阅读说明：本技术 一种高精度的作业实时计亩方法 (High-precision real-time mu counting method for operation ) 是由 吴飞 陈泽 陈向东 王烁 于 2021-01-13 设计创作，主要内容包括：本发明提供一种高精度的作业实时计亩方法,具体为利用卫星导航定位模块和移动通信网络模块对农机的实时经纬度进行获取,并将获取的经纬度信息传递给服务器。服务器先将所有经纬度信息的点通过高斯投影的方式转换为平面直角坐标；再创建位图；然后,服务器计算位图中所有被覆盖的点的数量；最后,服务器根据被覆盖点的数量计算面积。该计亩方法的计亩精度较高,适用范围较广,可以提高农机实时计亩完成面积的准确度并且能够实时跟踪农机的行走路径,进一步提高农机的路径传输的经纬度信息的精确度,进而保证实时计亩面积。(The invention provides a high-precision real-time operation mu counting method, which particularly comprises the steps of acquiring real-time longitude and latitude of an agricultural machine by using a satellite navigation positioning module and a mobile communication network module, and transmitting the acquired longitude and latitude information to a server. The server converts all the points of the longitude and latitude information into plane rectangular coordinates in a Gaussian projection mode; then creating a bitmap; then, the server calculates the number of all covered points in the bitmap; finally, the server calculates the area based on the number of covered points. The method for counting the acre is high in acre counting precision and wide in application range, accuracy of the acre counting completion area of the agricultural machine in real time can be improved, the walking path of the agricultural machine can be tracked in real time, accuracy of longitude and latitude information transmitted by the path of the agricultural machine is further improved, and therefore the acre counting area is guaranteed.)

1. A high-precision real-time acre working method is characterized by comprising the following steps:

s1: the method comprises the steps that real-time longitude and latitude information of an agricultural machine is obtained through a satellite navigation positioning module of the agricultural machine, and the obtained real-time longitude and latitude information is transmitted to a mobile communication network module of the agricultural machine;

s2: the mobile communication network module transmits the received real-time longitude and latitude information to a server through a mobile internet;

s3: the server converts all the points (l, B) of the real-time longitude and latitude information into plane rectangular coordinates (c, d) in a Gaussian projection mode, constructs a Newton Euler dynamic agricultural machinery motion model, tracks the real-time motion state of the agricultural machinery, and sends the model to the server;

s4: the server adjusts the walking route of the agricultural machine to walk along the expected course route in real time according to the real-time walking track, and the server calculates the maximum c value c in all the converted points (c, d)_maxMinimum c value c_minMaximum d value d_maxAnd minimum d value d_minAnd creating a bitmap;

s5: when the distance between adjacent points<When the length is 50 meters, drawing a line segment on the bitmap, setting the starting point P of the line segment, wherein the width of the line segment is ploughxscal₁And the end points of the line segments are two adjacent points P₂Calculating all said points (c, d) and said starting point P₁And said P₂The connection distance of (a); when the distance between adjacent points is more than or equal to 50 meters, the line segment does not need to be drawn;

s6: the server calculates the number of all covered points (c, d) in the bitmap, and analyzes the number A of all data with the value of 1 in the bitmap data area array;

s7: and the server calculates the area S according to the number A of all data with the value of 1 in the bitmap data area array in the covered points (c, d), and finishes high-precision real-time operation of the mu.

2. The real-time acre working method with high precision of claim 1, wherein the gaussian projection formula used in the step S3 is:

wherein t is tanB and η²＝e′²cos²B, where ρ ″ -206265.

3. The high-precision real-time acre working method according to claim 1, wherein the bitmap created in the step S4 has a width W ═ (c)_max-c_min+2 × plough) × scal, height of bitmap H ═ d_max-d_min+2 × plough) × scal; wherein, plough is the operation width of the agricultural machinery, and scal is the coefficient of bitmap scaling.

