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CN-121977552-A - Rake path planning method, device, terminal, medium and program product

CN121977552ACN 121977552 ACN121977552 ACN 121977552ACN-121977552-A

Abstract

The application provides a method, a device, a terminal, a medium and a program product for planning a harrowing operation path. The method comprises the steps of obtaining a target land block, determining an operation starting point on the target land block, determining an operation line generation reference end point according to geometric parameters of the target land block, determining an operation line reference direction according to the operation starting point and the operation line generation reference end point, generating a plurality of operation lines in the boundary of the target land block according to the operation line reference direction, generating a plurality of operation links according to the plurality of operation lines based on a route selection strategy with obtuse angle priority and distance priority, and executing operation numbering operation based on the plurality of operation links to obtain a harrowing operation route. The application realizes the full-coverage path planning of the plots with different shapes through the steps of plot area division, main line generation, parallel line layout, operation link generation, serial number sequencing and the like, has strong operation continuity and remarkably improves the operation efficiency.

Inventors

  • Zhai hongye
  • ZHANG PENG
  • HAN XINGYU

Assignees

  • 黑龙江惠达科技股份有限公司

Dates

Publication Date
20260505
Application Date
20251217

Claims (10)

  1. 1. A method for planning a rake path, comprising: acquiring a target land block, and determining an operation starting point on the target land block; Determining a working line generating reference endpoint according to the geometric parameters of the target land parcels, and determining a working line reference direction according to the working starting point and the working line generating reference endpoint; generating a plurality of working lines in the boundary of the target land according to the working line reference direction; Generating a plurality of operation links according to the plurality of operation lines based on the path selection strategies of obtuse angle priority and distance priority; And executing operation numbering operation based on the plurality of operation links to obtain a harrowing operation path.
  2. 2. The method of claim 1, wherein determining a line generation reference endpoint based on the geometric parameters of the target plot comprises: Determining a first scaling factor and a second scaling factor according to the aspect ratio in the geometric parameters of the target land parcel; Calculating a first working line generation reference endpoint based on the working starting point, the first proportionality coefficient and the length and width parameters in the geometric parameters of the target land block, and calculating a second working line generation reference endpoint based on the working starting point, the second proportionality coefficient and the length and width parameters in the geometric parameters of the target land block, wherein the first proportionality coefficient is smaller than the second proportionality coefficient.
  3. 3. The method of claim 2, wherein determining a line reference direction based on the line start point and the line generation reference point comprises: Generating a reference endpoint based on the operation starting point and the first operation line, and calculating a first slope, wherein the direction of a straight line corresponding to the first slope is the reference direction of the first operation line; And calculating a second slope based on the reference endpoint generated by the first working line and the reference endpoint generated by the second working line, wherein the direction of a straight line corresponding to the second slope is the reference direction of the second working line, and the product of the first slope and the second slope is smaller than zero.
  4. 4. The method of claim 1, wherein generating a plurality of links from the plurality of lines based on an obtuse-angled priority and a distance-priority path selection strategy comprises: based on the route selection strategy of obtuse angle priority and distance priority, generating operation through a plurality of operation links according to the plurality of operation lines to obtain a plurality of operation links; Wherein each round of the operation link generation operation includes: the method comprises the steps of starting from a starting working line of a self-wheel, sequentially selecting working lines from all the working lines according to an obtuse-angle priority and distance priority path selection strategy, stopping the self-wheel operation when an operation end condition is met, outputting the starting working line of the self-wheel and all the working lines selected in the self-wheel operation as working links generated by the self-wheel, and taking the working line which is closest to the last working line selected in the self-wheel operation and is not traversed as the starting working line of the next wheel.
  5. 5. The method of claim 4, wherein the obtuse-angle-first and distance-first path selection strategy includes using a line having an obtuse angle with a currently selected line and a shortest distance as a next selected line.
  6. 6. The method of claim 1, wherein performing an operation numbering operation based on the plurality of operation links to obtain a raked operation path comprises: numbering each generated operation link according to the execution sequence of the operation link generation operation; After the number of the operation links is finished, the internal operation line number operation is respectively carried out on each operation link to obtain the number of each operation line, and each operation line and the number of each operation line are output as a harrowing operation path.
  7. 7. A raking path planning apparatus, comprising: the acquisition module is used for acquiring the land parcel data of the target land parcel and determining an operation starting point on the target land parcel; The reference direction determining module is used for determining a working line to generate a reference endpoint according to the land parcel data of the target land parcel, generating the reference endpoint according to the working starting point and the working line, and determining a working line reference direction; A line generation module, configured to generate a plurality of lines within a boundary of the target land parcel according to the line reference direction; The operation link generation module is used for generating a plurality of operation links according to the plurality of operation lines based on the route selection strategies of obtuse angle priority and distance priority; And the path generation module is used for executing operation numbering operation based on the plurality of operation links to obtain a harrowing operation path.
  8. 8. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the method of any one of claims 1 to 6.
  9. 9. A computer program product comprising computer program code embodied therein, which when run on a computer causes the computer to implement the method as claimed in any one of claims 1 to 6.
  10. 10. An electronic terminal comprising a memory, a processor and a computer program stored on the memory, characterized in that the processor executes the computer program to implement the method of any one of claims 1 to 6.

Description

Rake path planning method, device, terminal, medium and program product Technical Field The present application relates to the field of agricultural technologies, and in particular, to a method, an apparatus, a terminal, a medium, and a program product for planning a harrowing operation path. Background In the existing raking operation, a random or diagonal raking method is mostly adopted, so that raking sequence is not fixed, and raked areas are difficult to manage. Especially, during the operation on the day, the operation state of the land is disordered, and the front operation and the back operation are difficult to be connected. In addition, the existing method often does not fully consider the requirements of the rake-following operation on the path continuity, is easy to break, and needs repeated turning or jumping operation, so that the turning times and the operation time are increased. Meanwhile, due to lack of targeted path planning, redundancy or omission exists in operation coverage, particularly in irregular plots, so that the operation efficiency is low, and meanwhile, the operation difficulty and the plot management cost are increased. Disclosure of Invention In view of the above-mentioned drawbacks of the prior art, an object of the present application is to provide a method, apparatus, terminal, medium and program product for planning a raking path, which are used for solving the problems of disordered raking paths, difficult management of raked areas and poor continuity of operation in the prior art. To achieve the above and other related objects, a first aspect of the present application provides a method for planning a harrowing operation path, including obtaining a target block, determining an operation start point on the target block, determining an operation line generation reference end point according to a geometric parameter of the target block, determining an operation line reference direction according to the operation start point and the operation line generation reference end point, generating a plurality of operation lines within a boundary of the target block according to the operation line reference direction, generating a plurality of operation links according to the plurality of operation lines based on an obtuse-angle priority and a distance priority path selection policy, and performing an operation numbering operation based on the plurality of operation links to obtain the harrowing operation path. In some embodiments of the first aspect of the present application, determining a line generation reference endpoint according to geometric parameters of the target plot includes determining a first scale factor and a second scale factor according to an aspect ratio in the geometric parameters of the target plot, calculating a first line generation reference endpoint based on length and width parameters in the geometric parameters of the work starting point, the first scale factor and the target plot, and calculating a second line generation reference endpoint based on length and width parameters in the geometric parameters of the work starting point, the second scale factor and the target plot, wherein the first scale factor is smaller than the second scale factor. In some embodiments of the first aspect of the present application, determining a line reference direction according to the start point and the line generation reference point includes calculating a first slope based on the start point and the first line generation reference point, wherein a direction of a line corresponding to the first slope is the first line reference direction, generating a reference point based on the first line generation reference point and the second line generation reference point, calculating a second slope, wherein a direction of a line corresponding to the second slope is the second line reference direction, and a product of the first slope and the second slope is less than zero. In some embodiments of the first aspect of the present application, generating a plurality of links according to the plurality of lines based on the path selection policy of the obtuse-angle priority and the distance priority includes generating a plurality of links according to the path selection policy of the obtuse-angle priority and the distance priority by a plurality of operation lines, wherein each operation line generation operation includes sequentially selecting lines among the lines according to the path selection policy of the obtuse-angle priority and the distance priority from a start line of the current wheel, stopping the current wheel operation when an operation end condition is satisfied, outputting the start line of the current wheel and all the selected lines of the current wheel operation as a generated link of the current wheel, and taking a line closest to a last line selected by the current wheel operation and not traversed as a start line of a next wheel. In some embodiments of the fi