CN106323270A - Data collection method and device - Google Patents
Data collection method and device Download PDFInfo
- Publication number
- CN106323270A CN106323270A CN201610616918.8A CN201610616918A CN106323270A CN 106323270 A CN106323270 A CN 106323270A CN 201610616918 A CN201610616918 A CN 201610616918A CN 106323270 A CN106323270 A CN 106323270A
- Authority
- CN
- China
- Prior art keywords
- information
- positional information
- wheel
- acquisition module
- agricultural machinery
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Guiding Agricultural Machines (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
- Tires In General (AREA)
Abstract
The invention discloses a data collection method and device, and relates to the information processing technology. The problems that measurement is difficult and the measurement result is not accurate are solved. The method comprises the steps that a first measuring position is arranged on the straight line where the front axle is vertically mapped on the plane perpendicular to a first front wheel, and first position information is obtained; a second measuring position is arranged on the straight line where the front axle is vertically mapped on the plane perpendicular to a second front wheel, and second position information is obtained; a third measuring position is arranged on the straight line where the rear axle is vertically mapped on the plane perpendicular to a first rear wheel, and third position information is obtained; a fourth measuring position is arranged on the straight line where the rear axle is vertically mapped on the plane perpendicular to a second rear wheel, and fourth position information is obtained; fifth position information of a GNSS directional antenna is obtained; calculation is conducted according to position information from the first to the fifth, and a wheelbase of agricultural machinery and the height, front-and-back deviation and left-and-right deviation of a control point, relative to the agricultural machinery, of the GNSS directional antenna is obtained. All GNSS position measurement adopts a short base line RTK, and the millimeter-sized measurement result is obtained.
Description
Technical field
The present invention relates to the information processing technology, particularly relate to a kind of collecting method and device.
Background technology
Realize agricultural machinery automatic Pilot it is critical that set up agricultural machinery automatic Pilot model.In prior art, agricultural machinery is driven automatically
Key parameter needed for sailing model specifically includes that
1, the wheelbase of agricultural machinery；
2, GPS (Global Navigation Satellite System, GNSS) location antenna phase
For the height at control point of agricultural machinery, front and back deviation and left-right deviation.
At present, the measuring method of above-mentioned parameter is predominantly measured manually, is i.e. used such as dip stick, Laser Measuring by people
The instruments such as amount instrument carry out field survey.
During realizing the present invention, inventor finds, prior art is by measuring side getparms manually
Method, measures difficulty big, and due to the impact of anthropic factor (choosing disunity etc. such as measure object of reference), causes measurement result
Problem inaccurate, that between measurement result and practical situation, deviation is bigger.
Summary of the invention
In order to solve, the parameter of the method acquisition of prior art employing manual measurement is inaccurate, measure bigger the asking of difficulty
Topic, the embodiment of the present invention provides a kind of collecting method and device.
On the one hand, the collecting method that the embodiment of the present invention provides, apply on agricultural machinery, before described agricultural machinery includes first
Wheel, the second front-wheel, the first trailing wheel, the second trailing wheel and the GNSS that is arranged on control room position antenna, described first front-wheel and the
Two front-wheels are connected by front axle, and described first trailing wheel and the second trailing wheel are connected by rear axle, including: hanging down with described first front-wheel
Straight plane, described front axle are vertically mapped on the straight line of this plane and arrange the first measurement position, obtain described first and measure position
The primary importance information put；On the plane vertical with described second front-wheel, the vertical straight line being mapped in this plane of described front axle
Second measurement position is set, obtains the described second second position information measuring position；Put down at vertical with described first trailing wheel
Face, described rear axle are vertically mapped on the straight line of this plane and arrange the 3rd measurement position, obtain the described 3rd and measure the of position
Three positional informationes；The plane vertical with described second trailing wheel, the vertical straight line being mapped in this plane of described rear axle arrange
Four measure position, obtain the described 4th the 4th positional information measuring position；Obtain the 5th position of described GNSS location antenna
Information；Calculate according to described primary importance information, second position information, the 3rd positional information and the 4th positional information, obtain
Take the wheelbase of described agricultural machinery；According to described primary importance information, second position information, the 3rd positional information, the 4th positional information
Calculate with the 5th positional information, obtain described GNSS location antenna relative to the height at the control point of agricultural machinery, front and back deviation
And left-right deviation.
Further, described first position is measured relative to the distance of described first front-wheel and described second measurement position phase
Distance for described second front-wheel is identical；And/or, the described 3rd measures position relative to the distance of described first trailing wheel and institute
State the 4th measurement position identical relative to the distance of described second trailing wheel.
Further, described according to described primary importance information, second position information, the 3rd positional information and the 4th position
Information calculates, and the wheelbase obtaining described agricultural machinery includes: count according to described primary importance information and second position information
Calculate, obtain the point midway information of described front axle；Calculate according to described 3rd positional information and the 4th positional information, obtain
The point midway information of described rear axle；Point midway information and the point midway information of described rear axle according to described front axle are carried out
Calculate, obtain the wheelbase of described agricultural machinery.
Further, described according to described primary importance information, second position information, the 3rd positional information, the 4th position
Information and the 5th positional information calculate, and obtain the described GNSS location antenna height, front and back relative to the control point of agricultural machinery
Deviation and left-right deviation include: according to described primary importance information, second position information, the 3rd positional information, the 4th position
Information and the 5th positional information calculate, and obtain described GNSS location antenna and measure position, the second measurement position to described first
Put, the 3rd vertical dimension measuring the plane that position composition is measured in position and the 4th is that described GNSS location antenna is relative to agricultural machinery
The height at control point；Obtain described GNSS location antennas orthogonal project described first measure position, second measure position, the
Three measure the positional information that the first incident point of the plane that position forms is measured in position and the 4th；According to described first incident point
Positional information calculates, and obtaining described first incident point to the distance of described front axle or rear axle is that described GNSS positions antenna
Relative to deviation before and after the control point of agricultural machinery；Obtain described first incident point and be vertically projected to the of described front axle or rear axle
The positional information in two incident points；Positional information according to described second incident point calculates, and obtains described second incident point and arrives
The distance of described front axle center or described rear shaft center is the described GNSS location antenna left and right relative to the control point of agricultural machinery
Deviation.
