CN107702720B - A kind of agricultural machinery cultivation leading line modification method and system - Google Patents
A kind of agricultural machinery cultivation leading line modification method and system Download PDFInfo
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- CN107702720B CN107702720B CN201710943089.9A CN201710943089A CN107702720B CN 107702720 B CN107702720 B CN 107702720B CN 201710943089 A CN201710943089 A CN 201710943089A CN 107702720 B CN107702720 B CN 107702720B
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The present invention provides a kind of agricultural machinery cultivation leading line modification method, it include: S1, based on preset cultivation angle and starting cultivation point, leading line is determined, so that agricultural machinery is cultivated along the leading line, wherein cultivation angle is the angle cultivated between direction and the geographical direct north of the starting cultivation point；If S2, the agricultural machinery are encountering barrier point along leading line cultivation, the cultivation angle is adjusted, the barrier point is that agricultural machinery can not cultivate region or the point apart from farming plot edge line more than preset threshold；S3, point is cultivated based on cultivation angle adjusted and starting, updates the leading line.Agricultural machinery cultivation leading line modification method provided by the invention and system, by being arranged and adjusting cultivation angle, thus real-time update leading line information, and avoid that region can not be cultivated, so that navigation procedure stability and high efficiency, promotes cultivation efficiency.
Description
Technical field
The present invention relates to agricultural machinery automatic Pilot field, more particularly, to a kind of agricultural machinery cultivate leading line modification method and
System.
Background technique
Precision agriculture (Precision Agriculture) is the new trend of world today's agricultural development, is by information skill
Art support according to 3S technology, the 3S technology is English remote sensing technology (Remote Sensing RS), GIS-Geographic Information System
(Geographical information System GIS), global positioning system (Global Positioning System
GPS abbreviation).3S technology can position, timing, quantitatively implement a whole set of modernization farming operations technology and management.
Agricultural machinery automated driving system is to complete the early period of efficient, the accurate farming of agricultural machinery, so agricultural machinery automated driving system is
The important component of precision agriculture development is agricultural machinery modernization, intelligentized basis.Agricultural machinery automated driving system is integrated
Global Navigation Satellite System (Global Navigation Satellite System, GNSS), automatic control technology, inertia
Airmanship passes through inertial navigation posture by completing positioning and measurement to agricultural machinery using the high-precision satellite navigation of GNSS
Measurement and control system complete the Centimeter Level high-precision control to agricultural machinery, the farming efficiency of agricultural machinery can be substantially improved, subtract
Light work intensity, and complete from source the measurement and control of absolute position in crops geography information.At present than more typical
Product include Trimble company, the U.S. Autopolit agricultural machinery automatic pilot, Canadian AGjunction company
Outback series agricultural machinery automatic pilot, Agleader, the product etc. of Topcon brand.
Agricultural machinery automated driving system generally comprises farm machinery navigation instrument, (agricultural machinery auxiliary drives system to agricultural machinery auto-pilot controller
System do not contain controller), turn to executing agency.Farm machinery navigation instrument is mainly used in the prior art, and agricultural machinery is led dirty instrument and transported by it
Capable farm machinery navigation software is exchanged with user, is the user terminal of entire automatic Pilot.Using agricultural machinery automated driving system work
When making, needs to determine that agricultural machinery cultivates leading line according to the requirement of farmland and agronomy, agronomy is cut due to large-scale rural holding broadness and is wanted
Refinement degree is higher, so the determination of agricultural machinery cultivation leading line is time-consuming, laborious work.
The method for generally using A point, B point two o'clock to determine straight line agricultural machinery cultivation leading line in the prior art, this
Method needs peasant household to determine A point and B point respectively in two endpoints in farming plot, then using the line of A point and B point as agricultural machinery
The initial navigation line of farming.
But farming plot is not necessarily the shape of rule, and the edge in farming plot there may be some facilities or
Person can not cultivate region, using the line of two endpoints in farming plot as farm machinery tillage leading line may pass through these nothings
Method cultivates region, causes to cultivate failure automatically, thus now need a kind of modification method of agricultural machinery cultivation leading line.
