CN113375674B - Curve path generation method, device, equipment and readable storage medium - Google Patents
Curve path generation method, device, equipment and readable storage medium Download PDFInfo
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- CN113375674B CN113375674B CN202110667700.6A CN202110667700A CN113375674B CN 113375674 B CN113375674 B CN 113375674B CN 202110667700 A CN202110667700 A CN 202110667700A CN 113375674 B CN113375674 B CN 113375674B
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- 238000009966 trimming Methods 0.000 claims abstract description 16
- 238000004590 computer program Methods 0.000 claims description 9
- 238000013138 pruning Methods 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 10
- 238000000926 separation method Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000000750 progressive effect Effects 0.000 description 1
- 238000009331 sowing Methods 0.000 description 1
- 238000003971 tillage Methods 0.000 description 1
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses a curve path generation method of an automatic driving agricultural machine, which can be used for automatically operating a land block with curvature on the side of the land block by means of the curve path based on a curve boundary path point set formed by a plurality of path line segments acquired by a positioning device, through translation of each path line segment, then trimming and linking each path line segment generated after translation, finally removing an error line segment to generate the curve path, wherein the similarity of the curve path with the curve boundary of a target land block is higher, and the automatic driving agricultural machine can automatically operate the land block with curvature on the side of the land block by means of the curve path. The invention also discloses a device, equipment and a computer readable storage medium for generating the curve path of the automatic driving agricultural machine, which have the same beneficial effects as the method for generating the curve path of the automatic driving agricultural machine.
Description
Technical Field
The invention relates to the field of automatic driving agricultural machinery, in particular to a curve path generation method of the automatic driving agricultural machinery, and further relates to a curve path generation device, equipment and a computer readable storage medium of the automatic driving agricultural machinery.
Background
While the automatic driving agricultural machine has been used in the agricultural work field, various types of agricultural works such as sowing, fertilizing, harvesting, etc. can be completed by the automatic driving agricultural machine, the existing automatic driving agricultural machine is generally only capable of realizing the planning of a straight path and performing work according to the straight path, the problem of the path is not great when dealing with plots whose boundaries are regular polygons, but the boundaries of certain plots have curvature, and when facing plots whose boundaries have curvature, if the path is planned and automatically driven by the planning method of the straight path, the path of a part of areas is difficult to plan, and even the automatic driving is possibly abandoned, the manual driving is changed, and the labor cost is increased.
Therefore, how to provide a solution to the above technical problem is a problem that a person skilled in the art needs to solve at present.
Disclosure of Invention
The invention aims to provide a curve path generation method of an automatic driving agricultural machine, which can simply and rapidly plan a curve path with higher similarity between a position and a curve boundary of a target land block, thereby realizing automatic driving and reducing labor cost; another object of the present invention is to provide a curved path generating device, apparatus, and computer-readable storage medium for an automatic driving agricultural machine, which can simply and rapidly plan a curved path having a high similarity to a curved boundary of a target plot, thereby realizing automatic driving and reducing labor cost.
In order to solve the technical problems, the invention provides a curve path generation method of an automatic driving agricultural machine, comprising the following steps:
obtaining a plurality of path points of the curve boundary of the target land block through a positioning device to be used as a curve boundary path point set;
translating a plurality of path segments in the curve boundary path point set by a preset operation width of a designated multiple to obtain a curve path to be corrected;
trimming and linking the curve path to be corrected according to the intersection points of the adjacent path line segments and the intersection points of the extension lines in the curve path to be corrected;
removing error line segments generated due to self-intersection in the trimmed and joined curve paths to obtain curve paths of the automatic driving agricultural machinery;
and a group of path points which are continuous and arranged on the same straight line in the curve boundary path point set are used as one path line segment.
Preferably, the obtaining, by the positioning device, a plurality of path points of the curve boundary of the target plot so as to be a set of path points of the curve boundary includes:
obtaining a plurality of path points of the curve boundary of the target land block through a positioning device;
and taking the set of the path points with the jitter and burr points deleted as a curve boundary path point set.
Preferably, the translating the plurality of path segments forming the curve boundary path point set by a preset operation width of a designated multiple includes:
translating a plurality of path segments in the curve boundary path point set by a preset operation width of a designated multiple to obtain a curve path to be corrected;
judging whether a region in which the curve path to be corrected is not distributed exists in the target land block;
if yes, adding the appointed multiple and executing the preset operation widths of all the path segments forming the curve boundary path point set in a translation mode by the appointed multiple to obtain a curve path to be corrected;
wherein the initial value of the specified multiple is 1.
