CN104133192A - Agricultural machine navigation system and method applied to small and medium-sized farmland - Google Patents
Agricultural machine navigation system and method applied to small and medium-sized farmland Download PDFInfo
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- CN104133192A CN104133192A CN201410400042.4A CN201410400042A CN104133192A CN 104133192 A CN104133192 A CN 104133192A CN 201410400042 A CN201410400042 A CN 201410400042A CN 104133192 A CN104133192 A CN 104133192A
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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- Guiding Agricultural Machines (AREA)
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Abstract
The invention discloses an agricultural machine navigation system and method applied to small and medium-sized farmland. The navigation system comprises a distance measurement device, an intelligent camera, a vehicle-mounted computer, a farmland target and a display device. According to the navigation system, the distance between an agricultural machine and the farmland target is obtained through the distance measurement device, distance information is converted into the information of the actual position of the agricultural machine and the relative position of a preset rail through the vehicle-mounted computer, the information is sent to the display device at last, an agricultural machine operator can observe the relative position of the agricultural machine in real time through the display device, and the agricultural machine is controlled to return to the preset position if deviating from the preset rail. The agricultural machine navigation system has the advantages of being simple in structure, higher in maintainability, lower in failure rate, low in cost and the like.
Description
Technical field
The present invention relates to a kind of farm machinery guider, relate in particular to a kind of farm machinery navigational system and air navigation aid that is applied to middle and small scale farmland.
Background technology
China Shi Yige large agricultural country, though Tendency of Agricultural Machinery in China level increases in recent years, compares intelligent level still lower.When mechanical cultivation, often rely on operator's experience to improve cultivating quality, this not only has higher requirement and has also increased its labour intensity to operator.Therefore adopt agricultural machinery farm work guider can improve cultivating quality, reduce operator's working strength.
The navigation of farm machinery may be defined as the size of determining the steering angle of vehicle according to the error of the physical location of farm machinery and expected path, and it is travelled according to predetermined path.The guider of farm machinery can comprise location, path planning, Navigation Control etc.
Wherein location is mainly the information such as relative position that detect in farm machinery operation process, can use the localization methods such as GPS (GPS), computer vision, laser.Path planning refers to the routing information of determining farm machinery, comprises bending radius, the length of route, the information such as course angle of farm machinery.Navigation Control module is used for controlling farm machinery and travels according to programme path.
Existing farm machinery navigational system common configuration is complicated, and price is high, cannot be applied to middle and small scale farmland.
Prior art has been used sensing equipment a large amount of, a set of easily tens0000, for the peasant household of middle and small scale, use such equipment to lose more than gain, and the present invention has only adopted the simple devices such as distance-measuring equipment can improve middle and small scale field cultivating quality, has reduced use cost.Meanwhile, maintainability is more increased, failure rate is lower.
Summary of the invention
The object of the present invention is to provide a kind of farm machinery navigational system and air navigation aid of trying out in middle and small scale farming operation, this system is determined the relative position of mechanical system in farmland by the distance between measurement mechanical system and target, reach assist operator and drive the object that farm machinery carries out ploughing work, complete the navigation to farm machinery.
For achieving the above object, the present invention adopts following technical scheme:
A farm machinery navigational system that is applied to middle and small scale farmland, comprises field target, distance-measuring equipment, display device and truck-mounted computer, wherein: distance-measuring equipment, display device, truck-mounted computer are all arranged on farm machinery;
Described field target is arranged at one jiao, farmland, comprises A target and B target, for providing location to distance-measuring equipment;
Described distance-measuring equipment is used for searching and identifies target, and target type and farm machinery are sent to truck-mounted computer to target range information;
Described truck-mounted computer is according to receiving from the target type of distance-measuring equipment and farm machinery to target distance, to farm machinery to target apart from doing geometric operation, obtain farm machinery at the relative position information in field;
Described display device receives the relative position information from truck-mounted computer, and relative position information is presented on display device, and the information that operating personnel provide by observation display device is controlled farm machinery and travelled by desired trajectory.
