CN110221329A - A kind of UWB positioning system for agricultural operation machinery self-navigation positioning - Google Patents
A kind of UWB positioning system for agricultural operation machinery self-navigation positioning Download PDFInfo
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- CN110221329A CN110221329A CN201910511714.1A CN201910511714A CN110221329A CN 110221329 A CN110221329 A CN 110221329A CN 201910511714 A CN201910511714 A CN 201910511714A CN 110221329 A CN110221329 A CN 110221329A
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- base stations
- base station
- fixed base
- uwb
- elevating lever
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention provides a kind of UWB positioning systems for agricultural operation machinery self-navigation positioning, include the mobile base station being fixedly mounted on agricultural operation machinery and positioned at mobile base station surrounding and is fixedly mounted on the fixed base stations in supporting support, the fixed base stations include a main fixed base stations and at least three from fixed base stations, it is provided with RFID reader and RFID label tag in main fixed base stations, UWB positioning label is provided on the mobile base station；UWB range finder module, GPS/BD differential position system and processing module are provided in each fixed base stations；The present invention solves the low technical problem of existing agricultural operation machinery self-navigation positioning accuracy.
Description
Technical field
The present invention relates to farm working machinery technical field of navigation and positioning, in particular to a kind of to be used for agricultural operation machinery certainly
The UWB positioning system of dynamic navigator fix.
Background technique
In farm working machinery navigator fix technical aspect, generally use that earth magnetism is pre-buried, GPS (Global
Positioning System, global positioning system) positioning, laser navigation positioning, it is how real during carrying out local positioning
Accurate high performance-price ratio navigator fix in the exact position positioning in existing plot and operating area, the especially navigation in fritter field
Positioning, is always the emphasis of research, and the existing pre-buried construction of earth magnetism is relatively high with later period use cost, and GPS positioning system is at high cost,
And it is larger (antenna, leaf etc.) affected by environment, cause self-navigation positioning accuracy low.
Summary of the invention
In order to solve the above technical problems, the present invention provides a kind of UWB for agricultural operation machinery self-navigation positioning
Positioning system solves the low technical problem of existing agricultural operation machinery self-navigation positioning accuracy.
A kind of UWB positioning system for agricultural operation machinery self-navigation positioning, includes to be fixedly mounted on agriculture work
Industry mobile base station mechanically and positioned at mobile base station surrounding and the fixed base stations in supporting support are fixedly mounted on, fixed base
It stands and is provided with RFID reader and RFID mark from fixed base stations, main fixed base stations including a main fixed base stations and at least three
It signs, UWB positioning label is provided on mobile base station.
UWB range finder module, GPS/BD differential position system and processing module are provided in each fixed base stations；Wherein, UWB
Range finder module is used for the distance between real-time measurement fixed base stations and mobile base station, and makees shortest apart from corresponding height
The height of same level is in for fixed base stations and mobile base station；GPS/BD differential position system, for read fixed base stations it
Between GPS distance, and according to GPS distance resolve obtain using the main fixed base stations in fixed base stations as the agricultural operation region of origin
The positioning coordinate of interior all fixed base stations；Processing module, for according to the positioning coordinate of fixed base stations and mobile base station and admittedly
Determine the distance between base station, resolves the coordinate for obtaining mobile base station.
Further, fixed base stations further include having:
Module is obtained, is communicated to connect respectively with GPS/BD differential position system and processing module, for obtaining main fixed base
The operation interval boundary information of beacon operation interval information and corresponding beacon operation interval that the RFID reader stood is read.
Further, processing module includes:
Calibration unit enters main website-slave station mode for switching the mode of base station each other, is obtained using UWB distance measurement mode
UWB distance between fixed base stations, and according to GPS distance, linear gauging is carried out to messaging parameter；
Computing unit, for according to the messaging parameter after linear gauging, the positioning coordinate of fixed base stations and mobile base station
The distance between fixed base stations resolve the coordinate for obtaining mobile base station.
Further, fixed base stations further include having:
Antenna control module is communicated to connect with processing module, for obtaining fixed base stations according to the coordinate of mobile base station
Orientation angles of the antenna relative to the antenna of mobile base station, and according to orientation angles, the antenna for controlling fixed base stations is directed toward always
The antenna of mobile base station；And for fixed base stations rotary electric machine being controlled, so that the antenna of fixed base stations begins according to orientation angles
It is directed toward the antenna of mobile base station eventually；Database module communicates to connect with processing module, is for establishing the RFID based on master base station
The operating area electronic map database of reference.
