CN105606049B - A kind of paddy agriculture equipment operation attitude measurement method of the opposite water surface - Google Patents
A kind of paddy agriculture equipment operation attitude measurement method of the opposite water surface Download PDFInfo
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Abstract
A kind of paddy agriculture equipment operation attitude measurement method of the opposite water surface includes：A. the water surface in paddy field is regarded as static state and as the reference plane of measurement, water surface point set is obtained to the scanning of the water surface in paddy field by the two-dimentional distance measuring sensor being fixed on work tool, water surface point set is fitted to obtain fitting a straight line；B. vertical range L of the two-dimentional distance measuring sensor of calculating to fitting a straight line；Two-dimentional distance measuring sensor is calculated to the angle of the vertical line and the center line of two-dimentional distance measuring sensor of fitting a straight line, i.e. lateral inclination angle β；C. the vertical height of two-dimentional distance measuring sensor is obtained by vertical range L using triangle relation, and then obtains vertical height H of the work tool relative to the water surface；D. by vertical height H and lateral inclination angle β respectively compared with setting value, the gesture stability of work tool is realized.The posture information that paddy-field-working equipment is obtained without additional reference data, can be used for paddy-field-working equipment gesture stability, belongs to Intelligent agricultural machinery field.
Description
Technical field
The present invention relates to Intelligent agricultural machinery field, more particularly to a kind of paddy agriculture equipment operation posture of the opposite water surface
Measurement method.
Background technology
Smooth paddy field can ensure that the farmland water layer depth is consistent, save agricultural water；Pesticide, chemical fertilizer can be reduced and removed
The usage amount of careless agent improves the service efficiency of pesticide, chemical fertilizer and herbicide, and then reduces production cost and the pollution to environment；
Crop yield can be increased, promote agricultural sustainable development.
Traditional paddy-field flattening method is all that profiling is smooth, and labor intensity is big and efficiency is low, while smooth precision is low, it is difficult to
Reach fine smooth requirement (Liu's effect brave etc., 2010).
The simple level land equipment used in the conventional flat in paddy field is generally made by piece wooden stick of tractor rear dragging or plank
For equipment, level land precision depends primarily on the weight of equipment and the soft or hard degree in mud face.Due to the change of the soft or hard and height in mud face
Change, equipment also can be with its dipping and heaving.As agriculture equipment develops and applies, it is desirable that work tool is kept and manipulating object
Face is parallel.
Most of agricultural machinery currently on the market are still traditional profiling operating type, and only a small amount of agricultural equipment can be real
Existing work tool has the control of short transverse without being influenced by farmland out-of-flatness, and farmland is fine smooth main using laser land leveling
Technology and GPS leveling techniques.Laser land leveling technology can be significantly increased field prepartion of land precision, advantage of lower cost,
Efficiency is higher, water-saving and yield-increasing.But, laser land leveling technology is easily influenced by extraneous factor, and working under strong light and strong wind can make to put down
Ground precision generates large error (Li Xinlei, 2011), simultaneously as the vertical reception of laser pickoff is limited in scope, in big face
When product slope leveling, it may appear that laser signal Loss, it is difficult to meet farmland slope leveling and require (Wang Long etc., 2013).This
Outside, the radius of clean-up of laser land leveling system is limited, generally 200~450 meters (Trimble Inc., 2003；2007).The whole world is fixed
Position system (global positioning system, GPS) technology can obtain the location information of any position of earth's surface, and work
It is protected from weather influences, with the outstanding feature that measuring speed is fast, work efficiency is high, and the dynamic positioning accurate of RTK-GPS technologies
Degree more can reach Centimeter Level level, and important supporting condition (Aziz, et are provided to implement prepartion of land efficiently, on a large scale
al.,2006；Li Yinong etc., 2005).Prepartion of land technology based on GPS as emerging technology, the developed countries such as the U.S.
Preferably applied.Currently, China paddy field field area increases, cultivate in flakes, ridge is narrow；No matter plains region paddy field is also
Shelter, such as shelter-forest can all be had by being knob paddy field, in addition, CORS is not yet established in China major part region
(Continuous Operational Reference System), to obtain high-precision GPS location information need to independently set up difference
Divide base station.Existing laser land leveling technology and GPS leveling techniques, laser land leveling technology are limited by distance in the fine planarizing technique in farmland
System, and the of high cost and signal of GPS leveling techniques is influenced measurement accuracy by shelter.
Therefore, it is necessary to a kind of fine levelling method in the paddy field based on paddy field characteristic, technology and associated equipment are provided, with
Meet the market demand.
