CN111257895A - Non-contact type agricultural implement offset error self-adaptive compensation method and system and tractor - Google Patents
Non-contact type agricultural implement offset error self-adaptive compensation method and system and tractor Download PDFInfo
- Publication number
- CN111257895A CN111257895A CN202010050802.9A CN202010050802A CN111257895A CN 111257895 A CN111257895 A CN 111257895A CN 202010050802 A CN202010050802 A CN 202010050802A CN 111257895 A CN111257895 A CN 111257895A
- Authority
- CN
- China
- Prior art keywords
- line
- offset error
- center
- laser radar
- agricultural implement
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
Landscapes
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a non-contact type self-adaptive compensation method and system for offset errors of agricultural implements and a tractor, wherein the method comprises the following steps: preprocessing data received by the 360-degree single-line laser radar component; according to the preprocessed data, for calculating the offset error d, the track of the center of the implement is aligned to the center of the carriage surface by translating the target driving straight line, the size of the offset value is the offset error d, the offset error d can move along the center of the carriage surface through the center of the offset agricultural implement, so that the distance between the left carriage and the right carriage is kept consistent, and the target straight line is translated into an equation: y is kx + b + kd, Y is a Y-axis coordinate, X is an X-axis coordinate, k is a slope, b is an intercept, and d is an offset error; and realizing self-adaptive compensation of the offset error of the agricultural implement through a target linear translation equation. The method can accurately acquire the offset error of the agricultural implement, the measurement accuracy reaches centimeter level, and the problem that the practicability of the automatic navigation system is reduced due to repeated attempts to adjust the expected path and implement swing is solved.
Description
Technical Field
The invention belongs to the technical field of automatic navigation of agricultural machinery and automation of agricultural machinery, and particularly relates to a non-contact type agricultural machinery offset error self-adaptive compensation method and system and a tractor.
Background
The agricultural modernization intelligent development is not kept, and the agricultural whole-course intelligent control can be put into practical use. The full-automatic agricultural engineering technology is widely applied, wherein field operations such as ploughing, planting, managing and harvesting are automatically controlled, so that the utilization of agricultural investment is accurate, and the efficiency is maximized. The automatic navigation technology is one of key basic technologies, is widely applied to Xinjiang cotton seeding operation, improves the operation efficiency and the operation quality, and reduces the operation labor intensity of farmers.
The automatic navigation technology widely applied in China at present can assist an agricultural manipulator to realize the tracking of a straight path, the tracking precision reaches 2.5cm, generally, seeding rows are distributed in a parallel line mode, the defined target seeding straight line intervals are equal, and the distance between the rows is expected to be consistent. For example, cotton is sowed, the edge of the compartment surface is formed by disc plows, and the distance between the disc furrows in the first row and the disc furrows in the second row is the compartment distance.
However, the offset phenomenon of machines and tools exists in automatic navigation cotton sowing operation, the target running path is equidistant but the machines and tools are asymmetric left and right, the problem that the compartment distances are inconsistent is caused by the phenomenon, subsequent field management is affected, and great trouble is caused to machine harvesting in the later period.
Disclosure of Invention
The invention mainly aims to overcome the defects in the prior art, provides a non-contact type self-adaptive compensation method and system for offset errors of an agricultural implement and a tractor, replaces the tedious work of manual calibration, is labor-saving and labor-saving, has self-adaptive capacity, can automatically detect the offset of the center of the agricultural implement, and compensates errors caused by the offset in real time. By adopting a non-contact measurement method, the problem that the agricultural machinery equipment is large in operation vibration and easy to strain is solved, and the durability of the system is improved. .
The invention aims to provide a non-contact type agricultural implement offset error self-adaptive compensation method.
The second objective of the present invention is to provide a non-contact type farm implement offset error adaptive compensation system.
A third object of the present invention is to provide a tractor having an automatic navigation function.
