A method and device for obtaining the real-time position of the sprinkler head of a variable-variable sprinkler irrigation machine
A real-time location, sprinkler technology, applied in measuring devices, watering devices, botanical equipment and methods, etc., can solve problems such as low accuracy of sprinkler position estimation, and achieve the effect of reducing renovation costs
Active Publication Date: 2021-10-15
SHANGHAI JIAOTONG UNIV
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Problems solved by technology
At present, a single satellite receiver is used to obtain the orientation and positioning signals at the entrance of the sprinkler, and to measure the adjacent cross-knee angles of each tower truck to estimate the current position of each sprinkler head, but the length of several hundred meters has a large impact on the orientation measurement error and the adjacent cross-knee angle measurement error. There is a large amplification effect, and multi-span cascade calculations also form cumulative errors, and the accuracy of nozzle position estimation is very low
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[0030] The following describes a preferred embodiment of the present invention with reference to the accompanying drawings to make its technical content clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned herein.
[0031] In the drawings, components with the same structure are denoted by the same numerals, and components with similar structures or functions are denoted by similar numerals. The size and thickness of each component shown in the drawings are shown arbitrarily, and the present invention does not limit the size and thickness of each component. In order to make the illustration clearer, the thickness of parts is appropriately exaggerated in some places in the drawings.
[0032] like figure 1 As shown, this embodiment provides a device for obtaining the real-time position of the sprinkler head of a variable-variab...
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The invention discloses a method for obtaining the real-time position of the nozzle of a variable-variable sprinkler irrigation machine, comprising: step 1, obtaining the current positioning position of a satellite positioning mobile station through RTK technology, wherein each tower car is equipped with a satellite positioning mobile station; step 2 , The real-time position of the sprinkler head is obtained by interpolating the current positioning position of the satellite positioning mobile station at both ends of the span where the sprinkler head is located. The invention also discloses a device using the above method, including a satellite positioning base station, a satellite positioning mobile station, a tower truck controller and a main controller; the satellite positioning base station is fixed on the work site, and communicates with the satellite positioning mobile station by radio ; The satellite positioning mobile station communicates with the tower truck controller, the tower truck controller communicates with the main controller, and the main controller completes the calculation of the real-time position of the nozzle. The present invention calculates the real-time position of the sprinkler head without error amplification effect and cascading cumulative error, which is in the same order of magnitude as the error of satellite positioning, and the accuracy can reach ±25mm.
Description
technical field [0001] The invention relates to the field of agricultural machinery, in particular to a method and a device for obtaining the real-time position of a nozzle of a variable-variable sprinkler irrigation machine. Background technique [0002] The overall span of large sprinklers is generally not less than 150 meters, and the pivot type can reach 600 meters, with each span of 40 meters to 80 meters, and the spans are connected and supported by tower cars. The nozzles are arranged on the span at intervals of 2-3 meters. Large-scale sprinklers often adopt a hierarchical distribution control method, that is, the main controller and the tower truck controllers located on each tower truck are set up. information and send instructions. [0003] PWM variable sprinkling irrigation refers to installing water valves in front of each sprinkler head of the sprinkler, and adjusting the duty ratio of the water valves in an opening and closing cycle to control the amount of i...
Claims
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IPC IPC(8): A01G25/02G01S19/14
CPCA01G25/02G01S19/14
Inventor 黄小林鲍涧颖李彦明刘成良莫锦秋
Owner SHANGHAI JIAOTONG UNIV