Invention content
For the technical problems in the prior art, the purpose of the present invention is：It is flat that offer one kind being different from traditional paddy field
The paddy agriculture equipment operation attitude measurement method of the opposite water surface of adjusting method.
In order to achieve the above object, the present invention adopts the following technical scheme that：
A kind of paddy agriculture equipment operation attitude measurement method of the opposite water surface, it is characterised in that：Include the following steps：a.
The water surface in paddy field is regarded as static state and as the reference plane of measurement, by the two-dimentional distance measuring sensor that is fixed on work tool to
The water surface scanning in paddy field obtains water surface point set, is fitted to obtain fitting a straight line to water surface point set；B. two-dimentional ranging sensing is calculated
Vertical range L of the device to fitting a straight line；Calculate vertical line and two-dimentional distance measuring sensor of the two-dimentional distance measuring sensor to fitting a straight line
The angle of center line, i.e. lateral inclination angle β；C. two-dimentional distance measuring sensor is obtained by vertical range L using triangle relation
Vertical height, and then obtain vertical height H of the work tool relative to the water surface；D. by β points of vertical height H and lateral inclination angle
Not compared with setting value, the gesture stability of work tool is realized.Wherein, in step b, the center line of two-dimentional distance measuring sensor is to pass
Sensor known parameters calculate center line and two-dimentional distance measuring sensor to the angle of fitting a straight line vertical line, it is opposite to obtain work tool
The lateral inclination angle β of the water surface.
As a preferred embodiment, in the step a, two-dimensional sweep is formed by the rotation distance member of two-dimentional distance measuring sensor
Retouch face, two-dimentional distance measuring sensor is scanned with a scanning angle to the water surface downwards, the water surface and scanning plane intersection formed perpendicular to
The scan line of work tool direction of advance obtains fitting a straight line by scan line；The angle of the water surface and scanning plane is angle α, with peace
It is related (with established angle complementation) to fill angle, in step c, vertical height H is obtained by vertical range L and angle α.
As a preferred embodiment, scan line includes water surface point set and non-aqueous millet cake collection, non-aqueous millet cake is excluded by filtering algorithm
Collection, selects water surface point set.Filtering algorithm is existing algorithm, it acts as：The interference of non-aqueous Surface scan point is reduced, the water surface is improved
The accuracy of scanned straight lines.
As a preferred embodiment, scanning angle (i.e. two-dimentional distance measuring sensor rotation angle) is 60-120 degree.
As a preferred embodiment, non-aqueous millet cake collection corresponds to water surface projection and ridge information.Water surface projection includes protruding from
The soil of the water surface, the weeds etc. for protruding from the water surface.
As a preferred embodiment, in step d, the movement by the attitude transducer that is fixed on work tool to work tool
Posture is corrected, and accurately controls the posture of work tool；The posture of work tool described herein, including work tool are vertical
Straight height H and lateral inclination angle β, wherein vertical height H correspond to the depth of implements of work tool.
As a preferred embodiment, attitude transducer is used to measure the spatial attitude angle of work tool, pitch angle is included at least
Degree and roll angle；Wherein pitch angle tilts forward and back the influence for changing diagonal α for correcting the tractor of drawing work tool,
And then for correcting vertical height H, roll angle is used to correct tractor and tilts what variation measured lateral inclination angle β
It influences.
As a preferred embodiment, attitude transducer is mounted on two-dimentional distance measuring sensor, two-dimentional distance measuring sensor, which is mounted on, to be made
On industry equipment.
As a preferred embodiment, work tool is land level scraper, drawn by paddy field tractor；Land level scraper is by elevation oil cylinder and leveling
Oil cylinder controls, and keeps the vertical height H of land level scraper and lateral inclination angle β consistent with setting value.
Generally speaking, the invention has the advantages that：
(1) water surface of the invention by being fixed on the two-dimentional distance measuring sensor scanning survey paddy field on paddy-field-working equipment,
The water surface point set for filtering out extraction paddy field after interference information is fitted to fitting a straight line, calculates two-dimentional distance measuring sensor and fitting a straight line
Vertical range L and lateral inclination angle β, then by triangle relation be converted to work tool relative to paddy field the water surface it is vertical
Height H.The posture information that paddy-field-working equipment is obtained without additional reference data, can be used for paddy-field-working equipment posture control
System.
(2) measurement method of the invention generates the athletic posture of tractor/land leveler for lady field using attitude transducer
Influence is corrected, and ensure that measurement accuracy.
(3) the configuration of the present invention is simple, easy to operate, the posture of work tool can be accurately controlled relative to the water surface,
Realize the smooth of the water surface or less paddy field.
