Seeding monitoring anti-offset navigation system and method thereof

Abstract

The invention relates to the field of monitoring navigation of seeding machines, in particular to a navigation system and method for preventing seeding monitoring deviation, the navigation system comprises a navigation aided driving system and a seeding monitoring terminal, the navigation aided driving system is composed of a navigation control unit and a vehicle-mounted calculation and steering execution unit, and the navigation control unit is connected with the vehicle-mounted calculation and steering execution unit. The system further comprises a single base station system, a ground augmentation system, a satellite-based augmentation system and a sowing monitoring terminal, and solves the problem that when some differences exist between a map and an actual ground scene at the present stage, correction needs to be carried out on the map according to a deviation value measured on site, and use is troublesome. Meanwhile, the seed shortage rate of seeding and the blockage rate of equipment can be monitored, and the working efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of monitoring and navigation of a seed drill, and in particular to a navigation system and method for preventing deviation of seeding monitoring. Background Art

[0002] The cultivated area of ​​sloping farmland in my country accounts for about one-third of the country's total cultivated area, but the comprehensive mechanization rate is less than 50%, far lower than the national comprehensive mechanization rate of 72%. The surface of sloping farmland is undulating and the working environment is relatively harsh. There are few seeding machines suitable for sloping farmland in my country, and the operating effect is poor. For sloping farmland with a smaller slope, my country mainly uses traditional seeding machines for sowing, but the planting process is prone to problems such as path deviation and difficulty in turning, resulting in low sowing efficiency, uneven distribution of seed row spacing, and poor soil covering effect, resulting in increased production costs and reduced grain production.

[0003] The current practice is to select point A and point B on the map respectively, and then use the map to establish a straight line AB, and use the AB straight line mode as a guide line to control the driving of the assisted driving intelligent seed drill. However, due to some differences between the map and the actual ground scene, the AB straight line usually needs to be corrected during use. The traditional practice is to correct the map based on the deviation value measured on site, which is inconvenient to use. Summary of the invention

[0004] The present invention provides a navigation system and method for sowing monitoring and anti-deviating, which solves the problem that when there are some differences between the map and the actual ground scene at the current stage, the map needs to be corrected according to the deviation value measured on site, which is troublesome to use. At the same time, the sowing missing rate and the equipment blocking rate can be monitored to increase work efficiency.

[0005] In order to achieve the above-mentioned purpose, the technical scheme adopted by the present invention is: a navigation system for anti-drifting of sowing monitoring, including a navigation-assisted driving system and a sowing monitoring terminal, wherein the navigation-assisted driving system is composed of a navigation control unit, a vehicle-mounted calculation and steering execution unit, and also includes: a single base station system, which only uses one base station and receives the carrier phase code and pseudo-range observation differential correction parameters issued by the base station through data communication technology to improve the satellite navigation accuracy and other performances; a ground-based augmentation system, which uses a ground transmitter to broadcast differential corrections, integrity information and other information to improve the accuracy and other performances of satellite navigation users within a certain range; a satellite-based augmentation system, which uses satellites to broadcast differential corrections, integrity information and other information to improve the accuracy and other performances of satellite navigation users over a large range; and a sowing monitoring terminal, which is composed of a vehicle-mounted display unit, an alarm unit, an image acquisition unit, a sowing information acquisition unit, etc., and has the functions of sowing amount statistics, sowing operation information display, seed shortage blockage alarm, image acquisition, satellite positioning, remote transmission of operation information, local data storage and breakpoint continuation.

[0006] Further defined, a method applicable to a navigation system for seeding monitoring and anti-drifting, the specific steps are as follows:

[0007] Step S1, selecting a point A and a point B on the work site, and using a virtual straight line passing through point A and point B as a first reference line of the auxiliary driving system;

[0008] Step S2, selecting a point A and a heading angle on the work site, using a virtual straight line passing through point A and the heading angle as a second reference line of the auxiliary driving system, and guiding the agricultural machinery along the planned virtual path according to the AB line or the A-heading;

[0009] Step S3, real-time dynamic measurement and stable working state are carried out, and high-precision dynamic relative positioning measurement technology is realized through the real-time data link between the reference station and the mobile station and the carrier relative positioning fast solution technology. The auxiliary driving system controls the agricultural machinery to continuously travel along the navigation line for a distance of not less than 5m, and controls the absolute value of the lateral offset error to be less than 2.5cm;

[0010] Step S4, define the lateral offset error, the average trajectory tracking error and the average connection row spacing error. The lateral offset error is: the vertical distance of the center point of the working machine from the current navigation line during the operation of agricultural machinery. The positive and negative are defined as: along the current operation trajectory, the center point of the working machine is positive when it is biased to the right, and negative when it is biased to the left. The average trajectory tracking error is: in a stable working state, the absolute value of the average lateral offset error of the center point of the working machine relative to the current navigation line. The average connection row spacing error is: in a stable working state, the absolute value of the average error between the actual measured operation connection row spacing and the preset operation connection row spacing;