4. A high precision real time acre working method according to claim 2, characterized in that the points (c, d) and the starting point P₁The connection distance calculation formula of (a) is as follows:

P′₁.c＝(P₁.c-c_min+plough)×scal，

P′₁.d＝(P₁.d-d_min+plough)×scal；

wherein, the P'₁C is the point (c, d) and the starting point P₁Of said cross-link distance, said P'₁D is the point (c, d) and the starting point P₁The longitudinal connection distance of (a);

the point (c, d) and the P₂The connection distance calculation formula of (a) is as follows:

P′₂.c＝(P₂.c-c_min+plough)×scal，

P′₂.d＝(P₂.d-d_min+plough)×scal；

wherein, theP′₂C is the point (c, d) and the starting point P₂Of said cross-link distance, said P'₂D is the point (c, d) and the starting point P₂The longitudinal connection distance of (a).

5. The real-time acre calculating method for high-precision work according to claim 1, wherein the area S in the step S7 is calculated by the following formula:

wherein the scal is a coefficient of the bitmap scaling.

6. The method according to claim 1, wherein in step S2, the mobile communication network module reports the real-time latitude and longitude information of the agricultural machinery collected by the satellite navigation and positioning module to the server at a frequency of 0.5 Hz.

7. The real-time acre measuring method with high precision of the claim 1, wherein the step of S3 is to construct a Newton Euler dynamic agricultural machine motion model to track the real-time motion state of the agricultural machine, comprising the following steps:

m1: constructing a Newton Euler dynamic agricultural machinery motion model:

τ＝Iω′+(ω×(Iω))+γ；

wherein τ is an external torque applied to the body frame, I ω' is an inertial angular acceleration, ω x (I ω) is a centripetal force, and γ is a gyroscopic force;

m2: solving an angular velocity vector omega' of the agricultural machinery movement according to the Newton Euler dynamic agricultural machinery movement model constructed in the step M1:

ω′＝I^-1[-ω×(Iω)+τ-γ]；

wherein the angular velocity vector ω' is decomposed into an angular velocity vector expression in the three-dimensional frame where the agricultural vehicle wheel is located:ω′＝[p′ q′ r′]^T；

m3: utilizing the angular velocity vector p 'q' r 'obtained in the step M2']^TCalculating Euler angular rate [ phi theta phi ] phi of frame angle of agricultural machinery body]^T；

M4: calculating the integral angle change value R of the frame shaft of the agricultural machinery body relative to the earth inertia frame shaft according to the change of the frame angle obtained in the step M3_T。

8. The high-precision real-time acre working method according to claim 7, wherein the angular velocity vector ω ' in the M2 step utilizes an angular velocity vector [ p ' q ' r ' in a three-dimensional frame of the agricultural vehicle wheel ']^TFurther expressed as:

wherein, the I_mIs an inertia matrix, said p, q and r are components of the angular speed ω of the agricultural wheel rotor, said ω being_iIs the scalar angular velocity of the agricultural machine wheel rotor; said I_xx、I_yy、I_zzRespectively the inertia matrix I_mThe torque of the rotor located in the x-axis, the y-axis and the z-axis, and the torque of the rotor located in the x-axis, the y-axis and the z-axis_φ、τ_θAnd τ_ψThe components of the external torque applied to the body frame in all directions in the three-dimensional space of the agricultural machine body frame are obtained.

9. The high-precision real-time acre working method according to claim 7, wherein the angular velocity vector [ p 'q' r 'obtained in the M2 step is utilized in the M3 step']^TCalculating Euler angular rate [ phi theta phi ] phi of frame angle of agricultural machinery body]^T：

10. The method for working real time acre with high precision according to claim 7, wherein the overall angular velocity change value R in the M4 step_TThe calculation formula of (a) is as follows:

R_T＝R_x(φ)R_y(θ)R_z(ψ)；

wherein, R is_x(phi) is the roll angle of the agricultural machine body in the direction of the x axis of the earth inertia frame axis at the Euler angular rate phi of the frame axis of the machine body, R_y(theta) is the pitch angle of the agricultural machinery body in the direction of the y axis of the earth inertia frame axis at the Euler angular rate theta of the frame axis of the machinery body, R_z(psi) is the yaw angle of the agricultural fuselage in the direction of the z-axis of the earth's inertial frame axis at the euler angular rate psi of the fuselage frame axis;

wherein the roll angle R_x(phi), pitch angle R_y(theta) and yaw angle R_yThe calculation formula of (θ) is as follows:

wherein phi, theta and psi are Euler angular rates for the change of Euler angular rate angles of the agricultural machine under the fuselage frame.

Technical Field

The invention belongs to the technical field of intelligent mechanization of agricultural machinery, and particularly relates to a high-precision real-time operation mu counting method.

Background

At present, the traditional real-time acre counting method for farmland operation is a simpler calculation method for multiplying the distance by the operation width, the method is simpler to implement, but repeated operation cannot be eliminated under the existing repeated condition, for example, certain farm tools of an agricultural machine can carry out back and forth operation for multiple times on the same land, and the condition cannot be eliminated in the traditional acre counting method, so that the acre counting precision is lower. Moreover, because the precision of the land counting is low, the traditional land counting method cannot help farmers judge the operation progress and the operation amount of the farmers, cannot provide a basis for the government to supplement the agricultural operation, and has a small application range.

Disclosure of Invention

Aiming at the defects, the invention provides the high-precision operation real-time mu counting method which can improve the accuracy of the real-time mu counting completion area of the agricultural machine, can track the walking path of the agricultural machine in real time, further improves the accuracy of longitude and latitude information transmitted by the path of the agricultural machine and further ensures the accuracy of the real-time mu counting area.

The invention provides the following technical scheme: a high-precision real-time acre working method comprises the following steps:

s1: the method comprises the steps that real-time longitude and latitude information of an agricultural machine is obtained through a satellite navigation positioning module of the agricultural machine, and the obtained real-time longitude and latitude information is transmitted to a mobile communication network module of the agricultural machine;

s2: the mobile communication network module transmits the received real-time longitude and latitude information to a server through a mobile internet;

s3: the server converts all the points (l, B) of the real-time longitude and latitude information into plane rectangular coordinates (c, d) in a Gaussian projection mode, constructs a Newton Euler dynamic agricultural machinery motion model, tracks the real-time motion state of the agricultural machinery, and sends the model to the server;

s4: the server adjusts the walking route of the agricultural machine to walk along the expected course route in real time according to the real-time walking track, and the server calculates the maximum c value c in all the converted points (c, d)_maxMinimum c value c_minMaximum d value d_maxAnd minimum d value d_minAnd creating a bitmap;

s5: when the distance between adjacent points<When the length is 50 meters, drawing a line segment on the bitmap, setting the starting point P of the line segment, wherein the width of the line segment is ploughxscal₁And the end points of the line segments are two adjacent points P₂Calculating all said points (c, d) and said starting point P₁And said P₂The connection distance of (a); when the distance between adjacent points is more than or equal to 50 meters, the line segment does not need to be drawn;

s6: the server calculates the number of all covered points (c, d) in the bitmap, and analyzes the number A of all data with the value of 1 in the bitmap data area array;

s7: and the server calculates the area S according to the number A of all data with the value of 1 in the bitmap data area array in the covered points (c, d), and finishes high-precision real-time operation of the mu.

Further, the formula of the gaussian projection used in the step S3 is:

wherein t is tan B and η²＝e′²cos²B, where ρ ″ -206265.

Further, the bitmap created in step S4 has a width W ═ c_max-c_min+2X plough) x sclal, height of bitmap H ═ d_max-d_min+2 × plough) × scal; wherein, plough is the operation width of the agricultural machinery, and scal is the coefficient of bitmap scaling.

