A path planning and multi-mode cooperative operation method of a photovoltaic power station agricultural machine

Abstract

The application discloses a kind of full coverage path planning and multi-mode collaborative operation method of photovoltaic power station automatic driving agricultural machine, and relates to photovoltaic power station operation vehicle autonomous navigation and collaborative operation technical field.The method comprises: obtaining the scene structure data of photovoltaic power station, the scene structure data is processed by corridor network modeling, and the corridor network data formed by passageway corridor and open land head is obtained;Corridor network data and target passageway set data are processed by non-crossing full coverage planning, so that the operation path is only spliced by corridor section, the open land head is bypassed between passageways and the corner is rounded, and the full coverage path data of not oblique crossing support row is obtained;Full coverage path data and vehicle real-time pose data are processed by pure tracking, and steering control data is obtained and vehicle driving is controlled.The application avoids the jam caused by path oblique crossing support row, eliminates forward circle turning, and realizes full coverage, efficient multi-mode collaborative operation.

Description

Technical Field

[0001] This invention relates to the field of autonomous navigation and collaborative operation technology for photovoltaic power plant operation vehicles. Specifically, it relates to a method for full-coverage path planning and multi-mode collaborative operation of autonomous agricultural machinery for photovoltaic power plants. Background Technology

[0002] A photovoltaic field consists of rows of support structures (including columns and modules), passageways between the supports, and the ends of the array. Work vehicles need to perform tasks such as cleaning, snow removal, and farming within the passageways between the supports.

[0003] However, existing technologies have the following shortcomings: First, using general grid planning or nearest-point straight-line planning can easily result in paths that diagonally cross the support rows, causing vehicles to get stuck on pillars or components; Second, existing coverage planning often returns to a fixed starting point each time, resulting in wasted travel, and the outermost aisle of the array is often missed; Third, Ackerman steering vehicles cannot turn in place, and when the target is behind the vehicle, they usually turn around in a forward circle, which is inefficient and takes up a lot of space; Fourth, using a large pre-aiming distance for tracking in narrow aisles can cause cutting and scraping against the support, and there is a lack of self-recovery mechanisms after the vehicle gets stuck; Fifth, during agricultural operations, adjacent components block the aisle, making it difficult to balance "allowing the vehicle to pass" and "covering the entire aisle"; Cleaning operations are carried out row by row on one side, which is inefficient; Snow removal operations involve turning around in place at the end of the aisle, which drags snow.

[0004] Therefore, how to achieve collision-free full-coverage path planning, local motion control in narrow passages, and multi-mode collaborative operation in the structured scenario of photovoltaic support arrays has become a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0005] This invention provides a path planning and multi-mode collaborative operation method for agricultural machinery in photovoltaic power stations, aiming to achieve collision-free full-coverage path planning, local motion control in narrow passages, and multi-mode collaborative operation in the structured scenario of photovoltaic support arrays.

[0006] This invention provides a path planning and multi-mode collaborative operation method for agricultural machinery in photovoltaic power stations. The path planning and multi-mode collaborative operation method includes the following steps: S1. Obtain the scene structure data of the photovoltaic power station. The scene structure data includes the location data of each support, the size data of the support, and the passageway data between adjacent supports. Perform modeling processing based on the scene structure data, map the empty space between adjacent supports and the outermost part of the photovoltaic array as passageways along the support arrangement direction, and map the open areas on both sides of the photovoltaic array as open fields, to obtain the corridor network data composed of the passageways and the open fields. S2. The corridor network data and the target passage set data to be operated are processed by non-crossing full coverage planning: the operation path is constrained to be spliced ​​only by the corridor segments in the corridor network data. When moving from the current passage to the next target passage, a transfer path is planned to first drive out of the current passage to the open space, move laterally along the open space, and then enter the next target passage. The right-angle corners in the transfer path are rounded to obtain full coverage path data that does not cross the support row. S3. The full-coverage path data and the real-time pose data of the vehicle are processed by pure tracking. The steering angle is calculated based on the vehicle wheelbase, the aiming distance and the angle between the vehicle heading and the aiming point to obtain steering control data. The vehicle is then controlled to travel along the path corresponding to the full-coverage path data based on the steering control data. S4. During the vehicle's operation, the real-time pose data and the target waypoint are processed by orientation determination to obtain the orientation data of the target waypoint relative to the vehicle. When the orientation data indicates that the target waypoint is located behind the vehicle, the orientation data is processed by reversing redirection to control the vehicle to reverse and correct the steering in the direction of the rear axle so that the front of the vehicle is oriented toward the target waypoint, thereby obtaining updated pose data. The updated pose data is then used as the new real-time pose data to return to step S3. S5. Obtain operation mode data, adjust the posture of the support according to the operation mode data, control the components of each support to rotate to the mode angle corresponding to the operation mode data, and obtain the passage clearance data of each passage; process the passage clearance data and the full coverage path data in a coordinated operation, and control the vehicle to enter the corresponding passage that meets the passage clearance after the support is rotated into position to perform the operation, and obtain the operation coverage data of the corresponding operation mode.