[0011] Step S5, calculating the trajectory tracking average error and trajectory straightness accuracy;

[0012] Step S6, setting the connecting row spacing according to the instructions provided by the enterprise, driving the agricultural machine to the navigation line AB adjacent to the right side of the navigation line AB, the auxiliary driving system should enter a stable working state before reaching the starting line to calculate the average error of the connecting row spacing of this operation and the accuracy of the connecting row spacing of this operation, and then repeat the test on the navigation line adjacent to the left side of the navigation line A-B;

[0013] Step S7, while driving, performing sowing operations at a normal operating speed, stopping the vehicle after the total sowing amount counted by the vehicle-mounted display unit exceeds a set value, and checking the actual total sowing amount;

[0014] Step S8, testing the accuracy of the missing alarm and the jam alarm, and using the terminal remote transmission frequency and packet loss rate.

[0015] To further illustrate, the formula for calculating the average trajectory tracking error is:

[0016]

[0017] Where x represents the average error of trajectory tracking, in centimeters; xi represents the lateral offset error of the i-th sampling point, in centimeters; N represents the total number of samples; the formula for calculating the trajectory straightness accuracy is:

[0018]

[0019] Among them, S1 represents the straightness accuracy; the formula for calculating the average error of the connection line spacing of this operation is:

[0020]

[0021] Among them, h represents the average error of the connection row spacing, in centimeters, hi represents the track spacing of the i-th sampling point, in centimeters; H represents the preset connection row spacing, in centimeters; the formula for calculating the connection row spacing accuracy of this operation is:

[0022]

[0023] Among them, S2 represents the spacing accuracy of connecting rows, in centimeters.

[0024] The formula for calculating the statistical error rate of each sowing amount is:

[0025]

[0026] Among them, ΔQ represents the statistical error rate of seeding amount, Q1 represents the seeding amount counted by the terminal, in grains; Q2 represents the actual total amount of seeding, in grains; the formula for calculating the accuracy of seed shortage alarm is:

[0027]

[0028] Among them, A represents the accuracy rate of seed shortage alarm; N1 represents the number of terminal seed shortage alarms; N2 represents the number of tests; the formula for calculating the accuracy rate of blockage alarm is:

[0029]

[0030] Among them, B represents the accuracy of congestion alarm, P1 represents the number of terminal congestion alarms, and P2 represents the number of tests.

[0031] It is further defined that, in the assisted driving mode, the agricultural machinery is driven at a specified speed along the AB navigation line for a certain distance, manually intervenes to stop the machine, and the assisted driving system is set to manual mode. After waiting for a certain period of time, the assisted driving system is started again to drive at a specified speed. The test equipment is used to record the lateral offset error of the actual driving trajectory points and the trajectory straightness accuracy is calculated again. The test is repeated multiple times, and the maximum value of the multiple trajectory straightness accuracy is taken as the final measured value of the stop-start accuracy.

[0032] The beneficial effects of adopting the above technical solution are:

[0033] 1. The present invention selects the working range of the seed drill by marking points. Within this range, multiple points can be selected for intermediate path planning, so as to plan the optimal working path, reduce unnecessary driving and turning, and thus improve working efficiency and speed.

[0034] 2. The present invention can monitor the seed shortage rate and blockage rate during the sowing process, which is convenient for later summary and improvement and can improve efficiency. DETAILED DESCRIPTION

[0035] The specific implementation methods of the present invention are further explained in detail below through the description of embodiments, with the aim of helping those skilled in the art to have a more complete, accurate and in-depth understanding of the concept and technical solution of the present invention and facilitating its implementation.

[0036] The present invention is a navigation system and method for sowing monitoring and anti-deviating, which solves the problem that when there are some differences between the map and the actual ground scene at the current stage, the map needs to be corrected according to the deviation value measured on site, which is troublesome to use. At the same time, the sowing missing rate and the equipment blockage rate can be monitored to increase work efficiency.

[0037] Example:

[0038] A navigation system for seeding monitoring and anti-drifting includes a navigation-assisted driving system and a seeding monitoring terminal. The navigation-assisted driving system is composed of a navigation control unit, an on-board computing and steering execution unit, and also includes a single base station system, which uses only one base station and receives carrier phase codes and pseudo-range observation differential correction parameters issued by the base station through data communication technology to improve satellite navigation accuracy and other performances.

