CN116225003A - Intelligent agricultural machine seed pipe same-track operation method - Google Patents
Intelligent agricultural machine seed pipe same-track operation method Download PDFInfo
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- 235000009566 rice Nutrition 0.000 description 8
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- 238000009333 weeding Methods 0.000 description 6
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- G05D1/02—Control of position or course in two dimensions
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- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention discloses an intelligent agricultural machine seed pipe same-track operation method, which comprises the following steps: building a seed pipe same-track system, wherein the seed pipe same-track system comprises a terminal unit and a background server; loading the terminal unit on an intelligent agricultural machine; planting by an intelligent agricultural machine, recording track information of planting operation, and uploading the track information to a background server; when entering a later field management or harvesting link, the intelligent agricultural machine loaded with the terminal unit is connected with a background server, and the operation track information of the designated field in the planting link is downloaded; if the operation track of the intelligent agricultural machine in the planting link is inconsistent with the operation track of the intelligent agricultural machine in the later field management or the harvesting link, adjusting the operation track information of the planting to obtain the operation track information matched with the intelligent agricultural machine in the later field management or the harvesting link; and the intelligent agricultural machinery in the later management or harvesting link completes the same-track operation according to the adjusted adaptive operation track information.
Description
Technical Field
The invention relates to an agricultural management method, in particular to an intelligent agricultural machine seed and pipe same-track operation method.
Background
At present, when the intelligent agricultural machine carries out navigation operation on crops, the operation environment facing the current link is only analyzed and processed, the operation is carried out, each link of the cultivation pipe is cut off, the AB point is mainly adopted to carry out linear path planning and linear operation during navigation operation, the operation efficiency is improved in wide farmland operation, but the method is too ideal, the application is still acceptable during the cultivation and planting links of crops which are not grown in the field, once the crop management and harvesting links are entered, the intelligent agricultural machine can slip and drift to different degrees during the planting operation under the influence of various factors such as different field types, operation tool types, planting modes and the like, the actual planting position of the crops is deviated, the planting of the crops cannot be completed under the same straight line, such as the rice planted by the unmanned transplanting machine, the shape of a seedling belt can still be shown as an irregular curve, the intelligent agricultural machine adopting the AB point linear operation method can inevitably damage the crops, the crops are reduced, and the agricultural fine agricultural management cannot be satisfied.
Disclosure of Invention
The invention aims to overcome the problems, and provides an intelligent agricultural machine seed pipe same-track operation method which can provide operation track guiding information for later management and harvest links by recording agricultural machine operation track information of early cultivation links, so that crops can be finely managed, the intelligent agricultural machine can be attached to the actual planting positions of the crops when in operation, the operation path is optimized, and the damage rate of the crops caused by the agricultural machine operation is reduced.
The aim of the invention is achieved by the following technical scheme:
an intelligent agricultural machine seed pipe same-track operation method comprises the following steps:
step one, a seed pipe same-track system is built, and the seed pipe same-track system comprises a terminal unit and a background server; the terminal unit is connected with the background server through a network and comprises a navigation positioning module, a display module, a data transmission module and a processor module;
loading a terminal unit of the seed tube same-track system on an intelligent agricultural machine; planting by an intelligent agricultural machine, recording track information of planting operation, and uploading the track information to a background server;
step three, when crops are planted and enter a later field management or harvesting link, an intelligent agricultural machine for carrying out field management or harvesting loads a terminal unit of the seed pipe same-track system, the intelligent agricultural machine is connected with a background server before entering a designated field operation, and operation track information of the designated field stored in the background server in the planting link is downloaded;
step four, if the operation track of the intelligent agricultural machine in the planting link is inconsistent with the operation track of the intelligent agricultural machine in the later field management or the harvesting link, the intelligent agricultural machine in the later field management or the harvesting link needs to adjust the operation track information to obtain the operation track information matched with the intelligent agricultural machine in the later field management or the harvesting link;
and fifthly, the intelligent agricultural machinery in the later management or harvesting link completes the same-track operation according to the adjusted and obtained adaptive operation track information.
