CN118982183A - A method and system for planning agricultural machinery operation area - Google Patents
A method and system for planning agricultural machinery operation area Download PDFInfo
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Abstract
本发明公开了一种农机作业区域规划方法及系统，涉及农机作业规划技术领域，包括测量农机作业区域边界和障碍物边界，生成头地区域和实际作业区域；定义农机作业方向，根据作业方向生成平行作业轨迹，根据平行作业轨迹将实际作业区域分解为子区域；计算每个作业方向的最优子区域作业连接顺序，构建评估矩阵分析每个作业方向适宜性，将适宜性最高的作业方向作为最终农机作业方向；根据最终农机作业方向生成农机作业方案并进行实施。本发明有效提高了农机对作业区域的适应性和灵活性，大幅提升了农机作业效率。
The present invention discloses a method and system for planning an agricultural machinery operation area, and relates to the technical field of agricultural machinery operation planning, including measuring the boundaries of the agricultural machinery operation area and the obstacle boundaries, generating the headland area and the actual operation area; defining the agricultural machinery operation direction, generating parallel operation tracks according to the operation direction, and decomposing the actual operation area into sub-areas according to the parallel operation tracks; calculating the optimal sub-area operation connection sequence of each operation direction, constructing an evaluation matrix to analyze the suitability of each operation direction, and taking the operation direction with the highest suitability as the final agricultural machinery operation direction; generating an agricultural machinery operation plan according to the final agricultural machinery operation direction and implementing it. The present invention effectively improves the adaptability and flexibility of agricultural machinery to the operation area, and greatly improves the efficiency of agricultural machinery operation.
Description
Technical Field
The invention relates to the technical field of agricultural machinery operation planning, in particular to an agricultural machinery operation area planning method and system.
Background
The development of agricultural mechanization has undergone multiple stages, from the initial simple mechanical tools to modern intelligent agricultural machinery, the technological progress has significantly improved the agricultural production efficiency and the operation quality, with the increase of global agricultural demands and the rise of labor costs, the modern agricultural mechanization technology gradually develops towards the intelligent and automatic directions, in recent years, the agricultural machinery autopilot technology and intelligent planning technology gradually become research hotspots, the agricultural machinery can realize autonomous operation with high precision and high efficiency through advanced sensor technology, satellite positioning technology and artificial intelligent algorithm, the prior art mostly depends on preset paths and simple manual intervention, lacks flexible adaptability to different terrains and operation conditions, often depends on experience or simple heuristic algorithms, and fails to fully consider the comprehensive suitability of each operation direction when determining the operation direction.
Disclosure of Invention
The present invention has been made in view of the above-mentioned problems occurring in the conventional agricultural machinery operation area planning method and system.
Therefore, the problem to be solved by the invention is that the prior art mostly depends on a preset path and simple manual intervention, lacks flexible adaptability to different terrains and operation conditions, often depends on experience or a simple heuristic algorithm when determining the operation direction, and fails to fully consider the comprehensive suitability of each operation direction.
In order to solve the technical problems, the invention provides the following technical scheme: an agricultural machinery operation area planning method comprises the steps of measuring an agricultural machinery operation area boundary and an obstacle boundary, and generating a head area and an actual operation area;
defining an agricultural machine operation direction, generating a parallel operation track according to the operation direction, and decomposing an actual operation area into subareas according to the parallel operation track;
Calculating an optimal sub-region operation connection sequence of each operation direction, constructing an evaluation matrix to analyze the suitability of each operation direction, and taking the operation direction with the highest suitability as the final agricultural machinery operation direction;
And generating an agricultural operation scheme according to the final agricultural operation direction and implementing the agricultural operation scheme.
As a preferable scheme of the agricultural machinery operation area planning method, the invention comprises the following steps: the method comprises the steps of measuring an agricultural machine operation area boundary and an obstacle boundary, generating a first land area and an actual operation area, namely setting an unmanned aerial vehicle flight route, starting an unmanned aerial vehicle to fly according to the set route to collect an agricultural machine operation area image, preprocessing the acquired image, detecting the agricultural machine operation area and the obstacle boundary by using a Canny edge detection operator, marking the agricultural machine operation area boundary and the obstacle boundary in the image, converting the agricultural machine operation area boundary and the obstacle boundary into pixel coordinates, converting the pixel coordinates into geographic coordinates by GPS data of the unmanned aerial vehicle, visually displaying the geographic coordinates by using a GIS system, and generating a map of the agricultural machine operation area boundary and the obstacle boundary;
And carrying out inward shrinking operation on the boundary of the agricultural machine operation area to generate an inner boundary of the operation area, carrying out outward expanding operation on the boundary of the obstacle to generate an outer boundary of the obstacle, wherein the inward shrinking distance and the outward expanding distance are both twice the width of the agricultural machine operation, taking the area between the edge of the operation area and the inner boundary and the area between the boundary of the obstacle and the outer boundary as a head area, calculating the distance between the head areas, merging the head areas if the minimum distance between the head areas is smaller than the width of the agricultural machine operation, and taking the rest areas in the agricultural machine operation area as actual operation areas.