Summary of the invention
The present invention provide it is a kind of overcome the above problem or at least be partially solved the above problem a kind of agricultural machinery cultivation lead
Course line modification method, comprising:
S1, point is cultivated based on preset cultivation angle and starting, determines leading line, so that agricultural machinery is carried out along the leading line
Cultivation, wherein cultivation angle is the angle cultivated between direction and the geographical direct north of the starting cultivation point；
If S2, the agricultural machinery are encountering barrier point along leading line cultivation, the cultivation angle, the obstacle are adjusted
Point is that agricultural machinery can not cultivate region or the point apart from farming plot edge line more than preset threshold；
S3, point is cultivated based on cultivation angle adjusted and starting, updates the leading line.
Wherein, step S1 includes:
It regard starting cultivation point as first position；
Based on preset cultivation angle, the point of first position pre-determined distance described in selected distance is as the second position；
Using the line of the first position and the second position as the leading line.
Wherein, the starting cultivation point is any endpoint in farming plot, and the cultivation angle is farming plot edge line
With the angle between the endpoint geography direct north.
Wherein, step S2 includes:
If the agricultural machinery is encountering barrier point along leading line cultivation, using the barrier point as the third place；
Based on the third place, the cultivation angle is adjusted, to determine the 4th position, wherein the 4th positional distance
Farming plot edge line range error, which is less than the preset threshold and is not belonging to agricultural machinery, can not cultivate region, the third place with
Edge line of the line of 4th position perpendicular to farming plot.
Wherein, described to be based on the third place, the cultivation angle is adjusted, includes: with determining 4th position
Obtain the distance between the third place and farming plot edge line；
Based on the corresponding relationship between preset adjustment angle and distance, the cultivation angle is adjusted, with determination described the
Four positions.
Wherein, step S3 is specifically included:
Using the line for cultivating point and the 4th position that originates as updated leading line.
Wherein, after step S3 the method also includes:
The agricultural machinery is adjusted to the updated leading line, so that the agricultural machinery is along the updated leading line
Continue to cultivate.
According to the second aspect of the invention, a kind of agricultural machinery cultivation leading line update the system is provided, comprising:
Determining module, for determining leading line based on preset cultivation angle and starting cultivation point, so that agricultural machinery is described in
Leading line is cultivated, wherein cultivation angle is the angle cultivated between direction and the geographical direct north of the starting cultivation point；
Module is adjusted, if encountering barrier point along leading line cultivation for the agricultural machinery, adjusts the cultivation angle
Degree, the barrier point are that agricultural machinery can not cultivate region or the point apart from farming plot edge line more than preset threshold；
Update module, for updating the leading line based on cultivation angle adjusted and starting cultivation point.
According to the third aspect of the invention we, a kind of computer program product, including program code, said program code are provided
Leading line modification method is cultivated for executing agricultural machinery described above.
According to the fourth aspect of the invention, a kind of non-transient computer readable storage medium is provided, for storing such as preceding institute
The computer program stated.
Agricultural machinery cultivation leading line modification method provided by the invention and system, by being arranged and adjusting cultivation angle, thus
Real-time update leading line information, and avoid that region can not be cultivated, so that navigation procedure stability and high efficiency, promotes cultivation efficiency.
Detailed description of the invention
Fig. 1 is a kind of agricultural machinery cultivation leading line modification method flow chart provided in an embodiment of the present invention；
Fig. 2 is leading line amendment schematic diagram provided in an embodiment of the present invention；
Fig. 3 is a kind of agricultural machinery cultivation leading line update the system structure chart provided in an embodiment of the present invention.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below
Example is not intended to limit the scope of the invention for illustrating the present invention.
Fig. 1 is a kind of agricultural machinery cultivation leading line modification method flow chart provided in an embodiment of the present invention, as shown in Figure 1, institute
The method of stating includes:
S1, point is cultivated based on preset cultivation angle and starting, determines leading line, so that agricultural machinery is carried out along the leading line
Cultivation, wherein cultivation angle is the angle cultivated between direction and the geographical direct north of the starting cultivation point；
If S2, the agricultural machinery are encountering barrier point along leading line cultivation, the cultivation angle, the obstacle are adjusted
Point is that agricultural machinery can not cultivate region or the point apart from farming plot edge line more than preset threshold；
S3, point is cultivated based on cultivation angle adjusted and starting, updates the leading line.
In the prior art, leading line is determined using AB line method, need to determine respectively farming plot two terminal A points and
B point, but since region can not be cultivated there are some, if directly point and B point using endpoint as A, it would be possible to can make between AB
Line by region can not be cultivated, thus cultivation failure automatically.
So, in order to avoid not cultivating region, the prior art will translate A point and B point, so as to adjust AB line
Position so that AB line is without can not cultivate region.