Further, the point (c, d) is associated with the starting point P₁The connection distance calculation formula of (a) is as follows:

P′₁.c＝(P₁.c-c_min+plough)×scal，

P′₁.d＝(P₁.d-d_min+plough)×scal；

wherein, the P'₁C is the point (c, d) and the starting point P₁Of said cross-link distance, said P'₁D is the point (c, d) and the starting point P₁The longitudinal connection distance of (a);

the point (c, d) and the P₂The connection distance calculation formula of (a) is as follows:

P′₂.c＝(P₂.c-c_min+plough)×scal，

P′₂.d＝(P₂.d-d_min+plough)×scal；

wherein, the P'₂C is the point (c, d) and the starting point P₂Of said cross-link distance, said P'₂D is the point (c, d) and the starting point P₂The longitudinal connection distance of (a).

Further, the calculation formula of the area S in the step S7 is as follows:

wherein the scal is a coefficient of the bitmap scaling.

Further, in the step S2, the mobile communication network module reports the real-time longitude and latitude information of the agricultural machinery, which is acquired by the satellite navigation and positioning module, to the server at a frequency of 0.5 Hz.

Further, in the step S3, a newton euler dynamic agricultural machinery motion model is constructed, and a real-time motion state of the agricultural machinery is tracked, including the following steps:

m1: constructing a Newton Euler dynamic agricultural machinery motion model:

τ＝Iω′+(ω×(Iω))+γ；

wherein τ is an external torque applied to the body frame, I ω' is an inertial angular acceleration, ω x (I ω) is a centripetal force, and γ is a gyroscopic force;

m2: solving an angular velocity vector omega' of the agricultural machinery movement according to the Newton Euler dynamic agricultural machinery movement model constructed in the step M1:

ω′＝I^-1[-ω×(Iω)+τ-γ]；

wherein the angular velocity vector ω' is decomposed into an angular velocity vector expression in the three-dimensional frame where the agricultural vehicle wheel is located: ω '═ p' q 'r']^T；

M3: utilizing the angular velocity vector p 'q' r 'obtained in the step M2']^TCalculating Euler angular rate [ phi theta phi ] phi of frame angle of agricultural machinery body]^T；

M4: calculating the integral angle change value R of the frame shaft of the agricultural machinery body relative to the earth inertia frame shaft according to the change of the frame angle obtained in the step M3_T。

Further, the angular velocity vector ω ' in the M2 step utilizes an angular velocity vector [ p ' q ' r ' in the three-dimensional frame of the agricultural vehicle wheel ']^TFurther expressed as:

wherein, the I_mIs an inertia matrix, said p, q and r are components of the angular speed ω of the agricultural wheel rotor, said ω being_iIs the scalar angular velocity of the agricultural machine wheel rotor; said I_xx、I_yy、I_zzRespectively the inertia matrix I_mThe torque of the rotor located in the x-axis, the y-axis and the z-axis, and the torque of the rotor located in the x-axis, the y-axis and the z-axis_φ、τ_φAnd τ_ψFor the external torque applied to the body frame to be applied to the frame of the agricultural machine bodyThe components of the frame in all directions in three-dimensional space.

Further, the angular velocity vector [ p 'q' r 'obtained in the M2 step is utilized in the M3 step']^TCalculating Euler angular rate [ phi theta phi ] phi of frame angle of agricultural machinery body]^T：

Further, the overall angular velocity change value R in the M4 step_TThe calculation formula of (a) is as follows:

R_T＝R_x(φ)R_y(θ)R_z(ψ)；

wherein, R is_x(phi) is the roll angle of the agricultural machine body in the direction of the x axis of the earth inertia frame axis at the Euler angular rate phi of the frame axis of the machine body, R_y(theta) is the pitch angle of the agricultural machinery body in the direction of the y axis of the earth inertia frame axis at the Euler angular rate theta of the frame axis of the machinery body, R_z(psi) is the yaw angle of the agricultural fuselage in the direction of the z-axis of the earth's inertial frame axis at the euler angular rate psi of the fuselage frame axis;

wherein the roll angle R_x(phi), pitch angle R_y(theta) and yaw angle R_yThe calculation formula of (θ) is as follows:

wherein phi, theta and psi are Euler angular rates for the change of Euler angular rate angles of the agricultural machine under the fuselage frame.

