CN116907412A - Agricultural machinery row spacing deviation detection method, device and system - Google Patents
Agricultural machinery row spacing deviation detection method, device and system Download PDFInfo
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- 238000004891 communication Methods 0.000 description 4
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/16—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring distance of clearance between spaced objects
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/14—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring distance or clearance between spaced objects or spaced apertures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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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
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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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
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Abstract
The invention discloses a row spacing deviation detection method, device and system for an agricultural machine, and belongs to the technical field of intelligent agricultural machines. The method comprises the following steps: acquiring initial position data of a plurality of first sampling points, wherein the initial position data of the first sampling points are obtained by sampling the positions of the agricultural machinery in the process that the agricultural machinery runs according to a first reference track line; acquiring initial position data of a plurality of second sampling points corresponding to the first sampling points one by one, wherein the initial position data of the second sampling points are obtained by sampling the positions of the agricultural machinery in the process that the agricultural machinery runs according to a second reference track line; for each first sampling point, determining the distance between the first sampling point and the corresponding second sampling point according to the initial position data of the first sampling point and the initial position data of the corresponding second sampling point; for the distance between each first sampling point and the corresponding second sampling point, calculating the difference value between the distance and the reference line spacing. The invention can realize the detection of the row spacing deviation of the agricultural machinery.
Description
Technical Field
The invention relates to the technical field of intelligent agricultural machinery, in particular to a row spacing deviation detection method, device and system of agricultural machinery.
Background
With the advancement of digital agriculture and intelligent agriculture, agricultural machinery autopilot technology has been widely used. Through the automatic driving technology of the agricultural machinery, the operation of the agricultural machinery can be accurately controlled, so that the operation of a unit is not repeated and omitted, and the operation efficiency and the land utilization rate of the agricultural machinery can be greatly improved.
In the automatic driving process of the agricultural machinery, the row spacing deviation has larger influence on the operation process of the agricultural machinery. And in some agricultural machinery related standards, tracking detection of the deviation of the row spacing of the agricultural machinery in the automatic driving process is required, such as two standards of T/CAAMM 13-2018 (general technical condition for front loading of an agricultural machinery satellite navigation automatic driving system) and NY/T3334-2018 (technical specification for evaluating the quality of an agricultural machinery automatic navigation auxiliary driving system). Therefore, a method for detecting the row spacing deviation of the agricultural machinery is needed.
Disclosure of Invention
The embodiment of the invention provides a method, a device and a system for detecting row spacing deviation of an agricultural machine, which can realize the detection of the row spacing deviation of the agricultural machine. The technical scheme is as follows:
according to a first aspect of an embodiment of the present invention, there is provided a row spacing deviation detection method for an agricultural machine, the method including: acquiring initial position data of a plurality of first sampling points, wherein the initial position data of the first sampling points are obtained by sampling the positions of the agricultural machinery in the process that the agricultural machinery runs according to a first reference track line; acquiring initial position data of a plurality of second sampling points corresponding to the first sampling points one by one, wherein the initial position data of the second sampling points are obtained by sampling the positions of the agricultural machinery in the process that the agricultural machinery runs according to a second reference track line, the first reference track line is parallel to the second reference track line, and the connecting line of the first sampling points and the corresponding second sampling points is perpendicular to the first reference track line; for each first sampling point in the plurality of first sampling points, determining the distance between the first sampling point and the corresponding second sampling point according to the initial position data of the first sampling point and the initial position data of the corresponding second sampling point; for the distance between each first sampling point and the corresponding second sampling point in the plurality of first sampling points, calculating a difference value between the distance and a reference line space, wherein the reference line space is the vertical distance between the first reference track line and the second reference track line.
Optionally, the process of determining the distance between the first sampling point and the corresponding second sampling point according to the initial position data of the first sampling point and the initial position data of the corresponding second sampling point includes: acquiring roll angle data corresponding to the first sampling point and the second sampling point respectively, wherein the roll angle data comprises an attitude angle of the agricultural machine and the height of the position sampling device on the agricultural machine; obtaining position data of a first sampling point according to roll angle data corresponding to the first sampling point and initial position data of the first sampling point; obtaining position data of a second sampling point according to the roll angle data corresponding to the second sampling point and the initial position data of the second sampling point; determining the distance between the first sampling point and the corresponding second sampling point according to the position data of the first sampling point and the position data of the corresponding second sampling point; the roll angle data corresponding to the first sampling point are obtained by sampling the roll angle of the agricultural machine in the process that the agricultural machine runs according to the first reference track line; and the roll angle data corresponding to the second sampling point is obtained by sampling the roll angle of the agricultural machine in the process that the agricultural machine runs according to the second reference track line.