[0007] Preferably, in step S2, planning the transfer route from the current passageway to the open area includes: The length data of all supports in the current passageway section are compared and processed to obtain the maximum support length data of the section. The maximum support length data of the section is then processed to determine the end position. The lateral movement position in the open field is determined to be higher than the length of all supports in the section, thus obtaining the lateral movement path data of the end without touching the supports.

[0008] Preferably, in step S3, the pure tracking process uses a pre-aiming distance less than a preset threshold to calculate the steering angle, thereby obtaining steering control data that allows the vehicle to travel close to the center line of the passageway, so as to avoid the vehicle cutting through the bend and scraping against the bracket.

[0009] Preferably, in step S4, the reversing redirection process further includes: processing the orientation data for direct rearward judgment; when the orientation data indicates that the target waypoint is located directly behind the vehicle body, obtaining straight reversing command data; and controlling the vehicle to reverse in a straight line according to the straight reversing command data to avoid steering drift and scraping the support in the long passageway; when the orientation data indicates that the front of the vehicle is straight, obtaining forward switching command data; and switching the vehicle from the reversing state to the forward pure tracking state according to the forward switching command data.

[0010] Preferably, the path planning and multi-mode collaborative operation method further includes: S6. The real-time pose data and the full-coverage path data are processed by a deadlock judgment to obtain vehicle deadlock status data. When the vehicle deadlock status data indicates that the vehicle is in a deadlock state, the vehicle is controlled to reverse and skip the waypoints corresponding to the deadlock area to obtain updated path data that skips the deadlock area. The updated path data is then used as the new full-coverage path data to return to step S3.

[0011] Preferably, in step S5, when the operation mode data is the cleaning mode, the corner data of the two adjacent rows of supports are processed by rotating in opposite directions, and the components of the two adjacent rows of supports are controlled to rotate in opposite directions to form a face-to-face passageway, thereby obtaining the face-to-face passageway clearance data; the collaborative operation processing includes: controlling the vehicle to pass through the face-to-face passageway in one trip according to the face-to-face passageway clearance data.

[0012] Preferably, in step S5, when the operation mode data is snow removal mode, The rotation angle data of each support is processed by limiting and reciprocating, and the components of each support are controlled to reciprocate between the limit angles to shake off the snow, so as to obtain the passageway status data after snow shaking; the collaborative operation processing includes: according to the passageway status data after snow shaking, controlling the vehicle to monotonously sweep and push snow from the outermost passageway on one side to the outermost passageway on the other side; after the vehicle has completed the monotonous sweeping and snow pushing operation of all passageways, controlling the vehicle to return through the cleared passageway that has been cleared.

