CN207096463U - A kind of agricultural Big Dipper difference direction finding navigation control system - Google Patents
A kind of agricultural Big Dipper difference direction finding navigation control system Download PDFInfo
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- CN207096463U CN207096463U CN201720907981.7U CN201720907981U CN207096463U CN 207096463 U CN207096463 U CN 207096463U CN 201720907981 U CN201720907981 U CN 201720907981U CN 207096463 U CN207096463 U CN 207096463U
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Abstract
The utility model discloses a kind of agricultural Big Dipper difference direction finding navigation control system, including mobile responder, user's control end, RTK ground installations, Big Dipper GNSS satellite signal, Big Dipper enhancing (CORS), signal adapter, signal transducer, agricultural machinery, driving adapter and apolegamy equipment, the RTK ground installations are connected with Big Dipper enhancing (CORS) by radio data network antenna, and Big Dipper enhancing (CORS) is connected with Big Dipper GNSS satellite signal；The user's control end also includes remote control, earth station's (computer/iPad), mobile phone/iPad and data center；The mobile responder includes operation control module, work data acquisition transport module and RTK difference DF and location modules.The system coordinates various agricultural machinery drive systems, it can be applied to a variety of automatic job farm machineries such as plant protection unmanned plane, self-propelled spraying machine, self-driving formula atomizing sprayer, seeding plough, but also improve operation precision and operating efficiency, reduce labour's input, lighten one's labor burden, improves agricultural productive force.
Description
Technical field
It the utility model is related to the direction finding of big-dipper satellite difference, be accurately positioned Navigation Control technical field, it is especially a kind of to answer
The agricultural Big Dipper difference direction finding navigation control system of the agricultural terminal of the Big Dipper for automatic driving of agricultural machinery operation.
Background technology
Agricultural machinery is mainly used in the operations such as soil subsoiling, farming, sowing, plant, fertilising, dispenser, harvest, and it is improved
Farm labor efficiency, the important means for developing rural productivity.But traditional agricultural machinery is mostly pilot steering, some is very
To being manually to bear operation, time and effort consuming, efficiency is low；Thick spacious operation, effect are poor；Also bring certain operation personal safety hidden
Suffer from；It is less useful for large-scale farming operations.
In recent years, and as satellite navigation, internet, the development for the technology such as automatically controlling, GPS satellite navigation just progressively should
For agricultural chemicals machinery, GPS receiver terminal and processing control system are carried on agricultural machinery, in general AUTONOMOUS TASK can be achieved.At present,
Agricultural machines navigation system generally use is GPS of America location navigation, according to magnetic compass earth magnetism direction finding, is had the following disadvantages：
1st, in terms of positioning：GPS satellite navigation technology, because U.S.'s number one is protected, using technologies such as high dithers to satellite-signal
Many scramblers are added, for its positioning precision at several meters, more than ten meters, accuracy is poor；Plus the governing factors such as technical monopoly, actual use
Much limited, Information Security also is difficult to ensure；It is unfavorable for the development of precision agriculture.2nd, in terms of direction finding：Due to differently
Larger difference, motor high current galvanomagnetic-effect, and operating environment periphery high pressure, alternating electromagnetic field be present in the earth's magnetic field of domain landform
Factor, the magnetic compass earth magnetism direction findings such as influence are easily interfered, and make work tool direction finding accuracy relatively low, it is inclined course line easily occur
Move, phenomena such as spin, be unfavorable for accurate pointing operation.
As Chinese invention patent CN106658707A (applying date 2016.12.15) discloses a kind of differential position system
And unmanned plane, devise difference block and differential corrections and its principle：1. no design direction finding and path planning and mapping module,
Its direction finding precision is failed to understand；Mobile reference station data radio station after earth station sends setting instruction by bluetooth connection to mobile reference station
Receive instruction and send reference coordinate request to server to receive differential data；Earth station flies control hair by bluetooth to unmanned plane
After going out search instruction, the differential data that unmanned plane flies to obtain movement station after control data radio station reception instructs is positioned, and receives net
After network differential data, if reception failure, sent by wireless network to server and ask and receive the progress of network differential data
Positioning.Shortcomings：10 meters or so of Bluetooth function effectively, is connected apart from limited, and hunting zone is limited, unmanned plane during flying compared with
Far, it is unfavorable for earth station to adjust with task to mobile reference station and the instruction of unmanned plane distance data transmission and long-range operation monitoring
Degree, Differential positioning precision (in 10 centimetres)；2. this system and unmanned plane in addition to location control, are not directed to more task modules, no
Path planning, operation plot mapping, 3. without reference to work data and image real-time acquisition transport module, it is impossible to making can be carried out
Industry situation remote monitoring and data analysis.