Description of the drawings
Fig. 1 is the instrumentation plan of the vertical height H of work tool, is the side view of work tool.
Fig. 2 is the schematic diagram that work tool operation lateral inclination angle beta measures, and is the rearview of work tool.
Fig. 3 is present invention application schematic diagram on land leveler for lady field.
Wherein, the scanning plane of 1. two-dimentional distance measuring sensors, 2. attitude transducers, 3. two-dimentional distance measuring sensors, is swept by one
Retouch all measurement circuits formation in the period, 4. land leveler for lady field, 5. land level scrapers.xL,yL,zLFor the sky of two-dimentional distance measuring sensor
Between rectangular coordinate system, xA,yA,zAFor the rectangular coordinate system in space of attitude transducer, two rectangular coordinate system in space are mutually parallel；Angle α
The angle of facial plane and horizontal plane is scanned for distance measuring sensor；Lateral inclination angle beta is that two-dimentional distance measuring sensor arrives fitting a straight line
The angle of vertical line and the center line of two-dimentional distance measuring sensor.
Specific implementation mode
It is next below that the present invention will be further described in detail.
The present embodiment is that the present invention is applied to the land level scraper operation attitude measurement of land leveler for lady field and controls, including paddy field is flat
Ground machine, land level scraper (work tool i.e. in the present embodiment), two-dimentional distance measuring sensor, attitude transducer and control system.
Land level scraper is connect with land leveler for lady field, and the up and down adjustment (elevation adjusting) of land level scraper can be realized by elevation oil cylinder,
The left and right adjusting (automatic leveling) of land level scraper is realized by leveling cyclinder.Two-dimentional distance measuring sensor and attitude transducer are installed in
On land level scraper, two-dimentional distance measuring sensor and the corresponding rectangular coordinate system of attitude transducer are mutually parallel.
Two-dimentional distance measuring sensor is tilted towards the water surface in land level scraper rear scanning survey paddy field, and interference is filtered out by filtering algorithm
The water surface point set in paddy field is extracted after information, and water surface point set is fitted to fitting a straight line, is calculated two-dimentional distance measuring sensor and is being scanned
On face (circuit is measured in real time to the vertical range L of fitting a straight line (being read by two-dimentional distance measuring sensor) and lateral inclination angle β
Middle two dimension distance measuring sensor can calculate folder to the distance between fitting with vertical range L, the two form right angle triangle
Angle, the numerical value coordinate two-dimentional distance measuring sensor roll angle to calculate correction via control system), angle α (it is complementary with established angle,
It is calculated by established angle, established angle can determine when two-dimentional distance measuring sensor is installed, and angle α is passed via control system cooperation posture
The pitch angle of sensor calculates correction), recycle triangle relation to be converted to vertical height of the land level scraper relative to the water surface in paddy field
Spend H (H=Lsin α).
When land leveler for lady field is influenced to make height of the land level scraper from the water surface and angle of inclination by the hardcore height fluctuating in paddy field
Carve variation, then the vertical height H by measuring and lateral inclination angle β and setting height in the controls and inclination angle
Degree compares, and controls the elevation oil cylinder and leveling cyclinder of land level scraper, the vertical height H of land level scraper is kept pacifically to shovel superelevation angle
Land level scraper height and angle of inclination of the β close to setting are spent, attitude measurement and the control of land level scraper is realized, it is precisely smooth to reach paddy field
Purpose.The influence generated to the athletic posture of land leveler for lady field using attitude transducer is corrected, and ensure that measurement is accurate
Property.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, it is other it is any without departing from the spirit and principles of the present invention made by changes, modifications, substitutions, combinations, simplifications,
Equivalent substitute mode is should be, is included within the scope of the present invention.
Claims (8)
1. a kind of paddy agriculture equipment operation attitude measurement method of the opposite water surface, it is characterised in that：Include the following steps：
A. the water surface in paddy field is regarded as static state and as the reference plane of measurement, is passed by the two-dimentional ranging being fixed on work tool
Sensor obtains water surface point set to the scanning of the water surface in paddy field, is fitted to obtain fitting a straight line to water surface point set；
B. vertical range L of the two-dimentional distance measuring sensor of calculating to fitting a straight line；It calculates two-dimentional distance measuring sensor and arrives fitting a straight line
The angle of vertical line and the center line of two-dimentional distance measuring sensor, i.e. lateral inclination angle β；
C. the vertical height of two-dimentional distance measuring sensor is obtained by vertical range L using triangle relation, and then obtains work tool
Vertical height H relative to the water surface；
D. by vertical height H and lateral inclination angle β respectively compared with setting value, the gesture stability of work tool is realized；
In the step a, two-dimensional scanning plane, two-dimentional ranging sensing are formed by the rotation distance member of two-dimentional distance measuring sensor
Device is scanned with a scanning angle to the water surface downwards, and the water surface and scanning plane intersection are formed perpendicular to work tool direction of advance
Scan line obtains fitting a straight line by scan line；The angle of the water surface and scanning plane is angle α, in step c, passes through vertical range L and angle
α obtains vertical height H；
The scan line includes water surface point set and non-aqueous millet cake collection, excludes non-aqueous millet cake collection by filtering algorithm, selects water surface point
Collection.