The first purpose of the invention can be realized by the following technical scheme:
a non-contact type self-adaptive compensation method for offset error of agricultural machinery is characterized by that based on the geometric relation between 360 deg. single-line laser radar component and line drawing device, the offset error of center of said machinery is calculated, the center of said 360 deg. single-line laser radar component is defined as point A, the centers of two line drawing devices are defined as point B, C, the laser measuring plane can obtain the lengths and relative angles of AB and AC, the straight line of running target of vehicle, i.e. central line of tractor is defined as L1The center line of the operation track of the agricultural implement is defined as L2Center line L of tractor1And a working track center line L2The distance betweenPerforming error compensation for the offset error d by using the offset error d; the method comprises the following steps:
preprocessing data received by the 360-degree single-line laser radar component;
based on the preprocessed data, the offset error d is calculated,
the machine tool center track is aligned to the center of the carriage surface by translating the target driving straight line, the offset value is the offset error d, and the offset value can move along the center of the carriage surface through the center of the offset agricultural machine tool, so that the left and right carriage intervals are kept consistent, and the target straight line is translated into an equation: y is kx + b + kd, Y is a Y-axis coordinate, X is an X-axis coordinate, k is a slope, b is an intercept, and d is an offset error;
and realizing self-adaptive compensation of the offset error of the agricultural implement through a target linear translation equation.
As a preferred technical solution, the step of preprocessing the data received by the 360-degree single-line laser radar component specifically includes:
receiving data of a 360-degree single-line laser radar component;
carrying out mean value processing on the single-line laser radar data with the same angle and 360 degrees in set time:
carrying out limited-range clustering processing on the data by using a k-clustering method;
performing circular Hough transformation calculation on the obtained clustering result to obtain a line drawing device measuring center with the maximum probability;
the distance between AB and AC is further calculated.
As a preferred technical scheme, the angles α and β are obtained by a 360-degree single-line laser radar assembly, α and β are included angles between the connecting line of the center of the scriber and the center of the radar and the path direction, the measurement precision reaches 0.33 degrees, the distances of AB and AC are measured and obtained, the precision reaches 0.5 cm, and the distance from a point B to a point L is measured1Is defined as l3C to L2Is defined as l4Wherein D is the center point of the machine.
As a preferred technical solution, the step of calculating the offset error d according to the preprocessed data specifically includes:
according to the similar triangle principle, the following steps are obtained: l3+d＝l4；
The geometrical relationship between the two line drawing devices and the 360-degree single-line laser radar component can be obtained as follows:
d+l4＝ACsinβ
l3＝ABsinα
the simultaneous equations obtain the equation for calculating the offset error d:
the second object of the present invention can be achieved by the following technical solutions:
a non-contact type agricultural implement offset error self-adaptive compensation system comprises a 360-degree single-line laser radar component, an image plotter and an agricultural implement auxiliary navigation controller, wherein the 360-degree single-line laser radar component is connected with the agricultural implement auxiliary navigation controller in a serial port mode, the image plotter is vertically locked and is higher than a laser measurement plane, so that the laser measurement plane can measure the position of the image plotter; the agricultural machinery auxiliary navigation controller stores a non-contact agricultural machinery offset error self-adaptive compensation method.
As a preferred technical scheme, the data of the 360-degree single-line laser radar component is transmitted to an agricultural machinery auxiliary navigation controller through a serial port, a program of the integrated offset error adaptive compensation method is loaded in the agricultural machinery auxiliary navigation controller, and the energy of the 360-degree single-line laser radar component is provided by the agricultural machinery auxiliary navigation controller through a power line.
As a preferred technical scheme, the 360-degree single-line laser radar component emits a rotating laser beam to form a laser measurement plane, the laser measurement plane can measure an object intersected with a laser plane, the distance and the angle from a surface point of the object to the 360-degree single-line laser radar component are obtained, the laser plane measures the specific position of the line drawing device, the offset value of a machine tool is calculated through an offset error adaptive compensation method according to measured data, and the offset value is transmitted back to the agricultural auxiliary navigation controller to perform offset error adaptive compensation.