Such as Chinese invention patent CN105905302A (data of publication of application 2016.6.2), it is automatic to disclose a kind of Big Dipper for you
Navigate Ride Control System, although the remote controlled aircraft handling of its Patent design, fixed-wing plant protection unmanned plane during flying state,
Flight parameter, dispenser parameter, humiture, wind direction and wind velocity measurement, spraying swath and flow can be adjusted therewith, operation process visualizing monitor
Preserved with data, control job scheduling, the continuous spray of breakpoint.But weak point：(1) there is no Design Navigation positioning function and module；(2)
Do not design course line path and planning, block area mapping function are set.The key performance of its flight operation, course line memory and course line
Accuracy is still not clear；(3) gathered without designed image；(4) its is computer PC control operating systems.
Utility model content
The purpose of this utility model is that providing one kind, there is the Big Dipper precisely to navigate, and Centimeter Level is accurately positioned, direction finding precision
1 ° of ＜, path planning, is automatically controlled, intelligent operation, land surveying, area measurement, equipment remote monitoring, task scheduling, big number
Transmitted according to collection, in the agricultural Big Dipper difference direction finding navigation control system of one the advantages that the cloud service function of agricultural data storehouse, with
Solve the problems, such as to propose in above-mentioned background technology.
To achieve the above object, the utility model provides following technical scheme：A kind of agricultural Big Dipper difference direction finding navigation control
System processed, including mobile responder, user's control end, RTK ground installations, Big Dipper GNSS satellite signal, Big Dipper enhancing (CORS),
Signal adapter, signal transducer, agricultural machinery, driving adapter and apolegamy equipment, described RTK ground installations increase with the Big Dipper
(CORS) is connected by radio data network antenna by force, and Big Dipper enhancing (CORS) is connected with Big Dipper GNSS satellite signal；Described
User's control end also includes remote control, earth station's (computer/iPad), mobile phone/iPad and data center；Described mobile response
End includes operation control module, work data acquisition transport module and RTK difference DF and location modules, described operation control
Data radio station and antenna are installed in module, radio data network day is installed on described work data acquisition transport module
Line, GNSS double antennas and data radio station and antenna are installed in described RTK difference DF and location modules；Described RTK ground
Equipment also includes RTK references station and hand-held mapping terminal, and is connected to GNSS disk aerials 32, wireless data network
Network antenna 16, data radio station and antenna 33, described RTK ground installations pass through data radio station with RTK difference DF and location modules
And antenna wireless connection, described RTK ground installations are connected by GNSS disk aerials with Big Dipper GNSS satellite signal, described
RTK difference DF and location modules are connected with Big Dipper GNSS satellite signal by GNSS double antennas, described RTK difference DF and locations
The navigator fix information of module is connected by serial line interface with operation control module, described operation control module and earth station
(computer/iPad), mobile phone/iPad with APP are connected by data radio station antenna.
Further, the described hand-held one key switching of mapping terminal 31 and RTK references station 34 forms, and hand-held
Mapping terminal and RTK references station also also include high accuracy " and core " OEM RTK boards, CPU, radio data network respectively
Antenna, GNSS disk aerials, data radio station and the supporting power supply of antenna, bluetooth module, serial line interface, RTK, RTK status lamps, base station
Support and fixing device.
Further, described operation control module passes through remote signal wireless connection, described fortune with remote control
Row control module is bi-directionally connected with work data acquisition transport module by serial line interface, described operation control module and ground
Stand (computer/iPad) connected by data radio station and antenna double-direction radio, described operation control module passes through data radio station day
Line is bi-directionally connected with mobile phone/iPad with APP.