Further, the antenna of fixed base stations is directional aerial, and the antenna of mobile base station is omnidirectional antenna.
Further, supporting support includes the internal thick elevating lever in cavity structure and bottom end from thick elevating lever top
Be embedded within the silk elevating lever in portion, thick elevating lever bottom end is arranged with support base, inside silk elevating lever in cavity structure and its
Upper and lower side has been respectively fixedly connected with connection cover and lower connection cover, and thick elevating lever is internally located on lower connection cover top surface and is provided with
Lead screw motor is provided with lifting guide rod along its axial direction inside thick elevating lever.
Guide rod lower end surface and support base top end face offer the first threaded hole along its axial direction, guide rod lower end with
Support base top is connected by the lifting spigot nut being connected in the first threaded hole；Guide rod upper surface is close to middle position
And lower connection cover offers the second threaded hole along its axial direction close to middle position, guide rod upper surface close to marginal position with
And lower connection cover offers elongated through-hole along its axial direction close to marginal position, is connected between guide rod and silk elevating lever by upper end
It connects on the output shaft of lead screw motor and wire rod thread connection that lower end is connected in the second threaded hole and is fixed by one end
In lower connection cover, the other end is inserted in the connection of more guide rods in elongated through-hole.
Further, the upper end of silk elevating lever is arranged with turntable, be also connected at the top of the turntable in mushroom head and
Signal box for communicating and positioning；Turntable axial restraint is provided with slip ring contact on turntable inner top wall；Upper connection cover
It is provided with steering engine in bottom faces, slip ring circuit board is fixedly installed on top surface, which is threadedly coupled with upper connection cover, defeated
Shaft end is fixedly connected through turntable inside and inner top wall and with turntable upper end；
Be fixedly installed slip ring circuit board on the top surface of upper connection cover, slip ring circuit board respectively with steering engine, lead screw motor
Communication connection is additionally provided with slip ring channel on slip ring circuit board, is somebody's turn to do for controlling lead screw motor lifting and control steering engine rotation
Slip ring channel is corresponding with slip ring contact, and the control letter of lead screw motor lifting and steering engine rotation is issued for triggering slip ring circuit board
Number.
Further, the lead screw motor in silk elevating lever and battery is provided between steering engine, on silk elevating lever outer surface
It is additionally provided with solar panel, battery and solar panel are mainly used for as steering engine, lead screw motor, slip ring circuit board, letter
Circuit or electronic component in number box etc. provide electric power, and solar panel can convert solar energy into electric energy outdoors,
Meet outdoor use demand；It is additionally provided with sealing ring between the upper end outer surface and turntable of silk elevating lever, sealing ring setting exists
In the annular groove that silk elevating lever outer surface radially opens up, the sealing ring is outer for realizing preventing in turntable rotary course
Portion's water mist etc. enters inside support strut.
Further, support base top it is cylindrical and its in be in cavity structure, along it on interior bottom middle position
Axially offer the second threaded hole corresponding with screw rod.
Further, thick elevating lever, silk elevating lever and turntable are cylindrical.
Above-mentioned supporting support, by revolving-turret, slip ring contact slip ring channel in turntable, triggering lead screw motor turns
Dynamic control signal, lead screw motor positive and negative rotation is to drive the lifting of an elevating lever, thus realize supporting support free extension,
To adjust the lifting of base station.