[0039] Ground-based augmentation systems use ground-based transmitters to broadcast differential corrections, integrity information, and other information to improve the accuracy and other performance of satellite navigation users within a certain range;

[0040] Satellite-based augmentation systems use satellites to broadcast differential corrections, integrity information, and other information to improve the accuracy and other performance of satellite navigation users over a wide area;

[0041] The sowing monitoring terminal consists of a vehicle-mounted display unit, an alarm unit, an image acquisition unit, a sowing information acquisition unit, etc. It has the functions of sowing amount statistics, sowing operation information display, seed shortage blockage alarm, image acquisition, satellite positioning, remote transmission of operation information, local data storage and breakpoint continuation. The specific implementation methods are as follows:

[0042] Turn on the power switch of the assisted driving system, use a stopwatch to time, and observe the initialization information on the initialization interface of the display. When all the initialization items of the system, such as RTK and actuators, are successfully completed and the assisted driving main interface is entered, stop the stopwatch, record the first positioning time, stop the agricultural machinery at the starting point of the test section, click "Point A" on the display terminal to confirm, and the test equipment collects the location information of this point as the "starting point". When the manual driving is no less than 150m away from Point A, click "Point B" to confirm, and the test equipment collects the location information of this point as the "end point". Using the "starting point" and "end point" collected by the test equipment, form the planned navigation line, the starting line (through the starting point and perpendicular to the planned navigation line), and the end line (through the end point and perpendicular to the planned navigation line), turn around and return, and the agricultural machinery drives along the AB line. The assisted driving system should enter a stable working state before reaching the starting point. In the assisted driving mode, the agricultural machinery starts from the starting line and passes the end line at low and medium speeds, and the actual driving trajectory is recorded. Divide the driving trajectory of the starting line and the end line into 49 equal parts, obtain 50 intersection points on the trajectory line, record the lateral deviation of the 50 intersection points, calculate the average trajectory tracking error and the trajectory straightness accuracy, then swap the starting point and the end point recorded by the test equipment, record the lateral deviation of the actual driving trajectory points in the opposite direction of the same path, calculate the average trajectory tracking error and the trajectory straightness accuracy. Take the maximum value of the two measurement results as the final result of the average trajectory tracking error and the trajectory straightness accuracy. The test results should be attached with a driving trajectory diagram for each test.

[0043] The calculation formula of the average trajectory tracking error is:

[0044]

[0045] x represents the average error of trajectory tracking, in centimeters; xi represents the lateral offset error of the i-th sampling point, in centimeters; N represents the total number of samples, and the calculation formula for the trajectory straightness accuracy is:

[0046]

[0047] S1 represents straightness accuracy;

[0048] After the test, set the connection row spacing according to the instructions provided by the company, and drive the agricultural machinery to the navigation line A-B adjacent to the right side of the guide line AB. The assisted driving system should enter a stable working state before reaching the starting line. In the assisted driving mode, the agricultural machinery starts from the starting line and passes the end line at a low speed and a medium speed, and records the actual driving trajectory. The driving trajectory of the starting line and the end line is divided into 49 equal parts, and 50 intersection points are obtained on the trajectory line. The connection row spacing deviation is obtained by subtracting the preset distance between the working trajectories from the working row spacing of each pair of intersection points. The average error of the connection row spacing of this operation and the accuracy of the connection row spacing of this operation are calculated according to the formula. Then, repeat the test on the navigation line adjacent to the left side of the navigation line AB, and take the maximum value of the average error of the connection row spacing of the two left and right operations, and the maximum value of the connection row spacing accuracy as the final measurement result. The test result should be attached with a driving trajectory diagram for each test.

[0049] Among them, the calculation formula for the average error of the connection line spacing of this operation is:

[0050]

[0051] h represents the average error of the connection row spacing, in centimeters; hi represents the track spacing of the i-th sampling point, in centimeters; H represents the preset connection row spacing, in centimeters; the calculation formula for the connection row spacing accuracy of this operation is:

[0052]

[0053] S2 indicates the spacing accuracy of connecting rows, in centimeters.

[0054] In the assisted driving mode, drive the agricultural machinery along the AB navigation line at a specified speed for no less than 20m, stop the machine manually, and set the assisted driving system to manual mode. After waiting for 5 minutes, start the assisted driving system again and drive at a specified speed for no less than 10m. Use the test equipment to record the lateral offset error of the actual driving trajectory point. According to the trajectory straightness accuracy calculation formula, repeat the test 3 times, and take the maximum value of the 3 trajectory straightness accuracy as the final measurement value of the stop-start accuracy. The test results should be attached with a driving trajectory diagram for each time.

[0055] In the assisted driving mode, the agricultural machinery starts from point A along the navigation line and travels at the prescribed speed for no less than 50m. The base station power is turned off. At the same time, the test equipment is used to record the lateral error of the actual driving trajectory points of the agricultural machinery. The lateral error of the actual driving trajectory points is analyzed, and the time during which the average trajectory tracking error of the assisted driving system is within 2.5cm is calculated. The time interval of 1S is used as the endurance time unit until the average trajectory tracking error exceeds 2.5cm. All the endurance times are accumulated as the anti-interference endurance time of the assisted driving system when the satellite RTK differential service is turned off. The measurement is repeated 3 times and the average value is calculated.

