CN103673970A - Operation-region automatic identification and area measurement system of cross-regional operation machinery and method - Google Patents
Operation-region automatic identification and area measurement system of cross-regional operation machinery and method Download PDFInfo
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Abstract
The invention provides an operation-region automatic identification and area measurement system of cross-regional operation machinery and a method. The operation-region automatic identification and area measurement system comprises an ARM9 series embedded central processing unit, a cross-regional operation area measurement module, a power module, a GPRS network communication module, a storage module, a detection module and a remote monitoring display module. The cross-regional operation area measurement module comprises a GPS positioning module, an operation region and non-operation region automatic identification module and an area measuring module, and the GPS positioning module enables positioning information to be transmitted into an ARM9 embedded processor; the ARM9 embedded processor is used for processing the positioning information and calculating the corresponding operation area and cost; the GPRS network communication module is used for transmitting measurement data to the remote monitoring display module in real time. Area and cost calculation is completed rapidly. Measurement is conducted rapidly, the situation that a payment dispute occurs between a lease broker and a farmer due to the area of farmland can be avoided, the requirements for low prices, simple operation and use convenience are met, and accurate bases are provided for operation costs of cross-regional agricultural machinery.
Description
Technical field
The present invention relates generally to the agricultural mechanical field of cross-regional operation, especially relate to a kind of operating area identification and area measurement system and method automatically of long-range cross-regional operation machinery, be mainly used in the automatic identification of the Yu Fei operation area, operation area of cross-regional operation agricultural machinery, and the automatic measurement of working area, and realize charging and Duo Tai machinery time management.
Background technology
Traditional farmland area is used tape measuring mostly, simple and practical, but the subject matter existing is the rectangle field being only suitable in small size, for large-area field, wastes time and energy, and easily makes mistakes, and is difficult to measure the area of irregular field.
Along with the development of modern science and technology, the requirement of agricultural modernization is also more and more higher.The informationization of agricultural machinery, robotization, digitizing technique develop into now, for meeting growth requirement people, have done excessive quantity research.The cross-regional operation of the agricultural machinery such as high-speed transplanter is the farmland production operation form that is applicable to China's national situation, yet for strange land operation, machinery scheduler administrator, tractor driver and peasant etc. wish to know area and other parameter of actual job, therefore mechanically configure in cross-regional operation, installation track is identified automatically and area measurement system is its development trend.The mechanical scheduler administrator of tradition is to the obtaining of agricultural mechanical operation area or other useful information, mainly by mechanical arm estimated information or inquiry employer's mode by the mechanical job information person that informs machine management.Every year because contra broker or peasant household lose comparatively serious because understatement farmland area etc. produces the situations such as few payings.Take Yongxing, Haining cooperative society is example, by harvester sample survey (5), because of the few income farmland area of the problems referred to above operator of farm machinery at 5%～15%(with 10% calculating), average every the annual cross-regional operation area of harvester 166.67hm
2above, every 667m
2charge 60～80 yuan (with 60 yuan of calculating), every harvester loses 15000 yuan every year.Farmland area is one of most basic data in agricultural production management, and the size of field has directly determined the input amount of the means of production such as seed, chemical fertilizer, agricultural chemicals, is also that agricultural machinery carries out the Main Basis that man-hour and charge are calculated in farm work.
