CN107462208A - A kind of agricultural machinery and agricultural machinery working area measuring device and measuring method - Google Patents
A kind of agricultural machinery and agricultural machinery working area measuring device and measuring method Download PDFInfo
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- CN107462208A CN107462208A CN201710699017.4A CN201710699017A CN107462208A CN 107462208 A CN107462208 A CN 107462208A CN 201710699017 A CN201710699017 A CN 201710699017A CN 107462208 A CN107462208 A CN 107462208A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/28—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring areas
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Abstract
The present invention provides a kind of agricultural machinery and agricultural machinery working area measuring device and measuring method.Agricultural machinery gathers longitude and latitude degrees of data in real time by the working area measurement apparatus on agricultural machinery, records agricultural machinery running orbit；The latitude and longitude information point to shift is removed, determines agricultural machinery working track；The contour line of the agricultural machinery working trace graphics is defined as operating area boundary line；Based on multiple datum marks and operating area border line computation operating area area.The present invention accurately determines operating area boundary line by way of removing offset point, supplement blank spot, further calculates operating area area by more datum marks, has the advantages of fast precision of measuring speed is high.
Description
Technical field
The present invention relates to intelligent agriculture technical field, more particularly to a kind of intelligent agricultural machinery, agricultural machinery working area measurement
Device and agricultural machine working area measuring method.
Background technology
As mechanization of agriculture, modernization, intelligentized development, intelligent agricultural machinery technology are extensively concerned.Agricultural machinery it is transregional enter
When row cultivation pipe is incorporated as industry, working area is most important as critical data.In precision agriculture, working area be also one very
Important index, not only determine the input amount of the resources such as seed, agricultural chemicals, chemical fertilizer, be additionally operable to determine final work operations amount and
Final charge.But agricultural machinery working landform has a great complexity, many block areas can not accurate measurement statistics, cause agriculture
The relevant benefit of the people is damaged, and government department also accurate statistics block area and then can not have influence on decision-making and management.
Traditional working area measuring method belongs to static measurement method, and a kind of is the rectangular-shaped operating area of small area,
Steel ruler can be used or carry out working area measurement by rule of thumb, it is simple and practical；Another kind is for large area and irregular figure
The measurement in plot is, it is necessary to by means of instrument of surveying and mappings such as compass, theodolite, total powerstations, but process is cumbersome, it is necessary to expend a large amount of people
Power and time, and easily make mistakes.
For large area and irregular plot, there is dynamic job measuring method of the scholar's research based on agricultural machinery running orbit,
Such as wheel revolutions method, distance measurement method and supercritical ultrasonics technology.But work as the out-of-flatness of agricultural machinery working ground, surface conditions badly or make
When industry is overlapping notable, the measurement accuracy of these methods is greatly affected, it is impossible to meets to require.
With reaching its maturity for GPS (such as big-dipper satellite positioning, gps satellite positioning), relevant manufactures
Or research institution it is also proposed the area reckoning method of many field boundary measurements based on satellite positioning tech, according to offer
The navigation such as longitude, latitude, elevation and location information measure to area.The operation track of various agricultural machinery is usually that zigzag follows
Ring operation, or three-back-shaped circular operation.Although the current existing agricultural machine working area measuring method based on GPS track realizes
Dynamic real-time measurement is carried out to the working area of agricultural machinery, but operation overlapping phenomenon can not be handled or to not advising by remaining
The deficiencies of then block effect is undesirable, homework type is single, easily causes calculating and obscure or compute repeatedly, cause to measure area and reality
Interphase accumulates in larger error.
The content of the invention
The technical problems to be solved by the invention are, there is provided a kind of agricultural machinery and agricultural machinery working area measuring device and measurement
Method, solve the problems, such as that existing poor real during agricultural machinery working area measurement, the degree of accuracy are low.