As a preferable scheme of the agricultural machinery operation area planning method, the invention comprises the following steps: defining an agricultural machine operation direction, generating parallel operation tracks according to the operation direction, namely selecting the vertical direction of the boundary of each agricultural machine operation area as the agricultural machine operation direction, selecting the vertical direction of a midpoint tangent line of an arc line as the agricultural machine operation direction if the boundary of the operation area is an arc line, marking each agricultural machine operation direction, and correspondingly generating the parallel operation tracks of the agricultural machine, wherein the distance between the parallel operation tracks is equal to the operation width of the agricultural machine;
Generating an external rectangle MBR according to the inner boundary of the working area and the working direction of the agricultural machinery by using a rotary caliper method:
MBR＝arg min(maxxicosθ+yisinθ-min|xicosθ+yisinθ)；
Wherein x i and y i are boundary point coordinates in the operation area, θ is an angle perpendicular to the operation direction of the agricultural machinery, vertex coordinates x MBR and y MBR of the circumscribed rectangle are determined, and the side length of the circumscribed rectangle is obtained;
Calculating the number of parallel operation tracks according to the side length of the circumscribed rectangle perpendicular to the operation direction of the agricultural machinery:
Wherein T is the number of parallel operation tracks, L MBR is the side length of an external rectangle perpendicular to the operation direction of the agricultural machinery, and W is the operation width of the agricultural machinery;
And calculating the corresponding circumscribed rectangle and parallel operation track quantity of each agricultural machine operation direction.
As a preferable scheme of the agricultural machinery operation area planning method, the invention comprises the following steps: decomposing the actual operation area into subareas according to the parallel operation tracks refers to decomposing the actual operation area into subareas by using a cattle-ploughing unit decomposition method according to the parallel operation tracks of each agricultural machine operation direction, checking each subarea generated by decomposition, checking obstacles in the subareas, if the subareas contain the obstacles, further decomposing the subareas, repeating the decomposition step until no obstacles exist in all the subareas, forming the subareas generated by decomposition into an unobstructed subarea set, marking each unobstructed subarea, and obtaining the operation tracks contained by the boundaries of the unobstructed subareas and the unobstructed subareas;
Extracting angular points of each barrier-free subarea, wherein the angular points comprise an upper left corner, a lower left corner, an upper right corner and a lower right corner, and taking the angular points as a starting point and an end point of a working track of each barrier-free subarea for preparation.
As a preferable scheme of the agricultural machinery operation area planning method, the invention comprises the following steps: the calculating of the optimal sub-region operation connection sequence of each operation direction refers to obtaining the coordinates of the boundary points of the barrier-free sub-regions according to the barrier-free sub-region set and the barrier-free sub-region boundaries corresponding to each operation direction, and calculating the coordinates of the geometric center points of the barrier-free sub-regions:
Wherein C x and C y are coordinates of central points of the barrier-free subareas, A is the area of the barrier-free subareas, (x j,yj) and (x j+1,yj+1) are adjacent boundary points of the barrier-free subareas, and n is the number of boundary points of the barrier-free subareas;
Calculating the center point coordinates of each barrier-free subarea, constructing an initial barrier-free subarea connection diagram, taking each barrier-free subarea as a node, taking the connection path of the center point of each barrier-free subarea as an edge, calculating the Euclidean distance d of each edge, and constructing an optimization target formula by using a traveling merchant problem model:
Wherein m is the number of barrier-free subregions, d i,i+1 is the Euclidean distance between the ith and (i+1) th barrier-free subregions, and d n,1 is the Euclidean distance between the nth and (1) th barrier-free subregions;
Solving an optimization target formula by using an ant colony algorithm, initializing a pheromone concentration matrix and a heuristic function value matrix, generating a new connection path of a center point of a barrier-free subarea in each iteration, detecting corner points of the connected barrier-free subarea, regarding the connection as an error connection path when no overlap exists between the corner points of the connected barrier-free subarea, eliminating the error connection path from the connection path of the center point of the new barrier-free subarea, calculating the total distance of the connection path, updating the pheromone concentration matrix, setting a total distance change threshold, and recording the current connection path as an optimal connection path when the total distance change value is smaller than the total distance change threshold in the continuous iteration process;
Extracting the connection sequence of barrier-free subareas of the optimal connection path, determining the operation starting point and the operation end point of each barrier-free subarea according to the angular points and the operation track of the barrier-free subarea, and connecting the operation starting point and the operation end point of all the barrier-free subareas in series according to the connection sequence to form an agricultural machinery operation track;
and calculating an agricultural machine operation track of each agricultural machine operation direction, and if the operation start point and the end point of the barrier-free subarea cannot be connected according to the connection sequence, eliminating the agricultural machine operation direction as an error direction.