Further, described operation control module is also used to including microprocessor, magnetic compass, gravity accelerometer, IMU
Property navigation elements, data storage, GNSS satellite locating module, running status record component, data radio station and antenna, remote control connect
Receipts machine, data communication interface, serial line interface, power supply, LED state display unit, expansion module and fixing device, described operation
Control module is connected by serial line interface with work data acquisition transport module.
Further, described work data acquisition transport module also includes sensor, image capture device, data
Storage device, data radio station and antenna, radio data network antenna, ECU modules, power supply, expansion module and fixing device are described
Work data acquisition transport module is bi-directionally connected indirectly by data radio station antenna and mobile phone/iPad with APP, meanwhile, with number
Connected according to centrally through radio data network antenna.
Compared with prior art, the utility model beneficial effect：
1st, the utility model is navigated using a kind of based on Big Dipper RTK precise positionings, RTK difference direction findings, the mapping of operation plot
With area measurement, path sets planning and automatic running, and long-range operation monitoring and task scheduling, work data and image are adopted in real time
Collect the agricultural Big Dipper difference direction finding navigation control system of transmission, coordinate various agricultural machinery drive systems, can be applied to plant protection unmanned plane,
Self-propelled spraying machine, self-driving formula atomizing sprayer, seeding plough, planting machine, subsoiler, boat tractor, agricultural mapping machine etc. of taking photo by plane are more
Kind automatic job farm machinery.The navigation of Big Dipper precise positioning, RTK difference direction findings can also be realized, the mapping of operation plot is surveyed with area
Amount, path set planning and automatic running, long-range operation monitoring and task scheduling, work data and image real-time acquisition transmission,
Operation precision and operating efficiency are improved, reduces labour's input, lighten one's labor burden, reduces agricultural cost and energy input,
It is favorably improved agricultural productive force.According to GIS electronic information maps, equipment job state, operating environment, job content, target
The multi-source agricultural data storehouse of the multidate informations such as object, manipulator and static information structure, can be easy to remote monitoring and analysis decision
And task scheduling.Instruct to provide data, services and information guiding for agricultural production, to realize Digital farming, prescription farming, accurate
Farming and IT application to agriculture lay the foundation.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present utility model；
Fig. 2 is the structural representation of work data acquisition transport module of the present utility model；
Fig. 3 is the structural representation of operation control module of the present utility model；
Fig. 4 is the structural representation of RTK difference DF and location module of the present utility model；
Fig. 5 is the structural representation of RTK GNSS reference base stations of the present utility model；
In figure：1- movements responder, 11- operation control modules, 12- work data acquisitions transport module, 13-RTK difference
DF and location module, 14-GNSS double antennas, 15- data radio stations and antenna, 16- radio data networks antenna, 2- user's controls
End, the hand-held mapping terminal of 3-RTK ground installations, 31-, 32-GNSS disk aerials, 33- radio data networks antenna, 34-RTK ginsengs
Examine base station, 4- Big Dipper GNSS satellites signal, 5- Big Dippeves enhancing (CORS), 6- signal adapters, 7- signal transducers, 8- agriculturals
Machinery, 9- apolegamys equipment, 10- driving adapters.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belong to the scope of the utility model protection.
Refer to shown in Fig. 1-5, in the utility model embodiment, a kind of agricultural Big Dipper difference direction finding navigation control system,
Including mobile responder 1, user's control end 2, RTK ground installations 3, Big Dipper GNSS satellite signal 4, Big Dipper enhancing (CORS) 5, letter
Number converter 6, signal transducer 7, agricultural machinery 8, driving adapter 10 and apolegamy equipment 9, described RTK ground installations 3 with
Big Dipper enhancing (CORS) 5 is connected by radio data network antenna 16, Big Dipper enhancing (CORS) 5 and Big Dipper GNSS satellite signal 4
Connection；Meanwhile user's control end 2 also includes remote control, earth station's (computer/iPad), mobile phone/iPad and data center；Institute
The mobile responder 1 stated includes operation control module 11, work data acquisition transport module 12 and RTK difference DF and location moulds
Block 13, data radio station and antenna 15 are installed on operation control module 11, and nothing is installed on work data acquisition transport module
Line number according to network antenna 16, be provided with described RTK difference DF and locations module 13 GNSS double antennas 14 and data radio station and
Antenna 15；The RTK ground installations 3 also include RTK references station 34 and hand-held mapping terminal 31, and are connected to
GNSS disk aerials 32, radio data network antenna 16, data radio station and antenna 33, meanwhile, RTK ground installations 3 and RTK difference
DF and location module 13 passes through GNSS disk aerials 32 and north by data radio station and the wireless connection of antenna 33, RTK ground installations 3
Bucket GNSS satellite signal 4 connects, and described RTK difference DF and locations module 13 is double by GNSS with Big Dipper GNSS satellite signal 4
Antenna 14 is connected, and the navigator fix information of RTK difference DF and locations module 13 is connected by serial line interface and operation control module 11
Connect, operation control module 11 is connected with earth station's (computer/iPad), mobile phone/iPad with APP by data radio station antenna.