One aspect of the present invention is, there is provided a kind of agricultural machine working area measuring method, comprises the following steps：
S101, longitude and latitude degrees of data is gathered in real time, record agricultural machinery running orbit；
S102, the latitude and longitude information point to be shifted in the agricultural machinery running orbit is removed, determines agricultural machinery working track；
S103, figure identification is carried out to the agricultural machinery working track, the contour line of the agricultural machinery working trace graphics is true
It is set to operating area boundary line；
S104, it is determined that one or more datum marks, based on the datum mark and the line computation of operating area border
Operating area area.
Further, wherein, the latitude and longitude information point to be shifted in the step S102 is that velocity amplitude outpaces
The overlapping location point of the location point of value and/or track.
Wherein, the step S103 further comprises：The operating area boundary line is carried out according to boundary error value
Extrapolate or inside contract the operating area boundary line after determining correction.
Wherein, based on the datum mark and operating area border line computation operating area area in the step S104
The step of, it is by the way of multiple spot universe is repeatedly calculated and is averaged, or by the way of the more subdomain read group totals of multiple spot.
Wherein, still further comprised in the step S104：
According to operation price and operating area areal calculation operating cost, by the operating area area information and/or work
Industry cost information is sent to peasant household and/or agricultural management platform and/or agricultural management department.
Another aspect of the present invention is, may also provide a kind of agricultural machinery working area measuring device, the agricultural machinery working
Area measuring device includes：Positional information receiving module, positional information memory module, position information process module, user mutual
Module, wherein：
The positional information receiving module, for from satellite or base station real-time reception and gathering longitude and latitude degrees of data, will described in
Longitude and latitude degrees of data is sent to position information process module and positional information memory module；
The position information process module, for determining agricultural machinery running orbit according to the longitude and latitude degrees of data and being sent out removing
After the latitude and longitude information point of raw skew, agricultural machinery working track is obtained；, will for carrying out figure identification to the agricultural machinery working track
The contour line of the agricultural machinery working trace graphics is defined as operating area boundary line, according to selected one or more measuring basis
Point and operating area border line computation operating area area；
Positional information memory module, for storing one kind or combinations thereof in following information：The longitude and latitude degrees of data,
Agricultural machinery motion track, agricultural machinery working track, operating area boundary line, operating area area；
User interactive module, position is sent to for receiving user input data or instruction, and by the data or instruction
Message processing module, the result that receiving position message processing module returns are presented to user.
Wherein, the positional information receiving module includes one of following chips or combinations thereof：Global positioning satellite GPS
Chip, Beidou navigation positioning chip, mobile communication base station positioning chip.
Wherein, the agricultural machinery working area measuring device, further comprises：
Communication module, for the operating area area information to be sent into peasant household's lateral terminal and/or centralised management services
Device.
Wherein, the position information process module includes such as lower unit：
Operating area Boundary Recognition unit, for the agricultural machinery running orbit of the longitude and latitude degrees of data generation gathered in real time from basis
It is middle to remove the latitude and longitude information point to shift, determine agricultural machinery working track；For carrying out figure to the agricultural machinery working track
Identification, is defined as operating area boundary line by the contour line of the agricultural machinery working trace graphics；
Working area computing unit, for determining one or more datum marks, based on the datum mark with from
The operating area border line computation operating area area that operating area Boundary Recognition unit obtains；
Error handling units, for the operation area that working area computing unit is calculated according to each datum mark
Domain area carries out Error processing, obtains final operating area area；
Valuation unit, for obtaining operation cost according to the operating area area after valuation unit and error handling units calibration
With；
Information transmit-receive unit, for being communicated to the Information And Communication module including operating area area, operating cost.