Further, described primary importance information, second position information, the 3rd positional information, the 4th positional information and
Five positional informationes are to position antenna by GNSS, use the millimetre-sized measurement that short baseline carrier phase difference technology RTK obtains
Result.
On the other hand, the data acquisition unit that the embodiment of the present invention provides, to apply on agricultural machinery, described agricultural machinery includes first
Front-wheel, the second front-wheel, the first trailing wheel, the second trailing wheel and the sky, GPS GNSS location being arranged on control room
Line, described first front-wheel and the second front-wheel connected by front axle, and described first trailing wheel and the second trailing wheel are connected by rear axle, bag
Include:
Primary importance acquisition module, is arranged on the plane vertical with described first front-wheel, described front axle is vertical is mapped in this
On the first measurement position on the straight line of plane, for obtaining the described first primary importance information measuring position；
Second position acquisition module, is arranged on the plane vertical with described second front-wheel, described front axle is vertical is mapped in this
On the second measurement position on the straight line of plane, for obtaining the described second second position information measuring position；
3rd position acquisition module, is arranged on the plane vertical with described first trailing wheel, described rear axle is vertical is mapped in this
On the 3rd measurement position on the straight line of plane, for obtaining the described 3rd the 3rd positional information measuring position；
4th position acquisition module, is arranged on the plane vertical with described second trailing wheel, described rear axle is vertical is mapped in this
On the 4th measurement position on the straight line of plane, for obtaining the described 4th the 4th positional information measuring position；
5th position acquisition module, for obtaining the 5th positional information of described GNSS location antenna；
First computing module, for according to described primary importance acquisition module obtain primary importance information, described second
The 3rd positional information and described that the second position information that position acquisition module obtains, described 3rd position acquisition module obtain
The 4th positional information that four position acquisition modules obtain calculates, and obtains the wheelbase of described agricultural machinery；
Second computing module, for according to described primary importance acquisition module obtain primary importance information, described second
The 3rd positional information that the second position information that position acquisition module obtains, described 3rd position acquisition module obtain, described the
The 4th positional information and the 5th positional information of the 5th position acquisition module acquisition that four position acquisition modules obtain calculate,
Obtain described GNSS location antenna relative to the height at the control point of agricultural machinery, front and back deviation and left-right deviation.
Further, described primary importance acquisition module obtains with the described second position relative to the distance of described first front-wheel
Delivery block is identical relative to the distance of described second front-wheel；And/or, after described 3rd position acquisition module is relative to described first
The distance of wheel is identical relative to the distance of described second trailing wheel with described 4th position acquisition module.
Further, described first computing module includes:
First calculating sub module, for calculating according to described primary importance information and second position information, obtains institute
State the point midway information of front axle；
Second calculating sub module, for calculating according to described 3rd positional information and the 4th positional information, obtains institute
State the point midway information of rear axle；
3rd calculating sub module, for point midway information and the institute of the front axle according to described first calculating sub module acquisition
The point midway information stating the rear axle that the second calculating sub module obtains calculates, and obtains the wheelbase of described agricultural machinery.
Further, described second computing module includes:
4th calculating sub module, for according to described primary importance information, second position information, the 3rd positional information, the
Four positional informationes and the 5th positional information calculate, obtain described GNSS location antenna to described first measurement position, second
Measure position, the 3rd vertical dimension measuring the plane that position composition is measured in position with the 4th is that described GNSS location antenna is relative
Height in the control point of agricultural machinery；
First incident point position acquisition submodule, is used for obtaining described GNSS location antennas orthogonal and projects described first survey
The position letter in the first incident point of the plane of amount position, the second measurement position, the 3rd measurement position and the 4th measurement position composition
Breath；
5th calculating sub module, for the first incident point according to described first incident point position acquisition submodule acquisition
Positional information calculates, and obtaining described first incident point to the distance of described front axle or rear axle is that described GNSS positions antenna
Relative to deviation before and after the control point of agricultural machinery；
Second incident point position acquisition submodule, be used for obtaining described first incident point be vertically projected to described front axle or
The positional information in the second incident point of rear axle；
6th calculating sub module, for the second incident point according to described second incident point position acquisition submodule acquisition
Positional information calculates, and it is described for obtaining described second incident point to the distance of described front axle center or described rear shaft center
GNSS location antenna is relative to the left-right deviation at the control point of agricultural machinery.
Further, described primary importance acquisition module, second position acquisition module, the 3rd position acquisition module and the 4th
Position acquisition module is that GNSS positions antenna；Described primary importance acquisition module, second position acquisition module, the 3rd position acquisition
Module, the 4th position acquisition module and the 5th position acquisition module use short baseline RTK to obtain millimetre-sized measurement result respectively.