2. a kind of paddy agriculture equipment operation attitude measurement method of opposite water surface described in accordance with the claim 1, feature exist
In：The scanning angle is 60-120 degree.
3. a kind of paddy agriculture equipment operation attitude measurement method of opposite water surface described in accordance with the claim 1, feature exist
In：The non-aqueous millet cake collection corresponds to water surface projection and ridge information.
4. a kind of paddy agriculture equipment operation attitude measurement method of opposite water surface described in accordance with the claim 1, feature exist
In：In the step d, the athletic posture of work tool is corrected by the attitude transducer being fixed on work tool,
Accurately control the posture of work tool.
5. a kind of paddy agriculture equipment operation attitude measurement method of the opposite water surface, feature exist according to claim 4
In：The attitude transducer is used to measure the spatial attitude angle of work tool, includes at least pitch angle and roll angle；Its
The tractor that middle pitch angle is used to correct drawing work tool tilts forward and back the influence for changing diagonal α, and then vertical for correcting
Straight height H；Wherein roll angle is used to correct tractor and tilts the influence that variation measures lateral inclination angle β.
6. a kind of paddy agriculture equipment operation attitude measurement method of the opposite water surface, feature exist according to claim 4
In：The attitude transducer is mounted on two-dimentional distance measuring sensor, and two-dimentional distance measuring sensor is mounted on work tool.
7. a kind of paddy agriculture equipment operation attitude measurement method of opposite water surface described in accordance with the claim 1, feature exist
In：The work tool is land level scraper, is drawn by land leveler for lady field；Land level scraper is controlled by elevation oil cylinder and leveling cyclinder, is kept
The vertical height H and lateral inclination angle β of land level scraper are consistent with setting value.
8. a kind of paddy agriculture equipment operation attitude measurement method of opposite water surface described in accordance with the claim 1, feature exist
In：The established angle of the angle α and two-dimentional distance measuring sensor is complementary, is found out by the established angle of two-dimentional distance measuring sensor, the established angle
It determines when mounted.
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| CN110836655B (en) * | 2019-11-13 | 2020-09-08 | 长沙桑铼特农业机械设备有限公司 | Machine tool operation posture detection device, agricultural operation machine and ground adhering operation method |
| CN111077284A (en) * | 2019-12-23 | 2020-04-28 | 华南农业大学 | Paddy field plough bottom information continuous sensing device and method |
| CN111708275B (en) * | 2020-06-24 | 2023-05-23 | 中国人民解放军63653部队 | Method and device for improving control precision of operation depth system |
| CN112987069B (en) * | 2021-02-18 | 2021-11-26 | 华南农业大学 | Method for measuring tail end pose of operation part based on vehicle body pose |
| CN113412707B (en) * | 2021-05-25 | 2022-05-24 | 山东交通学院 | Rice direct seeding unit self-adaption method based on Beidou and row spacing changing realization method |
| CN113959393A (en) * | 2021-10-13 | 2022-01-21 | 福建省布谷信田农业科技有限公司 | Sensor system for detecting operation condition of working part of agricultural tractor |
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| CN101223841B (en) * | 2008-01-31 | 2012-05-30 | 华南农业大学 | Paddy field laser flatting machine |
| CN101280570B (en) * | 2008-05-27 | 2010-11-10 | 华南农业大学 | Horizontal control system of earth leveler and control method thereof |
| CN101644023B (en) * | 2009-08-21 | 2011-01-26 | 赵怀志 | Detection method of road-surface evenness |
| US8422034B2 (en) * | 2010-04-21 | 2013-04-16 | Faro Technologies, Inc. | Method and apparatus for using gestures to control a laser tracker |
| CN102818557B (en) * | 2012-08-07 | 2014-08-27 | 三一重型装备有限公司 | Automatic pose measuring device and engineering machine |
| CN104296695B (en) * | 2014-10-11 | 2017-03-15 | 国家电网公司 | A kind of method for obtaining video camera spatial attitude |
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