CN106950581A - Alignment system - Google Patents
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- CN106950581A CN106950581A CN201710285968.7A CN201710285968A CN106950581A CN 106950581 A CN106950581 A CN 106950581A CN 201710285968 A CN201710285968 A CN 201710285968A CN 106950581 A CN106950581 A CN 106950581A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- Radar, Positioning & Navigation (AREA)
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Abstract
Point positioning system is cut the present invention relates to a kind of coconut, including data storage device, navigation equipment, cocoanut tree search equipment and driving equipment, cut for being distributed the nearest cocoanut tree of graph search based on the coconut palm woods cocoanut tree prestored and carrying out self adaptation to realize that each in coconut palm woods can eat the quick separating of coconut and its affiliated cocoanut tree.By means of the invention it is possible to which quick navigate to can eat the cut point position of coconut, coconut wins efficiency in raising coconut palm woods.
Description
Technical field
The present invention relates to field of image recognition, more particularly to a kind of alignment system.
Background technology
Coconut is divided into high kind coconut and Tom Thumb coconut, wherein high kind of coconut is the commodity that maximum is planted in the world at present
Coconut.High kind coconut plant is high 15-30 meters, and base portion expands, and different strain pollination, 7-8 starts result, and oil content is high, the economic life
Up to 70-80.Tom Thumb coconut is divided into red short, yellow dwarf and green short three class by fruit and leaf color.Plant is only high 5-15 meters, from
Flower pollination, 3-4 starts result, and fruit is small and more, and coconut meat is thin, soft, and oil content is low.Economic life 30-40.It is main make fruit,
Hybrid strain and view and admire use.
Because high coconut of planting is that coconut plants most kinds, thus the growth position of general coconut is higher, using artificial
Softening it is highly difficult, particularly with the harvesting of large stretch of cocoanut tree in coconut palm woods, manual type wastes time and energy.Accordingly, it would be desirable to a kind of
New coconut palm woods coconut harvesting mechanism, can accurately judge the position of coconut that can be plucked, electronics is carried out by way of automation
Formula is plucked, so as to improve coconut palm woods coconut picking efficiency.
The content of the invention
In order to solve the above problems, the invention provides a kind of coconut cutting point positioning system and method, by when leading
Navigate the distance between cocoanut tree coordinate position of position and target cocoanut tree, it is determined that the cocoanut tree for being used to go to target cocoanut tree of harvesting platform
The driving control signal of coordinate position, it is determined that current cocoanut tree is highly, based on the current cocoanut tree top extent of default cocoanut tree ratio-dependent,
Image recognition is carried out to coconut, degree is plucked based on what color analysis judged coconut, based on coconut subgraph in coconut palm top image
In relative position determine the physical location of coconut cut point, and drive seed harvester to go to the physical location of coconut cut point to enter
The electronics harvesting of row coconut.
Point positioning system is cut there is provided a kind of coconut according to an aspect of the present invention, the system includes：
Data storage device, for prestoring offer coconut palm woods in coconut palm woods cocoanut tree distribution map, the coconut palm woods cocoanut tree distribution map
In each strain cocoanut tree cutting information, the cutting information of cocoanut tree includes cocoanut tree coordinate position and cocoanut tree has plucked mark, wherein, such as coconut palm
Tree was plucked, then corresponding cocoanut tree has been plucked labeled as 1, and otherwise, corresponding cocoanut tree has been plucked labeled as 0；
Navigation equipment, the location data for receiving aeronautical satellite transmission, to determine the Present navigation of the system
Position；
Cocoanut tree searches for equipment, for receiving default coconut palm woods cocoanut tree distribution map and current navigation position, based on Present navigation position
Put determine in coconut palm woods cocoanut tree distribution map apart from coconut palm woods cocoanut tree distribution map it is nearest and cocoanut tree has plucked the cocoanut tree labeled as 0 as mesh
Cocoanut tree is marked, and exports the cocoanut tree coordinate position of target cocoanut tree；
Driving equipment, the cocoanut tree coordinate position for receiving current navigation position and target cocoanut tree, and based on Present navigation
The distance between cocoanut tree coordinate position of position and target cocoanut tree, it is determined that the drive of the cocoanut tree coordinate position for going to target cocoanut tree
Dynamic control signal；
Wherein, the location data that aeronautical satellite is sent is defended for the Big Dipper aeronautical satellite, Galileo navigation satellite or GPS navigation
The location data that star is sent.