Preferably, the trimming and linking of the to-be-trimmed curve path according to the intersection point of the adjacent path segments and the intersection point of the extension lines in the to-be-trimmed curve path is specifically:
deleting redundant line segments generated by intersecting adjacent path line segments according to the intersection points of the adjacent path line segments in the curve path to be corrected;
and according to the intersection point of the extension lines of the adjacent path segments in the curve path to be corrected, connecting the adjacent path segments which are not intersected according to the extension lines.
Preferably, the step of eliminating the error line segment generated due to self-intersection in the trimmed and joined curve path to obtain the curve path of the automatic driving agricultural machine specifically includes:
cutting the trimmed and joined curve path to be corrected into a plurality of path line segment sets based on each self-intersecting point in the trimmed and joined curve path to be corrected;
and removing the path segment set with the minimum distance from the curve boundary path point set being not equal to the preset operation breadth multiple from the curve path to be corrected which is subjected to trimming and connection so as to obtain a curve path of the automatic driving agricultural machine.
Preferably, the positioning device is a positioning device fixedly arranged on the agricultural machinery.
Preferably, the positioning device is a Beidou positioning system.
In order to solve the technical problem, the invention also provides a curve path generating device of the automatic driving agricultural machine, which comprises the following components:
the acquisition module is used for acquiring a plurality of path points of the curve boundary of the target land block through the positioning device so as to be used as a curve boundary path point set;
the translation module is used for translating a plurality of path segments forming the curve boundary path point set by a preset operation width of a designated multiple to obtain a curve path to be corrected;
the processing module is used for pruning and connecting the curve path to be corrected according to the intersection points of the adjacent path line segments and the intersection points of the extension lines in the curve path to be corrected;
the rejecting module is used for rejecting error line segments generated due to self-intersection in the trimmed and joined curve paths to obtain curve paths of the automatic driving agricultural machinery;
and a group of path points which are continuous and arranged on the same straight line in the curve boundary path point set are used as one path line segment.
In order to solve the technical problem, the invention also provides a curve path generating device of the automatic driving agricultural machine, comprising:
a memory for storing a computer program;
and a processor for implementing the steps of the curve path generation method of the automatic driving agricultural machine as described above when executing the computer program.
To solve the above technical problem, the present invention also provides a computer readable storage medium having a computer program stored thereon, which when executed by a processor, implements the steps of the curve path generating method of an automatic driving agricultural machine as described above.
The invention provides a curve path generation method of an automatic driving agricultural machine, which can be used for automatically operating a land block with curvature on the side by means of a curve path, wherein the land block is relatively simple in path planning process and reduced in labor cost based on a curve boundary path point set consisting of a plurality of path line segments, obtained by a positioning device, through translation of each path line segment, trimming and linking of each path line segment generated after translation, and finally removing an error line segment to generate a curve path.
The invention also provides a device, equipment and a computer readable storage medium for generating the curve path of the automatic driving agricultural machine, which have the same beneficial effects as the method for generating the curve path of the automatic driving agricultural machine.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required in the prior art and the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a method for generating a curved path of an automatic driving agricultural machine;
FIG. 2a is a schematic diagram illustrating a cross-over of adjacent path segments according to the present invention;
FIG. 2b is a schematic diagram illustrating a separation of adjacent path segments according to the present invention;
FIG. 3 is a schematic diagram of a self-intersecting error line segment;
FIG. 4 is a schematic diagram of a curve path generating device for an automatic driving agricultural machine according to the present invention;
fig. 5 is a schematic structural diagram of a curve path generating device of an automatic driving agricultural machine.
Detailed Description
The core of the invention is to provide a curve path generation method of an automatic driving agricultural machine, which can simply and rapidly plan a curve path with higher similarity between a position and a curve boundary of a target land block, thereby realizing automatic driving and reducing labor cost; another core of the invention is to provide a curve path generating device, equipment and a computer readable storage medium of an automatic driving agricultural machine, which can simply and quickly plan a curve path with higher similarity with a curve boundary of a target land parcel, thereby realizing automatic driving and reducing labor cost.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, fig. 1 is a flow chart of a method for generating a curved path of an automatic driving agricultural machine according to the present invention, where the method for generating a curved path of an automatic driving agricultural machine includes:
step S101: obtaining a plurality of path points of a curve boundary of a target land block through a positioning device to be used as a curve boundary path point set;
specifically, in view of the technical problems in the background art, in the embodiment of the present invention, to obtain each curve path in the target plot by translation and pruning based on the curve boundary of the target plot, so as to know that the automatic driving agricultural machine performs automatic driving in the target plot, in the embodiment of the present invention, it is first required to obtain a plurality of path points of the curve boundary of the target plot by using the positioning device, so that the path points are used as a curve boundary path point set, and can be used as a data base of a subsequent step.