The collecting method of embodiment of the present invention offer and device, arrange measurement position using agricultural machine wheel as object of reference,
Solving the method that prior art uses manual measurement, object of reference selects standard disunity, causes that measurement result is inaccurate, error
Big problem, and, the technical scheme that the embodiment of the present invention provides has only to obtain primary importance information, second confidence respectively
Breath, the 3rd positional information, the 4th positional information and the 5th positional information, it is possible to calculated the wheelbase of agricultural machinery by algorithm, with
And GNSS location antenna to be used for generating agricultural machinery relative to the height at the control point of agricultural machinery, front and back deviation and left-right deviation etc. automatic
The key parameter of driving model, solves prior art and uses the method for manual measurement to measure the problem that difficulty is big.The present invention is real
The technical scheme that executing example provides can obtain the key parameter for generating agricultural machinery automatic Pilot model more accurately, easily.
Accompanying drawing explanation
By the detailed description that non-limiting example is made made with reference to the following drawings of reading, other of the application
Feature, purpose and advantage will become more apparent upon:
Fig. 1 is a kind of collecting method flow chart that the embodiment of the present invention provides；
Fig. 2 is the 3rd position view measuring position in a kind of collecting method that the embodiment of the present invention provides；
Fig. 3 be in a kind of collecting method that the embodiment of the present invention provides first measure position, second measure position, the
Three measure position, the 4th measurement position and the position view of GNSS location antenna；
Fig. 4 is the flow chart of step 106 in a kind of collecting method that the embodiment of the present invention shown in Fig. 1 provides；
Fig. 5 is the flow chart of step 107 in a kind of collecting method that the embodiment of the present invention shown in Fig. 1 provides；
Fig. 6 is the structural representation of a kind of data acquisition unit that the embodiment of the present invention provides；
Fig. 7 is the knot of the first computing module 606 in a kind of data acquisition unit that the embodiment of the present invention shown in Fig. 6 provides
Structure schematic diagram；
Fig. 8 is the knot of the second computing module 607 in a kind of data acquisition unit that the embodiment of the present invention shown in Fig. 6 provides
Structure schematic diagram.
Detailed description of the invention
With embodiment, the application is described in further detail below in conjunction with the accompanying drawings.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to this invention.It also should be noted that, in order to
It is easy to describe, accompanying drawing illustrate only and invent relevant part.
It should be noted that in the case of not conflicting, the embodiment in the application and the feature in embodiment can phases
Combination mutually.Describe the application below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
The method using manual measurement in order to solve prior art obtains for the key generating agricultural machinery automatic Pilot model
Parameter, measures difficulty and provides one collecting method and dress compared with big, the inaccurate problem of measurement result, the embodiment of the present invention
Put.
As it is shown in figure 1, a kind of collecting method that the embodiment of the present invention provides, applying on agricultural machinery, this agricultural machinery includes
First front-wheel, the second front-wheel, the first trailing wheel, the second trailing wheel and the GNSS being arranged on control room position antenna, this first front-wheel
Being connected by front axle with the second front-wheel, this first trailing wheel and the second trailing wheel are connected by rear axle, including:
Step 101, arranges the first survey on the plane vertical with the first front-wheel, the vertical straight line being mapped in this plane of front axle
Amount position, obtains the primary importance information of the first measurement position.
In the present embodiment, the first measurement position can be as it is shown on figure 3, the technical scheme in order to make the present invention provide obtains
Primary importance information more accurate, it is preferable that step 101 obtains primary importance information, and step by GNSS location antenna
101 by the millimetre-sized measurement using short baseline carrier phase difference technology (Real-time kinematic, RTK) to obtain
Result.Certainly, during actual use, step 101 can also such as three-dimensional laser measurement apparatus etc., obtain by other means
Take primary importance information, every kind of situation is not repeated one by one.
Step 102, arranges the second survey on the plane vertical with the second front-wheel, the vertical straight line being mapped in this plane of front axle
Amount position, obtains the second position information of the second measurement position.
In the present embodiment, the second measurement position can be as it is shown on figure 3, the technical scheme in order to make the present invention provide obtains
Second position information more accurate, it is preferable that step 102 obtains second position information, and step by GNSS location antenna
102 by the millimetre-sized measurement result using short baseline RTK to obtain.Certainly, during actual use, step 102 also may be used
With by other means, such as three-dimensional laser measurement apparatus etc., obtain second position information, every kind of situation is not carried out one by one
Repeat.
Step 103, arranges the 3rd survey on the plane vertical with the first trailing wheel, the vertical straight line being mapped in this plane of rear axle
Amount position, obtains the 3rd positional information of the 3rd measurement position.
In the present embodiment, the 3rd measures position can as shown in Figures 2 and 3, for the technical scheme making the present invention provide
The 3rd positional information obtained is more accurate, it is preferable that step 103 obtains the 3rd positional information by GNSS location antenna, and
The millimetre-sized measurement result that step 103 obtains by using short baseline RTK.Certainly, step 103 during actual use
Such as three-dimensional laser measurement apparatus etc., the 3rd positional information can also be obtained, every kind of situation do not carried out by other means
Repeat one by one.
Step 104, arranges the 4th survey on the plane vertical with the second trailing wheel, the vertical straight line being mapped in this plane of rear axle
Amount position, obtains the 4th positional information of the 4th measurement position.
In the present embodiment, the 4th measurement position can be as it is shown on figure 3, the technical scheme in order to make the present invention provide obtains
The 4th positional information more accurate, it is preferable that step 104 obtains the 4th positional information, and step by GNSS location antenna
104 by the millimetre-sized measurement result using short baseline RTK to obtain.Certainly, during actual use, step 104 also may be used
With by other means, such as three-dimensional laser measurement apparatus etc., obtain the 4th positional information, every kind of situation is not carried out one by one
Repeat.
Step 105, obtains the 5th positional information of GNSS location antenna.
Specifically, the millimetre-sized measurement result that step 105 obtains by using short baseline RTK.