Described apolegamy equipment 9 includes the agricultural Big Dipper difference direction finding navigation control system of connection and is sent to various agricultural machinery drivings
The data signal transmission device of system；Adapter 10 is driven to include connection Big Dipper difference direction finding navigation control system and all kinds
The device of signal identification conversion and the adaptation connection of the agricultural machinery 8 of drive system；Agricultural machinery 8 include it is different it is agricultural nobody
Machine, hydraulic-driven agricultural machinery, air pressure driving agricultural machinery, motor driving agricultural machinery, Piezoelectric Driving agricultural machinery etc. are various
The agricultural machinery of different type drive system；Signal transducer 7 includes equipment power, the energy, the machine of various driving agricultural machinery
Have the geographical temperature of operating area environment weather, humidity, wind direction, illumination, air pressure, hydraulic pressure, voltage, depth, acid-base value, work
Species are other, plant physiology, growing way, yield, the meteorology such as pest and disease damage identification detection, mechanics, physics, chemistry, energy, optics, electricity,
Various signal transducers in terms of physiology；Signal adapter 6 includes identification and changes the signal number that various signal transducers 6 transmit
According to, and the various dresses that RS232 standard serial datas are sent to work data acquisition delivery module 12 can be converted the signal into
Put.
The described hand-held one key switching of mapping terminal 31 and RTK references station 34 forms, and the hand-held mapping He of terminal 31
RTK references station 34 also also include respectively high accuracy " and core " OEM RTK boards, CPU, radio data network antenna,
GNSS disk aerials, data radio station and antenna, bluetooth module, serial line interface, the supporting power supplys of RTK, RTK status lamps, base station support
And fixing device.
Described operation control module 11 and remote control by remote signal wireless connection, the operation control module 11 with
Work data acquisition transport module 12 is bi-directionally connected by serial line interface, and operation control module 11 and earth station (computer/
IPad) connected by data radio station and the double-direction radio of antenna 15, operation control module 11 is by data radio station antenna 15 and with APP
Mobile phone/iPad be bi-directionally connected.
Described operation control module 11 also include microprocessor, magnetic compass, gravity accelerometer, IMU inertial navigation units,
Data storage, GNSS satellite locating module, running status record component, data radio station and antenna, remote-control receiver, data are led to
Letter interface, serial line interface, power supply, LED state display unit, expansion module and fixing device, meanwhile, operation control module 11 is logical
Serial line interface is crossed to be connected with work data acquisition transport module 12.
Described work data acquisition transport module 12 also includes sensor, image capture device, data storage device, number
Conducted electricity platform and antenna, and radio data network antenna, ECU modules, power supply, expansion module and fixing device, the work data are adopted
Collection transport module 12 is bi-directionally connected indirectly by data radio station antenna 15 and mobile phone/iPad with APP, meanwhile, with data center
Connected by radio data network antenna 16.