Step S102: translating a plurality of path segments in a path point set forming a curve boundary by a preset operation width of a designated multiple to obtain a curve path to be corrected;
specifically, a plurality of path points of a curve boundary of a target land block acquired by the positioning device by default in the application can be divided into a plurality of path line segments, that is, when the path points on the curve boundary are acquired by the positioning device, a moving track of the positioning device on the curve boundary is joined by a plurality of straight line segments, for example, a driver drives an agricultural machine with the positioning device to travel along the curve boundary once.
Note that the curve boundary may be a longer part of the boundary of the whole target block, or may be the boundary of the whole target block, which is not limited herein.
Step S103: trimming and linking the curve path to be corrected according to the intersection points of adjacent path line segments and the intersection points of extension lines in the curve path to be corrected;
specifically, it is easy to understand that for two adjacent path segments with an included angle smaller than 180 ° the two path segments will cross after translation, and for two adjacent path segments with an included angle greater than 180 ° the two path segments will not join after translation, that is, have a gap, so that the two segments are impossible to be used as paths to guide the agricultural machine to automatically drive, therefore, the curve path to be corrected can be trimmed and joined according to the intersection point of the adjacent path segments and the intersection point of the extension lines in the curve path to be corrected, that is, for the adjacent path segments with the intersecting angle, the redundant segments are trimmed, and for the adjacent path segments with no more joining, the two adjacent path segments are joined by the extension lines, so that the whole curve path to be corrected becomes standard, so as to finally guide the agricultural machine to travel.
Step S104: removing error line segments generated due to self-intersection in the trimmed and joined curve paths to be trimmed, so as to obtain curve paths of the automatic driving agricultural machinery;
and a group of path points which are continuous and arranged on the same straight line in the curve boundary path point set are used as a path line segment.
Specifically, considering that the self-intersecting phenomenon is likely to occur in the translation process of a plurality of path segments in a curve path, and even if the self-intersecting part containing a loop is trimmed, the self-intersecting part containing the loop is reserved, and if the error segment is not eliminated, the agricultural machinery cannot be guided to automatically drive well, so that the loop can be eliminated by eliminating the error segment, and the running of the agricultural machinery can be guided correctly.
The invention provides a curve path generation method of an automatic driving agricultural machine, which can be used for automatically operating a land block with curvature on the side by means of a curve path, wherein the land block is relatively simple in path planning process and reduced in labor cost based on a curve boundary path point set consisting of a plurality of path line segments, obtained by a positioning device, through translation of each path line segment, trimming and linking of each path line segment generated after translation, and finally removing an error line segment to generate a curve path.
Based on the above embodiments:
as a preferred embodiment, the obtaining, by the positioning device, a plurality of path points of the curve boundary of the target land parcel to use them as the set of path points of the curve boundary includes:
obtaining a plurality of path points of a curve boundary of a target land block through a positioning device;
and taking the set of each path point of which the jitter and the burr points are deleted as a curve boundary path point set.
Specifically, considering that jitter and burrs may exist in collected route points due to internal reasons of the positioning device or vibration (unstable movement) of a carrier (possibly equipment or staff) of the positioning device, and the jitter and burrs may interfere in subsequent route planning, in order to improve accuracy of route planning, in the embodiment of the invention, jitter and burr points in a plurality of route points of a curve boundary of a target land block obtained through the positioning device are considered, so that accuracy of a route planned in the subsequent process is improved.
As a preferred embodiment, translating a plurality of path segments in a set of path points forming a boundary of a curve by a preset operation width of a designated multiple, and obtaining a path of the curve to be corrected includes:
translating a plurality of path segments in a path point set forming a curve boundary by a preset operation width of a designated multiple to obtain a curve path to be corrected;
judging whether a region in which a curve path to be corrected is not distributed exists in the target land block;
if yes, adding the appointed multiple and executing the preset operation breadth of which the appointed multiple is translated by a plurality of path line segments in the path point set forming the curve boundary to obtain a curve path to be corrected;
wherein the initial value of the specified multiple is 1.
Specifically, since the curve boundary path point set acquired in the foregoing step actually represents the path point set of the curve boundary, each curve path is to be obtained based on the idea of translation, and in consideration of the fact that the curve boundary path point set is formed by connecting a plurality of path line segments, a plurality of path line segments in the curve boundary path point set can be translated by a preset operation width of a designated multiple to obtain the curve path to be corrected, and the method for obtaining the curve path to be corrected is simple and rapid, and the calculation amount is saved.
The specified multiple may be set autonomously, for example, when the first to-be-corrected curve path adjacent to the curve boundary is desired, the specified multiple may be a minimum value of 1, which is not limited herein.
Specifically, the preset operation width is the operation width of the automatic driving agricultural machine, and the translation length is a multiple of the preset operation width, so that the automatic driving agricultural machine does not have land areas with no tillage missing when automatically driving according to the planned curve paths.
For better explaining the embodiments of the present invention, please refer to fig. 2, fig. 2a is a schematic diagram of a cross phenomenon of adjacent path segments provided by the present invention, fig. 2b is a schematic diagram of a separation phenomenon of adjacent path segments provided by the present invention, and as a preferred embodiment, trimming and linking a to-be-corrected curve path according to an intersection point of adjacent path segments and an intersection point of extension lines in the to-be-corrected curve path specifically includes:
deleting redundant line segments generated by intersecting adjacent path line segments according to the intersection points of the adjacent path line segments in the curve path to be corrected;
and according to the intersection point of the extension lines of the adjacent path segments in the curve path to be corrected, connecting the adjacent path segments which are not intersected according to the extension lines.
Specifically, considering that the intersection/separation of two adjacent path lines occurs after translation due to the problem of the angle between the two adjacent path lines before translation, the two cases cannot be used as a final path to conduct automatic driving guidance, so that the two problems need to be corrected, the intersection situation only needs to delete the redundant lines caused by the intersection, and the separation situation can be achieved by extending and connecting the adjacent non-intersected path lines according to the extension lines, so that a standard path is formed.
For better explaining the embodiments of the present invention, please refer to fig. 3, fig. 3 is a schematic diagram of a self-intersecting error line segment provided by the present invention, as a preferred embodiment, the error line segment generated due to self-intersecting in the trimmed and joined curve path to be trimmed is removed, so as to obtain a curve path of an automatic driving agricultural machine, which is specifically as follows:
cutting the trimmed and joined curve paths to be corrected into a plurality of path line segment sets based on each self-intersecting point in the trimmed and joined curve paths to be corrected;
and removing the path segment set with the minimum distance from the curve boundary path point set not equal to the multiple of the preset operation breadth from the curve path to be corrected which is subjected to trimming and connection so as to obtain the curve path of the automatic driving agricultural machine.
Specifically, in fig. 3, L1, L2 and L3 are three path segments in the curve boundary, and L1, L2 and L3 are three path segments after translation and trimming, where L1 is obtained by L1 translation, L2 is obtained by L2 translation, L3 is obtained by L3 translation, three points a, b and c are three self-intersecting points generated by self-intersecting of L1, L2 and L3, and the path segment set divided by these three points is a segment set at the lower left corner of ab, ac, bc, ab and a segment set at the lower right corner of bc, where the minimum distances between ab and bc and the boundary curve are obviously not integer multiples of the preset operation width, so that the error segments ab and bc can be deleted through the steps in the embodiments of the present invention.
Specifically, since the self-intersecting means that at least three path segments enclose a closed polygon, the error line segments generated due to the self-intersecting problem are not identified and deleted in the process of deleting the redundant lines generated by the intersecting, and considering that the minimum distance between the accurate line segments and the boundary of each curve is an integer multiple of the preset operation width in the multiple line segments generated due to the self-intersecting, the minimum distance between the error line segments in the closed polygon reserved due to the self-intersecting is not an integer multiple of the preset operation width, therefore, in the embodiment of the invention, the path of the curve to be corrected, which is subjected to the trimming and the connecting, is cut into a plurality of path line segment sets based on each self-intersecting point in the path of the curve to be corrected, and then the path segment sets with the minimum distance of the path point sets of the curve boundary are not equal to the preset operation width multiple are removed from the path to be corrected, so that all the error line segments generated due to the self-intersecting reason are deleted and the path of the automatic agricultural machine is obtained.
As a preferred embodiment, the positioning device is a positioning device fixedly arranged on the agricultural machine.
Specifically, when the agricultural machinery provided with the positioning device is fixed to acquire the path point set of the curve boundary, a worker does not need to prepare an additional positioning device, and can drive the agricultural machinery to acquire the path point set, so that the cost is saved and the working efficiency is improved.
Of course, the positioning device may be of other types besides this form, and the embodiment of the present invention is not limited herein.
As a preferred embodiment, the positioning device is a beidou positioning system.
Specifically, the Beidou positioning system has the advantages of low cost, high precision and the like.
Of course, besides the Beidou positioning system, the positioning device can be of other various types, and the embodiment of the invention is not limited herein.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a curve path generating device of an automatic driving agricultural machine according to the present invention, where the curve path generating device of the automatic driving agricultural machine includes:
an obtaining module 41, configured to obtain, by using a positioning device, a plurality of path points of a curve boundary of a target land block, so as to use the path points as a set of path points of the curve boundary;
the translation module 42 is configured to translate each of a plurality of path segments in the set of path points forming the curve boundary by a preset operation width with a specified multiple to obtain a curve path to be corrected;
the processing module 43 is configured to prune and join the curve path to be corrected according to the intersection point of the adjacent path segments and the intersection point of the extension lines in the curve path to be corrected;
the rejecting module 44 is configured to reject an error line segment generated due to self-intersecting in the trimmed and joined curve path to obtain a curve path of the automatic driving agricultural machine;
and a group of path points which are continuous and arranged on the same straight line in the curve boundary path point set are used as a path line segment.
For the description of the curve path generating device of the automatic driving agricultural machine provided by the embodiment of the present invention, reference is made to the foregoing embodiment of the curve path generating method of the automatic driving agricultural machine, and the embodiment of the present invention is not repeated herein.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a curve path generating device of an automatic driving agricultural machine according to the present invention, where the curve path generating device of the automatic driving agricultural machine includes:
a memory 51 for storing a computer program;
a processor 52 for implementing the steps of the curve path generation method of the autonomous agricultural machine in the previous embodiment when executing the computer program.
For the description of the apparatus for generating a curved path of an automatic driving agricultural machine provided in the embodiment of the present invention, reference is made to the foregoing embodiment of the method for generating a curved path of an automatic driving agricultural machine, and the embodiment of the present invention is not repeated herein.
To solve the above technical problem, the present invention further provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor implements the steps of the curve path generating method of the automatic driving agricultural machine as in the foregoing embodiment.
For the description of the computer readable storage medium provided in the embodiment of the present invention, please refer to the foregoing embodiment of the method for generating a curve path of an automatic driving agricultural machine, and the embodiment of the present invention is not repeated herein.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section. It should also be noted that in this specification the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. A method of generating a curved path for an autonomous agricultural machine, comprising:
obtaining a plurality of path points of a curve boundary of a target land block through a positioning device to be used as a curve boundary path point set;
translating a plurality of path segments in the curve boundary path point set by a preset operation width of a designated multiple to obtain a curve path to be corrected;
trimming and linking the curve path to be corrected according to the intersection points of the adjacent path line segments and the intersection points of the extension lines in the curve path to be corrected;
removing error line segments generated due to self-intersection in the trimmed and joined curve paths to obtain curve paths of the automatic driving agricultural machinery;
wherein, a group of path points which are continuous and arranged on the same straight line in the curve boundary path point set is used as one path line segment;
the obtaining, by the positioning device, a plurality of path points of the curve boundary of the target plot, so as to use the path points as a set of path points of the curve boundary includes:
obtaining a plurality of path points of the curve boundary of the target land block through a positioning device;
taking the set of the path points with the jitter and burr points deleted as a curve boundary path point set;
the step of translating a plurality of path segments forming the curve boundary path point set by a preset operation width of a designated multiple to obtain a curve path to be corrected comprises the following steps:
translating a plurality of path segments in the curve boundary path point set by a preset operation width of a designated multiple to obtain a curve path to be corrected;
judging whether a region in which the curve path to be corrected is not distributed exists in the target land block;
if yes, adding the appointed multiple and executing the preset operation widths of all the path segments forming the curve boundary path point set in a translation mode by the appointed multiple to obtain a curve path to be corrected;
wherein the initial value of the specified multiple is 1;
the trimming and linking of the curve path to be trimmed according to the intersection point of the adjacent path line segments and the intersection point of the extension lines in the curve path to be trimmed is specifically as follows:
deleting redundant line segments generated by intersecting adjacent path line segments according to the intersection points of the adjacent path line segments and the intersection points of extension lines in the curve path to be corrected;
according to intersection points of extension lines of adjacent path segments in the curve path to be corrected, connecting the adjacent path segments which are not intersected according to the extension lines;
the step of eliminating error line segments generated due to self-intersection in the trimmed and joined curve path to obtain the curve path of the automatic driving agricultural machine comprises the following specific steps:
cutting the trimmed and joined curve path to be corrected into a plurality of path line segment sets based on each self-intersecting point in the trimmed and joined curve path to be corrected;
and removing the path segment set with the minimum distance from the curve boundary path point set being not equal to the preset operation breadth multiple from the curve path to be corrected which is subjected to trimming and connection so as to obtain a curve of the automatic driving agricultural machine.