The invention has the beneficial effects that:

1. by adopting the high-precision real-time operation mu counting method provided by the invention, the repeated calculation of the agricultural area where the agricultural machine has performed operation can be avoided, the repeated calculation or the less calculation of the area where the agricultural machine performs operation can be avoided, and the real-time mu counting accuracy is improved.

2. By adopting the real-time mu counting method for high-precision operation, the step of constructing the Newton Euler dynamic agricultural machine motion model in the step S3 and tracking the real-time motion state of the agricultural machine is added, so that the phenomena of low accuracy and precision, large error or mu counting area error of the subsequent real-time mu counting caused by poor tracking precision when the satellite positioning longitude and latitude in the step 1) of the method are converted into the plane rectangular coordinate due to the fact that the agricultural machine runs along a straight or slightly curved path in most agricultural operations are avoided.

Drawings

The invention will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings. Wherein:

FIG. 1 is a schematic flow chart of a high-precision real-time acre-counting method provided by the invention;

FIG. 2 is a schematic structural view of an agricultural machine for implementing the real-time acre-metering method for high-precision operation according to the present invention;

FIG. 3 is a schematic flow chart of the method for constructing a Newton Euler dynamic agricultural machinery motion model and tracking the real-time motion state of the agricultural machinery.

Detailed description of the preferred embodiments

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1, the high-precision real-time acre working method provided by the invention comprises the following steps:

s1: the method comprises the steps that real-time longitude and latitude information of the agricultural machine is obtained through a satellite navigation positioning module of the agricultural machine as shown in figure 2, and the obtained real-time longitude and latitude information is transmitted to a mobile communication network module of the agricultural machine;

s2: the mobile communication network module transmits the received real-time longitude and latitude information to a server through the mobile internet;

s3: the server converts all points (l, B) of the real-time longitude and latitude information into plane rectangular coordinates (c, d) in a Gaussian projection mode, constructs a Newton Euler dynamic agricultural machinery motion model, tracks the real-time motion state of the agricultural machinery, and sends the model to the server;

the formula of the gaussian projection used in step S3 is:

wherein t is tanB, η²＝e′²cos²B，ρ″＝206265；

S4: the server adjusts the walking route of the agricultural machinery to walk along the expected course route in real time according to the real-time walking track, and the server calculates the maximum c value c of all the converted points (c, d)_maxMinimum c value c_minMaximum d value d_maxAnd minimum d value d_minAnd creating a bitmap having a width W ═ c_max-c_min+2 × plough) × scal, height of bitmap H ═ d_max-d_min+2 × plough) × scal; wherein, plough is the operation width of the agricultural machinery, and scal is the coefficient of bitmap scaling;

s5: when the distance between adjacent points<When the length is 50 meters, drawing a line segment on the bitmap, wherein the width of the line segment is ploughxscal, and setting the starting point P of the line segment₁The end points of the sum line segments are two adjacent points P₂Calculate all points (c, d) and the starting point P₁And P₂The connection distance of (a); when the distance between adjacent points is more than or equal to 50 meters, no line segment needs to be drawn;

s6: the server calculates the number of all covered points (c, d) in the bitmap and analyzes the number A of all data with the value of 1 in the bitmap data area array;

s7: the server calculates the area S according to the number A of all data with the value of 1 in the bitmap data area array of the covered points (c, d), and the real-time mu counting of high-precision operation is completed; the calculation formula of the area S is as follows:

where scal is the coefficient of bitmap scaling.