But leading line generally requires to be cultivated along the edge line in farming plot as far as possible, so that the soil of cultivation
Ground utilization rate highest, then the AB collimation method that the prior art provides cannot be guaranteed that the leading line makes soil sharp in cultivation process
With rate highest.
For above-mentioned problems of the prior art, the embodiment of the invention provides a kind of cultivation leading line amendments of agricultural machinery
Method, so that the determination of leading line need not rely on two terminal A points and B point in farming plot, but according to real-time adjustment farming
Angle, thus real-time update leading line, enable farm machinery tillage process avoid can not cultivating region and as far as possible close to
The edge line in farming plot, so that land utilization ratio highest.
Specifically, in S1, the preset cultivation angle be the inceptive direction cultivated as needed of the embodiment of the present invention with
What the angle between the geographical direct north of starting cultivation point was arranged, it is to be understood that in the agricultural machinery of each farming
On be respectively arranged with automated driving system, the direction of driving can be set.
In general, the prime direction of the cultivation is along the edge line in farming plot or as far as possible close to farming plot
Edge line.
In S1, the starting cultivation point is the place that agricultural machinery starts cultivation, in general, the place for starting cultivation can be arranged
For one of endpoint in farming plot.
Further, according to cultivation angle and starting cultivation place, one can be constructed towards described to originate farming place
Cultivate the leading line that angle extends.
It should be noted that the leading line that the embodiment of the present invention provides at this time is determined based on initial position and initial angle
Leading line, rather than determined based on two endpoints.
In S2, it is to be understood that the cultivation process of the leading line determined by starting cultivation point and default cultivation angle can
So precisely it can will not can be potentially encountered barrier point during cultivating along leading line, the barrier point is implemented in the present invention
It is that agricultural machinery can not cultivate region or the point apart from farming plot edge line more than preset threshold in example, region i.e. agricultural machinery can not be cultivated
It can not continue to cultivate along Present navigation line, and be current cultivation position apart from the point that farming plot edge line is more than preset threshold
It sets that have deviated from farming plot edge line too far, needs to plan leading line to close to farming plot edge line again.
Further, the adjustment cultivation angle is to change the cultivation angle of initial setting up, that is, adjusts the cultivation side of agricultural machinery
The angle between the geographical direct north of point is cultivated to starting, to plan leading line again.
Preferably, the embodiment of the present invention provides following adjustment cultivation angular arrangements, if leading line encounters in cultivation process
Barrier point then feeds back barrier point information, and the size of adjustment cultivation angle is arranged according to barrier point information, and specific cultivation angle is big
It is small to be determined by barrier point information, such as the barrier point information of feedback is apart from right farming plot edge 10m, and preset threshold value is
9m then reduces to the right 5 degree for angle is cultivated according to feedback barrier point information.
It is described based on cultivation angle adjusted and starting cultivation point in S3, the leading line is updated, being equivalent to will adjust
Cultivation angle afterwards redefines leading line, revised leading line starting point and initial navigation line one as default cultivation angle
Sample is all cultivation starting point, but the direction cultivated is different so that agricultural machinery can be cultivated towards new direction, without according to
Leading line originally continues to cultivate.
It should be noted that since revised leading line and initial navigation line are different, and agricultural machinery is according to initially leading
Course line is cultivated, so agricultural machinery will return to revised leading line in a manner of the shortest distance after correcting leading line
On.
It further, can be according to this hair if continuing to encounter barrier point during the cultivation of revised leading line
The method that bright embodiment provides again is modified leading line, until agricultural machinery reaches the other end in farming plot.
Agricultural machinery provided in an embodiment of the present invention cultivates the determination that leading line modification method makes peasant household once complete score,
And troublesome alignment process is not carried out independently, first, plot, line of cultivation can realize automatic Pilot, and side works
Side is adjusted, and significantly reduces the use complexity of agricultural machinery automated driving system, promotes working efficiency.
On the basis of the above embodiments, step S1 includes:
It regard starting cultivation point as first position；
Based on preset cultivation angle, the point of first position pre-determined distance described in selected distance is as the second position；
Using the line of the first position and the second position as the leading line.
Specifically, the method for determining leading line provided in an embodiment of the present invention is to determine the according to the position of starting cultivation point
Then a point apart from the first position certain distance is found out on cultivation direction according to preset cultivation angle in one position
As the second position, leading line is then determined according to the method that two o'clock determines straight line.
