CN106403988B - Vehicle-mounted automatic plowing land topography mapping system and method - Google Patents
Vehicle-mounted automatic plowing land topography mapping system and method Download PDFInfo
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- CN106403988B CN106403988B CN201611086202.8A CN201611086202A CN106403988B CN 106403988 B CN106403988 B CN 106403988B CN 201611086202 A CN201611086202 A CN 201611086202A CN 106403988 B CN106403988 B CN 106403988B
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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Abstract
The invention discloses a vehicle-mounted automatic plowing land topography mapping system and a mapping method, wherein the vehicle-mounted automatic plowing land topography mapping system comprises the following components: vehicle-mounted farmland topography information automatic measuring device and farmland topography information management platform. The vehicle-mounted automatic measurement device for the land topography information comprises a protective cover, a singlechip circuit board, an MEMS inertial navigation module, a satellite positioning module, a wireless data transmission module, a liquid crystal display, a control button and a power supply. The automatic monitoring method for the cultivated land topography comprises the following steps: the automatic measurement device for the terrain information is arranged on an agricultural machine, the terrain data of the cultivated land is automatically obtained in real time when the agricultural machine works, the data are transmitted to the management platform of the terrain information of the cultivated land in real time through the wireless data transmission module, and the platform achieves real-time processing and display of the terrain information of the cultivated land. The invention better solves the problems of quick, efficient, real-time measurement and automatic drawing of the topography of the cultivated land.
Description
Technical Field
The invention relates to an agricultural cultivated land topography mapping system and a mapping method, in particular to a vehicle-mounted cultivated land topography automatic measuring device and a mapping method.
Background
Cultivated land is the basis and guarantee for human survival, and is an important resource for regional development. The topography of the cultivated land not only affects the spatial distribution of the cultivated land, but also affects the quality of the cultivated land, and is a vital existence in the cultivated land information. However, arable land topography presents a number of challenges in mapping.
The measuring mode of the current cultivated land topography is mainly to measure by using radar or laser, but the current cultivated land topography mapping has the problems of heavy equipment, complex installation, low mapping efficiency and high measuring cost.
The invention comprises the following steps:
the invention provides an automatic vehicle-mounted agricultural farmland topography mapping system and an automatic vehicle-mounted agricultural farmland topography mapping method, which are used for solving the problems of complex measurement, low efficiency and high measurement cost of agricultural farmland topography information, realizing rapid and efficient real-time mapping of farmland topography, and following the development pace of precise agriculture in China.
The invention relates to an automatic vehicle-mounted cultivated land terrain mapping system which comprises a vehicle-mounted cultivated land terrain information automatic measuring device and a cultivated land terrain information management platform. The automatic measurement device for the land topography information consists of a protective cover, a singlechip circuit board, an MEMS inertial navigation module, a satellite positioning module, a wireless data transmission module, a liquid crystal display, a control button and a power supply.
The technical scheme of the invention is as follows: the vehicle-mounted automatic measurement device for the land topography information takes a singlechip circuit board as a core for real-time automatic monitoring, the singlechip circuit board is connected with an MEMS inertial navigation module through a serial bus, is communicated and established with a satellite positioning module through a serial port, is connected with a storage card through the serial bus, and is communicated and established with a wireless data transmission module through the serial port; the power supply provides electric energy for the singlechip circuit board.
The automatic measuring device for the land topography information is arranged on a tractor or an agricultural machine, and the outer side of a bottom plate of the automatic measuring device is marked with mutually vertical arrow indicating lines and is parallel to a horizontal reference surface of the tractor or the agricultural machine; the core measuring singlechip circuit board in the device is parallel to the bottom plate.
The MEMS inertial navigation module on the singlechip circuit board is parallel to the singlechip circuit board, the X-axis positive direction of the MEMS inertial navigation module is consistent with the direction of the external standard transverse arrow indication line, and the Y-axis positive direction of the MEMS inertial navigation module is consistent with the direction of the external standard longitudinal arrow indication line; the longitudinal indication line on the outer side of the bottom plate is longitudinally parallel to the tractor or the agricultural machine body, and the longitudinal indication arrow is directed forward.
The automatic mapping method of the cultivated land topography comprises the following steps: the MEMS inertial navigation module is used for measuring acceleration and angular velocity values of the tractor and the tractor or the agricultural machine in the working process of the agricultural machine; the satellite positioning module detects geographic coordinates, time, vehicle speed and altitude information of the tractor and the tractor or the agricultural machine in real time; the vehicle-mounted cultivated land terrain core measuring device receives the acceleration and angular velocity data measured by the MEMS inertial navigation module and the geographic coordinate, time, speed and altitude information measured by the satellite positioning module, compensates the acceleration and angular velocity of the unit according to the vibration amplitude of the unit and a mathematical model, packages the compensated acceleration and angular velocity data and the geographic coordinate, time, speed and altitude information into a data packet, and transmits the data packet to the storage card and the wireless data transmission module; the acceleration and angular velocity data compensated by the storage card are stored in real time, and geographic coordinates, time, vehicle speed and altitude information of the tractor and the tractor or the agricultural machinery are stored in real time; and meanwhile, the wireless data transmission module wirelessly transmits the data to the farmland topography information management platform in real time. The farmland topography information management platform receives and displays the data transmitted by the wireless data transmission module in real time, and outputs the data into quaternion after integrating acceleration and angular velocity data through cross product operation, then converts the quaternion into Euler angles according to a formula (1), calculates the included angle between the bottom surface of a tractor or other types of tractors or agricultural machinery and the horizontal plane by using a formula (2), obtains the horizontal distance between two points by using geographic coordinate data, obtains the elevation difference between the two points by using a formula (3), and the like to obtain the relative spatial position of any point by analogy, and finally represents the positions of each point in a three-dimensional coordinate system one by one and draws the three-dimensional topography.
α＝sin -1 (-2*q1*q3+2*q0*q2)
β＝tan -1 (2*q2*q3+2*q0*q1)/(-2*q1*q1-2*q2*q2+1)
Formula (1)
Wherein q0, q1, q2 and q3 are quaternions alpha, beta are angles of rotation of the system around an X axis and a Y axis, and gamma is an included angle between the bottom surface of the system and a horizontal plane, namely gradient.
Wherein, the elevation difference is the horizontal distance between two points and the gradient.
The invention has the beneficial effects that: the method realizes rapid and efficient measurement of the cultivated land topography information and real-time accurate mapping of the cultivated land topography, improves mapping precision, greatly reduces measurement cost, follows the development pace of precise agriculture in China, and improves the cultivated land topography measurement efficiency.
Drawings
FIG. 1 is a schematic view of the basic components of the tilling area topography core measurement apparatus of the present invention;
FIG. 2 is a diagram of a real-time mapping process of the present invention;
FIG. 3 is a topographical data processing process and topographical map of the present invention;
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the examples described herein are for the purpose of illustrating the invention only and are not intended to limit the invention.
The vehicle-mounted cultivated land terrain automatic mapping system comprises a vehicle-mounted cultivated land terrain automatic measuring device and a cultivated land terrain information management platform; the automatic farmland topography measuring device consists of a singlechip circuit board, an MEMS inertial navigation module, a satellite positioning module, a storage card, a wireless data transmission module and a power supply system; the single-chip microcomputer circuit board is an MCS51 series single-chip microcomputer, and the STC12C5A60S2 single-chip microcomputer is applied to the embodiment.
The MEMS inertial navigation module used in the invention is MEMS digital or analog; the example uses MPU6050 six-axis sensor, which is connected with the single-chip microcomputer through the I/O port digital interface, the I2C or SPI communication protocol is communicated with the single-chip microcomputer, the single-chip microcomputer reads the data flow output by the MPU6050 six-axis sensor, and the data flow comprises the acceleration and angular velocity data of the unit.
The geographic position information of the device can come from GPS, BDS, GLONASS and GALILEO satellite positioning navigation modules; the Beidou navigation module is connected with the singlechip through the TTL serial port, the singlechip dynamically acquires an output data frame of the Beidou navigation module, extracts geographic coordinates, speed, altitude and time information of the unit from the output data frame, packages the geographic coordinates, speed, altitude and time information and acceleration and angular speed of the unit into a data packet, and transmits the data packet to the storage card or the wireless transmission module; the storage card of the device can be an SD card and a TF card; the embodiment uses an SD card storage module for storing geographic coordinates, speed, altitude, time information, acceleration and angular velocity data of the unit; the wireless transmission module of the device can be a GPRS wireless transmission module, a WIFI wireless transmission module and the like; the embodiment applies a GPRS wireless transmission module which is used for transmitting the acceleration, angular velocity data geographic coordinates, speed, altitude and time information from the vehicle-mounted farmland topography automatic measuring device to the farmland topography information management platform; the arable land topography information management platform of this example is used for receiving acceleration and angular velocity data of the display unit and drawing geographic coordinates, speed, altitude, time information and three-dimensional arable land topography map.
The drawing method comprises the steps of fusing obtained acceleration and angular velocity data through cross product operation, converting the obtained acceleration and angular velocity data into quaternion, converting the quaternion into Euler angles through the formula (1), obtaining an included angle of the bottom surface of the detection device and a horizontal plane through the formula (2), converting longitude and latitude data into rectangular coordinate data through a built-in program, obtaining a horizontal distance between two points according to a distance formula between two points of a plane, obtaining an elevation difference between the two points through geometric knowledge under the condition that the included angle and the horizontal distance between the two points are known, and obtaining the elevation difference between any two points through analogy, so that the relative spatial positions of the points can be obtained, and finally enabling the position of each point to be represented in a three-dimensional coordinate system through a matlab built-in program and be drawn into a three-dimensional topographic map; in addition, the platform can store the wirelessly acquired data and the settled three-dimensional coordinate data into an EXCEL form, so that the platform is convenient to view and utilize in the future.
The MPU6050 six-axis sensor is used for measuring the movement acceleration and angular velocity data of the machine body in real time in the operation process of the agricultural machine; the singlechip performs smoothing treatment on the acceleration and the angular velocity of the machine body according to a moving average filtering method; the Beidou navigation module detects geographic coordinates, time, vehicle speed and elevation information of a tractor or agricultural machinery in real time; the SD card storage module is used for storing acceleration and angular speed data after the smoothing treatment in real time and geographic coordinate, time, vehicle speed and altitude information of a tractor or an agricultural machine; and the GPRS wireless transmission module wirelessly transmits the data to the farmland topography information management platform (2) in real time. The farmland topography information management platform (2) receives and displays the data transmitted by the GPRS wireless transmission module in real time, and the specific processing and displaying method comprises the following steps:
s1, a cultivated land terrain information management platform (2) fuses acceleration and angular velocity data through cross product operation and outputs the fused acceleration and angular velocity data as quaternion;
step S2: the arable land topography information management platform (2) converts quaternion into Euler angles through the formula (1);
step S3: the farmland topography information management platform (2) is combined with the formula (2) to calculate the included angle between the horizontal reference plane of the tractor or the agricultural machine and the horizontal plane of the geodetic coordinate system;
step S4: the arable land topography information management platform (2) obtains the horizontal distance between two points by using geographic coordinate data, obtains the elevation difference between the two points according to the formula (3), and the like to obtain the relative spatial position of any point, and then represents and draws the positions of the points in a three-dimensional coordinate system one by one through a built-in program to form a three-dimensional topography.
Claims (1)
1. An automatic vehicle-mounted cultivated land terrain mapping method is realized based on an automatic vehicle-mounted cultivated land terrain mapping system, and the system comprises a vehicle-mounted cultivated land terrain information automatic measuring device (1) and a cultivated land terrain information management platform (2); the automatic measurement device (1) for the terrain information of the vehicle-mounted cultivated land is arranged on an agricultural machine, takes a single-chip microcomputer circuit board (1-1) as a core for real-time automatic measurement and comprises a storage card (1-4), a wireless data transmission module (1-5) and a power supply (1-6), and is characterized in that: the single chip microcomputer circuit board (1-1) is connected with the MEMS inertial navigation module (1-2) through a serial bus, is connected with the satellite positioning module (1-3) through serial port communication, is connected with the memory card (1-4) through the serial bus, and is connected with the wireless data transmission module (1-5) through serial port communication; the MEMS inertial navigation module (1-2) is used for measuring the movement acceleration and angular velocity data of the machine body in real time in the operation process of the agricultural machinery; the singlechip performs smoothing treatment on the acceleration and the angular velocity of the machine body according to a moving average filtering method; the satellite positioning module (1-3) detects geographic coordinates, time, vehicle speed and elevation information of the agricultural machinery in real time; the storage card (1-4) is used for storing the acceleration and angular velocity data after the smoothing treatment in real time and the geographic coordinate, time, vehicle speed and altitude information of the agricultural machinery; meanwhile, the wireless data transmission module (1-5) wirelessly transmits the acceleration and angular velocity data after the smoothing treatment and the geographic coordinate, time, speed and altitude information data of the agricultural machinery to the cultivated land terrain information management platform (2) in real time;
the farmland topography information management platform (2) receives and displays the data transmitted by the wireless data transmission module (1-5) in real time, and the specific processing and displaying method comprises the following steps:
s1, a cultivated land terrain information management platform (2) fuses acceleration and angular velocity data through cross product operation and outputs the fused acceleration and angular velocity data as quaternion;
step S2: the cultivated land topography information management platform (2) converts quaternion into Euler angles by means of gesture calculation;
step S3: calculating an included angle between a horizontal reference plane of the agricultural machine and a horizontal plane of a geodetic coordinate system by combining the arable land topography information management platform (2) with a trigonometric function;
step S4: the arable land topography information management platform (2) obtains the horizontal distance between two points by using geographic coordinate data, obtains the elevation difference between the two points by using the horizontal distance and the included angle between the horizontal reference plane of the tractor or the agricultural machine and the horizontal plane of the geodetic coordinate system, and the like to obtain the relative spatial position of any point, and represents and draws the positions of each point in the three-dimensional coordinate system one by one to form a three-dimensional topography.
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| WO2022082368A1 (en) * | 2020-10-19 | 2022-04-28 | 南京朗禾智能控制研究院有限公司 | Vehicle-mounted device for accurately measuring area in real time |
| CN113157844B (en) * | 2021-04-26 | 2022-09-20 | 上海德衡数据科技有限公司 | Agricultural Internet of things method, system and device based on Beidou positioning module |
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| US6789014B1 (en) * | 2003-05-09 | 2004-09-07 | Deere & Company | Direct modification of DGPS information with inertial measurement data |
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| US8417451B2 (en) * | 2008-12-08 | 2013-04-09 | John A. Hersey | Autonomous cooperative surveying |
| CN101539417B (en) * | 2009-04-23 | 2012-07-11 | 中国农业大学 | On-board 3D terrain automatic measuring system and method |
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