2. The method for generating a curved path for an autonomous agricultural machine according to claim 1, wherein the positioning device is a positioning device fixedly provided on the agricultural machine.
3. The method for generating a curved path for an autonomous agricultural machine according to claim 2, wherein the positioning device is a beidou positioning system.
4. A curved path generating device for an automatic driving agricultural machine, comprising:
the acquisition module is used for acquiring a plurality of path points of the curve boundary of the target land block through the positioning device to be used as a curve boundary path point set;
the translation module is used for translating a plurality of path segments forming the curve boundary path point set by a preset operation width of a designated multiple to obtain a curve path to be corrected;
the processing module is used for pruning and connecting the curve path to be corrected according to the intersection points of the adjacent path line segments and the intersection points of the extension lines in the curve path to be corrected;
the rejecting module is used for rejecting error line segments generated due to self-intersection in the trimmed and joined curve paths to obtain curve paths of the automatic driving agricultural machinery;
wherein, a group of path points which are continuous and arranged on the same straight line in the curve boundary path point set is used as one path line segment;
the obtaining, by the positioning device, a plurality of path points of the curve boundary of the target plot, so as to use the path points as a set of path points of the curve boundary includes:
obtaining a plurality of path points of the curve boundary of the target land block through a positioning device;
taking the set of the path points with the jitter and burr points deleted as a curve boundary path point set;
the step of translating a plurality of path segments forming the curve boundary path point set by a preset operation width of a designated multiple to obtain a curve path to be corrected comprises the following steps:
translating a plurality of path segments in the curve boundary path point set by a preset operation width of a designated multiple to obtain a curve path to be corrected;
judging whether a region in which the curve path to be corrected is not distributed exists in the target land block;
if yes, adding the appointed multiple and executing the preset operation widths of all the path segments forming the curve boundary path point set in a translation mode by the appointed multiple to obtain a curve path to be corrected;
wherein the initial value of the specified multiple is 1;
the trimming and linking of the curve path to be trimmed according to the intersection point of the adjacent path line segments and the intersection point of the extension lines in the curve path to be trimmed is specifically as follows:
deleting redundant line segments generated by intersecting adjacent path line segments according to the intersection points of the adjacent path line segments and the intersection points of extension lines in the curve path to be corrected;
according to intersection points of extension lines of adjacent path segments in the curve path to be corrected, connecting the adjacent path segments which are not intersected according to the extension lines;
the step of eliminating error line segments generated due to self-intersection in the trimmed and joined curve path to obtain the curve path of the automatic driving agricultural machine comprises the following specific steps:
cutting the trimmed and joined curve path to be corrected into a plurality of path line segment sets based on each self-intersecting point in the trimmed and joined curve path to be corrected;
and removing the path segment set with the minimum distance from the curve boundary path point set being not equal to the preset operation breadth multiple from the curve path to be corrected which is subjected to trimming and connection so as to obtain a curve of the automatic driving agricultural machine.
5. A curved path generating apparatus for an automatic driving agricultural machine, comprising: a memory for storing a computer program; a processor for implementing the steps of the curve path generation method of an autonomous agricultural machine of any one of claims 1 to 3 when executing the computer program.
6. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the curve path generation method of an autonomous agricultural machine as claimed in any one of claims 1 to 3.
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| CN115290095A (en) * | 2022-09-28 | 2022-11-04 | 陕西耕辰科技有限公司 | Agricultural machine operation path automatic planning method and system, agricultural machine and storage medium |
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