CN109917425A - The system and method for detecting distance between intelligent agricultural machinery and remote terminal - Google Patents
The system and method for detecting distance between intelligent agricultural machinery and remote terminal Download PDFInfo
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- CN109917425A CN109917425A CN201910026837.6A CN201910026837A CN109917425A CN 109917425 A CN109917425 A CN 109917425A CN 201910026837 A CN201910026837 A CN 201910026837A CN 109917425 A CN109917425 A CN 109917425A
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Abstract
The present invention provides a kind of system and method for detecting distance between intelligent agricultural machinery and remote terminal.The system of distance between the detection intelligent agricultural machinery and remote terminal, including one first locating module, one first communication module and a remote terminal, wherein the remote terminal includes data processing module, second locating module and the second communication module, wherein second communication module is communicably connected with first communication module, to receive intelligent agricultural machinery first real-time positioning information from first communication module, wherein the linear distance that can be determined according to second real-time positioning information of first real-time positioning information and remote terminal between the intelligent agricultural machinery and the remote terminal is set in the data processing module.
Description
Technical field
The present invention relates to distances between intelligent agricultural machinery field more particularly to a kind of detection intelligent agricultural machinery and remote terminal to be
System and method, for determining the position of intelligent agricultural machinery and the actual range with remote control end.
Background technique
In order to improve the working efficiency of agricultural, mechanization of agriculture is gradually promoted, various such as spraying machine, soil treatment
Machine, seed processing machine spread the equipments for plant protection such as granulator in market production and selling, to be applied to the farming demand in each stage.
But China's agricultural machinery product surplus and shortage problem and deposit at present, traditional farming machinery market is almost saturated, novel different to make
The fertilising of object, sowing, harvest, processing equipment quantity are few, horizontal low.With the development of agricultural, new demand is continuously emerged, to agriculture
Industry machinery proposes update, higher requirement.
The scheduling of traditional farming machinery and difficult to regulate.China's land resource relative distribution, for self-employed farmer,
The cost of mechanization of agriculture investment is excessively high, so being that a certain self-employed farmer buys agricultural machinery in a certain regional model in many cases
It encloses or mobile operational process.Self-employed farmer buy agricultural machinery there is no integrated planning, it is more likely that occur certain areas machinery saturation and
The case where certain areas machinery serious loss.In addition, self-employed farmer buys the very possible mobile operational process of agricultural machinery, this is resulted in
The management of agricultural machinery and information are collected more difficult.Agricultural machinery do not plan with agricultural operation demand information occlusion and other reasons,
So that traditional farming machinery can not be refined positioning, scheduling and supervision also just be cannot achieve.
Intelligent agricultural machinery controls present information and the communication technology, computer networking technology, intelligence as emerging technical field
System comes together in the production and application of agricultural machinery with detection technique and industry technology.On the one hand the appearance of intelligent agricultural machinery meets
Instantly the new demand of agricultural environment, improves work efficiency, and liberates the productive forces, and the work on the other hand alleviating operator is negative
Load makes the operating environment that operator is disorderly from exposure chemical pesticide or dust.
Intelligent agricultural machinery is remotely controlled agricultural mechanical operation by the intellectual technologies such as automatic Pilot, unmanned, while can be with finger
It waves system or operator carries out information exchange, this scheduling for being just intelligent agricultural machinery and supervision create favorable conditions.
Summary of the invention
A main advantage of the invention is to provide a kind of system for detecting distance between intelligent agricultural machinery and remote terminal
And method, for determining the accurate location of intelligent agricultural machinery, to facilitate scheduling and supervision.
It is of the invention another advantage is that provide between a kind of detection intelligent agricultural machinery and remote terminal the system of distance and
Method, wherein the system of distance realizes positioning using satellite between the detection intelligent agricultural machinery and remote terminal, without grinding again
Study carefully cost, determines the accurate positionin of intelligent agricultural machinery.
It is of the invention another advantage is that provide between a kind of detection intelligent agricultural machinery and remote terminal the system of distance and
Method, wherein leading to when intelligent agricultural machinery is covered by cover materials such as high-story group of buildings, highway or mountains and can not capture satellite-signal
It crosses a self-discipline locating module and detects direction of advance and distance change, position current location.
It is of the invention another advantage is that improve between a kind of detection intelligent agricultural machinery and remote terminal the system of distance and
Method, for the Actual path distance for determining intelligent agricultural machinery and being remotely controlled end.
It is of the invention another advantage is that provide between a kind of detection intelligent agricultural machinery and remote terminal the system of distance and
Method is scheduling, the operation of intelligent agricultural machinery for real time monitoring, fixed point tracking, the record operation track etc. for realizing intelligent agricultural machinery
Planning and analysis create conditions.