Described distance-measuring equipment comprises laser range finder, smart camera and The Cloud Terrace; Cloud platform rotation is searched and is identified target in the visual field, starts laser range finder measurement target drone to the distance of farm machinery after target being detected, and target type and farm machinery are sent to truck-mounted computer to target range information.
Described truck-mounted computer comprises load module, output module and processing module; Load module is used for receiving distance, the target type information from distance-measuring equipment, and information is sent into processing module; The comprehensive target type of processing module, target distance, utilize geometric relationship therebetween, calculates the irrelevance between farm machinery and pre-track, finally this irrelevance is sent to display device by output module.
An air navigation aid that is applied to the farm machinery in middle and small scale farmland, comprises the following steps:
(1) first, in farmland, one angular spacing is placed field A target, B target, in field, delimit the line some straight lines perpendicular and that parallel with field with A target and B target on one side, these some straight lines are desired trajectory, and the distance between field A target, B target equals the distance between every adjacent two desired trajectories;
(2) distance-measuring equipment is inquired about field A target, B target automatically, and measures farm machinery to the distance of A target, B target, records target type and farm machinery to the range information between target;
(3) truck-mounted computer calculates farm machinery to the relation between the distance of A target, B target, draws the relative position information of farm machinery in farmland;
(4) display device shows the irrelevance of farm machinery and desired trajectory, and farm machinery operator travels it according to irrelevance operation farm machinery on desired trajectory, thereby completes the navigation to farm machinery.
The particular location of described A target, B target is: A target, B target are positioned at a side of farm machinery starting point C, and the starting point C of A target, B target and farm machinery is positioned on straight line, A target is identical to the distance between farm machinery starting point C with B target to the distance between B target.
In described step, farm machinery to the concrete computation process of relation between the distance of A target, B target is:
When the position of farm machinery O o'clock is on n bar desired trajectory, there is AB
2=(OA
2-OB
2)/(2n+1), which the bar desired trajectory of n for starting apart from B target, the span of n from 1 to 100;
Distance between AB is measured when settling field target, and the distance of OA and OB records with farm machinery navigational system distance-measuring equipment; If farm machinery has AB while departing from desired trajectory route
2* (2n+1) >OA
2-OB
2, or AB
2* (2n+1) <OA
2-OB
2.
Compared with prior art, the beneficial effect that the present invention has:
First, navigational system of the present invention utilizes distance-measuring equipment to obtain the distance between agricultural machinery and field target, and by truck-mounted computer, range information is converted to the physical location of agricultural machine system and the relative position information of planned orbit, finally send this information to display device, agricultural machinery manipulator can real-time monitored agricultural machinery by display device relative position, if stray is controlled it, get back to precalculated position.
The present invention adopts the method for machine vision, range observation to determine the relative position of agricultural machinery, compared with complex apparatus such as the GPS using in prior art, gyroscope, accelerometer, communication base stations, have simple in structure, the features such as maintainability is more increased, failure rate is lower, have improved its practicality.
Second, the present invention is by measuring the distance of field target and equipment room, the irrelevance prompting farm machinery operator who analyzes farm machinery and planned orbit is sailed precalculated position when departing from, can guarantee that agricultural machinery is when farming, can travel along straight path, thereby guarantee the straight of each ground, ridge, ridge is parallel with ridge, distance between the ridges, from equating, can be realized agricultural machinery and travel on desired trajectory, improves farmland quality.
Accompanying drawing explanation
Fig. 1 is farm machinery navigational system work schematic diagram of the present invention;
Fig. 2 is the motion schematic diagram of farm machinery of the present invention;
Fig. 3 is farm machinery navigational system distance-measuring equipment schematic diagram of the present invention;
Fig. 4 is farm machinery navigational system smart camera schematic diagram of the present invention;
Fig. 5 is farm machinery navigational system truck-mounted computer schematic diagram of the present invention;
Fig. 6 is farm machinery navigational system of the present invention field target schematic diagram;
Fig. 7 is farm machinery navigational system display device schematic diagram of the present invention.