In a preferred scheme of the invention, in the first step, the positioning module is an RTK module of a beidou navigation satellite system, and the RTK module is connected with the processor module through a data line; the RTK module sends the received positioning information to the processor module, and the processor module calculates real-time positioning coordinates of a central point of the intelligent agricultural machine, an azimuth angle of the machine body orientation and a running speed after receiving the positioning information of the two RTK modules, and simultaneously sets a target coordinate point for the intelligent agricultural machine, and the agricultural machine is guided to the target point according to the distance between the current position of the machine and the target point and the heading.
Further, two RTK modules are loaded at the left end and the right end above the frame of the intelligent agricultural machine in a mode of being symmetrical to the central axis of the machine body, the connecting line of the two RTK modules is perpendicular to the advancing direction of the intelligent agricultural machine, and the RTK modules are in real-time data connection with the Beidou navigation satellite and a plurality of reference stations to receive positioning information.
In a preferred embodiment of the present invention, in the first step, the processor module is connected with the display module, and the positioning data processing result, the implement operation state and the field operation completion rate are displayed by the display module; after the intelligent agricultural machine finishes the operation of the appointed field, the positioning information of the whole operation process of the intelligent agricultural machine is recorded and a group of field operation track information is formed in the form of a series of coordinate points and is temporarily stored in the display module.
In a preferred embodiment of the present invention, in the first step, the display module is connected to the data transmission module, and is connected to the background server through the data transmission module, so as to upload the operation track information to the background server or download the operation track information from the background server.
In a preferred scheme of the invention, in the second step, before planting operation, marking an operation straight line at A, B points at two ends of a field, and planning a field path according to the operation straight line; planning a path through a processor module;
in the planting operation process, real-time positioning information of the intelligent agricultural machine passing through is transmitted to the processor module in real time through the positioning module, and the processor module processes the positioning information and controls the intelligent agricultural machine to conduct navigation operation; the processed positioning information is transmitted and temporarily stored in a form of a group of geodetic coordinates, after the intelligent agricultural machine finishes the operation of any field, the field and the corresponding operation track information marked by the designated number are connected to a background server through a data transmission module, and the operation track information in the geodetic coordinates is uploaded to the background server for storage, so that the operation track information is downloaded by other intelligent agricultural machines.
In a preferred embodiment of the present invention, in the fourth step, the method for adjusting the operation track information includes:
converting the operation track information from the geodetic coordinates to the plane coordinates of the earth projection, and calculating new operation path coordinates on the plane coordinates according to the azimuth angle and the distance by taking all positioning coordinate points in the original track information as references;
assuming that the coordinates of an original track coordinate point A are (Xa, ya), assuming that the coordinate value (Xb, yb) of a coordinate point B to be solved, wherein the linear distance between the point B and the point A is L, the azimuth angle of the point B relative to the point A is M, and taking the true north direction as a 0 degree reference; the coordinates of B can be found by the following formula:
Xb＝Xa+(L*cos(M))；
Yb＝Ya+(L*sin(M))。
further, the operation line number of the intelligent agricultural machine in the early planting link is a, the operation line number of the intelligent agricultural machine in the later field management or harvesting link is b, and the distance between the crop lines is d; the original operation track information is taken as the center, parallel tracks are respectively pushed to the left side and the right side of the original operation track information, and the number and the interval distance of the parallel tracks depend on the operation line numbers of the agricultural machinery in two links:
when a/b is an odd number, the original track is reserved as one line of the new track, parallel tracks with the number of n= (a/b-1)/2 are respectively calculated on the left side and the right side, and the distance P=b x d between the adjacent parallel tracks;
when a/b is even, the original track is not reserved, and the estimation is carried out to two sides by taking the original track as an estimation reference, wherein the number of parallel tracks at two sides is respectively
The distance P1=b.d/2 between the original track and two adjacent parallel tracks, and the distance P2=b.d between the rest parallel tracks, and the original track is taken as a reference, and the calculation can be completed according to the quantity and the distance;
after the calculation is completed, the recombined track information is converted from the plane coordinates to the geodetic coordinates in the theodolite format for the intelligent agricultural machinery to complete the navigation operation.