It is of the invention another advantage is that provide between a kind of detection intelligent agricultural machinery and remote terminal the system of distance and
Method determines intelligence wherein the detection intelligent agricultural machinery positions in conjunction with the system of distance between remote terminal and default map
The Actual path distance of agricultural machinery and remote control end, consequently facilitating accurate scheduling and supervision, the emergency situations such as reply power-off or oil-break.
It is of the invention another advantage is that provide between a kind of detection intelligent agricultural machinery and remote terminal the system of distance and
Method meets scheduling, work planning and the analysis demand of agricultural machinery for tracking more intelligent agricultural machineries simultaneously.
It is of the invention another advantage is that provide between a kind of detection intelligent agricultural machinery and remote terminal the system of distance and
Method, so that intelligent agricultural machinery traveling or operation deviate, default route, operation of crossing the border, equipment is split, when power-off, issues report
It accuses or warns.
Other advantage and characteristics of the invention are able to fully demonstrate and can be by appended rights by following detailed descriptions
The combination of the means and device specially pointed out in it is required that is achieved.
One aspect under this invention can be realized a detection intelligence of the invention for foregoing purpose and other purposes and advantage
The system of distance between energy agricultural machinery and remote terminal, comprising:
Other side under this invention, the present invention further provides distances between a detection intelligent agricultural machinery and remote terminal
Method, comprising:
By the understanding to subsequent description and attached drawing, further aim of the present invention and advantage will be fully demonstrated.
These and other objects of the invention, feature and advantage, by following detailed descriptions, drawings and claims are obtained
To fully demonstrate.
Detailed description of the invention
Fig. 1 is the knot of the system of distance between detection intelligent agricultural machinery and remote terminal according to an embodiment of the invention
Structure block diagram.
Fig. 2 is the knot for detecting the system of distance between intelligent agricultural machinery and remote terminal according to the abovementioned embodiments of the present invention
Structure schematic diagram.
Fig. 3 is that the system of distance is answered between detection intelligent agricultural machinery and remote terminal according to the abovementioned embodiments of the present invention
With scene figure.
Fig. 4 is that the system of distance is answered between detection intelligent agricultural machinery and remote terminal according to the abovementioned embodiments of the present invention
With scene figure.
Fig. 5 is the stream of the method for distance between detection intelligent agricultural machinery and remote terminal according to an embodiment of the invention
Cheng Tu.
Fig. 6 is the flow chart of intelligent agricultural machinery positioning alarm method according to an embodiment of the invention.
Fig. 7 is the method for distance between the detection intelligent agricultural machinery and remote terminal according to an embodiment of the invention
Flow chart.
Specific embodiment
It is described below for disclosing the present invention so that those skilled in the art can be realized the present invention.It is excellent in being described below
Embodiment is selected to be only used as illustrating, it may occur to persons skilled in the art that other obvious modifications.It defines in the following description
Basic principle of the invention can be applied to other embodiments, deformation scheme, improvement project, equivalent program and do not carry on the back
Other technologies scheme from the spirit and scope of the present invention.
It will be understood by those skilled in the art that in exposure of the invention, term " longitudinal direction ", " transverse direction ", "upper",
The orientation or position of the instructions such as "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside"
Relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and simplification of the description, rather than
The device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation, therefore above-mentioned
Term is not considered as limiting the invention.
It is understood that term " one " is interpreted as " at least one " or " one or more ", i.e., in one embodiment,
The quantity of one element can be one, and in a further embodiment, the quantity of the element can be it is multiple, term " one " is no
It can be interpreted as the limitation to quantity.
As shown in Figures 1 to 6, the present invention provides the system and method for distance between a detection intelligent agricultural machinery and remote terminal,
The position of intelligent agricultural machinery is accurately positioned and the actual range with remote control end, be the scheduling of intelligent agricultural machinery, supervision, alert process and
Tracking etc. creates conditions.Compared to traditional mechanical agricultural machinery, distance is between the detection intelligent agricultural machinery and remote terminal
System solves the management of agricultural machinery instantly and information collects difficulty.Agricultural machinery do not plan with agricultural operation demand information occlusion etc.
Problem.
The system of distance includes an agricultural machinery mobile terminal 10, a remote terminal between the detection intelligent agricultural machinery and remote terminal
20 and a data processing module 30, wherein be set can be according to the one of the agricultural machinery mobile terminal 10 for the data processing module 30
One second real-time positioning information of the first real-time positioning information and the remote terminal 20 determines the agricultural machinery mobile terminal 10 and institute
The distance between remote terminal 20 is stated, is corresponded to so that the remote terminal 20 remotely monitors and dispatch the agricultural machinery mobile terminal 10
Intelligent agricultural machinery 100.