More specifically, in coconut cutting point positioning system, also including：
Cocoanut tree height detection apparatus, for after the cocoanut tree coordinate position of target cocoanut tree is reached, being carried out to target cocoanut tree high
Degree detects to obtain current cocoanut tree highly；
Wherein, carrying out height detection to target cocoanut tree includes：Cocoanut tree peak position, base are obtained using laser scanning methodses
Current cocoanut tree is determined in cocoanut tree peak position highly.
More specifically, in coconut cutting point positioning system, also including：
Top determines equipment, for when receiving current cocoanut tree height, based on the default current cocoanut tree of cocoanut tree ratio-dependent
Top extent, default cocoanut tree ratio is the percentage that cocoanut tree top length occupies whole strain cocoanut tree length, based on default cocoanut tree ratio
It is determined that current cocoanut tree top extent includes：It is long at the top of current cocoanut tree to obtain that current cocoanut tree is highly multiplied by into default cocoanut tree ratio
Degree, and cocoanut tree peak position is defined as current cocoanut tree top extent to assign the scope of current cocoanut tree top length；
High-definition camera equipment, shoots to obtain high definition coconut palm top figure for carrying out high-definition image to current cocoanut tree top extent
Picture；
Coconut identification equipment, for receiving high definition coconut palm top image, and the benchmark coconut pattern pair based on various coconut types
High definition coconut palm top image carries out coconut identification to obtain coconut type and multiple coconut subgraphs；
Color analysis device, coconut subgraph is determined for the color component based on each pixel in coconut subgraph
Color, and the coconut type that the color based on coconut subgraph and coconut identification equipment are determined judges the corresponding coconut palm of coconut subgraph
The moisture sugariness of son, when the moisture sugariness of judgement is more than or equal to default sugariness threshold value, sends coconut harvesting signal, otherwise, hair
Go out coconut stick signal, continue to push up high definition coconut palm next coconut subgraph execution color analysis operation that image recognition is arrived；
Coconut position analysis equipment, for when receiving coconut harvesting signal, based on coconut subgraph in high definition cocoanut tree
Relative position in image determines current coconut position；
Cut point analytical equipment, the growth branch for detecting coconut based on coconut subgraph, and will growth branch with
Coconut tie point is as growing point, using on growth branch, the position of pre-determined distance is used as coconut cut point, base below growing point
The physical location of coconut cut point is determined in relative position of the coconut subgraph in high definition coconut palm pushes up image；
Cutting execution equipment, the physical location for receiving coconut cut point, and based on the physical location of coconut cut point
Itself position driving cutting executing agency for performing equipment with cutting goes to the physical location of coconut cut point to perform cutting operation,
And it is every performed a cutting operation after, send cutting complete signal；
Wherein, color analysis device continues to being recognized in the image of high definition coconut palm top after cutting completion signal is received
Next coconut subgraph perform color analysis operation；
Wherein, in color analysis device, the multiple complete face of coconut subgraph executed recognized in image are pushed up in high definition coconut palm
Colour analysis, and when receiving cutting completion signal or coconut stick signal afterwards, send coconut empty signal；
Wherein, data storage device is additionally operable to after coconut empty signal is received, by the cutting information of target cocoanut tree
In cocoanut tree plucked mark be revised as 1 by 0, while update coconut palm woods cocoanut tree distribution map.
More specifically, in coconut cutting point positioning system, also including：ZIGBEE communication equipments, for obtaining more
Coconut palm woods cocoanut tree distribution map after new, and the coconut palm woods cocoanut tree distribution map after renewal is sent to Ye Lin administrative centers.
More specifically, in coconut cutting point positioning system：Cocoanut tree search equipment is additionally operable to be distributed in coconut palm woods cocoanut tree
In figure the cocoanut tree of all cocoanut trees plucked mark all be 1 when, send stop cutoff signal；Driving equipment is additionally operable to stop receiving
Only during cutoff signal, based on the distance between current navigation position and default Host equipment room, it is determined that for going to default computer room position
The driving control signal put；Wherein, default Host equipment room is pre-stored in data storage device.