In figure, 1 is field target, and 2 is smart camera, and 3 is truck-mounted computer, and 4 is The Cloud Terrace, and 5 is display device.
Embodiment
Below by accompanying drawing, the present invention is described in further detail.The farmland of the middle and small scale in the present invention is rectangular-shaped, and wide is 200m, and length is 100～200m.* in the present invention represents multiplication sign
The farm machinery navigational system that is applied to middle and small scale farmland of the present invention comprises: field target 1, distance-measuring equipment, display device and truck-mounted computer, wherein: distance-measuring equipment, display device and truck-mounted computer are all arranged on farm machinery, distance-measuring equipment records distance-measuring equipment and the distance between target are the distance between farm machinery and target.
Described field target is arranged at one jiao, farmland, and field target comprises A target and B target, for providing to distance-measuring equipment, identifies and measure A target, B target to the distance of farm machinery; Target particular location is: A target, B target are positioned at a side of the starting point of farm machinery, and the starting point C of A target, B target and farm machinery is positioned on straight line, distance between A target and B target is identical with the distance between B target and farm machinery starting point C;
Described distance-measuring equipment comprises laser range finder, smart camera 2 and The Cloud Terrace 4; Cloud platform rotation is searched and is identified target in the visual field, starts laser range finder measurement target drone to the distance of distance-measuring equipment after target being detected, and target type and distance-measuring equipment are sent to truck-mounted computer 3 to target range information; Measurement target drone is target to the distance of farm machinery to the distance of distance-measuring equipment.
Described truck-mounted computer according to receive target type from distance-measuring equipment with distance-measuring equipment to target distance, to target apart from doing geometric operation, obtain farm machinery at the relative position information in field;
Described display device receives the relative position information from truck-mounted computer 3, and relative position information is presented on display device 5, and the information that operating personnel provide by observation display device is controlled farm machinery and travelled by desired trajectory.Navigation accuracy is determined by the distance between distance-measuring equipment and target.
The farm machinery air navigation aid that is applied to middle and small scale farmland, comprises the following steps:
(1) referring to Fig. 2, first, delimit desired trajectory, field A target, B target interval are positioned over field one side, A target, B target are positioned at a side of the starting point of farm machinery, and the starting point of A target, B target and farm machinery is positioned on straight line, the distance between A target and B target is identical with the distance between B target and farm machinery starting point;
In field, delimit the line line perpendicular and that parallel with field with A target and B target on one side, as the straight line CD in Fig. 2, EF, GH etc. are desired trajectory, and straight line CD and EF, the distance between straight line EF and GH equals the distance between A target, B target.By described field A target, the distance between B target, determine the distance between desired trajectory.
(2) distance-measuring equipment is inquired about field A target, B target automatically, and measures distance-measuring equipment to the distance of A target, B target, records target type and farm machinery to the range information between A target, B target;
(3) truck-mounted computer calculates farm machinery to the relation between the distance of A target, B target, draws the relative position information of farm machinery in farmland;
(4) display device shows the irrelevance of farm machinery and predefined paths, and farm machinery operator guarantees that according to irrelevance operation farm machinery it travels on desired trajectory, thereby completes the navigation to farm machinery.Display device is for showing in proportion irrelevance.
The detailed process of air navigation aid is as follows:
Referring to Fig. 1, smart camera 2 is under the rotation of The Cloud Terrace 4, search field target 1, and identify target type, A target or B target, measure the distance between field target 1 and agricultural machinery equipment by distance-measuring equipment, will be apart from being sent to truck-mounted computer 3 with target type information, by truck-mounted computer 3, calculate the irrelevance that obtains farm machinery and desired trajectory, and irrelevance information is sent to display device demonstration.