Further, the operation track information recorded in the early planting link is a series of dense positioning coordinate points, characteristic points of the personnel track information are required to be selected, the standard of the selected characteristic points is to ensure that the intelligent agricultural machine does not touch or damage crops in the operation process, and the method comprises the following steps:
under the condition that the crop rows have bent angles, the bending degree of the crop rows under the limiting working condition is taken, the intelligent agricultural machine runs at the minimum turning radius, the distance between the outermost planting point and the turning center is taken as R, the distance between two adjacent planting points of the agricultural machine is taken as L, the condition of the maximum bent angle of the crop rows planted by the intelligent agricultural machine is taken at the moment, and under the bent angle, the intelligent agricultural machine walking wheel starts to move towards the next characteristic point at the midpoint of the two rows of crop rows;
if the crop is not touched, the maximum driving angle of the crop is in a state when the driving direction is tangential to the outermost crop, namely the maximum linear distance between the characteristic points can be taken as
And selecting and rearranging characteristic points of the operation track information by taking the distance as an interval, so that an operation path which is matched with the intelligent agricultural machinery in the later field management or harvesting link can be generated.
In a fifth preferred scheme of the invention, in the same-track operation process, the processor module sequentially uses the coordinates of the characteristic points arranged by the adapted operation track information as target coordinate points of the intelligent agricultural machinery, and uses the next characteristic point as a new target point when the intelligent agricultural machinery operates to reach a target point until the same-track operation of the field is completed;
in the same rutting process, real-time track information of the operation is received through the positioning module, and the real-time track information is stored in the background server through the data transmission module in a longitude and latitude form.
According to the invention, after the intelligent agricultural machine finishes the same-track operation, the operation tracks of the early-stage links and the later-stage management or harvesting links of the crop planting are compared, the data of the operation tracks are analyzed, the operation speed of the intelligent agricultural machine and the selection of the characteristic points of the operation tracks are optimized according to the data, and the refinement degree of the same-track operation method on the crop planting management is improved.
Compared with the prior art, the invention has the following beneficial effects:
1. the intelligent agricultural machinery seed pipe same-track operation method provided by the invention can be used for carrying out fine management on crops by recording the agricultural machinery operation track information of the early cultivation link and providing the operation track guide information for the later management or harvesting link, so that the intelligent agricultural machinery can be attached to the actual planting position of the crops when in operation, the operation path is optimized, and the crop damage rate caused by the agricultural machinery operation is reduced.
2. When the same-rut operation of the later management or the harvesting links is performed and the operation track information of the earlier planting links is applied, the operation track information is adaptively adjusted, and a target operation path attached to the planting position of the crops is obtained for operation, so that the purposes of reducing the damage rate of the crops, improving the adaptability of the intelligent agricultural machinery to complex planting conditions and the like are achieved.
Drawings
Fig. 1 is a schematic diagram of track information adaptation adjustment of the intelligent agricultural machine seed pipe same-track operation method.
Fig. 2 is a schematic diagram of overall feature point selection for track information adaptation adjustment of the intelligent agricultural machine seed pipe same-track operation method of the invention.
Fig. 3 is a schematic diagram of selecting local feature points for track information adaptation adjustment of the intelligent agricultural machine seed pipe same-track operation method.
Fig. 4-5 are schematic diagrams of operation path estimation under two different conditions of the intelligent agricultural machine type management same-rut operation method of the present invention.
Detailed Description
In order that those skilled in the art will well understand the technical solutions of the present invention, the following describes the present invention further with reference to examples and drawings, but the embodiments of the present invention are not limited thereto.
The intelligent agricultural machine seed pipe same-track operation method of the embodiment comprises the following steps:
the system to be built for the same-track operation method comprises a Beidou navigation satellite system RTK module (positioning module), an embedded board card (processor module), a 4G module (data processing module), a visual terminal (display module) and a cloud server platform (background server), wherein a set of system is mounted on intelligent agricultural machines applying the same-track operation method, each intelligent agricultural machine is provided with the RTK modules of the two Beidou navigation satellite systems at the left end and the right end above a frame in a mode of being symmetrical to the central axis of a machine body, the connecting line of the two RTK modules is perpendicular to the advancing direction of the agricultural machine, and the RTK modules are connected with the Beidou navigation satellite and a plurality of reference stations in real time to receive positioning information, so that centimeter-level positioning accuracy can be provided. The RTK module is connected with the embedded board card through a data line, the received positioning information can be sent to the embedded board card, after the embedded board card receives the positioning information of the two RTK modules, the real-time positioning coordinates (the positioning coordinates are the geodetic coordinates in the longitude and latitude form) of the central point of the intelligent agricultural machine, the azimuth angle of the machine body orientation, the running speed and other data can be calculated, meanwhile, a target coordinate point can be set for the agricultural machine, and the agricultural machine can be navigated to the target point according to the distance between the current position of the machine tool and the target point, the heading and other data. The embedded board is connected with a visual terminal, and can display information such as a positioning data processing result, an implement operation state, a field operation completion rate and the like through the visual terminal, and after the intelligent agricultural machine finishes the operation of a designated field, the positioning information of the whole operation process is recorded and a group of field operation track information is temporarily stored in the visual terminal in a form of a series of coordinate points. The visual terminal is connected with a 4G module, and is connected with the cloud server platform by receiving and transmitting 4G signals through the 4G module, so that the operation track information is uploaded to the cloud server or downloaded from the cloud server.
In the second step, the intelligent agricultural machine loaded with the system in the first step performs path planning in the operation links (mainly in cultivated land and planting links) through the embedded board card of the system, performs automatic navigation operation in the field, and as the field does not have crops or other obstacles influencing the operation of the machine tool in the previous cultivated land and planting links, the intelligent agricultural machine can mark an operation straight line at the two ends of the field by marking A, B points, and perform field path planning and operation accordingly, in the operation process, the RTK module on the machine tool receives all positioning information passing through in the operation process of the agricultural machine in real time and transmits the positioning information to the embedded board card in real time, the embedded board card processes the positioning information and controls the agricultural machine to perform navigation operation, the processed positioning information is transmitted in the form of a group of land coordinates and temporarily stored in the visual terminal, after the intelligent agricultural machine completes the operation of any field, the field is marked with a specific number, the visual terminal is connected to the cloud server through the 4G module corresponding to the operation track information of the field coordinates, and the track information of the intelligent agricultural machine is uploaded to the cloud server in the operation track information format, and the cloud server is convenient to download the operation track information of the intelligent agricultural machine.
And thirdly, when crops are planted and enter a later field management and harvesting link, the intelligent agricultural machine performing field management or harvesting operation is loaded with the system in the first step, the visual terminal is connected with the cloud server through the 4G module before the intelligent agricultural machine enters the designated field operation, and the operation track information of the designated field intelligent agricultural machine stored in the cloud server in the planting link is searched and downloaded according to the field number.
And step four, after the intelligent agricultural machinery in the management and harvesting link acquires the operation track information of the intelligent agricultural machinery in the planting link, the visual terminal transmits the track information to the embedded board card, and as the wheel base, the operation line number, the turning radius and other parameters of different machines are different, the track information adaptation and adjustment are required to be carried out, so that the same track operation can be completed among the agricultural machinery in different links. When the operation lines of the intelligent agricultural machinery in the planting link and the intelligent agricultural machinery in the management and harvesting link are inconsistent, the agricultural machinery in the later stage needs to reprocess the operation track information, the track is converted into a target path conforming to the operation range of the machine, for example, 6 rows of crops can be planted in a single walking operation of the agricultural machinery in the planting link, and the management of 2 rows of crops can only be completed in a single walking operation of the agricultural machinery in the later stage.
The reckoning and reorganizing process of the operation track information mainly comprises the steps of converting the operation track information into plane coordinates of earth projection from geodetic coordinates, reckoning corresponding operation track coordinates on the plane coordinates according to azimuth angles and distances by taking all positioning coordinate points in original track information as references, wherein if the coordinates of an original track coordinate point A are (Xa, ya), coordinate values (Xb, yb) of a coordinate point B need to be reckoned, the straight line distance between the B point and the A point is L, the azimuth angle of the B point relative to the A point is M (based on the true north direction as 0 degree), xb=Xa+ (L×cos (M)), and Yb=ya+ (L×sin (M)), namely, the coordinate points of other positions can be reckoned according to the relative distances and azimuth angles based on the original track coordinate points. Specifically, the linear distance L and the azimuth angle M are measured according to actually required data:
for example, when the current agricultural machine works on a row of seedling belt, the direction is north-positive, that is, the azimuth angle is 0, one seedling coordinate point below the position of the agricultural machine is (X1, Y1), the position of the seedling on the right side needs to be estimated, the distance l=30 of the straight line because the seedling interval distance of the transplanting machine is 30cm, and then the target azimuth angle m=0+90=90 degrees because on the right side is positive, so the coordinates (X2, Y2) of the seedling on the right side are estimated.
Referring to fig. 1 and fig. 4 to 5, for the case that the operation lines of the agricultural machinery in the early planting link and the later management link are inconsistent, it is also necessary to calculate the original track information into multiple parallel track information according to the coordinate point calculation mode, let the operation line number of the intelligent agricultural machinery in the early planting link be a, the operation line number of the intelligent agricultural machinery in the later management link be b, the distance between the crop lines be d, it is necessary to calculate a certain number of parallel tracks to the left and right sides of the intelligent agricultural machinery in the later management link by taking the original operation track information as the center, the number and the interval distance depend on the operation line numbers of the agricultural machinery in the two links, when a/b is an odd number, the original track is reserved as one line of the new tracks, and the parallel tracks with n= (a/b-1)/2 are calculated to the left and right sides, and the distance between the adjacent parallel tracks is p=b. Specifically, when the transplanting machine in the planting link is a six-row transplanting machine, namely a=6, and the number of operation lines of the weeding machine in the management link is 2, namely b=2, at this time a/b=3, and is an odd number, as shown in fig. 4, 6 short black lines are operation lines of the transplanting machine, 1 long black line is operation path of the transplanting machine, then when the transplanting machine operates, the path should be three dotted lines, at this time, the dotted line path required by the weeding machine needs to be calculated through the long black line operation path of the transplanting machine, since the middle path of the three dotted line paths of the weeding machine is coincident with the long black line path of the transplanting machine, the dotted line path can directly use the original path of the transplanting machine, and the left and right dotted line paths need to be calculated, at this time, the number of paths required to be calculated on both sides is n= (6/3) -1=1, the distance p=b=2 d, and the course information on both sides of the path is known, namely, the course of both sides of the transplanting machine and the transplanting machine path are respectively in a relationship of plus or minus 90 degrees, and the course information is calculated through the distance P, so that the weeding machine can adapt to the course operation path.
When a/b is even, the original track is not reserved, and the estimation is carried out to two sides by taking the original track as an estimation reference, wherein the number of parallel tracks at two sides is respectively
The distance P1=b×d/2 between the original track and two adjacent parallel tracks, and the distance P2=b×d between the rest parallel tracks, and based on the original track, the estimation can be completed according to the number and the distance. Specifically, when the transplanting machine in the planting link is a six-row transplanting machine, namely a=6, and if the number of operation rows of the weeding machine in the management link is 1, namely b=1, a/b=6 is an even number, as shown in fig. 5; 6 short and black solid lines are operation lines of the rice transplanter, 1 long and black solid line is an operation path recorded by the rice transplanter, six broken lines are needed as paths when the rice transplanter operates, at this time, the broken line paths needed by the rice transplanter are calculated through the long and black solid line operation paths of the rice transplanter, the number of paths needed to be calculated on two sides is n= (6/1)/2=3, the distance between the operation path of the rice transplanter and two adjacent rice transplanter paths is p1= 1*d/2=0.5d, and the rest parallel paths are provided with each otherSimilarly, the working paths of the two-side adaptive weeding machines can be calculated according to the working path information of the transplanting machines at known distances P1 and P2 and the heading information.
And after the calculation is finished, converting the recombined track information from the plane coordinates to the geodetic coordinates in the theodolite format for the intelligent agricultural machinery to finish navigation operation. In addition, as the operation track information recorded in the early stage link is a series of dense positioning coordinate points, all coordinate information is not needed for the intelligent agricultural machinery in the later stage link, so that characteristic points of the track information are needed to be selected, and the characteristic points which can represent an operation track curve are selected to be used as operation target paths, so that the data processing capacity of the intelligent agricultural machinery in the navigation process can be reduced, and unnecessary course adjustment in the navigation process can be reduced.
Referring to fig. 2, since the intelligent agricultural machine runs between the crop rows, the criterion of selecting the feature points should ensure that the condition that the agricultural machine touches and damages the crop as soon as possible does not occur in the operation process, if the two feature points are far away, under the condition that the crop rows have an angle of curvature, the agricultural machine may possibly press the crop to the feature points, in order to avoid the occurrence of the condition of damaging the crop, the bending degree of the crop rows under the limit condition is taken, when the planting type agricultural machine runs with the minimum turning radius, the distance between the outermost planting point and the turning center is taken as R, the distance between two adjacent planting points of the agricultural machine is taken as L, at this time, the maximum angle of curvature of the crop row planted by the intelligent agricultural machine is taken as L, under this angle of curvature, the agricultural machine walking wheel starts to move towards the next feature point at the midpoint of the two rows of the crop rows, if the crop is not touched, the condition that the maximum driving angle of the agricultural machine appears when the running direction is tangential to the outermost crop row, namely the maximum straight distance between the feature points is taken as
And selecting and rearranging characteristic points of the operation track information at intervals of the distance, so that an intelligent agricultural machine adaptive operation path of the management and harvesting links can be generated.
Referring to fig. 3, the green thick curve is two adjacent rows of crop strips, the stippled line is a working path for planting the agricultural machinery, the characteristic points are taken from the working path, the blue thin solid line is a running line for managing the agricultural machinery, that is, the maximum distance between the two characteristic points can be taken as D, at this time, the running line for managing the agricultural machinery is tangential to the crop strips, and if the further characteristic points are taken, the running line for managing the agricultural machinery is compared with the crop strips, that is, crop damage is caused.
And fifthly, the intelligent agricultural machine in the management and harvesting link completes the same-track operation according to the operation track information which completes the adaptation, the embedded board card sequentially uses the characteristic point coordinates arranged by the operation track information after the adaptation as target coordinate points of the intelligent agricultural machine, and when the intelligent agricultural machine operation runs to a target point, the next characteristic point is used as a new target point until the same-track operation of the field is completed. The intelligent agricultural machinery in the management and harvesting links performs the same-track operation, and meanwhile, the RTK module loaded on the machine body receives real-time track information of the operation, and the real-time track information is transmitted to the visual terminal through the embedded board card and stored in the cloud server through the 4G module in a longitude and latitude form.
Step six, after the intelligent agricultural machine finishes the same-track operation, the operation track of the early-stage link and the later-stage management harvesting link of the crop planting can be compared, the data such as the overlap ratio of the operation track, the track deviation and the like are analyzed, the links such as the operation speed of the intelligent agricultural machine, the selection of the characteristic points of the operation track and the like are optimized according to the data, and the refinement degree of the same-track operation method on the crop planting management is further improved.
The foregoing is illustrative of the present invention, and is not to be construed as limiting thereof, but rather as various changes, modifications, substitutions, combinations, and simplifications which may be made without departing from the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (10)
1. The intelligent agricultural machine seed pipe same-track operation method is characterized by comprising the following steps of:
step one, a seed pipe same-track system is built, and the seed pipe same-track system comprises a terminal unit and a background server; the terminal unit is connected with the background server through a network and comprises a navigation positioning module, a display module, a data transmission module and a processor module;
loading a terminal unit of the seed tube same-track system on an intelligent agricultural machine; planting by an intelligent agricultural machine, recording track information of planting operation, and uploading the track information to a background server;
step three, when crops are planted and enter a later field management or harvesting link, an intelligent agricultural machine for carrying out field management or harvesting loads a terminal unit of the seed pipe same-track system, the intelligent agricultural machine is connected with a background server before entering a designated field operation, and operation track information of the designated field stored in the background server in the planting link is downloaded;
step four, if the operation track of the intelligent agricultural machine in the planting link is inconsistent with the operation track of the intelligent agricultural machine in the later field management or the harvesting link, the intelligent agricultural machine in the later field management or the harvesting link needs to adjust the operation track information to obtain the operation track information matched with the intelligent agricultural machine in the later field management or the harvesting link;
and fifthly, the intelligent agricultural machinery in the later management or harvesting link completes the same-track operation according to the adjusted and obtained adaptive operation track information.
2. The method of claim 1, wherein in the first step, the positioning module is an RTK module of a beidou navigation satellite system, and the RTK module is connected with the processor module through a data line; the RTK module sends the received positioning information to the processor module, and the processor module calculates real-time positioning coordinates of a central point of the intelligent agricultural machine, an azimuth angle of the machine body orientation and a running speed after receiving the positioning information of the two RTK modules, and simultaneously sets a target coordinate point for the intelligent agricultural machine, and the agricultural machine is guided to the target point according to the distance between the current position of the machine and the target point and the heading.
3. The method for identical rutting operation of intelligent agricultural machine seed pipes according to claim 2, wherein two RTK modules are mounted at left and right ends above a frame of the intelligent agricultural machine in a manner of being symmetrical to a central axis of the machine body, a connecting line of the two RTK modules is perpendicular to an advancing direction of the intelligent agricultural machine, and the RTK modules are connected with Beidou navigation satellites and a plurality of reference stations in real time to receive positioning information.
4. The intelligent agricultural machinery seed pipe same-track operation method according to claim 1, wherein in the first step, the processor module is connected with the display module, and the positioning data processing result, the implement operation state and the field operation completion rate are displayed through the display module; after the intelligent agricultural machine finishes the operation of the appointed field, the positioning information of the whole operation process of the intelligent agricultural machine is recorded and a group of field operation track information is formed in the form of a series of coordinate points and is temporarily stored in the display module.
5. The intelligent agricultural machinery seed management same-track operation method according to claim 1, wherein in the first step, the display module is connected with the data transmission module, and is connected with the background server through the data transmission module, so that the operation track information is uploaded to the background server or downloaded from the background server.
6. The intelligent agricultural machine seed pipe same-track operation method according to claim 1, wherein in the second step, before planting operation, an operation straight line is marked at A, B points at two ends of a field, and field path planning is performed according to the operation straight line; planning a path through a processor module;
in the planting operation process, real-time positioning information of the intelligent agricultural machine passing through is transmitted to the processor module in real time through the positioning module, and the processor module processes the positioning information and controls the intelligent agricultural machine to conduct navigation operation; the processed positioning information is transmitted and temporarily stored in a form of a group of geodetic coordinates, after the intelligent agricultural machine finishes the operation of any field, the field and the corresponding operation track information marked by the designated number are connected to a background server through a data transmission module, and the operation track information in the geodetic coordinates is uploaded to the background server for storage, so that the operation track information is downloaded by other intelligent agricultural machines.
7. The intelligent agricultural machinery seed pipe same-track operation method according to claim 1, wherein in the fourth step, the method for adjusting the operation track information is as follows:
converting the operation track information from the geodetic coordinates to the plane coordinates of the earth projection, and calculating new operation path coordinates on the plane coordinates according to the azimuth angle and the distance by taking all positioning coordinate points in the original track information as references;
assuming that the coordinates of an original track coordinate point A are (Xa, ya), assuming that the coordinate value (Xb, yb) of a coordinate point B to be solved, wherein the linear distance between the point B and the point A is L, the azimuth angle of the point B relative to the point A is M, and taking the true north direction as a 0 degree reference; the coordinates of B can be found by the following formula:
Xb＝Xa+(L*cos(M))；
Yb＝Ya+(L*sin(M))。
8. the intelligent agricultural machinery seed pipe same-rut operation method according to claim 7, wherein the operation line number of the intelligent agricultural machinery in the early stage planting link is a, the operation line number of the intelligent agricultural machinery in the later stage field management or harvesting link is b, and the distance between crop lines is d; the original operation track information is taken as the center, parallel tracks are respectively pushed to the left side and the right side of the original operation track information, and the number and the interval distance of the parallel tracks depend on the operation line numbers of the agricultural machinery in two links:
when a/b is an odd number, the original track is reserved as one line of the new track, parallel tracks with the number of n= (a/b-1)/2 are respectively calculated on the left side and the right side, and the distance P=b x d between the adjacent parallel tracks;
when a/b is even, the original track is not reserved, and the estimation is carried out to two sides by taking the original track as an estimation reference, wherein the number of parallel tracks at two sides is respectively
Original track and its production methodThe distance P1=b.d/2 between two adjacent parallel tracks, the distance P2=b.d between the rest parallel tracks, taking the original track as a reference, can complete the calculation according to the number and the distance;
after the calculation is completed, the recombined track information is converted from the plane coordinates to the geodetic coordinates in the theodolite format for the intelligent agricultural machinery to complete the navigation operation.
9. The method for same-track operation of intelligent agricultural machinery seed pipes according to claim 8, wherein the operation track information recorded in the early planting link is a series of dense positioning coordinate points, characteristic point selection is required for the member track information, and the standard of the characteristic point selection is to ensure that the intelligent agricultural machinery does not touch and damage crops in the operation process, and the method comprises the following steps:
under the condition that the crop rows have bent angles, the bending degree of the crop rows under the limiting working condition is taken, the intelligent agricultural machine runs at the minimum turning radius, the distance between the outermost planting point and the turning center is taken as R, the distance between two adjacent planting points of the agricultural machine is taken as L, the condition of the maximum bent angle of the crop rows planted by the intelligent agricultural machine is taken at the moment, and under the bent angle, the intelligent agricultural machine walking wheel starts to move towards the next characteristic point at the midpoint of the two rows of crop rows;
if the crop is not touched, the maximum driving angle of the crop is in a state when the driving direction is tangential to the outermost crop, namely the maximum linear distance between the characteristic points can be taken as
And selecting and rearranging characteristic points of the operation track information by taking the distance as an interval, so that an operation path which is matched with the intelligent agricultural machinery in the later field management or harvesting link can be generated.
10. The intelligent agricultural machine seed management same-track operation method according to any one of claims 1 to 9, wherein in the fifth step, during the same-track operation, the processor module sequentially uses the coordinates of the feature points arranged by the adapted operation track information as the target coordinate points of the intelligent agricultural machine, and uses the next feature point as a new target point when the intelligent agricultural machine operation is driven to a target point until the same-track operation of the field is completed;
in the same rutting process, real-time track information of the operation is received through the positioning module, and the real-time track information is stored in the background server through the data transmission module in a longitude and latitude form.
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| CN116892944B (en) * | 2023-09-11 | 2023-12-08 | 黑龙江惠达科技股份有限公司 | Agricultural machinery navigation line generation method and device, and navigation method and device |
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