A Calculation Method of Agricultural Machinery Operating Area Based on Bezier Curve Fitting Path
A Bezier curve and calculation method technology, applied in the field of calculation of agricultural machinery operation area based on Bezier curve fitting path, can solve the problem that the line path method does not comprehensively consider the direction speed error, does not consider the missing transmission of coordinate points, and turns around at the vertex And other issues
Active Publication Date: 2021-03-26
SHANGHAI HUACE NAVIGATION TECH
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Problems solved by technology
For example, the common grid point coverage method is too ideal for the speed of agricultural machinery. When the agricultural machinery is running at a non-uniform speed, it is easy to miss and recalculate. There is a large error in the accuracy, and the line path method does not comprehensively consider the error caused by the direction and speed factors
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Embodiment 1
[0044] refer to Figure 1-Figure 6 As shown, the present invention provides a method for calculating the area of agricultural machinery based on Bezier curve fitting path. The present invention uses the CTI agricultural machinery navigation product for data upload, and the positioning module uses the CTI RTK product with a positioning accuracy of 0.5m. Use the speed and azimuth sensor to collect speed, azimuth and working status data. The navigation product collects coordinates, speed, azimuth, operation status, and time data once every 5s, and caches the above data into the storage medium in chronological order, and the navigation product continuously sends the data in the storage medium to the server through the TCP protocol in an orderly manner;
[0045]After the server receives the data, if it is judged to be in a non-job state, it will not be processed. The job module automatically compares the point of the job status with the previous point. If the time interval is >=...
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The invention provides an agricultural machinery operation area calculation method based on a Bezier curve fitting path. The method comprises the following steps: (1) all points in a non-operation state are removed; (2) adjacent points with discontinuous time intervals are found out in all operation coordinate points, and according to the direction angles and the speeds of the adjacent points, a middle point is fit; (3) adjacent points with continuous time and with the direction angles presenting an obtuse angle are found out, and according to the direction angles and the speeds of the two points, a boundary vertex is fit; and (4) the set of points in original operation and fit points is connected according to a time sequence, the connected line is buffered at an angle of 90 DEG outwardlyaccording to a width, overlapped areas are removed, an irregular pattern after buffer is formed, and the area of the pattern after buffer is then calculated. The shortage of agricultural machinery operation area calculation at present is solved, and in combination of actual agricultural machinery operation scene parameters, the area calculation accuracy, the stability and the reliability are enhanced to the greatest extent.
Description
technical field [0001] The invention relates to the field of smart agriculture, in particular to a method for calculating the operating area of agricultural machinery based on a Bezier curve fitting path. Background technique [0002] In recent years, with the development of smart agriculture, the automation of agricultural machinery has become more and more popular, and the demand for automatic calculation of the operating area of agricultural machinery has become more and more urgent. Due to the complexity of the operation scenarios and the randomness of agricultural machinery operations, most scenarios cannot accurately calculate the operation area. [0003] The existing algorithms for the operation area of agricultural machinery generally include the area grid point coverage method, the width method, and the line warp method, but there are many deficiencies. For example, the common grid point coverage method is too ideal for the speed of agricultural machinery. Wh...
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IPC IPC(8): G01B21/28
CPCG01B21/28
Inventor 纪郭军吴琼张超周瑾袁本银刘合丽
Owner SHANGHAI HUACE NAVIGATION TECH