Step 106, is carried out according to primary importance information, second position information, the 3rd positional information and the 4th positional information
Calculate, obtain the wheelbase of agricultural machinery.
Specifically, as shown in Figure 4, step 106 may include that
Step 401, calculates according to primary importance information and second position information, obtains the point midway letter of front axle
Breath.
In the present embodiment, measure position due to the first measurement position with second and be arranged at the vertical straight line mapped of front axle
On, so step 401 can calculate the point midway information obtaining front axle according to primary importance information and second position information.
In the present embodiment, in order to make computational methods easier, it is preferable that first measures position relative to the first front-wheel
It is identical relative to the distance of the second front-wheel that distance measures position with second.The most now, step 401 can be by calculating acquisition first
Measuring position and the second positional information measuring midpoint, position, this positional information is the point midway information of front axle.
Certainly, during actual use, in order to overcome the defect in actual measurement place, the first measurement position relative to
The distance of the first front-wheel is measured position with second and can also be differed relative to the distance of the second front-wheel, and the most now, step 401 can
To measure position distance A1 to the first front-wheel by primary importance acquisition of information first, by second position acquisition of information second
Measure position distance A2 to the second front-wheel, determine positional information and the position letter of the second front-wheel of the first front-wheel according to A1 and A2
Breath, calculates according to the position of the first front-wheel and the positional information of the second front-wheel, obtains the point midway information of front axle.
Step 402, calculates according to the 3rd positional information and the 4th positional information, obtains the point midway letter of rear axle
Breath.
In the present embodiment, measure position due to the 3rd measurement position with the 4th and be arranged at the vertical straight line mapped of rear axle
On, so step 402 can obtain the point midway information of front axle according to the 3rd positional information and the 4th positional information calculation.
In the present embodiment, in order to make computational methods easier, it is preferable that the 3rd measures position relative to the first trailing wheel
It is identical relative to the distance of the second trailing wheel that distance measures position with the 4th.The most now, step 402 can obtain the 3rd by calculating
Measuring position and the 4th positional information measuring midpoint, position, this positional information is the point midway information of front axle.
Certainly, during actual use, in order to overcome the defect in actual measurement place, the 3rd measurement position relative to
The distance of the first trailing wheel is measured position with the 4th and can also be differed relative to the distance of the second trailing wheel, and the most now, step 402 can
To be obtained distance B1 of the 3rd measurement position to the first trailing wheel by the 3rd positional information, by the 4th positional information acquisition the 4th
Measure position distance B2 to the second trailing wheel, determine positional information and the position letter of the second trailing wheel of the first trailing wheel according to B1 and B2
Breath, calculates according to the position of the first trailing wheel and the positional information of the second trailing wheel, obtains the point midway information of rear axle.
Step 403, calculates according to the point midway information of front axle and the point midway information of rear axle, obtains agricultural machinery
Wheelbase.
Step 107, according to primary importance information, second position information, the 3rd positional information, the 4th positional information and the 5th
Positional information calculates, and obtains GNSS location antenna inclined relative to the height at the control point of agricultural machinery, front and back deviation and left and right
Difference.
Specifically, as it is shown in figure 5, step 107 may include that
Step 501, according to primary importance information, second position information, the 3rd positional information, the 4th positional information and the 5th
Positional information calculates, and obtains GNSS location antenna to first measuring position, second measuring position, the 3rd measure position and the
The vertical dimension of four planes measuring position composition is the GNSS location antenna height relative to the control point of agricultural machinery.
Step 502, obtains GNSS location antennas orthogonal and projects the first measurement position, the second measurement position, the 3rd measurement
The positional information in the first incident point of the plane of position composition is measured in position and the 4th.
Step 503, calculates according to the positional information in the first incident point, obtains the first incident point to front axle or rear axle
Distance be GNSS location antenna relative to deviation before and after the control point of agricultural machinery.
It should be noted that in the present embodiment, if agricultural machinery is front-wheel drive, then during the control point of agricultural machinery is rear axle
Heart position；If agricultural machinery is rear wheel drive, then the control point of agricultural machinery is the center of front axle.
When the center that control point is rear axle of agricultural machinery, step 503 is carried out according to the positional information in the first incident point
Calculating, obtaining the first incident point to the distance of rear axle is that GNSS positions antenna relative to deviation before and after the control point of agricultural machinery；When
When the control point of agricultural machinery is the center of front axle, step 503 calculates according to the positional information in the first incident point, obtains the
One incident point is that GNSS location antenna is relative to deviation before and after the control point of agricultural machinery to the distance of front axle.
Step 504, obtains the positional information that the first incident point is vertically projected to the second incident point of front axle or rear axle.
Specifically, when the center that control point is rear axle of agricultural machinery, step 504 obtains the first incident point perpendicular projection
Positional information to the second incident point of rear axle；When the center that control point is front axle of agricultural machinery, step 504 obtains first
Incident point is vertically projected to the positional information in the second incident point of front axle.
Step 505, calculates according to the positional information in the second incident point, obtain the second incident point to front axle center or
The distance of rear shaft center is the GNSS location antenna left-right deviation relative to the control point of agricultural machinery.
Specifically, when the center that control point is rear axle of agricultural machinery, step 505 is believed according to the position in the second incident point
Breath calculates, and obtaining the second incident point to the distance of rear shaft center is that GNSS positions an antenna left side relative to the control point of agricultural machinery
Right avertence is poor；When the center that control point is front axle of agricultural machinery, step 505 is counted according to the positional information in the second incident point
Calculating, obtaining the second incident point to the distance of front axle center is that GNSS positions the antenna left-right deviation relative to the control point of agricultural machinery.