Referring to Fig. 2, in Fig. 2, expressed the middle and small scale farm machinery motion schematic diagram that carries navigational system.As shown in the figure: A target, B target are positioned at a side of the starting point of farm machinery, and the starting point of A target, B target and farm machinery is positioned on straight line, distance between A target and B target is identical with the distance between B target and farm machinery starting point;
A, B are field target, and O is for carrying the farm machinery of navigational system, and O1, O2 are the possible position while departing from projected route, and CD, EF, GH are projected route.After position that A, B are ordered is fixing, just can guarantee that O point farm machinery travels according to the projected route of C, D, E, F, G, H, and CD, FE, GH are parallel, the distance between CD, FE, GH is equal.CD is article one desired trajectory, and EF is second desired trajectory, and GH is the 3rd desired trajectory.
When the position of farm machinery O point is on article one desired trajectory CD, during n=1, because AC is vertical with CD, AB=BC and A, B, C point-blank, so there is OA
2=AC
2+ OC
2, OB
2=BC
2+ OC
2, and then can obtain 3BC
2=OA
2-OB
2, BC
2=(OA
2-OB
2)/3, AB
2=(OA
2-OB
2)/3;
When the position of farm machinery O point is on second desired trajectory EF, during n=2, can obtain AB equally
2=(OA
2-OB
2)/5;
When the position of farm machinery O point is on second desired trajectory GH, during n=3, can obtain AB equally
2=(OA
2-OB
2)/7;
In like manner, when the position of farm machinery O o'clock is on n bar desired trajectory, there is AB
2=(OA
2-OB
2)/(2n+1), wherein, which the bar desired trajectory of n for starting apart from B target, the span of n from 1 to 100.
Distance between AB can be measured when settling field target, and the distance of OA and OB can record with farm machinery navigational system distance-measuring equipment.If farm machinery departs from projected route and is positioned at O1 position and has AB
2* (2n+1) >OA
2-OB
2if being positioned at O2 position has AB
2* (2n+1) <OA
2-OB
2.
Concrete air navigation aid is as follows:
Step 1, finds the distance between target measurement target drone and farm machinery.In Fig. 3, Fig. 3 is farm machinery navigational system distance-measuring equipment schematic diagram.Distance-measuring equipment is comprised of laser range finder, smart camera 2 and The Cloud Terrace 4.First, by smart camera, search within sweep of the eye, whether have field target, if exist, judge target type: A target or B target.After definite target type, smart camera utilizes the anchor point on target to make distance-measuring equipment bornb sight, now starts laser range finder and records target from the distance between distance-measuring equipment, finally by target type with to target distance, is sent to truck-mounted computer.Smart camera is searched and the different target of target type last time again, measure and upload target type with to target distance.
Referring to Fig. 4, Fig. 4 is truck-mounted computer, smart camera connection diagram.Smart camera is comprised of image capture module and image processing module.Image capture module is used for gathering image information, and by image transmitting to image processing module.Image processing module is first by the Target Recognition Algorithms based on template matches, compare current collection image and whether meet target feature, if meet target feature, utilize the anchor point on target, determine the irrelevance of smart camera and target, this drift rate is passed to The Cloud Terrace, and The Cloud Terrace rotates respective angles according to irrelevance, makes smart camera bornb sight.
Step 2, processes the information such as target type, distance.Referring to Fig. 5, the structural representation that Fig. 5 is truck-mounted computer.Truck-mounted computer is comprised of load module, output module and processing module.Load module is for accepting the information such as distance from distance-measuring equipment, target type, and information is sent into processing module.The comprehensive target type of processing module, target distance, utilize geometric relationship therebetween, calculates the irrelevance between farm machinery and projected route, finally this irrelevance is sent to display device 5 by output module.
Referring to Fig. 6, Fig. 6 is field target schematic diagram.Field target is divided into A, two kinds of different targets of pattern of B.Point in target is anchor point.Different patterns can make smart camera distinguish A, B target, and anchor point can make the accurate bornb sight of camera, improves the accuracy of range finding.
Step 3, shows the drift rate between farm machinery and predefined paths.Referring to Fig. 7, Fig. 7 is display device schematic diagram.Crosshair on display device is used to indicate projected route.A point in center is farm machinery relative position.Operator can operate farm machinery by the skew of observation farm machinery relative position and projected route makes it get back to projected route.Thereby guaranteed that farm machinery advances according to projected route.