Brief description of the drawings
Embodiment of the present invention is described below with reference to accompanying drawing, wherein：
Fig. 1 cuts the block diagram of point positioning system for the coconut according to embodiment of the present invention.
Fig. 2 cuts the step flow chart of independent positioning method for the coconut according to embodiment of the present invention.
Reference：1 data storage device；2 navigation equipments；3 cocoanut trees search for equipment；4 driving equipments；S101 is advance
Coconut palm woods cocoanut tree distribution map is stored, the cutting information of each strain cocoanut tree in coconut palm woods is provided in the coconut palm woods cocoanut tree distribution map, cocoanut tree cuts
Cut information and pluck mark including cocoanut tree coordinate position and cocoanut tree, wherein, such as cocoanut tree was plucked, then corresponding cocoanut tree has been adopted
Pluck labeled as 1, otherwise, corresponding cocoanut tree has been plucked labeled as 0；S102 receives the location data that aeronautical satellite is sent, to determine
The current navigation position of the system；S103 receives default coconut palm woods cocoanut tree distribution map and current navigation position, based on Present navigation
Position determine in coconut palm woods cocoanut tree distribution map apart from coconut palm woods cocoanut tree distribution map it is nearest and cocoanut tree has plucked cocoanut tree conduct labeled as 0
Target cocoanut tree, and export the cocoanut tree coordinate position of target cocoanut tree；S104 receives current navigation position and the cocoanut tree of target cocoanut tree sits
The distance between cursor position, and the cocoanut tree coordinate position based on current navigation position and target cocoanut tree, it is determined that for going to target
The driving control signal of the cocoanut tree coordinate position of cocoanut tree
Embodiment
The embodiment to the coconut cutting independent positioning method of the present invention is described in detail below with reference to accompanying drawings.
Coconut originates in the Asia southeast, Indonesia to Pacific Islands, all islands of southern Guangdong, China and Leizhou half
There is cultivation island, Hainan, Taiwan and south of Yunnan torrid areas.Coconut is important tropical woody oleiferous plants crop.With high
Economic worth, complete stool each several part has purposes.
However, for people, because the position that coconut grows is higher, harvesting coconut is a difficult work post, when
Before, also plucked using original bamboo pole, the harvesting for the coconut in coconut palm woods especially should be noted that because of the coconut palm in coconut palm woods
Tree is numerous, and location is complicated, and manually mode, which is plucked, to have to run around all the time wears him out.In order to overcome above-mentioned deficiency, the present invention has built one kind
Coconut cuts point positioning system and method, can realize that the self adaptation based on coconut upgrowth situation is plucked to the coconut in coconut palm woods.
Fig. 1 cuts the block diagram of point positioning system, the system for the coconut according to embodiment of the present invention
Including：
Data storage device, for prestoring offer coconut palm woods in coconut palm woods cocoanut tree distribution map, the coconut palm woods cocoanut tree distribution map
In each strain cocoanut tree cutting information, the cutting information of cocoanut tree includes cocoanut tree coordinate position and cocoanut tree has plucked mark, wherein, such as coconut palm
Tree was plucked, then corresponding cocoanut tree has been plucked labeled as 1, and otherwise, corresponding cocoanut tree has been plucked labeled as 0；
Navigation equipment, the location data for receiving aeronautical satellite transmission, to determine the Present navigation of the system
Position；
Cocoanut tree searches for equipment, for receiving default coconut palm woods cocoanut tree distribution map and current navigation position, based on Present navigation position
Put determine in coconut palm woods cocoanut tree distribution map apart from coconut palm woods cocoanut tree distribution map it is nearest and cocoanut tree has plucked the cocoanut tree labeled as 0 as mesh
Cocoanut tree is marked, and exports the cocoanut tree coordinate position of target cocoanut tree；
Driving equipment, the cocoanut tree coordinate position for receiving current navigation position and target cocoanut tree, and based on Present navigation
The distance between cocoanut tree coordinate position of position and target cocoanut tree, it is determined that the drive of the cocoanut tree coordinate position for going to target cocoanut tree
Dynamic control signal；
Wherein, the location data that aeronautical satellite is sent is defended for the Big Dipper aeronautical satellite, Galileo navigation satellite or GPS navigation
The location data that star is sent.
Then, the concrete structure for continuing to cut the coconut of the present invention point positioning system is further detailed.
It can also include in the coconut cutting point positioning system：Cocoanut tree height detection apparatus, for reaching target coconut palm
After the cocoanut tree coordinate position of tree, target cocoanut tree is carried out height detection to obtain current cocoanut tree highly；
Wherein, carrying out height detection to target cocoanut tree includes：Cocoanut tree peak position, base are obtained using laser scanning methodses
Current cocoanut tree is determined in cocoanut tree peak position highly.
It can also include in the coconut cutting point positioning system：
Top determines equipment, for when receiving current cocoanut tree height, based on the default current cocoanut tree of cocoanut tree ratio-dependent
Top extent, default cocoanut tree ratio is the percentage that cocoanut tree top length occupies whole strain cocoanut tree length, based on default cocoanut tree ratio
It is determined that current cocoanut tree top extent includes：It is long at the top of current cocoanut tree to obtain that current cocoanut tree is highly multiplied by into default cocoanut tree ratio
Degree, and cocoanut tree peak position is defined as current cocoanut tree top extent to assign the scope of current cocoanut tree top length；
High-definition camera equipment, shoots to obtain high definition coconut palm top figure for carrying out high-definition image to current cocoanut tree top extent
Picture；
Coconut identification equipment, for receiving high definition coconut palm top image, and the benchmark coconut pattern pair based on various coconut types
High definition coconut palm top image carries out coconut identification to obtain coconut type and multiple coconut subgraphs；
Color analysis device, coconut subgraph is determined for the color component based on each pixel in coconut subgraph
Color, and the coconut type that the color based on coconut subgraph and coconut identification equipment are determined judges the corresponding coconut palm of coconut subgraph
The moisture sugariness of son, when the moisture sugariness of judgement is more than or equal to default sugariness threshold value, sends coconut harvesting signal, otherwise, hair
Go out coconut stick signal, continue to push up high definition coconut palm next coconut subgraph execution color analysis operation that image recognition is arrived；
Coconut position analysis equipment, for when receiving coconut harvesting signal, based on coconut subgraph in high definition cocoanut tree
Relative position in image determines current coconut position；
Cut point analytical equipment, the growth branch for detecting coconut based on coconut subgraph, and will growth branch with
Coconut tie point is as growing point, using on growth branch, the position of pre-determined distance is used as coconut cut point, base below growing point
The physical location of coconut cut point is determined in relative position of the coconut subgraph in high definition coconut palm pushes up image；
Cutting execution equipment, the physical location for receiving coconut cut point, and based on the physical location of coconut cut point
Itself position driving cutting executing agency for performing equipment with cutting goes to the physical location of coconut cut point to perform cutting operation,
And it is every performed a cutting operation after, send cutting complete signal；
Wherein, color analysis device continues to being recognized in the image of high definition coconut palm top after cutting completion signal is received
Next coconut subgraph perform color analysis operation；
Wherein, in color analysis device, the multiple complete face of coconut subgraph executed recognized in image are pushed up in high definition coconut palm
Colour analysis, and when receiving cutting completion signal or coconut stick signal afterwards, send coconut empty signal；
Wherein, data storage device is additionally operable to after coconut empty signal is received, by the cutting information of target cocoanut tree
In cocoanut tree plucked mark be revised as 1 by 0, while update coconut palm woods cocoanut tree distribution map.
It can also include in the coconut cutting point positioning system：
ZIGBEE communication equipments, divide for obtaining the coconut palm woods cocoanut tree distribution map after updating, and by the coconut palm woods cocoanut tree after renewal
Butut is sent to Ye Lin administrative centers.
In addition, in the coconut cutting point positioning system：Cocoanut tree search equipment is additionally operable to the institute in coconut palm woods cocoanut tree distribution map
The cocoanut tree for having cocoanut tree plucked mark all be 1 when, send stop cutoff signal；
Driving equipment be additionally operable to receive stop cutoff signal when, based on current navigation position and default Host equipment room it
Between distance, it is determined that the driving control signal for going to default Host equipment room；
Wherein, default Host equipment room is pre-stored in data storage device.
Fig. 2 cuts the step flow chart of independent positioning method, methods described for the coconut according to embodiment of the present invention
Including：
Prestore the cutting letter that each strain cocoanut tree in coconut palm woods is provided in coconut palm woods cocoanut tree distribution map, the coconut palm woods cocoanut tree distribution map
Breath, the cutting information of cocoanut tree includes cocoanut tree coordinate position and cocoanut tree has plucked mark, wherein, such as cocoanut tree was plucked, then right
The cocoanut tree answered has been plucked labeled as 1, and otherwise, corresponding cocoanut tree has been plucked labeled as 0；
The location data that aeronautical satellite is sent is received, to determine the current navigation position of the system；
Default coconut palm woods cocoanut tree distribution map and current navigation position are received, determines that coconut palm woods cocoanut tree is distributed based on current navigation position
In figure apart from coconut palm woods cocoanut tree distribution map it is nearest and cocoanut tree has plucked the cocoanut tree labeled as 0 as target cocoanut tree, and export target
The cocoanut tree coordinate position of cocoanut tree；
Current navigation position and the cocoanut tree coordinate position of target cocoanut tree are received, and based on current navigation position and target cocoanut tree
The distance between cocoanut tree coordinate position, it is determined that the driving control signal of the cocoanut tree coordinate position for going to target cocoanut tree；
Wherein, the location data that aeronautical satellite is sent is defended for the Big Dipper aeronautical satellite, Galileo navigation satellite or GPS navigation
The location data that star is sent.
Then, the specific steps for continuing to cut the coconut of the present invention independent positioning method are further detailed.
It can also include in the coconut cutting independent positioning method：It is right after the cocoanut tree coordinate position of target cocoanut tree is reached
Target cocoanut tree carries out height detection to obtain current cocoanut tree highly；
Wherein, carrying out height detection to target cocoanut tree includes：Cocoanut tree peak position, base are obtained using laser scanning methodses
Current cocoanut tree is determined in cocoanut tree peak position highly.
It can also include in the coconut cutting independent positioning method：
When receiving current cocoanut tree height, based on the current cocoanut tree top extent of default cocoanut tree ratio-dependent, cocoanut tree is preset
Ratio is the percentage that cocoanut tree top length occupies whole strain cocoanut tree length, based on model at the top of the current cocoanut tree of default cocoanut tree ratio-dependent
Enclose including：Current cocoanut tree is highly multiplied by into default cocoanut tree ratio to obtain current cocoanut tree top length, and by cocoanut tree peak position
Put and be defined as current cocoanut tree top extent to assign the scope of current cocoanut tree top length；
High-definition image is carried out to current cocoanut tree top extent to shoot to obtain high definition coconut palm top image；
High definition coconut palm top image is received, and the benchmark coconut pattern based on various coconut types carries out coconut palm to high definition coconut palm top image
Son recognizes to obtain coconut type and multiple coconut subgraphs；
Color component based on each pixel in coconut subgraph determines the color of coconut subgraph, and based on coconut
The coconut type that the color and coconut identification equipment of image are determined judges the moisture sugariness of the corresponding coconut of coconut subgraph, when sentencing
When disconnected moisture sugariness is more than or equal to default sugariness threshold value, coconut harvesting signal is sent, otherwise, coconut stick signal is sent, after
It is continuous that next coconut subgraph execution color analysis operation that image recognition is arrived is pushed up to high definition coconut palm；
When receiving coconut harvesting signal, the relative position based on coconut subgraph in high definition cocoanut tree image determines to work as
Preceding coconut position；
The growth branch of coconut is detected based on coconut subgraph, and regard growth branch as growth with coconut tie point
Point, using the position of the pre-determined distance on growth branch, below growing point as coconut cut point, based on coconut subgraph in high definition
Relative position in the image of coconut palm top determines the physical location of coconut cut point；
The physical location of coconut cut point is received, and the physical location based on coconut cut point and cutting perform the sheet of equipment
Body position driving cutting executing agency goes to the physical location of coconut cut point to perform cutting operation, and is once cut in every performed
Cut after operation, send cutting and complete signal；
Wherein, after cutting completion signal is sent, continue to push up high definition coconut palm the next coconut recognized in image
Image performs color analysis operation；
Wherein, the multiple complete color analysis of coconut subgraph executed recognized in image are pushed up in high definition coconut palm, and are sent out afterwards
When going out cutting completion signal or coconut stick signal, coconut empty signal is sent；
Wherein, after coconut empty signal is sent, the cocoanut tree in the cutting information of target cocoanut tree mark has been plucked into by 0
1 is revised as, while updating coconut palm woods cocoanut tree distribution map.
It can also include in the coconut cutting independent positioning method：The coconut palm woods cocoanut tree distribution map after updating is obtained, and will more
Coconut palm woods cocoanut tree distribution map after new is sent to Ye Lin administrative centers by ZIGBEE communication links.
In addition, in the coconut cutting independent positioning method：The cocoanut tree of all cocoanut trees has been plucked in coconut palm woods cocoanut tree distribution map
When mark is all 1, sends and stop cutoff signal；
After stopping cutoff signal being sent, based on the distance between current navigation position and default Host equipment room, it is determined that
Driving control signal for going to default Host equipment room；
Wherein, default Host equipment room is previously stored.
In addition, GPS is the abbreviation of English Global Positioning System (global positioning system).GPS originates in
One project of US military in 1958, comes into operation for 1964.1970s, land, sea, and air of U.S. joint research and development
Global Positioning System of new generation.Main purpose is to provide real-time, round-the-clock and global navigation for the big field in land, sea and air three
Service, and for some military purposes such as information gathering, Nuclear detonation monitoring and emergency communications, by the research experiment in more than 20 years, consumption
30,000,000,000 dollars are provided, by 1994, own lay of 24 gps satellite constellations that Global coverage rate is up to 98% completed.
The general principle of GPS navigation system is to measure the satellite of known location the distance between to receiver user, so
The data of comprehensive multi-satellite just may know that the particular location of receiver afterwards.This purpose is reached, the position of satellite can root
The time recorded according to spaceborne clock finds in satellite ephemeris.And user is then passed to the distance of satellite by recording satellite-signal
It is multicast to the time that user is undergone, then is multiplied by the light velocity and obtains that (due to the interference in atmosphere ionosphere, this distance is not
Actual distance between user and satellite, but pseudorange (PR)：When gps satellite normal work, constantly it can be entered with 1 and 0 two
Pseudo noise code (abbreviation pseudo-code) the transmitting navigation message of code element composition processed.The pseudo-code one that gps system is used has two kinds, is respectively
Civilian C/A codes and military P (Y) code.C/A code frequency 1.023MHz, one millisecond of repetition period, intersymbol away from 1 microsecond, equivalent to
300m；P code frequency 10.23MHz, 266.4 days repetition periods, intersymbol is away from 0.1 microsecond, equivalent to 30m.And Y codes are the bases in P codes
Formed on plinth, security performance is more preferably.Navigation message is repaiied including satellite ephemeris, working condition, clock correction, ionospheric delay
Just, the information such as refraction correction.It is to demodulate to come out from satellite-signal, is modulated at what is launched on carrier frequency with 50b/s.Lead
Comprising 5 subframes per frame length 6s in each prime frame of avionics text.Each 10 character codes of first three frame；It is repeated once within every 30 seconds, per hour
Update once.The common 15000b of two frames afterwards.Content in navigation message mainly has telemetry code, hand over word, the 1st, 2,3 data blocks, its
In it is most important then be almanac data.When user receives navigation message, extract satellite time and by its with oneself when
Clock, which is contrasted, just can learn satellite and the distance of user, recycle the satellite almanac data in navigation message to extrapolate satellite launch
Present position during text, the information such as position and speed of the user in WGS-84 earth coordinates just can be learnt.
Using the coconut cutting point positioning system and method for the present invention, difficulty is plucked for coconut palm woods coconut in the prior art
Technical problem, first, the distance between cocoanut tree coordinate position by plucking platform current navigation position and target cocoanut tree, it is determined that
The driving control signal for being used to go to the cocoanut tree coordinate position of target cocoanut tree of harvesting platform, secondly, based on to model at the top of cocoanut tree
In the detection enclosed, and cocoanut tree top extent coconut can pluck the judgement of degree, and the physical location of coconut cut point is sentenced
It is disconnected, the harvesting drive signal of seed harvester is determined, so as to complete the full-automatic harvesting of the coconut of whole coconut palm woods.
Although it is understood that the present invention is disclosed as above with preferred embodiment, but above-described embodiment and being not used to
Limit the present invention.For any those of ordinary skill in the art, in the case where not departing from technical solution of the present invention ambit,
Many possible variations and modification are all made to technical solution of the present invention using the technology contents of the disclosure above, or are revised as
With the Equivalent embodiments of change.Therefore, every content without departing from technical solution of the present invention, the technical spirit pair according to the present invention
Any simple modification, equivalent variation and modification made for any of the above embodiments, still fall within the scope of technical solution of the present invention protection
It is interior.
Claims (5)
1. a kind of coconut cuts point positioning system, it is characterised in that the system includes：
Data storage device, provided in coconut palm woods cocoanut tree distribution map, the coconut palm woods cocoanut tree distribution map in coconut palm woods respectively for being prestored
The cutting information of strain cocoanut tree, the cutting information of cocoanut tree includes cocoanut tree coordinate position and cocoanut tree has plucked mark, wherein, such as cocoanut tree
Plucked, then corresponding cocoanut tree has been plucked labeled as 1, and otherwise, corresponding cocoanut tree has been plucked labeled as 0；
Navigation equipment, the location data for receiving aeronautical satellite transmission, to determine the current navigation position of the system；
Cocoanut tree searches for equipment, true based on current navigation position for receiving default coconut palm woods cocoanut tree distribution map and current navigation position
Determine in coconut palm woods cocoanut tree distribution map apart from coconut palm woods cocoanut tree distribution map it is nearest and cocoanut tree has plucked the cocoanut tree labeled as 0 as target coconut palm
Tree, and export the cocoanut tree coordinate position of target cocoanut tree；
Driving equipment, the cocoanut tree coordinate position for receiving current navigation position and target cocoanut tree, and based on current navigation position
The distance between with the cocoanut tree coordinate position of target cocoanut tree, it is determined that the driving control of the cocoanut tree coordinate position for going to target cocoanut tree
Signal processed；
Wherein, the location data that aeronautical satellite is sent is the Big Dipper aeronautical satellite, Galileo navigation satellite or GPS navigation satellite are sent out
The location data sent.
2. coconut as claimed in claim 1 cuts point positioning system, it is characterised in that the system also includes：
Cocoanut tree height detection apparatus, for after the cocoanut tree coordinate position of target cocoanut tree is reached, height inspection to be carried out to target cocoanut tree
Survey to obtain current cocoanut tree highly；
Wherein, carrying out height detection to target cocoanut tree includes：Cocoanut tree peak position is obtained using laser scanning methodses, based on coconut palm
Tree peak position determines current cocoanut tree highly.
3. coconut as claimed in claim 2 cuts point positioning system, it is characterised in that the system also includes：
Top determines equipment, for when receiving current cocoanut tree height, at the top of the current cocoanut tree of default cocoanut tree ratio-dependent
Scope, default cocoanut tree ratio is the percentage that cocoanut tree top length occupies whole strain cocoanut tree length, based on default cocoanut tree ratio-dependent
Current cocoanut tree top extent includes：Current cocoanut tree is highly multiplied by default cocoanut tree ratio to obtain current cocoanut tree top length, and
Cocoanut tree peak position is defined as current cocoanut tree top extent to assign the scope of current cocoanut tree top length；
High-definition camera equipment, shoots to obtain high definition coconut palm top image for carrying out high-definition image to current cocoanut tree top extent；
Coconut identification equipment, for receiving high definition coconut palm top image, and the benchmark coconut pattern based on various coconut types is to high definition
Coconut palm top image carries out coconut identification to obtain coconut type and multiple coconut subgraphs；
Color analysis device, the face of coconut subgraph is determined for the color component based on each pixel in coconut subgraph
Color, and the coconut type that the color based on coconut subgraph and coconut identification equipment are determined judges the corresponding coconut of coconut subgraph
Moisture sugariness, when the moisture sugariness of judgement is more than or equal to default sugariness threshold value, sends coconut harvesting signal, otherwise, send
Coconut stick signal, continues to push up high definition coconut palm next coconut subgraph execution color analysis operation that image recognition is arrived；
Coconut position analysis equipment, for when receiving coconut harvesting signal, based on coconut subgraph in high definition cocoanut tree image
In relative position determine current coconut position；
Cut point analytical equipment, the growth branch for detecting coconut based on coconut subgraph, and will growth branch and coconut
Tie point is as growing point, using the position of the pre-determined distance on growth branch, below growing point as coconut cut point, based on coconut palm
Relative position of the sub- subgraph in high definition coconut palm pushes up image determines the physical location of coconut cut point；
Cutting performs equipment, the physical location for receiving coconut cut point, and the physical location based on coconut cut point and cut
Cut and perform the physical location execution cutting operation that position of equipment itself drives cutting executing agency to go to coconut cut point, and
Often perform after a cutting operation, sent cutting and complete signal；
Wherein, color analysis device continues to being recognized down in the image of high definition coconut palm top after cutting completion signal is received
One coconut subgraph performs color analysis operation；
Wherein, in color analysis device, the multiple complete colors of coconut subgraph executed point recognized in image are pushed up in high definition coconut palm
Analysis, and when receiving cutting completion signal or coconut stick signal afterwards, send coconut empty signal；
Wherein, data storage device is additionally operable to after coconut empty signal is received, by the cutting information of target cocoanut tree
Cocoanut tree has plucked to mark is revised as 1 by 0, while updating coconut palm woods cocoanut tree distribution map.
4. coconut as claimed in claim 3 cuts point positioning system, it is characterised in that the system also includes：
ZIGBEE communication equipments, for obtaining the coconut palm woods cocoanut tree distribution map after updating, and by the coconut palm woods cocoanut tree distribution map after renewal
It is sent to Ye Lin administrative centers.
5. coconut as claimed in claim 4 cuts point positioning system, it is characterised in that：
Cocoanut tree search equipment be additionally operable to all cocoanut trees in coconut palm woods cocoanut tree distribution map cocoanut tree plucked mark all be 1 when, send
Stop cutoff signal；
Driving equipment is additionally operable to when receiving stopping cutoff signal, based between current navigation position and default Host equipment room
Distance, it is determined that the driving control signal for going to default Host equipment room；
Wherein, default Host equipment room is pre-stored in data storage device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710285968.7A CN106950581A (en) | 2017-04-27 | 2017-04-27 | Alignment system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710285968.7A CN106950581A (en) | 2017-04-27 | 2017-04-27 | Alignment system |
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| CN106950581A true CN106950581A (en) | 2017-07-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710285968.7A Withdrawn CN106950581A (en) | 2017-04-27 | 2017-04-27 | Alignment system |
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| CN (1) | CN106950581A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2572127A (en) * | 2018-01-10 | 2019-09-25 | Xihelm Ltd | Method and system for agriculture |
| CN111680688A (en) * | 2020-06-10 | 2020-09-18 | 创新奇智(成都)科技有限公司 | Character recognition method and device, electronic equipment and storage medium |
| CN113940198A (en) * | 2021-10-25 | 2022-01-18 | 季华实验室 | Multi-robot fruit picking method and device, electronic equipment and storage medium |
-
2017
- 2017-04-27 CN CN201710285968.7A patent/CN106950581A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2572127A (en) * | 2018-01-10 | 2019-09-25 | Xihelm Ltd | Method and system for agriculture |
| GB2572127B (en) * | 2018-01-10 | 2022-09-14 | Xihelm Ltd | Method and system for agriculture |
| CN111680688A (en) * | 2020-06-10 | 2020-09-18 | 创新奇智(成都)科技有限公司 | Character recognition method and device, electronic equipment and storage medium |
| CN111680688B (en) * | 2020-06-10 | 2023-08-08 | 创新奇智(成都)科技有限公司 | Character recognition method and device, electronic equipment and storage medium |
| CN113940198A (en) * | 2021-10-25 | 2022-01-18 | 季华实验室 | Multi-robot fruit picking method and device, electronic equipment and storage medium |
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