As a preferred technical scheme, the 360-degree single-line laser radar component comprises a 360-degree single-line laser radar, a mounting piece and a mounting screw, wherein the 360-degree single-line laser radar is arranged on the mounting piece through the screw, and the mounting piece is arranged at the center of the rear edge of the tractor roof through the screw.
The third object of the present invention can be achieved by the following technical solutions:
the utility model provides a tractor with automatic navigation function, includes tractor body, 360 degrees single line laser radar subassemblies, drawing ware, agricultural implement adopts the mode of three-point suspension to articulate on the tractor body, drawing ware sets up the both ends at agricultural implement, 360 degrees single line laser radar subassemblies are connected with agricultural implement auxiliary navigation controller through the mode of serial ports, tractor execution during operation that has automatic navigation function, agricultural implement auxiliary navigation controller realizes above-mentioned skew error self-adaptation compensation method.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) the offset error self-adaptive compensation system replaces the tedious work of manual calibration, is labor-saving and labor-saving, has self-adaptive capacity, can automatically detect the offset of the center of an agricultural implement, and compensates errors caused by the offset in real time.
(2) The offset error self-adaptive compensation system has high error measurement precision, and the measurement error is less than 1% of the measurement target distance.
(3) The offset error self-adaptive compensation system adopts a non-contact measurement method, solves the problem that agricultural machinery equipment is large in operation vibration and easy to strain, and improves the durability of the system.
(4) The invention designs a data preprocessing method aiming at a laser plane measuring method, solves the problem of measuring errors in laser ranging, can effectively reduce measuring noise and improve measuring precision.
(5) The invention designs an offset error adaptive compensation algorithm aiming at the planned relation between a three-point type suspension agricultural implement and a laser plane, solves the problem that the measured data is transferred into a target result, and can calculate in real time to obtain the offset error for compensating the center offset of the implement.
(6) The self-adaptive compensation algorithm designed by the invention has higher efficiency and can provide a reliable foundation for the real-time performance of the system.
(7) The offset error self-adaptive compensation system is simple in structure, convenient and fast to install and high in practicability.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of a non-contact type agricultural implement offset error adaptive compensation system suitable for a tractor navigation system according to the present invention;
FIG. 2 is a schematic diagram of the system of the present invention;
FIG. 3 is a schematic view of a 360-degree single line lidar assembly of the present invention installed;
FIG. 4 is a schematic diagram of the laser plane action of the lidar of the present invention;
FIG. 5 is a schematic illustration of laser plane position definition according to the present invention;
FIG. 6 is a schematic diagram of the offset error calculation of an agricultural implement according to the present invention;
FIG. 7 is a schematic view of a flow chart of the offset error calculation of the agricultural implement of the present invention;
fig. 8 is a schematic diagram of the error adaptive compensation principle of the present invention.
Wherein: the system comprises a 1-360-degree single-line laser radar component, a 2-laser measuring plane, a 3-agricultural implement, a 4-line drawing device, a 5-three-point suspension device, a 6-tractor with an automatic navigation function, a 7-implement center track, a 8-tractor center track, a 9-seeding compartment surface, a 10-compartment interval and an 11-agricultural machine auxiliary navigation controller, wherein the 1-360-degree single-line laser radar component is connected with the laser measuring plane; 1-2, mounting the component; 1-3-screw.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
Examples
As shown in fig. 7, the non-contact agricultural implement offset error adaptive compensation method of the embodiment includes the following steps:
the method comprises the steps of calculating a central offset error of a machine tool based on a geometric relation between a 360-degree single-line laser radar component and a line drawing device, defining the center based on the 360-degree single-line laser radar component as a point A, defining the centers of two line drawing devices as B, C points respectively, obtaining the lengths and relevant angles of AB and AC by a laser measuring plane, and defining a driving target straight line of a vehicle, namely the central line of a tractor as L1The center line of the operation track of the agricultural implement is defined as L2Center line L of tractor1And a working track center line L2The distance between the two is offset error d, and the offset error d is used for error compensation; the method comprises the following steps:
s101, preprocessing data received by a 360-degree single-line laser radar component;
further, S101 specifically is:
s1011, receiving data of the 360-degree single-line laser radar component;
s1012, carrying out mean value processing on the single-line laser radar data with the same angle and 360 degrees in set time:
s1013, carrying out limited-range clustering processing on the data by using a k-clustering method;
s1014, performing circular Hough transformation calculation on the obtained clustering result to obtain a line drawing device measuring center with the maximum probability;
and S1015, further calculating the distance between the AB and the AC.