Preferably, the pre-determined distance of the embodiment of the present invention can be configured according to the size in farming plot, if farming plot
It is larger, it is corresponding to increase pre-determined distance, it is corresponding to reduce pre-determined distance if farming plot is smaller.
On the basis of the above embodiments, the starting cultivation point is any endpoint in farming plot, the cultivation angle
For the angle between farming plot edge line and the endpoint geography direct north.
It is understood that the embodiment of the present invention is deposited mainly in the initial navigation line when cultivating to farmland edge
The problem of be modified, thus preferably set any endpoint in farming plot for starting cultivation point.
Further, if starting cultivation point is the endpoint in farming plot, then its cultivate angle should edge as far as possible
The direction of cultivation plot edge line is cultivated, so the embodiment of the present invention preferably sets farming plot side for cultivation angle
Angle between the endpoint geography direct north along the line.
On the basis of the above embodiments, step S2 includes:
If the agricultural machinery is encountering barrier point along leading line cultivation, using the barrier point as the third place；
Based on the third place, the cultivation angle is adjusted, to determine the 4th position, wherein the 4th positional distance
Farming plot edge line range error, which is less than the preset threshold and is not belonging to agricultural machinery, can not cultivate region, the third place with
Edge line of the line of 4th position perpendicular to farming plot.
Fig. 2 is leading line amendment schematic diagram provided in an embodiment of the present invention, as shown in Fig. 2, initial navigation line is in Fig. 2
The leading line that the solid black lines that position 2 in position 1 and Fig. 2 determines determine, wherein position 1 is described in the embodiment of the present invention
First position be also starting cultivation point, position 2 be the embodiment of the present invention described in the second position.
So preset cultivation angle is position 1 and 2 line of position and across the geographical direct north of position 1
Angle, agricultural machinery soon arrives at the boundary in farming plot when continuing cultivation along initial navigation line, and the boundary in farming plot belongs to
Region can not be cultivated, then the position of agricultural machinery at this time is labeled as barrier point, i.e. position 3 and the present invention in Fig. 2 are real
Apply the third place in example.
It is understood that agricultural machinery can not continue to cultivate forward at this time, then cultivation angle can only be adjusted to which amendment is led
Course line, so that agricultural machinery can continue to cultivate, then scheme provided in an embodiment of the present invention is to adjust preset cultivation angle, replacement
The position of leading line.
Specifically, determining the 4th position, i.e. position in Fig. 2 at the parallel position of the third place after adjustment cultivation angle
4 are set, then by the line of position 4 and position 1, i.e. black dotted lines in Fig. 2 are as revised leading line.
Wherein, the determination of position 4 is needed and farming plot according to the line of the angle of adjustment and position 3 and position 4
Edge line it is vertical.
On the basis of the above embodiments, described to be based on the third place, the cultivation angle is adjusted, to determine the 4th
Position includes:
Obtain the distance between the third place and farming plot edge line；
Based on the corresponding relationship between preset adjustment angle and distance, the cultivation angle is adjusted, with determination described the
Four positions.
It is understood that the adjustment angle needs to be provided with guidance standard, the embodiment of the present invention preferably will adjustment
Angle and barrier point establish corresponding relationship apart from the distance between farming plot edge line.
Specifically, obtaining barrier point, that is, the third place barrier point information first, which includes the third places and farming
Then the distance between plot edge line adjusts accordingly further according to the range information of acquisition and needs to be decreased or increased cultivation angle
Size.
Such as: obtaining distance of the third place along the right is 0m, i.e., can not continue to cultivate forward at this time,
So corresponding needs to adjust 5 degree of farming angle to the left and can continue to cultivate forward；If obtaining the third place apart from the right
Distance along the line is 10m, i.e., at this time apart from edge line apart from excessive, then need it is corresponding adjust 5 degree of farming angle to the right, thus
Guarantee that the farming utilization rate in soil reaches maximum.
On the basis of the above embodiments, step S3 is specifically included:
Using the line for cultivating point and the 4th position that originates as updated leading line.
It is understood that the 4th position obtained is according between the parallel position of the third place and the angle of adjustment
Relationship determine, then new leading line then need again according to the 4th position and starting farming point between line it is again true
It is fixed.
On the basis of the above embodiments, after step S3 the method also includes:
The agricultural machinery is adjusted to the updated leading line, so that the agricultural machinery is along the updated leading line
Continue to cultivate.