[0013] Preferably, in step S5, when the operation mode data is a farming mode, The corner data of adjacent supports are processed by a first-stage back-to-back rotation, controlling the adjacent supports to rotate back-to-back and open half of the passageway, resulting in a first set of open passageway data. The first set of open passageway data and the full coverage path data are processed by a first-stage collaborative processing, controlling the vehicle to travel and operate within the open passageway, resulting in a first-stage coverage data. The corner data of adjacent supports are processed by a reversal and flipping, controlling the adjacent supports to flip and open the other half of the passageway, resulting in a second set of open passageway data. The second set of open passageway data and the first-stage coverage data are processed by a second-stage collaborative processing, controlling the vehicle to travel and operate again.

[0014] The beneficial effects of this invention are as follows: By constraining the corridor network, bypassing the field, and rounding corners, the vehicle does not cross the support diagonally throughout the entire process, fundamentally avoiding the vehicle being stuck by the pillars or components; the monotonous horizontal sweep at the nearest end shortens the coverage distance, and the outermost passage of the array is not missed; reversing and redirecting replaces forward circling and turning around, allowing the Ackerman vehicle to efficiently and with minimal footprint enter the target path in narrow passages; small pre-aiming and pure tracking follow the center line of the passage, and the reversing jump point automatically recovers when stuck, improving tracking safety and robustness; the support attitude adjustment and vehicle operation work in coordination, cleaning both sides of the components in a single trip, snow removal without turning around and returning, and two-stage coverage of the entire passage in farming, taking into account both vehicle passage and full coverage operation. Attached Figure Description

[0015] The present invention will now be described in detail with reference to the accompanying drawings. The above and other aspects of the present invention will become clearer and more readily understood through the detailed description following the accompanying drawings. In the drawings: Figure 1 This is a flowchart of the path planning and multi-mode collaborative operation method for agricultural machinery in photovoltaic power stations provided in an embodiment of the present invention; Figure 2 This is a side view of a photovoltaic power station scene provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the corridor-land network model provided in an embodiment of the present invention; Figure 4 This is a measured comparison diagram of the planned path and the actual driving trajectory under the cleaning mode provided in the embodiment of the present invention; Figure 5 This is a measured comparison diagram of the planned path and the actual driving trajectory under the snow removal mode provided in the embodiment of the present invention; Figure 6 This is a measured comparison chart of the planned path and the actual driving trajectory under the farming mode provided in the embodiments of the present invention. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0017] Please refer to Figures 1 to 6 This invention provides a path planning and multi-mode collaborative operation method for agricultural machinery in photovoltaic power stations. The path planning and multi-mode collaborative operation method includes the following steps: S1. Obtain the scene structure data of the photovoltaic power station. The scene structure data includes the location data of each support, the size data of the support, and the passageway data between adjacent supports. Perform modeling processing based on the scene structure data, map the empty space between adjacent supports and the outermost part of the photovoltaic array as passageways along the support arrangement direction, and map the open areas on both sides of the photovoltaic array as open fields, to obtain the corridor network data composed of the passageways and the open fields.

[0018] In this embodiment of the invention, the scene structure is as follows: Figure 2 As shown, each support frame is supported by a column (2.5m high) with a chord length W = 2.278m and an inclination angle θ. The center-to-center distance between adjacent supports is P = 6m. The automated driving agricultural machinery (Ackerman steering) is located in the passageway between the supports. This cross-section shows the geometric relationship between the vehicle passage clearance and the support frame attitude.

[0019] By acquiring the scene structure data of the photovoltaic power station, including the location data of each support, support size data (column height, module chord length, tilt angle), and passageway data between adjacent supports; the scene structure data is then processed through corridor network modeling, such as... Figure 3 As shown, the open spaces between adjacent supports and on the outermost edge of the photovoltaic array are mapped as vertical walkways, and the open areas on the north and south sides of the array are mapped as open fields, resulting in corridor network data composed of walkways and open fields. This corridor network data serves as the network constraint basis for subsequent full-coverage path planning.

[0020] S2. The corridor network data and the target passage set data to be operated are processed by non-crossing full coverage planning: the operation path is constrained to be spliced ​​only from the corridor segments in the corridor network data. When moving from the current passage to the next target passage, a transfer path is planned to first drive out of the current passage to the open space, move laterally along the open space, and then enter the next target passage. The right-angle corners in the transfer path are rounded to obtain full coverage path data that does not cross the support row.