As a preferable scheme of the agricultural machinery operation area planning method, the invention comprises the following steps: the construction evaluation matrix analyzes suitability of each operation direction, takes the operation direction with highest suitability as a final agricultural machine operation direction, extracts track length, operation time, energy consumption and operation coverage rate from agricultural machine operation tracks of the rest agricultural machine operation directions after error direction removal as evaluation indexes, and constructs a fuzzy judgment matrix K:
Wherein the method comprises the steps of For the relative importance of the index i and the index j, l ij、vij and u ij are respectively the lower limit, the middle limit and the upper limit of the fuzzy number, and are determined by a Delphi method;
consistency test is carried out on the fuzzy judgment matrix K, and if the fuzzy judgment matrix K is inconsistent, the fuzzy number is adjusted until the consistency test is passed;
Calculating a fuzzy number average value according to the fuzzy judgment matrix K to be used as a weight vector w i of the ith agricultural machinery operation direction:
Constructing a triangle membership function, and constructing a fuzzy evaluation matrix R according to the triangle membership function:
Wherein r ji is the fuzzy evaluation value of the ith agricultural machinery operation direction on the jth evaluation index, and is obtained through a triangular membership function;
Calculating suitability of each agricultural machine operation direction according to the weight vector w i and the fuzzy evaluation matrix R of each agricultural machine operation direction:
Si＝wi*R.i；
Wherein S i is the suitability of the ith agricultural machine operation direction, R .i is the ith column of the fuzzy evaluation matrix R, namely the sum of fuzzy evaluation values of the ith agricultural machine operation direction;
the most suitable agricultural machine operation direction is taken as the final agricultural machine operation direction.
As a preferable scheme of the agricultural machinery operation area planning method, the invention comprises the following steps: the agricultural machine operation scheme is generated according to the final agricultural machine operation direction, and after the final agricultural machine operation direction is obtained by implementing the instruction, the agricultural machine operation scheme is generated according to the unobstructed subarea and the agricultural machine operation track corresponding to the final agricultural machine operation direction, and controlling the agricultural machinery to implement the operation according to the agricultural machinery operation scheme, and after the agricultural machinery completes the operation of the actual operation area, generating an operation path for the head area and implementing the operation to complete the operation of all the agricultural machinery operation areas.
It is a further object of the present invention to provide an agricultural work area planning system, comprising,
The measuring module is used for measuring the boundary of the agricultural machinery operation area and the boundary of the obstacle and generating a head area and an actual operation area;
the decomposing module is used for defining the operation direction of the agricultural machinery and decomposing the actual operation area into barrier-free subareas;
The optimizing module is used for calculating the optimal sub-region operation connection sequence of each operation direction and evaluating the suitability of each operation direction to obtain the final operation direction of the agricultural machine;
And the implementation module is used for generating an agricultural machine operation scheme from the final agricultural machine operation direction and implementing the agricultural machine operation scheme.
A computer device, comprising: a memory and a processor; the memory stores a computer program, and the processor implements the steps of the farm machinery operation area planning method when executing the computer program.
A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the agricultural work area planning method described above.
The invention has the beneficial effects that: according to the invention, the operation area is generated by measuring the boundary of the operation area of the agricultural machine and the boundary of the obstacle, the operation direction of the agricultural machine is defined, the barrier-free subarea and the operation sequence corresponding to each operation direction of the agricultural machine are calculated, and finally, the suitability of the operation direction of the agricultural machine is judged by constructing the evaluation matrix to obtain the final operation direction of the agricultural machine and the operation scheme of the agricultural machine, so that the adaptability and the flexibility of the agricultural machine to the operation area are effectively improved, and the operation efficiency of the agricultural machine is greatly improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious 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 flow chart of a method for planning an agricultural work area.
FIG. 2 is a flow chart of an implementation of job planning for a job area.
Fig. 3 is a schematic structural view of an agricultural work area planning system.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways other than those described herein, and persons skilled in the art will readily appreciate that the present invention is not limited to the specific embodiments disclosed below.
Further, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic can be included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
Example 1
Referring to fig. 1 and 2, a first embodiment of the present invention provides a method for planning an agricultural work area, the method comprising,
S1, measuring the boundary of an agricultural machine operation area and the boundary of an obstacle to generate a head area and an actual operation area;
Specifically, measuring an agricultural machine operation area boundary and an obstacle boundary, generating a first land area and an actual operation area, namely setting a flight route of an unmanned aerial vehicle, starting the unmanned aerial vehicle to fly according to the set route to collect an agricultural machine operation area image, preprocessing the acquired image, detecting the agricultural machine operation area and the obstacle boundary by using a Canny edge detection operator, marking the agricultural machine operation area boundary and the obstacle boundary in the image, converting the agricultural machine operation area boundary and the obstacle boundary into pixel coordinates, converting the pixel coordinates into geographic coordinates by GPS (global positioning system) data of the unmanned aerial vehicle, visually displaying the geographic coordinates by using a GIS (geographic information system), and generating a map of the agricultural machine operation area boundary and the obstacle boundary;
And carrying out inward shrinking operation on the boundary of the agricultural machine operation area to generate an inner boundary of the operation area, carrying out outward expanding operation on the boundary of the obstacle to generate an outer boundary of the obstacle, wherein the inward shrinking distance and the outward expanding distance are both twice the width of the agricultural machine operation, taking the area between the edge of the operation area and the inner boundary and the area between the boundary of the obstacle and the outer boundary as a head area, calculating the distance between the head areas, merging the head areas if the minimum distance between the head areas is smaller than the width of the agricultural machine operation, and taking the rest areas in the agricultural machine operation area as actual operation areas.
