CN109708665A - A method of rice transplanter self-navigation path accuracy is examined using total station - Google Patents
A method of rice transplanter self-navigation path accuracy is examined using total station Download PDFInfo
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- CN109708665A CN109708665A CN201811539940.2A CN201811539940A CN109708665A CN 109708665 A CN109708665 A CN 109708665A CN 201811539940 A CN201811539940 A CN 201811539940A CN 109708665 A CN109708665 A CN 109708665A
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Abstract
The present invention relates to a kind of methods for examining rice transplanter self-navigation path accuracy using total station, after rice transplanter self-navigation rice transplanting, the position of rice shoot is measured using total station, obtain the rice shoot path under total station instrument coordinate system, navigation data is become into the guidance path under total station instrument coordinate system by coordinate conversion, guidance path under total station instrument coordinate system is compared and analyzed with the rice shoot path under total station instrument coordinate system, examines accuracy.It since total station has the accuracy in the path that can guarantee rice shoot compared with high accurancy and precision, therefore uses the present invention that the inspection to guidance path can be achieved, further increases navigation operation quality.The present invention relates to agricultural machinery self-navigation inspection technologies.
Description
Technical field
The present invention relates to agricultural machinery self-navigation inspection technologies, and in particular to a kind of to examine rice transplanter to lead automatically using total station
The method of bit path accuracy.
Background technique
Agriculture automatic navigation technology is rapidly developed under the driving of precision agriculture technology, is widely used in various agriculturals
The work in field improves operating efficiency, reduces cost of labor.
The addition of numerous research institutions and production firm is so that China's agricultural machinery self-navigation driving technology research and extension is answered
With increasingly intimately, still, very important is these self-navigation products due to sensor performance, properties of product and control precision
Etc. difference, the homework precision of product is irregular.However, in terms of agricultural self-navigation operation at present, there is no one
The method of unified, specification assessment self-navigation homework precision, therefore user is when buying agricultural machinery self-navigation product, it can not
Accurately judge whether the operation quality of purchased product reaches the requirement of production.Therefore, the work to further increase self-navigation
Industry quality need to propose a kind of appraisal procedure for agricultural machinery self-navigation homework precision.
Summary of the invention
For the technical problems in the prior art, the object of the present invention is to provide a kind of examined using total station to insert
The method of seedling machine self-navigation path accuracy, can visual assessment self-navigation path accuracy.
In order to achieve the above object, the present invention adopts the following technical scheme:
A method of rice transplanter self-navigation path accuracy, rice transplanter self-navigation rice transplanting are examined using total station
Afterwards, the position that rice shoot is measured using total station is obtained the rice shoot path under total station instrument coordinate system, navigation data is passed through coordinate
Conversion becomes the guidance path under total station instrument coordinate system, will be under the guidance path and total station instrument coordinate system under total station instrument coordinate system
Rice shoot path compares and analyzes, and examines accuracy.
As a preference, a kind of method for examining rice transplanter self-navigation path accuracy using total station, including such as
Lower step: total station is fixed on balk by S101, and self-navigation rice transplanter after having planned path make down on the farm by automatic running
Industry；S102 handles data and obtains the rice shoot path under total station instrument coordinate system using total station survey rice shoot position；S103, will
Guidance path under navigational coordinate system is converted to the guidance path under total station instrument coordinate system by coordinate；S104 obtains S102
Guidance path under the total station instrument coordinate system that rice shoot path under the total station instrument coordinate system obtained is obtained with S103 compares and analyzes,
Judge the precision in self-navigation path.
As a preference, in step S101, the setting of rice transplanter self-navigation planning path are as follows: good in GPS signal
In the case where, A, B point are set and line space, automated navigation system automatically generate a bar navigation path.
As a preference, the guidance path generated includes between multistage straight line path and the adjacent straight line path of connection
Semi arch path；Each section of straight line path is parallel to each other, and the distance between adjacent straight line path is equal to line space, semi arch path
Diameter is equal to line space.
As a preference, choosing 100 points in step S102 with total station to the rice shoot of each column and measuring, remember
100 position datas are recorded, are generating rice shoot path of the rice shoot under total station instrument coordinate system after treatment.
As a preference, one of seedling claw of rice transplanter is selected, to selected seedling claw institute rice transplanting seedling in step S102
Working path measures.
As a preference, being equipped with GPS signal reception device on rice transplanter, GPS signal reception device and selected seedling are measured
The distance between pawl is to correct position deviation, and wherein GPS signal reception device position corresponds to the navigation under navigational coordinate system
Path.
As a preference, rice shoot path profile is obtained by the rice shoot path under total station instrument coordinate system, by complete in step S104
The guidance path stood under instrument coordinate system obtains guidance path figure, and rice shoot path profile and guidance path figure are placed under the same coordinate system
Carry out analysis comparison.
As a preference, obtaining the lateral deviation in rice transplanter self-navigation path in step S104, asking lateral error equal
Square error value and average value, compared with the factory precision of automated navigation system.
As a preference, in step S101, after total station is fixed, needs first to level and measure again, and leveled
Position of the total station under navigational coordinate system.
Generally speaking, the present invention has the advantage that
1. the present invention can obtain the Actual path of rice shoot by total station survey rice shoot position, then pass through a series of seats
Mark conversion makes it compared with guidance path be under the same coordinate system and carries out analysis, can use the method inspection self-navigation system
The accuracy of system meets the needs of actual production, for raising agricultural machinery working quality and operation economy, and further mentions
The automation of high agricultural machinery working and intelligent level are of great significance.
2. the present invention examines the whether accurate method of automated navigation system, it is suitable for a variety of situations, other can also be examined
The precision of type vehicle automatic navigation.
3. since total station has the accuracy in the path that can guarantee rice shoot compared with high accurancy and precision, therefore the present invention is used to can be achieved
Inspection to guidance path further increases navigation operation quality.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of total station.
Fig. 2 is navigation path planning setting figure.
Fig. 3 is total station position and rice transplanter initial position top view.
Fig. 4 is the rice shoot path profile under total station instrument coordinate system.
Fig. 5 is the guidance path figure under total station instrument coordinate system.
Fig. 6 is rice shoot path and guidance path comparison diagram under the same coordinate system.
Fig. 7 is that total station examines line navigation path lateral error curve diagram.
Specific embodiment
Below in conjunction with specific embodiment, the present invention will be further described in detail.
A method of rice transplanter self-navigation path accuracy being examined using total station, is included the following steps:
Total station is fixed on balk by S101, self-navigation rice transplanter automatic running down on the farm after having planned path
Operation.In step S101, the setting of rice transplanter self-navigation planning path are as follows: in the good situation of GPS signal, A, B are set
Point and line space, automated navigation system automatically generate a bar navigation path.The guidance path of generation include multistage straight line path with
And the semi arch path between the adjacent straight line path of connection；Each section of straight line path is parallel to each other, between adjacent straight line path away from
From line space is equal to, the diameter in semi arch path is equal to line space.In step S101, after total station is fixed, need first to level again
Position of the total station for measuring, and being leveled under navigational coordinate system.
S102 handles data and obtains the rice shoot path under total station instrument coordinate system using total station survey rice shoot position.Step
In rapid S102,100 points are chosen with total station to the rice shoot of each column and are measured, 100 position datas are recorded, at process
Rice shoot path of the rice shoot under total station instrument coordinate system is generated after reason.In step S102, one of seedling claw of rice transplanter is selected, it is right
The working path of selected seedling claw institute rice transplanting seedling measures.GPS signal reception device is housed, measurement GPS signal connects on rice transplanter
The distance between receiving apparatus and selected seedling claw are to correct position deviation, the wherein corresponding navigation in GPS signal reception device position
Guidance path under coordinate system.
Guidance path under navigational coordinate system is converted to by coordinate the navigation road under total station instrument coordinate system by S103
Diameter.
S104, will be under the total station instrument coordinate system in rice shoot path and S103 acquisition under the total station instrument coordinate system of S102 acquisition
Guidance path compares and analyzes, and judges the precision in self-navigation path.In step S104, by the seedling under total station instrument coordinate system
Seedling path obtains rice shoot path profile, obtains guidance path figure by the guidance path under total station instrument coordinate system, by rice shoot path profile and
Guidance path figure, which is placed under the same coordinate system, carries out analysis comparison.In step S104, the cross in rice transplanter self-navigation path is obtained
To deviation, lateral error root-mean-square error value and average value are asked, compared with the factory precision of automated navigation system.
In Fig. 1,1 is camera lens, and 2 be peep hole, and 3 be focusing nut, and 4 be key and display screen, and 5 be pedestal, and 6 be installation
Bracket.
In Fig. 2, the A point, B point and line space L, system that guidance path need to be only arranged in the setting of guidance path are just automatically generated
One bar navigation path.It is fastened in navigation coordinate, x-axis is directed toward the north, and y-axis is directed toward east, and z-axis is not drawn into figure.System is according to point
A, B and line space L generates whole navigation path, the semi arch path for being R including radius, for turning.Point P is rice transplanting
The position of machine, P are the physical location of rice transplanter at work, and AB is the navigation routine of setting, and distance is exactly practical row between P and AB
Sail the deviation between route and system setting navigation routine.Rice transplanter will be successively along AB straight line, BB1 according to the guidance path of setting
Semi arch, B1A1 straight line, the walking of A1A2 semi arch, and so on are until terminal A3.The distance of its midpoint P to AB straight line is to lead
Boat lateral deviation.
In Fig. 3, total station is placed in balk, and self-navigation rice transplanter works down on the farm, and 7 be rice transplanter, and 8 be total station.
In Fig. 4,100 points are chosen to the rice shoot of each column and are measured, records its position data, generates after treatment
Rice shoot path profile of the rice shoot under total station instrument coordinate system.1-6 column rice shoot is shown in figure.
In Fig. 5, by navigation recorded data export, the rice transplanter under total station instrument coordinate system can be obtained by coordinate conversion
Self-navigation path profile.Here two-dimensional coordinate system conversion is only carried out, height above sea level is not considered, the data under different coordinates can be become
Change the data under the same coordinate system into, coordinate transformation method is the prior art.1-6 column rice shoot is intercutted in display in figure.
It in Fig. 6, is converted by coordinate, the navigation coordinate under world coordinate system is switched into the number under total station instrument coordinate system
According to being in it under the same coordinate system with the rice shoot path under total station instrument coordinate system, by comparison diagram the guidance path can be examined to be
It is no accurate.
In Fig. 7, a column are randomly selected, the operation of straight line automatic Pilot is carried out using rice transplanter of the present invention, recycles total station
Rice shoot path profile is measured, the lateral deviation in rice transplanter self-navigation path, lateral error can be finally obtained using the method for the present invention
Root-mean-square error value is 1.43cm, and average value 0.97cm is below 2cm, consistent with the factory precision of automated navigation system.Its
In, lateral error is the deviation for the vertical direction that self-navigation controls the run trace of vehicle and the navigation path of setting.
The invention is intended to propose a kind of method for examining the accuracy of self-navigation path, the rice transplanter obtained using total station
Driving path is compared after data processing with guidance path, it can be seen that guidance path accurate picture.
Using a kind of method for assessing self-navigation homework precision of this researching and designing, it is applicable to various types of vehicles
, other vehicle automatic navigation accuracys can be examined, the quality of machine self-navigation operation can be improved.And present invention research at
This is lower, is easier to realize.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (10)
1. a kind of method for examining rice transplanter self-navigation path accuracy using total station, it is characterised in that: rice transplanter is automatic
It navigates after rice transplanting, the position of rice shoot is measured using total station, the rice shoot path under total station instrument coordinate system is obtained, by navigation data
Become the guidance path under total station instrument coordinate system by coordinate conversion, by the guidance path and total station seat under total station instrument coordinate system
Rice shoot path under mark system compares and analyzes, and examines accuracy.
2. a kind of method for examining rice transplanter self-navigation path accuracy using total station described in accordance with the claim 1,
It is characterized in that: including the following steps:
Total station is fixed on balk, the automatic running operation down on the farm after having planned path of self-navigation rice transplanter by S101；
S102 handles data and obtains the rice shoot path under total station instrument coordinate system using total station survey rice shoot position；
S103, the guidance path guidance path under navigational coordinate system being converted to by coordinate under total station instrument coordinate system；
S104, by the navigation under the total station instrument coordinate system in rice shoot path and S103 acquisition under the total station instrument coordinate system of S102 acquisition
Path compares and analyzes, and judges the precision in self-navigation path.
3. a kind of method for examining rice transplanter self-navigation path accuracy using total station according to claim 2,
It is characterized in that: in step S101, the setting of rice transplanter self-navigation planning path are as follows: in the good situation of GPS signal, setting
A, B point and line space, automated navigation system automatically generate a bar navigation path.
4. a kind of method for examining rice transplanter self-navigation path accuracy using total station described in accordance with the claim 3,
Be characterized in that: the guidance path of generation includes the semi arch path between multistage straight line path and the adjacent straight line path of connection；
Each section of straight line path is parallel to each other, and the distance between adjacent straight line path is equal to line space, and the diameter in semi arch path is equal to row
Spacing.
5. a kind of method for examining rice transplanter self-navigation path accuracy using total station according to claim 4,
It is characterized in that: in step S102,100 points being chosen with total station to the rice shoot of each column and are measured, 100 positional numbers are recorded
According in rice shoot path of the generation rice shoot under total station instrument coordinate system after treatment.
6. a kind of method for examining rice transplanter self-navigation path accuracy using total station according to claim 2,
It is characterized in that: in step S102, selecting one of seedling claw of rice transplanter, the working path of selected seedling claw institute rice transplanting seedling is carried out
Measurement.
7. a kind of method for examining rice transplanter self-navigation path accuracy using total station according to claim 6,
It is characterized in that: equipped with GPS signal reception device on rice transplanter, measuring the distance between GPS signal reception device and selected seedling claw
To correct position deviation, wherein GPS signal reception device position corresponds to the guidance path under navigational coordinate system.
8. a kind of method for examining rice transplanter self-navigation path accuracy using total station according to claim 2,
It is characterized in that: in step S104, rice shoot path profile being obtained by the rice shoot path under total station instrument coordinate system, by under total station instrument coordinate system
Guidance path obtain guidance path figure, rice shoot path profile and guidance path figure are placed under the same coordinate system and carry out analysis ratio
Compared with.
9. a kind of method for examining rice transplanter self-navigation path accuracy using total station according to claim 2,
Be characterized in that: in step S104, obtain rice transplanter self-navigation path lateral deviation, ask lateral error root-mean-square error value and
Average value, compared with the factory precision of automated navigation system.
10. a kind of method for examining rice transplanter self-navigation path accuracy using total station according to claim 2,
It is characterized in that: in step S101, after total station is fixed, needing first to level the total station for measuring, and being leveled again and leading
The position navigated under coordinate system.
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