A kind of agricultural machinery working paths planning method and systemTechnical field
The invention belongs to wisdom agricultural technology fields, and in particular to a kind of agricultural machinery working paths planning method and system.
Background technique
Wisdom agricultural is advanced application of the technology of Internet of things in modern agriculture field, i.e., carries out with sensor and software remoteJourney monitoring, and agricultural production is controlled by server platform, mobile platform or computer platform, have more traditional agricultureThere is " wisdom ".In addition to precisely perceiving, controlling with other than decision-making management, from saying in broad sense, wisdom agricultural further includes agriculture electronicsCommercial affairs, foodstuff traceability be anti-fake, agriculture amusement and travel, agricultural information service etc. content.
Agriculturally dynamic power machine operation is widely used at present, has covered each farming link.From power machine applicationsFrom the point of view of angle, with the raising of planting density and agriculture requirement, to the road of agricultural machinery (i.e. the agriculturally general designation of dynamic power machine) walkingDiameter required precision is higher and higher.It is found through experiments that, optimal path precision when people operates can reach 10cm, and applyRTK differential technique (Real Time Kinematic, carrier phase difference technology) and after being mounted with automatically controlled steering system, agricultureThe path accuracy of machine can achieve 2.5cm, and precision greatly improves, and effectively slow down the operation intensity of people, while but also operationThe skill requirement of personnel reduces, and the peasant household for thus carrying out agricultural machinery working path planning using self-navigation is more and more.
Current agricultural production in occur it is many provide serve for agriculture operator, they for peasant household provide arable land, sowing,The service of the different farming links such as laxative, they can organize more agricultural machinery to carry out operation simultaneously in service process.In this mistakeCheng Zhong, with the promotion of efficiency, work planning manage the problem of be also exposed.Here it is the personnel of operation agricultural machinery to differentAgricultural plots are unfamiliar with, and in selection plot when the successive sequence of operation, the requirement of peasant household often can only be either followed with feeling, intoAnd the plot that sow in advance sowing is caused to postpone, it should which the plot harvest that evening is harvested shifts to an earlier date, to affect soilThe production efficiency of upper operation.
According to plant growth feature and farming agricultural method, same crop is sowed on the plot of different condition, is takenFarming standard, which has, centainly to be distinguished.Such as hillock sowing will be earlier than depression, nonirrigated farmland sowing can be postponed irrigates the fields in water, growing surfaceThe plot cultivation that big plot will be small prior to area is accumulated, the plot of boundary shape rule will be prior to the irregular plot of boundary shapeOperation, agricultural machinery will take nearby principle, be moved at a distance again after doing the plot for the one's respective area that is over, and avoid reducing effective operationTime etc..Method requirement based on these farming agronomy, serve for agriculture operator are carried out in operation using agricultural machinery, it is necessary to rightIt makes rational planning in operation plot.
However, homer realizes that the mechanism of production navigation operation is at present: according to user to homerThe path position that terminal is sent is planned, the navigation in path can be only carried out for an agricultural plots.In order to meet agriculturalService operator carries out the demand of high-efficient homework in strange agricultural plots, it is necessary in conjunction with farming agronomy standard, automatically to moreA agricultural plots carry out agricultural machinery working path planning, carry out operation so as to guide serve for agriculture operator, improve earth workingReasonability and production efficiency.
Summary of the invention
It cannot be carried out rationally and efficiently in conjunction with farming agronomy standard to solve existing agricultural machinery working automatic navigation methodThe problem of multiple spot route guidance, it is an object of that present invention to provide a kind of novel agricultural machinery working paths planning methods and system.
The technical scheme adopted by the invention is as follows:
A kind of agricultural machinery working paths planning method, includes the following steps:
S101. in server side, the ground block message of agricultural plots is obtained, wherein the plot information includes corresponding agriculturalPlot unique identification, position coordinates, size, boundary shape rule degree and the agriculture landscape type in plot, the agriculturalTerrain type includes hillock, depression, level land and hillside fields；
S102. in server side, the agricultural plots of operation are waited for for agricultural machinery terminal distribution；
S103. in server side, working path is planned for agricultural machinery terminal one of as follows:
(A) all agricultural plots of distribution are first directed to, the size in the block message of base area carries out row from big to smallSequence, then the approximate multiple continuous agricultural plots of size in sequence are directed to, the boundary shape rule journey in the block message of base areaDegree adjust from rule to irregular sequence, then for the approximate multiple continuous agriculturals of boundary shape rule degree in sequencePlot, the agriculture landscape type in the block message of base area carry out the sequence adjustment from hillock to depression or from level land to hillside fields, mostAgricultural machinery working programme path is generated according to the position coordinates in agricultural plots ranking results and ground block message afterwards, wherein agricultural machinery is madeThe starting point of industry programme path is the first agricultural plots of sequence, and terminal is the agricultural plots of sequence last bit；
(B) all agricultural plots of distribution are first directed to, the size in the block message of base area carries out row from small to largeSequence, then the approximate multiple continuous agricultural plots of size in sequence are directed to, the boundary shape rule journey in the block message of base areaDegree adjust from the sequence irregularly to rule, then for the approximate multiple continuous agriculturals of boundary shape rule degree in sequencePlot, the agriculture landscape type in the block message of base area carry out the sequence adjustment from depression to hillock or from hillside fields to level land, mostAgricultural machinery working programme path is generated according to the position coordinates in agricultural plots ranking results and ground block message afterwards, wherein agricultural machinery is madeThe starting point of industry programme path is the agricultural plots of sequence last bit, and terminal is the first agricultural plots of sequence；
S104. in server side, job task type and the agricultural machinery working programme path are pushed into agricultural machinery terminal,In, the job task type is tillage operation, seeding operation, laxative operation or harvest operation；
S105. it in agricultural machinery terminal side, exports and shows the job task type and the agricultural machinery working programme path.
Optimization, further include walking as follows after the step S105 if the job task type is tillage operationIt is rapid:
It S511. will be collected whole during tillage operation for a certain agricultural plots of distribution in agricultural machinery terminal sideGround work data is uploaded to server；
S512. in server side, made according to this site preparation that the tillage operation data statistics obtains corresponding agricultural plotsThe average time of site preparation of the average tilling depth of industry/and history tillage operation, then by the tilling depth that is averaged/and this is average wholeThe ground time is stored in the ground block message of corresponding agricultural plots.
Optimization, in the step S103, if job task type is seeding operation and described ground block message also includesAverage tilling depth when previous tillage operation, then:
In mode (A), first for the approximate multiple continuous agricultural plots of size in sequence, in the block message of base areaAverage tilling depth carry out from shallowly being adjusted to deep sequence, then again for the depth approximate multiple continuous agricultures in arable land in sequenceIndustry plot, the boundary shape rule degree progress in the block message of base area are adjusted from rule to irregular sequence；
Alternatively, in mode (B), first for the approximate multiple continuous agricultural plots of size in sequence, according to plotAverage tilling depth in information adjust from depth to shallow sequence, then approximately multiple for the arable land depth in sequence againContinuous agricultural plots, the boundary shape rule degree in the block message of base area adjust from the sequence irregularly to rule.
Optimization, further include walking as follows after the step S105 if the job task type is seeding operationIt is rapid:
S521. it collected during seeding operation will be broadcast in agricultural machinery terminal side for a certain agricultural plots of distributionKind work data is uploaded to server；
S522. in server side, made according to this sowing that the seeding operation data statistics obtains corresponding agricultural plotsThe average application rate of industry/and history seeding operation the average sowing time, then by the application rate that is averaged/and this averagely sow whenBetween be stored in the ground block message of corresponding agricultural plots.
Optimization, in the step S103, if job task type is laxative operation and described ground block message also includesAverage application rate when previous seeding operation, then:
In mode (A), first for the approximate multiple continuous agricultural plots of size in sequence, in the block message of base areaAverage application rate adjusted from more to few sequence, then again for the approximate multiple continuous agricultural ground of application rate in sequenceBlock, the boundary shape rule degree progress in the block message of base area are adjusted from rule to irregular sequence；
Alternatively, in mode (B), first for the approximate multiple continuous agricultural plots of size in sequence, according to plotAverage application rate in information carries out sequence adjustment from less to more, then approximate multiple continuous for application rate in sequence againAgricultural plots, the boundary shape rule degree in the block message of base area adjust from the sequence irregularly to rule.
Optimization, further include walking as follows after the step S105 if the job task type is laxative operationIt is rapid:
S531. it collected in laxative operation process will be beaten in agricultural machinery terminal side for a certain agricultural plots of distributionMedicine work data is uploaded to server；
S532. in server side, this laxative work for obtaining corresponding agricultural plots is counted according to the laxative work dataThe average laxative amount of industry/and the operation of history laxative the average sowing time, then by the average laxative amount/and this averagely go and buy Chinese medicine whenBetween be stored in the ground block message of corresponding agricultural plots.
Optimization, it is comprised the following steps that in the step S102
S201. the agricultural plots of needed operation and the end message of all online agricultural machinery terminals are counted, wherein the endClient information includes terminal unique identification, horsepower section and the assembly farm implements type of corresponding agricultural machinery terminal, the assembly farm implements typeIncluding preparation tool, farm tool for sowing, laxative farm implements and harvest farm implements；
S202. the agricultural plots of same job task type are directed to, for the selected assembly agricultural machinery type of agricultural plots and the workThe agricultural machinery terminal that industry task type matches；
S203. according to described ground block message and the end message, any combination according to following rule (a)~(e) isEach selected agricultural machinery terminal distribution waits for the agricultural plots of operation:
(a) size of distributed agricultural plots and the horsepower section of agricultural machinery terminal are proportional；
(b) multiple agricultural machinery terminals of same horsepower section are directed to, total travel distance thus between the plot of distributed agricultural plotsVariance yields is minimum；
(c) travel distance average value and the horsepower section of agricultural machinery terminal are in inverse ratio between the plot of distributed agricultural plots；
(d) distributed agricultural plots and corresponding with job task type history average operation time and agricultural machinery terminalHorsepower section is in inverse ratio；
(e) two agricultural plots that travel distance between plot is shorter than certain standard are considered as same geographic range, only distributedTo same agricultural machinery terminal.
Optimization, it is comprised the following steps that in the step S105
S500. start navigation system, and self-navigation is carried out according to the agricultural machinery working programme path from server.
The technical scheme adopted by the invention is as follows:
A kind of system for realizing agricultural machinery working paths planning method as previously described, including server and agricultural machinery terminal, whereinThe server includes information acquisition unit, plot allocation unit, path planning unit and wireless communication unit；
The information acquisition unit, for obtaining the ground block message of agricultural plots, wherein the plot information includes to correspond toPlot unique identification, position coordinates, size, boundary shape rule degree and the agriculture landscape type of agricultural plots, it is describedAgriculture landscape type includes hillock, depression, level land and hillside fields；
The plot allocation unit, for waiting for the agricultural plots of operation for agricultural machinery terminal distribution；
The path planning unit, for planning working path one of as follows for agricultural machinery terminal:
(A) all agricultural plots of distribution are first directed to, the size in the block message of base area carries out row from big to smallSequence, then the approximate multiple continuous agricultural plots of size in sequence are directed to, the boundary shape rule journey in the block message of base areaDegree adjust from rule to irregular sequence, then for the approximate multiple continuous agriculturals of boundary shape rule degree in sequencePlot, the agriculture landscape type in the block message of base area carry out the sequence adjustment from hillock to depression or from level land to hillside fields, mostAgricultural machinery working programme path is generated according to the position coordinates in agricultural plots ranking results and ground block message afterwards, wherein agricultural machinery is madeThe starting point of industry programme path is the first agricultural plots of sequence, and terminal is the agricultural plots of sequence last bit；
(B) all agricultural plots of distribution are first directed to, the size in the block message of base area carries out row from small to largeSequence, then the approximate multiple continuous agricultural plots of size in sequence are directed to, the boundary shape rule journey in the block message of base areaDegree adjust from the sequence irregularly to rule, then for the approximate multiple continuous agriculturals of boundary shape rule degree in sequencePlot, the agriculture landscape type in the block message of base area carry out the sequence adjustment from depression to hillock or from hillside fields to level land, mostAgricultural machinery working programme path is generated according to the position coordinates in agricultural plots ranking results and ground block message afterwards, wherein agricultural machinery is madeThe starting point of industry programme path is the agricultural plots of sequence last bit, and terminal is the first agricultural plots of sequence；
The wireless communication unit, for job task type and the agricultural machinery working programme path to be pushed to agricultural machinery endEnd, wherein the job task type is tillage operation, seeding operation, laxative operation or harvest operation；
The agricultural machinery terminal wireless communication connects the server, for exporting and showing the job task type and instituteState agricultural machinery working programme path.
Optimization, the agricultural machinery terminal includes moving trolley, assembly farm implements, communication cartridge, electric hydraulic control unit, navigation listMember, farm implements identity recognizer, farm implements obliquity sensor, seeding detection unit, flow and pressure monitoring unit and display unit,In, the assembly farm implements include linking arm and homework department, and one end of the linking arm connects the moving trolley, and the other end connects instituteState homework department；
The communication cartridge, the electric hydraulic control unit, the navigation elements and the display unit are separately mounted to instituteIt states on moving trolley, the farm implements identity recognizer and the farm implements obliquity sensor are separately mounted on the linking arm, describedSeeding detection unit and the flow and pressure monitoring unit are separately mounted in the homework department；
The communication cartridge connects the server for wirelessly communicating, and communicates to connect the electric hydraulic control list respectivelyFirst, the described navigation elements, the farm implements identity recognizer, the farm implements obliquity sensor, the seeding detection unit, the streamAmount and pressure monitoring unit and the display unit.
The invention has the benefit that
(1) the invention provides a kind of new method that can multiple agricultural plots be carried out with the planning of farming working pathAnd system, i.e., first the ground block message of all agricultural plots is acquired, the agricultural ground of operation is then waited for for agricultural machinery terminal distributionBlock, subsequently multiple agricultural plots are automatically carried out agricultural machinery working path by base area block message and combination farming agronomy standardPlanning, is finally pushed to the operator of agricultural machinery terminal for job task type and agricultural machinery working programme path, it is possible thereby to refer toIt leads serve for agriculture operator and carries out operation, improve the reasonability and production efficiency of earth working, avoid the occurrence of the unordered wave of agricultural machineryTake phenomenon；
(2) this method and system can provide on sequence of operation strategy just in carrying out farming operation for agricultural machinery operatorBenefit farthest improves the service efficiency of agricultural machinery and meets the farming agronomy demand of soil crop, such as according to the big of plotSmall and shape preferentially meets the big soil of block area and first carries out operation, in the evening sowing appropriate of the high plot of tilth, InThe shallow plot of tilth is suitably sowed in advance, early site preparation appropriate and planting early enough on hillock, in depression late site preparation appropriate andEvening sowing, the big plot of application rate are gone and buy Chinese medicine in advance, and the small plot of application rate is gone and buy Chinese medicine after suitably adjusting, etc.；
(3) this method and system can include all farming cargo handling operations, have extremely widespread application value, convenient for practicalPromotion and application.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show belowThere is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only thisSome embodiments of invention for those of ordinary skill in the art without creative efforts, can be withIt obtains other drawings based on these drawings.
Fig. 1 is the flow diagram of agricultural machinery working paths planning method provided by the invention.
Fig. 2 is the structural schematic diagram of agricultural machinery working path planning system provided by the invention.
Fig. 3 is the mounting structure schematic diagram of agricultural machinery terminal provided by the invention.
In above-mentioned attached drawing: 1- moving trolley；2- assembles farm implements；201- linking arm；202- homework department；3- communication cartridge；4- is electro-hydraulicPress control unit；5- navigation elements；6- farm implements identity recognizer；7- farm implements obliquity sensor；8- seeding detection unit；9- flowAnd pressure monitoring unit.
Specific embodiment
With reference to the accompanying drawing and specific embodiment come the present invention is further elaborated.It should be noted that forAlthough the explanation of these way of example is to be used to help understand the present invention, but and do not constitute a limitation of the invention.It is public hereinThe specific structure and function detail opened are only used for description example embodiments of the present invention.However, can with many alternative forms comeThe present invention is embodied, and is not construed as limiting the invention in embodiment set forth herein.
It will be appreciated that though various units may be described herein using term first, second etc., but these unitsIt should not be limited by these terms.These terms are only used to distinguish a unit and another unit.Such as it can be byUnit one is referred to as second unit, and similarly second unit can be referred to as first unit, shows without departing from of the inventionThe range of example embodiment.
It should be appreciated that being only a kind of pass for describing affiliated partner to the term "and/or" being likely to occur in this articleConnection relationship indicates may exist three kinds of relationships, for example, A and/or B, can indicate: individualism A, individualism B are deposited simultaneouslyIn tri- kinds of situations of A and B；To the term "/and " being likely to occur in this article, it is to describe another affiliated partner relationship, indicatesThere may be two kinds of relationships, for example, A/ and B, can indicate: two kinds of situations of individualism A, individualism A and B；In addition, forThe character "/" being likely to occur herein, typicallying represent forward-backward correlation object is a kind of "or" relationship.
If should be appreciated that, it can when unit being referred to as with another unit " connection ", " connected " or " coupling " hereinTo be directly connected with another unit or couple or temporary location may exist.Relatively, if herein by unit be referred to as withWhen another unit " being connected directly " or " direct-coupling ", indicate that temporary location is not present.Additionally, it should solve in a similar mannerRelease for describing the relationship between unit other words (for example, " ... between " to " between directly existing ... ", " adjacent "To " direct neighbor " etc.).
It should be appreciated that terms used herein are only used for description specific embodiment, it is not intended to limit example of the inventionEmbodiment.If used herein, singular "a", "an" and "the" is intended to include plural form, unless contextContrary is explicitly indicated.If being also understood that, term " includes ", " including ", "comprising" and/or " containing " are hereinWhen being used, specify stated feature, integer, step, operation, unit and/or component existence, and be not excluded for oneOr other multiple features, quantity, step, operation, unit, component and/or their combination existence or increase.
It should be appreciated that it will be further noted that the function action occurred may go out with attached drawing in some alternative embodimentsExisting sequence is different.Such as related function action is depended on, it can actually substantially be executed concurrently, or sometimesTwo figures continuously shown can be executed in reverse order.
It should be appreciated that providing specific details, in the following description in order to which example embodiment is understood completely.However those of ordinary skill in the art are it is to be understood that implementation example embodiment without these specific details.Such as system can be shown in block diagrams, to avoid with unnecessary details come so that example is unclear.In other instances, may be usedOr not show well-known process, structure and technology unnecessary details, to avoid making example embodiment unclear.
Embodiment one
As shown in Figure 1, the agricultural machinery working paths planning method provided in this embodiment, can be, but not limited to include as followsStep S101~S105.
S101. in server side, the ground block message of agricultural plots is obtained, wherein described ground block message can be, but not limited toPlot unique identification, position coordinates, size, boundary shape rule degree and agriculture landscape class comprising corresponding agricultural plotsType etc., the agriculture landscape type can be, but not limited to include hillock, depression, level land and hillside fields etc..
In the step S101, the server is network side equipment, for realizing agricultural machinery working path planning and workThe push of industry task.The agricultural plots are the geographical unit for carrying out crop planting, have the ground for identifying plot identityBlock unique identification/and title also have position coordinates, size, boundary shape rule degree and agriculture landscape type etc.,In, (it can be divided into two kinds of feelings of regular and irregular for the position coordinates, the size, the boundary shape rule degreeCondition, can also taking human as be divided into multiple regular shape grades or according to conventional algorithm calculate regular shape scale evaluation value) andDescribed agriculture landscape type etc., can be by way of conventional network map delineation and/or the progress such as artificial site inspection modeIt collects, and is entered into server and is saved.
S102. in server side, the agricultural plots of operation are waited for for agricultural machinery terminal distribution.
In the step S102, the agricultural machinery terminal is to wirelessly communicate the agricultural equipment for connecting the server, canCorresponding farming operation is completed with self-navigation and under the control of operator.So in the step S102, can with but notIt is limited to include the S201~S203 that has the following steps.
S201. the agricultural plots of needed operation and the end message of all online agricultural machinery terminals are counted, wherein the endClient information can be, but not limited to the terminal unique identification comprising corresponding agricultural machinery terminal, horsepower section and assembly farm implements type etc., instituteStating assembly farm implements type can be, but not limited to include preparation tool, farm tool for sowing, laxative farm implements and harvest farm implements etc..
In the step S201, server can be combined with satellite remote sensing date, discriminated whether agricultural plots becauseBy natural calamity, causes to lose and continue to put into the meaning that agricultural equipment carries out farming operation, it will be right if losing meaningAgricultural plots are answered to be included in in operation plot.
S202. the agricultural plots of same job task type are directed to, for the selected assembly agricultural machinery type of agricultural plots and the workThe agricultural machinery terminal that industry task type matches.
In the step S202, it includes tillage operation that the job task type, which can be, but not limited to, seeding operation, is beatenMedicine operation and harvest operation etc..Citing, when operation task type be tillage operation, and assemble agricultural machinery type be preparation tool,It can be considered matching, from there through abovementioned steps S202, the agriculture suitable for current farming operation can be selected for agricultural plotsMachine equipment.
S203. according to described ground block message and the end message, any combination according to following rule (a)~(e) isEach selected agricultural machinery terminal distribution waits for the agricultural plots of operation: (a) size of distributed agricultural plots and agricultural machinery terminalHorsepower section it is proportional；(b) multiple agricultural machinery terminals of same horsepower section, head office between the plot of distributed agricultural plots are directed toVariance yields into distance is minimum；(c) between the plot of distributed agricultural plots travel distance average value and agricultural machinery terminal horsepower sectionPosition is in inverse ratio；(d) distributed agricultural plots and corresponding with job task type history average operation time and agricultural machinery terminalHorsepower section be in inverse ratio；(e) two agricultural plots that travel distance between plot is shorter than certain standard (such as 3000 meters) are regardedFor same geographic range, it is only assigned to same agricultural machinery terminal.
In the step S203, rule (a)~(e) is specific plot allocation strategy, after further being promotedThe reasonability and high efficiency of continuous agricultural machinery working path planning, realize the mesh that farming operation is rapidly completed with cost as small as possible's.
S103. in server side, working path is planned for agricultural machinery terminal one of as follows:
(A) all agricultural plots of distribution are first directed to, the size in the block message of base area carries out row from big to smallSequence, then for multiple continuous agricultural plots of size in sequence approximate (such as area difference is less than 10%), according to plotBoundary shape rule degree progress in information is adjusted from rule to irregular sequence, then for boundary shape rule in sequenceMultiple continuous agricultural ground of degree approximate (such as same situation, the same shape rule grade or assessed value difference are less than 10%)Block, the agriculture landscape type in the block message of base area carry out the sequence adjustment from hillock to depression or from level land to hillside fields, finallyAgricultural machinery working programme path is generated according to the position coordinates in agricultural plots ranking results and ground block message, wherein agricultural machinery workingThe starting point of programme path is the first agricultural plots of sequence, and terminal is the agricultural plots of sequence last bit；
(B) all agricultural plots of distribution are first directed to, the size in the block message of base area carries out row from small to largeSequence, then for multiple continuous agricultural plots of size in sequence approximate (such as area difference is less than 10%), according to plotBoundary shape rule degree in information adjust from the sequence irregularly to rule, then for boundary shape rule in sequenceMultiple continuous agricultural ground of degree approximate (such as same situation, the same shape rule grade or assessed value difference are less than 10%)Block, the agriculture landscape type in the block message of base area carry out the sequence adjustment from depression to hillock or from hillside fields to level land, finallyAgricultural machinery working programme path is generated according to the position coordinates in agricultural plots ranking results and ground block message, wherein agricultural machinery workingThe starting point of programme path is the agricultural plots of sequence last bit, and terminal is the first agricultural plots of sequence.
In the step S103, mode (A) or mode (B) are for a certain agricultural machinery terminal and the corresponding mostly agricultural distributedPlot carries out the concrete mode of agricultural machinery working path planning, can match the farming agronomy standard on different agricultural plots, such asMeet the plot farming that the big plot of cultivated area will be small prior to cultivated area, the plot of boundary shape rule will be prior to boundary shapeThe irregular plot sowing of shape, hillock will be sowed earlier than depression pacifically will be earlier than the reasonability demand of hillside fields harvest etc..