The collecting method that the embodiment of the present invention provides, arranges measurement position using agricultural machine wheel as object of reference, solves
Prior art uses the method for manual measurement, and object of reference selects standard disunity, causes that measurement result is inaccurate, big the asking of error
Topic, and, the technical scheme that the embodiment of the present invention provides have only to obtain respectively primary importance information, second position information, the
Three positional informationes, the 4th positional information and the 5th positional information, it is possible to calculated the wheelbase of agricultural machinery, and GNSS by algorithm
Location antenna is used for generating agricultural machinery automatic Pilot mould relative to the height at the control point of agricultural machinery, front and back deviation and left-right deviation etc.
The key parameter of type, solves prior art and uses the method for manual measurement to measure the problem that difficulty is big.The embodiment of the present invention carries
The technical scheme of confession can obtain the key parameter for generating agricultural machinery automatic Pilot model more accurately, easily.
As shown in Figure 6, another embodiment of the present invention also provides for a kind of data acquisition unit, applies on agricultural machinery, this agricultural machinery
Antenna is positioned, before first including the first front-wheel, the second front-wheel, the first trailing wheel, the second trailing wheel and the GNSS being arranged on control room
Wheel and the second front-wheel are connected by front axle, and the first trailing wheel and the second trailing wheel are connected by rear axle, including:
Primary importance acquisition module 601, is arranged on vertical this plane that is mapped in of the plane vertical with the first front-wheel, front axle
On the first measurement position on straight line, for obtaining the primary importance information of the first measurement position；
Second position acquisition module 602, is arranged on vertical this plane that is mapped in of the plane vertical with the second front-wheel, front axle
On the second measurement position on straight line, for obtaining the second position information of the second measurement position；
3rd position acquisition module 603, is arranged on vertical this plane that is mapped in of the plane vertical with the first trailing wheel, rear axle
On the 3rd measurement position on straight line, for obtaining the 3rd positional information of the 3rd measurement position；
4th position acquisition module 604, is arranged on vertical this plane that is mapped in of the plane vertical with the second trailing wheel, rear axle
On the 4th measurement position on straight line, for obtaining the 4th positional information of the 4th measurement position；
5th position acquisition module 605, for obtaining the 5th positional information of GNSS location antenna；
First computing module 606, for the primary importance information obtained according to primary importance acquisition module 601, second
Put second position information, the 3rd positional information of the 3rd position acquisition module 603 acquisition and the 4th that acquisition module 602 obtains
The 4th positional information putting acquisition module 604 acquisition calculates, and obtains the wheelbase of described agricultural machinery；
Second computing module 607, for the primary importance information obtained according to primary importance acquisition module 601, second
Put acquisition module 602 obtain second position information, the 3rd position acquisition module 603 obtain the 3rd positional information, the 4th
5th positional information of the 4th positional information and the acquisition of the 5th position acquisition module 605 of putting acquisition module 604 acquisition is counted
Calculate, obtain GNSS location antenna relative to the height at the control point of agricultural machinery, front and back deviation and left-right deviation.
Further, primary importance acquisition module 601 is relative to distance and the second position acquisition module 602 of the first front-wheel
Identical relative to the distance of the second front-wheel；And/or,
3rd position acquisition module 603 relative to distance and the 4th position acquisition module 604 of the first trailing wheel relative to the
The distance of two trailing wheels is identical.
Further, as it is shown in fig. 7, the first computing module 606 may include that
First calculating sub module 701, for calculating according to primary importance information and second position information, obtains front axle
Point midway information；
Second calculating sub module 702, for calculating according to the 3rd positional information and the 4th positional information, obtains rear axle
Point midway information；
3rd calculating sub module 703, for according to first calculating sub module 701 obtain front axle point midway information and
The point midway information of the rear axle that the second calculating sub module 702 obtains calculates, and obtains the wheelbase of agricultural machinery.
Further, as shown in Figure 8, the second computing module 607 may include that
4th calculating sub module 801, for according to described primary importance information, second position information, the 3rd positional information,
4th positional information and the 5th positional information calculate, obtain described GNSS location antenna to described first measurement position, the
The vertical dimension of two planes measuring position, the 3rd measurement position and the 4th measurement position composition is that described GNSS positions antenna phase
Height for the control point of agricultural machinery；
First incident point position acquisition submodule 802, is used for obtaining described GNSS location antennas orthogonal and projects described the
The position in the first incident point of one plane measuring position, the second measurement position, the 3rd measurement position and the 4th measurement position composition
Confidence ceases；
5th calculating sub module 803, for the first projection obtained according to described first incident point position acquisition submodule
The positional information of point calculates, and obtaining described first incident point to the distance of described front axle or rear axle is that described GNSS positions
Antenna is relative to deviation before and after the control point of agricultural machinery；
Second incident point position acquisition submodule 804, is used for obtaining described first incident point and is vertically projected to described front axle
Or the positional information in the second incident point of rear axle；
6th calculating sub module 805, for the second projection obtained according to described second incident point position acquisition submodule
The positional information of point calculates, and obtains described second incident point and to the distance of described front axle center or described rear shaft center is
Described GNSS location antenna is relative to the left-right deviation at the control point of agricultural machinery.
Further, primary importance acquisition module 601, second position acquisition module the 604, the 3rd position acquisition module 603
Can be all that GNSS positions antenna with the 4th position acquisition module 604；Primary importance acquisition module 601, the second position obtain mould
Block the 602, the 3rd position acquisition module the 603, the 4th position acquisition module 604 and the 5th position acquisition module 605 use short respectively
Baseline RTK obtains millimetre-sized measurement result.