Optionally, the laser measurement plane may measure and obtain a geometric relationship between the two line drawing devices and the 360-degree single line lidar assembly, wherein the angles α and β may be obtained by the 360-degree single line lidar assembly, the measurement accuracy may reach 0.33 degrees, the distances AB and AC may also be measured and obtained, the accuracy may reach 0.5 cm, wherein the point B to the point L1Is defined as l3C to L2Is defined as l4Wherein D is the center point of the machine.
S102, calculating an offset error d according to the preprocessed data,
further, step S102 specifically includes:
s1021, obtaining according to the similar triangle principle: l3+d＝l4；
S1022, obtaining the geometrical relationship between the two drawing devices and the 360-degree single-line laser radar component:
d+l4＝ACsinβ
l3＝ABsinα
s1023, a simultaneous equation obtains an equation for calculating the offset error d:
s103, aligning the center track of the implement to the center of the carriage surface by translating the target driving straight line, wherein the offset value is an offset error d, and the offset value can move along the center of the carriage surface by offsetting the center of the implement, so that the distance between the left carriage and the right carriage is kept consistent, and the target straight line is translated into an equation: y is kx + b + kd, Y is a Y-axis coordinate, X is an X-axis coordinate, k is a slope, b is an intercept, and d is an offset error;
and S104, realizing self-adaptive compensation of the offset error of the agricultural implement through a target linear translation equation.
As shown in fig. 1, the invention also provides a non-contact type farm implement offset error adaptive compensation system, which is installed on a tractor 6 with an automatic navigation function and used for adaptively compensating the neutral position offset of a farm implement 3, wherein the farm implement is hung on the tractor 6 in a three-point hanging 5 mode, the system comprises a 360-degree single-line laser radar component 1, a drawing device 4 and a farm implement auxiliary navigation controller 11, the 360-degree single-line laser radar component 1 is connected with the farm implement auxiliary navigation controller 11 in a serial port mode, the drawing device 4 and the drawing device 4 are vertically locked, and the height of the drawing device is higher than that of the laser measurement plane 2, so that the laser measurement plane 2 can measure the position of the drawing device. The non-contact type agricultural implement offset error self-adaptive compensation method is stored in the agricultural implement auxiliary navigation controller.
As shown in fig. 2, the data of the 360-degree single-line laser radar component 1 is transmitted to the agricultural machinery auxiliary navigation controller 11 through a serial port, and a program of the integrated offset error adaptive compensation method is loaded in the agricultural machinery auxiliary navigation controller 11. The energy of the 360-degree single-line laser radar component 1 is provided by the agricultural machinery auxiliary navigation controller 11 through a power line.
As shown in FIG. 3, the 360-degree single-line laser radar component 1 comprises a 360-degree single-line laser radar, a mounting piece 1-2 and a mounting screw 1-3, wherein the 360-degree single-line laser radar is arranged on the mounting piece through a screw, the mounting piece is arranged in the center of the rear edge of the tractor roof through a screw, and the mounting inclination angle can be adjusted according to specific conditions.
As shown in fig. 4, the 360-degree single-line laser radar component 1 emits a rotating laser beam to form a laser measurement plane 2, the laser measurement plane 2 can measure an object intersected with a laser plane, the distance and the angle from a surface point of the object to the radar can be obtained, a line drawing device 4 measures aiming at the system, similar markers need to be additionally arranged on agricultural implements without line drawing devices, the line drawing device can be installed according to actual conditions, and central symmetry is kept. The laser plane measures the specific position of the line drawing device, calculates the offset value of the machine tool through an offset error adaptive compensation method according to measured data, and transmits the offset value back to the agricultural auxiliary navigation controller 11 for offset error adaptive compensation.