[0021] In this embodiment of the invention, step S2, planning the transfer path from the current passageway to the open field, includes: comparing the support length data of all supports in the current passageway section to obtain the maximum support length data of the section; processing the maximum support length data of the section to determine the field position, and determining the lateral movement position in the open field to be higher than the length of all supports in the section, thereby obtaining the lateral movement path data that does not touch the supports.

[0022] By processing the corridor network data and the target passageway set data to be operated on through non-crossing full-coverage planning, any operation path is formed only by splicing corridor segments from the corridor network data. When moving between passageways, the vehicle is first planned to leave the current passageway to an open area (where the lateral movement position of the north side of the area is taken as a position higher than the length of all supports in that section), and then moves laterally along the area to enter the next target passageway. Right-angle turns at the area are rounded to ensure that the vehicle does not diagonally cross the support lines throughout the entire process. Furthermore, the target passageway set data is sorted according to the position of the currently reachable endpoint of each target passageway, and a monotonic sweep sequence data is obtained. Each target passageway is covered sequentially along this sequence to complete the coverage of all target passageways with the shortest travel distance. The outermost open space of the array is used as an optional operation, passage, or return corridor. This yields full-coverage path data that does not diagonally cross the support lines.

[0023] S3. The full-coverage path data and the vehicle's real-time pose data are processed by pure tracking. The steering angle is calculated based on the vehicle's wheelbase, aiming distance, and the angle between the vehicle's heading and the aiming point to obtain steering control data. The vehicle is then controlled to travel along the path corresponding to the full-coverage path data based on the steering control data.

[0024] In this embodiment of the invention, in step S3, the pure tracking process uses a pre-aiming distance less than a preset threshold to calculate the steering angle, thereby obtaining steering control data that allows the vehicle to travel close to the center line of the passageway, so as to avoid the vehicle cutting through the bend and scraping against the bracket.

[0025] In this embodiment of the invention, the full-coverage path data and the vehicle's real-time pose data are processed through pure tracking, and the steering angle is... δ Minimum turning radius R min And the trajectory tracking error RMSE is as shown in the formula. Pure tracking steering angle satisfies: ; The Ackermann bicycle model satisfies: ; The minimum turning radius satisfies: ; The trajectory tracking error satisfies: ; In the formula L Wheelbase α The angle between the vehicle's heading and the line connecting the aiming point. L d For the pre-aiming distance, δ max Maximum steering angle, d i This represents the lateral deviation between the actual location and the planned path. N The number of sampling points is set to a smaller Ld to ensure the vehicle stays close to the centerline of the passageway and avoids cutting corners and scraping against the supports. When the target is behind the vehicle, taking advantage of the Ackerman vehicle's inability to turn in place, a forward circling maneuver is not used; instead, a reverse redirection (K-turn) is executed: the vehicle reverses and corrects the steering in the direction of the rear axle to turn the front of the vehicle towards the target and directly enter the target path. When the target is directly behind, the vehicle reverses in a straight line (to avoid steering drift and scraping against the supports in long passageways). After the front of the vehicle is straightened, it enters forward pure tracking. If the vehicle gets stuck, it reverses and skips waypoints in the stuck area for self-recovery.

[0026] S4. During the vehicle's operation, the real-time pose data and the target waypoint are processed by orientation determination to obtain the orientation data of the target waypoint relative to the vehicle. When the orientation data indicates that the target waypoint is located behind the vehicle, the orientation data is processed by reversing redirection to control the vehicle to reverse and correct the steering in the direction of the rear axle so that the front of the vehicle is oriented toward the target waypoint, thereby obtaining updated pose data. The updated pose data is then used as the new real-time pose data to return to step S3.

[0027] In this embodiment of the invention, step S4, the reversing redirection process further includes: processing the orientation data for direct rearward judgment; when the orientation data indicates that the target waypoint is located directly behind the vehicle body, obtaining straight reversing command data; and controlling the vehicle to reverse in a straight line according to the straight reversing command data to avoid steering drift and scraping the support in the long passageway; when the orientation data indicates that the front of the vehicle is straight, obtaining forward switching command data; and switching the vehicle from the reversing state to the forward pure tracking state according to the forward switching command data.

[0028] During vehicle operation, real-time pose data and target waypoint data are processed for orientation determination to obtain the orientation data (such as heading deviation) of the target waypoint relative to the vehicle body. When the orientation data indicates that the target is behind the vehicle body (greater than a preset threshold), taking into account the characteristic that Ackerman vehicles cannot turn in place, instead of using forward circling, a reverse redirection (K-turn) is performed: the vehicle reverses and corrects the steering in the direction of the rear axle to make the front of the vehicle turn towards the target, obtaining updated pose data of the front of the vehicle facing the target waypoint. This updated pose data is used as the new real-time pose data to return to step S3, allowing the vehicle to directly enter the target path; when the target is directly behind the vehicle body, the vehicle is controlled to reverse in a straight line to avoid steering drift and scraping the support in long passageways; after the front of the vehicle is straightened, the vehicle switches to forward pure tracking state.

[0029] S5. Obtain operation mode data, adjust the posture of the support according to the operation mode data, control the components of each support to rotate to the mode angle corresponding to the operation mode data, and obtain the passage clearance data of each passage; process the passage clearance data and the full coverage path data in a coordinated operation, and control the vehicle to enter the corresponding passage that meets the passage clearance after the support is rotated into position to perform the operation, and obtain the operation coverage data of the corresponding operation mode.

[0030] In this embodiment of the invention, before operation, the controller rotates each support to the corresponding mode angle, and the vehicle enters the passageway after the supports are in position (as a prerequisite for the implementation of each operation mode). The cleaning facing angle configuration, the two-stage reversal for farming, the passageway clearance width, and the full passageway coverage conditions are shown in the following formulas: The cleaning phase angle configuration meets the following conditions: ; The two-stage reversal of agricultural operations must meet the following conditions: ; The clear width of the passageway must meet the following conditions: ; Full corridor coverage meets the following conditions: ; In the formula θ i For the first i Corner of the bracket, θ c To indicate the cleaning work area, the superscripts A and B represent the two stages of farming. w free For the clearance width, Ω A 、 Ω B For a two-stage coverage of the passageway set, Ω all For all passageways.

[0031] In this embodiment of the invention, in step S5, when the operation mode data is the cleaning mode, the corner data of the two adjacent rows of supports are processed by rotating in opposite directions, and the components of the two adjacent rows of supports are controlled to rotate in opposite directions to form a face-to-face passageway, thereby obtaining the face-to-face passageway clearance data; the collaborative operation processing includes: controlling the vehicle to pass through the face-to-face passageway in one trip according to the face-to-face passageway clearance data.

[0032] In this embodiment of the invention, in step S5, when the operation mode data is snow removal mode, The rotation angle data of each support is processed by limiting and reciprocating, and the components of each support are controlled to reciprocate between the limit angles to shake off the snow, so as to obtain the passageway status data after snow shaking; the collaborative operation processing includes: according to the passageway status data after snow shaking, controlling the vehicle to monotonously sweep and push snow from the outermost passageway on one side to the outermost passageway on the other side; after the vehicle has completed the monotonous sweeping and snow pushing operation of all passageways, controlling the vehicle to return through the cleared passageway that has been cleared.

[0033] In this embodiment of the invention, in step S5, when the operation mode data is a farming mode, The corner data of adjacent supports are processed by a first-stage back-to-back rotation, controlling the adjacent supports to rotate back-to-back and open half of the passageway, resulting in a first set of open passageway data. The first set of open passageway data and the full coverage path data are processed by a first-stage collaborative processing, controlling the vehicle to travel and operate within the open passageway, resulting in a first-stage coverage data. The corner data of adjacent supports are processed by a reversal and flipping, controlling the adjacent supports to flip and open the other half of the passageway, resulting in a second set of open passageway data. The second set of open passageway data and the first-stage coverage data are processed by a second-stage collaborative processing, controlling the vehicle to travel and operate again.

