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WO2020147326A1 - 路径管理系统及其管理方法 - Google Patents

路径管理系统及其管理方法 Download PDF

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Publication number
WO2020147326A1
WO2020147326A1 PCT/CN2019/106299 CN2019106299W WO2020147326A1 WO 2020147326 A1 WO2020147326 A1 WO 2020147326A1 CN 2019106299 W CN2019106299 W CN 2019106299W WO 2020147326 A1 WO2020147326 A1 WO 2020147326A1
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WO
WIPO (PCT)
Prior art keywords
area
module
work
path
operated
Prior art date
Application number
PCT/CN2019/106299
Other languages
English (en)
French (fr)
Inventor
秦硕
齐家园
徐兵
王晓东
Original Assignee
丰疆智能科技研究院(常州)有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 丰疆智能科技研究院(常州)有限公司 filed Critical 丰疆智能科技研究院(常州)有限公司
Priority to JP2021541549A priority Critical patent/JP7249422B2/ja
Priority to CA3126969A priority patent/CA3126969A1/en
Priority to RU2021121776A priority patent/RU2763327C1/ru
Priority to AU2019422604A priority patent/AU2019422604B2/en
Priority to KR1020217026110A priority patent/KR102683901B1/ko
Priority to EP19910174.2A priority patent/EP3913454A4/en
Publication of WO2020147326A1 publication Critical patent/WO2020147326A1/zh
Priority to US17/374,035 priority patent/US20210364315A1/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
    • A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B79/00—Methods for working soil
    • A01B79/005—Precision agriculture
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3602—Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3691—Retrieval, searching and output of information related to real-time traffic, weather, or environmental conditions
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/001—Steering by means of optical assistance, e.g. television cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10032—Satellite or aerial image; Remote sensing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30181—Earth observation
    • G06T2207/30188—Vegetation; Agriculture

Definitions

  • the invention relates to the field of agricultural machinery, in particular to a path management system for agricultural machinery and a management method thereof.
  • farmland The scope of farmland is very wide, and it takes a certain amount of time and experience to rely on people to obtain the environmental conditions of farmland.
  • people’s knowledge of farmland cannot be updated in time with changes in the environment, which is prone to lag, and errors or accidents occur during agricultural machinery operations.
  • An advantage of the present invention is to provide a path management system and a management method thereof.
  • the path management system plans a path according to the working environment, and the agricultural machinery operates in the working environment according to the planned path.
  • Another advantage of the present invention is to provide a path management system and a management method thereof.
  • the path management system obtains data of the working environment through a monitoring device to analyze the working environment.
  • Another advantage of the present invention is to provide a path management system and a management method thereof.
  • the path management system recognizes the area to be operated by the agricultural machine and analyzes the environment of the area to be operated to plan the operation path of the agricultural machine.
  • Another advantage of the present invention is to provide a path management system and a management method thereof.
  • the path management system plans to automatically call a corresponding work path according to the waiting area of the agricultural machine to be operated, so that the agricultural machine executes the work path.
  • Another advantage of the present invention is to provide a path management system and a management method thereof.
  • the path management system plans a work path according to the boundary and shape of the area to be operated, so that the work path can be adapted to the area to be operated.
  • Another advantage of the present invention is to provide a path management system and management method thereof.
  • the path management system recognizes obstacles in the area to be operated to analyze obstacle avoidance methods according to the obstacle surface where the obstacles are located, and plan the operation path to achieve Effective obstacle avoidance.
  • Another advantage of the present invention is to provide a path management system and management method thereof.
  • the path management system obtains real-time data of the working environment through a monitoring device to adjust the working path in real time.
  • Another advantage of the present invention is to provide a path management system and a management method thereof.
  • the path management system detects that the agricultural machine is about to enter the area to be operated, the corresponding operation path is invoked and executed by the agricultural machine.
  • a path management system of the present invention which can achieve the foregoing objectives and other objectives and advantages, used in at least one agricultural machine, includes:
  • An environmental analysis module that analyzes the situation of at least one area to be operated and generates at least one environmental parameter
  • a work path planning module is communicatively connected to the environment analysis module to plan at least one work path of the to-be-worked area according to the environmental parameters.
  • the path management system further includes an environment acquisition module, which is communicatively connected to at least one monitoring device, and the monitoring device detects the area to be operated, and the environment The obtaining module obtains the environmental data of the to-be-worked area from the monitoring device and sends it to the environmental analysis module.
  • an environment acquisition module which is communicatively connected to at least one monitoring device, and the monitoring device detects the area to be operated, and the environment The obtaining module obtains the environmental data of the to-be-worked area from the monitoring device and sends it to the environmental analysis module.
  • the environment analysis module includes a boundary analysis module, and the boundary analysis module identifies a boundary of the to-be-worked area according to the environmental data of the to-be-worked area acquired by the environment acquiring module, The boundary analysis module further analyzes the shape and size data of the boundary of the area to be operated according to the boundary of the area to be operated.
  • the environment analysis module includes a movable surface recognition module, and the movable surface recognition module recognizes the to-be-worked area according to the environmental data of the to-be-worked area acquired by the environment acquiring module The movable surface.
  • the environment analysis module includes a work surface analysis module, and the work surface analysis module identifies the work in the work area according to the environmental data of the work area acquired by the environment acquisition module. surface.
  • the environment analysis module includes an obstacle surface generation module, and the obstacle surface generation module generates the obstacles of the to-be-worked area according to the environmental data of the to-be-worked area acquired by the environment acquiring module. surface.
  • the environment analysis module includes a feedback module, and the feedback module obtains the shape and boundary size of the to-be-worked area from the boundary module, and obtains the movable surface recognition module. Move the surface, obtain the work surface from the work surface analysis module, obtain the obstacle surface from the obstacle surface generation module, and generate the environmental parameters of the area to be operated, and the feedback module feeds back the environmental parameters to the The job path planning module.
  • the work path planning module obtains the size data of the shape and boundary of the to-be-worked area according to the environmental parameters, and the work path planning module obtains the size data of the shape and the boundary of the to-be-worked area according to the environmental parameters.
  • the size data plan the work path.
  • the work path planning module analyzes the obstacle avoidance mode according to the obstacle surface of the environmental parameter, and plans the work path of the area to be operated.
  • the work path planning module plans the work path of the to-be-worked area according to the environmental parameters.
  • the path management system further includes a monitoring module that monitors the position of the agricultural machine, and the monitoring module obtains the waiting area of the agricultural machine according to the position of the agricultural machine.
  • the path management system further includes a calling module communicatively connected to the monitoring module, and the calling module obtains the position of the agricultural machine and the waiting module from the monitoring module.
  • the calling module calls the work path to be executed by the agricultural machine.
  • the present invention further provides a path management method for at least one agricultural machine, including the following steps:
  • the step (A) includes the following steps:
  • the step (B) further includes the steps:
  • the operation path is planned according to the boundary size and shape of the area to be operated.
  • the step (A) includes the following steps:
  • the step (B) further includes the steps:
  • Plan at least one obstacle avoidance method based on the obstacle surface
  • the method further includes the following steps:
  • Fig. 1 is a system block diagram according to a preferred embodiment of the present invention.
  • Fig. 2 is a schematic diagram of the above-mentioned preferred embodiment according to the present invention.
  • Fig. 3 is a flowchart of the above-mentioned preferred embodiment according to the present invention.
  • Fig. 4 is a step diagram of the above-mentioned preferred embodiment according to the present invention.
  • Fig. 5 is a schematic diagram of the above-mentioned preferred embodiment according to the present invention.
  • Fig. 6 is a step diagram of a modified implementation of the above-mentioned preferred embodiment according to the present invention.
  • Fig. 7 is a schematic diagram of the modified implementation of the above-mentioned preferred embodiment according to the present invention.
  • Fig. 8 is a schematic diagram of the above-mentioned preferred embodiment according to the present invention.
  • the term “a” should be understood as “at least one” or “one or more”, that is, in one embodiment, the number of an element can be one, and in other embodiments, the The number can be more than one, and the term “one” cannot be understood as a limitation on the number.
  • Figures 1 to 8 provide a preferred embodiment of the present invention.
  • the present invention provides a path management system 100.
  • the path management system 100 analyzes the environment of at least one area to be operated 201 and is At least one agricultural machine 202 is planned in the work path of the waiting area 201.
  • the agricultural machinery 202 moves and operates in the waiting area 201 according to the operation path planned by the path management system 100.
  • the path management system 100 includes an environment acquisition module 101, which is communicatively connected to at least one monitoring device 203, and the monitoring device 203 monitors at least one waiting area 201 to obtain the waiting operation area 201 Environmental data of area 201.
  • the monitoring device 203 monitors farmland.
  • the monitoring device 203 obtains pictures, infrared images, etc. of farmland so that the environment obtaining module 101 obtains the environmental data of the area to be operated 201.
  • the path management system 100 further includes an environment analysis module 102 which is communicatively connected to the environment acquisition module 101 to acquire the environment data of the to-be-worked area 201 from the environment acquisition module 101.
  • the environmental analysis module 102 analyzes the environmental data of the to-be-worked area 201 to generate an environmental parameter of the to-be-worked area 201.
  • the environmental analysis module 102 analyzes the boundary of the to-be-worked area 201 and determines the shape of the to-be-worked area 201 to generate the environmental parameters.
  • the environment analysis module 102 analyzes the movable surface, obstacle surface, working surface, non-working surface, etc.
  • the environmental analysis module 102 analyzes the data of the multiple to-be-worked areas 201 to generate multiple environmental parameters, the environmental analysis module 102 identifies each of the environmental parameters of the to-be-worked areas 201 to distinguish The to-be-worked area 201 corresponding to each of the environmental parameters.
  • the environment analysis module 102 includes a boundary analysis module 1021, the boundary analysis module 1021 is communicatively connected to the environment acquisition module 101, and the boundary analysis module 1021 acquires the pending job from the environment acquisition module 101 Data of area 201.
  • the boundary analysis module 1021 identifies the boundary of the area to be operated 201.
  • the environment acquisition module 101 acquires an image of the to-be-worked area 201 through the monitoring device 203, and the boundary analysis module 1021 identifies and determines the image of the to-be-worked area 201 boundary.
  • the boundary analysis module 1021 identifies the ridge of the to-be-worked area 201 as the boundary of the to-be-worked area 201.
  • the boundary analysis module 1021 further analyzes the shape of the area to be operated 201 according to the boundary of the area to be operated.
  • the convenient analysis module 1021 identifies obstacles in the to-be-worked area 201, and uses the position and/or shape of the obstacle as the The boundary of the work area 201.
  • the boundary analysis module 1021 analyzes the size data of the boundary of the to-be-worked area 201 to determine the length and width of the boundary of the to-be-worked area 201.
  • the environment analysis module 102 also includes a movable surface recognition module 1022, the movable surface recognition module 1022 is communicably connected to the environment acquisition module 101, and the movable surface recognition module 1022 acquires according to the environment
  • the data of the waiting area 201 sent by the module 101 identifies the movable surface of the waiting area 201.
  • the movable surface recognition module 1022 recognizes the area where the agricultural machinery 202 can move according to the data of the to-be-worked area 201 sent by the environment acquisition module 101 and generates the to-be-worked area 201 The movable surface of area 201.
  • the movable surface recognition module 1022 recognizes that the area where the walking mechanism of the agricultural machine 201 can pass and does not damage the crops in the to-be-worked area 201 is the movable surface of the to-be-worked area 201.
  • the environment analysis module 102 also includes a work surface analysis module 1023, the work surface analysis module 10223 is communicably connected to the environment acquisition module 101, and the work surface analysis module 1023 sends according to the environment acquisition module 101
  • the data of the to-be-worked area 201 identifies that the to-be-worked area 201 requires the agricultural machinery 202 to perform operations to generate the to-be-worked surface.
  • the work surface analysis module 1023 may also identify the area of the to-be-worked area 201 that does not require work as a non-work surface.
  • the environment analysis module 102 further includes an obstacle surface generation module 1024, which is communicably connected to the environment acquisition module 101, and the obstacle surface generation module 1024 sends according to the environment acquisition module 101
  • the obstacle surface generation module 1024 recognizes that there are rocks, highlands, pits, water pools, etc. in the to-be-worked area 201.
  • the movement of the agricultural machinery 202 generates obstructive areas, and the obstruction surface generating module 1024 generates these areas as obstruction surfaces of the area to be operated 201.
  • the environment analysis module 102 also includes a feedback module 1025, which respectively obtains the boundary data and shape of the to-be-worked area 201 from the boundary analysis module 1021, and obtains all data from the movable surface recognition module 1022. Informing the movable surface of the waiting work area 201, the work surface of the waiting work area 201 is obtained from the work surface analysis module 1023, and the obstacle surface of the waiting work area 201 is generated from the obstacle surface generation module 1024.
  • the feedback module 1025 generates the environmental parameters of the to-be-worked area 201 according to the boundary data and shape, the working surface, the movable surface, the obstacle surface, and the like of the to-be-worked area 201.
  • the path management system 100 further includes a work path planning module 103 which is communicatively connected to the environment analysis module 102 to obtain the environmental parameters of the to-be-worked area 201. Wherein, the feedback module 1025 feeds back the environmental parameters to the work path planning module 103.
  • the work path planning module 103 obtains the shape, movable surface, obstacles, work surface, etc. of the to-be-worked area 201 according to the environmental parameters, and the work path planning module 103 plans the agricultural machinery 202 to operate on the movable surface. Move and work on the working surface, and plan the path of the agricultural machine 202 to avoid the obstacle surface.
  • the work path planning module 103 generates at least one work path 204.
  • the work path 204 is suitable for the work area 201.
  • the work path planning module 103 plans the work path 204 for a plurality of the work areas 201, the work path planning module 103 identifies the work path 204 corresponding to each work area 201, so that Identify the working path 204 applicable to each of the to-be-worked areas 201.
  • the path management system 100 further includes a monitoring module 104 and a calling module 105.
  • the monitoring module 104 is communicatively connected to the agricultural machine 202 to monitor whether the agricultural machine 202 is ready for operation. When the monitoring module 104 detects that the agricultural machine 202 moves to the waiting area 201, the monitoring module 104 acquires the waiting area 201.
  • the calling module 105 is communicatively connected to the monitoring module 104 to obtain the waiting area 201 where the agricultural machinery 202 is ready to work, and the calling module 105 is communicatively connected to the working path planning module 103 to obtain
  • the work path planning module 103 calls the work path 204 applicable to the to-be-worked area 201.
  • the agricultural machinery 202 operates in the waiting area 201 according to the operation path 204 called by the calling module 105.
  • the monitoring module 104 monitors the current position of the agricultural machine 202 and analyzes whether the agricultural machine 202 moves to the waiting area 201.
  • the monitoring module 104 detects that the agricultural machine 202 is approaching the waiting area 201 and is about to enter the waiting area 201
  • the calling module 105 calls the working path 204 for the agricultural machine 202 Execute the work path 204, and move and work in the waiting area 201.
  • the agricultural machine 202 When the monitoring module 104 monitors that the agricultural machine 202 reaches the waiting area 201, the agricultural machine 202 automatically executes the operation path 204 called by the invoking module 105, and in the waiting area 201 according to the operation The path 204 performs movement and operations. It is worth mentioning that when the monitoring module 104 monitors that the agricultural machine 201 is located in the waiting area 201, the calling module 105 calls the work path 204, and the agricultural machine 201 executes the work path at the current position. 204.
  • the monitoring device 203 monitors the waiting area 201.
  • the monitoring device 203 can be implemented as a drone, a base station, a satellite, or a combination thereof.
  • the drone monitors the waiting area 201 over the waiting area 201.
  • the drone acquires the data of the to-be-worked area 201 so that the environment analysis module 102 can analyze the environmental parameters of the to-be-worked area 201.
  • the drone can be equipped with a camera device, an infrared device, etc., to detect the area to be operated 201.
  • the monitoring device 203 can also be implemented as a base station.
  • One or more base stations are set up in the waiting area 201 and its surroundings to monitor the waiting area 201 so that the environment acquisition module 101 obtains data of the waiting area 201.
  • the base station monitors, identifies or scans the area to be operated 201, and obtains data of the area to be operated.
  • the monitoring device 203 is implemented as a satellite, and the environment acquisition module 101 acquires an image of the area to be operated 201 through a satellite to obtain data of the area to be operated 201.
  • the satellite can transmit data such as photos, geological images, infrared images and the like of the area to be operated 201 or the area where the area to be operated 201 is located to the environment acquisition module 101.
  • the environment acquisition module 101 can acquire the data of the waiting area 201 from the monitoring device 203, such as drones, base stations, satellites, etc., and the combination thereof, for the environment analysis module 102 to analyze the waiting area 201. Generate the environmental parameters.
  • the environment analysis module 102 analyzes, according to the data sent by the environment acquisition module 101, the moving surface in the to-be-worked area 201 that can be moved by the agricultural machine 202, the obstacle surface that cannot be moved by the agricultural machine 202, and the The boundary of the area 201, the working surface where the agricultural machine 202 needs to work, the non-working surface where the agricultural machine 202 does not need to work, the non-working surface where the work has been completed, etc., and the environmental parameters are generated.
  • the work path planning module 103 plans the work route according to the environmental parameters.
  • the work path planning module 103 plans the work area 201 according to the movable surface, work surface, obstacle surface, the boundary of the work area 201 and the non-work surface of the work environment in the environmental parameters.
  • the working path 204 is a part of the work route.
  • the working path 204 planned by the working path planning module 103 is suitable for the agricultural machine 202 to move and operate in the waiting area 201 after entering the waiting area 201.
  • the area to be operated 201 may be implemented as an area where a piece of farmland is located or an area formed by connecting multiple pieces of farmland.
  • the environment acquisition module 101 acquires data of a piece of farmland, and may also acquire data of multiple pieces of farmland.
  • the environmental analysis module 102 analyzes the data of a farmland to generate the environmental parameters of the farmland.
  • the environmental analysis module 102 may also analyze data of multiple farmlands to generate the environmental parameters.
  • the environmental analysis module 103 assigns the environmental parameters corresponding to each farmland.
  • the environmental analysis module 103 may also consider some farmland as a whole area to be operated 201 to assign the environmental parameters.
  • the working path planning module 103 plans the working path 204 on the waiting area 201.
  • the work path planning module 103 analyzes the boundary of the area to be operated 201 according to the environmental parameters sent by the environmental analysis module 102 to obtain the shape of the area to be operated 201.
  • the monitoring device 203 monitors the waiting area 201.
  • the monitoring device 203 acquires the data of the area to be operated 201, and the environmental analysis module 102 generates the environmental parameters.
  • the environment analysis module 102 sends the environment parameters to the work path planning module 103.
  • the work path planning module 103 analyzes that the to-be-worked area 201 is a square farmland according to the environmental parameters, and the work-path planning module 103 plans the work path 204 according to the shape of the to-be-worked area 201.
  • the work path planning module 103 analyzes the obstacle avoidance mode according to the obstacle surface of the environmental parameter, and plans the work path 204.
  • the environmental analysis module 102 generates the environmental parameters of the to-be-worked area 201 according to movable surfaces, work surfaces, obstacle surfaces, etc., and feeds them back to the work path planning module 103.
  • the work path planning module 103 plans the work path 204 according to the movable surface, the work surface, and the obstacle surface of the environmental parameters.
  • the present invention further provides a path management method 300.
  • the path management method 300 is executed by the path management system 100.
  • the path management method 300 further includes a step 301: obtaining environmental data of at least one of the to-be-worked areas 201.
  • the monitoring of the waiting area by the monitoring device 203 generates the data of the waiting area 201, and the data of the waiting area 201 is obtained from the monitoring device 203 through the environment acquisition module 101.
  • the path management method 300 further includes a step 302: generating an environmental parameter of the to-be-worked area 201.
  • the data of the to-be-working area 201 is acquired from the environment acquisition module 101 through the environment analysis module 102.
  • the environment analysis module 102 analyzes the data of the to-be-worked area 201 to generate the environmental parameters of the to-be-worked area 201.
  • the step 300 further includes a step 303: planning at least one of the work paths 204 of the to-be-worked area 201. Analyze the environmental parameters through the work path planning module 103, plan the work path 204 of the to-be-worked area 201.
  • the path management method 300 includes a step 304: monitoring the position of the agricultural machine 202.
  • the agricultural machine 202 is monitored by the monitoring device 203 to obtain the real-time position of the agricultural machine 202.
  • the agricultural machine 202 is configured with a positioning system such as GPS and Beidou to actively provide location data.
  • the path management method 300 includes the following steps:
  • step 306 is executed, and the calling module 105
  • the working path 204 of the waiting area 201 is called, and the agricultural machinery 202 operates in the waiting area 201 according to the working path 204.
  • the path management method 300 further includes a step 300 and further includes: step 307: whether the environmental data has changed.
  • the real-time data of the waiting area 201 is acquired by the monitoring device 203, and the environmental data of the waiting area 201 is updated in time.
  • the waiting area 201 is generated based on the real-time data of the waiting area 201 obtained by the monitoring device 203. 201 new said environmental parameters. If it is determined in the step 307 that the waiting area 201 has not changed, then step 301 is executed, and the monitoring device 203 continues to obtain the environmental data of the waiting area 201.
  • the real-time data of the to-be-worked area 201 is acquired by the monitoring device 203, so that the environmental parameters generated by the environmental analysis module 102 can reflect the latest situation of the to-be-worked area 201, so that the The work path 204 planned by the work path planning module 103 is suitable for the work area 201.
  • the step 302 further includes the following steps:
  • the boundary analysis module 1021 identifies the boundary of the to-be-worked area 201, and further analyzes the to-be-worked area The size of the border of 201. For example, referring to FIG. 5, the monitoring device 203 monitors the to-be-worked area 201 and obtains an image of the to-be-worked area 201.
  • the boundary analysis module 1021 analyzes the image of the to-be-worked area 201, and recognizes that there is a ridge around the to-be-worked area 201 as a boundary.
  • the boundary analysis module 1021 further analyzes the size of the boundary of the area to be operated 201.
  • the boundary analysis module 1021 identifies the length of the ridge with the area to be operated 201 as the boundary.
  • the boundary analysis module 1021 further analyzes the shape of the to-be-worked area 201 according to the boundary of the to-be-worked area 201.
  • the step 303 further includes a step 3031: planning the work path according to the shape and boundary of the area to be operated.
  • the work path of the to-be-worked area 201 is planned by the work path planning module 103.
  • the planned operation path 204 is that the agricultural machine 202 turns when moving to another boundary along the direction of the boundary extension of the square farmland, and after continuing to move a certain distance along the boundary, it turns again and continues to move to another boundary along the extension direction of the boundary. At the boundary, repeat the above actions until the agricultural machinery 202 completes the work in the waiting area 201.
  • the step 302 includes the following steps:
  • the step 303 includes the following steps:
  • step 3023 according to the environmental data of the to-be-worked area 201, the movable surface of the to-be-worked area 201 that can be moved by the agricultural machine 202, the work surface that requires the agricultural machine 202 to operate, and the agricultural machine 202 impassable obstacles, etc., and in step 3024, the environmental parameters of the to-be-worked area 201 are generated.
  • the working path 204 of the agricultural machine 202 in the waiting area 201 is planned according to the movable surface, the working surface, and the obstacle surface of the waiting area 201 in the environmental parameters.
  • the working path 204 guides the agricultural machine 202 to move on the movable surface of the waiting area 201 to avoid the obstacle surface.
  • the obstacle avoidance mode of the obstacle surface of the to-be-worked area 201 is analyzed, so that the agricultural machinery 202 can avoid the influence of the obstacle surface.
  • the monitoring device 203 monitors the waiting area 201 to obtain data of the waiting area 201.
  • the environmental data of the to-be-worked area 201 is analyzed to obtain that there are big trees in the to-be-worked area 201 to form an obstacle surface of the to-be-worked area 201.
  • the movable surface and the working surface of the to-be-worked area 201 are identified.
  • the environmental parameters are generated.
  • the step 3032 the area occupied by the obstacle surface of the to-be-worked area 201 and the environment around the obstacle surface are analyzed through the environmental parameters to plan the obstacle avoidance mode of the obstacle surface.
  • the planned obstacle avoidance method is to avoid the obstacle surface and bypass the obstacle surface.
  • the working path of the to-be-worked area 201 is generated by combining the obstacle avoidance methods of the movable surface, the working surface and the obstacle surface of the to-be-worked area 201.
  • the work path planning module 103 plans the work path 204 according to the boundary and obstacle surface, work surface, movable surface, etc. of the area to be operated 201.
  • the monitoring device 203 monitors the to-be-worked area 201, acquires data of the to-be-worked area 201, and analyzes that the to-be-worked area 201 is square farmland according to the boundary analysis module 1021.
  • the movable surface 1022 the movable surface of the farmland is identified.
  • the working surface analysis module 1023 the working surface of the farmland is identified.
  • the obstacle surface generating module 1024 it is recognized that there is a puddle in the farmland of the module, which is an obstacle surface.
  • the feedback module 1025 feeds back the work surface, the boundary and shape of the area to be operated 201, and the obstacle surface to the work path planning module 103.
  • the work path planning module is based on the boundary, shape, work surface, and obstacle surface. Wait to plan the work path 204 that can avoid obstacles.
  • the monitoring module 104 monitors that the agricultural machine 202 reaches the boundary of the waiting area 201, the calling module 105 invokes the working path 204 of the waiting area 201 to be executed by the agricultural machine 202.

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Abstract

一种路径管理系统（100）及其管理方法，其中路径管理系统（100）用于至少一农机（202），以为农机（202）的作业提供作业路径，其中路径管理系统（100）包括一环境分析模块（102）和一作业路径规划模块（103），环境分析模块（102）分析至少一待作业区（201）的情况，生成至少一环境参数，作业路径规划模块（103）通信地连接于环境分析模块（102），以根据环境参数规划待作业区域（201）的至少一作业路径，农机（202）能够根据作业路径在待作业区（201）进行作业。

Description

路径管理系统及其管理方法 技术领域
本发明涉及农业机械领域，尤其涉及一用于农机的路径管理系统及其管理方法。
背景技术
随着现代农业的发展，农业机械化率越来越高，农业机械在越来越多的农田上进行作业。不过农机的自动化率目前还不足够高，许多方面仍旧依赖人进行工作。
农机在农田作业时需要有驾驶员驾驶农机进行移动。而农机的行驶路径由驾驶员决定。驾驶员依照自身对农田的了解选择路线和方向。但是农田的范围很广，环境的情况也不是一成不变的。驾驶员不能完全和及时地了解农田的全部情况，往往在驾驶员驾驶农机进入农田后，才能发现一些状况，比如因为天气原因出现的临时水坑、未能被发现的石块等，驾驶员在农田中突然面对这些状况，无法及时作出正确的应对，可能会驾驶农机在农田上作出后退、掉头、转向、重新选择路径等选择。但是农机在农田上后退、掉头、转向等，会对已经作业过的农田产生破坏。比如农机沿着一个方向一路作业，在前方遇到无法翻越、避开的障碍时，选择后退，可能会破坏后方的农作物。因此，在进入农田前对农机需要作业的区域了解不充分，容易在作业时造成不必要的损失。
而农田的范围很广，靠人去获取农田的环境情况，需要一定的时间和经验。而人对农田的认知无法及时随着环境的变化而更新，容易产生滞后，而在农机作业时产生失误或发生意外情况。
发明内容
本发明的一个优势在于提供一路径管理系统及其管理方法，所述路径管理系统根据作业环境规划路径，农机按照规划的路径在作业环境作业。
本发明的另一个优势在于提供一路径管理系统及其管理方法，所述路径管理系统通过监测装置获取作业环境的数据，以分析作业环境。
本发明的另一个优势在于提供一路径管理系统及其管理方法，所述路径管理系统识别农机的待作业区，并分析待作业区的环境，以规划农机的作业路径。
本发明的另一个优势在于提供一路径管理系统及其管理方法，所述路径管理系统规划根据农机准备作业的待作业区自动调用相应的作业路径，以使农机执行作业路径。
本发明的另一个优势在于提供一路径管理系统及其管理方法，所述路径管理系统根据待作业区的边界和形状规划作业路径，以使作业路径能够适应于待作业区。
本发明的另一个优势在于提供一路径管理系统及其管理方法，所述路径管理系统识别待作业区的障碍物，以根据障碍物所在的障碍面情况分析避障方式，规划作业路径，以实现有效避障。
本发明的另一个优势在于提供一路径管理系统及其管理方法，所述路径管理系统通过监测装置实时获取作业环境的数据，以实时调整作业路径。
本发明的另一个优势在于提供一路径管理系统及其管理方法，所述路径管理系统监测到农机准备进入待作业区时，调用相应的作业路径，由农机执行。
本发明的其它优势和特点通过下述的详细说明得以充分体现并可通过所附权利要求中特地指出的手段和装置的组合得以实现。
依本发明的一个方面，能够实现前述目的和其他目的和优势的本发明的一路径管理系统，用于至少一农机，包括：
一环境分析模块，所述环境分析模块分析至少一待作业区的情况，生成至少一环境参数；和
一作业路径规划模块，所述作业路径规划模块通信地连接于所述环境分析模块，以根据所述环境参数规划所述待作业区域的至少一作业路径。
根据本发明的一个实施例，所述路径管理系统进一步包括一环境获取模块，所述环境获取模块通信地连接于至少一监测装置，所述监测装置对所述待作业区进行检测，所述环境获取模块从所述监测装置获取所述待作业区的环境数据，并发送至所述环境分析模块。
根据本发明的一个实施例，所述环境分析模块包括一边界分析模块，所述边界分析模块根据所述环境获取模块获取的所述待作业区的环境数据识别所述待作业区的一边界，所述边界分析模块进一步根据所述待作业区的边界分析所述待 作业区的形状和边界的尺寸数据。
根据本发明的一个实施例，所述环境分析模块包括一可移动面识别模块，所述可移动面识别模块根据所述环境获取模块获取的所述待作业区的环境数据识别所述待作业区的可移动面。
根据本发明的一个实施例，所述环境分析模块包括一作业面分析模块，所述作业面分析模块根据所述环境获取模块获取的所述待作业区的环境数据识别所述待作业区的作业面。
根据本发明的一个实施例，所述环境分析模块包括一障碍面生成模块，所述障碍面生成模块根据所述环境获取模块获取的所述待作业区的环境数据生成所述待作业区的障碍面。
根据本发明的一个实施例，所述环境分析模块包括一反馈模块，所述反馈模块分别从所述边界模块获取所述待作业区的形状和边界尺寸、从所述可移动面识别模块获取可移动面、从所述作业面分析模块获取作业面、从所述障碍面生成模块获取障碍面，并生成所述待作业区的所述环境参数，所述反馈模块将所述环境参数反馈至所述作业路径规划模块。
根据本发明的一个实施例，所述作业路径规划模块根据所述环境参数获取所述待作业区的形状和边界的尺寸数据，所述作业路径规划模块根据所述待作业区的形状和边界的尺寸数据规划所述作业路径。
根据本发明的一个实施例，所述作业路径规划模块根据所述环境参数的障碍面分析避障方式，规划所述待作业区域的作业路径。
根据本发明的一个实施例，所述作业路径规划模块根据所述环境参数规划所述待作业区域的所述作业路径。
根据本发明的一个实施例，所述路径管理系统进一步包括一监控模块，所述监控模块监控该农机的位置，所述监控模块根据该农机的位置获取该农机的所述待作业区。
根据本发明的一个实施例，所述路径管理系统进一步包括一调用模块，所述调用模块通信地连接于所述监控模块，所述调用模块从所述监控模块获取该农机的位置和所述待作业区，当所述监控模块监控该农机达到所述待作业区，所述调用模块调用所述作业路径由农机执行。
依本发明的另一个方面，本发明进一步提供一路径管理方法，用于至少一农 机，包括以下步骤：
(A)根据至少一待作业区的环境数据生成一环境参数；和
(B)根据所述环境参数规划所述待作业区的至少一作业路径。
根据本发明的一个实施例，所述步骤(A)包括以下步骤：
通过至少一监测装置获取所述待作业区的环境数据；
识别所述待作业区的边界；
分析所述待作业区的边界尺寸和形状；以及
生成所述待作业区的所述环境参数。
根据本发明的一个实施例，所述步骤(B)进一步包括步骤：
根据所述待作业区的边界尺寸和形状规划所述作业路径。
根据本发明的一个实施例，所述步骤(A)包括以下步骤：
通过至少一监测装置获取所述待作业区的环境数据；
识别所述待作业区的障碍面、可移动面、作业面；以及
生成所述环境参数。
根据本发明的一个实施例，所述步骤(B)进一步包括步骤：
根据障碍面规划至少一避障方式；和
生成所述作业路路径。
根据本发明的一个实施例，所述方法进一步包括以下步骤：
监控该农机的位置；
判断该农机是否进入所述待作业区，若该农机进入所述待作业区，调用所述作业路径；以及
执行所述作业路径。
通过对随后的描述和附图的理解，本发明进一步的目的和优势将得以充分体现。
本发明的这些和其它目的、特点和优势，通过下述的详细说明，附图和权利要求得以充分体现。
附图说明
图1是根据本发明的一个优选实施例的系统框图。
图2是根据本发明的上述优选实施例的示意图。
图3是根据本发明的上述优选实施例的流程图。
图4是根据本发明的上述优选实施例的步骤图。
图5是根据本发明的上述优选实施例的示意图。
图6是根据本发明的上述优选实施例的一变形实施方式的步骤图。
图7是根据本发明的上述优选实施例的所述变形实施方式的示意图。
图8是根据本发明的上述优选实施例的示意图。
具体实施方式
以下描述用于揭露本发明以使本领域技术人员能够实现本发明。以下描述中的优选实施例只作为举例，本领域技术人员可以想到其他显而易见的变型。在以下描述中界定的本发明的基本原理可以应用于其他实施方案、变形方案、改进方案、等同方案以及没有背离本发明的精神和范围的其他技术方案。
本领域技术人员应理解的是，在本发明的揭露中，术语“纵向”、“横向”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系是基于附图所示的方位或位置关系，其仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此上述术语不能理解为对本发明的限制。
可以理解的是，术语“一”应理解为“至少一”或“一个或多个”，即在一个实施例中，一个元件的数量可以为一个，而在另外的实施例中，该元件的数量可以为多个，术语“一”不能理解为对数量的限制。
图1至图8提供了本发明的一个优选实施例，如图1和图2所示，本发明提供一路径管理系统100，所述路径管理系统100分析至少一待作业区201的环境，为至少一农机202在所述待作业区201的作业路径进行规划。所述农机202根据所述路径管理系统100规划的作业路径在所述待作业区201进行移动和作业。
所述路径管理系统100包括一环境获取模块101，所述环境获取模块101通信地连接于至少一监测装置203，所述监测装置203对至少一待作业区201进行监控，以获取所述待作业区201的环境数据。举例地，所述监测装置203对农田进行监测。所述监测装置203获取农田的图片、红外图像等以使所述环境获取模块101获取所述待作业区201的环境数据。
所述路径管理系统100还包括一环境分析模块102，所述环境分析模块102通信地连接于所述环境获取模块101，以从所述环境获取模块101获取所述待作业区201的环境数据。所述环境分析模块102分析所述待作业区201的环境数据，生成所述待作业区201的一环境参数。在本发明的一个示例中，所述环境分析模块102分析所述待作业区201的边界，确定所述待作业区201的形状，以生成所述环境参数。在本发明的另一个示例中，所述环境分析模块102根据所述待作业区201的数据分析所述待作业区201的可移动面、障碍面、作业面、非作业面等，以生成所述待作业区201的所述环境参数。当所述环境分析模块102分析多个所述待作业区201的数据，生成多个所述环境参数，所述环境分析模块102标识各所述待作业区201的各所述环境参数，以便分辨各所述环境参数对应的所述待作业区201。
所述环境分析模块102包括一边界分析模块1021，所述边界分析模块1021被可通信地连接于所述环境获取模块101，所述边界分析模块1021从所述环境获取模块101获取所述待作业区201的数据。所述边界分析模块1021识别所述待作业区201的边界。举例地，所述环境获取模块101通过所述监测装置203获取所述待作业区201的图像，所述边界分析模块1021根据所述待作业区201的图像识别和确定所述待作业区201的边界。例如，根据所述环境获取模块101发送的所述待作业区201的图像，所述边界分析模块1021识别所述待作业区201的田埂为所述待作业区201的边界。所述边界分析模块1021进一步根据所述待作业区201的边界，分析所述待作业区201的形状。或者，根据所述环境获取模块101发送的所述待作业区201的图像，所述便捷分析模块1021识别所述待作业区201的障碍物，并根据障碍物的位置和/或形状作为所述待作业区201的边界。
所述边界分析模块1021分析所述待作业区201的边界的尺寸数据，以确定所述待作业区201的边界的长度、宽度等数据。
所述环境分析模块102还包括一可移动面识别模块1022，所述可移动面识别模块1022被可通信地连接于所述环境获取模块101，所述可移动面识别模块1022根据所述环境获取模块101发送的所述待作业区201的数据识别所述待作业区201的可移动面。
举例地，所述可移动面识别模块1022根据所述环境获取模块101发送的所 述待作业区201的数据，识别所述待作业区201可供所述农机202移动的区域生成所述待作业区201的可移动面。所述可移动面识别模块1022识别所述待作业区201可供农机201的行走机构通过、且不对农作物产生破坏的区域为所述待作业区201的可移动面。
所述环境分析模块102还包括一作业面分析模块1023，所述作业面分析模块10223被可通信地连接于所述环境获取模块101，所述作业面分析模块1023根据所述环境获取模块101发送的所述待作业区201的数据识别所述待作业区201需要所述农机202进行作业的区域生成所述待作业面。
可选地，所述作业面分析模块1023也可以识别所述待作业区201不需作业的区域为非作业面。
所述环境分析模块102还包括一障碍面生成模块1024，所述障碍面生成模块1024被可通信地连接于所述环境获取模块101，所述障碍面生成模块1024根据所述环境获取模块101发送的所述待作业区201的数据，识别所述待作业区201对所述农机202的移动产生阻碍好的区域为所述待作业区201的障碍面。举例地，根据所述环境获取模块101发送的所述待作业区201的数据，所述障碍面生成模块1024识别所述待作业区201中有石块、高地、凹坑、水潭等对所述农机202的移动产生阻碍的区域，所述障碍面生成模块1024将这些区域生成为所述待作业区201的障碍面。
所述环境分析模块102还包括一反馈模块1025，所述反馈模块1025分别从所述边界分析模块1021获取所述待作业区201的边界数据和形状，从所述可移动面识别模块1022获取所诉待作业区201的可移动面，从所述作业面分析模块1023获取所述待作业区201的作业面，从所述障碍面生成模块1024胡秋实殴待作业区201的障碍面。所述反馈模块1025根据所述待作业区201的边界数据和形状、作业面、可移动面、障碍面等生成所述待作业区201的所述环境参数。
所述路径管理系统100还包括一作业路径规划模块103，所述作业路径规划模块103通信地连接于所述环境分析模块102，以获取所述待作业区201的所述环境参数。其中，所述反馈模块1025将所述环境参数反馈至所述作业路径规划模块103。所述作业路径规划模块103根据所述环境参数得到所述待作业区201的形状、可移动面、障碍物、作业面等，所述作业路径规划模块103规划所述农机202在可移动面进行移动，并对作业面进行作业，且规划所述农机202避开障 碍面的路径。所述作业路径规划模块103生成至少一作业路径204。所述作业路径204适用于所述待作业区201。
当所述作业路径规划模块103对多个所述待作业区201进行所述作业路径204的规划，所述作业路径规划模块103标识各所述待作业区201对应的所述作业路径204，以便辨识各所述待作业区201适用的所述作业路径204。
所述路径管理系统100还包括一监控模块104和一调用模块105，所述监控模块104通信地连接于所述农机202，监测所述农机202是否准备作业。当所述监控模块104监测到所述农机202向所述待作业区201移动，所述监控模块104获取所述待作业区201。所述调用模块105通信地连接于所述监控模块104，以获取所述农机202准备作业的所述待作业区201，所述调用模块105通信地连接于所述作业路径规划模块103以从所述作业路径规划模块103调用所述待作业区201适用的所述作业路径204。所述农机202按照所述调用模块105调用的所述作业路径204在所述待作业区201作业。
所述监控模块104监测所述农机202当前的位置，分析所述农机202是否向所述待作业区201移动。当所述监控模块104监测到所述农机202驶近所述待作业区201，准备进入所述待作业区201时，所述调用模块105调用将所述作业路径204，以供所述农机202执行所述作业路径204，在所述待作业区201进行移动和作业。
当所述监控模块104监控到所述农机202到达所述待作业区201，所述农机202自动执行所述调用模块105调用的所述作业路径204，在所述待作业区201按照所述作业路径204进行移动和作业。值得一提的是，当所述监控模块104监控所述农机201位于所述待作业区域201，所述调用模块105调用所述作业路径204，由所述农机201于当前位置执行所述作业路径204。
所述监测装置203对所述待作业区201进行监测。其中所述监测装置203可以被实施为无人机、基站、卫星或及其结合。无人机在所述待作业区201上空对所述待作业区201进行监测。无人机获取所述待作业区201的数据，以便所述环境分析模块102分析所述待作业区201的所述环境参数。无人机可被搭载摄像装置、红外装置等对所述待作业区201进行检测。所述监测装置203还可以被实施为基站。在所述待作业区201及其周边设置一个或多个基站，对所述待作业区201进行监测，以使所述环境获取模块101获取所述待作业区201的数据。基站 对所述待作业区201进行监测、识别或扫描等，获取所述待作业区201的数据。
所述监测装置203被实施为卫星，所述环境获取模块101通过卫星获取所述待作业区201的图像，以获取所述待作业区201的数据。卫星可以传输所述待作业区201或所述待作业区201所在区域的照片、地质图像、红外图像等数据至所述环境获取模块101。
所述环境获取模块101可以从无人机、基站、卫星等所述监测装置203获取及其结合处获取所述待作业区201的数据，以供所述环境分析模块102分析所述待作业区201，生成所述环境参数。
所述环境分析模块102根据所述环境获取模块101发送的数据分析所述待作业区201中可供所述农机202移动的移动面、无法供所述农机202移动的障碍面、所述待作业区201的边界、所述农机202需要作业的作业面、所述农机202不需要作业的非作业面、已经作业完成的非作业面等，并生成所述环境参数。
所述作业路径规划模块103根据所述环境参数规划所述作业路线。优选地，所述作业路径规划模块103根据所述环境参数中所述作业化境的可移动面、作业面、障碍面、所述待作业区201的边界和非作业面规划所述待作业区201的所述作业路径204。
所述作业路径规划模块103规划的所述作业路径204适于供所述农机202进入所述待作业区201后在所述待作业区201移动和作业使用。所述待作业区201可以被实施为一块农田所在的区域或多块农田连接形成的区域。
所述环境获取模块101获取一块农田的数据，也可以获取多块农田的数据。所述环境分析模块102分析一块农田的数据，以生成该块农田的所述环境参数。所述环境分析模块102也可以分析多块农田的数据，以生成所述环境参数。所述环境分析模块103赋予各块农田对应的所述环境参数。所述环境分析模块103也可以将一些农田作为一个整体的所述待作业区201，以赋予所述环境参数。
所述作业路径规划模块103对所述待作业区201进行所述作业路径204的规划。所述作业路径规划模块103根据所述环境分析模块102发送的所述环境参数，分析所述待作业区201的边界，得到所述待作业区201的形状。
举例地，所述监测装置203对所述待作业区201进行监测。所述监测装置203获取所述待作业区201的数据，由所述环境分析模块102生成所述环境参数。所述环境分析模块102将所述环境参数发送至所述作业路径规划模块103。所述作 业路径规划模块103根据所述环境参数分析所述待作业区201为一块方形的农田，所述作业路径规划模块103根据所述待作业区201的形状规划所述作业路径204。
在本发明的另一个示例中，所述作业路径规划模块103根据所述环境参数的障碍面，分析避障方式，规划所述作业路径204。
在本发明的另一个示例中，所述环境分析模块102根据可移动面、作业面、障碍面等生成所述待作业区201的所述环境参数，并反馈至所述作业路径规划模块103.所述作业路径规划模块103根据环境参数的可移动面、作业面、障碍面规划所述作业路径204。
本发明进一步提供一路径管理方法300。在本发明的一示例中，所述路径管理方法300由所述路径管理系统100执行。参照图3，所述路径管理方法300进一步包括一步骤301：获取至少一个所述待作业区201的环境数据。通过所述监测装置203对所述待作业区的监测生成所述待作业区201的数据，并通过所述环境获取模块101从所述监测装置203获取所述待作业区201的数据。所述路径管理方法300还包括一步骤302：生成所述待作业区201的一环境参数。通过所述环境分析模块102从所述环境获取模块101获取所述待作业区201的数据。通过所述环境分析模块102分析所述待作业区201的数据，生成所述待作业区201的所述环境参数。
所述步骤300进一步包括一步骤303：规划所述待作业区201的至少一个所述作业路径204。通过所述作业路径规划模块103分析所述环境参数，规划所述待作业区201的所述作业路径204.
所述路径管理方法300包括一步骤304：监控所述农机202的位置。通过所述监测装置203对所述农机202进行监控，以获取所述农机202的实时位置。可选地，所述农机202被配置有GPS、北斗等定位系统，以主动地提供位置数据。
所述路径管理方法300包括以下步骤：
305：判断所述农机202是否进入所述待作业区201；
306：调用相应所述待作业区201的所述作业路径204。
通过所述监控模块104判断所述农机202是否进入所述待作业区201，若所述监控模块104判断所述农机202进入所述待作业区201，则执行步骤306，通过所述调用模块105调用所述待作业区201的所述作业路径204，所述农机202按照所述作业路径204在所述待作业区201作业。
所述路径管理方法300还包括一步骤300还包括：步骤307：环境数据是否发生变化。
通过所述监测装置203获取所述待作业区201的实时数据，以及时更新所述待作业区201的环境数据。在所述步骤307中判断所述待作业区201的环境数据发生变化，在执行所述步骤203，根据所述监测装置203获取的所述待作业区201的实时数据，生成所述待作业区201的新的所述环境参数。若在所述步骤307中判断所述待作业区201未发生变化，则执行步骤301，继续通过所述监测装置203获取所述待作业区201的环境数据。也就是说，通过所述监测装置203获取所述待作业区201的实时数据，以使所述环境分析模块102生成的所述环境参数能够反映所述待作业区201的最新情况，使得所述作业路径规划模块103规划的所述作业路径204适于所述待作业区201。
如图4所示，在本发明的一个示例中，所述步骤302进一步包括以下步骤：
3021：分析所述待作业区201的边界；
3022：生成所述待作业区201的形状。
在所述步骤3021中，根据所述监测装置203监测所述待作业区201生成的环境数据，通过所述边界分析模块1021识别所述待作业区201的边界，并进一步分析所述待作业区201的边界的尺寸。举例地，参照图5，所述监测装置203对所述待作业区201进行监测，获取所述待作业区201的图像。通过所述边界分析模块1021分析所述待作业区201的图像，识别所述待作业区201周边有田埂作为边界。进一步通过所述边界分析模块1021分析所述待作业区201的边界的尺寸。通过所述边界分析模块1021识别所述待作业区201作为边界的田埂的长度。
在所述步骤3022中，通过所述边界分析模块1021进一步根据所述待作业区201的边界分析所述待作业区201的形状。所述步骤303进一步包括步骤3031：根据所述待作业区的形状和边界规划所述作业路径。通过所述作业路径规划模块103规划所述待作业区201的所述作业路径。
参照图5，通过所述待作业区201作为边界的田埂，识别所述待作业区201的形状为方形。规划所述作业路径204为所述农机202沿着方形农田的边界延伸方向移动至另一边界时转向，继续沿着该边界移动出一定距离后，再次转向继续沿着边界延伸方向移动至另一边界，重复以上动作，直至所述农机202完成所述 待作业区201的作业。
如图6所示，在本发明的另一个示例中，所述步骤302包括以下步骤：
3023：分析所述待作业区201的障碍面、可移动面、作业面；
3024：生成所述环境参数。
所述步骤303包括以下步骤：
3032：根据障碍面规划避障方式；
3033：结合可移动面、作业面和避障方式生成所述作业路径。
在所述步骤3023中，根据所述待作业区201的环境数据分析所述待作业区201的可供所述农机202移动的可移动面、需要所述农机202作业的作业面、所述农机202无法通行的障碍面等，并在所述步骤3024中，生成所述待作业区201的所述环境参数。
根据所述环境参数中所述待作业区201的可移动面、作业面、障碍面等规划所述农机202在所述待作业区201的所述作业路径204。所述作业路径204引导所述农机202在所述待作业区201的可移动面移动，避开所述障碍面。在所述步骤3032中，分析所述待作业区201的障碍面的避障方式，以使所述农机202能够避免障碍面的影响。
举例地，参照图7，所述监测装置203监测所述待作业区201，获取所述待作业区201的数据。在所述步骤3023中，分析所述待作业区201的环境数据得到所述待作业区201中有大树，形成所述待作业区201的障碍面。通过所述步骤3023识别所述待作业区201的可移动面、作业面等。在所述步骤3024中，生成所述环境参数。在所述步骤3032中，通过所述环境参数，分析所述待作业区201的障碍面占据的区域和障碍面周边的环境情况，以规划障碍面的避障方式。根据所述待作业区201的障碍面为大树，障碍面周边有可移动面，规划避障方式为避开障碍面，绕行通过障碍面。在所述步骤3033中，结合所述待作业区201的可移动面、作业面和障碍面的避障方式生成所述待作业区201的所述作业路径。
在本发明的另一个示例中，所述作业路径规划模块103根据所述待作业区201的边界和障碍面、作业面、可移动面等规划所述作业路径204。参照图8，所述监测装置203监测所述待作业区201，获取所述待作业区201的数据，根据所述边界分析模块1021分析所述待作业区201为方形农田。根据所述可移动面1022识别农田的可移动面。根据所述作业面分析模块1023识别农田的作业面。根据 所述障碍面生成模块1024识别模块农田中有水潭，为障碍面。所述反馈模块1025将所述作业面、所述待作业区201的边界和形状、障碍面反馈至所述作业路径规划模块103.所述作业路径规划模块根据边界、形状、作业面、障碍面等规划能够避障的所述作业路径204。当所述监控模块104监控所述农机202达到所述待作业区201的边界，所述调用模块105调用所述待作业区201的所述作业路径204由所述农机202执行。
本领域的技术人员应理解，上述描述及附图中所示的本发明的实施例只作为举例而并不限制本发明。本发明的目的已经完整并有效地实现。本发明的功能及结构原理已在实施例中展示和说明，在没有背离所述原理下，本发明的实施方式可以有任何变形或修改。

Claims (21)

  1. 一路径管理系统，用于至少一农机，其特征在于，包括：
    一环境分析模块，所述环境分析模块分析至少一待作业区的情况，生成至少一环境参数；和
    一作业路径规划模块，所述作业路径规划模块通信地连接于所述环境分析模块，以根据所述环境参数规划所述待作业区域的至少一作业路径。
  2. 根据权利要求1所述的路径管理系统，进一步包括一环境获取模块，所述环境获取模块通信地连接于至少一监测装置，所述监测装置对所述待作业区进行检测，所述环境获取模块从所述监测装置获取所述待作业区的环境数据，并发送至所述环境分析模块。
  3. 根据权利要求2所述的路径管理系统，其中所述环境分析模块包括一边界分析模块，所述边界分析模块根据所述环境获取模块获取的所述待作业区的环境数据识别所述待作业区的一边界，所述边界分析模块进一步根据所述待作业区的边界分析所述待作业区的形状和边界的尺寸数据。
  4. 根据权利要求2所述的路径管理系统，其中所述环境分析模块包括一可移动面识别模块，所述可移动面识别模块根据所述环境获取模块获取的所述待作业区的环境数据识别所述待作业区的可移动面。
  5. 根据权利要求2所述的路径管理系统，其中所述环境分析模块包括一作业面分析模块，所述作业面分析模块根据所述环境获取模块获取的所述待作业区的环境数据识别所述待作业区的作业面。
  6. 根据权利要求2所述的路径管理系统，其中所述环境分析模块包括一障碍面生成模块，所述障碍面生成模块根据所述环境获取模块获取的所述待作业区的环境数据生成所述待作业区的障碍面。
  7. 根据权利要求3所述的路径管理系统，其中所述环境分析模块包括一反馈模块，所述反馈模块分别从所述边界模块获取所述待作业区的形状和边界尺寸、从所述可移动面识别模块获取可移动面、从所述作业面分析模块获取作业面、从所述障碍面生成模块获取障碍面，并生成所述待作业区的所述环境参数，所述反馈模块将所述环境参数反馈至所述作业路径规划模块。
  8. 根据权利要求6所述的路径管理系统，其中所述环境分析模块包括一反馈模块，所述反馈模块分别从所述边界模块获取所述待作业区的形状和边界尺寸、从所述可移动面识别模块获取可移动面、从所述作业面分析模块获取作业面、从 所述障碍面生成模块获取障碍面，并生成所述待作业区的所述环境参数，所述反馈模块将所述环境参数反馈至所述作业路径规划模块。
  9. 根据权利要求7所述的路径管理系统，其中所述作业路径规划模块根据所述环境参数获取所述待作业区的形状和边界的尺寸数据，所述作业路径规划模块根据所述待作业区的形状和边界的尺寸数据规划所述作业路径。
  10. 根据权利要求8所述的路径管理系统，其中所述作业路径规划模块根据所述环境参数获取所述待作业区的形状和边界的尺寸数据，所述作业路径规划模块根据所述待作业区的形状和边界的尺寸数据规划所述作业路径。
  11. 根据权利要求7所述的路径管理系统，其中所述作业路径规划模块根据所述环境参数的障碍面分析避障方式，规划所述待作业区域的作业路径。
  12. 根据权利要求8所述的路径管理系统，其中所述作业路径规划模块根据所述环境参数的障碍面分析避障方式，规划所述待作业区域的作业路径。
  13. 根据权利要求7所述的路径管理系统，其中所述作业路径规划模块根据所述环境参数规划所述待作业区域的所述作业路径。
  14. 根据权利要求8所述的路径管理系统，其中所述作业路径规划模块根据所述环境参数规划所述待作业区域的所述作业路径。
  15. 根据权利要求1所述的路径管理系统，进一步包括一监控模块，所述监控模块监控该农机的位置，所述监控模块根据该农机的位置获取该农机的所述待作业区。
  16. 根据权利要求2所述的路径管理系统，进一步包括一调用模块，所述调用模块通信地连接于所述监控模块，所述调用模块从所述监控模块获取该农机的位置和所述待作业区，当所述监控模块监控该农机达到所述待作业区，所述调用模块调用所述作业路径由农机执行。
  17. 一路径管理方法，用于至少一农机，其特征在于，所述路径管理方法包括以下步骤：
    (A)根据至少一待作业区的环境数据生成一环境参数；和
    (B)根据所述环境参数规划所述待作业区的至少一作业路径。
  18. 根据权利要求17所述的路径管理方法，其中所述步骤(A)包括以下步骤：
    通过至少一监测装置获取所述待作业区的环境数据；
    识别所述待作业区的边界；
    分析所述待作业区的边界尺寸和形状；以及
    生成所述待作业区的所述环境参数。
  19. 根据权利要求18所述的路径管理方法，其中所述步骤(B)进一步包括步骤：
    根据所述待作业区的边界尺寸和形状规划所述作业路径。
  20. 根据权利要求17所述的路径管理方法，其中所述步骤(A)包括以下步骤：
    通过至少一监测装置获取所述待作业区的环境数据；
    识别所述待作业区的障碍面、可移动面、作业面；以及
    生成所述环境参数。
  21. 根据权利要求20所述的路径管理方法，其中所述步骤(B)进一步包括步骤：
    根据障碍面规划至少一避障方式；和
    生成所述作业路路径。
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