As shown in FIG. 5, the designed offset error adaptive compensation method is based on the geometric relation computer center offset error of the 360-degree single line laser radar component 1 and the line drawing device 4, and the offset error is defined based on the 360-degree single line laserThe center of the optical radar component 1 is point A, the centers of the two drawing devices 4 are defined as point B, C respectively, and the laser measuring plane 2 can obtain the lengths and the relevant angles of AB and AC. The traveling target straight line of the vehicle, i.e., the tractor center line, is defined as L1The center line of the operation track of the agricultural implement 3 is defined as L2. Tractor center line L1And a working track center line L2The distance therebetween is an offset error d, and error compensation is performed using the offset error d.
As shown in FIG. 6, the laser measurement plane 2 can measure and obtain the geometrical relationship between the two scribers 4 and the 360-degree single line laser radar assembly 1, as shown in FIG. 6, wherein the angles α and β can be obtained by the 360-degree single line laser radar assembly 1, α and β are the included angles between the connecting line of the center of the scriber and the center of the radar and the path direction, the measurement precision reaches 0.33 degrees, the distance from the point B to the point L can also be measured and obtained, the precision reaches 0.5 cm1Is defined as l3C to L2Is defined as l4Wherein D is the center point of the machine tool and can be obtained according to the similar triangle principle:
l3+d＝l4formula 1
From the geometric relationship:
d+l4ACsin β formula 2
l3 Abrin α formula 3
in the above scheme, the flow of the offset error d calculation program is shown in fig. 7, and the program starts from 12-1, and then performs system initialization 12-2, serial port initialization, and global variable and array initialization. Continuously recording 12-3, and carrying out mean value processing on the radar data for 3 s:
in the formula
Is the average of the data measured at angle σ.
After the analysis treatment
And data, performing k-clustering on the data of the drawer 4, calculating the central point of the drawer 4 by using a Hough transformation method, and further calculating the distance between AB and AC. And calculating an offset error d according to a formula of formula 4, and sending the offset error d to a main navigation program in the agricultural machinery auxiliary navigation controller 11 for adaptive compensation of the offset error.
In the scheme, as shown in fig. 8, the vertical lines in the figure are divided into the sowing carriage surface 9 and the carriage interval 10 respectively, the automatic navigation agricultural machine can walk along a straight line, if the automatic navigation agricultural machine moves forward along the central track 8 of the tractor, the carriage interval 10 is wide on one side and narrow on the other side due to the deviation of the agricultural machine 3, and medium-term management and later-period machine harvesting are not facilitated. Therefore, the machine tool center track 7 is aligned to the center of the carriage surface by translating the target driving straight line, the offset value is the offset error d, and the offset value can move along the center of the carriage surface by offsetting the center of the agricultural machine tool, so that the distance 10 between the left carriage and the right carriage is kept consistent.
Linear translation of the target
y-kx + b + kd formula 6
Wherein Y is the Y-axis coordinate, X is the X-axis coordinate, k is the slope, b is the intercept, and d is the offset error.
The self-adaptive compensation of the offset error of the agricultural implement can be realized through the above formula.