Optionally, the method further comprises: determining target parameters according to the difference value between the distances between the first sampling points and the corresponding second sampling points and the reference line spacing; wherein the target parameters include at least one of: the distances between the first sampling points and the corresponding second sampling points are respectively equal to the sum of the absolute value, the maximum value, the minimum value, the standard deviation and the absolute value and the standard deviation of the average value of the differences between the reference line spaces.
Optionally, the initial position data comprises latitude and longitude data.
Optionally, the initial position data of the first sampling point is obtained by sampling the position of the agricultural machine according to a first preset interval in the process that the agricultural machine runs according to a first reference track line; the initial position data of the second sampling point is obtained by sampling the position of the agricultural machine according to a second preset interval in the process that the agricultural machine runs according to a second reference track line; the first preset interval comprises a first preset time interval and a first preset distance interval, and the second preset interval comprises a second preset time interval and a second preset distance interval.
According to a second aspect of an embodiment of the present invention, there is provided a row spacing deviation detection device for an agricultural machine, the device comprising: the acquisition module is used for acquiring initial position data of a plurality of first sampling points, wherein the initial position data of the first sampling points are obtained by sampling the positions of the agricultural machinery in the process that the agricultural machinery runs according to a first reference track line; the acquisition module is further used for acquiring initial position data of a plurality of second sampling points corresponding to the first sampling points one by one, the initial position data of the second sampling points are obtained by sampling the positions of the agricultural machinery in the process that the agricultural machinery runs according to a second reference track line, the first reference track line is parallel to the second reference track line, and the connecting line of the first sampling points and the corresponding second sampling points is perpendicular to the first reference track line; the first determining module is used for determining the distance between the first sampling point and the corresponding second sampling point according to the initial position data of the first sampling point and the initial position data of the corresponding second sampling point for each first sampling point in the plurality of first sampling points; and the calculating module is used for calculating the difference value between the distance and the reference line distance, wherein the reference line distance is the perpendicular distance between the first reference track line and the second reference track line, for the distance between each first sampling point and the corresponding second sampling point in the plurality of first sampling points.
Optionally, the first determining module is specifically configured to: acquiring roll angle data corresponding to the first sampling point and the second sampling point respectively, wherein the roll angle data comprises an attitude angle of the agricultural machine and the height of the position sampling device on the agricultural machine; obtaining position data of a first sampling point according to roll angle data corresponding to the first sampling point and initial position data of the first sampling point; obtaining position data of a second sampling point according to the roll angle data corresponding to the second sampling point and the initial position data of the second sampling point; determining the distance between the first sampling point and the corresponding second sampling point according to the position data of the first sampling point and the position data of the corresponding second sampling point; the roll angle data corresponding to the first sampling point are obtained by sampling the roll angle of the agricultural machine in the process that the agricultural machine runs according to the first reference track line; and the roll angle data corresponding to the second sampling point is obtained by sampling the roll angle of the agricultural machine in the process that the agricultural machine runs according to the second reference track line.
Optionally, the apparatus further comprises: the second determining module is used for determining target parameters according to the difference value between the distances between the first sampling points and the corresponding second sampling points and the reference line spacing; wherein the target parameters include at least one of: the distances between the first sampling points and the corresponding second sampling points are respectively equal to the sum of the absolute value, the maximum value, the minimum value, the standard deviation and the absolute value and the standard deviation of the average value of the differences between the reference line spaces.
Optionally, the initial position data comprises latitude and longitude data.
Optionally, the initial position data of the first sampling point is obtained by sampling the position of the agricultural machine according to a first preset interval in the process that the agricultural machine runs according to a first reference track line; the initial position data of the second sampling point is obtained by sampling the position of the agricultural machine according to a second preset interval in the process that the agricultural machine runs according to a second reference track line; the first preset interval comprises a first preset time interval and a first preset distance interval, and the second preset interval comprises a second preset time interval and a second preset distance interval.
According to a third aspect of the embodiment of the present invention, there is provided a row spacing deviation detecting device for an agricultural machine, characterized in that the device includes: a processor; a memory for storing executable instructions of the processor; wherein the processor is configured to execute instructions stored in the memory to implement the method of any one of the first aspects.
According to a fourth aspect of embodiments of the present invention, there is provided a computer storage medium having instructions stored therein which, when run on a processing component, cause the processing component to perform the method according to any of the first aspects.
According to a fifth aspect of an embodiment of the present invention, there is provided a line space deviation detection system for an agricultural machine, characterized in that the system includes: the device comprises a processing device and a position sampling device arranged on the agricultural machinery; the position sampling device is used for sampling the position of the agricultural machine to obtain initial position data of a plurality of first sampling points in the process that the agricultural machine runs according to the first reference track line, sampling the position of the agricultural machine to obtain initial position data of a plurality of second sampling points in the process that the agricultural machine runs according to the second reference track line, and transmitting the initial position data of the plurality of first sampling points and the plurality of second sampling points to the processing device; the processing means is for performing the method of any of the first aspects.
