CN-121979194-A - Path memorizing method, device, medium, terminal and program product for agricultural unmanned vehicle

Abstract

The application provides a path memorizing method, device, medium, terminal and program product of an agricultural unmanned aerial vehicle, which comprise the steps of obtaining a plurality of motion parameters of the agricultural unmanned aerial vehicle in the moving process, wherein the motion parameters comprise unmanned aerial vehicle position information, unmanned aerial vehicle acceleration, unmanned aerial vehicle speed and unmanned aerial vehicle direction, recording an initial position of the agricultural unmanned aerial vehicle as a path starting point, judging whether the current position of the agricultural unmanned aerial vehicle is used as a path node or not according to the obtained unmanned aerial vehicle position information, unmanned aerial vehicle acceleration, unmanned aerial vehicle speed and unmanned aerial vehicle direction based on a preset judging rule, recording the current position as a next path node and storing the current position if the current position of the agricultural unmanned aerial vehicle is judged as the path node, and discarding relevant motion parameter data of the current position if the current position of the agricultural unmanned aerial vehicle is judged not to be used as the path node. The application can obviously reduce the storage occupation and the communication load, thereby improving the data resource efficiency and the communication stability.

Inventors

• HE HAOBO
• HU CHENGSONG
• SUN YONGQING

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 path memorizing method for an agricultural unmanned vehicle, comprising: acquiring a plurality of motion parameters of an agricultural unmanned vehicle in the moving process, wherein the motion parameters comprise unmanned vehicle position information, unmanned vehicle acceleration, unmanned vehicle speed and unmanned vehicle direction; Recording an initial position of an agricultural unmanned aerial vehicle as a path starting point, and judging whether the current position of the agricultural unmanned aerial vehicle is used as a path node or not based on a preset judging rule according to the acquired position information, the acquired acceleration, the acquired speed and the acquired direction of the agricultural unmanned aerial vehicle; If the current position of the agricultural unmanned vehicle is judged to be used as a path node, the current position is recorded as a next path node and stored, and if the current position of the agricultural unmanned vehicle is judged not to be used as the path node, relevant motion parameter data of the current position is discarded.
2. 2. The method for memorizing the path of the agricultural unmanned vehicle according to claim 1, wherein the preset determination rule comprises calculating the distance between the current position and the last path node according to the current position of the agricultural unmanned vehicle and the position information of the unmanned vehicle of the last path node, recording the current position as the next path node and storing the current position if the calculated distance is greater than or equal to a first threshold value, and discarding the related motion parameter data of the current position if the calculated distance is less than the first threshold value.
3. 3. The method for memorizing the path of the agricultural unmanned vehicle according to claim 1, wherein the preset judging rule further comprises the steps of calculating the distance between the current position and the last path node according to the current position of the agricultural unmanned vehicle and the position information of the unmanned vehicle of the last path node, recording the current position as the next path node and saving the current position if the direction deviation of the unmanned vehicle exceeds a second threshold value and the calculated distance is greater than or equal to a third threshold value, otherwise discarding the related motion parameter data of the current position.
4. 4. The method for memorizing the path of the agricultural unmanned vehicle according to claim 3, wherein the preset judging rule further comprises the steps of calculating the distance between the current position and the last path node according to the current position of the agricultural unmanned vehicle and the position information of the unmanned vehicle of the last path node, recording the current position as the next path node and saving the current position if the speed change of the unmanned vehicle exceeds a fourth threshold value and the calculated distance is greater than or equal to the third threshold value, otherwise discarding the related motion parameter data of the current position.
5. 5. The method for memorizing the path of the agricultural unmanned vehicle according to claim 3, wherein the preset determination rule further comprises the steps of calculating the distance between the current position and the last path node according to the current position of the agricultural unmanned vehicle and the position information of the unmanned vehicle of the last path node, if the agricultural unmanned vehicle brakes, parks, recognizes an obstacle or a remote control platform to conduct direction switching operation and the calculated distance is greater than or equal to the third threshold value, recording the current position as the next path node and storing the next path node, otherwise discarding the related motion parameter data of the current position.
6. 6. The path memory method of an agricultural unmanned vehicle according to claim 1, wherein the unmanned vehicle position information is acquired based on a real-time dynamic positioning technique, and the unmanned vehicle acceleration, the unmanned vehicle speed and the unmanned vehicle direction are acquired based on an inertial measurement unit.
7. 7. A path memory device for an agricultural unmanned vehicle, comprising: The system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring a plurality of motion parameters of the agricultural unmanned aerial vehicle in the moving process, wherein the motion parameters comprise unmanned vehicle position information, unmanned vehicle acceleration, unmanned vehicle speed and unmanned vehicle direction; The node judging module is used for recording the initial position of the agricultural unmanned aerial vehicle as a path starting point, judging whether the current position of the agricultural unmanned aerial vehicle is used as a path node or not based on a preset judging rule according to the acquired position information, the acceleration, the speed and the direction of the unmanned aerial vehicle; the recording and discarding module is used for recording the current position of the agricultural unmanned vehicle as a next path node and storing the current position if the current position of the agricultural unmanned vehicle is judged as the path node, and discarding the relevant motion parameter data of the current position if the current position of the agricultural unmanned vehicle is judged not to be the path node.
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 according to any one of claims 1 to 6.
9. 9. A computer program product comprising computer program code means for causing a computer to carry out the method as claimed in any one of claims 1 to 6 when said computer program code means are run on the computer.
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 according to any of claims 1 to 6.