Claims (6)
1. a farm machinery navigational system that is applied to middle and small scale farmland, it is characterized in that, comprise field target (1), distance-measuring equipment, display device and truck-mounted computer (3), wherein: distance-measuring equipment, display device, truck-mounted computer (3) are all arranged on farm machinery;
Described field target (1) is arranged at one jiao, farmland, comprises A target and B target, for providing location to distance-measuring equipment;
Described distance-measuring equipment is used for searching and identifies target, and target type and farm machinery are sent to truck-mounted computer (3) to target range information;
Described truck-mounted computer (3) is according to receiving from the target type of distance-measuring equipment and farm machinery to target distance, to farm machinery to target apart from doing geometric operation, obtain farm machinery at the relative position information in field;
Described display device receives the relative position information from truck-mounted computer (3), relative position information is presented to display device (5) upper, the information that operating personnel provide by observation display device (5) is controlled farm machinery and is travelled by desired trajectory.
2. a kind of farm machinery navigational system that is applied to middle and small scale farmland according to claim 1, is characterized in that, described distance-measuring equipment comprises laser range finder, smart camera (2) and The Cloud Terrace (4); The Cloud Terrace (4) rotates and in the visual field, searches and identify target, starts laser range finder measurement target drone to the distance of farm machinery, and target type and farm machinery are sent to truck-mounted computer (3) to target range information after target being detected.
3. a kind of farm machinery navigational system that is applied to middle and small scale farmland according to claim 1, is characterized in that, described truck-mounted computer (3) comprises load module, output module and processing module; Load module is used for receiving distance, the target type information from distance-measuring equipment, and information is sent into processing module; The comprehensive target type of processing module, target distance, utilize geometric relationship therebetween, calculates the irrelevance between farm machinery and pre-track, finally this irrelevance is sent to display device (5) by output module.
4. based on an air navigation aid that is applied to the farm machinery in middle and small scale farmland claimed in claim 1, it is characterized in that, comprise the following steps:
(1) first, in farmland, one angular spacing is placed field A target, B target, in field, delimit the line some straight lines perpendicular and that parallel with field with A target and B target on one side, these some straight lines are desired trajectory, and the distance between field A target, B target equals the distance between every adjacent two desired trajectories;
(2) distance-measuring equipment is inquired about field A target, B target automatically, and measures farm machinery to the distance of A target, B target, records target type and farm machinery to the range information between target;
(3) truck-mounted computer (3) calculates farm machinery to the relation between the distance of A target, B target, draws the relative position information of farm machinery in farmland;
(4) display device (5) shows the irrelevance of farm machinery and desired trajectory, and farm machinery operator travels it according to irrelevance operation farm machinery on desired trajectory, thereby completes the navigation to farm machinery.
5. the air navigation aid that is applied to the farm machinery in middle and small scale farmland according to claim 4, it is characterized in that, the particular location of described A target, B target is: A target, B target are positioned at a side of farm machinery starting point C, and the starting point C of A target, B target and farm machinery is positioned on straight line, A target is identical to the distance between farm machinery starting point C with B target to the distance between B target.
6. the air navigation aid that is applied to the farm machinery in middle and small scale farmland according to claim 5, is characterized in that, in described step (3), farm machinery to the concrete computation process of relation between the distance of A target, B target is:
When the position of farm machinery O o'clock is on n bar desired trajectory, there is AB
2=(OA
2-OB
2)/(2n+1), which the bar desired trajectory of n for starting apart from B target, the span of n from 1 to 100;
Distance between AB is measured when settling field target, and the distance of OA and OB records with farm machinery navigational system distance-measuring equipment; If farm machinery has AB while departing from desired trajectory route
2* (2n+1) >OA
2-OB
2, or AB
2* (2n+1) <OA
2-OB
2.
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| CN105758790A (en) * | 2016-04-08 | 2016-07-13 | 重庆交通大学 | Accelerating loading experimental system for highway pavement |
| CN105758751A (en) * | 2016-04-08 | 2016-07-13 | 重庆交通大学 | Automobile traveling track positioning and adjusting system |
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