Specifically, as shown in Fig. 2, agricultural machinery is now in position 3, and updated leading line is black dotted lines, then agriculture
Machine will need to be adjusted to as early as possible in updated leading line, to continue to cultivate in new leading line, as shown in Fig. 2, agricultural machinery
Direction will be adjusted, it is close to black dotted lines direction, to return to revised leading line.
It should be noted that the specific rules that the embodiment of the present invention does not return to leading line to agricultural machinery limit.
Fig. 3 is a kind of agricultural machinery cultivation leading line update the system structure chart provided in an embodiment of the present invention, as shown in figure 3, one
Kind agricultural machinery cultivates leading line update the system, comprising: determining module 1, adjustment module 2 and update module 3, in which:
Determining module 1 is used to leading line is determined, so that agricultural machinery is described in based on preset cultivation angle and starting cultivation point
Leading line is cultivated, wherein cultivation angle is the angle cultivated between direction and the geographical direct north of the starting cultivation point；
If adjustment module 2 is encountering barrier point along leading line cultivation for the agricultural machinery, the cultivation angle is adjusted
Degree, the barrier point are that agricultural machinery can not cultivate region or the point apart from farming plot edge line more than preset threshold；
Update module 3 is used to update the leading line based on cultivation angle adjusted and starting cultivation point.
Specifically, determining module 1 cultivates point and cultivation angle by setting starting, so that it is determined that initial leading line out,
It is understood that initial navigation line may go wrong in cultivation process, to need to be modified it, mould is adjusted
Block 2 needs to be adjusted cultivation angle when initial navigation line encounters barrier point, so that update module 3 can be again
Plan leading line.
Agricultural machinery provided in an embodiment of the present invention cultivates the determination that leading line update the system makes peasant household once complete score,
And troublesome alignment process is not carried out independently, first, plot, line of cultivation can realize automatic Pilot, and side works
Side is adjusted, and is significantly reduced agricultural machinery automated driving system using complexity, is promoted working efficiency.
The embodiment of the present invention provides a kind of agricultural machinery cultivation leading line update the system, comprising: at least one processor；And with
At least one processor of the processor communication connection, in which:
The memory is stored with the program instruction that can be executed by the processor, and the processor calls described program to refer to
It enables to execute method provided by above-mentioned each method embodiment, for example, S1, cultivated based on preset cultivation angle and starting
Point, determines leading line, so that agricultural machinery is cultivated along the leading line, wherein cultivation angle is that cultivation direction and the starting are ploughed
Angle between the geographical direct north of kind point；If S2, the agricultural machinery are encountering barrier point along leading line cultivation, institute is adjusted
Cultivation angle is stated, the barrier point is that agricultural machinery can not cultivate region or the point apart from farming plot edge line more than preset threshold；
S3, point is cultivated based on cultivation angle adjusted and starting, updates the leading line.
The present embodiment discloses a kind of computer program product, and the computer program product includes being stored in non-transient calculating
Computer program on machine readable storage medium storing program for executing, the computer program include program instruction, when described program instruction is calculated
When machine executes, computer is able to carry out method provided by above-mentioned each method embodiment, for example, S1, is ploughed based on preset
Kind angle and starting cultivation point, determine leading line, so that agricultural machinery is cultivated along the leading line, wherein cultivation angle is cultivation
Angle between direction and the geographical direct north of the starting cultivation point；If S2, the agricultural machinery are along leading line cultivation
Barrier point is encountered, the cultivation angle is adjusted, the barrier point is that agricultural machinery can not cultivate region or apart from farming plot edge line
More than the point of preset threshold；S3, point is cultivated based on cultivation angle adjusted and starting, updates the leading line.
The present embodiment provides a kind of non-transient computer readable storage medium, the non-transient computer readable storage medium
Computer instruction is stored, the computer instruction makes the computer execute method provided by above-mentioned each method embodiment, example
Such as include: S1, based on preset cultivation angle and starting cultivation point, leading line is determined, so that agricultural machinery is carried out along the leading line
Cultivation, wherein cultivation angle is the angle cultivated between direction and the geographical direct north of the starting cultivation point；If S2, the agriculture
Machine is encountering barrier point along leading line cultivation, adjusts the cultivation angle, and the barrier point is that agricultural machinery can not cultivate area
Domain or apart from farming plot edge line be more than preset threshold point；S3, point is cultivated based on cultivation angle adjusted and starting, more
The new leading line.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above method embodiment can pass through
The relevant hardware of program instruction is completed, and program above-mentioned can be stored in a computer readable storage medium, the program
When being executed, step including the steps of the foregoing method embodiments is executed；And storage medium above-mentioned includes: ROM, RAM, magnetic disk or light
The various media that can store program code such as disk.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It realizes by means of software and necessary general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on
Stating technical solution, substantially the part that contributes to existing technology can be embodied in the form of software products in other words, should
Computer software product may be stored in a computer readable storage medium, such as ROM/RAM, magnetic disk, CD, including several fingers
It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation
Method described in certain parts of example or embodiment.