The course of work of the present utility model is described in further detail below in conjunction with the accompanying drawings：
RTK references station 34 receives Big Dipper GNSS satellite signal by GNSS disk aerials 32, obtains current location
Satellite raw observation and observation station coordinates, obtain coarse position data (non-accurate, about 5 meters of precision)；RTK references station simultaneously
This coarse position data and related protocol parameter by radio data network antenna 16, are uploaded to Big Dipper enhancing (CORS) 5 by 34
Network RTK platforms；After network RTK platforms obtain data, by the difference that current coarse position is broadcast under radio data network antenna
Data are to RTK references station 34；RTK references station 34 combines raw observation, observation station coordinates and differential data and carried out
Carrier phase difference algorithm positioning calculation, and obtain high-precision pseudorange and fixed with carrier phase observation data and differential corrections
Solution, the high precision position coordinate after the current point correction of RTK references station 34 is obtained, realizes Centimeter Level high accuracy positioning.
Meanwhile high accuracy positioning information and differential corrections fixed solution are sent to hand-held mapping eventually by RTK references station 34
End 31, while it is also sent to RTK difference DF and locations module 13 by data radio station and antenna 33.
RTK difference DF and locations module 13 receives Big Dipper GNSS satellite signal 5 by primary antenna one in GNSS double antennas 14
Observation and observation station coordinates, obtained coarse position data (precisely non-, about 5 meters of precision)；With reference to raw observation, observation station
Coordinate and the differential corrections fixed solution sent, positioning calculation is carried out, the high-precision absolute location coordinates after being rectified a deviation, is realized
Positioned during Centimeter Level high-precision real.The connected GNSS double antennas 14 of RTK difference DF and locations module 13 are functionally divided into main day
Line one and from antenna two.Handled, led by primary antenna one and the Big Dipper GNSS satellite signal 4 received from antenna two
Antenna one and from the course on the basis of the line of antenna two, and the differential corrections precise positioning information of primary antenna one can be exported with timely
Between information, by measuring primary antenna one and the coordinate phase difference of space coordinates and the accurate seat of primary antenna one from antenna two
Mark, course angle is calculated using Direction Finding Algorithm；Course angle is that primary antenna one points to angle from antenna two and geographical north, by east to be
Just；Double antenna spacing is 0.66 meter, 1 ° of its direction finding precision ＜, and as the increase of antenna spacing, direction finding precision are higher；Pass through
Using GNSS double antennas 14, direction finding when realizing 1 ° of direction finding precision ＜ high-precision real.
The movement of operation boundary of land block is being treated, and its high accuracy positioning information by bluetooth real-time Transmission and is stored in hand
On machine/iPad APP, while the positions such as boundary of land block point 1#, 2#, 3#, 4# are obtained, boundary point 1#, 2# conduct is set on APP
The whole story point of first bar working path and course, boundary point 3#, 4# are as last working path, using agricultural mechanical operation breadth as boat
Line spacing, APP plan working path scheme automatically, generate new destination, while the position according to barrier in the GIS map of plot
Put, avoidance path is set.The planning information of working path scheme and default avoidance is sent to fortune by APP by data radio station antenna
Row control module 11, while earth station's (computer/iPad) can also send out the instruction of other planning tasks by data radio station antenna 33
Operation control module 11 is sent to, the task and information planned according to mobile phone/iPad, earth station's (computer/iPad) are independently made
Industry, meanwhile, earth station's (computer/iPad) can by data radio station read operation control module 11 obtain working path scheme and
Avoidance information.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model
All any modification, equivalent and improvement made within the spirit and principle of utility model etc., should be included in the utility model
Protection domain within.