Optimization, in order to further match the exclusive farming agronomy standard of seeding operation, in the step S103, if makingAverage tilling depth when industry task type is seeding operation and described ground block message also includes previous tillage operation, then:
In mode (A), first for the multiple continuous of size in sequence approximate (such as area difference is less than 10%)Agricultural plots, the average tilling depth in the block message of base area are carried out from shallowly adjusting to deep sequence, then again in sequenceMultiple continuous agricultural plots of the depth of ploughing approximate (such as depth difference is less than 10%), the boundary shape in the block message of base areaRegular degree progress is adjusted from rule to irregular sequence；
Alternatively, in mode (B), first for the multiple of size in sequence approximate (such as area difference is less than 10%)Continuous agricultural plots, the average tilling depth in the block message of base area adjust from depth to shallow sequence, are then directed to sequence againMultiple continuous agricultural plots of the depth of ploughing in column approximate (such as depth difference is less than 10%), the boundary in the block message of base areaRegular shape degree adjust from the sequence irregularly to rule.
Optimization, in order to further match the exclusive farming agronomy standard of laxative operation, in the step S103, if makingAverage application rate when industry task type is laxative operation and described ground block message also includes previous seeding operation, then:
In mode (A), first for the multiple continuous of size in sequence approximate (such as area difference is less than 10%)Agricultural plots, the average application rate in the block message of base area adjust from more to few sequence, then again for broadcasting in sequenceKind measures multiple continuous agricultural plots of approximate (such as application rate difference is less than 10%), the boundary shape rule in the block message of base areaThen degree progress is adjusted from rule to irregular sequence；
Alternatively, in mode (B), first for the multiple of size in sequence approximate (such as area difference is less than 10%)Continuous agricultural plots, the average application rate in the block message of base area carry out sequence adjustment from less to more, are then directed to sequence againMultiple continuous agricultural plots of middle application rate approximate (such as application rate difference is less than 10%), the boundary shape in the block message of base areaShape rule degree adjust from the sequence irregularly to rule.
S104. in server side, job task type and the agricultural machinery working programme path are pushed into agricultural machinery terminal,In, the job task type can be, but not limited to as tillage operation, seeding operation, laxative operation or harvest operation etc..
In the step S104, since job task type can be tillage operation, seeding operation, laxative operation or harvestOperation etc., substantially included all farming cargo handling operations, therefore there is extremely widespread application value.
S105. it in agricultural machinery terminal side, exports and shows the job task type and the agricultural machinery working programme path.
It, can be with by showing the job task type and the agricultural machinery working programme path in the step S105It informs the current work task and task route of agricultural machinery operator, and then instructs to complete corresponding farming operation.In order to furtherConvenience is instructed in promotion, optimization, may include having the following steps in the step S105: S500. starts navigation system, and rootSelf-navigation is carried out according to the agricultural machinery working programme path from server.Further, it is also possible to reaching some agricultural plotsWhen, tracking navigation is carried out according to the Historical Jobs track of from server the and corresponding agricultural plots.
Optimization, in order to preferably plan the working path before the following seeding operation, if the job task type is wholeGround operation further includes then following steps S511~S512 after the step S105.
It S511. will be collected whole during tillage operation for a certain agricultural plots of distribution in agricultural machinery terminal sideGround work data is uploaded to server.In the step S511, the tillage operation data be can be, but not limited to comprising arable landDepth (its acquisition precision can be millimeter) and tillage operation time (including start time point, end time point and operation time etc.Temporal information, acquisition precision can be the second) etc..
S512. in server side, made according to this site preparation that the tillage operation data statistics obtains corresponding agricultural plotsThe average time of site preparation of the average tilling depth of industry/and history tillage operation, then by the tilling depth that is averaged/and this is average wholeThe ground time is stored in the ground block message of corresponding agricultural plots.In the step S512, according to the tillage operation data intoThe algorithm of row statistics is conventional algorithm, wherein the average tilling depth can in future sowing as previous tillage operation whenAverage tilling depth, the further path of reasonability optimization seeding operation in step s 103, the average time of site preparationIt can be used in regular (d), further reasonability optimizes plot allocation strategy.
Optimization, in order to preferably plan the working path before the following laxative operation, if the job task type is to broadcastKind operation, then further include following steps S521~S522 after the step S105.
S521. it collected during seeding operation will be broadcast in agricultural machinery terminal side for a certain agricultural plots of distributionKind work data is uploaded to server.In the step S521, the seeding operation data be can be, but not limited to comprising sowingMeasure (its acquisition precision can be grain/mu) and seeding operation time (including whens start time point, end time point and operation time etc.Between information, acquisition precision can be the second) etc..
S522. in server side, made according to this sowing that the seeding operation data statistics obtains corresponding agricultural plotsThe average application rate of industry/and history seeding operation the average sowing time, then by the application rate that is averaged/and this averagely sow whenBetween be stored in the ground block message of corresponding agricultural plots.In the step S522, united according to the seeding operation dataThe algorithm of meter is conventional algorithm, wherein the average application rate can in future laxative as previous seeding operation when be averagedApplication rate, further the path of reasonability optimization laxative operation, the average sowing time can be used in institute in step s 103It states in regular (d), further reasonability optimizes plot allocation strategy.