Point (c, d) and starting point P₁The connection distance calculation formula of (a) is as follows:

P′₁.c＝(P₁.c-c_min+plough)×scal，

P′₁.d＝(P₁.d-d_min+plough)×scal；

wherein, P'₁C is the point (c, d) and the starting point P₁Of transverse connecting distance, P'₁D is the point (c, d) and the starting point P₁The longitudinal connection distance of (a);

points (c, d) and P₂The connection distance calculation formula of (a) is as follows:

P′₂.c＝(P₂.c-c_min+plough)×scal，

P′₂.d＝(P₂.d-d_min+plough)×scal；

wherein, P'₂C is the point (c, d) and the starting point P₂Of transverse connecting distance, P'₂D is the point (c, d) and the starting point P₂The longitudinal connection distance of (a).

Further, in the step S2, the mobile communication network module reports the real-time longitude and latitude information of the agricultural machinery collected by the satellite navigation and positioning module to the server at a frequency of 0.5 Hz.

As shown in fig. 3, the step S3 of constructing a newton euler dynamic agricultural machinery motion model to track the real-time motion state of the agricultural machinery includes the following steps:

m1: constructing a Newton Euler dynamic agricultural machinery motion model:

τ＝Iω′+(ω×(Iω))+γ；

wherein τ is an external torque applied to the vehicle body frame, I ω' is an inertial angular acceleration, ω x (I ω) is a centripetal force, and γ is a gyroscopic force;

m2: solving an angular velocity vector omega' of agricultural machinery movement according to the Newton Euler dynamic agricultural machinery movement model constructed in the step M1:

ω′＝I^-1[-ω×(Iω)+τ-γ]；

the angular velocity vector omega' is decomposed into an angular velocity vector expression in a three-dimensional frame where the wheels of the agricultural machinery are located: ω '═ p' q 'r']^T；

Wherein the angular velocity vector omega ' utilizes an angular velocity vector p ' q ' r ' in a three-dimensional frame of the agricultural vehicle wheel ']^TFurther expressed as:

wherein, I_mIs an inertia matrix, p, q and r are components of the angular velocity ω of the rotor of the agricultural vehicle, ω_iIs the scalar angular velocity of the agricultural machine wheel rotor; because of the symmetry of the agricultural machine, the inertia matrix of the four-rotor aircraft is diagonal, and the mass of the agricultural machine and its geometrical distribution (especially the inertia) affect the dynamics of the whole system; i is_xx、I_yy、I_zzAre respectively an inertia matrix I_mOf the rotor in the x, y and z axes_φ、τ_θAnd τ_ψThe components of external torque applied to the body frame in all directions in the three-dimensional space of the agricultural machine body frame are shown.

M3: angular velocity vector p 'q' r 'obtained by M2 step']^TCalculating Euler angular rate [ phi theta phi ] phi of frame angle of agricultural machinery body]^T：

M4: calculating the integral angle change value R of the frame shaft of the agricultural machine body relative to the inertial frame shaft of the earth according to the change of the frame angle of the agricultural machine body obtained in the step M3_T：

R_T＝R_x(φ)R_y(θ)R_z(ψ)；

Wherein R is_x(phi) is a rolling angle of the agricultural machine body in the direction of the x axis of the earth inertia frame axis at the Euler angular rate phi of the frame axis of the machine body, R_y(theta) is the pitch angle of the agricultural machine body in the direction of the y axis of the earth inertia frame axis at the Euler angular rate theta of the frame axis of the machine body, R_z(psi) is a yaw angle of the agricultural machinery body in the direction of the z-axis of the earth inertia frame axis at the Euler angular rate psi of the frame axis of the machinery body;

wherein the roll angle R_x(phi), pitch angle R_y(theta) and yaw angle R_yThe calculation formula of (θ) is as follows:

wherein phi, theta and psi are Euler angular rates for the change of the Euler angular rate angle of the agricultural machine under the frame of the fuselage.

While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. It is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.