Compared with the prior art, the advantages of the present invention are as follows:
Provided by the present invention for the UWB positioning system of agricultural operation machinery self-navigation positioning, pass through supporting support tune
The lifting at integral basis station, in the lifting process of base station, between UWB range finder module real-time measurement fixed base stations and mobile base station away from
From, and using the shortest height for being in same level as fixed base stations and mobile base station apart from corresponding height, then GPS/
BD differential position system reads the GPS distance between fixed base stations, and is resolved and obtained in fixed base stations according to the GPS distance
Main fixed base stations be origin agricultural operation region in all fixed base stations positioning coordinate, last processing module is according to fixation
The positioning coordinate of base station and the distance between mobile base station and fixed base stations resolve the coordinate for obtaining mobile base station, therefore,
UWB positioning system provided by the invention can be become according to the level of approximation operating environment in paddy-field-working region by base station elevation
Change base station and movement station pinpoints the most short principle of range measurement, so that base station is in same level, so as to pass through base station
GPS/BD differential position system precisely obtains the positioning coordinate of the operating area base station of same level, and final quickly resolve is obtained
High-precision mobile station coordinates is obtained, to solve the low technical problem of existing agricultural operation machinery self-navigation positioning accuracy.
Detailed description of the invention
Fig. 1 is the schematic diagram of main fixed base stations；
Fig. 2 is the schematic diagram from fixed base stations；
Fig. 3 is in the embodiment of the present invention two using main fixed base stations as all base station schematic diagrames in the operating area of origin；
Fig. 4 is the structural schematic diagram of supporting support.
Specific embodiment
To facilitate the understanding of the present invention, the present invention is made below in conjunction with Figure of description and preferred embodiment more complete
Face meticulously describes, but the protection scope of the present invention is not limited to the following specific embodiments.
The embodiment of the present invention is described in detail below in conjunction with attached drawing, but the present invention can be defined by the claims
Implement with the multitude of different ways of covering.
Embodiment one
A kind of UWB positioning system for agricultural operation machinery self-navigation positioning, includes to be fixedly mounted on agriculture work
Industry mobile base station mechanically and positioned at mobile base station surrounding and it is fixedly mounted on the fixed base stations in supporting support, such as attached drawing
1 and attached drawing 2 shown in, fixed base stations include a main fixed base stations and at least three be arranged from fixed base stations, main fixed base stations
There are RFID reader and RFID label tag, UWB positioning label is provided on mobile base station.
UWB range finder module, GPS/BD differential position system and processing module are provided in each fixed base stations；Wherein, UWB
Range finder module is used for the distance between real-time measurement fixed base stations and mobile base station, and makees shortest apart from corresponding height
The height of same level is in for fixed base stations and mobile base station；GPS/BD differential position system, for read fixed base stations it
Between GPS distance, and resolved and obtained using the main fixed base stations in fixed base stations as the agricultural operation of origin according to GPS distance
The positioning coordinate of all fixed base stations in region；Processing module, for according to the positioning coordinate of fixed base stations and mobile base station
The distance between fixed base stations resolve the coordinate for obtaining mobile base station.
The UWB positioning system for agricultural operation machinery self-navigation positioning that the embodiment of the present invention one provides, passes through branch
The lifting of bracket adjustment fixed base stations is supportted, and through UWB range finder module real-time measurement fixed base stations at a distance from mobile base station, it will
The shortest height for being in same level as fixed base stations and mobile base station apart from corresponding height；Then pass through fixed base stations
In GPS/BD differential position system read the GPS distance between fixed base stations, and resolved and obtained with solid according to GPS distance
Determine the positioning coordinate that the main fixed base stations in base station are all fixed base stations in the agricultural operation region of origin；Finally based on fixation
The positioning coordinate of base station and the distance between mobile base station and fixed base stations resolve the coordinate for obtaining mobile base station, solve
The low technical problem of existing agricultural operation machinery self-navigation positioning accuracy, according to the level of approximation operation ring in paddy-field-working region
Border changes base station and mobile base station by fixed base stations elevation and pinpoints the most short principle of range measurement, so that all base stations are in same
One horizontal plane precisely obtains the operating area institute of same level so as to the GPS/BD differential position system by fixed base stations
There is the positioning coordinate of fixed base stations, and final quickly resolve obtains high-precision mobile station coordinates.
Specifically, the present embodiment changes fixed base stations by base station elevation and mobile base station pinpoints the most short original of range measurement
Then, so that all base stations are in same level, three-dimensional coordinate is read by GPS/BD differential position system compared to tradition, this
UWB positioning system described in embodiment for agricultural operation machinery self-navigation positioning, can more accurately reading operation region
The positioning coordinate of mobile base station obtains high-precision mobile base station coordinate to resolve；On the other hand, due to using two-dimensional work
The positioning coordinate of industry region mobile base station significantly simplifies the complexity of mobile base station calculating coordinate, therefore the present embodiment institute
All base stations are adjusted to same level, and the mobile base of the two-dimensional operating area by reading by the UWB positioning system stated
The positioning coordinate stood can be resolved quickly and obtain mobile base station coordinate.
In addition, the embodiment of the present invention one by fixed in advance RFID (Radio Frequency Identification,
RFID tag) with the RFID readers of main fixed base stations, obtain the number of corresponding field, field remotely obtained by GPRS
Four fixed base stations location information, realize single be accurately positioned after unique association positional parameter obtain.
Embodiment two
A kind of UWB positioning system for agricultural operation machinery self-navigation positioning, includes to be fixedly mounted on agriculture work
Industry mobile base station mechanically and positioned at mobile base station surrounding and the fixed base stations in supporting support are fixedly mounted on, it is described solid
Determine base station include a main fixed base stations and at least three be provided with from fixed base stations, main fixed base stations RFID reader and
RFID label tag is provided with UWB positioning label on the mobile base station.
Specifically, the present embodiment defines the base station UWB for installing RFID label tag for main fixed base stations, other are fitted without
Three base stations of RFID label tag are defined as from fixed base stations；And main fixed base stations have remote network communication function and RFID beacon
Information read functions have GPS/BD differential position system reading data function；Remote network communication function is for sending operation
The beacon message in region obtains the operation interval boundary information and correspondence four of corresponding beacon operation interval to server
The accurate position coordinates information of base station；It should be noted that all fixed base stations in the present embodiment are all made of there is height to adjust
The support strut that section, orientation are adjusted is supported, and have orientation angles detecting function, from fixed base stations and main fixed base stations it
Between data exchanging function and GPS/BD differential position system reading data function.
Specifically, the present embodiment passes through in the corresponding four positions installation fixed pedestal in field, mating four pedestals
The corresponding RFID label tag of one installation, the RFID label tag of the present embodiment are used to read beacon operation interval information；Then by UWB base
The supporting support stood is fixed on fixed pedestal, and is installed UWB on agricultural operation machinery and positioned label；Mobile base station is mounted on
Agricultural machinery extreme higher position avoids the reduction problem of signal of communication caused by blocking.
UWB range finder module, GPS/BD differential position system, processing module are provided in each fixed base stations.
Wherein, UWB range finder module is used for the distance between real-time measurement fixed base stations and mobile base station, and will be shortest
The height of same level is in as fixed base stations and mobile base station apart from corresponding height；Specifically, the present embodiment adjusts solid
Determine base station and when mobile base station be in the height of same level, by the elevating control of adjusting fixed base stations, real-time measurement is fixed
To the distance of mobile base station, obtaining shortest distance and position height is fixed base stations and mobile base station same level height position for base station
It sets, to obtain the reference that four fixed base stations are in same level height.
GPS/BD differential position system, for reading the GPS distance between fixed base stations, and according to the GPS distance solution
It calculates and obtains using the main fixed base stations in fixed base stations as the positioning coordinate of all fixed base stations in the agricultural operation region of origin；Tool
Body, as shown in Fig. 3, it is assumed that the main fixed base stations of the present embodiment are O point, the other three from fixed base stations be respectively A, B, C
Point, mobile base station are D point, then obtain using main fixed base stations as the detailed process of the positioning coordinate of the operating area base station of origin
Are as follows:
Firstly, directly ranging L can be obtained after obtaining corresponding GPS accurate positioning coordinate by GPS positioningOA, LOC,
LAC, LOB, LBC, according to Fig. 3, it is not difficult to calculate using main fixed base stations as the coordinate of the positioning coordinate of the operating area base station of origin
Expression formula:
Similarly, it can obtain:
Wherein, O point in base station is main fixed base stations, and defining O point is coordinate origin, X3For using main fixed base stations as origin
The coordinate of base station C point, (X1, Y1) it is using main fixed base stations as the coordinate of the base station A point of origin, (X2, Y2) it is with main fixed base stations
For the coordinate of the base station B point of origin.
Processing module, for according to the positioning coordinate of fixed base stations and the distance between mobile base station and fixed base stations,
Resolve the coordinate for obtaining mobile base station.