Finally, the present processes are only preferable embodiment, it is not intended to limit the scope of the present invention.It is all
Within the spirit and principles in the present invention, any modification, equivalent replacement, improvement and so on should be included in protection of the invention
Within the scope of.
Claims (7)
1. a kind of agricultural machinery cultivates leading line modification method characterized by comprising
S1, based on preset cultivation angle and starting cultivate point, determine leading line so that agricultural machinery carried out along the leading line it is cultivated
Kind, wherein cultivation angle is the angle cultivated between direction and the geographical direct north of the starting cultivation point；
If S2, the agricultural machinery are encountering barrier point along leading line cultivation, the cultivation angle is adjusted, the barrier point is
Agricultural machinery can not cultivate region or the point apart from farming plot edge line more than preset threshold；
S3, point is cultivated based on cultivation angle adjusted and starting, updates the leading line；
Wherein, step S2 includes:
If the agricultural machinery is encountering barrier point along leading line cultivation, using the barrier point as the third place；
Based on the third place, the cultivation angle is adjusted, to determine the 4th position, wherein the 4th positional distance farming
Plot edge line range error, which is less than the preset threshold and is not belonging to agricultural machinery, can not cultivate region, the third place with it is described
Edge line of the line of 4th position perpendicular to farming plot；
It is described to be based on the third place, the cultivation angle is adjusted, includes: with determining 4th position
Obtain the distance between the third place and farming plot edge line；
Based on the corresponding relationship between preset adjustment angle and distance, the cultivation angle is adjusted, with determination described 4th
It sets.
2. the method according to claim 1, wherein step S1 includes:
It regard starting cultivation point as first position；
Based on preset cultivation angle, the point of first position pre-determined distance described in selected distance is as the second position；
Using the line of the first position and the second position as the leading line.
3. method according to claim 1 or 2, which is characterized in that the starting cultivation point is the either end in farming plot
Point, angle of the cultivation angle between farming plot edge line and the endpoint geography direct north.
4. the method according to claim 1, wherein step S3 is specifically included:
Using the line for cultivating point and the 4th position that originates as updated leading line.
5. method according to claim 1 or 4, which is characterized in that after step S3 the method also includes:
The agricultural machinery is adjusted to the updated leading line, so that the agricultural machinery continues along the updated leading line
Cultivation.
6. a kind of agricultural machinery cultivates leading line update the system characterized by comprising
Determining module, for leading line being determined, so that agricultural machinery is along the navigation based on preset cultivation angle and starting cultivation point
Line is cultivated, wherein cultivation angle is the angle cultivated between direction and the geographical direct north of the starting cultivation point；
Module is adjusted, if encountering barrier point along leading line cultivation for the agricultural machinery, adjusts the cultivation angle, institute
Stating barrier point is that agricultural machinery can not cultivate region or the point apart from farming plot edge line more than preset threshold；
Update module, for updating the leading line based on cultivation angle adjusted and starting cultivation point；
Wherein, the adjustment module, is specifically used for:
If the agricultural machinery is encountering barrier point along leading line cultivation, using the barrier point as the third place；
Based on the third place, the cultivation angle is adjusted, to determine the 4th position, wherein the 4th positional distance farming
Plot edge line range error, which is less than the preset threshold and is not belonging to agricultural machinery, can not cultivate region, the third place with it is described
Edge line of the line of 4th position perpendicular to farming plot；
It is described to be based on the third place, the cultivation angle is adjusted, includes: with determining 4th position
Obtain the distance between the third place and farming plot edge line；
Based on the corresponding relationship between preset adjustment angle and distance, the cultivation angle is adjusted, with determination described 4th
It sets.
7. a kind of non-transient computer readable storage medium, which is characterized in that the non-transient computer readable storage medium is deposited
Computer instruction is stored up, the computer instruction makes the computer execute method as claimed in claim 1 to 5.
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