The concrete methods of realizing of a kind of data acquisition unit that the embodiment of the present invention provides may refer to as Figure 1-5
Described in a kind of collecting method that the embodiment of the present invention provides, here is omitted.
The data acquisition unit that the embodiment of the present invention provides, arranges measurement position using agricultural machine wheel as object of reference, solves
Prior art uses the method for manual measurement, and object of reference selects standard disunity, causes that measurement result is inaccurate, big the asking of error
Topic, and, the technical scheme that the embodiment of the present invention provides have only to obtain respectively primary importance information, second position information, the
Three positional informationes, the 4th positional information and the 5th positional information, it is possible to calculated the wheelbase of agricultural machinery, and GNSS by algorithm
Location antenna is used for generating agricultural machinery automatic Pilot mould relative to the height at the control point of agricultural machinery, front and back deviation and left-right deviation etc.
The key parameter of type, solves prior art and uses the method for manual measurement to measure the problem that difficulty is big.The embodiment of the present invention carries
The technical scheme of confession can obtain the key parameter for generating agricultural machinery automatic Pilot model more accurately, easily.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.People in the art
Member should be appreciated that invention scope involved in the application, however it is not limited to the technology of the particular combination of above-mentioned technical characteristic
Scheme, also should contain in the case of without departing from described inventive concept simultaneously, above-mentioned technical characteristic or its equivalent feature carry out
Combination in any and other technical scheme of being formed.Such as features described above has similar merit with (but not limited to) disclosed herein
The technical scheme that the technical characteristic of energy is replaced mutually and formed.
Claims (10)
1. a collecting method, applies on agricultural machinery, described agricultural machinery include the first front-wheel, the second front-wheel, the first trailing wheel,
Two trailing wheels and the GPS GNSS location antenna being arranged on control room, described first front-wheel and the second front-wheel lead to
Crossing front axle to connect, described first trailing wheel and the second trailing wheel are connected by rear axle, it is characterised in that including:
The plane vertical with described first front-wheel, the vertical straight line being mapped in this plane of described front axle arrange the first measurement position
Put, obtain the described first primary importance information measuring position；
The plane vertical with described second front-wheel, the vertical straight line being mapped in this plane of described front axle arrange the second measurement position
Put, obtain the described second second position information measuring position；
The plane vertical with described first trailing wheel, the vertical straight line being mapped in this plane of described rear axle arrange the 3rd measurement position
Put, obtain the described 3rd the 3rd positional information measuring position；
The plane vertical with described second trailing wheel, the vertical straight line being mapped in this plane of described rear axle arrange the 4th measurement position
Put, obtain the described 4th the 4th positional information measuring position；
Obtain the 5th positional information of described GNSS location antenna；
Calculate according to described primary importance information, second position information, the 3rd positional information and the 4th positional information, obtain
The wheelbase of described agricultural machinery；
According to described primary importance information, second position information, the 3rd positional information, the 4th positional information and the 5th positional information
Calculate, obtain described GNSS location antenna relative to the height at the control point of agricultural machinery, front and back deviation and left-right deviation.
Method the most according to claim 1, it is characterised in that described first measures position relative to described first front-wheel
It is identical relative to the distance of described second front-wheel that distance measures position with described second；And/or,
Described 3rd measures position measures position relative to described second relative to the distance of described first trailing wheel with the described 4th
The distance of trailing wheel is identical.
Method the most according to claim 1, it is characterised in that described according to described primary importance information, second confidence
Breath, the 3rd positional information and the 4th positional information calculate, and the wheelbase obtaining described agricultural machinery includes:
Calculate according to described primary importance information and second position information, obtain the point midway information of described front axle；
Calculate according to described 3rd positional information and the 4th positional information, obtain the point midway information of described rear axle；
Point midway information and the point midway information of described rear axle according to described front axle calculate, and obtain described agricultural machinery
Wheelbase.
Method the most according to claim 1, it is characterised in that described according to described primary importance information, second confidence
Breath, the 3rd positional information, the 4th positional information and the 5th positional information calculate, obtain described GNSS location antenna relative to
The height at the control point of agricultural machinery, front and back deviation and left-right deviation include:
According to described primary importance information, second position information, the 3rd positional information, the 4th positional information and the 5th positional information
Calculate, obtain described GNSS location antenna to described first measuring position, second measuring position, the 3rd measurement position and the
The vertical dimension of four planes measuring position composition is the described GNSS location antenna height relative to the control point of agricultural machinery；
Obtain described GNSS location antennas orthogonal and project described first measurement position, the second measurement position, the 3rd measurement position
Positional information with the first incident point of the 4th plane measuring position composition；
Positional information according to described first incident point calculates, and obtains described first incident point to described front axle or rear axle
Distance be described GNSS location antenna relative to deviation before and after the control point of agricultural machinery；
Obtain the positional information that described first incident point is vertically projected to the second incident point of described front axle or rear axle；
Positional information according to described second incident point calculates, obtain described second incident point to described front axle center or
The distance of described rear shaft center is the described GNSS location antenna left-right deviation relative to the control point of agricultural machinery.
5. according to the method described in any one in claim 1-4, it is characterised in that described primary importance information, second
Confidence breath, the 3rd positional information, the 4th positional information and the 5th positional information are to position antenna by GNSS, use short baseline to carry
The millimetre-sized measurement result that wave phase differential technique RTK obtains.