[0034] In this embodiment of the invention, the path planning and multi-mode collaborative operation method further includes: S6. The real-time pose data and the full-coverage path data are processed for a vehicle jamming status to obtain vehicle jamming status data. When the vehicle jamming status data indicates that the vehicle is jammed, the vehicle is controlled to reverse and skip the waypoints corresponding to the jammed area to obtain updated path data that skips the jammed area. The updated path data is then used as the new full-coverage path data to return to step S3. This achieves self-recovery after jamming.

[0035] The beneficial effects of this invention are as follows: By constraining the corridor network, bypassing the field, and rounding corners, the vehicle does not cross the support diagonally throughout the entire process, fundamentally avoiding the vehicle being stuck by the pillars or components; the monotonous horizontal sweep at the nearest end shortens the coverage distance, and the outermost passage of the array is not missed; reversing and redirecting replaces forward circling and turning around, allowing the Ackerman vehicle to efficiently and with minimal footprint enter the target path in narrow passages; small pre-aiming and pure tracking follow the center line of the passage, and the reversing jump point automatically recovers when stuck, improving tracking safety and robustness; the support attitude adjustment and vehicle operation work in coordination, cleaning both sides of the components in a single trip, snow removal without turning around and returning, and two-stage coverage of the entire passage in farming, taking into account both vehicle passage and full coverage operation.

[0036] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0037] The embodiments of the present invention have been described above with reference to the accompanying drawings. The disclosed embodiments are merely preferred embodiments of the present invention. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many equivalent changes in form under the guidance of the present invention without departing from the spirit and scope of the claims. All such changes are within the protection scope of the present invention.

Claims

1. A method for path planning and multi-mode collaborative operation of agricultural machinery in photovoltaic power stations, characterized in that, The path planning and multi-mode collaborative operation method includes the following steps: S1. Obtain the scene structure data of the photovoltaic power station. The scene structure data includes the location data of each support, the size data of the support, and the passageway data between adjacent supports. Perform modeling processing based on the scene structure data, map the empty space between adjacent supports and the outermost part of the photovoltaic array as passageways along the support arrangement direction, and map the open areas on both sides of the photovoltaic array as open fields, to obtain the corridor network data composed of the passageways and the open fields. S2. The corridor network data and the target passage set data to be operated are processed by non-crossing full coverage planning: the operation path is constrained to be spliced ​​only by the corridor segments in the corridor network data. When moving from the current passage to the next target passage, a transfer path is planned to first drive out of the current passage to the open space, move laterally along the open space, and then enter the next target passage. The right-angle corners in the transfer path are rounded to obtain full coverage path data that does not cross the support row. S3. The full-coverage path data and the real-time pose data of the vehicle are processed by pure tracking. The steering angle is calculated based on the vehicle wheelbase, the aiming distance and the angle between the vehicle heading and the aiming point to obtain steering control data. The vehicle is then controlled to travel along the path corresponding to the full-coverage path data based on the steering control data. S4. During the vehicle's operation, the real-time pose data and the target waypoint are processed by orientation determination to obtain the orientation data of the target waypoint relative to the vehicle. When the orientation data indicates that the target waypoint is located behind the vehicle, the orientation data is processed by reversing redirection to control the vehicle to reverse and correct the steering in the direction of the rear axle so that the front of the vehicle is oriented toward the target waypoint, thereby obtaining updated pose data. The updated pose data is then used as the new real-time pose data to return to step S3. S5. Obtain operation mode data, adjust the posture of the support according to the operation mode data, control the components of each support to rotate to the mode angle corresponding to the operation mode data, and obtain the passage clearance data of each passage; process the passage clearance data and the full coverage path data in a coordinated operation, and control the vehicle to enter the corresponding passage that meets the passage clearance after the support is rotated into position to perform the operation, and obtain the operation coverage data of the corresponding operation mode.

