Unmanned transplanter path planning method

Abstract

The invention discloses an unmanned transplanter path planning method, which comprises: obtaining the coordinates of the vertexes of a to-be-operated area; calculating the widths of the short edge andthe long edge of the to-be-operated area; obtaining the operating width of a transplanter, and calculating the number of operations; determining the number n2 of operating paths along the short edgeaccording to the obtained operation number n1, and calculating the operating distance along the long edge direction; according to the obtained number n1 and the obtained number n2, calculating the operating distances along the long edge direction and the short edge direction; and carrying out path planning. According to the present invention, by using the cross-row operating method, the difficulties in the turning of the transplanter at the edge of the field and the accurate row aligning can be reduced, and the turning time of the transplanter at the edge of the field and the accurate row aligning time can be shortened, such that the machine planting area of the operating area is greatly improved, and the basis is established for the unmanned driving of the transplanter; and the path planning method can be used for unmanned transplanters, can further be used for unmanned sowing machines, and has characteristics of wide application and simple operation.

Description

technical field [0001] The invention relates to a path planning method for an unmanned rice transplanter, which belongs to the field of intelligent agricultural equipment, in particular to an unmanned rice transplanter capable of realizing accurate cross-travel driving, automatic ground turning, and automatic multiple operations of rice transplanting, fertilization, and pesticide application. path planning method. Background technique [0002] my country is the largest rice planting country in the world, with a planting area of ​​about 30 million hectares. Transplanting rice seedlings is labor-intensive and seasonal, so it needs to be planted in time for farming. In recent years, with the large-scale transfer of rural labor to cities, the cost of manual rice transplanting has continued to increase, and due to the transfer of middle-aged labor to cities, most of the rural surplus labor is the elderly and women, with limited labor capacity. The contradiction between the shor...

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Problems solved by technology

[0004] The patent (patent number 201611229091.1) discloses a method and device for path planning of automated operation equipment. During the entire operation process, the planned path gradually shrinks from the outside to the inside, which realizes the small-radius steering of the automatic operation equipment during the operation process and reduces the steering process. The energy consumption improves the operation efficiency, but because the rice transplanter cannot compress the transplanted rice seedlings when the rice transplanter is working, and the patent gradually shrinks the planning path from the outside to the inside. If the seedlings are damaged by pressure, they are not suitable for rice transplanter transplanting operations.

[0005] The paper "GNSS-based Automatic Navigation Path Planning Method for Farmland Leveling" (Liu Gang et al., Journal of Agricultural Machinery, 2016, Volume 47, Supplement, Page 21-29) discloses a method for automatic navigation path planning for leveling. Combining global path planning and local real-time path planning, taking the shortest unloaded and full-load time of forklifts as the evaluation benchmark, integrating K-means and density means, clustering farmland grids, realizing efficient tractor leveling operations, and reducing labor costs. Labor intensity improves the efficiency of leveling. In this patent, the forklift needs to perform repeated soil preparation operations in the same area when leveling the ground, which does not meet the requirement that the transplanter cannot damage the transplanted seedlings. Therefore, this path planning method cannot be used for transplanting. Machine work

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