The invention also provides a tractor with an automatic navigation function, which comprises a tractor body, a 360-degree single-line laser radar component, a drawing device and an agricultural implement, wherein the agricultural implement is hung on the tractor body in a three-point suspension mode, the drawing device is arranged at two ends of the agricultural implement, the 360-degree single-line laser radar component is connected with an agricultural implement auxiliary navigation controller in a serial port mode, and when the tractor with the automatic navigation function works, the agricultural implement auxiliary navigation controller realizes the offset error self-adaptive compensation method.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (9)
1. A non-contact type self-adaptive compensation method for offset errors of agricultural implements is characterized in that the offset errors of the center of the implements are calculated based on the geometric relation between a 360-degree single-line laser radar component and a line drawing device, the center based on the 360-degree single-line laser radar component is defined as a point A, the centers of the two line drawing devices are defined as B, C points respectively, the laser measurement plane can obtain the lengths and relevant angles of AB and AC, and the straight line of a driving target of a vehicle, namely the center line of a tractor, is defined as L1The center line of the operation track of the agricultural implement is defined as L2Center line L of tractor1And a working track center line L2The distance between the two is offset error d, and the offset error d is used for error compensation; the method comprises the following steps:
preprocessing data received by the 360-degree single-line laser radar component;
based on the preprocessed data, the offset error d is calculated,
the machine tool center track is aligned to the center of the carriage surface by translating the target driving straight line, the offset value is the offset error d, and the offset value can move along the center of the carriage surface through the center of the offset agricultural machine tool, so that the left and right carriage intervals are kept consistent, and the target straight line is translated into an equation: y is kx + b + kd, Y is a Y-axis coordinate, X is an X-axis coordinate, k is a slope, b is an intercept, and d is an offset error;
and realizing self-adaptive compensation of the offset error of the agricultural implement through a target linear translation equation.
2. The non-contact agricultural implement offset error adaptive compensation method according to claim 1, wherein the step of preprocessing the data received by the 360-degree single line laser radar component specifically comprises:
receiving data of a 360-degree single-line laser radar component;
carrying out mean value processing on the single-line laser radar data with the same angle and 360 degrees in set time:
carrying out limited-range clustering processing on the data by using a k-clustering method;
performing circular Hough transformation calculation on the obtained clustering result to obtain a line drawing device measuring center with the maximum probability;
the distance between AB and AC is further calculated.
3. The method of claim 2, wherein the angles α and β are obtained by a 360 degree single line lidar assembly, α and β are the angles between the line connecting the center of the marker and the center of the radar and the direction of the path, the accuracy of the measurement is 0.33 °, and the distances between the line connecting the center of the marker and the center of the radar and the direction of the path are measured to obtain AB and AC, the accuracy is 0.5 cm, and the distance from point B to point L is 0.5 cm1Is defined as l3C to L2Is defined as l4Wherein D is the center point of the machine.
4. The non-contact agricultural implement offset error adaptive compensation method according to claim 1, wherein the step of calculating the offset error d according to the preprocessed data specifically comprises:
according to the similar triangle principle, the following steps are obtained: l3+d＝l4；
The geometrical relationship between the two line drawing devices and the 360-degree single-line laser radar component can be obtained as follows:
d+l4＝AC sinβ
l3＝AB sinα
the simultaneous equations obtain the equation for calculating the offset error d:
5. a non-contact type agricultural implement offset error self-adaptive compensation system is characterized by comprising a 360-degree single-line laser radar component, a line drawing device and an agricultural implement auxiliary navigation controller, wherein the 360-degree single-line laser radar component is connected with the agricultural implement auxiliary navigation controller in a serial port mode, the line drawing device is vertically locked and is higher than a laser measurement plane, and the laser measurement plane can measure the position of the line drawing device; the agricultural machinery auxiliary navigation controller stores the non-contact agricultural implement offset error adaptive compensation method of any one of claims 1 to 4.
6. The non-contact agricultural implement offset error adaptive compensation system according to claim 5, wherein the 360-degree single-line laser radar component data is transmitted to the agricultural auxiliary navigation controller through a serial port, a program integrating the offset error adaptive compensation method is loaded in the agricultural auxiliary navigation controller, and the energy of the 360-degree single-line laser radar component is provided by the agricultural auxiliary navigation controller through a power line.
7. The system of claim 5, wherein the 360 degree singlet lidar component emits a rotating laser beam to form a laser measurement plane, the laser measurement plane can measure an object intersecting the laser plane to obtain a distance and an angle from a surface point of the object to the 360 degree singlet lidar component, the laser plane measures a specific position of the plotter, the offset value of the implement is calculated by an offset error adaptive compensation method according to measured data, and the offset value is transmitted back to the agricultural auxiliary navigation controller for adaptive offset error compensation.