2. The method for path planning and multi-mode collaborative operation of agricultural machinery in photovoltaic power stations as described in claim 1, characterized in that, In step S2, planning a transfer route from the current passageway to the open area includes: The length data of all supports in the current passageway section are compared and processed to obtain the maximum support length data of the section. The maximum support length data of the section is then processed to determine the end position. The lateral movement position in the open field is determined to be higher than the length of all supports in the section, thus obtaining the lateral movement path data of the end without touching the supports.

3. The method for path planning and multi-mode collaborative operation of agricultural machinery in photovoltaic power stations as described in claim 1, characterized in that, In step S3, the pure tracking process uses a pre-aiming distance less than a preset threshold to calculate the steering angle, thereby obtaining steering control data that allows the vehicle to travel close to the center line of the passageway, so as to avoid the vehicle cutting through the bend and scraping the bracket.

4. The method for path planning and multi-mode collaborative operation of agricultural machinery in photovoltaic power stations as described in claim 1, characterized in that, In step S4, the reversing redirection process further includes: processing the orientation data for direct rearward judgment; when the orientation data indicates that the target waypoint is located directly behind the vehicle body, obtaining straight reversing command data; and controlling the vehicle to reverse in a straight line according to the straight reversing command data to avoid steering drift and scraping the support in the long passageway; when the orientation data indicates that the front of the vehicle is straight, obtaining forward switching command data; and switching the vehicle from reversing state to forward pure tracking state according to the forward switching command data.

5. The method for path planning and multi-mode collaborative operation of agricultural machinery in photovoltaic power stations as described in claim 1, characterized in that, The path planning and multi-mode collaborative operation method also includes: S6. The real-time pose data and the full-coverage path data are processed by a deadlock judgment to obtain vehicle deadlock status data. When the vehicle deadlock status data indicates that the vehicle is in a deadlock state, the vehicle is controlled to reverse and skip the waypoints corresponding to the deadlock area to obtain updated path data that skips the deadlock area. The updated path data is then used as the new full-coverage path data to return to step S3.

6. The method for path planning and multi-mode collaborative operation of agricultural machinery in photovoltaic power stations as described in claim 1, characterized in that, In step S5, when the operation mode data is the cleaning mode, the corner data of the two adjacent rows of supports are processed by rotating in opposite directions, and the components of the two adjacent rows of supports are controlled to rotate in opposite directions to form a face-to-face passageway, thus obtaining the clearance data of the facing passageway. The collaborative operation process includes: controlling the vehicle to pass through the face-to-face passage in a single trip based on the clearance data of the opposite passage.

7. The method for path planning and multi-mode collaborative operation of agricultural machinery in photovoltaic power stations as described in claim 1, characterized in that, In step S5, when the operation mode data is snow removal mode, The rotation angle data of each support is processed by limiting and reciprocating, and the components of each support are controlled to reciprocate between the limit angles to shake off the snow, so as to obtain the passageway status data after snow shaking; the collaborative operation processing includes: according to the passageway status data after snow shaking, controlling the vehicle to monotonously sweep and push snow from the outermost passageway on one side to the outermost passageway on the other side; after the vehicle has completed the monotonous sweeping and snow pushing operation of all passageways, controlling the vehicle to return through the cleared passageway that has been cleared.

8. The method for path planning and multi-mode collaborative operation of agricultural machinery in photovoltaic power stations as described in claim 1, characterized in that, In step S5, when the operation mode data is agricultural mode, The corner data of adjacent supports are processed by a first-stage back-to-back rotation, controlling the adjacent supports to rotate back-to-back and open half of the passageway, resulting in a first set of open passageway data. The first set of open passageway data and the full coverage path data are processed by a first-stage collaborative processing, controlling the vehicle to travel and operate within the open passageway, resulting in a first-stage coverage data. The corner data of adjacent supports are processed by a reversal and flipping, controlling the adjacent supports to flip and open the other half of the passageway, resulting in a second set of open passageway data. The second set of open passageway data and the first-stage coverage data are processed by a second-stage collaborative processing, controlling the vehicle to travel and operate again.

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