The boundary of the operation area and the obstacle can be accurately identified through the Canny edge detection operator, the accuracy of measurement is improved, the edge detection technology can effectively reduce noise interference, stability and reliability of detection results are guaranteed, the GPS data of an unmanned aerial vehicle and a GIS system are combined, visual display of geographic coordinates is achieved, planning and management of the operation area of the agricultural machine are facilitated, the GIS system not only provides an intuitive map display function, but also can conduct space analysis and data management, the boundary data can be processed more efficiently and accurately, enough steering and obstacle avoidance space of the agricultural machine in the operation area is guaranteed through inward contraction and outward expansion operation, operation flexibility of the agricultural machine is improved, the inward contraction and outward expansion distance is set to be twice the operation width of the agricultural machine, smooth operation of the agricultural machine under different terrains and operation conditions is guaranteed, the head area is combined, the frequency of the agricultural machine in the operation process is reduced, the operation path is optimized, the operation efficiency is improved, the operation time is reasonably shortened, the energy and consumption of the agricultural machine are reduced, the operation cost and the operation efficiency is avoided under the condition that the collision and the operation are not enough, and the safety are remarkably improved.
S2, defining an operation direction of the agricultural machine, generating a parallel operation track according to the operation direction, and decomposing an actual operation area into subareas according to the parallel operation track;
Specifically, defining an agricultural machine operation direction, generating parallel operation tracks according to the operation direction, namely selecting the vertical direction of the boundary of each agricultural machine operation area as the agricultural machine operation direction, selecting the vertical direction of the midpoint tangent line of the arc line as the agricultural machine operation direction if the boundary of the operation area is an arc line, marking each agricultural machine operation direction and correspondingly generating the parallel operation tracks of the agricultural machine, wherein the distance between the parallel operation tracks is equal to the operation width of the agricultural machine;
Generating an external rectangle MBR according to the inner boundary of the working area and the working direction of the agricultural machinery by using a rotary caliper method:
MBR＝arg min(maxxicosθ+yisinθ-min|xicosθ+yisinθ)；
Wherein x i and y i are boundary point coordinates in the operation area, θ is an angle perpendicular to the operation direction of the agricultural machinery, vertex coordinates x MBR and y MBR of the circumscribed rectangle are determined, and the side length of the circumscribed rectangle is obtained;
Calculating the number of parallel operation tracks according to the side length of the circumscribed rectangle perpendicular to the operation direction of the agricultural machinery:
Wherein T is the number of parallel operation tracks, L MBR is the side length of an external rectangle perpendicular to the operation direction of the agricultural machinery, and W is the operation width of the agricultural machinery;
And calculating the number of corresponding circumscribed rectangles and parallel operation tracks of each agricultural machine in the operation direction, wherein if the number is odd, the operation start point and the end point are positioned on diagonal lines, and if the number is even, the operation start point and the end point are positioned on the same side.
The operation path can be optimized by selecting the vertical direction of the boundary and the vertical direction of the midpoint tangent line of the arc line as the operation direction, the whole coverage and high-efficiency operation of the agricultural machinery operation can be ensured, the overlapping and omission of the operation path can be reduced by selecting the reasonable operation direction, the operation efficiency and coverage rate can be improved, the boundary of an operation area can be accurately determined by rotating the external rectangle generated by a caliper method, an accurate data basis can be provided for the subsequent track planning, the unnecessary operation path can be reduced by the minimum area external rectangle, the path planning is optimized, the operation efficiency of the agricultural machinery is improved, the number of parallel operation tracks is reasonably calculated, the whole coverage of the operation track is ensured, the operation efficiency is improved, the unnecessary operation path is reduced by optimizing the number of the operation tracks, the resource utilization efficiency is improved, and the operation cost is reduced.
Further, decomposing the actual operation area into subareas according to the parallel operation tracks refers to decomposing the actual operation area into subareas by using a cow tillage unit decomposition method according to the parallel operation tracks of each agricultural machine operation direction, checking each subarea generated by decomposition, checking obstacles in the subareas, if the subareas contain the obstacles, further decomposing the subareas, repeating the decomposition steps until no obstacles exist in all the subareas, forming the subareas generated by decomposition into an unobstructed subarea set, marking each unobstructed subarea, and obtaining an unobstructed subarea boundary and an operation track contained in the unobstructed subarea;
Extracting angular points of each barrier-free subarea, wherein the angular points comprise an upper left corner, a lower left corner, an upper right corner and a lower right corner, and taking the angular points as a starting point and an end point of a working track of each barrier-free subarea for preparation.
The large area is decomposed into smaller subareas by using a cattle cultivation unit decomposition method, so that fine management and path planning are facilitated, the operation efficiency and accuracy are improved, the subareas are checked and decomposed gradually, a barrier-free subarea set which is finally formed is ensured, interruption and safety problems caused by barriers in the operation process are avoided, the operation path of each subarea can be identified and optimized in the decomposition process, repeated operation and resource waste are avoided, the overall operation efficiency is improved, the corner points of each barrier-free subarea are extracted, the boundary of each subarea can be defined, a clear starting point and a clear finishing point are provided for subsequent path planning, the corner points are used as the starting point and the finishing point, reasonable planning of the operation path is facilitated, and the continuity and the optimality of the path are ensured.
S3, calculating an optimal sub-region operation connection sequence of each operation direction, constructing an evaluation matrix to analyze the suitability of each operation direction, and taking the operation direction with the highest suitability as the final agricultural machinery operation direction;
Specifically, calculating the optimal sub-region operation connection sequence of each operation direction refers to obtaining coordinates of boundary points of the barrier-free sub-regions according to the barrier-free sub-region set and the barrier-free sub-region boundaries corresponding to each operation direction, and calculating coordinates of geometric center points of the barrier-free sub-regions:
Wherein C x and C y are coordinates of central points of the barrier-free subareas, A is the area of the barrier-free subareas, (x j,yj) and (x j+1,yj+1) are adjacent boundary points of the barrier-free subareas, and n is the number of boundary points of the barrier-free subareas;
Calculating the center point coordinates of each barrier-free subarea, constructing an initial barrier-free subarea connection diagram, taking each barrier-free subarea as a node, taking the connection path of the center point of each barrier-free subarea as an edge, calculating the Euclidean distance d of each edge, and constructing an optimization target formula by using a traveling merchant problem model:
Wherein m is the number of barrier-free subregions, d i,i+1 is the Euclidean distance between the ith and (i+1) th barrier-free subregions, and d n,1 is the Euclidean distance between the nth and (1) th barrier-free subregions;
Solving an optimization target formula by using an ant colony algorithm, initializing a pheromone concentration matrix and a heuristic function value matrix, generating a new connection path of a center point of a barrier-free subarea in each iteration, detecting corner points of the connected barrier-free subarea, regarding the connection as an error connection path when no overlap exists between the corner points of the connected barrier-free subarea, eliminating the error connection path from the connection path of the center point of the new barrier-free subarea, calculating the total distance of the connection path, updating the pheromone concentration matrix, setting a total distance change threshold, and recording the current connection path as an optimal connection path when the total distance change value is smaller than the total distance change threshold in the continuous iteration process;
Extracting the connection sequence of barrier-free subareas of the optimal connection path, determining the operation starting point and the operation end point of each barrier-free subarea according to the angular points and the operation track of the barrier-free subarea, and connecting the operation starting point and the operation end point of all the barrier-free subareas in series according to the connection sequence to form an agricultural machinery operation track;
and calculating an agricultural machine operation track of each agricultural machine operation direction, and if the operation start point and the end point of the barrier-free subarea cannot be connected according to the connection sequence, eliminating the agricultural machine operation direction as an error direction.
The method comprises the steps of calculating the coordinates of the central points of barrier-free subareas, accurately determining the positions of the subareas, providing basic data for subsequent path optimization, taking the geometric central points as path nodes, facilitating path planning, ensuring the shortest and optimal paths, realizing global optimization of the connection sequence of the barrier-free subareas through a travel business problem model, ensuring the shortest total path distance, reducing invalid movement in the operation path through the optimized connection sequence, improving the operation efficiency of an agricultural machine, dynamically adjusting the concentration of pheromones through an ant colony algorithm, gradually optimizing the paths, effectively solving the problem of local optimization in path planning, ensuring the reliability and the effectiveness of final paths through detecting angular point overlapping, eliminating wrong paths, serially connecting operation starting points and end points according to the optimal connection sequence, ensuring the continuity of the operation paths, improving the operation efficiency, reducing redundancy and repetition in the reasonable path connection, improving the accuracy of path planning, ensuring the feasibility of the paths in all directions through verifying the operation paths, eliminating wrong directions, improving the reliability of the path planning, and finding out potential problems in advance through a reasonable path verification method, and ensuring high quality and high operation efficiency.
Further, constructing an evaluation matrix to analyze suitability of each operation direction, taking the operation direction with highest suitability as a final agricultural machine operation direction, namely extracting track length, operation time, energy consumption and operation coverage rate from agricultural machine operation tracks of the rest agricultural machine operation directions after error direction removal as evaluation indexes, and constructing a fuzzy judgment matrix K:
Wherein the method comprises the steps of For the relative importance of the index i and the index j, l ij、vij and u ij are respectively the lower limit, the middle limit and the upper limit of the fuzzy number, and are determined by a Delphi method;
consistency test is carried out on the fuzzy judgment matrix K, and if the fuzzy judgment matrix K is inconsistent, the fuzzy number is adjusted until the consistency test is passed;
Calculating a fuzzy number average value according to the fuzzy judgment matrix K to be used as a weight vector w i of the ith agricultural machinery operation direction:
Constructing a triangle membership function, and constructing a fuzzy evaluation matrix R according to the triangle membership function:
Wherein r ji is the fuzzy evaluation value of the ith agricultural machinery operation direction on the jth evaluation index, and is obtained through a triangular membership function;
Calculating suitability of each agricultural machine operation direction according to the weight vector w i and the fuzzy evaluation matrix R of each agricultural machine operation direction:
Si＝wi*R.i；
Wherein S i is the suitability of the ith agricultural machine operation direction, R .i is the ith column of the fuzzy evaluation matrix R, namely the sum of fuzzy evaluation values of the ith agricultural machine operation direction;
the most suitable agricultural machine operation direction is taken as the final agricultural machine operation direction.
The method is characterized in that the track length, the operation time, the energy consumption and the operation coverage rate are extracted from the operation tracks of the residual agricultural machinery after the error direction is eliminated and used as evaluation indexes, the quality of each operation direction can be comprehensively reflected, the scientificity and the comprehensiveness of an evaluation result are ensured, the uncertainty and the fuzziness existing in the evaluation process can be processed by a fuzziness judgment matrix, the reliability of the evaluation result is improved, the fuzziness number is determined through a Delphi method, the opinion of a plurality of experts can be integrated, the scientificity and the accuracy of the evaluation matrix are improved, the rationality of the relative importance of each index in the fuzziness judgment matrix can be ensured, the credibility of the evaluation result is improved, the weight vector is calculated through a fuzziness number average value, the weight of each evaluation index is reasonably distributed, the scientificity and the fairness of the evaluation are improved, the performance of each operation direction on each evaluation index is comprehensively reflected by a triangle membership function, the comprehensiveness and the scientificity of the evaluation are improved, the suitability is calculated, the final operation direction is selected, the optimal operation resource is provided for the optimal operation direction, the optimal operation resource utilization rate is improved, the economic efficiency is improved, and the economic efficiency of the economic operation machine is improved, and the economic efficiency is improved, and the economic efficiency of the operation is best and the operation resource is improved.
S4, generating an agricultural machine operation scheme according to the final agricultural machine operation direction and implementing the agricultural machine operation scheme;
Specifically, after the final agricultural machine operation direction is obtained by generating an agricultural machine operation scheme according to the final agricultural machine operation direction and implementing instruction, the agricultural machine operation scheme is generated according to the unobstructed subarea and the agricultural machine operation track corresponding to the final agricultural machine operation direction, the agricultural machine is controlled to implement operation according to the agricultural machine operation scheme, and after the agricultural machine completes the operation of the actual operation area, the head area is used for generating an operation path and implementing operation to complete the operation of all the agricultural machine operation areas.
The operation path of the agricultural machine can be optimized by determining the operation starting point and the operation end point and reasonably connecting the operation paths of all the subareas, invalid running is reduced, the operation efficiency is improved, the operation paths of all the subareas are reasonably connected, continuity of the operation process of the agricultural machine is ensured, interruption or repetition of operation is avoided, the operation quality is improved, the agricultural machine is controlled by an automatic driving system, the manual operation error is reduced, the operation efficiency is improved, the running path of the agricultural machine is monitored and regulated in real time, the agricultural machine is ensured to operate strictly according to an operation scheme, the operation quality is improved, the operation paths of the head area are generated, the agricultural machine can cover all the operation areas, omission is avoided, the operation paths of the head area are reasonably planned, the optimization and the high efficiency of the operation paths are ensured, and the operation precision is improved.
Example 2
Referring to fig. 3, for a second embodiment of the present invention, which is different from the previous embodiment, there is provided an agricultural work area planning system, which includes,
The measuring module is used for measuring the boundary of the agricultural machinery operation area and the boundary of the obstacle and generating a head area and an actual operation area;
the decomposing module is used for defining the operation direction of the agricultural machinery and decomposing the actual operation area into barrier-free subareas;
The optimizing module is used for calculating the optimal sub-region operation connection sequence of each operation direction and evaluating the suitability of each operation direction to obtain the final operation direction of the agricultural machine;
And the implementation module is used for generating an agricultural machine operation scheme from the final agricultural machine operation direction and implementing the agricultural machine operation scheme.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
It should be noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present invention may be modified or substituted without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered in the scope of the claims of the present invention.
Claims (10)
1. An agricultural machinery operation area planning method is characterized in that: comprising the steps of (a) a step of,
Measuring the boundary of an agricultural machine operation area and the boundary of an obstacle to generate a head area and an actual operation area;
defining an agricultural machine operation direction, generating a parallel operation track according to the operation direction, and decomposing an actual operation area into subareas according to the parallel operation track;
Calculating an optimal sub-region operation connection sequence of each operation direction, constructing an evaluation matrix to analyze the suitability of each operation direction, and taking the operation direction with the highest suitability as the final agricultural machinery operation direction;
And generating an agricultural operation scheme according to the final agricultural operation direction and implementing the agricultural operation scheme.
2. The agricultural work area planning method of claim 1, wherein: the method comprises the steps of measuring an agricultural machine operation area boundary and an obstacle boundary, generating a first land area and an actual operation area, namely setting an unmanned aerial vehicle flight route, starting an unmanned aerial vehicle to fly according to the set route to collect an agricultural machine operation area image, preprocessing the acquired image, detecting the agricultural machine operation area and the obstacle boundary by using a Canny edge detection operator, marking the agricultural machine operation area boundary and the obstacle boundary in the image, converting the agricultural machine operation area boundary and the obstacle boundary into pixel coordinates, converting the pixel coordinates into geographic coordinates by GPS data of the unmanned aerial vehicle, visually displaying the geographic coordinates by using a GIS system, and generating a map of the agricultural machine operation area boundary and the obstacle boundary;
And carrying out inward shrinking operation on the boundary of the agricultural machine operation area to generate an inner boundary of the operation area, carrying out outward expanding operation on the boundary of the obstacle to generate an outer boundary of the obstacle, wherein the inward shrinking distance and the outward expanding distance are both twice the width of the agricultural machine operation, taking the area between the edge of the operation area and the inner boundary and the area between the boundary of the obstacle and the outer boundary as a head area, calculating the distance between the head areas, merging the head areas if the minimum distance between the head areas is smaller than the width of the agricultural machine operation, and taking the rest areas in the agricultural machine operation area as actual operation areas.
3. The agricultural work area planning method of claim 2, wherein: defining an agricultural machine operation direction, generating parallel operation tracks according to the operation direction, namely selecting the vertical direction of the boundary of each agricultural machine operation area as the agricultural machine operation direction, selecting the vertical direction of a midpoint tangent line of an arc line as the agricultural machine operation direction if the boundary of the operation area is an arc line, marking each agricultural machine operation direction, and correspondingly generating the parallel operation tracks of the agricultural machine, wherein the distance between the parallel operation tracks is equal to the operation width of the agricultural machine;
Generating an external rectangle MBR according to the inner boundary of the working area and the working direction of the agricultural machinery by using a rotary caliper method:
MBR＝arg min(maxxicosθ+yisinθ-min|xicosθ+yisinθ)；
Wherein x i and y i are boundary point coordinates in the operation area, θ is an angle perpendicular to the operation direction of the agricultural machinery, vertex coordinates x MBR and y MBR of the circumscribed rectangle are determined, and the side length of the circumscribed rectangle is obtained;
Calculating the number of parallel operation tracks according to the side length of the circumscribed rectangle perpendicular to the operation direction of the agricultural machinery:
Wherein T is the number of parallel operation tracks, L MBR is the side length of an external rectangle perpendicular to the operation direction of the agricultural machinery, and W is the operation width of the agricultural machinery;
And calculating the corresponding circumscribed rectangle and parallel operation track quantity of each agricultural machine operation direction.
4. A method of planning an agricultural work area as claimed in claim 3, wherein: decomposing the actual operation area into subareas according to the parallel operation tracks refers to decomposing the actual operation area into subareas by using a cattle-ploughing unit decomposition method according to the parallel operation tracks of each agricultural machine operation direction, checking each subarea generated by decomposition, checking obstacles in the subareas, if the subareas contain the obstacles, further decomposing the subareas, repeating the decomposition step until no obstacles exist in all the subareas, forming the subareas generated by decomposition into an unobstructed subarea set, marking each unobstructed subarea, and obtaining the operation tracks contained by the boundaries of the unobstructed subareas and the unobstructed subareas;
Extracting angular points of each barrier-free subarea, wherein the angular points comprise an upper left corner, a lower left corner, an upper right corner and a lower right corner, and taking the angular points as a starting point and an end point of a working track of each barrier-free subarea for preparation.
5. The agricultural work area planning method of claim 4, wherein: the calculating of the optimal sub-region operation connection sequence of each operation direction refers to obtaining the coordinates of the boundary points of the barrier-free sub-regions according to the barrier-free sub-region set and the barrier-free sub-region boundaries corresponding to each operation direction, and calculating the coordinates of the geometric center points of the barrier-free sub-regions:
Wherein C x and C y are coordinates of central points of the barrier-free subareas, A is the area of the barrier-free subareas, (x j,yj) and (x j+1,yj+1) are adjacent boundary points of the barrier-free subareas, and n is the number of boundary points of the barrier-free subareas;
Calculating the center point coordinates of each barrier-free subarea, constructing an initial barrier-free subarea connection diagram, taking each barrier-free subarea as a node, taking the connection path of the center point of each barrier-free subarea as an edge, calculating the Euclidean distance d of each edge, and constructing an optimization target formula by using a traveling merchant problem model:
Wherein m is the number of barrier-free subregions, d i,i+1 is the Euclidean distance between the ith and (i+1) th barrier-free subregions, and d n,1 is the Euclidean distance between the nth and (1) th barrier-free subregions;
Solving an optimization target formula by using an ant colony algorithm, initializing a pheromone concentration matrix and a heuristic function value matrix, generating a new connection path of a center point of a barrier-free subarea in each iteration, detecting corner points of the connected barrier-free subarea, regarding the connection as an error connection path when no overlap exists between the corner points of the connected barrier-free subarea, eliminating the error connection path from the connection path of the center point of the new barrier-free subarea, calculating the total distance of the connection path, updating the pheromone concentration matrix, setting a total distance change threshold, and recording the current connection path as an optimal connection path when the total distance change value is smaller than the total distance change threshold in the continuous iteration process;
Extracting the connection sequence of barrier-free subareas of the optimal connection path, determining the operation starting point and the operation end point of each barrier-free subarea according to the angular points and the operation track of the barrier-free subarea, and connecting the operation starting point and the operation end point of all the barrier-free subareas in series according to the connection sequence to form an agricultural machinery operation track;
and calculating an agricultural machine operation track of each agricultural machine operation direction, and if the operation start point and the end point of the barrier-free subarea cannot be connected according to the connection sequence, eliminating the agricultural machine operation direction as an error direction.
6. The agricultural work area planning method of claim 5, wherein: the construction evaluation matrix analyzes suitability of each operation direction, takes the operation direction with highest suitability as a final agricultural machine operation direction, extracts track length, operation time, energy consumption and operation coverage rate from agricultural machine operation tracks of the rest agricultural machine operation directions after error direction removal as evaluation indexes, and constructs a fuzzy judgment matrix K:
Wherein the method comprises the steps of For the relative importance of the index i and the index j, l ij、vij and u ij are respectively the lower limit, the middle limit and the upper limit of the fuzzy number, and are determined by a Delphi method;
consistency test is carried out on the fuzzy judgment matrix K, and if the fuzzy judgment matrix K is inconsistent, the fuzzy number is adjusted until the consistency test is passed;
Calculating a fuzzy number average value according to the fuzzy judgment matrix K to be used as a weight vector w i of the ith agricultural machinery operation direction:
Constructing a triangle membership function, and constructing a fuzzy evaluation matrix R according to the triangle membership function:
Wherein r ji is the fuzzy evaluation value of the ith agricultural machinery operation direction on the jth evaluation index, and is obtained through a triangular membership function;
Calculating suitability of each agricultural machine operation direction according to the weight vector w i and the fuzzy evaluation matrix R of each agricultural machine operation direction:
Si＝wi*R.i；
Wherein S i is the suitability of the ith agricultural machine operation direction, R .i is the ith column of the fuzzy evaluation matrix R, namely the sum of fuzzy evaluation values of the ith agricultural machine operation direction;
the most suitable agricultural machine operation direction is taken as the final agricultural machine operation direction.
7. The agricultural work area planning method of claim 6, wherein: the agricultural machine operation scheme is generated according to the final agricultural machine operation direction, and after the final agricultural machine operation direction is obtained by implementing the instruction, the agricultural machine operation scheme is generated according to the unobstructed subarea and the agricultural machine operation track corresponding to the final agricultural machine operation direction, and controlling the agricultural machinery to implement the operation according to the agricultural machinery operation scheme, and after the agricultural machinery completes the operation of the actual operation area, generating an operation path for the head area and implementing the operation to complete the operation of all the agricultural machinery operation areas.
8. An agricultural work area planning system according to the agricultural work area planning method of any one of claims 1 to 7, characterized in that: comprising the steps of (a) a step of,
The measuring module is used for measuring the boundary of the agricultural machinery operation area and the boundary of the obstacle and generating a head area and an actual operation area;
the decomposing module is used for defining the operation direction of the agricultural machinery and decomposing the actual operation area into barrier-free subareas;
The optimizing module is used for calculating the optimal sub-region operation connection sequence of each operation direction and evaluating the suitability of each operation direction to obtain the final operation direction of the agricultural machine;
And the implementation module is used for generating an agricultural machine operation scheme from the final agricultural machine operation direction and implementing the agricultural machine operation scheme.
9. A computer device, comprising: a memory and a processor; the memory stores a computer program characterized in that: the processor, when executing the computer program, implements the steps of the agricultural work area planning method of any one of claims 1 to 7.
10. A computer-readable storage medium having stored thereon a computer program, characterized by: the computer program when executed by a processor implements the steps of the agricultural work area planning method of any one of claims 1 to 7.
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