The present invention also provides a kind of agricultural machinery, including agricultural machinery working area measuring device, the agricultural machinery working area measurement dress
Put and further comprise：Positional information receiving module, positional information memory module, position information process module, user interactive module,
Wherein：
The positional information receiving module, for from satellite or base station real-time reception and gathering longitude and latitude degrees of data, will described in
Longitude and latitude degrees of data is sent to position information process module and positional information memory module；
The position information process module, for determining agricultural machinery running orbit according to the longitude and latitude degrees of data and being sent out removing
After the latitude and longitude information point of raw skew, agricultural machinery working track is obtained；, will for carrying out figure identification to the agricultural machinery working track
The contour line of the agricultural machinery working trace graphics is defined as operating area boundary line, according to selected one or more measuring basis
Point and operating area border line computation operating area area；
Positional information memory module, for storing one kind or combinations thereof in following information：The longitude and latitude degrees of data,
Agricultural machinery motion track, agricultural machinery working track, operating area boundary line, operating area area；
User interactive module, position is sent to for receiving user input data or instruction, and by the data or instruction
Message processing module, the result that receiving position message processing module returns are presented to user.
The present invention proposes agricultural machinery, agricultural machinery working area measuring device and measuring method, by removing offset point, supplement blank
The mode of point accurately determines operating area boundary line, further calculates operating area area by more datum marks, can be with
Effectively overcome the influence in complicated shape plot, alleviate error caused by abnormity point in agricultural machinery running orbit；Meanwhile with each
Centered on datum mark operation subregion, shape are divided according to certain angle (angle in the range of from 1 degree to 6 degree can be chosen)
Into multiple small triangles, it is quick and easy convenient to calculate；Further, may further ensure that by the control errors of area result
The accuracy of operating area area measurement.
Brief description of the drawings
Fig. 1 is the flow chart of agricultural machinery working region area measuring method of the present invention；
Fig. 2 is agricultural machinery working region area measurement apparatus schematic diagram of the present invention；
Fig. 3 is the structural representation of the position information process module shown in Fig. 2；
It is specifically the flow chart of embodiment that Fig. 4, which is one of the agricultural machinery working region area measuring method of the present invention,.
Embodiment
With reference to embodiments, the present invention is further described in detail, but is not limited to this.
Under complicated agricultural machinery working environmental condition, quick and precisely the critical data such as measurement working area is most important, is real
The important foundation that existing agricultural machinery intelligent management and agricultural become more meticulous.
To realize fast and accurately agricultural machinery working area measurement, the present invention obtains agricultural machinery fortune in real time based on satellite positioning tech
Capable latitude and longitude information, obtain agricultural machinery running orbit；The warp for recording to obtain during non-operation is removed from the agricultural machinery running orbit
Position Latitude point, so as to obtain agricultural machinery working track；The zigzag trajectory or circular usually turned back due to agricultural machinery working track
Three-back-shaped track, might not form the track of closing, so also needing to enter for the trace graphics that agricultural machinery working track is formed
The identification of row figure obtains the contour line of operating area, and completion is carried out to Unrecorded location point in agricultural machinery working track, so as to
To operating area boundary line.Each location point on the operating area boundary line correspond to a pair of latitude and longitude information points.
Further, for the operating area with enclosed edge boundary line, using the one or more datum marks of selection
Mode, calculate and obtain operating area area., can be with when carrying out operating area areal calculation to solve the problems, such as calculation error
, can also be by the way of the more subdomain read group totals of multiple spot by the way of multiple spot universe is repeatedly calculated and is averaged.
For example, 2-10 can be taken on the boundary line of operating area and/or in region that operating area boundary line is included
Longitude and latitude location point can preferably select 5 datum marks as datum mark.Using each datum mark in
The heart, according to certain angle interval (span is 1 degree to 6 degree) multiple operation subregions of division, the datum mark is with making
Two location points in industry regional edge boundary line form a triangle according to set angle interval, so as to obtain multiple small triangles
Shape, the area of each small triangle is calculated respectively, by these small triangle areas that add up, is obtained based on the datum mark
Operating area area.That is, determine how many individual datum marks, so that it may equal number of operating area area is calculated
Value.Finally, the operating area area value calculated in the case of more different datum marks, error threshold is set, if all works
Industry regional area value is all in error range, then using average area as final operating area area；If some measurement base
Corresponding area can not meet error requirements on schedule, then cast out this region area, by all areas face of coincidence loss requirement
Long-pending average area is as operating area area.
For example, it is also possible to the region included in operating area boundary line, is divided into 2-10 operation sub-block, preferably may be used
To select 5 operation sub-blocks, in each operation sub-block, it is determined that one or more datum marks, and the side of operation sub-block
Boundary line.Centered on each datum mark, according to certain angle interval (span is 1 degree to 6 degree) multiple works of division
Industry subregion, the datum mark form one three with two location points on operation sub-block boundaries line according to set angle interval
It is angular, so as to obtain multiple small triangles, the area of each small triangle is calculated respectively, passes through these small gores that add up
Product, obtains the operating area area based on the datum mark.That is, determine how many individual datum marks, so that it may calculate
Obtain equal number of operation sub-block area value.Finally, the operation sub-block area calculated in the case of more different datum marks
Value, set error threshold, if all operation sub-block area values all in error range, using average area as operation sub-block
Area；If area can not meet error requirements corresponding to some datum mark, cast out this area, will by coincidence loss
The average area for the result of calculation asked is as operation sub-block area.It is determined that after each operation sub-block area, by each operation
Block area, which add up, can obtain accurate operating area area.
It is determined that during above-mentioned datum mark, it can use and maximum longitude interval and maximum latitude interval are divided equally
The mode of intersection determines that the crosspoint for dividing equally each longitude and latitude is as datum mark.
In agricultural machinery working real process, agricultural machinery working width is generally wider, and satellite positioning device is generally smaller, and it is installed
Position can between two parties, occupy it is left, occupy right, so as to cause agricultural machinery working track consistent with ground block edge, both have one
Determine error.Further, in order to further reduce measurement error, operating area boundary line can be optimized, can be advance
Set or boundary error is determined by modes such as human-computer interaction interface inputs, can be according to actual job situation, by the work
Extrapolated according to the boundary error value so as to expand the operating area, or missed according to the border in industry regional edge boundary line
Difference is inside contracted so as to reduce the operating area.
After accurate measurement obtains operating area area, operating cost is precisely determined with reference to operation price can, can
With the fair and reasonable clearing being rapidly performed by between operator of farm machinery and peasant household.Meanwhile on the one hand can be by the operating area area
Information and operating cost information are sent to peasant household, accomplish fair transparent；On the other hand can also be by the geography of the operating area
The relevant informations such as information, area information, homework type, crop species, operating cost, activity duration report agricultural management platform
Or agricultural management department.
Thinking based on above-mentioned technical proposal, the present invention in the specific implementation, can use a kind of agricultural machinery working area to survey
Amount method, as shown in figure 1, comprising the following steps：
S101, longitude and latitude degrees of data is gathered in real time, record agricultural machinery running orbit；
Wherein, GPS global-positioning technologies either Big Dipper location technology or mobile logical can be used by gathering longitude and latitude degrees of data
Believe architecture technology.
S102, the latitude and longitude information point to be shifted in the agricultural machinery running orbit is removed, determines agricultural machinery working track；
Wherein, the latitude and longitude information point to shift typically refers to the location point being moved during non-operation, example
As agricultural machinery is needed in plot both ends adjustment position, or need to recharge seed or agricultural chemicals and leave operation area during operation,
Or need to unload cutting etc. during harvesting crop.For the latitude and longitude information point to shift, speed diagnostic method can be used,
Usual travel speed can be different in operation and during non-operation for agricultural machinery, can by the velocity amplitude of difference on agricultural machinery running orbit
The outpace location point of average of velocity amplitude is removed as the latitude and longitude information point to shift.Meanwhile during operation
Agricultural machinery is generally not in repetition track, and therefore, the location point of location overlap can also be as the latitude and longitude information to shift
Point is removed.
S103, figure identification is carried out to the agricultural machinery working track, the contour line of the agricultural machinery working trace graphics is true
It is set to operating area boundary line；
Wherein, the zigzag trajectory or circular three-back-shaped track that agricultural machinery working track is usually turned back back and forth, can not be formed
The track of closing, thus further also need to carry out figure identification to the figure that agricultural machinery working track is formed.For comparison rule
Rectangle plot four corner positions in rectangle plot, Jin Erke simply can be simply determined according to the boundary value of longitude and latitude
The boundary line in rectangle plot is determined with line.But actual farm environment is complicated and changeable, and preferable regular borders are not present, thus
Using pattern recognition method, determine the contour line for the figure that agricultural machinery working track is formed, go for it is various intricately
The areal calculation of block, operating area border on the one hand can be accurately determined, on the other hand, can also be lacked in completion operation track
The latitude and longitude information of the boundary of land block point of mistake, it is the basis of follow-up accurate areal calculation.
Further, the step of being optimized to operating area boundary line is may also include, can pre-set or pass through
The modes such as human-computer interaction interface input determine boundary error, according to actual job situation, by the operating area boundary line according to
The boundary error value is extrapolated so as to expand the operating area, or according to the boundary error value inside contract so as to
Reduce the operating area.
S104, it is determined that one or more datum marks, based on the datum mark and the line computation of operating area border
Operating area area.
Wherein, when carrying out operating area areal calculation, based on datum mark and operating area boundary line, can use more
Point universe repeatedly calculates the mode being averaged, can also be by the way of the more subdomain read group totals of multiple spot, two kinds of areal calculations
Mode may refer to preceding method.The datum mark is the location point on the boundary line of operating area, or the operation
Location point in region.Preferably, the datum mark is that longitude range in the operating area is divided equally and latitude scope
The location point respectively intersected.
Based on above-mentioned agricultural machine working area measuring method, the present invention can also be surveyed by agricultural machinery working area in the specific implementation
Device is measured to realize.The agricultural machinery working area measuring device is arranged on agricultural machinery, be may be mounted inside or outside agricultural machinery, also may be used
To occupy the left or residence right side or installation placed in the middle.GPS module is preferably mounted at outside agricultural machinery, other modules are in agricultural machinery interior central position
Put.
As shown in Fig. 2 the agricultural machinery working area measuring device, including：Positional information receiving module, positional information storage mould
Block, position information process module, user interactive module, wherein：
The positional information receiving module, for from satellite or base station real-time reception and gathering longitude and latitude degrees of data, will described in
Longitude and latitude degrees of data is sent to position information process module and positional information memory module；
The position information process module, for determining agricultural machinery running orbit according to the longitude and latitude degrees of data and being sent out removing
After the latitude and longitude information point of raw skew, agricultural machinery working track is obtained；, will for carrying out figure identification to the agricultural machinery working track
The contour line of the agricultural machinery working trace graphics is defined as operating area boundary line, according to selected one or more measuring basis
Point and operating area border line computation operating area area；
Positional information memory module, for storing one kind or combinations thereof in following information：The longitude and latitude degrees of data,
Agricultural machinery motion track, agricultural machinery working track, operating area boundary line, operating area area；
User interactive module, position is sent to for receiving user input data or instruction, and by the data or instruction
Message processing module, the result that receiving position message processing module returns are presented to user.Specifically, such as use can be received
The measurement beginning and end instruction, boundary error parameter etc. at family.
Wherein, the positional information receiving module includes one of following chips or combinations thereof：Global positioning satellite GPS
Chip, Beidou navigation positioning chip, mobile communication base station positioning chip.
The agricultural machinery working area measuring device, further may also include：
Communication module, the operating area area information and cost information are sent to peasant household's lateral terminal for one side
(such as mobile phone), on the other hand can also by the geography information of the operating area, area information, homework type, crop species,
The combination of operating cost, a kind of information in the activity duration or much information reports agricultural management platform or agricultural management portion
The Central Management Server of door.
As shown in figure 3, the position information process module includes such as lower unit：
Operating area Boundary Recognition unit, for the agricultural machinery running orbit of the longitude and latitude degrees of data generation gathered in real time from basis
It is middle to remove the latitude and longitude information point to shift, determine agricultural machinery working track；For carrying out figure to the agricultural machinery working track
Identification, is defined as operating area boundary line by the contour line of the agricultural machinery working trace graphics；
Working area computing unit, for determining one or more datum marks, based on the datum mark with from
The operating area border line computation operating area area that operating area Boundary Recognition unit obtains；
Error handling units, for the operation area that working area computing unit is calculated according to each datum mark
Domain area carries out Error processing, obtains final operating area area；
Valuation unit, for obtaining operation cost according to the operating area area after valuation unit and error handling units calibration
With；
Information transmit-receive unit, for being communicated to the Information And Communication module including operating area area, operating cost.
Wherein, when the working area computing unit carries out operating area areal calculation, based on datum mark and operation
Regional edge boundary line, it can also use the more subdomain read group totals of multiple spot by the way of multiple spot universe is repeatedly calculated and is averaged
Mode.The datum mark is the location point in the location point on the boundary line of operating area, or the operating area.
Preferably, the datum mark is that the longitude range in the operating area divides equally the position respectively intersected with latitude scope
Point.
Wherein, the operating area Boundary Recognition unit, can also calculate agricultural machinery translational speed, speed can be used to differentiate
Method, the outpace location point of average of velocity amplitude is removed as the latitude and longitude information point to shift.The operation area
Domain Boundary Recognition unit, it may also be used for the latitude and longitude information point for also serving as shifting by the location point of location overlap is gone
Remove.
Wherein, the operating area Boundary Recognition unit, for carrying out figure identification to the agricultural machinery working track, by institute
The contour line for stating agricultural machinery working trace graphics is defined as operating area boundary line；The Z that agricultural machinery working track is usually turned back back and forth
Shape track or circular three-back-shaped track, can not form the track of closing, thus use pattern recognition method, determine agricultural machinery
The contour line for the figure that operation track is formed, operating area border on the one hand can be accurately determined, on the other hand, can also mended
The latitude and longitude information of the boundary of land block point lacked in full operation track, it is the basis of follow-up accurate areal calculation.
Further, the operating area Boundary Recognition unit, it may also be used for operating area boundary line is optimized, can
By pre-set or by the interactive interface of user interactive module input etc. in a manner of determine boundary error, according to actual job feelings
Condition, the operating area boundary line is extrapolated so as to expand the operating area according to the boundary error value, or pressed
Inside contracted according to the boundary error value so as to reduce the operating area.
Agricultural machinery mentioned in above-mentioned agricultural machine working area measuring method and device, can be harvester, seeder, fertilising
Machine, vehicle-mounted sprayer, agriculture unmanned plane.
Based on agricultural machinery working running orbit point, the real time job area measurement method based on multiple datum marks can be with
Improve agricultural machinery working area measurement precision and efficiency.A kind of as shown in figure 4, operating area measurement when giving harvester operation
Flow.
The GPS used is UBLOX-GPS terminals, and the information point gathered is the data point of continuous periodically collection, is pressed
According to communication protocol, cycle renewal time of GPS longitude and latitude degrees of data is 1 hertz.The longitude and latitude unit of transmission is six after decimal point,
That is ten a ten thousandth degree, unit are about 1 meter, GPS location precision be 1 meter or so, it is contemplated that during agricultural machinery working plot it is general across
Spend it is not too large (<10Km), error can be ignored as unified systematic error, or be disappeared using unified system call interception coefficient
Remove.
Agricultural machinery working area measure based on more datum marks, is not limited, calculating side for block area and shape
Just, precision is higher.Specific embodiment is as follows：
(1) global position system GPS is installed on the agricultural machinery of operation, to gather the longitude and latitude number of degrees during agricultural machinery working in real time
According to, and upload onto the server.
(2) agricultural machinery working plot is determined, gathers longitude and latitude degrees of data, after agricultural machinery working terminates, removes offset point, completion blank
Location point, determines operating area boundary line, and the latitude and longitude information point of these boundary lines forms operating area；
(3) area reference point is determined, inner homogeneous chooses 5 points as datum mark in region, using each datum mark in
The heart divides operating area according to certain angle (can choose the angle in the range of from 1 degree to 6 degree), forms multiple small triangles,
These triangles constitute operation parcel polygon, calculate the area of each small triangle respectively；
(4) these small triangle areas are added up, obtained with the area of the operating area of some datum mark division.
(5) area value in the operation plot calculated centered on more each datum mark, error is set, if these areas are all
In error range, block area is equal to average area, if a certain situation is more than or less than error, casts out this area,
Block area is equal to the average of residual area.
The technical scheme of the agricultural machinery working region area measurement of the present invention, proposes to calculate working area based on more datum marks
Method and the method for removing offset point, overcome the influence in different shape plot, alleviate error caused by abnormity point；Meanwhile
Centered on each datum mark operating area, shape are divided according to certain angle (angle in the range of from 1 degree to 6 degree can be chosen)
Into multiple small triangles, calculate simple and convenient.
Hebei province 2016,2017, including more than 100 agricultural machinery such as wheat harvester, corn picker, soil subsoiling are made
Industry is tested, the results showed that more than 50% working area measurement accuracy reaches 100%, without error；By weather condition shadow
The measurement accuracy error of sound about 5% is larger, but worst error is not above 5%；Comprehensive all plot, working area measured value
Precision has reached more than 98%.The calculating of working area is made instantly available after the end of job.Result above shows to be based on multiple bases
Agricultural machinery working area computation method on schedule, precision and efficiency are all very high, have reached the requirement of peasant, while can also pass through information
Report and provide reliable basis for government's centralized management science decision.
Claims (10)
1. a kind of agricultural machine working area measuring method, it is characterised in that comprise the following steps：
S101, longitude and latitude degrees of data is gathered in real time, record agricultural machinery running orbit；
S102, the latitude and longitude information point to be shifted in the agricultural machinery running orbit is removed, determines agricultural machinery working track；
S103, figure identification is carried out to the agricultural machinery working track, the contour line of the agricultural machinery working trace graphics is defined as
Operating area boundary line；
S104, it is determined that one or more datum marks, based on the datum mark and the line computation operation of operating area border
Region area.
2. agricultural machine working area measuring method as claimed in claim 1, it is characterised in that
The latitude and longitude information point to be shifted in the step S102 be velocity amplitude outpace average location point and/or track
Overlapping location point.
3. agricultural machine working area measuring method as claimed in claim 1, it is characterised in that
The step S103 further comprises：The operating area boundary line is extrapolated or inside contracted according to boundary error value
It is determined that the operating area boundary line after correction.
4. agricultural machine working area measuring method as claimed in claim 1, it is characterised in that
The step of datum mark is with operating area border line computation operating area area is based in the step S104, is
By the way of multiple spot universe is repeatedly calculated and is averaged, or by the way of the more subdomain read group totals of multiple spot.
5. the agricultural machine working area measuring method as described in claim 1 or 4, it is characterised in that also enter in the step S104
One step includes：
According to operation price and operating area areal calculation operating cost, by the operating area area information and/or operation cost
Peasant household and/or agricultural management platform and/or agricultural management department are sent to information.
6. a kind of agricultural machinery working area measuring device, it is characterised in that the agricultural machinery working area measuring device includes：Positional information
Receiving module, positional information memory module, position information process module, user interactive module, wherein：
The positional information receiving module, for from satellite or base station real-time reception and gathering longitude and latitude degrees of data, by the longitude and latitude
Degrees of data is sent to position information process module and positional information memory module；
The position information process module, for determining agricultural machinery running orbit according to the longitude and latitude degrees of data and occurring partially removing
After the latitude and longitude information point of shifting, agricultural machinery working track is obtained；For carrying out figure identification to the agricultural machinery working track, by described in
The contour line of agricultural machinery working trace graphics is defined as operating area boundary line, according to selected one or more datum marks with
Operating area border line computation operating area area；
Positional information memory module, for storing one kind or combinations thereof in following information：The longitude and latitude degrees of data, agricultural machinery
Motion track, agricultural machinery working track, operating area boundary line, operating area area；
User interactive module, positional information is sent to for receiving user input data or instruction, and by the data or instruction
Processing module, the result that receiving position message processing module returns are presented to user.
7. agricultural machinery working area measuring device as claimed in claim 6, it is characterised in that the positional information receiving module bag
Include one of following chips or combinations thereof：Global positioning satellite GPS chip, Beidou navigation positioning chip, mobile communication base station
Positioning chip.
8. agricultural machinery working area measuring device as claimed in claim 6, it is characterised in that the agricultural machinery working area measurement dress
Put, further comprise：
Communication module, for the operating area area information to be sent into peasant household's lateral terminal and/or Central Management Server.
9. agricultural machinery working area measuring device as claimed in claim 8, it is characterised in that the position information process module bag
Include such as lower unit：
Operating area Boundary Recognition unit, for being moved from the agricultural machinery running orbit according to the longitude and latitude degrees of data generation gathered in real time
Except the latitude and longitude information point to shift, agricultural machinery working track is determined；For carrying out figure identification to the agricultural machinery working track,
The contour line of the agricultural machinery working trace graphics is defined as operating area boundary line；
Working area computing unit, for determining one or more datum marks, based on the datum mark with from operation
The operating area border line computation operating area area that zone boundary recognition unit obtains；
Error handling units, for the operating area face that working area computing unit is calculated according to each datum mark
Product carries out Error processing, obtains final operating area area；
Valuation unit, for obtaining operating cost according to the operating area area after valuation unit and error handling units calibration；
Information transmit-receive unit, for being communicated to the Information And Communication module including operating area area, operating cost.
A kind of 10. agricultural machinery, it is characterised in that including agricultural machinery working area measuring device, the agricultural machinery working area measuring device
Further comprise：Positional information receiving module, positional information memory module, position information process module, user interactive module, its
In：
The positional information receiving module, for from satellite or base station real-time reception and gathering longitude and latitude degrees of data, by the longitude and latitude
Degrees of data is sent to position information process module and positional information memory module；
The position information process module, for determining agricultural machinery running orbit according to the longitude and latitude degrees of data and occurring partially removing
After the latitude and longitude information point of shifting, agricultural machinery working track is obtained；For carrying out figure identification to the agricultural machinery working track, by described in
The contour line of agricultural machinery working trace graphics is defined as operating area boundary line, according to selected one or more datum marks with
Operating area border line computation operating area area；
Positional information memory module, for storing one kind or combinations thereof in following information：The longitude and latitude degrees of data, agricultural machinery
Motion track, agricultural machinery working track, operating area boundary line, operating area area；
User interactive module, positional information is sent to for receiving user input data or instruction, and by the data or instruction
Processing module, the result that receiving position message processing module returns are presented to user.
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| CN113436248A (en) * | 2021-06-18 | 2021-09-24 | 黑龙江惠达科技发展有限公司 | Method and device for calculating operating area of agricultural machine |
| CN114608439A (en) * | 2022-03-15 | 2022-06-10 | 牧星智能工业科技(上海)有限公司 | Multi-sensor fused agricultural machinery working area accurate measurement system |
| CN114608439B (en) * | 2022-03-15 | 2024-05-31 | 牧星智能工业科技(上海)有限公司 | Agricultural machinery operation area accurate measurement system with multiple sensors integrated |
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Application publication date: 20171212 |