8. The non-contact agricultural implement offset error adaptive compensation system according to claim 5, wherein the 360-degree single line laser radar assembly comprises a 360-degree single line laser radar, a mounting member and a mounting screw, the 360-degree single line laser radar is arranged on the mounting member through the screw, and the mounting member is arranged in the center of the rear edge of the tractor roof through the screw.
9. A tractor with an automatic navigation function is characterized by comprising a tractor body, a 360-degree single-line laser radar component, a drawing device and an agricultural implement, wherein the agricultural implement is hung on the tractor body in a three-point suspension mode, the drawing device is arranged at two ends of the agricultural implement, the 360-degree single-line laser radar component is connected with an agricultural implement auxiliary navigation controller in a serial port mode, and when the tractor with the automatic navigation function works, the agricultural implement auxiliary navigation controller realizes the offset error self-adaptive compensation method according to any one of claims 1 to 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010050802.9A CN111257895B (en) | 2020-01-17 | 2020-01-17 | Non-contact type agricultural implement offset error self-adaptive compensation method and system and tractor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010050802.9A CN111257895B (en) | 2020-01-17 | 2020-01-17 | Non-contact type agricultural implement offset error self-adaptive compensation method and system and tractor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111257895A true CN111257895A (en) | 2020-06-09 |
| CN111257895B CN111257895B (en) | 2022-03-25 |
Family
ID=70947588
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010050802.9A Active CN111257895B (en) | 2020-01-17 | 2020-01-17 | Non-contact type agricultural implement offset error self-adaptive compensation method and system and tractor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111257895B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111994078A (en) * | 2020-09-04 | 2020-11-27 | 深圳冰河导航科技有限公司 | Driving deviation correction method, device and equipment applied to automatic driving and storage medium |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW200412591A (en) * | 2003-01-08 | 2004-07-16 | Mediatek Inc | Method for calibrating center error offset in optical drive and control system capable of calibrating center error offset |
| US20080030398A1 (en) * | 2006-07-25 | 2008-02-07 | Denso Corporation | Radar apparatus |
| US20100157280A1 (en) * | 2008-12-19 | 2010-06-24 | Ambercore Software Inc. | Method and system for aligning a line scan camera with a lidar scanner for real time data fusion in three dimensions |
| US20120101680A1 (en) * | 2008-10-24 | 2012-04-26 | The Gray Insurance Company | Control and systems for autonomously driven vehicles |
| CN104133192A (en) * | 2014-08-14 | 2014-11-05 | 西安电子科技大学 | Agricultural machine navigation system and method applied to small and medium-sized farmland |
| CN108562889A (en) * | 2018-07-20 | 2018-09-21 | 苏州艾吉威机器人有限公司 | A kind of laser radar method for correcting coordinate |
| CN109357631A (en) * | 2018-11-30 | 2019-02-19 | 厦门大学 | A kind of measuring system center scaling method based on laser displacement sensor |
| CN110658540A (en) * | 2019-09-18 | 2020-01-07 | 华南农业大学 | Method for testing satellite navigation automatic operation accuracy of transplanter by using unmanned aerial vehicle low-altitude flight target positioning technology |
-
2020
- 2020-01-17 CN CN202010050802.9A patent/CN111257895B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW200412591A (en) * | 2003-01-08 | 2004-07-16 | Mediatek Inc | Method for calibrating center error offset in optical drive and control system capable of calibrating center error offset |
| US20080030398A1 (en) * | 2006-07-25 | 2008-02-07 | Denso Corporation | Radar apparatus |
| US20120101680A1 (en) * | 2008-10-24 | 2012-04-26 | The Gray Insurance Company | Control and systems for autonomously driven vehicles |
| US20100157280A1 (en) * | 2008-12-19 | 2010-06-24 | Ambercore Software Inc. | Method and system for aligning a line scan camera with a lidar scanner for real time data fusion in three dimensions |