Specifically, the agricultural machinery mobile terminal 10 is installed in corresponding intelligent agricultural machinery 100, for the application of intelligent agricultural machinery 100
The transmission of agricultural machinery mobile terminal 10 and reception information, as shown in Figure 2.The agricultural machinery mobile terminal 10 includes one first locating module
11 and one first communication module 12.First locating module 11 is worked as by GPS receiving module real-time detection intelligent agricultural machinery 100
Preceding GPS positioning information forms one first real-time positioning information, and is transmitted at the data by first communication module 12
Manage module 30.That is, first communication module is arranged on the intelligent agricultural machinery 100, wherein the first communication mould
Block 12 is communicably connected with first locating module 11, fixed in real time to receive described first from first locating module 11
Position information.According to different situations, first locating module 11 can pass through first communication module according to the scheduled time
12 (such as GPRS channels) send first real-time positioning information, such as according to the transmission of preset interval time interval or root
Send described first real-time positioning information etc. in real time according to requirement command.First real-time positioning information may include but unlimited
In the current longitude and latitude geography information of intelligent agricultural machinery 100, travel speed, driving direction etc..
The remote terminal 20 is applied to monitoring center, monitoring personnel mobile device etc., for monitoring center or prison
Control personnel obtain information and monitoring intelligent agricultural machinery 100, as shown in Figure 2.Preferably, the remote terminal 20 includes one second positioning
It is real to form one second for Locating Center, the position of monitoring personnel mobile device for module 21 and one second communication module 22
When location information.Second locating module 21 and second communication module 22 can lead to the data processing module 30 respectively
Letter ground is connected, wherein the position for capableing of remote terminal 10 described in real-time detection is set in second locating module 21, and raw
At second real-time positioning information.Second communication module 22 is communicably connected with first communication module 12,
To receive first real-time positioning information from first communication module 12, wherein energy is set in the data processing module 30
It is enough that the intelligent agricultural machinery 100 and described distant is determined according to first real-time positioning information and second real-time positioning information
The distance between control terminal 20.
It is appreciated that the formation of second real-time positioning information can directly input, rather than pass through described second
Positioning is formed locating module 21 in real time, such as when the remote terminal 20 is fixed building monitoring position center.It is contemplated that
The remote terminal 20 may be installed in the mobile phone or plate of monitoring personnel, and position can constantly change, preferably institute
Stating remote terminal 20 includes second locating module 21.Accordingly, second real-time positioning information is including but not limited to distant
The current longitude and latitude geography information of control terminal 20, if mobile, moving direction and speed etc..
The remote terminal 20 may be implemented as monitoring system and command system, and the agricultural machinery mobile terminal 10 can be by reality
It applies and executes agricultural machinery working system for intelligence.That is, the remote terminal 20 and the intelligent agricultural machinery 100 are remote controls and are controlled
The relationship of system is different from traditional mechanical agricultural machinery.
The data processing module 30 receives and matches first real-time positioning information, and feeds back to the remote terminal
20 displays.Specifically, the data processing module 30 with a preset electronic Figure 31, wherein the data processing module 30
The geography information such as the longitude and latitude for including according to first real-time positioning information are matched and are shown to preset electronic Figure 31,
It forms a map matching information 33 and feeds back to the remote terminal 20.If the agricultural machinery is moving, according to the agriculture
First real-time positioning information that generator terminal mobile position-fixed module 11 is sent in real time, real-time update and matching, as shown in Figure 3.
The remote terminal 20 includes a display module 23, for showing the received information of the remote terminal 20.It is described
Display module 23 may be implemented as a visualization screen, such as the screen of computer, mobile phone or plate.The map matching information
33 are shown in the display module 23.Monitoring personnel can intuitively pass through map, understand the position of current intelligent agricultural machinery 100
And driving status.
Preferably, in order to easy to operate, the preset electronic Figure 31 respond putting from the remote terminal 20
Greatly, the operational orders such as diminution or dragging, and matching intelligent agricultural machinery 100 is still locked on the changed map such as size
Corresponding position.The operational orders such as amplification, diminution or dragging for map can be defeated by keyboard, mouse and mouse roller etc.
Enter.
It is appreciated that a remote terminal 20 can receive the data and letter of multiple agricultural machinery mobile terminals 10 simultaneously
Breath, to show multiple corresponding intelligent agricultural machineries 100.At this point, first real-time positioning information may include that it corresponds to agricultural machinery
Identity to distinguish corresponding intelligent agricultural machinery 100.Such case is suitable in scheduling and a certain region of integral monitoring or institute
Some intelligent agricultural machineries 100, monitoring personnel or monitoring center can obtain the distributing position of multiple intelligent agricultural machineries 100, such as Fig. 4 simultaneously
It is shown.
In another embodiment of the present invention, the data processing module 30 further includes a route planning module 32,
Described in route planning module 32 according to preset electronic Figure 31, second real-time positioning information and it is described first in real time positioning
Information, planning, to the travel route of the intelligent agricultural machinery 100, form a route information from the remote terminal.For example, when intelligent agriculture
Machine 100 needs to return monitoring center or monitoring personnel is needed to go to and be repaired at intelligent agricultural machinery 100, then the route planning module
32 according to first real-time positioning information and second real-time positioning information, with matching preset electronic Figure 31, described in planning
The feasible shortest path route of intelligent agricultural machinery 100 and remote terminal 20.At this point, the route planning module 32 can be determined and be mentioned
For the actual range of intelligent agricultural machinery and the shortest path at remote control end, and then it can be concluded that the letter such as route conduct institute's electricity demand and time
Breath, consequently facilitating the integrated scheduling of intelligent agricultural machinery 100.The route information is by the display module 23 of the remote terminal 20
It has been shown that, monitoring personnel can intuitively pass through map, to acquisite approachs.
Alternatively, the route planning module 32 may come from a destination information of the remote terminal 20, such as mesh
Ground title, phone, mark building geography information etc..According to destination information and current first real-time positioning information, planning
The route of intelligent agricultural machinery 100 and destination so far provides the Actual path distance of intelligent agricultural machinery and destination.
It is capable of the position of intelligent agricultural machinery 100 described in periodic detection when first locating module 11 is set, and periodically gives birth to
At first real-time positioning information, the position for capableing of remote terminal 10 described in periodic detection is set in second locating module 22
It sets, and is periodically generated second real-time positioning information.For example, when first locating module 11 is according to preset interval time
The position of the intelligent agricultural machinery 100 is detected at interval, and similarly institute is detected at interval time interval to second locating module 22 simultaneously
The position of remote terminal 10 is stated, the two is synchronous to be carried out.
It is noted that causing when intelligent agricultural machinery 100 is covered by cover materials such as high-story group of buildings, highway or mountain ranges
When agricultural machinery end locating module can not capture GPS satellite information, first locating module 11 sends a self-positioning request, touching
Send out a self-positioning module 34.That is, the data processing module 30 includes the auxiliary positioning module 34, wherein described auxiliary
It helps locating module 34 by after auxiliary positioning request triggering, passes through travel speed, time and the side of current intelligent agricultural machinery 100
To, auxiliarily position the change in location of the intelligent agricultural machinery 100, and with preset electronic map match.So even if due to covering
Object can not obtain satellite information, can also be changed by the traveling of the 34 computational intelligence agricultural machinery 100 of auxiliary positioning module, to change
Current location is calculated and analyzed, and feeds back to the remote terminal 20.
The auxiliary positioning module 34 may be implemented as microprocessing unit or central processing unit etc. and corresponding speed passes
Sensor and gyrosensor connection.By vehicle speed sensor obtain intelligent agricultural machinery 100 travel speed, and then from speed and when
Between directly calculate forward travel distance.The direction of advance that intelligent agricultural machinery 100 is obtained by the gyrosensor, to analyze intelligence
The change in location of agricultural machinery 100.
In another embodiment of the invention, be set can for first communication module 11 of the intelligent agricultural machinery 100
When first locating module 11 of the intelligent agricultural machinery 100 can not position itself, receive apart from the intelligent agriculture
The real-time positioning information that first communication module of other intelligent agricultural machineries in 100 1 pre-determined distances of machine is sent, and be sent to
To the remote terminal 20, so that the remote terminal 20 can be according to the location information of other intelligent agricultural machineries.
Specifically, when first locating module 11 can not position itself, pass through first communication module
12 send the auxiliary positioning request to other intelligent agricultural machineries in 100 1 pre-determined distances of the intelligent agricultural machinery, and certainly
The other intelligent agricultural machineries for responding auxiliary positioning request receive its first real-time positioning information, and send it to remote control end
End, so that the remote terminal can be according to the location information of other intelligent agricultural machineries.For example, the auxiliary positioning requests default spacing
It is 1 kilometer, when two 100 straight line spacing of intelligent agricultural machinery are in 1 kilometer, described in an intelligent agricultural machinery 100
First locating module 11 can not position itself, and it is fixed that the auxiliary can be sent to intelligent agricultural machinery 100 described in another
Position request.Another described intelligent agricultural machinery 100 responds the auxiliary positioning request, to the intelligence that cannot position self-position
Agricultural machinery 100 sends its first real-time positioning information.That is, the intelligent agricultural machinery 100 that cannot position self-position receives
First real-time positioning information of another intelligent agricultural machinery 100, and in real time by the first of another intelligent agricultural machinery 100
Location information is sent to the remote terminal, so that the remote terminal can be according to the location information of other intelligent agricultural machineries.
The remote terminal 20 further comprises a tracking module 24, for meeting the corresponding intelligent agriculture of monitoring personnel tracking
The demand of machine 100.The tracking module 24 include a tracing mode setup module 241, for receive monitoring personnel input with
Track model selection, such as fixed point stroke tracking module 242, carry out stroke tracking, the data processing module to determining agricultural machinery
30 number according to determining agricultural machinery, and agricultural machinery is currently located geography information and is shown with map view, as shown in Figure 3；Or region with
Track module 243 tracks the agricultural machinery of selected a certain geographic area, and the screening of data processing module 30 is chosen the agriculture in area
Machine, and the agricultural machinery locating and displaying accordingly fed back is matched to default map, mode as shown in Figure 4, etc..Art technology
Personnel are not limitation, can also be for example more mesh of other modes it is appreciated that above-mentioned tracing mode is merely illustrative
Mark while tracking etc..
In some embodiments of the invention, the remote terminal 20 includes that one first location information feeds back setup module
25, for being arranged the first real-time positioning information feedback model, for example setting is provided at pre-determined intervals, scheduled distance, arrives
First real-time positioning information is fed back up to presumptive area etc..Monitoring personnel feeds back setup module by first location information
25 inputs select the preset first real-time positioning information feedback model, form a feedback setting information, and be transmitted to institute
State the first locating module 11.The feedback model that first locating module 11 includes according to the feedback setting information, sends institute
State the first real-time positioning information.For example, when the feedback setting information requires every 30 minutes feedbacks primary, then first positioning
Module 11 feeds back current first real-time positioning information in every 30 minutes as requested.
The system of distance further comprises a data memory module 40 between the detection intelligent agricultural machinery and remote terminal,
It for storing data and instructs, so that the data processing module 30 and the remote terminal 20 call.For example, the data are deposited
Store up module 40 and store default map, the preset electronic Figure 31 call stored default map, match described first in real time
Location information and second real-time positioning information.The data memory module 40 stores the first real-time positioning information of history, institute
The historical movement path for showing corresponding intelligent agricultural machinery 100 and previous distribution etc. can be called by stating remote terminal 20.
When the position of agricultural machinery mobile terminal 10 is accurately positioned, or even the path quilt at remote control end 10 and the intelligent agricultural machinery 100
When planning, other such as alarm or dispatch system and function can be based on this operation.In some embodiments of the invention, described
The case where system for detecting distance between intelligent agricultural machinery and remote terminal includes an alarm module 60, is predetermined triggering, and combine
The data processing module 30 sends a warning message to the remote terminal 20 to show.
The preset alarm condition of the alarm module 60 can be split equipment, power-off, path deviations or experience robbery etc.
Deng.For example, the alarm module 60 is triggered, and forms the report when 100 not enough power supply of intelligent agricultural machinery or since short circuit powers off
Alert information.The warning message triggers first locating module 11 and sends current first in real time to the data processing module 30
Location information.The preset electronic Figure 31 and the route planning module 32 be triggered according to the described first positioning letter in real time
Breath, geographical location matching and monitoring center by the agricultural machinery of power-off feed back to the display module 23 to the route planning of agricultural machinery
Display.The number that the warning message may include power-off agricultural machinery can be according to agricultural machinery when it is fed back to remote terminal 20
Corresponding display alarm information is numbered, such as shows text " number XXX agriculture in the scheduled alarm region of the display module 23
Machine power-off ", while becoming the warnings such as exclamation mark symbol in the corresponding agricultural machinery position icon of 23 map display area of display module
Number；Or text " number XXX directly is shown near the corresponding agricultural machinery position icon of 23 map display area of display module
Agricultural machinery power-off ".
Accordingly, the remote terminal 20 includes an alert process module 26.When the remote terminal 20 receives the report
Alert information, monitoring personnel can handle the warning message by the alert process module 26, for example confirmation is known, repairing people
Member has gone to or has dialled and dialed 110 to call the police.It is alarmed due to meeting misfortune or equipment by illegal disassembly for example, working as, then monitoring personnel
Alarm of dialing 110 to call the police can be directly dialled by the alert process module 26；Such as due to power alarm, then monitor
Member can confirm known case by the alert process module 26, and send and first close staff's processing.The alert process
Module 26 records the received warning message to alarm log, and updates subsequent follow-up.
The alert process module 26 and the alarm module 60 may be implemented as an alarm system that can be worked, thus
Realize above-mentioned function, details are not described herein again.Those skilled in the art are it is appreciated that the detection intelligent agricultural machinery and remote control are whole
The system of distance can also increase scheduler module, farm machinery management module etc. by extension between end, and details are not described herein again.
According to another aspect of the invention, the present invention is further for the spacing of detection an intelligent agricultural machinery and remote terminal
From method realize at least one of the invention suitable for the system of distance between above-mentioned detection intelligent agricultural machinery and remote terminal
Purpose and advantage, as shown in Figure 5.
Step 201: receiving one first location information.
First location information can include but is not limited to the identification identifier of corresponding agricultural machinery, longitude and latitude geography information,
Driving direction, travel speed, running time etc..The formation of first location information can use the existing whole world GPS and defend
Star location technology is realized, by being wirelessly transmitted to the processing such as processor analysis.
Step 202: matching first location information shows the position of corresponding agricultural machinery in the form of map.
According to the longitude and latitude geography information that first location information includes, corresponding agricultural machinery position can be corresponded to one
The default corresponding position of map, to show the position of corresponding agricultural machinery in the form of map.The default map can be carried out
For the electronic map comprising GIS-Geographic Information System, it is also possible to that a certain electronic map software is called to obtain.It is fixed according to described first
Corresponding agricultural machinery position can be corresponded to the default corresponding position of map by the longitude and latitude geography information that position information includes.
Step 203: according to first location information and a destination information, planning conduct path and in the form of map
Display.
Obtain the corresponding agricultural machinery geographical location of the first location information and the destination information corresponding destination geography position
It postpones, can cook up route between the two according to default map, rather than linear distance.At this point, according to the route of planning department,
Conduct distance between the two, required time, institute's electricity demand etc. can further be analyzed.
Step 204: one self-positioning mode of triggering.
When that can not capture GPS signal, intelligent agricultural machinery can not obtain geography information in real time, trigger the self-discipline positioning mould
Formula still can be with the position of positioning intelligent agricultural machinery 100 under the mode of no GPS signal.The self-discipline station-keeping mode can answer
The situation bad by the coverages such as mountain range, high building or highway and signal to intelligent agricultural machinery 100.
Step 205: according to intelligent agricultural machinery travel speed, time and direction, analyzing the change in location of intelligent agricultural machinery and matching
To default map.
Under station-keeping mode of restraining oneself, it is opposite to analyze intelligent agricultural machinery according to intelligent agricultural machinery travel speed, time and direction for this
In the change in location of last moment.Later, change in location is reacted and is matched to default map, self-discipline positioning may be implemented, and
It is assisted without GPS signal.Certainly, in order to realize precise positioning, when GPS signal is acquired again, it is fixed that GPS can be switched to
Position, to relocate current location.
Step 206: according to a trace command, showing the stroke of selected intelligent agricultural machinery.
The trace command can include but is not limited to tracing mode, selected agricultural machinery number or selected area, display mode
Etc. information.The input of the trace command can select preset instructions, voice input etc. by mouse or keyboard, and the present invention is simultaneously
It does not limit.
According to the difference of the trace command, the step 206 may include:
Step 207: receiving a fixed point trace command；
Step 208: according to the fixed point trace command, showing the stroke of selected intelligent agricultural machinery.
At this point, the fixed point trace command triggering fixed point tracing mode, numbers according to determining agricultural machinery, it is corresponding to receive its
First location information, so that determined agricultural machinery is currently located geography information with map view real-time display, for
Track.
Accordingly, the fixed point trace command includes but is not limited to determined agricultural machinery identifier, is Real-time Feedback positioning
Or interval or spacing feedback positioning, if shown with map mode etc..The input mode of the fixed point trace command can be with
It is voice input agricultural machinery number, mouse directly in map selection, keyboard input etc., the present invention is not intended to limit.
Or the step 206 may include:
Step 209；Receive area tracking instruction；
Step 210: being instructed according to the area tracking, show the stroke of all intelligent agricultural machineries in selected area.
At this point, the area tracking instruction triggers area tracking mode receives the region according to chosen region
First location information of the agricultural machinery mobile terminal feedback of interior all intelligent agricultural machineries, it is preferable that with the map view real-time display area
The position of all intelligent agricultural machineries and driving condition in domain, for area tracking.
Accordingly, the area tracking instruction includes but is not limited to determined regional scope, is that Real-time Feedback positioning is gone back
It is interval or spacing feedback positioning, if shown with map mode etc..The input mode of the area tracking instruction can be
Voice inputs area name, mouse directly in map delineation, keyboard input etc., and the present invention is not intended to limit.
According to the present invention on the other hand, the method for distance can be applied between above-mentioned detection intelligent agricultural machinery and remote terminal
In alarm, to realize locating alarming.As shown in fig. 6, the flow chart of the positioning alarm method provided for this law.
Step 301: an alarm module is triggered, and forms a warning message.
The situation that the alarm module is triggered can be preset, such as the alarm module and electrical quantity sensor etc. are even
It connects, when power-off or not enough power supply, the alarm module forms the warning message；Or the alarm module and equipment are split
Warning module connection, so that the alarm module is triggered when equipment is illegally dismantled, forms the warning message.It is described
Warning message can include but is not limited to alarm reason, alarm agricultural machinery number, alert level etc..
Step 302: according to first location information of alarm agricultural machinery, the alarm agricultural machinery is positioned in the form of map.
When the alarm module is triggered, and the warning message is formed, first location information for agricultural machinery of alarming
It is sent simultaneously, for positioning and showing the accurate location of alarm agricultural machinery.According to above-mentioned positioning system and method, agricultural machinery of alarming
Position preferentially shown with the traveling of map, consequently facilitating monitoring personnel be well understood alarm agricultural machinery position.
Step 303: the path of planning alarm agricultural machinery and a remote control end, and shown in the form of map.
It, can be default according to the remote control end location information of the first location information of the alarm agricultural machinery and the remote control end
The route of map planning between the two.Particularly, when the remote control end is implemented as the mobile devices such as the mobile phone of monitoring personnel,
It can further navigate, so that facilitating monitoring personnel to go at alarm agricultural machinery checks concrete condition and processing.
Step 304: matching and show the map location of the warning message and agricultural machinery of alarming.
The geographical location of the warning information and alarm agricultural machinery is matched into display, to realize locating alarming.Such as institute
It states the scheduled alarm region of display module 23 and shows text " power-off of number XXX agricultural machinery ", while in 23 map of display module
The corresponding agricultural machinery position icon in display area becomes the warning symbols such as exclamation mark etc. mode, and the present invention is not intended to limit.
Alternatively, according to another embodiment of the invention, the side of distance between the detection intelligent agricultural machinery and remote terminal
The flow chart of method is as shown in Figure 7.
Step 401: the intelligent agricultural machinery and the remote terminal are positioned.
Further, when the intelligent agricultural machinery can not be to self poisoning, it is possible to implement step: from apart from the intelligent agricultural machinery one
Other intelligent agricultural machineries in a pre-determined distance receive a real-time positioning information, and send it to the remote terminal.Or it is real
It applies step: sending an auxiliary positioning request to other intelligent agricultural machineries in one pre-determined distance of the intelligent agricultural machinery, and certainly
The other intelligent agricultural machineries for responding auxiliary positioning request receive its first real-time positioning information, and send it to remote control end
End.
Step 402: according to the location information of the location information of the intelligent agricultural machinery and the remote terminal, calculating between the two
Linear distance.
Alternatively, step 403: according to the location information of the intelligent agricultural machinery, the location information of the remote terminal and electronic map,
It plans the feasible shortest path from the remote terminal to the intelligent agricultural machinery, and the remote terminal is calculated according to the feasible shortest path
Reach the intelligent agricultural machinery the actual range through shortest path.
Alternatively, step 404: according to the location information of the intelligent agricultural machinery, the location information of the remote terminal and electronic map,
It plans all feasible paths from the remote terminal to the intelligent agricultural machinery, and the remote terminal is calculated according to the feasible path and is reached
The actual range of all feasible paths of the intelligent agricultural machinery.
It should be understood by those skilled in the art that foregoing description and the embodiment of the present invention shown in the drawings are only used as illustrating
And it is not intended to limit the present invention.The purpose of the present invention has been fully and effectively achieved.Function and structural principle of the invention exists
It shows and illustrates in embodiment, under without departing from the principle, embodiments of the present invention can have any deformation or modification.
Claims (10)
1. the system of distance between a kind of detection intelligent agricultural machinery and remote terminal characterized by comprising
One first locating module, wherein first locating module is arranged on the intelligent agricultural machinery, wherein the first locating module quilt
The position for capableing of the real-time detection intelligent agricultural machinery is set, and generates one first real-time positioning information；
One first communication module, wherein first communication module is arranged on the intelligent agricultural machinery, wherein first communication module with
First locating module is communicably connected, to receive first real-time positioning information from first locating module；With
One remote terminal, wherein the remote terminal includes data processing module, the second locating module and the second communication module, wherein
Second locating module and second communication module are communicably connected with the data processing module respectively, and wherein this is second fixed
The position for capableing of the real-time detection remote terminal is set in position module, and generates one second real-time positioning information, second communication
Module is communicably connected with first communication module, to receive first real-time positioning information from first communication module,
Wherein the data processing module, which is set, to be somebody's turn to do according to first real-time positioning information and second real-time positioning information are determining
Linear distance between intelligent agricultural machinery and the remote terminal.
2. system according to claim 1, which is characterized in that the data processing module of the remote terminal is set can
According to first real-time positioning information and second real-time positioning information and it is preset in the electronic map of the data processing module,
It plans the feasible shortest path from the remote terminal to the intelligent agricultural machinery, and the remote terminal is calculated according to the feasible shortest path
Reach the intelligent agricultural machinery the actual range through shortest path.
3. system according to claim 1, which is characterized in that first locating module is set being capable of the periodic detection intelligence
Can agricultural machinery position, and be periodically generated first real-time positioning information, second locating module be set can periodic detection should
The position of remote terminal, and it is periodically generated second real-time positioning information.
4. system according to claim 1, which is characterized in that first communication module of the intelligent agricultural machinery is set can
When first locating module of the intelligent agricultural machinery can not position itself, receive apart from the intelligent agricultural machinery one it is default away from
The real-time positioning information that the first communication module from interior other intelligent agricultural machineries is sent, and the remote terminal is sent it to, with
The remote terminal is set (location information of other intelligent agricultural machineries to be considered as the intelligence according to the location information of other intelligent agricultural machineries
The real-time positioning information of agricultural machinery).
5. system according to claim 1, which is characterized in that first communication module of the intelligent agricultural machinery is set can
When first locating module of the intelligent agricultural machinery can not position itself, to apart from one pre-determined distance of the intelligent agricultural machinery
Interior other intelligent agricultural machineries send an auxiliary positioning request, and the other intelligent agricultural machineries for responding auxiliary positioning request certainly receive
Its first real-time positioning information, and the remote terminal is sent it to, so that the remote terminal can be according to other intelligent agricultural machineries
Location information (real-time positioning information that the location information of other intelligent agricultural machineries is considered as to the intelligent agricultural machinery).
6. a kind of method of distance between detection intelligent agricultural machinery and remote terminal, which is characterized in that include the following steps:
(a) intelligent agricultural machinery and the remote terminal are positioned；With
(b) according to the location information of the location information of the intelligent agricultural machinery and the remote terminal, linear distance between the two is calculated.
7. according to the method described in claim 6, it is characterized in that, further comprising following step:
(c) according to the location information of the intelligent agricultural machinery, the location information of the remote terminal and electronic map, planning is whole from the remote control
It holds to the feasible shortest path of the intelligent agricultural machinery, and the remote terminal is calculated according to the feasible shortest path and reaches the intelligent agricultural machinery
The actual range through shortest path.
8. according to the method described in claim 6, it is characterized in that, further comprising following step:
(d) a real-time positioning information is received from other intelligent agricultural machineries in one pre-determined distance of the intelligent agricultural machinery, and will
It is sent to the remote terminal.
9. according to the method described in claim 6, it is characterized in that, further comprising following step:
(e) an auxiliary positioning request is sent to other intelligent agricultural machineries in one pre-determined distance of the intelligent agricultural machinery, and certainly
The other intelligent agricultural machineries for responding auxiliary positioning request receive its first real-time positioning information, and send it to remote control end
End.
10. according to the method described in claim 6, it is characterized in that, further comprising following step:
(c) according to the location information of the intelligent agricultural machinery, the location information of the remote terminal and electronic map, planning is whole from the remote control
It holds to all feasible paths of the intelligent agricultural machinery, and the institute that the remote terminal reaches the intelligent agricultural machinery is calculated according to the feasible path
There is the actual range of feasible path.
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| CN201910026837.6A CN109917425A (en) | 2019-01-11 | 2019-01-11 | The system and method for detecting distance between intelligent agricultural machinery and remote terminal |
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