The technical scheme provided by the embodiment of the invention can comprise the following beneficial effects:
according to the line space deviation detection method for the agricultural machinery, initial position data of a plurality of first sampling points and initial position data of a plurality of second sampling points corresponding to the first sampling points one by one are firstly obtained, the initial position data of the first sampling points are obtained by sampling the position of the agricultural machinery in the process that the agricultural machinery runs according to a first reference line, the initial position data of the second sampling points are obtained by sampling the position of the agricultural machinery in the process that the agricultural machinery runs according to a second reference line, a connecting line of the first reference line and the corresponding second sampling points is parallel to the second reference line, then for each first sampling point in the plurality of first sampling points, the initial position data of the first sampling points and the initial position data of the corresponding second sampling points are determined, and finally for each first sampling point in the plurality of first sampling points, the distance between each first sampling point and the corresponding second sampling point is calculated, and the line space between each first reference line and the corresponding first reference line is perpendicular to the first reference line, and the line space between the first line space and the corresponding first reference line is respectively detected.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention as claimed.
Drawings
FIG. 1 is a schematic flow chart of a method for detecting row spacing deviation of an agricultural machine according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of position sampling of an agricultural machine according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a lateral offset error provided by an embodiment of the present invention;
FIG. 4 is a schematic flow chart of another method for detecting row spacing deviation of an agricultural machine according to an embodiment of the present invention;
FIG. 5 is a block diagram of a row spacing deviation detection device for an agricultural machine according to an embodiment of the present invention;
FIG. 6 is a block diagram of another device for detecting line spacing deviation of an agricultural machine according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a row spacing deviation detecting device for an agricultural machine according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The embodiment of the invention provides a line space deviation detection method for an agricultural machine, which can realize the detection of line space deviation in the automatic driving process of the agricultural machine. The method can be applied to a row spacing deviation detection system of an agricultural machine, and the system can comprise: the device comprises a processing device and a position sampling device arranged on the agricultural machinery. The position sampling device may include a positioning antenna and a navigation device.
Referring to fig. 1, fig. 1 is a flowchart of a line space deviation detecting method of an agricultural machine according to an embodiment of the present invention, where the method may be applied to the line space deviation detecting system, for example, a processing device in the system. The method may include the following process:
101. the method comprises the steps of obtaining initial position data of a plurality of first sampling points, wherein the initial position data of the first sampling points are obtained by sampling the positions of the agricultural machinery in the process that the agricultural machinery runs according to a first reference track line.
The initial position data may include latitude and longitude data. The first reference trace is a straight line. The initial position data of the first sampling point may be determined by the position sampling means in the aforementioned system. In the process that the agricultural machine runs according to the first reference track line, the position sampling device samples the real-time position of the agricultural machine to obtain initial position data of a plurality of first sampling points, and transmits the initial position data of the plurality of first sampling points to the processing device, so that the processing device obtains the initial position data of the plurality of first sampling points. The positioning antenna is used for receiving satellite signals, and the navigation device is used for processing the satellite signals to obtain initial position data of the first sampling point.
Optionally, the initial position data of the first sampling point may be obtained by sampling the position of the agricultural machine according to a first preset interval in a process that the agricultural machine travels according to a first reference track line, where the first preset interval includes a first preset time interval and a first preset distance interval.
The position sampling device samples the real-time position of the agricultural machine according to a first preset interval in the process that the agricultural machine runs according to the first reference track line. When the first preset interval comprises a first preset distance interval, the position sampling device performs real-time position sampling of the agricultural machine once when the agricultural machine runs for the first preset distance interval according to the first reference track line. When the first preset interval comprises a first preset time interval, the position sampling device performs real-time position sampling of the agricultural machine once every preset time interval when the agricultural machine runs according to the first reference track line.
The number n of the first sampling points and the first preset interval can be set in a self-defined manner. For example, n may be 10, 20 or 50. The first preset distance may be greater than or equal to 3 meters when the first preset distance is the first preset distance. When the first preset interval is the first preset time interval, the first preset interval may be greater than or equal to 2 minutes. The embodiment of the present invention is not limited thereto.
102. And acquiring initial position data of a plurality of second sampling points corresponding to the first sampling points one by one, wherein the initial position data of the second sampling points are obtained by sampling the positions of the agricultural machinery in the process that the agricultural machinery runs according to a second reference track line, the first reference track line is parallel to the second reference track line, and the connecting line of the first sampling points and the corresponding second sampling points is perpendicular to the first reference track line.
The initial position data may include latitude and longitude data. The second reference trace is a straight line. The initial position data of the second sampling point may be determined by the position sampling means in the aforementioned system. And in the process that the agricultural machine runs according to the second reference track line, the position sampling device performs real-time position sampling on the agricultural machine to obtain initial position data of a plurality of second sampling points, and transmits the initial position data of the second sampling points to the processing device so that the processing device can acquire the initial position data of the second sampling points. The positioning antenna is used for receiving satellite signals, and the navigation device is used for processing the satellite signals to obtain initial position data of the second sampling point.