Optimization, in order to preferably plan the working path before the following farming operation, if the job task type is to beatMedicine operation further includes then following steps S531~S532 after the step S105.
S531. it collected in laxative operation process will be beaten in agricultural machinery terminal side for a certain agricultural plots of distributionMedicine work data is uploaded to server.In the step S531, the laxative work data be can be, but not limited to comprising laxativeDrug pressure (its acquisition precision is pa) and laxative activity duration are sprayed when amount (its acquisition precision can be liter/mu), laxative(including the temporal informations such as start time point, end time point and operation time, acquisition precision can be the second) etc..
S532. in server side, this laxative work for obtaining corresponding agricultural plots is counted according to the laxative work dataThe average laxative amount of industry/and the operation of history laxative the average sowing time, then by the average laxative amount/and this averagely go and buy Chinese medicine whenBetween be stored in the ground block message of corresponding agricultural plots.In the step S532, united according to the laxative work dataThe algorithm of meter be conventional algorithm, wherein the average laxative amount can in the following farming operation as previous laxative operation whenAverage laxative amount, further the path of reasonability optimization farming operation, the averagely laxative time are available in step s 103In regular (d), further reasonability optimizes plot allocation strategy.
In addition, during the farming operation such as being arranged, being sowed, gone and buy Chinese medicine and harvested, it can be with Collecting operationTrack data, and it is uploaded to server, so that server can be according to the operation track data acquisition or the corresponding agricultural of correctionThe size in plot and boundary constitute ground block messages such as (the main foundations that the information can be used as boundary shape rule degree).
To sum up, it using agricultural machinery working paths planning method provided by the present embodiment, has the following technical effect that
(1) a kind of new method that can multiple agricultural plots be carried out with the planning of farming working path is present embodiments provided,First the ground block message of all agricultural plots is acquired, the agricultural plots of operation are then waited for for agricultural machinery terminal distribution, then soMultiple agricultural plots are automatically carried out agricultural machinery working path planning, most by base area block message and combination farming agronomy standard afterwardsJob task type and agricultural machinery working programme path are pushed to the operator of agricultural machinery terminal afterwards, it is possible thereby to instruct agriculture clothesBusiness operator carries out operation, improves the reasonability and production efficiency of earth working, avoids the occurrence of the wasting disorder phenomenon of agricultural machinery；
(2) this method can provide the convenience on sequence of operation strategy for agricultural machinery operator in carrying out farming operation, maximumIt improves to degree the service efficiency of agricultural machinery and meets the farming agronomy demand of soil crop, such as size and shape according to plotShape preferentially meets the big soil of block area and first carries out operation, in the evening sowing appropriate of the high plot of tilth, in farming depthIt spends shallow plot suitably to sow in advance, early site preparation appropriate and planting early enough on hillock, late site preparation appropriate and evening sowing in depression,The big plot of application rate is gone and buy Chinese medicine in advance, and the small plot of application rate is gone and buy Chinese medicine after suitably adjusting, etc.；
(3) this method can include all farming cargo handling operations, have extremely widespread application value, promote convenient for practical andUsing.
Embodiment two
As shown in figures 2-3, it present embodiments provides and a kind of realizes agricultural machinery working paths planning method described in embodiment oneSystem, including server and agricultural machinery terminal, wherein the server includes information acquisition unit, plot allocation unit, path ruleDraw unit and wireless communication unit；
The information acquisition unit, for obtaining the ground block message of agricultural plots, wherein the plot information includes to correspond toPlot unique identification, position coordinates, size, boundary shape rule degree and the agriculture landscape type of agricultural plots, it is describedAgriculture landscape type includes hillock, depression, level land and hillside fields；
The plot allocation unit, for waiting for the agricultural plots of operation for agricultural machinery terminal distribution；
The path planning unit, for planning working path one of as follows for agricultural machinery terminal:
(A) all agricultural plots of distribution are first directed to, the size in the block message of base area carries out row from big to smallSequence, then the approximate multiple continuous agricultural plots of size in sequence are directed to, the boundary shape rule journey in the block message of base areaDegree adjust from rule to irregular sequence, then for the approximate multiple continuous agriculturals of boundary shape rule degree in sequencePlot, the agriculture landscape type in the block message of base area carry out the sequence adjustment from hillock to depression or from level land to hillside fields, mostAgricultural machinery working programme path is generated according to the position coordinates in agricultural plots ranking results and ground block message afterwards, wherein agricultural machinery is madeThe starting point of industry programme path is the first agricultural plots of sequence, and terminal is the agricultural plots of sequence last bit；
(B) all agricultural plots of distribution are first directed to, the size in the block message of base area carries out row from small to largeSequence, then the approximate multiple continuous agricultural plots of size in sequence are directed to, the boundary shape rule journey in the block message of base areaDegree adjust from the sequence irregularly to rule, then for the approximate multiple continuous agriculturals of boundary shape rule degree in sequencePlot, the agriculture landscape type in the block message of base area carry out the sequence adjustment from depression to hillock or from hillside fields to level land, mostAgricultural machinery working programme path is generated according to the position coordinates in agricultural plots ranking results and ground block message afterwards, wherein agricultural machinery is madeThe starting point of industry programme path is the agricultural plots of sequence last bit, and terminal is the first agricultural plots of sequence；
The wireless communication unit, for job task type and the agricultural machinery working programme path to be pushed to agricultural machinery endEnd, wherein the job task type is tillage operation, seeding operation, laxative operation or harvest operation；
The agricultural machinery terminal wireless communication connects the server, for exporting and showing the job task type and instituteState agricultural machinery working programme path.
The particular technique details and technical effect of aforementioned system can refer to embodiment one and are directly derived by, no longer in thisIt repeats.
Optimization, the agricultural machinery terminal includes moving trolley 1, assembly farm implements 2, communication cartridge 3, electric hydraulic control unit 4, navigationUnit 5, farm implements identity recognizer 6, farm implements obliquity sensor 7, seeding detection unit 8, flow and pressure monitoring unit 9 and displayUnit, wherein the assembly farm implements 2 include linking arm 201 and homework department 202, and one end of the linking arm 201 connects the rowMule carriage 1, the other end connect the homework department 202；The communication cartridge 3, the electric hydraulic control unit 4,5 and of the navigation elementsThe display unit is separately mounted on the moving trolley 1, the farm implements identity recognizer 6 and the farm implements obliquity sensor 7It is separately mounted on the linking arm 201, the seeding detection unit 8 and the flow and pressure monitoring unit 9 are installed respectivelyIn the homework department 202；The communication cartridge 3 connects the server for wirelessly communicating, and communicates to connect the electricity respectivelyHydraulic control unit 4, the navigation elements 5, the farm implements identity recognizer 6, the farm implements obliquity sensor 7, the sowingMonitoring unit 8, the flow and pressure monitoring unit 9 and the display unit.
As shown in Figures 2 and 3, in the specific structure of the agricultural machinery terminal, the moving trolley 1 is for the row as agricultural equipmentWalk carrier.The assembly farm implements 2, such as can for realizing corresponding farming job task (mainly pass through the homework department 202)For the arable land mechanism for tillage operation, the sowing mechanism for seeding operation, the spraying mechanism for operation of going and buy Chinese medicine or it is used forHarvesting mechanism of harvest operation, etc..The communication cartridge 3 is used to (need in agricultural equipment as the core component of agricultural machinery terminalUpper this communication cartridge 3 of installation), it is on the one hand carried out telecommunication with the server, receives job task type and agricultural machinery working ruleRoute is drawn, on the other hand uploads tillage operation data, seeding operation data, laxative work data, harvest operation number to serverAccording to operation track data etc..Various mechanical actions when the electricity hydraulic control unit 4 is for realizing agricultural machinery working, can adoptIt is realized with existing associated mechanisms.The navigation elements 5, can also be real using existing Related product for providing navigation ServiceIt is existing.The farm implements identity recognizer 6 is used to record the relevant information (such as assembly farm implements type etc.) of corresponding farm implements, to takeWhen device acquisition terminal information of being engaged in, existing IC is can be used in the information such as current assembly farm implements type of available agricultural machinery terminalChip card is realized.The farm implements obliquity sensor 7 is used to obtain the inclination angular data of linking arm 201, so as to agricultural machinery terminal or clothesIt is to be in non-working condition in working condition, and then can help that business device, which currently assembles farm implements according to the inclination angle data separation,It is distinguished in agricultural machinery travel track, tells travel path when non-working condition (i.e. run trace) and the operation of agricultural machineryPath when working condition (i.e. run trace), and then can avoid agricultural machinery and consume the excessive time in future work between blockIn distance, existing gyroscope product can be used and realize.The seeding detection unit 8 obtains seeding operation number for acquiringAccording to, can using existing product realize.The flow and pressure monitoring unit 9, which are used to acquire, obtains laxative work data,It can be realized using existing product.The display unit is for exporting and showing the job task type and the agricultural machinery workingThe human-machine interactive informations such as programme path can be realized using existing vehicle-carrying display screen.
It is described from there through the detailed construction of aforementioned agricultural machinery terminal, agricultural machinery working navigation, agricultural machinery working and agriculture may be implementedThe acquisition of related work data and upload purpose, the technical solution for proposing the present invention are more clear and complete during machine operationIt is whole.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodimentsInvention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each implementationTechnical solution documented by example is modified or equivalent replacement of some of the technical features.And these modification orReplacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Finally it should be noted that the present invention is not limited to above-mentioned optional embodiment, anyone is in enlightenment of the inventionUnder can all obtain other various forms of products.Above-mentioned specific embodiment should not be understood the limit of pairs of protection scope of the present inventionSystem, protection scope of the present invention should be subject to be defined in claims, and specification can be used for explaining that right is wantedSeek book.