Preferably, fixed base stations further include having:
Module is obtained, is communicated to connect respectively with GPS/BD differential position system and processing module, for obtaining main fixed base
The operation interval boundary information of beacon operation interval information and corresponding beacon operation interval that the RFID reader stood is read；
Preferably, processing module includes:
Calibration unit enters main website-slave station mode for switching the mode of base station each other, is obtained using UWB distance measurement mode
UWB distance between fixed base stations, and according to GPS distance, linear gauging is carried out to messaging parameter；
Specifically, when calibration unit carries out linear gauging, due to using UWB ranging there are error, therefore the present embodiment according to
There is a certain error for the distance between base station and mobile base station that UWB distance measurement mode obtains, therefore the present embodiment is obtained in resolving
Before the coordinate for obtaining mobile base station, by carrying out linear gauging to messaging parameter, to realize between base station and mobile base station
Distance calibrated.
Since in position fixing process, mobile base station will change relative to tetra- positions OABC, but LOA, LOC,
LAC, LABFor these GPS distances due to using Differential positioning, respective distances precision is accurate, and the calibration parameter that can be used as ranging carries out
Calibration.
Corresponding calibration factor is as follows:
Wherein, a0AIt is base station for A, O is slave station.The range calibration coefficient of state measurement, aAOIt is base station for O, A is slave station
The range calibration coefficient of state measurement, LOAFor GPS distance, lSurvey OAFor UWB distance, and so on, other variable meanings are no longer
Carefully state.
During the motion, corresponding range calibration algorithm is as follows:
Corresponding calibration factor is as follows:
By the above process, the corresponding l by calibration is obtainedSchool OD, lSchool AD, lSchool BD, lSchool CDDistance calculation formula is respectively；
Wherein, lOD、lAD、lBDAnd lCDIt is obtained between base station and mobile base station for the present embodiment according to UWB distance measurement mode
UWB distance.
Computing unit, for according to the messaging parameter after linear gauging, the positioning coordinate of fixed base stations and mobile base station
The distance between fixed base stations resolve the coordinate for obtaining mobile base station.
Specifically, the present embodiment is according to the messaging parameter after linear gauging, the positioning coordinate of base station and mobile base station with
The distance between base station resolves the solution formula for obtaining the coordinate of mobile base station specifically:
Wherein, x, y, z coordinate are D point in the corresponding coordinate of OABC plane.
Preferably, fixed base stations further include having:
Antenna control module is communicated to connect with processing module, for obtaining fixed base stations according to the coordinate of mobile base station
Orientation angles of the antenna relative to the antenna of mobile base station, and according to orientation angles, the antenna for controlling fixed base stations is directed toward always
The antenna of mobile base station；And for fixed base stations rotary electric machine being controlled, so that the antenna of fixed base stations begins according to orientation angles
It is directed toward the antenna of mobile base station eventually；
Database module is communicated to connect with processing module, for establishing the work that the RFID based on main fixed base stations is reference
Industry regional Electronic map data base.
Preferably, the antenna of fixed base stations is directional aerial, and the antenna of mobile base station is omnidirectional antenna.
Position is being changed by the mobile base station moment in this present embodiment, although the antenna of mobile base station is omnidirectional antenna,
The antenna of fixed base stations is directional aerial, therefore in order to guarantee that optimal communication quality, the directional aerial of fixed base stations need not
The omnidirectional antenna angle change of mobile base station is followed disconnectedly and is changed.Specifically, the present embodiment is according to the mobile base station of resolving
Coordinate, first orientation angles of the antenna of acquisition fixed base stations relative to the antenna of mobile base station, then according to orientation angles, control
Fixed base stations rotary electric machine processed, so that the antenna of fixed base stations is directed toward the antenna of mobile base station always, so that fixed base stations
Signal between mobile base station keeps most strong, namely ensure that optimal communication quality.
In the present embodiment, main fixed base stations read GPS positioning data with from fixed base stations, and are transferred to main fixed base stations,
Main fixed base stations, to server, are serviced by four fixed base stations location informations of remote transmission network transmission and RFID location information
Device store the base station location information based on FRID label information, and resolve obtain based on BD/GPS location information with main fixed base
It stands as the operating area base station plane coordinates information of origin.In the specific implementation process, artificial or remote driving agricultural machinery, root
According to operation carrier features, first around operating area outer ring one week, acquisition is defined by the operating area week of origin of main fixed base stations
Position parameter, and uploaded onto the server by main fixed base stations, so that facilitating server to establish based on main fixed base stations RFID is ginseng
The operating area electronic map database examined.
UWB positioning system provided in an embodiment of the present invention for agricultural operation machinery self-navigation positioning, by adjusting
The lifting of fixed base stations, and real-time measurement base station is at a distance from mobile base station, using it is shortest apart from corresponding height as base station
The height of same level is in mobile base station, by the GPS/BD differential position system of base station read the GPS between base station away from
From, and the positioning coordinate for obtaining base station and positioning coordinate and mobile base station and base based on base station are resolved according to GPS distance
The distance between stand, the coordinate for obtaining mobile base station is resolved, it is low to solve existing agricultural operation machinery self-navigation positioning accuracy
The technical issues of, according to the level of approximation operating environment in paddy-field-working region, fixed base stations and movement are changed by base station elevation
Base station pinpoints the most short principle of range measurement, so that all base stations are in same level, so as to pass through the GPS/ of fixed base stations
BD differential position system precisely obtains the positioning coordinate of the operating area mobile base station of same level, and final quickly resolve is obtained
Obtain high-precision mobile base station coordinate.
In addition, the embodiment of the present invention uses the interface of high-performance differential satellite positioning system and local positioning system, realize
The exact position high accuracy positioning of operation field and by known high-precision longitude and latitude parameter between base station, obtains UWB positioning
Calibration error coefficient, carry out error correction, further improve the calculation accuracy of mobile base station coordinate.Pass through paddy-field-working area
The level of approximation operating environment in domain changes base station and mobile base station by base station elevation and pinpoints the most short principle of range measurement, obtains
Four fixed base stations are in same level；Pass through the RFID reader of fixed in advance RFID and main fixed base stations, acquisition pair
The number for answering field remotely obtains the location information of four fixed base stations of field by GPRS, realizes single accurate positioning
Unique association positional parameter afterwards obtains.
In addition, being all made of supporting support in embodiment one and embodiment two, as shown in Fig. 4, supporting support includes
Inside is embedded within the silk elevating lever 2 in portion in the thick elevating lever 1 and bottom end of cavity structure from thick 1 top of elevating lever, thick to go up and down
1 bottom end of bar is arranged with support base 3, and inside silk elevating lever 2 be in cavity structure and its upper and lower side has been respectively fixedly connected with company
Lid 4 and lower connection cover 5 are connect, thick elevating lever 1, which is internally located on lower 5 top surface of connection cover, is provided with lead screw motor 7, thick elevating lever 1
Inside is provided with lifting guide rod 8 along its axial direction.
9 lower end surface of guide rod and 3 top end face of support base offer the first threaded hole along its axial direction, under guide rod 9
End is connect with 3 top of support base by the lifting spigot nut 17 being connected in the first threaded hole；9 upper surface of guide rod is close
Middle position and lower connection cover 5 offer the second threaded hole along its axial direction close to middle position, and 9 upper surface of guide rod is close
Marginal position and lower connection cover 5 offer elongated through-hole, guide rod 9 and silk elevating lever 2 along its axial direction close to marginal position
Between the second lifting guiding spiral shell that lower end on the output shaft of lead screw motor 7 is connected in the second threaded hole is connected to by upper end
The screw rod 15 of mother 18 is threadedly coupled and is fixed on more that lower 5 other end of connection cover is inserted in elongated through-hole by one end and leads
It is connected to bar 9.
The upper end of silk elevating lever 2 is arranged with turntable 10, and the top of the turntable 10 is also connected in mushroom head and is used for
The signal box 11 of communication and positioning；10 axial restraint of turntable is provided with slip ring contact 12 on 10 inner top wall of turntable；Upper connection
It is provided with steering engine 14 in the bottom faces of lid 4, slip ring circuit board 13 is fixedly installed on top surface, the steering engine 14 and upper connection cover 4
It is threadedly coupled, output shaft end is fixedly connected through 10 inside of turntable and inner top wall and with 10 upper end of turntable；Upper connection
Be fixedly installed slip ring circuit board 13 on the top surface of lid 4, slip ring circuit board 13 respectively with steering engine 14,7 communication link of lead screw motor
It connects, is rotated for controlling the lifting of lead screw motor 7 and control steering engine 14, be additionally provided with slip ring channel on slip ring circuit board 13, it should
Slip ring channel is corresponding with slip ring contact 12, and for triggering, slip ring circuit board 13 issues the lifting of lead screw motor 7 and steering engine 14 rotates
Control signal.
It is provided with battery between lead screw motor 7 and steering engine 14 in silk elevating lever 2, is also set on 2 outer surface of silk elevating lever
It is equipped with solar panel, is additionally provided with sealing ring 15 between the upper end outer surface and turntable 10 of silk elevating lever 2.
3 top of support base it is cylindrical and its in be in cavity structure, opened up along its axial direction on interior bottom middle position
There is second threaded hole 16 corresponding with screw rod 15.
Thick elevating lever 1, silk elevating lever 2 and turntable 10 are cylindrical.
Supporting support described in the embodiment of the present invention one and embodiment two, the cunning by revolving-turret 10, in turntable 10
Ring contact 12 contacts slip ring channel, the control signal that triggering lead screw motor 7 rotates, and controls lead screw motor 7 and rotate forward or instead
To rotation；The power output shaft output power of lead screw motor 7 is to screw rod 15, so that the rotation of screw rod 15 be driven to rise or fall；From
And be further driven to be fixedly connected on integrated lower connection cover 5 with screw rod 15, silk elevating lever 2 rises or falls, to realize branch
Support the lifting of bracket adjustment base station.
Claims (10)
1. a kind of UWB positioning system for agricultural operation machinery self-navigation positioning, includes to be fixedly mounted on agricultural operation
Mobile base station mechanically and positioned at mobile base station surrounding and the fixed base stations in supporting support are fixedly mounted on, the fixation
Base station includes that a main fixed base stations and at least three are provided with RFID reader and RFID from fixed base stations, main fixed base stations
Label is provided with UWB positioning label on the mobile base station, it is characterised in that:
UWB range finder module, GPS/BD differential position system and processing module are provided in each fixed base stations；Wherein, UWB ranging
Module, be used for the distance between real-time measurement fixed base stations and mobile base station, and using it is shortest apart from corresponding height as consolidate
Determine base station and mobile base station is in the height of same level；GPS/BD differential position system, for reading between fixed base stations
GPS distance, and resolved and obtained using the main fixed base stations in fixed base stations as the agricultural operation region of origin according to the GPS distance
The positioning coordinate of interior all fixed base stations；Processing module, for according to the positioning coordinate of fixed base stations and mobile base station and admittedly
Determine the distance between base station, resolves the coordinate for obtaining mobile base station.
2. the UWB positioning system for agricultural operation machinery self-navigation positioning as described in claim 1, it is characterised in that:
The fixed base stations further include having:
Module is obtained, is communicated to connect respectively with GPS/BD differential position system and processing module, for obtaining main fixed base stations
The operation interval boundary information of beacon operation interval information and the corresponding beacon operation interval that RFID reader is read.
3. the UWB positioning system for agricultural operation machinery self-navigation positioning as described in claim 1, it is characterised in that:
The processing module includes:
Calibration unit enters main website-slave station mode for switching the mode of the base station each other, is obtained using UWB distance measurement mode
UWB distance between the fixed base stations, and according to the GPS distance, linear gauging is carried out to messaging parameter；
Computing unit, for according to the messaging parameter after linear gauging, the positioning coordinate of the fixed base stations and the movement
The distance between base station and the fixed base stations resolve the coordinate for obtaining the mobile base station.
4. the UWB positioning system for agricultural operation machinery self-navigation positioning as described in claim 1, it is characterised in that:
The fixed base stations further include having:
Antenna control module is communicated to connect with processing module, for obtaining the fixed base according to the coordinate of the mobile base station
Orientation angles of the antenna stood relative to the antenna of the mobile base station, and according to the orientation angles, control the fixed base
The antenna stood is directed toward the antenna of the mobile base station always；And for controlling the fixed base stations according to the orientation angles
Rotary electric machine, so that the antenna of the fixed base stations is directed toward the antenna of the mobile base station always；
Database module is communicated to connect with processing module, for establishing the operation area that the RFID based on the master base station is reference
Domain electronic map database.
5. the UWB positioning system for agricultural operation machinery self-navigation positioning as claimed in claim 4, it is characterised in that:
The antenna of the fixed base stations is directional aerial, and the antenna of the mobile base station is omnidirectional antenna.
6. the UWB positioning system for agricultural operation machinery self-navigation positioning as described in claim 1, it is characterised in that:
The supporting support includes that the internal thick elevating lever for being in cavity structure and bottom end are embedded within from thick elevating lever top
The silk elevating lever in portion, the thick elevating lever bottom end are arranged with support base, inside the silk elevating lever in cavity structure and its
Upper and lower side has been respectively fixedly connected with connection cover and lower connection cover, and the thick elevating lever is internally located on lower connection cover top surface and sets
It is equipped with lead screw motor, its axial direction is provided with lifting guide rod inside the thick elevating lever；
The guide rod lower end surface and support base top end face offer the first threaded hole along its axial direction, under the guide rod
End is connect with support base top by the lifting spigot nut being connected in the first threaded hole；The guide rod upper surface is close
Middle position and lower connection cover offer the second threaded hole along its axial direction close to middle position, and near side (ns) is leaned in guide rod upper surface
Edge position and lower connection cover offer elongated through-hole along its axial direction close to marginal position, the guide rod and silk elevating lever it
Between by upper end be connected to wire rod thread connection that lower end on the output shaft of lead screw motor is connected in the second threaded hole and
The more guide rods connection that the lower connection cover other end is inserted in elongated through-hole is fixed on by one end.
7. the UWB positioning system for agricultural operation machinery self-navigation positioning as claimed in claim 6, it is characterised in that:
The upper end of the silk elevating lever is arranged with turntable, be also connected at the top of the turntable in mushroom head and for communicate with
The signal box of positioning；Turntable axial restraint is provided with slip ring contact on the turntable inner top wall；
Be provided with steering engine in the bottom faces of the upper connection cover, slip ring circuit board be fixedly installed on top surface, the steering engine with it is upper
Connection cover is threadedly coupled, and output shaft end is fixedly connected through turntable inside and inner top wall and with turntable upper end；
Be fixedly installed slip ring circuit board on the top surface of the upper connection cover, the slip ring circuit board respectively with steering engine, screw rod
It is logical to be additionally provided with slip ring for controlling lead screw motor lifting and control steering engine rotation, on slip ring circuit board for communications connection
Road, the slip ring channel is corresponding with slip ring contact, for trigger slip ring circuit board issue lead screw motor lifting and steering engine rotation
Control signal.
8. the UWB positioning system for agricultural operation machinery self-navigation positioning as claimed in claim 7, it is characterised in that:
It is provided with battery between lead screw motor and steering engine in the silk elevating lever, is additionally provided with too on silk elevating lever outer surface
Positive energy solar panel, is additionally provided with sealing ring between the upper end outer surface and turntable of the silk elevating lever.
9. the UWB positioning system for agricultural operation machinery self-navigation positioning as claimed in claim 6, it is characterised in that:
The support base top it is cylindrical and its in be in cavity structure, offered along its axial direction on interior bottom middle position
The second threaded hole corresponding with screw rod.
10. the UWB positioning system for agricultural operation machinery self-navigation positioning as claimed in claim 6, it is characterised in that:
The thick elevating lever, silk elevating lever and turntable are cylindrical.
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| CN201910511714.1A CN110221329B (en) | 2019-06-13 | 2019-06-13 | UWB positioning system for automatic navigation and positioning of agricultural operation machinery |
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| CN201910511714.1A CN110221329B (en) | 2019-06-13 | 2019-06-13 | UWB positioning system for automatic navigation and positioning of agricultural operation machinery |
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| CN114007261A (en) * | 2022-01-05 | 2022-02-01 | 华清科盛(北京)信息技术有限公司 | UWB positioning system-based three-dimensional positioning method and system for gantry crane hook |
| CN114007261B (en) * | 2022-01-05 | 2022-06-10 | 华清科盛(北京)信息技术有限公司 | UWB positioning system-based three-dimensional positioning method and system for gantry crane hook |
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