| CN104133192A (en) * | 2014-08-14 | 2014-11-05 | 西安电子科技大学 | Agricultural machine navigation system and method applied to small and medium-sized farmland |
| CN108562889A (en) * | 2018-07-20 | 2018-09-21 | 苏州艾吉威机器人有限公司 | A kind of laser radar method for correcting coordinate |
| CN109357631A (en) * | 2018-11-30 | 2019-02-19 | 厦门大学 | A kind of measuring system center scaling method based on laser displacement sensor |
| CN110658540A (en) * | 2019-09-18 | 2020-01-07 | 华南农业大学 | Method for testing satellite navigation automatic operation accuracy of transplanter by using unmanned aerial vehicle low-altitude flight target positioning technology |
Non-Patent Citations (2)
| Title |
|---|
| AUAT CHEEIN ET.AL: "《Algebraic path tracking to aid the manual harvesting of olives using an antomated service unit》", 《BIOSYSTEMS ENGINEERING》 * |
| 谢永良: "《设施农业用轮式AGV系统集成设计与避障导航技术研究》", 《中国博士学位论文全文数据库 农业科技辑》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111994078A (en) * | 2020-09-04 | 2020-11-27 | 深圳冰河导航科技有限公司 | Driving deviation correction method, device and equipment applied to automatic driving and storage medium |
| CN111994078B (en) * | 2020-09-04 | 2024-01-26 | 深圳冰河导航科技有限公司 | Driving deviation correcting method, device and equipment applied to automatic driving and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111257895B (en) | 2022-03-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205156902U (en) | Dark measuring device of agricultural machinery soil preparation operation loose deeply | |
| RU2678079C1 (en) | Soil-processing tool, method of maintaining at a height at least one of the working body of the finger hoe over a remote through culture | |
| US10791665B2 (en) | Tree planting system, tree planting method, cultivating machine, tree planting machine, and management device | |
| CN111257895B (en) | Non-contact type agricultural implement offset error self-adaptive compensation method and system and tractor | |
| CN106843062B (en) | Intelligent variable fertilization control system and control method | |
| CN105928480A (en) | Hanging type subsoiler plowing depth detection system, method and device | |
| CN104521435A (en) | Automatic cutting type tea harvester cutting bench automatic levelling method and device | |
| CN110692299B (en) | Row-aligning detection device, intertillage topdressing machine and control method thereof | |
| CN106982563A (en) | A kind of towed tillage equipment tilling depth detecting system and method | |
| CN109220089B (en) | Cell seeding path alignment method based on Beidou satellite positioning | |
| CN110320941A (en) | Pressure automatic control system under planter based on soil compactibility monitoring | |
| CN103075982A (en) | Three-dimensional reconstruction and measurement device and method of greenhouse strawberry canopy | |
| Yin et al. | Method and system of plowing depth online sensing for reversible plough | |
| CN112817019A (en) | Vibroseis vehicle working point positioning error compensation method based on attitude information | |
| Yangchun et al. | Design and experiment of remote management system for subsoiler | |
| CN103791846A (en) | Paddy plant type measuring instrument and method for measuring paddy plant type parameters | |
| CN112889442B (en) | Real-time measurement and accurate fertilization information mark target machine | |
| CN112659145B (en) | PSD-based seedling taking manipulator motion detection device and method | |
| CN115683148A (en) | Automatic driving method, device and system, and computer readable storage medium | |
| CN109948951B (en) | Method for evaluating seed distribution uniformity after sowing operation | |
| CN205014948U (en) | Non -contact measures device of cask centre of a circle coordinate | |
| CN109348800B (en) | Variable rate fertilizer distributor volume of fertilizing measuring mechanism based on single line laser radar | |
| CN207248155U (en) | A kind of ditch shape outer contour plotting board | |
| Lou et al. | Design and test evaluation of the subsoiler equipped with tillage depth monitoring and control subsoiling assemblies. | |
| CN115576319B (en) | Trace setting method for agricultural machinery |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |