesting path adopts a "field end priority" strategy to release space for machine turning around and post-harvest transportation in advance.
[0021] Preferably, in step S6, the effect evaluation includes S61, constructing an effect evaluation index system; and S62, calculating the effect evaluation index and conducting a multi-factor comprehensive evaluation.
[0022] Preferably, in step S61, the effect evaluation index system includes at least the following indicators: (a) Ratio of land area operated by mechanization R m This represents the proportion of the total land area that can be directly operated by unmanned agricultural machinery. R m = A m / A ×100%, of which A m For mechanized workable area, A This refers to the total area of the land parcel; (b) Effective planting area retention rate R p This indicates the proportion of the total area of the plot that will be retained as an effective planting area after the implementation of the plan. R p = A p / A × 100%, of which A p For effective planting area; (c) Light uniformity of open-field vegetables U l Based on the daily cumulative light received at different ridge surfaces or representative sampling points, the preferred method is... U l = 1 - σ I / I avg ,in σ I The standard deviation of light received. I avg Ul represents the average amount of light received; a larger Ul value indicates a more uniform light distribution. (d) Agricultural machinery operation efficiency E e This represents the effective working area per unit time. E e = A m / T e ,in T e Total effective work time; (e) Non-operational driving rate R n This indicates the proportion of non-operational path lengths (such as U-turns, transfers, and empty runs) to the total path length in the plan. R n = L n / L t × 100%, of whichL n This refers to the length of the non-task path. L t This represents the total path length. (f) Turnaround loss coefficient K t This indicates the degree to which the time spent on the U-turn affects the total operation time. K t = T t / T all ,in T t Total time for turning around. T all Total operation time; (g) Operational Coverage Quality Index Q c This indicates the coverage quality of the planned path to the target work area, and the preferred method is... Q c = 1 - (A over + A miss ) / A m ,in A over For the area of repeated coverage, A miss For the area that was omitted; (h) Full-cycle consistency index I c This is used to evaluate the compatibility of the same ridge layout with multiple stages such as ridging, transplanting, and harvesting. The optimal layout is calculated based on ridge direction consistency, core area width adaptability, and field edge reserve adaptability. I c The value ranges from 0 to 1. I c A larger value indicates better compatibility throughout the entire lifecycle.
[0023] Preferably, in step S62, the multi-factor comprehensive evaluation method includes the following steps: S621. Establish the original evaluation matrix. For the same target plot, generate several candidate schemes under different ridge orientations, different headland allowance widths, and different core area zoning parameters to form an evaluation matrix. X = [ x ij ];in i Indicates the scheme number. j Indicates the evaluation indicator number.
[0024] S622. Dimensionless standardization is applied to the evaluation indicators. For positive indicators such as the ratio of land mechanized operations, the retention rate of effective planted area, the uniformity of light exposure for open-field vegetables, the efficiency of agricultural machinery operations, the quality index of operational coverage, and the consistency index throughout the entire cycle, dimensionless standardization is adopted. z ij =( x ij - x min,j ) / ( x max,j - x min,j For inverse indicators such as non-operational driving rate and U-turn loss coefficient, the following is adopted: z ij = ( x max,j - x ij ) / ( x max,j - x min,j ) .
[0025] S623. Determine the weights of the evaluation indicators. A combined subjective and objective weighting method is preferred, where subjective weights are determined using the analytic hierarchy process (AHP), and objective weights are determined using the entropy weighting method; the combined weight is... w j = λ w aj + ( 1 - λ) w ej ,in w aj For the weights of the analytic hierarchy process, w ej For entropy weighting, λ This is the weighting balancing coefficient, preferably 0.5.
[0026] S624. The following preferred preset weights are adopted: the land mechanization operation area ratio is 0.20-0.24, the effective planting area retention rate is 0.08-0.12, the light uniformity of open-field vegetables is 0.13-0.17, the agricultural machinery operation efficiency is 0.18-0.22, the non-operation driving rate is 0.08-0.12, the turning loss coefficient is 0.06-0.10, the operation coverage quality index is 0.06-0.10, and the full cycle consistency index is 0.05-0.09; S625. Calculate the overall score. For the first... i Each candidate solution has a comprehensive score. The higher the overall score, the better the overall performance of the solution.
[0027] S626. Rank the candidate solutions according to the comprehensive score, and select the solution with the highest score as the recommended solution; preferably, divide the scoring results into four levels: S i A score of 85 or higher is considered excellent, 70 to 85 is considered good, 60 to 70 is considered average, and below 60 is considered needing optimization. When multiple solutions score below 60, it indicates that the site is not suitable for unmanned operations and the site needs to be consolidated or its boundaries adjusted to accommodate unmanned operations.
[0028] Compared with the prior art, the present invention has the following outstanding advantages: (1) By regularizing the plots and geometrically solving the regularization points, the original plots are transformed into regularized plots with a continuous parallel ridge layout suitable for unmanned operations, thereby improving the utilization level of the mechanized operation area. (2) By coupling the reserved width at the edge of the field, the reserved width at the edge of the field with the working width, the turning distance and the passing width of the machine unit, the layout of the plots is more in line with the kinematic constraints of agricultural machinery, reducing the risk of ridge pressing, collision and harvesting damage, while reducing the number of turning and empty driving distance, thus improving the operating efficiency; (3) By constructing differentiated path logic for ridging, transplanting and harvesting, the consistency of the production cycle path organization and the continuity of operations are improved; (4) By establishing an evaluation system that includes multi-dimensional indicators such as mechanized operation, uniformity of illumination, operation efficiency and operation quality, the quantitative comparison and optimization of different ridge layout schemes were realized, which enhanced the interpretability and generalizability of the method. Attached Figure Description
[0029] Figure 1 The present invention relates to land parcel regularization treatment and regularization points. D A schematic diagram of the solution geometric model of '. Figure 2 This is a schematic cross-sectional view of the standardized layout of the core work area and the field area of this invention. Figure 3 Flowchart for planning the "core priority" operation path in the ridging / transplanting stage; Figure 4 Flowchart for "field-first" operation route planning in the harvesting stage; Figure 5 This is a schematic diagram of the regularization, zoning layout, and operation path of the north-south ridge-oriented plots in Example 1; Figure 6 This is a schematic diagram of the regularization, zoning layout, and operation path of the east-west ridge-oriented plots in Example 2; Figure 7This is a schematic diagram of the zoning optimization and operation path for the long strip plot in Example 3. Detailed Implementation
[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0031] Reference Figure 1-7 This invention provides a method for planning and evaluating ridge lines, comprising the following steps: S1. Parametric representation of plot geometric features: By collecting the coordinates of the boundary points of the target plot, a geometric model of a convex quadrilateral plot is established; the side length is calculated using the Euclidean distance formula, the interior angle of the vertex is calculated using the dot product formula, and the plot area is calculated using the shoelace formula, providing basic data for subsequent ridge orientation decision-making and plot regularization.
[0032] S2. Plot regularization processing based on ridge orientation priority: North-south ridge orientation is selected as the basic ridge orientation; when the single operation length in the north-south direction of the plot is less than the preset threshold and the east-west direction has the conditions for long operation, the east-west ridge orientation is switched; the longer side is selected as the regularization reference side on both sides of the selected ridge orientation, and the coordinates of the regularization point D' are determined by geometric calculation, so that the opposite side boundary is parallel to the reference side, forming a regularized operation plot.
[0033] S3. Workspace Layout Zoning and Parameter Optimization: Based on the work width F, the unit passage width B, and the unit turning distance LE, determine the reserved width at the edge and the reserved width at the beginning of the workspace E; when the turning distance at the beginning of the workspace LE is less than or equal to 2F, E is set to 2F; when LE is greater than 2F, E is set to 3F; on this basis, the regularized plot is divided into the beginning area, the edge area, and the core work area, where the width C of the core work area is set to an integer multiple of the work width F.
[0034] S4. Standardized ridge layout: Starting from the standardized reference edge, standardized ridges parallel to the reference edge are gradually generated from the edge of the field towards the core working area according to the preset ridge type parameters, ridge center distance and working width; buffer markings or manual auxiliary markings are used for the remaining corner areas that cannot meet the full working width.
[0035] S5. Differentiated Operation Path Planning for the Entire Production Cycle: Differentiated operation paths are generated for different production stages such as ridging, mulching, transplanting, and harvesting. Among them, the ridging, mulching, and transplanting stages follow the path strategy of "core first, then field edge," using a shuttle-shaped reciprocating path in the core operation area, and then closing the field edge and field edge areas after completion. The harvesting stage follows the path strategy of "field edge first, then core," prioritizing the harvesting of the field edge and side areas to free up space for turning around and transportation, and then implementing continuous shuttle-shaped harvesting in the core operation area.
[0036] S6. Evaluation of the Optimization Layout Effect of Ridge Lines and Operation Paths: Construct an evaluation index system for the ridge line layout and operation path planning scheme of unmanned open-field vegetable production, and score and rank different schemes through a multi-factor comprehensive evaluation method to output the optimal layout scheme.
[0037] The method of the present invention will be described below with reference to three application cases. For ease of explanation, the evaluation scores in each of the following embodiments are calculated by using the preset weights given in step S624 to perform exemplary standardized calculations on the recommended scheme and the comparison scheme. The full score of each individual indicator is 100 points. The higher the comprehensive score, the better the layout and path organization effect. The scoring results are only used to illustrate the preferred effect of the present invention and do not constitute a limitation on the scope of protection. The specific content is as follows.
[0038] Example 1: A certain open-field cabbage production plot was determined to be approximately a convex quadrilateral after RTK mapping, with a north-south length of about 86 m and an east-west width of about 58 m.
[0039] Step 1: Following step S1, input the projected coordinates of the four vertices of the plot, calculate the plot's side length, interior angles, and total area, and obtain the geometric parameters required for subsequent normalization processing.
[0040] Step 2: Following step S2, use the boundary that is closer to the north-south direction and has a longer length as the normalization reference edge, complete the calculation of point D', and form the normalized parallel operation boundary.
[0041] Step 3: Following step S3, divide the area into zones based on the operating width F of the double-ridge ridging machine, the machine's passage width B, and the turning distance LE. When LE is greater than 2F, take the reserved width at the edge of the field E = 3F, and divide the area into the north edge zone, the south edge zone, the edge zone, and the core operating zone.
[0042] Step 4: Following step S4, generate standardized ridge lines parallel to the normalization reference edge within the core operation area, and mark the remaining corner areas as artificial auxiliary areas.
[0043] Step 5: Following step S5, in the ridging and transplanting stage, the operation path of "core area first, then field edge" is adopted. The unit first completes the shuttle-shaped reciprocating operation in the core area, and then closes the field edge areas at both ends. In the harvesting stage, the path of "field edge first, then core area" is adopted. First, the turning space at the field edge is released, and then the unit enters the core area for continuous harvesting.
[0044] Step 6: Following step S6, evaluate the effectiveness of the proposed scheme. Based on geometric simulation statistics, the recommended scheme has a headland width E of 4.8 m, a perimeter width Φ of 1.2 m, and a core area of 4339.5 m². 2 Both the field headland and the field edge areas participated in planting, with the work lines in the field headland arranged in an east-west direction. This scheme deployed a total of 41 ridge lines, with an average ridge length of approximately 73.5 m, a total ridge line length of approximately 3014.8 m, 38 turns, and a total of 76 bends. Evaluation results showed that the north-south ridge orientation scheme had a higher rate of mechanized operation area, lower turning losses, and better consistency throughout the entire cycle, resulting in a better overall score than the east-west ridge orientation scheme for the same plot. Therefore, the north-south ridge orientation scheme was selected as the recommended scheme. Its regularization, zoning layout, and work path organization are as follows: Figure 5 As shown in Table 1, the specific parameters and evaluation results of the recommended and comparative schemes are presented.
[0045] Table 1. Parameters and evaluation results of the recommended and comparative schemes in Example 1.
[0046] As shown in Table 1, the recommended north-south ridge-oriented scheme in Example 1 adopts a zoning structure of "north side field edge area - core operation area - south side field edge area". The core area ridges are evenly distributed north-south, while the operation lines in the north and south field edge areas turn east-west. The ridging / transplanting path is organized in a shuttle-shaped reciprocating pattern. The machine enters the field from the west side, prioritizes completing the core area, and then sequentially closes the south and north field edge areas before exiting the field. This scheme achieves a mechanized planting area rate of 97.93%, a total ridge length of 3014.8m, 38 turning times, and a comprehensive score of 89.84, which is higher than the comparison scheme with the east-west ridge-oriented scheme.
[0047] Example 2: For a certain open-field cauliflower production plot, after surveying, its north-south length is approximately 42 m and its east-west length is approximately 118 m.
[0048] Step 1: Following step S1, calculate the side length, angle, and area of the plot to confirm that it meets the conditions for a convex quadrilateral plot.
[0049] Step 2: Following step S2, since the north-south length of the plot is less than the preset threshold while the east-west length is longer, the system automatically switches to the east-west direction and selects the longer side of the north-south boundary as the normalization reference edge to complete the normalization process.
[0050] Step 3: Following step S3, optimize the parameters based on the single-row transplanter's operating width and turning distance. Since LE is less than or equal to 2F, we take E = 2F to reduce the occupation of the effective planting area by the reserved area at the edge of the field.
[0051] Step 4: Following step S4, form standardized ridge lines that are consistent with the east-west ridge direction, and constrain the width of the core area to be an integer multiple of the working width.
[0052] Step 5: Following step S5, prioritize completing the core area during ridging and transplanting, and then finish the work on the field edges; during harvesting, prioritize processing the field edges and side areas at both ends to avoid congestion caused by frequent turning around of short plots.
[0053] Step 6: Following step S6, perform multi-factor scoring on the candidate schemes. Geometric simulation statistics show that in the recommended scheme, the width E of the two end areas is 3.2 m, the width Φ of the bottom edge area is 0.7 m, and the core area is 4609.1 m². The work lines in the end areas run north-south, while the ridge lines in the core area are evenly distributed east-west. This scheme has a total of 29 ridge lines, with an average ridge length of approximately 101.9 m, a total ridge line length of approximately 2955.2 m, 26 turns, and a total of 52 bends. The results show that the east-west ridge scheme is superior to the north-south ridge scheme in terms of light uniformity, effective planting area retention rate, and agricultural machinery operation efficiency. Therefore, the east-west ridge scheme is determined to be the preferred scheme for this plot. Its regularization, zoning layout, and work path organization are as follows: Figure 6 As shown in Table 2, the specific parameters and evaluation results of the recommended and comparative schemes are presented.
[0054] Table 2. Parameters and evaluation results of the recommended and comparative schemes in Example 2.
[0055] As shown in Table 2, the recommended east-west ridge-oriented scheme in Example 2 adopts a zoning structure of "west end area - core operation area - east end area". The ridge lines in the core area are evenly distributed east-west, while the operation lines in the east and west end areas turn north-south. The machine unit completes continuous operation along the core area in a shuttle-shaped reciprocating motion, then closes off both end areas. This scheme achieves a mechanized planting area rate of 98.33%, a total ridge length of 2955.2 m, 26 turning times, and a comprehensive score of 90.45.
[0056] Example 3: For a certain open-field cabbage production plot, after surveying, its north-south length is about 176 m and its east-west width is about 63 m. It is a long strip plot with a long single operation distance along the ridge.
[0057] Step 1: Following step S1, complete the input of the coordinates of the four points of the plot and the calculation of the side length, area and angle, and confirm that it meets the conditions for normalization solution.
[0058] Step 2: Following step S2, while prioritizing the north-south orientation, and considering the excessively long single operation journey of the plot, the system divides the plot into two continuous operation sub-areas, north and south, along the east-west direction, and performs regularization processing on each sub-area.
[0059] Step 3: Following step S3, calculate the reserved width at the head of the field, the reserved width at the edge of the field, and the width of the core working area for the two sub-areas respectively, so that both sub-areas meet the requirements for continuous operation and turning around of the unit.
[0060] Step 4: Following step S4, generate parallel ridges in the two sub-regions respectively, and keep the ridge direction consistent between the sub-regions so that the same layout logic can be shared in the subsequent transplanting and harvesting stages.
[0061] Step 5: Following step S5, implement the "core priority" path for the two sub-areas in the ridging and transplanting stages respectively; in the harvesting stage, harvest the field edges of each sub-area first, and then enter the core area of the corresponding sub-area, in order to reduce the efficiency loss caused by long-distance transportation and continuous turning.
[0062] Step 6: Following step S6, compare the "overall single-area scheme" and the "zoning optimization scheme". Geometric simulation statistics show that in the zoning optimization recommended scheme, the width E of the three field head areas is 4.8 m, the width Φ of the field edge area is 0.8 m, and the total core area of the two sub-areas is 10051.5 m². The north, middle, and south field head areas all use east-west oriented work lines, while the core ridge lines of the two sub-areas are evenly arranged in a north-south direction. This scheme has a total of 85 ridge lines, with an average ridge length of approximately 78.8 m, a total ridge line length of approximately 6700.6 m, 78 U-turns, 156 turns, and a non-operational travel length of approximately 318 m. The results show that the zoning optimization scheme is superior in terms of agricultural machinery operation efficiency, non-operational travel rate, and U-turn loss coefficient, achieving the highest comprehensive score and making it a suitable recommended implementation method for this type of long, narrow open-field vegetable plot. The plot regularization and operation path diagram after zoning optimization are shown below. Figure 7 As shown in Table 3, the specific parameters and evaluation results are as follows.
[0063] Table 3. Parameters and evaluation results of the recommended and comparative schemes in Example 3.
[0064] As shown in Table 3, Example 3, for long, narrow plots, establishes two core operational sub-areas: a north end, a central dividing end, and a south end. The core ridge lines in both sub-areas run north-south, while the three end-of-field operational lines run east-west. Each sub-area is organized using a shuttle-shaped reciprocating path to reduce losses from long-distance empty runs and continuous U-turns. This scheme achieves a mechanized planting area rate of 98.73%, a total ridge length of 6700.6 m, a non-operational travel length of approximately 318 m, and a comprehensive score of 88.20.
[0065] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.
Claims
1. A method for planning and evaluating ridge lines, characterized in that, Includes the following steps: S1. Parametric representation of plot geometric features: By collecting the coordinates of the boundary points of the target plot, a geometric model of the convex quadrilateral plot is established; the side length is calculated using the Euclidean distance formula, the interior angle of the vertex is calculated using the dot product formula, and the plot area is calculated using the shoelace formula, providing a data foundation for subsequent ridge orientation decision-making and plot regularization. S2. Parcel regularization based on ridge orientation priority: Select the north-south ridge direction as the basic ridge direction; when the single operation length in the north-south direction of the plot is less than the preset threshold and the east-west direction has the conditions for long-stroke operation, switch to the east-west ridge direction; select the long side as the regularization reference side on both sides of the selected ridge direction, and determine the coordinates of the regularization point through geometric calculation, so that the opposite side boundary is parallel to the reference side, forming a regularized plot suitable for mechanized operation. S3. Workspace Layout Partitioning and Parameter Optimization: Determine the reserved width at the edge of the field and the reserved width at the beginning of the field based on the working width, the passing width of the generator unit, and the turning distance of the generator unit: When the turning distance of the unit is less than or equal to twice the working width, the reserved width at the end of the field shall be twice the working width. When the turning distance of the unit is greater than twice the working width, the reserved width at the end of the field shall be three times the working width. Based on this, the regularized plots are divided into the field head area, the field edge area, and the core operation area, with the width of the core operation area set as an integer multiple of the operation width; S4, Standardized ridge layout: Starting with the normalized reference edge as the initial boundary, and according to the preset ridge type parameters, ridge center distance and working width, normalized ridge lines parallel to the reference edge are gradually generated from the edge of the field towards the core working area. For the remaining corner areas that cannot meet the full working width, use buffer markings or manual auxiliary markings; S5. Differentiated work path planning throughout the entire production cycle: Differentiated work paths are generated for different production stages, including: The ridging, mulching and transplanting process follows the "core area first, then edge area" path strategy. A shuttle-shaped reciprocating path is used in the core operation area, and the edge area and edge area are closed after completion. The harvesting process follows a "first the field edge, then the core" strategy, harvesting the field edge and surrounding areas first to free up space for turning around and transferring, and then carrying out continuous shuttle-shaped harvesting in the core operation area. Evaluation of the effectiveness of S6, ridge lines, and optimized work path layout: An evaluation index system for the layout and operation path planning of unmanned open-field vegetable production ridges is constructed, and different schemes are scored and ranked by a multi-factor comprehensive evaluation method to output the optimal layout scheme.
2. The method according to claim 1, characterized in that, In step S1, the target plot is a convex quadrilateral; when the plot is a non-convex polygon, it is first divided into several convex sub-plots and then regularized and ridge planning is performed respectively.
3. The method according to claim 1, characterized in that, In step S2, the ridge direction is north-south; when the north-south length of the plot is less than the preset minimum threshold and the east-west length is greater than the minimum threshold, the ridge direction is switched to east-west; when the single operation journey length along the ridge direction is greater than the preset maximum threshold, the plot is divided into two or more operation sub-areas.
4. The method according to claim 1, characterized in that, In step S3, the reserved width at the edge of the ground is determined by the unit's passage width and safety redundancy; the reserved width at the head of the ground is determined by the unit's turning distance and the working width; and the width of the core working area is rounded down to the nearest integer multiple of the working width to ensure full-width mechanized operation.
5. The method according to claim 1, characterized in that, In step S4, the standardized ridge lines meet the requirements of being parallel to the standardized reference edge, having the same center-to-center distance between adjacent ridges, and having continuous ridge lines within the core area, in order to adapt to continuous path tracking by unmanned agricultural machinery.
6. The method according to claim 1, characterized in that, In step S5, the ridging, mulching and transplanting paths adopt a "core priority" strategy to reduce repeated compaction of the formed ridges; the harvesting path adopts a "field end priority" strategy to release space for machine turning around and post-harvest transportation in advance.
7. The method according to claim 1, characterized in that, In step S6, the effect evaluation includes: S61. Construction of an effectiveness evaluation index system; S62. Calculation of effect evaluation indicators and comprehensive evaluation of multiple factors.
8. The method according to claim 7, characterized in that, In step S61, the effect evaluation index system shall include at least the following indicators: (a) Ratio of land area operated by mechanization R m This indicates the proportion of the total land area that can be directly operated by unmanned agricultural machinery: in, For mechanized workable area, This refers to the total area of the land parcel; (b) Effective planting area retention rate R p This indicates the proportion of the total land area that will be retained as an effective planting area after the implementation of the plan. in, For effective planting area; (c) Light uniformity of open-field vegetables U l The daily cumulative light received is calculated based on different ridge surfaces or representative sampling points: in, The standard deviation of light received. This represents the average amount of light received. U l The larger the value, the more uniform the light distribution; (d) Agricultural machinery operation efficiency E e This represents the effective working area per unit time: in, Total effective work time; (e) Non-operational driving rate R n This indicates the proportion of non-task path length to the total path length in the plan: in, This refers to the length of the non-task path. This represents the total path length. (f) Turnaround loss coefficient K t This indicates the degree to which the time spent on the U-turn affects the total operation time: in, Total time for turning around. Total operation time; (g) Operational Coverage Quality Index Q c This indicates the coverage quality of the planned path over the target work area: in, For the area of repeated coverage, For the area that was omitted; (h) Full-cycle consistency index I c This metric is used to evaluate the compatibility of the same ridge layout with different production stages. It is calculated based on ridge direction consistency, core area width adaptability, and field edge reserve adaptability. I c The value ranges from 0 to 1. I c A larger value indicates better compatibility throughout the entire lifecycle.
9. The method according to claim 8, characterized in that, In step S62, the multi-factor comprehensive evaluation method includes the following steps: S621. Establish the original evaluation matrix: For the same target plot, several candidate schemes are generated under different ridge directions, different headland reserved widths, and different core area zoning parameters, forming an evaluation matrix: Among them, subscript i Indicates the scheme number, subscript j Indicates the evaluation indicator number; S622. Perform dimensionless standardization on the evaluation indicators: For positive indicators, adopt The positive indicators are processed, including the ratio of land mechanized operation area, the effective planting area retention rate, the light uniformity of open-field vegetables, the efficiency of agricultural machinery operation, the operation coverage quality index, and the full cycle consistency index. For contrarian indicators, adopt The reverse indicators are processed, including non-operation driving rate and U-turn loss coefficient; S623. Determine the weights of the evaluation indicators: A combined subjective and objective weighting method is adopted, where subjective weights are determined using the analytic hierarchy process (AHP) and objective weights are determined using the entropy weighting method; the combined weight is: in, For the weights of the analytic hierarchy process, For entropy weighting, This is the weighting balance coefficient; S624. The following preset weight range is adopted for each evaluation indicator: The land mechanization operation area ratio is 0.20–0.24, the effective planting area retention rate is 0.08–0.12, the light uniformity of open-field vegetables is 0.13–0.17, the agricultural machinery operation efficiency is 0.18–0.22, the non-operation driving rate is 0.08–0.12, the turning loss coefficient is 0.06–0.10, the operation coverage quality index is 0.06–0.10, and the full cycle consistency index is 0.05–0.09; S625. Calculate the overall score: For the first i Calculate the comprehensive score for each candidate solution: The higher the overall score, the better the overall performance of the solution; S626. Sort the candidate schemes according to the comprehensive score and select the scheme with the highest score as the recommended scheme; divide the score results into four levels: Si not lower than 85 points is excellent, 70 to 85 points is good, 60 to 70 points is medium, and below 60 points is to be optimized; when the score levels of multiple schemes are all below 60 points, it means that the plot is not suitable for unmanned operation, so the plot is integrated or the plot boundary is adjusted to adapt to unmanned operation.