The class handhold GPS area measurement instrument occurring is at present mainly manually along the farmland of operation, to walk one week, by GPS, locate the coordinate of learning standard rectangular field, then through relevant mathematical method, calculate result, or increase on this basis the Presentation Functions such as path and figure.The subject matter that such mode exists is very inconvenient for the real-time accurately understanding of the remote scheduling person case of machines of cross-regional operation machinery, need to manually be in the action and within one week, could obtain related data along farmland walking, and for the shape accurate parameter such as reference area of field of complexity comparatively.Another kind of is the measuring system of developing in conjunction with GPS and single-chip microcomputer, " farmland operation area measurement instrument " that the patent No. of Ru You Beijing Research Center for Agriculture Information Technology development is zl200520113683.8, mainly by Hall element, detect umber of pulse, by wheel girth and working width reference area and speed, use GSM to carry out data transmission.The problem of this type systematic is that people need to know mechanical operating location and operating area in advance, then by GPS, locates the operation measured zone one week of detouring, and automatically records the coordinate of operation route, finally calculate around area.The outstanding problem existing is that price is high should not be promoted if adopt high-precision GPS positioning system, and error is large to adopt low precision, also difficult popularization.And cannot realize the automatic orbit identification to He Fei operation area, mechanical work district, and cannot complete the area measurement of real-time data transmission and irregular field simultaneously, the person that also fails to realize remote scheduling is the demands such as supervision to many cross-regional operation machineries simultaneously; Also having a class is by real-time detection agricultural mechanical operation width and travel distance, follow reference area and price, " method of automatic on-line measurement of real-time actual grain cutting width and the device " that a kind of " reaping area measurement and charge system and the method " that for example patent No. is zl200710175342.7 and the patent No. are zl200510012373.1 is all that using ultrasound ripple detects working width, then via single-chip microcomputer, calculates in real time working area and expense.This kind of method is due to reasons such as mechanical work environment are poor, operating mode is complicated, cause ultrasound examination harvesting fabric width to have larger error, reliability is low, and there is the impact of efficiency in single-chip microcomputer for the processing of mass data, fail to realize the automatic identification of He Fei operation area, operation area simultaneously, and simultaneously to many mechanical functions such as management.
Summary of the invention
For addressing the above problem, the invention discloses the operating area identification and area measurement system and method automatically of long-range cross-regional operation machinery, be characterized in: adopt ARM9 as central processing unit, adopt the comparatively cheap GPS positioning system of price, for the low problem of GPS positioning precision, design proposes to process based on compound filter and level and smooth iterative algorithm, and by quiet dynamic test, positions the correction of data; For cross-regional operation machinery, the algorithm of the bar shaped Scan orientation point by designed, designed is realized the automatic identification to GPS positioning track, field shape no matter, system can be by identifying mechanical He Fei operating area, operating area to the analysis of anchor point, then calculate the operating area area scanning, and by GPRS, real-time data transmission is carried out to remote monitoring to the host computer monitoring software based on VB6.0 exploitation, thereby effectively improve intelligent, telemanagement convenience and the area measurement precision of system.
In order to realize above-mentioned technical purpose, technical solutions according to the invention are that the operating area of long-range cross-regional operation machinery is identification and area measurement system and method automatically, comprising:
ARM9 central processing unit, GPS locating module, power module, memory module, detection module, network communication module, remote monitoring display module, the automatic identification module in Yu Fei operating area, operating area.
Described ARM9 central processing unit connects respectively GPS locating module, power module, memory module, detection module, the automatic identification module of network communication module and Yu Fei operating area, operating area.
Described ARM9 central processing unit, mainly completes the remote transmission of the automatic identification of the reception of GPS module locator data, the input of detection module data, the processing of information, operating area, data and storage and Display and Print function.
Described GPS locating module, by RS485 communication mode, be connected with ARM9 central processing unit, be mainly used in the reception to gps satellite signal every the set time, and corresponding locating information is sent into ARM9 processor, complete the location work to the run trace of cross-regional operation machinery.
Described power module, the 24V storage battery power supply mainly being carried by car body, and distinguish voltage stabilizing output 5V, 4.2V and 3.3V by ZA3020, give ARM9 central processing unit, GPS locating module and network communication module power supply.
Described memory module, is to be connected with ARM9 processor, is mainly the information data storing in mechanical work region that ARM9 processor is identified, and the storage to respective area measurement result and computational costs.
Described detection module, mainly comprise by CAN bus communication mode each sensor detecting unit is connected with ARM9 processor, for remote detection and diagnostic work to mechanical engine conventional fault parameter, emphasis completes the detection to engine capacity, single cylinder cutoff power, engine consumption, coolant temperature, engine oil pressure, secondary ignition voltage, ignition advance angle, cylinder pressure, starting current and fuel injection pulse signal.
Described network communication module, to be connected with ARM9 processor, mainly comprise GPRS communication module, be plugged with SIM card, be used for carrying out GPRS communication, described network communication module is real-time transmitted to other engine parameter of systematic survey area, metering data and detection the long-range ipc monitor administrative center of independent development.
Described remote monitoring display module is PC monitoring display interface, is the remote monitoring software based on Microsoft Visual Basic6.0 independent development, system by GPRS via Internet in real time by slave computer monitoring data transmission to supervision and management center.
The described automatic identification module in Yu Fei operating area, operating area, is the positioning function of using GPS, and the analysis to machine-walking track uses the bar shaped scanning algorithm system of autonomous Design research and development to automatically identify mechanical He Fei operating area, operating area.
The invention has the beneficial effects as follows, a kind of operating area identification and area measurement system and method automatically of long-range cross-regional operation machinery is provided.This system major advantage is that design proposes based on compound filter and level and smooth iterative algorithm, GPS locator data to be processed, and improves to a great extent positioning precision; For cross-regional operation machinery, the algorithm of the bar shaped Scan orientation point by designed, designed, to difformity field, applying GPS positions after analyzing and processing machine-walking track, system can automatically identify mechanical He Fei operating area, operating area, then calculate the operating area area scanning, and communicate by letter real-time data transmission to the host computer monitoring software administrative center based on VB6.0 exploitation by GPRS, and remote monitoring and administration center can manage many cross-regional operation machineries simultaneously, also can preserve work data and charging result simultaneously.Can make contra broker or peasant household because of the generation of the damaed corditions such as the few paying of generation such as understatement farmland area, can meet request for utilization cheap, simple to operate again.Do not need to preset or select operation route, or manually by detour border, operating area one week of instrument, measure area after operation.Can effectively improve intelligent, telemanagement convenience and the area measurement precision of system, be convenient to the popularization of mechanization of agriculture cross-regional operation application.
Accompanying drawing explanation
Fig. 1 is system architecture diagram of the present invention;
Fig. 2 is the main program flow chart that function of the present invention realizes;
Fig. 3 is operating area and the area measurement figure that after automatic identification algorithm of the present invention is processed, system identification goes out.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail, should understand following embodiment and only for the present invention is described, is not used in and limits the scope of the invention.
The operating area of cross-regional operation machinery of the present invention is the operating area operating area operating area operating area operating area identification and area measurement system and method automatically of identification and area measurement system and method cross-regional operation machinery automatically of identification and area measurement system and method cross-regional operation machinery automatically of identification and area measurement system and method cross-regional operation machinery automatically of identification and area measurement system and method cross-regional operation machinery automatically of identification and area measurement system and method cross-regional operation machinery automatically, what adopt is embedded processors ARM 9 series and the mode of general GPS positioning system in conjunction with application, for the low problem of GPS positioning precision, design has proposed to process based on compound filter and level and smooth iterative algorithm, and by quiet dynamic test, position the correction of data.Be the general adaptability of strengthening system simultaneously, for difform field, without presetting or select mechanical operation route, but for cross-regional operation machinery, the algorithm of the bar shaped Scan orientation point by designed, designed, applying GPS positions after analyzing and processing machine-walking track, system can automatically identify the He Fei operating area, operating area of difformity machinery, then calculate the operating area area scanning, complete the remote monitoring and diagnosis work of mechanical engine conventional fault parameter simultaneously, and communicate by letter real-time data transmission to the long-range host computer monitoring software administrative center based on VB6.0 exploitation by GPRS, this remote monitoring and administration center can be realized simultaneously many cross-regional operation machineries are managed, and can automatically preserve work data and charging result.
As shown in Figure 1, for the operating area of the cross-regional operation machinery of the present invention operating area operating area operating area operating area operating area theory diagram of identification and area measurement system and method automatically of identification and area measurement system and method cross-regional operation machinery automatically of identification and area measurement system and method cross-regional operation machinery automatically of identification and area measurement system and method cross-regional operation machinery automatically of identification and area measurement system and method cross-regional operation machinery automatically of identification and area measurement system and method cross-regional operation machinery automatically, comprise ARM9 series processors, transregional mechanical work area measurement module, power module, GPRS network communication module, memory module, detection module and remote monitoring display module etc.
What described ARM9 series processors adopted is the S3C2410 type flush bonding processor that Korea S Samsung produces, mainly towards handheld device and high performance-price ratio, the application of low-power consumption, the power voltage supply scope required for each parts in sheet is 1.8-3.3V, this 32 bit processor has independently 16KB Instruction Cache and 16KB Data Cache, MMU, support the lcd controller of TFT, nand flash memory controller, 3 road UART, 4 road DMA, the Timer of 4 road band PWM, I/O mouth, RTC, 8 10, tunnel ADC, Touch Screen interface, IIC-BUS interface, IIS-BUS interface, 2 usb hosts, 1 USB device, SD main frame and MMC interface, 2 road SPI, the highest 203MHz that may operate at of S3C2410 processor, reception and the information processing of GPS locator data have been mainly used in, the calculating of area and the remote transmission of data.
Described transregional mechanical work area measurement module mainly comprises GPS locating module, operating area Yu Fei operating area identification module and the operating area area metering module identifying, the NEO-6M-0-001GPS receiver that GPS locating module adopts Switzerland ublox company to produce, by RS485 communication interface, be connected with S3C2410 flush bonding processor, Yu Fei operating area, operating area identification module is connected with S3C2410 flush bonding processor, applying GPS locating module, the record analysis of realization to machine-walking track, use the bar shaped scanning algorithm of autonomous Design research and development to make system automatically identify mechanical He Fei operating area, operating area, area metering module is connected with S3C2410 flush bonding processor, complete the area measurement of the operating area of identifying.
The 24V storage battery power supply that described power module is mainly carried by car body, and distinguish voltage stabilizing output 5V, 4.2V, 3.3V and 1.8V by ZA3020, via network node, be connected and power with S3C2410 flush bonding processor, GPS locating module and network communication module etc. respectively simultaneously.
Described network communication module is mainly GPRS communication, for the conventional fault parameter situation of related data, computational costs and the mechanical engine of mechanical GPS positioning track identifying information, area measurement being transferred to long-range ipc monitor administrative center.
Described memory module is the useful information storage to embedded processor S3C2410, mainly comprise mechanical run trace information storage, the storage to the relevant work information of storage, computational costs and the mechanical engine of the current operating area of identifying and area measurement result.
Described detection module mainly comprises by CAN bus module each sensor detecting unit is connected with embedded processor S3C2410, for remote detection and diagnostic work to mechanical engine conventional fault parameter, emphasis completes the detection to engine capacity, single cylinder cutoff power, engine consumption, coolant temperature, engine oil pressure, secondary ignition voltage, ignition advance angle, cylinder pressure, starting current and fuel injection pulse signal.
As shown in Figure 2, the main program flow chart of realizing for function of the present invention.Specific works process is as follows: when whole system starts, first system is carried out self initialization, mainly that embedded processor S3C2410, GPRS communication, serial communication, RS485 communication and CAN bus communication are carried out to initialization, then need to send long-range GPRS communication handshake signal, the handshake of slave computer is monitored always by long-range ipc monitor administrative center, listen to after handshake, by GPRS, communicate to shake hands with host computer and be connected, if there is no successful connection, return and send handshake always, if successful connection, the car body position coordinates collecting for slave computer car-mounted terminal embedded processor S3C2410 and engine operating condition sensor detect data, system is identified automatically, and by GPRS, directly engine operating condition sensor is detected to data packing and upload to long-range ipc monitor administrative center, the GPS locator data receiving is completed to dissection process by slave computer embedded processor S3C2410, use coordinates transformation method and compound filter and level and smooth iterative algorithm to retain reliable valid data, weed out invalid data, for the realization of subsequent software algorithm function provides reliable basis.Obtain after the reliable locator data of GPS, system judges by the region recognizer of working continuously whether machinery works continuously, if identify Yu Fei operating area, operating area in conjunction with operating area Boundary Recognition algorithm autoscan, and the some infinitesimal rectangular strips operating area area identifying is added up, record the date and time of each piece operating area while starting simultaneously; Each the piece operating area area measuring and mechanical engine duty parameter are all real-time transmitted on remote monitoring and administration center P C machine and are shown by GPRS.System is multiplied by current operation unit price to each the piece operating area area calculating and calculates total expenses, date and time when recording each piece operating area simultaneously and finishing, the mechanical work region total area that system identification goes out, calculates total expenses and commencement date and deadline and time and all will be stored in upper and lower computer simultaneously.
The operating area of cross-regional operation machinery of the present invention is the operating area operating area operating area operating area operating area identification and area measurement system and method automatically of identification and area measurement system and method cross-regional operation machinery automatically of identification and area measurement system and method cross-regional operation machinery automatically of identification and area measurement system and method cross-regional operation machinery automatically of identification and area measurement system and method cross-regional operation machinery automatically of identification and area measurement system and method cross-regional operation machinery automatically, the method following steps that area measurement realizes:
(1) the cross-regional operation machinery region recognizer design of working continuously.By using GPS to gather one-time positioning information p.s. to machinery, obtain N discrete lattice information.If the movement locus of machinery is by wherein Ω (Ω ∈ N) is individual according to object (car body) position coordinate (x of positioning acquisition time order and function order
n, y
n) form, therefore its relevant trace information is defined as:
T={(x
0,y
0),(x
1,y
1),(x
2,y
2),Λ,(x
Ω,y
Ω)} （1）
Employing of the present invention is carried out scanning and counting to region internal coordinate point rectangular strip scanning method to the X in institute's delimited area, Y coordinate.Resulting anchor point information is based upon in plane coordinate system, and specific implementation step is as follows:
1. along y coordinate axis, scan
With Initial fix A (x
0, y
0) be scanning starting position, the scan rectangle bar of employing is:
y
0≤y
n<y
0+n·Δ （2）
Wherein Δ is rectangular strip height, and meets:
Δ=s=vt(v, t is known quantity) (3)
Point (x to all mechanical work respectively
n, y
n) carry out continuous translation scan, judgement counting, counting of each corresponding interval interscan is designated as to D (k) (k=± 1, ± 2, Λ, ± n).
If when continuous sweep to count satisfied:
D(k),D(k±1),D(k±2)≤1 （4）
Time, stop scanning, get and wherein scan sequence number approaching zero rectangular area, i.e. a through type:
min(|k|,|k±1|,|k±2|)>0 （5）
Obtain rectangular area as the borderline region scanning, and in the data in this region, choose maximal value y
maxas the up-and-down boundary value along the scanning of y axle.Can identify the region of working continuously thus, the point in region is the anchor point of working continuously.
2. along x coordinate axis, scan
Equally with Initial fix A (x
0, y
0) be scanning starting position, the scan rectangle bar of employing is:
x
0≤x
n<x
0+n·Δ （6）
Wherein Δ is rectangular strip height, and meets:
Δ=s=vt(v, t is known quantity) (7)
Point (x to all mechanical work respectively
n, y
n) carry out continuous translation scan, judgement counting, counting of each corresponding interval interscan is designated as to D (k) (k=± 1, ± 2, Λ, ± n).
If when continuous sweep to count satisfied:
D(k),D(k±1),D(k±2)≤1 （8）
Time, stop scanning, get and wherein scan sequence number approaching zero rectangular area, i.e. a through type:
min(|k|,|k±1|,|k±2|)>0 （9）
Obtain rectangular area as the borderline region scanning, and in the data in this region, choose maximal value x
maxas the up-and-down boundary value along the scanning of y axle.So can identify the region of working continuously in the direction, and the point in region is the anchor point of working continuously.
1. integrated use above-mentioned---2. in the recognizer of research and design, can effectively identify the work continuously distributed areas of region, work continuously anchor point and operating area frontier point of machinery.
(2) the frontier point recognizer of working continuously of cross-regional operation machinery design.When carrying out in the above-mentioned region identification of working continuously, the elements of a fix point in each scanning area being worth to comparison most by sort algorithm, the x in the time of can drawing along the continuous translation scan of y axle in each rectangular strip region
minand x
maxand along the y in each rectangular strip region of the continuous translation scan of x axle
minand y
max, and using this border as infinitesimal rectangular strip, for follow-up calculation of area lays the foundation.
A kind of mark localization method of design of the present invention sorts and exports minimum value and the maximal value in every group of data.This algorithm principal feature be big or small to both keyword after, without sorting, directly adopt mark accumulate mode to continue to compare, the basic step that algorithm is realized is as follows:
(a) establish in the region of above-mentioned any one rectangular strip delineation and have n anchor point, the group element in any rectangular area to be sorted is designated as to A
n={ c
1, c
2, c
3, Λ, c
n, establish a counter counter_data to each element, and to establish its initial value be 0, i.e. counter_data=0, is used for representing to calculate the number that is less than or equal to self element in array.
(b) by comparing between element between two in array, calculate and record A
nin the counter_data of each element, detailed process is as follows:
1. establish and work as A
nin element c
1, first and element c
2compare, if c
1>c
2, counter_data1 adds 1, otherwise counter_data2 adds 1, then successively with c
3, c
4, Λ, c
n-1, c
nrelatively, export the counter_data of each element;
2. A secondly
nin element c
2, first with element c
3compare, if c
2>c
3, counter_data2 adds 1, otherwise counter_data3 adds 1, then successively with c
4, c
5, Λ, c
n-1, c
ncompare, export equally the counter_data of each element;
3. successively analogize, until element a
n-1with element a
ntill completeer, draw array A
nin the counter_data total value of each element.
(c) the counter_data value that calculates element through said method adds after 1, is actually the location number in array after element sequence, can determine sequence reposition afterwards.Can export thus maximal value and minimum value in this group.
(3) operating area area metering algorithm design.As shown in Figure 3, be the infinitesimal rectangular strip along the scanning of y direction of principal axis defining according to the rectangular strip scanning method of the design's proposition and sort algorithm, establish the maximal value (x by horizontal ordinate point in each rectangular area
max) and minimum value (x
min) point set that forms is A
xmin={ a
1, a
2, a
3, Λ, a
n, the x that it is corresponding
maxpoint set be A
xmax={ b
1, b
2, b
3, Λ, b
n, according to approximate rectangular area method, can obtain first rectangular strip area and be:
s
1=(b
1-a
1)·Δ
Second rectangular strip area is:
s
2=(b
2-a
2)·Δ
The area that can obtain by that analogy n rectangular strip is:
s
n=(b
n-a
n)·Δ
The area of whole operating area can approximate treatment be:
S=s
1+s
2+s
3+Λ+s
n
Therefore
Wherein n is rectangular strip number in region, and S represents the area of whole operating area, and Δ is rectangular strip height.
Above content is in conjunction with concrete preferred implementation further description made for the present invention, can not assert that specific embodiment of the invention is confined to these explanations.Yu Fei operating area, automatic identification machinery operating area can be realized with area measurement system in the operating area of cross-regional operation machinery of the present invention automatically identification, and operating area is realized to the Quick Measurement of working area, can upload the data in real time telemanagement center simultaneously, this cover system can be measured the block area of arbitrary shape, there is higher measuring accuracy, for the production management of precision agriculture and the operation of agricultural machinery charge provides accurate foundation.For those skilled in the art, without departing from the inventive concept of the premise, can also make some equal substituting or obvious modification, and performance or purposes is identical, all should be considered as belonging to protection scope of the present invention.
Claims (8)
1. the operating area of cross-regional operation machinery identification and area measurement system automatically, is characterized in that: comprise transregional mechanical work area measurement module, ARM9 series embedded central processing unit, GPRS network communication module, remote monitoring display module, power module, memory module and detection module; Described transregional mechanical work area measurement module comprises GPS locating module, the automatic identification module in Yu Fei operating area, operating area and area metering module; Described GPS locating module is connected with ARM9 flush bonding processor by communication interface; The described automatic identification module in Yu Fei operating area, operating area is connected with ARM9 flush bonding processor; Described area metering module is connected with ARM9 flush bonding processor; Described ARM9 flush bonding processor is mainly used in analysis and the processing of locating information, and the area calculating that fulfils assignment, and is connected respectively with GPRS network communication module, power module, memory module and detection module simultaneously; Described communication module mainly completes the real time remote transmission of data; Described power module is whole system power supply; Described memory module and detection module are respectively used to the storage of useful data and the detection of engine information.
2. the operating area of cross-regional operation machinery according to claim 1 identification and area measurement system automatically, it is characterized in that: what described ARM9 series processors adopted is S3C2410 type flush bonding processor, described transregional mechanical work area measurement module mainly comprises GPS locating module, operating area Yu Fei operating area identification module and the operating area area metering module identifying, GPS locating module adopts NEO-6M-0-001GPS receiver, locating information is communicated by letter and is sent into S3C2410 flush bonding processor by RS485, Yu Fei operating area, operating area identification module is connected with S3C2410 flush bonding processor, applying GPS locating module, the record analysis of realization to machine-walking track, use bar shaped scanning algorithm to make system automatically identify mechanical He Fei operating area, operating area, area metering module is connected with S3C2410 flush bonding processor, complete the area measurement of the operating area of identifying, and realize the calculating of expense.
3. automatically identification and area measurement system of the operating area of cross-regional operation machinery according to claim 1, is characterized in that: described GPRS network communication module by measurement data by GPRS via Internet in real time by slave computer monitoring data transmission to remote monitoring display module.
4. the operating area of cross-regional operation machinery according to claim 1 identification and area measurement system automatically, it is characterized in that: described remote monitoring display module is PC monitoring display interface, is based on Microsoft Visual Basic6.0 remote monitoring software.
5. the operating area of cross-regional operation machinery according to claim 1 identification and area measurement system automatically, it is characterized in that: the 24V storage battery power supply that described power module is mainly carried by car body, and distinguish voltage stabilizing output 5V, 4.2V, 3.3V and 1.8V by ZA3020, give the power supplies such as ARM9 central processing unit, GPS locating module and network communication module.
6. the operating area of a kind of cross-regional operation machinery according to claim 1 identification and area measurement system automatically, it is characterized in that: described memory module is connected with ARM9 processor, is mainly the information data in mechanical work region that ARM9 processor is identified and to respective area measurement result and computational costs storage.
7. the operating area of cross-regional operation machinery according to claim 1 identification and area measurement system automatically, it is characterized in that: described detection module is mainly by CAN bus communication mode, each sensor detecting unit to be connected with ARM9 processor, for remote detection and diagnostic work to mechanical engine conventional fault parameter, emphasis completes the detection to engine capacity, single cylinder cutoff power, engine consumption, coolant temperature, engine oil pressure, secondary ignition voltage, ignition advance angle, cylinder pressure, starting current and fuel injection pulse signal.
8. the method for the automatic identification in the operating area of cross-regional operation machinery and area measurement system, is characterized in that, concrete area measurement method comprises the following steps:
(1) the cross-regional operation machinery region automatic identification algorithm design of working continuously;
GPS module is connected to S3C2410 flush bonding processor by RS485 communication mode, use GPS to locate through S3C2410 flush bonding processor gathering one-time positioning information mechanical p.s., obtain N discrete lattice information, establishing mechanical movement locus is according to positioning acquisition time order and function object sequentially, to be the position coordinates (x at car body place by wherein Ω (Ω ∈ N) is individual
n, y
n) form, therefore its relevant trace information is defined as:
T={(x
0,y
0),(x
1,y
1),(x
2,y
2),Λ,(x
Ω,y
Ω)} （1）
Employing of the present invention is carried out scanning and counting to region internal coordinate point rectangular strip scanning method to the X in institute's delimited area, Y coordinate.Resulting anchor point information is based upon in plane coordinate system, and specific implementation step is as follows:
1. along y coordinate axis, scan
With Initial fix A (x
0, y
0) be scanning starting position, the scan rectangle bar of employing is:
y
0≤y
n<y
0+n·Δ （2）
Wherein Δ is rectangular strip height, and meets:
Δ=s=vt(v, t is known quantity) (3)
Point (x to all mechanical work respectively
n, y
n) carry out continuous translation scan, judgement counting, counting of each corresponding interval interscan is designated as to D (k) (k=± 1, ± 2, Λ, ± n).
If when continuous sweep to count satisfied:
D(k),D(k±1),D(k±2)≤1 （4）
Time, stop scanning, get and wherein scan sequence number approaching zero rectangular area, i.e. a through type:
min(|k|,|k±1|,|k±2|)>0 （5）
Obtain rectangular area as the borderline region scanning, and in the data in this region, choose maximal value y
maxas the up-and-down boundary value along the scanning of y axle.Can identify the region of working continuously thus, the point in region is the anchor point of working continuously.
2. along x coordinate axis, scan
Equally with Initial fix A (x
0, y
0) be scanning starting position, the scan rectangle bar of employing is:
x
0≤x
n<x
0+n·Δ （6）
Wherein Δ is rectangular strip height, and meets:
Δ=s=vt(v, t is known quantity) (7)
Respectively to all tracing point (x of mechanical work
n, y
n) carry out continuous translation scan, judgement counting, counting of each corresponding interval interscan is designated as to D (k) (k=± 1, ± 2, Λ, ± n).
If when continuous sweep to count satisfied:
D(k),D(k±1),D(k±2)≤1 （8）
Time, stop scanning, get and wherein scan sequence number approaching zero rectangular area, i.e. a through type:
min(|k|,|k±1|,|k±2|)>0 （9）
Obtain rectangular area as the borderline region scanning, and in the data in this region, choose maximal value x
maxas the up-and-down boundary value along the scanning of y axle.So can identify the region of working continuously in the direction, and the point in region is the anchor point of working continuously;
1. integrated use above-mentioned---2. in the recognizer of research and design, can effectively identify the work continuously distributed areas of region, work continuously anchor point and operating area frontier point of machinery;
(2) the frontier point recognizer design that cross-regional operation machinery is worked continuously;
When carrying out in the above-mentioned region identification of working continuously, the elements of a fix point in each scanning area being worth to comparison most, the x in the time of can drawing along the continuous translation scan of y axle in each rectangular strip region by the sort algorithm designing
minand x
maxand along the y in each rectangular strip region of the continuous translation scan of x axle
minand y
max, and using this border as infinitesimal rectangular strip, for follow-up calculation of area lays the foundation;
A kind of mark localization method of design of the present invention sorts and exports minimum value and the maximal value in every group of data.This algorithm principal feature be big or small to both keyword after, without sorting, directly adopt mark accumulate mode to continue to compare, the basic step that algorithm is realized is as follows:
(a) establish in the region of above-mentioned any one rectangular strip delineation and have n anchor point, the group element in any rectangular area to be sorted is designated as to A
n={ c
1, c
2, c
3, Λ, c
n, establish a counter counter_data to each element, and to establish its initial value be 0, i.e. counter_data=0, is used for representing to calculate the number that is less than or equal to self element in array;
(b) by comparing between element between two in array, calculate and record A
nin the counter_data of each element, detailed process is as follows:
1. establish and work as A
nin element c
1, first and element c
2compare, if c
1>c
2, counter_data1 adds 1, otherwise counter_data2 adds 1, then successively with c
3, c
4, Λ, c
n-1, c
nrelatively, export the counter_data of each element;
2. A secondly
nin element c
2, first with element c
3compare, if c
2>c
3, counter_data2 adds 1, otherwise counter_data3 adds 1, then successively with c
4, c
5, Λ, c
n-1, c
ncompare, export equally the counter_data of each element;
3. successively analogize, until element a
n-1with element a
ntill completeer, draw array A
nin the counter_data total value of each element;
(c) the counter_data value that calculates element through said method adds after 1, is actually the location number in array after element sequence, can determine sequence reposition afterwards.Can export thus maximal value and minimum value in this group;
(3) the operating area area metering algorithm design of cross-regional operation machinery;
As shown in Figure 3, be the infinitesimal rectangular strip along the scanning of y direction of principal axis defining according to rectangular strip scanning method of the present invention and sort algorithm, establish the maximum (x by horizontal ordinate point in each rectangular area
max) and minimum value (x
min) point set that forms is A
xmin={ a
1, a
2, a
3, Λ, a
n, the x that it is corresponding
maxpoint set be A
xmax={ b
1, b
2, b
3, Λ, b
n, according to approximate rectangular area method, can obtain first rectangular strip area and be:
s
1=(b
1-a
1)·Δ
Second rectangular strip area is:
s
2=(b
2-a
2)·Δ
The area that can obtain by that analogy n rectangular strip is:
s
n=(b
n-a
n)·Δ
The area of whole operating area can approximate treatment be:
S=s
1+s
2+s
3+Λ+s
n
Therefore
Wherein n is rectangular strip number in region, and S represents the area of whole operating area, and Δ is rectangular strip height.
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