6. a data acquisition unit, applies on agricultural machinery, described agricultural machinery include the first front-wheel, the second front-wheel, the first trailing wheel,
Two trailing wheels and the GPS GNSS location antenna being arranged on control room, described first front-wheel and the second front-wheel lead to
Crossing front axle to connect, described first trailing wheel and the second trailing wheel are connected by rear axle, it is characterised in that including:
Primary importance acquisition module, is arranged on the plane vertical with described first front-wheel, described front axle is vertical is mapped in this plane
Straight line on first measurement position on, for obtain described first measure position primary importance information；
Second position acquisition module, is arranged on the plane vertical with described second front-wheel, described front axle is vertical is mapped in this plane
Straight line on second measurement position on, for obtain described second measure position second position information；
3rd position acquisition module, is arranged on the plane vertical with described first trailing wheel, described rear axle is vertical is mapped in this plane
Straight line on the 3rd measurement position on, for obtain described 3rd measure position the 3rd positional information；
4th position acquisition module, is arranged on the plane vertical with described second trailing wheel, described rear axle is vertical is mapped in this plane
Straight line on the 4th measurement position on, for obtain described 4th measure position the 4th positional information；
5th position acquisition module, for obtaining the 5th positional information of described GNSS location antenna；
First computing module, for the primary importance information obtained according to described primary importance acquisition module, the described second position
Second position information, the 3rd positional information of described 3rd position acquisition module acquisition and described 4th that acquisition module obtains
The 4th positional information putting acquisition module acquisition calculates, and obtains the wheelbase of described agricultural machinery；
Second computing module, for the primary importance information obtained according to described primary importance acquisition module, the described second position
Acquisition module obtain second position information, described 3rd position acquisition module obtain the 3rd positional information, described 4th
5th positional information of the 4th positional information and the acquisition of the 5th position acquisition module of putting acquisition module acquisition calculates, and obtains
Described GNSS location antenna is relative to the height at the control point of agricultural machinery, front and back deviation and left-right deviation.
Device the most according to claim 6, it is characterised in that before described primary importance acquisition module is relative to described first
The distance of wheel is identical relative to the distance of described second front-wheel with described second position acquisition module；And/or,
Described 3rd position acquisition module relative to the distance of described first trailing wheel and described 4th position acquisition module relative to
The distance of described second trailing wheel is identical.
Device the most according to claim 6, it is characterised in that described first computing module includes:
First calculating sub module, for calculating according to described primary importance information and second position information, obtain described before
The point midway information of axle；
Second calculating sub module, for calculating according to described 3rd positional information and the 4th positional information, obtain described after
The point midway information of axle；
3rd calculating sub module, the point midway information and described the of the front axle for obtaining according to described first calculating sub module
The point midway information of the rear axle that two calculating sub module obtain calculates, and obtains the wheelbase of described agricultural machinery.
Device the most according to claim 6, it is characterised in that described second computing module includes:
4th calculating sub module, for according to described primary importance information, second position information, the 3rd positional information, the 4th
Confidence breath and the 5th positional information calculate, and obtain described GNSS location antenna and measure position, the second measurement to described first
Position, the 3rd vertical dimension measuring the plane that position composition is measured in position and the 4th are that described GNSS location antenna is relative to agriculture
The height at the control point of machine；
First incident point position acquisition submodule, is used for obtaining described GNSS location antennas orthogonal and projects described first measurement position
Put, second measure position, the 3rd measure the positional information in the first incident point that the plane of position composition is measured in position and the 4th；
5th calculating sub module, the position in the first incident point for obtaining according to described first incident point position acquisition submodule
Information calculates, and obtaining described first incident point to the distance of described front axle or rear axle is that described GNSS location antenna is relative
Deviation before and after the control point of agricultural machinery；
Second incident point position acquisition submodule, is used for obtaining described first incident point and is vertically projected to described front axle or rear axle
The positional information in the second incident point；
6th calculating sub module, the position in the second incident point for obtaining according to described second incident point position acquisition submodule
Information calculates, and obtaining described second incident point to the distance of described front axle center or described rear shaft center is described GNSS
Location antenna is relative to the left-right deviation at the control point of agricultural machinery.
10. according to the device described in any one in claim 6-9, it is characterised in that described primary importance acquisition module,
Two position acquisition modules, the 3rd position acquisition module and the 4th position acquisition module are that GNSS positions antenna；
Described primary importance acquisition module, second position acquisition module, the 3rd position acquisition module, the 4th position acquisition module and