Optionally, the initial position data of the second sampling point may be obtained by sampling the position of the agricultural machine according to a second preset interval in a process that the agricultural machine runs according to a second reference track line, where the second preset interval includes a second preset time interval and a second preset distance interval.
And the position sampling device samples the real-time position of the agricultural machine according to a second preset interval in the process that the agricultural machine runs according to the second reference track line. When the second preset interval comprises a second preset distance interval, the position sampling device performs real-time position sampling of the agricultural machine once when the agricultural machine runs for the second preset distance interval according to the second reference track line. And when the second preset interval comprises a second preset time interval, the position sampling device performs real-time position sampling of the agricultural machine once every running preset time interval according to the second reference track line.
The number n of the second sampling points and the second preset interval can be set in a self-defined manner. For example, n may be 10, 20 or 50. The second preset distance interval may be greater than or equal to 3 meters when the second preset distance interval is the second preset distance interval. And when the second preset interval is the second preset time interval, the second preset interval can be greater than or equal to 2 minutes. The embodiment of the present invention is not limited as long as the number of the first sampling points and the second sampling points is guaranteed to be the same and the connection line of each first sampling point and the corresponding second sampling point is parallel to the first reference track line (or the second reference track line).
The running direction of the agricultural machine on the first reference track line and the second reference track line is opposite, the vertical distance D between the first reference track line and the second reference track line may be set in a self-defined manner, for example, D may be 0, that is, the first reference line and the second reference line are the same line or may be greater than 0, which is not limited in the embodiment of the present invention.
For example, referring to fig. 2, fig. 2 is a schematic diagram illustrating position sampling of an agricultural machine according to an embodiment of the present invention, and fig. 2 shows a first reference trace AB and a second reference trace CD. A is the start point of the first reference trace, B is the end point of the first reference trace, C is the start point of the second reference trace, and D is the end point of the second reference trace. Fig. 2 illustrates an example in which the first preset distance interval is a first preset distance interval and the second preset distance interval is a second preset distance interval.
As shown in fig. 2, the position sampling device performs the first sampling after the agricultural machine runs along AB for 10m (which can be set by user), so as to obtain the initial position data of the first sampling point 11. And then, carrying out real-time position sampling on the agricultural machinery by the measuring device once every time the agricultural machinery runs delta along the AB, and finally obtaining initial position data of the first sampling points 11, 12 and 13.
And then the agricultural machinery runs along the CD for the first time by the position sampling device after the vertical distance between the first sampling point 1n and the second sampling point B, so as to obtain the initial position data of the second sampling point 2 n. Then, the measuring device performs real-time position sampling of the agricultural machine once every time the agricultural machine runs delta along the CD, finally, initial position data of the second sampling points 2n, 23, 22, 21 are obtained.
103. For each first sampling point in the plurality of first sampling points, determining the distance between the first sampling point and the corresponding second sampling point according to the initial position data of the first sampling point and the initial position data of the corresponding second sampling point.
The testing device may not be parallel to the ground while the agricultural machine is traveling along the first and second reference trajectories, for example, the testing device is mounted on the left or right side of the body of the agricultural machine, or the ground has a slope. Because the position sampling device is installed on the agricultural machinery and has a certain height from the ground, when the testing device is not parallel to the ground, the installation height of the position sampling device can cause the transverse offset error of the sampled agricultural machinery position.
For example, referring to fig. 3, fig. 3 is a schematic diagram of a lateral offset error provided by an embodiment of the present invention, fig. 3 shows two cases of parallel and non-parallel of a testing device and a ground, and an example is illustrated in which an installation height of a position sampling device is 2 meters. As shown in fig. 3, in the case where the testing device is not parallel to the ground, an offset error of about 10 cm in the lateral direction occurs in the agricultural machine position sampled by the position sampling device, assuming that the attitude angle of the testing device is 3 ° in comparison with the case where the testing device is parallel to the ground.
In order to reduce the transverse offset error caused by the unparallel of the testing device and the ground, accurate position data are obtained, and the roll angle data corresponding to the first sampling point and the roll angle data corresponding to the second sampling point can be respectively obtained. And obtaining the position data of the first sampling point according to the roll angle data corresponding to the first sampling point and the initial position data of the first sampling point. And obtaining the position data of the second sampling point according to the roll angle data corresponding to the second sampling point and the initial position data of the second sampling point. And determining the distance between the first sampling point and the corresponding second sampling point according to the position data of the first sampling point and the position data of the corresponding second sampling point.
The roll angle data comprise the attitude angle of the agricultural machine and the height of the position sampling device on the agricultural machine. The roll angle data corresponding to the first sampling point is obtained by sampling the roll angle of the agricultural machine in the process that the agricultural machine runs according to the first reference track line. And the roll angle data corresponding to the second sampling point is obtained by sampling the roll angle of the agricultural machine in the process that the agricultural machine runs according to the second reference track line. The frequency of the roll angle samples may be the same as or different from the frequency of the position samples, e.g., the frequency of the position samples may be higher than the frequency of the roll angle samples, as embodiments of the present invention are not limited in this respect. The roll angle data corresponding to any sampling point can be the roll angle data obtained by latest sampling when the agricultural machinery runs to the sampling point.
For example, assume that initial position data of a certain sampling point (which may be the first sampling point or the second sampling point) is (x 1, y 1), an attitude angle in roll angle data corresponding to the sampling point is θ, and a height is h. Then x=x1-hsinθ, y=tan [ (1/2θ) (hsinθ) ]+y1 in the position data (x, y) of the sampling point.
As shown in fig. 2, the distance between the first sampling point 11 and the corresponding second sampling point 21 is D1, the distance between the first sampling point 12 and the corresponding second sampling point 22 is D2, the distance between the first sampling point 13 and the corresponding second sampling point 23 is D3.
104. For the distance between each first sampling point and the corresponding second sampling point in the plurality of first sampling points, calculating a difference value between the distance and a reference line space, wherein the reference line space is the vertical distance between the first reference track line and the second reference track line.
For example, the difference between the distance between each first sampling point and the corresponding second sampling point and the reference line distance D is respectively: x1, X2, X3, &..and Xn.
Since the first reference track line and the second reference track line are both straight lines, the row spacing deviation of the agricultural machine can be determined through the distance between each first sampling point and the corresponding second sampling point and the reference row spacing.
In summary, the method for detecting the row spacing deviation of the agricultural machine provided by the embodiment of the invention includes the steps of firstly acquiring initial position data of a plurality of first sampling points and initial position data of a plurality of second sampling points corresponding to the plurality of first sampling points one by one, wherein the initial position data of the first sampling points are obtained by sampling the agricultural machine in the process that the agricultural machine runs according to a first reference track line, the initial position data of the second sampling points are obtained by sampling the agricultural machine in the process that the agricultural machine runs according to a second reference track line, the first reference track line is parallel to the second reference track line, the connecting line of the first sampling points and the corresponding second sampling points is perpendicular to the first reference track line, then determining the distance between the first sampling points and the corresponding second sampling points according to the initial position data of the first sampling points and the initial position data of the corresponding second sampling points, and finally calculating the distance between the first sampling points and the corresponding second sampling points in the plurality of first sampling points and the corresponding second sampling points in the process that the agricultural machine runs according to the second reference track line, and the first line and the reference track line can be detected by the first line and the second line, and the first line and the second line reference track line can be detected by the first line and the second line reference track line and the second line.
Referring to fig. 4, fig. 4 is a flowchart illustrating another method for detecting a row spacing deviation of an agricultural machine according to an embodiment of the present invention, where the method may be applied to the aforementioned row spacing deviation detection system, for example, a processing device in the system. The method may include the following process:
201. the method comprises the steps of obtaining initial position data of a plurality of first sampling points, wherein the initial position data of the first sampling points are obtained by sampling the positions of the agricultural machinery in the process that the agricultural machinery runs according to a first reference track line.
This process may refer to the foregoing process 101, and the embodiments of the present invention are not described herein.
202. And acquiring initial position data of a plurality of second sampling points corresponding to the first sampling points one by one, wherein the initial position data of the second sampling points are obtained by sampling the positions of the agricultural machinery in the process that the agricultural machinery runs according to a second reference track line, the first reference track line is parallel to the second reference track line, and the connecting line of the first sampling points and the corresponding second sampling points is perpendicular to the first reference track line.
This process may refer to the foregoing process 102, and the embodiments of the present invention are not described herein.
203. For each first sampling point in the plurality of first sampling points, determining the distance between the first sampling point and the corresponding second sampling point according to the initial position data of the first sampling point and the initial position data of the corresponding second sampling point.
This process may refer to the foregoing process 103, and the embodiments of the present invention are not described herein.
204. For the distance between each first sampling point and the corresponding second sampling point in the plurality of first sampling points, calculating a difference value between the distance and a reference line space, wherein the reference line space is the vertical distance between the first reference track line and the second reference track line.
This process may refer to the foregoing process 104, and the embodiments of the present invention are not described herein.
205. And determining the target parameters according to the difference value between the distances between the first sampling points and the corresponding second sampling points and the reference line spacing.
Wherein the target parameters include at least one of: absolute value of average value of difference values between distances between multiple first sampling points and corresponding second sampling points and reference line spacingMaximum, minimum, standard deviationSum of absolute value of average value and standard deviation ≡>. Wherein N represents the number of the first sampling points or the second sampling points, and i is more than or equal to 1 and less than or equal to N.
After determining the target parameter, it may be further determined whether the line space deviation of the agricultural machine is within an error range according to the target parameter.
For example, the error range of the absolute value of the average value (job trajectory pitch average error) may be: Less than or equal to 2.5cm; the error range of the standard deviation (the link line pitch accuracy) may be: />Less than or equal to 2.5cm; the error range (navigation error) of the sum of the absolute value of the average value and the standard deviation may be:。
in summary, the method for detecting the line space deviation of the agricultural machine provided by the embodiment of the invention includes the steps of firstly obtaining initial position data of a plurality of first sampling points and initial position data of a plurality of second sampling points corresponding to the plurality of first sampling points one by one, wherein the initial position data of the first sampling points are obtained by sampling the position of the agricultural machine in the process that the agricultural machine runs according to a first reference line, the initial position data of the second sampling points are obtained by sampling the position of the agricultural machine in the process that the agricultural machine runs according to a second reference line, the first reference line is parallel to the second reference line, the connecting line of the first sampling points and the corresponding second sampling points is perpendicular to the first reference line, then determining the distance between the first sampling points and the corresponding second sampling points according to the initial position data of the first sampling points and the initial position data of the corresponding second sampling points, and finally calculating the distance between the first sampling points and the corresponding second sampling points in the plurality of first sampling points and the corresponding second sampling points according to the first reference line, and the distance between the first sampling points and the corresponding second line space can be determined according to the line space, and the reference line space can be the reference line space, and the line space can be detected by the reference line space, and the line space can be respectively measured by the reference line space and the reference line space.
It should be noted that, the sequence of the steps of the method for detecting row spacing deviation of an agricultural machine provided by the embodiment of the present invention may be appropriately adjusted, the steps may also be correspondingly increased or decreased according to the situation, and any method that is easily conceivable to be changed by those skilled in the art within the technical scope of the disclosure of the present invention should be covered within the protection scope of the present invention, so that the description is omitted.
Alternatively, the above embodiment is described by taking a row spacing deviation detection method of an agricultural machine as an example. In one example, different steps in the pitch deviation detection method of the agricultural machine may be performed by different modules. The different modules may be located in one device or in a different device. The embodiment of the invention does not limit the device for executing the row spacing deviation detection method of the agricultural machinery.
The method for detecting the row spacing deviation of the agricultural machine provided by the embodiment of the invention is described in detail above with reference to fig. 1 to 4, and the device for detecting the row spacing deviation of the agricultural machine provided by the embodiment of the invention is described below with reference to fig. 5 and 6.
Referring to fig. 5, fig. 5 is a block diagram of a row spacing deviation detecting device for an agricultural machine according to an embodiment of the present invention, where the device 30 includes:
The acquiring module 301 is configured to acquire initial position data of a plurality of first sampling points, where the initial position data of the first sampling points is obtained by sampling positions of an agricultural machine in a process that the agricultural machine runs according to a first reference track line;
the acquiring module 301 is further configured to acquire initial position data of a plurality of second sampling points corresponding to the plurality of first sampling points one to one, where the initial position data of the second sampling points are obtained by sampling positions of the agricultural machine in a process that the agricultural machine travels according to a second reference track line, the first reference track line is parallel to the second reference track line, and a connection line between the first sampling points and the corresponding second sampling points is perpendicular to the first reference track line;
a first determining module 302, configured to determine, for each first sampling point of the plurality of first sampling points, a distance between the first sampling point and the corresponding second sampling point according to initial position data of the first sampling point and initial position data of the corresponding second sampling point;
a calculation module 303, configured to calculate, for each first sampling point of the plurality of first sampling points and a distance between the corresponding second sampling point, a difference between the distance and a reference line space, where the reference line space is a perpendicular distance between the first reference trace and the second reference trace
Optionally, the first determining module 302 is specifically configured to:
acquiring roll angle data corresponding to the first sampling point and the second sampling point respectively, wherein the roll angle data comprises an attitude angle of the agricultural machine and the height of the position sampling device on the agricultural machine; obtaining position data of a first sampling point according to roll angle data corresponding to the first sampling point and initial position data of the first sampling point; obtaining position data of a second sampling point according to the roll angle data corresponding to the second sampling point and the initial position data of the second sampling point; determining the distance between the first sampling point and the corresponding second sampling point according to the position data of the first sampling point and the position data of the corresponding second sampling point; the roll angle data corresponding to the first sampling point are obtained by sampling the roll angle of the agricultural machine in the process that the agricultural machine runs according to the first reference track line; and the roll angle data corresponding to the second sampling point is obtained by sampling the roll angle of the agricultural machine in the process that the agricultural machine runs according to the second reference track line.
Optionally, referring to fig. 6, fig. 6 is a block diagram of another row spacing deviation detecting device for an agricultural machine according to an embodiment of the present invention, on the basis of fig. 5, the device 30 includes:
A second determining module 304, configured to determine a target parameter according to differences between distances between the plurality of first sampling points and corresponding second sampling points and a reference line space;
wherein the target parameters include at least one of: the distances between the first sampling points and the corresponding second sampling points are respectively equal to the sum of the absolute value, the maximum value, the minimum value, the standard deviation and the absolute value and the standard deviation of the average value of the differences between the reference line spaces.
Optionally, the initial position data comprises latitude and longitude data.
Optionally, the initial position data of the first sampling point is obtained by sampling the position of the agricultural machine according to a first preset interval in the process that the agricultural machine runs according to a first reference track line; the initial position data of the second sampling point is obtained by sampling the position of the agricultural machine according to a second preset interval in the process that the agricultural machine runs according to a second reference track line; the first preset interval comprises a first preset time interval and a first preset distance interval, and the second preset interval comprises a second preset time interval and a second preset distance interval.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the row spacing deviation detecting device of the agricultural machine described above may refer to the corresponding process in the foregoing method embodiment, and the disclosure of the present invention is not repeated here.
The embodiment of the invention provides a row spacing deviation detection device of an agricultural machine, which comprises the following components: a processor; a memory for storing executable instructions of the processor; the processor is configured to execute the instructions stored in the memory to implement the line space deviation detection method of the agricultural machine according to any one of the embodiments of the present invention.
For example, referring to fig. 7, fig. 7 is a schematic structural diagram of a row spacing deviation detecting device for an agricultural machine according to an embodiment of the present invention, as shown in fig. 7, the device 40 includes: a memory 401 and a processor 402. The memory 401 is configured to store a program, and the processor 402 is configured to execute the program stored in the memory 401, so as to implement any of the row spacing deviation detection methods of the agricultural machinery according to the embodiments of the present invention.
Optionally, as shown in fig. 7, the row spacing deviation detecting device 40 of the agricultural machine may further include at least one communication interface 403 and at least one communication bus 404. The memory 401, the processor 402, and the communication interface 403 are communicatively connected by a communication bus 404.
The embodiment of the invention provides a computer storage medium, wherein instructions are stored in the storage medium, and when the instructions run on a processing component, the processing component is caused to execute the row spacing deviation detection method of the agricultural machinery.
The above-described embodiments may be implemented by software, hardware, firmware, or any combination thereof. When implemented in software, the present invention may be implemented in the form of a computer program product comprising computer instructions for causing a computer to perform the method for detecting a row spacing deviation of an agricultural machine according to any of the embodiments of the present invention.
The computer may comprise a general purpose computer or a network of computers. The computer stores computer instructions via its storage medium or retrieves computer instructions from other storage media. The storage media may be any available media that can be accessed by a computer or a data storage device such as a server and data center that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, tape), an optical medium, or a semiconductor medium (e.g., solid state disk), etc.
In the present embodiments, "first" and "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. "at least one" means one or more, "a plurality" means two or more, "and/or" merely one kind of association relation describing the association object, and means that three kinds of relations may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship. Unless explicitly defined otherwise.
Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (10)
1. A method for detecting row spacing deviation of an agricultural machine, the method comprising:
acquiring initial position data of a plurality of first sampling points, wherein the initial position data of the first sampling points are obtained by sampling the positions of the agricultural machinery in the process that the agricultural machinery runs according to a first reference track line;
acquiring initial position data of a plurality of second sampling points corresponding to the first sampling points one by one, wherein the initial position data of the second sampling points are obtained by sampling the positions of the agricultural machinery in the process that the agricultural machinery runs according to a second reference track line, the first reference track line is parallel to the second reference track line, and the connecting line of the first sampling points and the corresponding second sampling points is perpendicular to the first reference track line;
For each first sampling point in the plurality of first sampling points, determining the distance between the first sampling point and the corresponding second sampling point according to the initial position data of the first sampling point and the initial position data of the corresponding second sampling point;
for the distance between each first sampling point and the corresponding second sampling point in the plurality of first sampling points, calculating a difference value between the distance and a reference line distance, wherein the reference line distance is a perpendicular distance between the first reference track line and the second reference track line.
2. The method of claim 1, wherein determining the distance between the first sampling point and the corresponding second sampling point based on the initial position data of the first sampling point and the initial position data of the corresponding second sampling point comprises:
acquiring roll angle data corresponding to the first sampling point and the second sampling point respectively, wherein the roll angle data comprises an attitude angle of the agricultural machine and the height of a position sampling device on the agricultural machine;
obtaining position data of the first sampling point according to the roll angle data corresponding to the first sampling point and the initial position data of the first sampling point;
Obtaining position data of the second sampling point according to the roll angle data corresponding to the second sampling point and the initial position data of the second sampling point;
determining a distance between the first sampling point and the corresponding second sampling point according to the position data of the first sampling point and the position data of the corresponding second sampling point;
the roll angle data corresponding to the first sampling point are obtained by sampling the roll angle of the agricultural machine in the process that the agricultural machine runs according to the first reference track line; and the roll angle data corresponding to the second sampling point is obtained by sampling the roll angle of the agricultural machine in the process that the agricultural machine runs according to the second reference track line.
3. The method according to claim 1 or 2, characterized in that the method further comprises:
determining a target parameter according to the difference value between the distances between the first sampling points and the corresponding second sampling points and the reference line spacing;
wherein the target parameters include at least one of: the distances between the first sampling points and the corresponding second sampling points are respectively equal to the sum of the absolute value, the maximum value, the minimum value, the standard deviation of the average value of the differences between the reference line spacing and the first sampling points.
4. The method of claim 1, wherein the initial position data comprises latitude and longitude data.
5. The method of claim 1, wherein the initial position data of the first sampling point is obtained by sampling the position of the agricultural machine at a first preset interval during the running of the agricultural machine according to the first reference trajectory line;
the initial position data of the second sampling point is obtained by sampling the position of the agricultural machine according to a second preset interval in the process that the agricultural machine runs according to the second reference track line;
the first preset interval comprises a first preset time interval and a first preset distance interval, and the second preset interval comprises a second preset time interval and a second preset distance interval.
6. A row spacing deviation detection device for an agricultural machine, the device comprising:
the acquisition module is used for acquiring initial position data of a plurality of first sampling points, wherein the initial position data of the first sampling points are obtained by sampling the positions of the agricultural machinery in the process that the agricultural machinery runs according to a first reference track line;
The acquisition module is further configured to acquire initial position data of a plurality of second sampling points corresponding to the plurality of first sampling points one to one, where the initial position data of the second sampling points are obtained by sampling positions of the agricultural machine in a process that the agricultural machine travels according to a second reference track line, the first reference track line is parallel to the second reference track line, and a connection line between the first sampling points and the corresponding second sampling points is perpendicular to the first reference track line;
a first determining module, configured to determine, for each first sampling point of the plurality of first sampling points, a distance between the first sampling point and the corresponding second sampling point according to initial position data of the first sampling point and initial position data of the corresponding second sampling point;
and the calculating module is used for calculating the difference value between the distance and a reference line space for the distance between each first sampling point and the corresponding second sampling point in the plurality of first sampling points, wherein the reference line space is the perpendicular distance between the first reference track line and the second reference track line.
7. The apparatus of claim 6, wherein the first determining module is specifically configured to:
Acquiring roll angle data corresponding to the first sampling point and the second sampling point respectively, wherein the roll angle data comprises an attitude angle of the agricultural machine and the height of a position sampling device on the agricultural machine;
obtaining position data of the first sampling point according to the roll angle data corresponding to the first sampling point and the initial position data of the first sampling point;
obtaining position data of the second sampling point according to the roll angle data corresponding to the second sampling point and the initial position data of the second sampling point;
determining a distance between the first sampling point and the corresponding second sampling point according to the position data of the first sampling point and the position data of the corresponding second sampling point;
the roll angle data corresponding to the first sampling point are obtained by sampling the roll angle of the agricultural machine in the process that the agricultural machine runs according to the first reference track line; and the roll angle data corresponding to the second sampling point is obtained by sampling the roll angle of the agricultural machine in the process that the agricultural machine runs according to the second reference track line.
8. The apparatus according to claim 6 or 7, characterized in that the apparatus further comprises:
Determining a target parameter according to the difference value between the distances between the first sampling points and the corresponding second sampling points and the reference line spacing;
wherein the target parameters include at least one of: the distances between the first sampling points and the corresponding second sampling points are respectively equal to the sum of the absolute value, the maximum value, the minimum value, the standard deviation of the average value of the differences between the reference line spacing and the first sampling points.
9. A row spacing deviation detection device for an agricultural machine, the device comprising:
a processor;
a memory for storing executable instructions of the processor;
wherein the processor is configured to execute instructions stored in the memory to implement the method of any one of claims 1 to 5.
10. A line space deviation detection system for an agricultural machine, the system comprising:
the processing device and the position sampling device are arranged on the agricultural machinery;
the position sampling device is used for sampling the position of the agricultural machine to obtain initial position data of a plurality of first sampling points in the process that the agricultural machine runs according to a first reference track line, sampling the position of the agricultural machine to obtain initial position data of a plurality of second sampling points in the process that the agricultural machine runs according to a second reference track line, and transmitting the initial position data of the plurality of first sampling points and the plurality of second sampling points to the processing device;
The processing means is for performing the method of any one of claims 1 to 5.
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