Claims (5)
1. a kind of agricultural Big Dipper difference direction finding navigation control system, including mobile responder (1), user's control end (2), RTK
Face equipment (3), Big Dipper GNSS satellite signal (4), the Big Dipper enhancing (CORS) (5), signal adapter (6), signal transducer (7),
Agricultural machinery (8), driving adapter (10) and apolegamy equipment (9), the RTK ground installations (3) and Big Dipper enhancing (CORS) (5)
Connected by radio data network antenna (16), Big Dipper enhancing (CORS) (5) is connected with Big Dipper GNSS satellite signal (4)；It is described
User's control end (2) also includes remote control, earth station, mobile phone/iPad and data center；It is characterized in that：The mobile sound
(1) should be held to include operation control module (11), work data acquisition transport module (12) and RTK difference DF and location modules
(13), data radio station and antenna (15), the work data acquisition transport module are installed on the operation control module (11)
(12) radio data network antenna (16) is installed on, GNSS double days are installed on the RTK difference DF and location module (13)
Line (14) and data radio station and antenna (15)；The RTK ground installations (3) also include RTK references station (34) and held
Terminal (31) is surveyed and drawn, and is connected to GNSS disk aerials (32), radio data network antenna (16), data radio station and antenna
(33), the RTK ground installations (3) are wirelessly connected with RTK difference DF and location modules (13) by data radio station and antenna (33)
Connect, the RTK ground installations (3) are connected by GNSS disk aerials (32) with Big Dipper GNSS satellite signal (4), and the RTK is poor
DF and location module (13) is divided to be connected with Big Dipper GNSS satellite signal (4) by GNSS double antennas (14), the RTK difference direction finding
The navigator fix information of locating module (13) is connected by serial line interface with operation control module (11), the operation control module
(11) mobile phone/iPad with earth station, with APP is connected by data radio station antenna.
A kind of 2. agricultural Big Dipper difference direction finding navigation control system according to claim 1, it is characterised in that：It is described hand-held
Mapping terminal (31) forms with RTK references station (34) one key switching, and hand-held mapping terminal (31) and RTK references station
(34) high accuracy " and core " OEM RTK boards, CPU, radio data network antenna (16), GNSS disks day are also also included respectively
Line (32), data radio station and antenna (15), bluetooth module, serial line interface, the supporting power supplys of RTK, RTK status lamps, base station support and
Fixing device.
A kind of 3. agricultural Big Dipper difference direction finding navigation control system according to claim 1, it is characterised in that：The operation
Control module (11) is passed with remote control by remote signal wireless connection, the operation control module (11) with work data acquisition
Defeated module (12) is bi-directionally connected by serial line interface, and the operation control module (11) passes through data radio station and antenna with earth station
(15) double-direction radio connects, and the operation control module (11) is double by data radio station antenna (15) and mobile phone/iPad with APP
To connection.
A kind of 4. agricultural Big Dipper difference direction finding navigation control system according to claim 1, it is characterised in that：The operation
Control module (11) also includes microprocessor, magnetic compass, gravity accelerometer, IMU inertial navigation units, data storage, GNSS
Satellite positioning module, running status record component, data radio station and antenna (15), remote-control receiver, data communication interface, serially
Interface, power supply, LED state display unit, expansion module and fixing device, the operation control module (11) pass through serial line interface
It is connected with work data acquisition transport module (12).
A kind of 5. agricultural Big Dipper difference direction finding navigation control system according to claim 1, it is characterised in that：The operation
Data acquisition transport module (12) also includes sensor, image capture device, data storage device, data radio station and antenna
(15), radio data network antenna (16), ECU modules, power supply, expansion module and fixing device, the work data acquisition pass
Defeated module (12) is bi-directionally connected indirectly by data radio station antenna (15) and mobile phone/iPad with APP, meanwhile, with data center
Connected by radio data network antenna (16).
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| CN201720907981.7U CN207096463U (en) | 2017-07-25 | 2017-07-25 | A kind of agricultural Big Dipper difference direction finding navigation control system |
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|---|---|---|---|
| CN201720907981.7U CN207096463U (en) | 2017-07-25 | 2017-07-25 | A kind of agricultural Big Dipper difference direction finding navigation control system |
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| CN201720907981.7U Expired - Fee Related CN207096463U (en) | 2017-07-25 | 2017-07-25 | A kind of agricultural Big Dipper difference direction finding navigation control system |
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| CN108535750A (en) * | 2018-03-26 | 2018-09-14 | 广州中海达卫星导航技术股份有限公司 | Unmanned plane navigation method for orienting, GNSS receiver device, GNSS receiver system |
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| CN108535750A (en) * | 2018-03-26 | 2018-09-14 | 广州中海达卫星导航技术股份有限公司 | Unmanned plane navigation method for orienting, GNSS receiver device, GNSS receiver system |
| CN108761511A (en) * | 2018-04-18 | 2018-11-06 | 广州市中海达测绘仪器有限公司 | Unmanned plane GNSS base stations data transmission and control method, apparatus and system |
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