Description

Path memorizing method, device, medium, terminal and program product for agricultural unmanned vehicle Technical Field The application relates to the technical field of intelligent agriculture, in particular to a path memory method, a path memory device, a path memory medium, a path memory terminal and a path memory program product of an agricultural unmanned vehicle. Background With the rapid development of intelligent agriculture, agricultural unmanned vehicles have become an important automation device for farmland operation. In the field moving process, the agricultural unmanned vehicle generally acquires the longitude and latitude position information of the agricultural unmanned vehicle in real time through a GPS or Beidou positioning module and the like, and sends the information to a remote controller through a wireless data transmission image transmission link in high frequency. However, after receiving longitude and latitude position information sent by the unmanned vehicle at high frequency, the remote controller directly records and completely stores all the position information and persists in the local area, so that a large amount of external memory space of the remote controller is occupied, and the continuous high-frequency sending of the position information can obviously increase the load of a data transmission image transmission channel, thereby affecting the communication stability of the whole system. Therefore, there is a need to provide a path memorizing method, device, medium, terminal and program product for an agricultural unmanned vehicle, so as to solve the above-mentioned problems in the prior art. Disclosure of Invention In view of the above-mentioned drawbacks of the prior art, an object of the present application is to provide a path memorizing method, apparatus, medium, terminal and program product for an agricultural unmanned vehicle, which are used for solving the technical problems of more memory occupation and too high load of communication channels in the prior art. To achieve the above and other related objects, a first aspect of the present application provides a path memorizing method of an agricultural unmanned aerial vehicle, including obtaining a plurality of motion parameters of the agricultural unmanned aerial vehicle during movement, the motion parameters including unmanned aerial vehicle position information, unmanned aerial vehicle acceleration, unmanned aerial vehicle speed and unmanned aerial vehicle direction, recording an initial position of the agricultural unmanned aerial vehicle as a path starting point, and judging whether a current position of the agricultural unmanned aerial vehicle is a path node based on a preset judgment rule according to the obtained unmanned aerial vehicle position information, the unmanned aerial vehicle acceleration, the unmanned aerial vehicle speed and the unmanned aerial vehicle direction, recording the current position as a next path node and storing the current position if the current position of the agricultural unmanned aerial vehicle is judged as the path node, and discarding relevant motion parameter data of the current position if the current position of the agricultural unmanned aerial vehicle is judged not to be the path node. In some embodiments of the first aspect of the present application, the preset determination rule includes calculating a distance between a current position and a previous path node according to a current position of the agricultural unmanned vehicle and unmanned vehicle position information of the previous path node, recording the current position as a next path node and saving the current position if the calculated distance is greater than or equal to a first threshold, and discarding relevant motion parameter data of the current position if the calculated distance is less than the first threshold. In some embodiments of the first aspect of the present application, the preset determination rule further includes calculating a distance between the current position and a previous path node according to the current position of the agricultural unmanned vehicle and the unmanned vehicle position information of the previous path node, if the unmanned vehicle direction deviation exceeds a second threshold and the calculated distance is greater than or equal to a third threshold, recording the current position as a next path node and saving, otherwise discarding relevant motion parameter data of the current position. In some embodiments of the first aspect of the present application, the preset determination rule further includes calculating a distance between the current position and a previous path node according to the current position of the agricultural unmanned vehicle and the unmanned vehicle position information of the previous path node, if the speed change of the unmanned vehicle exceeds a fourth threshold value and the calculated distance is greater than or equal to the third threshold v