From dc0fb19555dc01bf873361c9cb6fc22fbfc9671d Mon Sep 17 00:00:00 2001
From: 张世豪 <979909237@qq.com>
Date: 星期二, 23 十二月 2025 17:50:13 +0800
Subject: [PATCH] 异形无障碍坐标规划优化

---
 dikuai.properties |   65 +++++++++++---------------------
 1 files changed, 22 insertions(+), 43 deletions(-)

diff --git a/dikuai.properties b/dikuai.properties
index b6eab9a..8013c20 100644
--- a/dikuai.properties
+++ b/dikuai.properties
@@ -1,46 +1,25 @@
 #Dikuai Properties
-#Sun Dec 21 11:15:33 GMT+08:00 2025
-LAND2.boundaryCoordinates=5.38,-6.41;-11.15,-8.94;-12.75,-4.68;-12.23,-3.28;-11.12,-3.17;-9.29,-3.53;-7.46,-3.89;-5.62,-4.25;-3.79,-4.61;-1.96,-4.97;-0.12,-5.33;1.71,-5.69;3.54,-6.05;5.38,-6.41
-LAND1.intelligentSceneAnalysis=-1
-LAND1.mowingSafetyDistance=-1
-LAND1.landArea=26.75
-LAND1.returnPointCoordinates=-1
-LAND1.landNumber=LAND1
-LAND2.landName=1452
-LAND2.userId=-1
-LAND2.intelligentSceneAnalysis=-1
-LAND2.mowingOverlapDistance=0.06
-LAND2.landArea=55.11
-LAND2.returnPathRawCoordinates=38.12,1.53;36.68,1.24;35.24,0.94;33.80,0.59;32.43,0.16;31.15,-0.38;30.26,-1.26;30.03,-2.37;30.12,-3.81;30.34,-5.22;30.59,-6.60;30.87,-7.98;31.10,-9.36;31.33,-10.77;31.57,-12.20;31.82,-13.68;32.07,-15.16;32.28,-16.60;32.52,-17.92;32.78,-19.37;33.07,-20.80;33.35,-22.37;33.62,-23.91;33.89,-25.35;34.16,-26.79;34.23,-28.32;33.75,-29.45;32.72,-30.03;31.41,-30.28;30.15,-30.22;29.26,-29.73;28.93,-28.62;28.72,-27.16;28.54,-25.66;28.26,-24.17;28.01,-22.74
-LAND1.returnPathCoordinates=-1
-LAND1.mowingPattern=骞宠绾�
-LAND1.mowingOverlapDistance=0.06
-LAND2.updateTime=2025-12-21 11\:15\:33
-LAND1.returnPathRawCoordinates=-1
-LAND2.createTime=2025-12-20 12\:24\:28
-LAND1.mowingWidth=34
-LAND2.returnPathCoordinates=38.12,1.53;33.80,0.59;31.15,-0.38;30.26,-1.26;30.03,-2.37;30.34,-5.22;34.16,-26.79;34.23,-28.32;33.75,-29.45;32.72,-30.03;31.41,-30.28;30.15,-30.22;29.26,-29.73;28.93,-28.62;28.01,-22.74
-LAND2.angleThreshold=-1
-LAND2.boundaryPointInterval=-1
-LAND2.mowingWidth=34
-LAND1.plannedPath=-5.830841,-2.644443;-12.323966,-4.153883;-12.276978,-4.492026;-6.161845,-3.070456;-6.492848,-3.496470;-12.229991,-4.830169;-12.183003,-5.168312;-6.823852,-3.922484;-7.154855,-4.348497;-12.136016,-5.506455;-12.089028,-5.844598;-7.487144,-4.774810;-7.821079,-5.201505;-12.042040,-6.182741;-11.995053,-6.520885;-8.155014,-5.628200;-8.700347,-6.104039;-11.948065,-6.859028;-11.901077,-7.197171;-10.070186,-6.771548;-11.440025,-7.439057;-11.854090,-7.535314
-LAND1.updateTime=2025-12-19 19\:44\:17
-LAND2.mowingSafetyDistance=0.50
-LAND2.plannedPath=-12.031,-3.808;-10.774,-3.615;-9.790,-3.809;-12.167,-4.172;-12.302,-4.537;-8.807,-4.002;-7.823,-4.196;-12.280,-4.878;-12.158,-5.203;-6.838,-4.389;-5.852,-4.582;-12.036,-5.528;-11.914,-5.854;-4.868,-4.775;-3.884,-4.969;-11.792,-6.179;-11.670,-6.504;-2.901,-5.162;-1.917,-5.355;-11.547,-6.829;-11.425,-7.155;-0.931,-5.548;0.055,-5.741;-11.303,-7.480;-11.181,-7.805;1.038,-5.935;2.022,-6.128;-11.059,-8.130;-10.937,-8.456;3.005,-6.322
-LAND1.baseStationCoordinates=3949.89151752,N,11616.79267501,E
-LAND2.boundaryOriginalCoordinates=39.831468,116.279941,49.29;39.831465,116.279925,49.33;39.831463,116.279908,49.34;39.831462,116.279891,49.35;39.831461,116.279874,49.33;39.831458,116.279859,49.34;39.831456,116.279843,49.32;39.831454,116.279827,49.32;39.831452,116.279813,49.42;39.831450,116.279798,49.41;39.831448,116.279783,49.36;39.831447,116.279769,49.26;39.831445,116.279757,49.24;39.831445,116.279747,49.38;39.831448,116.279741,49.27;39.831455,116.279736,49.26;39.831463,116.279733,49.26;39.831473,116.279731,49.26;39.831483,116.279729,49.25;39.831491,116.279730,49.26;39.831496,116.279735,49.22;39.831497,116.279748,49.27
-LAND1.boundaryPointInterval=-1
-LAND1.createTime=2025-12-19 18\:31\:53
-LAND2.returnPointCoordinates=-1
-LAND2.mowingTrack=-1
-LAND1.userId=-1
+#Tue Dec 23 17:37:19 CST 2025
 LAND1.angleThreshold=-1
-LAND2.mowingBladeWidth=0.40
-LAND1.landName=21233
+LAND1.baseStationCoordinates=3949.89151752,N,11616.79267501,E
+LAND1.boundaryCoordinates=4.30,87.65;-2.36,-65.51;44.25,-66.72;49.70,-14.05;98.13,-15.87;99.34,-69.75;137.48,-67.93;134.45,90.07;4.30,87.65
+LAND1.boundaryOriginalCoordinates=39.831522,116.279873,49.25;39.831524,116.279878,49.25;39.831525,116.279878,49.24;39.831524,116.279912,49.30;39.831524,116.279911,49.29;39.831523,116.279911,49.23;39.831521,116.279915,49.31;39.831517,116.279925,49.34;39.831514,116.279940,49.30;39.831514,116.279957,49.28;39.831516,116.279974,49.28;39.831518,116.279991,49.29;39.831521,116.280008,49.24;39.831524,116.280025,49.30;39.831526,116.280042,49.24;39.831529,116.280059,49.29;39.831529,116.280076,49.26;39.831530,116.280093,49.32;39.831531,116.280110,49.28;39.831533,116.280127,49.28;39.831535,116.280144,49.26;39.831539,116.280161,49.27;39.831544,116.280175,49.25;39.831551,116.280190,49.24;39.831558,116.280204,49.26;39.831566,116.280219,49.26;39.831574,116.280234,49.22;39.831583,116.280248,49.24;39.831591,116.280260,49.24;39.831600,116.280272,49.23;39.831608,116.280285,49.18;39.831615,116.280298,49.12;39.831618,116.280312,49.11;39.831618,116.280328,49.12;39.831615,116.280342,49.15;39.831610,116.280356,49.21;39.831602,116.280369,49.23;39.831592,116.280379,49.25;39.831581,116.280388,49.25;39.831569,116.280394,49.19;39.831559,116.280395,49.23;39.831552,116.280387,49.28;39.831547,116.280373,49.32;39.831544,116.280357,49.33;39.831541,116.280340,49.29;39.831539,116.280324,49.27;39.831536,116.280307,49.24;39.831534,116.280290,49.25;39.831531,116.280273,49.26;39.831527,116.280257,49.28;39.831522,116.280242,49.21;39.831514,116.280232,49.28;39.831504,116.280229,49.24;39.831491,116.280230,49.33;39.831478,116.280233,49.34;39.831466,116.280236,49.31;39.831454,116.280239,49.31;39.831441,116.280242,49.26;39.831429,116.280244,49.23;39.831416,116.280247,49.25;39.831402,116.280250,49.22;39.831389,116.280253,49.25;39.831376,116.280256,49.26;39.831364,116.280258,49.24;39.831351,116.280261,49.25;39.831338,116.280265,49.26;39.831324,116.280268,49.20;39.831311,116.280271,49.16;39.831298,116.280274,49.17;39.831285,116.280277,49.22;39.831271,116.280278,49.16;39.831261,116.280273,49.23
+LAND1.boundaryOriginalXY=-1
+LAND1.boundaryPointInterval=-1
+LAND1.createTime=2025-12-23 17\:08\:09
+LAND1.intelligentSceneAnalysis=-1
+LAND1.landArea=577.12
+LAND1.landName=123
+LAND1.landNumber=LAND1
+LAND1.mowingBladeWidth=0.51
+LAND1.mowingOverlapDistance=0.06
+LAND1.mowingPattern=骞宠绾�
+LAND1.mowingSafetyDistance=0.53
 LAND1.mowingTrack=-1
-LAND2.baseStationCoordinates=3949.89151752,N,11616.79267501,E
-LAND1.boundaryOriginalCoordinates=39.831445,116.279757,49.24;39.831445,116.279747,49.38;39.831448,116.279741,49.27;39.831455,116.279736,49.26;39.831463,116.279733,49.26;39.831473,116.279731,49.26;39.831483,116.279729,49.25;39.831491,116.279730,49.26;39.831496,116.279735,49.22;39.831497,116.279748,49.27;39.831498,116.279762,49.27;39.831500,116.279776,49.34;39.831502,116.279791,49.32;39.831504,116.279805,49.27;39.831507,116.279820,49.28
-LAND1.boundaryCoordinates=-10.36,-8.92;-12.10,-7.80;-12.66,-3.77;-4.96,-1.98;-6.04,-3.37;-7.12,-4.76;-8.20,-6.14;-9.28,-7.53;-10.36,-8.92
-LAND2.mowingPattern=骞宠绾�
-LAND2.landNumber=LAND2
-LAND1.mowingBladeWidth=0.40
+LAND1.mowingWidth=200
+LAND1.plannedPath=136.940221,-67.425155;133.930254,89.530244;4.807861,87.129352;-1.807069,-64.994176;43.773311,-66.177447;49.223902,-13.501734;98.648661,-15.359117;99.857663,-69.194695;136.940221,-67.425155;134.941682,-67.520523;131.930599,89.493063;129.930944,89.455881;132.943143,-67.615891;130.944605,-67.711259;127.931289,89.418700;125.931635,89.381519;128.946066,-67.806627;126.947527,-67.901995;123.931980,89.344337;121.932325,89.307156;124.948988,-67.997363;122.950449,-68.092732;119.932671,89.269974;117.933016,89.232793;120.951910,-68.188100;118.953371,-68.283468;115.933361,89.195611;113.933707,89.158430;116.954833,-68.378836;114.956294,-68.474204;111.934052,89.121248;109.934397,89.084067;112.957755,-68.569572;110.959216,-68.664940;107.934743,89.046886;105.935088,89.009704;108.960677,-68.760308;106.962138,-68.855677;103.935433,88.972523;101.935778,88.935341;104.963600,-68.951045;102.965061,-69.046413;99.936124,88.898160;97.936469,88.860978;100.966522,-69.141781;97.934238,-15.332269;95.936814,88.823797;93.937160,88.786615;95.932427,-15.257041;93.930617,-15.181813;91.937505,88.749434;89.937850,88.712253;91.928806,-15.106585;89.926996,-15.031357;87.938196,88.675071;85.938541,88.637890;87.925186,-14.956129;85.923375,-14.880901;83.938886,88.600708;81.939231,88.563527;83.921565,-14.805673;81.919754,-14.730445;79.939577,88.526345;77.939922,88.489164;79.917944,-14.655217;77.916134,-14.579989;75.940267,88.451983;73.940613,88.414801;75.914323,-14.504760;73.912513,-14.429532;71.940958,88.377620;69.941303,88.340438;71.910702,-14.354304;69.908892,-14.279076;67.941649,88.303257;65.941994,88.266075;67.907082,-14.203848;65.905271,-14.128620;63.942339,88.228894;61.942685,88.191712;63.903461,-14.053392;61.901651,-13.978164;59.943030,88.154531;57.943375,88.117350;59.899840,-13.902936;57.898030,-13.827708;55.943720,88.080168;53.944066,88.042987;55.896219,-13.752480;53.894409,-13.677252;51.944411,88.005805;49.944756,87.968624;51.892599,-13.602024;49.890788,-13.526796;47.945102,87.931442;45.945447,87.894261;48.098512,-24.377753;46.410911,-40.687091;43.945792,87.857079;41.946138,87.819898;44.723311,-56.996429;42.898575,-66.154738;39.946483,87.782717;37.946828,87.745535;40.897210,-66.102783;38.895846,-66.050827;35.947173,87.708354;33.947519,87.671172;36.894482,-65.998872;34.893118,-65.946916;31.947864,87.633991;29.948209,87.596809;32.891754,-65.894960;30.890390,-65.843005;27.948555,87.559628;25.948900,87.522447;28.889026,-65.791049;26.887662,-65.739094;23.949245,87.485265;21.949591,87.448084;24.886298,-65.687138;22.884934,-65.635182;19.949936,87.410902;17.950281,87.373721;20.883570,-65.583227;18.882205,-65.531271;15.950627,87.336539;13.950972,87.299358;16.880841,-65.479315;14.879477,-65.427360;11.951317,87.262176;9.951662,87.224995;12.878113,-65.375404;10.876749,-65.323449;7.952008,87.187814;5.952353,87.150632;8.875385,-65.271493;6.874021,-65.219537;4.214206,73.477072;2.826044,41.553502;4.872657,-65.167582;2.871293,-65.115626;1.437881,9.629932;0.049718,-22.293638;0.869929,-65.063671
+LAND1.returnPathCoordinates=-1
+LAND1.returnPathRawCoordinates=-1
+LAND1.returnPointCoordinates=-1
+LAND1.updateTime=2025-12-23 17\:37\:19
+LAND1.userId=-1

--
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