5th position acquisition module uses short baseline RTK to obtain millimetre-sized measurement result respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610616918.8A CN106323270B (en) | 2016-07-29 | 2016-07-29 | Data acquisition method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610616918.8A CN106323270B (en) | 2016-07-29 | 2016-07-29 | Data acquisition method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106323270A true CN106323270A (en) | 2017-01-11 |
| CN106323270B CN106323270B (en) | 2020-05-22 |
Family
ID=57739682
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610616918.8A Active CN106323270B (en) | 2016-07-29 | 2016-07-29 | Data acquisition method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106323270B (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060025894A1 (en) * | 2004-07-30 | 2006-02-02 | Integrinautics Corporation | Vehicle control system with user-guided calibration |
| US7400956B1 (en) * | 2003-03-20 | 2008-07-15 | Hemisphere Gps Inc. | Satellite position and heading sensor for vehicle steering control |
| CN102042806A (en) * | 2010-10-25 | 2011-05-04 | 吉林大学 | Machine vision-based spatial position detection system for automobile wheel planes and rims |
| CN102692297A (en) * | 2012-06-13 | 2012-09-26 | 吉林大学 | Braking process-based dynamic automobile gravity position detector and method |
| CN103080860A (en) * | 2010-08-25 | 2013-05-01 | 天宝导航有限公司 | Automatic control of passive, towed implements |
| CN104266627A (en) * | 2014-09-29 | 2015-01-07 | 沈阳远大科技园有限公司 | Device and method for measuring wheel base under vehicle stationary state |
| CN104950304A (en) * | 2015-06-17 | 2015-09-30 | 新疆新朗迪科技发展有限责任公司 | Turnover plow ploughing depth measurement system and turnover plow ploughing depth measurement method |
| CN204944470U (en) * | 2015-08-19 | 2016-01-06 | 上海联适导航技术有限公司 | Agricultural machinery tilling depth monitoring terminal system |
| CN205003289U (en) * | 2015-09-14 | 2016-01-27 | 武汉攀达时空科技有限公司 | Dark pine measuring device based on big dipper GNSS moves relative positioning technique |
| CN105444716A (en) * | 2014-08-01 | 2016-03-30 | 深圳中集天达空港设备有限公司 | Vehicle carrying platform and vehicle wheelbase detection device and method thereof |
| WO2016178294A1 (en) * | 2015-05-07 | 2016-11-10 | ヤンマー株式会社 | Induction control system for autonomous-traveling vehicle |
-
2016
- 2016-07-29 CN CN201610616918.8A patent/CN106323270B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7400956B1 (en) * | 2003-03-20 | 2008-07-15 | Hemisphere Gps Inc. | Satellite position and heading sensor for vehicle steering control |
| US20060025894A1 (en) * | 2004-07-30 | 2006-02-02 | Integrinautics Corporation | Vehicle control system with user-guided calibration |
| CN103080860A (en) * | 2010-08-25 | 2013-05-01 | 天宝导航有限公司 | Automatic control of passive, towed implements |
| CN102042806A (en) * | 2010-10-25 | 2011-05-04 | 吉林大学 | Machine vision-based spatial position detection system for automobile wheel planes and rims |
| CN102692297A (en) * | 2012-06-13 | 2012-09-26 | 吉林大学 | Braking process-based dynamic automobile gravity position detector and method |
| CN105444716A (en) * | 2014-08-01 | 2016-03-30 | 深圳中集天达空港设备有限公司 | Vehicle carrying platform and vehicle wheelbase detection device and method thereof |
| CN104266627A (en) * | 2014-09-29 | 2015-01-07 | 沈阳远大科技园有限公司 | Device and method for measuring wheel base under vehicle stationary state |
| WO2016178294A1 (en) * | 2015-05-07 | 2016-11-10 | ヤンマー株式会社 | Induction control system for autonomous-traveling vehicle |
| CN104950304A (en) * | 2015-06-17 | 2015-09-30 | 新疆新朗迪科技发展有限责任公司 | Turnover plow ploughing depth measurement system and turnover plow ploughing depth measurement method |
| CN204944470U (en) * | 2015-08-19 | 2016-01-06 | 上海联适导航技术有限公司 | Agricultural machinery tilling depth monitoring terminal system |
| CN205003289U (en) * | 2015-09-14 | 2016-01-27 | 武汉攀达时空科技有限公司 | Dark pine measuring device based on big dipper GNSS moves relative positioning technique |
Non-Patent Citations (2)
| Title |
|---|
| 庄卫东等: "农机直线行走作业DGPS导航算法研究", 《黑龙江八一农垦大学学报》 * |
| 庄卫东等: "农机直线行走作业DGPS导航软件开发", 《黑龙江八一农垦大学学报》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106323270B (en) | 2020-05-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10352829B2 (en) | Automatic calibration method of an angle sensor for an automatic drive control system of a farm machine | |
| CN104359492B (en) | Inertial navigation and the reckoning Positioning System Error estimating algorithm of wheel speed meter composition | |
| CN106338245B (en) | Non-contact movement measuring method for workpiece | |
| CN100476345C (en) | Method for measuring geometric parameters of spatial circle based on technique of binocular stereoscopic vision | |
| CN103453849B (en) | The complex curved surface parts method for three-dimensional measurement that many optical sensors are collaborative and system | |
| CN108051837A (en) | Multiple-sensor integration indoor and outdoor mobile mapping device and automatic three-dimensional modeling method | |
| CN105444696B (en) | A kind of binocular ranging method and its application based on perspective projection line measurement model | |
| CN201173865Y (en) | Automobile fourth wheel positioning detector | |
| CN105157609A (en) | Two-sets-of-camera-based global morphology measurement method of large parts | |
| CN106469505B (en) | Floating car track deviation rectifying method and device | |
| CN108332759A (en) | A kind of map constructing method and system based on 3D laser | |
| CN106443742A (en) | Precision indicating method, apparatus and vehicle based on inertia integrated navigation | |
| CN107796370A (en) | For obtaining the method, apparatus and mobile mapping system of conversion parameter | |
| CN107289910A (en) | A kind of light stream alignment system based on TOF | |
| CN102944188A (en) | Calibration method of spot scanning three-dimensional topography measuring system | |
| CN108303043A (en) | Plant leaf area index detection method and system combined of multi-sensor information | |
| CN109115191A (en) | The multi-faceted coordinate measuring method of total station | |
| CN103968843A (en) | Self-adaption mixed filtering method of GPS/SINS (Global Positioning System/Strapdown Inertial Navigation System) super-compact integrated navigation system | |
| CN106157219A (en) | Road axis extracting method based on vehicle-mounted scanning system and device | |
| CN109664328A (en) | The jig scaling method of SCARA robot | |
| CN106871785A (en) | A kind of many depth two dimensional surface dimension measurement methods of view-based access control model | |
| CN105894511A (en) | Calibration target setting method and device and parking auxiliary system | |
| CN106647756A (en) | Beidou farm machinery automatic navigation driving control system | |
| CN106652028A (en) | Environment three-dimensional mapping method and apparatus | |
| CN101334894A (en) | Video camera parameter calibration method by adopting single circle as marker |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |