Methods of Work Area Division Under a Human–Machine Cooperative Mode of Intelligent Agricultural Machinery Equipment

To address the problems of incomplete coverage of complex plots and low efficiency in unmanned agricultural machinery operations, the study proposes the Human–Machine Collaboration (HMC). Targeting different types of plots, the study designed the method of area division based on the Breseham algorithm and the polygonal clipping algorithm. In addition, the study proposed a secondary division method of the area based on alternating point judgment and risk area evaluation function to ensure the security of the HMC. The experimental results show that the coverage rate of HMC is 100% and the field operation work efficiency is higher than 86% under different shapes of plots (rectangle, right trapezoid and ordinary quadrilateral). In the three shapes of plots, the operation scores of the HMC in the open edge area are 96.08, 163.39, and 137.4, respectively; the operation scores in other areas are 104.73, 89.88, 97.77, respectively; and the comprehensive scores are 162.36, 204.33, and 189.85, respectively, which are higher than those of unmanned operation and manned operation, showing comparatively better performance. The area division under the HMC meets the operational requirements, and the research provides technical support for unmanned farm development.