[0056] The sowing operation is carried out at normal operating speed. The sowing monitoring terminal on the sowing unit starts working. When the total sowing amount counted by the on-board display unit exceeds 1,000 seeds, the machine stops and the actual sowing amount is checked. The statistical error rate of the sowing amount for each operation is calculated according to the formula. The test is repeated 3 times to obtain the average value. The formula for calculating the statistical error rate of the sowing amount for each operation is:

[0057]

[0058] Among them, ΔQ represents the statistical error rate of seeding amount, Q1 represents the seeding amount counted by the terminal, in grains; Q2 represents the actual total amount of seeding, in grains,

[0059] Fill the seed box with seeds, do not install or lift the covering and pressing wheels to ensure that the seeds are exposed on the surface, measure a plot of 100m in length, and sow 100m at normal operating speed. If a seed shortage alarm occurs, stop the machine immediately and check whether there are more than 3 seeds exposed on the surface that have been missed continuously. If so, it means that the seed shortage alarm is successful, otherwise it is a failure. If there is no seed shortage alarm after 100m of operation, empty the seed box and then sow. Stop the machine after the terminal detects that the row is missing seeds and issues an alarm. The time from the start of the operation to the appearance of the seed shortage alarm should be less than 3s. If the test time exceeds 3s or the seed shortage row detected by the terminal is inconsistent with the actual one, it means that the seed shortage alarm failed in this test. A total of 20 tests are conducted, and the number of tests and the number of successful terminal seed shortage alarms are recorded. The accuracy of the seed shortage alarm is calculated according to the formula.

[0060] The formula for calculating the accuracy of the missing seed alarm is:

[0061]

[0062] Among them, A represents the accuracy rate of seed shortage alarm; N1 represents the number of terminal seed shortage alarms; N2 represents the number of tests,

[0063] Fill the seed box with seeds, do not install or lift the covering and pressing wheels to ensure that the seeds are exposed on the ground surface, measure a plot of 100m in length, and sow 100m at normal operating speed. If a blockage alarm occurs, stop the machine immediately and check whether the seed sensor detection area is full of seeds. If so, it means the blockage alarm is successful, otherwise it is a failure. If no blockage alarm occurs after 100m of operation, use seeds to completely cover the seed sensor detection area, and then carry out the sowing operation. During the operation, the seed sensor detection area is always in a blocked state. Stop the machine after the terminal detects that the row is blocked and issues an alarm. The time from the start of the operation to the appearance of the blockage alarm should be less than 3s. If the test time exceeds 3s or the blocked row detected by the terminal is inconsistent with the actual one, it means that the blockage alarm failed in this test. The test is repeated 20 times in total, and the number of tests and the number of successful terminal blockage alarms are recorded. The accuracy of the blockage alarm is calculated according to the formula.

[0064] The formula for calculating the jam alarm accuracy is:

[0065]

[0066] Among them, B represents the accuracy of congestion alarm, P1 represents the number of terminal congestion alarms, and P2 represents the number of tests. In order to ensure the normal operation of remote communication, a satellite positioning and remote communication unit should be set up in an open outdoor area, and a DC power supply should be connected. The power supply voltage should be stable within the range of ±3% of the rated voltage of the test prototype. After the terminal is connected to the server normally and the satellite positioning is successful, the terminal starts remote data transmission. When the number of data packets sent reaches 1000, the test is stopped, the system record data of the remote server is retrieved, and the terminal remote transmission frequency and packet loss rate are measured. The transmission frequency should be no less than 0.2Hz, and the data packet loss rate should be no more than 1%.

[0067] Install the seed sensor on the seed guide tube or fixed bracket, and place it in a dust and sand test box (dust volume 2kg / m3). The distance between the test sample and the inner wall of the test box should be no less than 100mm. During the test, the temperature in the test box is (15℃-35℃), and the relative humidity is 45%RH~75%RH. The air flow speed in the test box should keep the test dust evenly settled on the test sample. The maximum wind speed does not exceed 2m / s. The sample is kept under this test condition for 8h. After stopping the blowing, wait for the dust to settle completely, take out the test sample, connect the seed sensor to the agricultural machinery sowing operation monitoring terminal, and use the manual single seed planting method. The seeds cannot exceed the detection area of ​​the seed sensor. After the number of seeds reaches 1000, stop the test, record the number of seeds displayed on the terminal vehicle display device, calculate the statistical error rate of the operating sowing amount after the dust test according to the formula of the statistical error rate of the sowing amount for each operation, and average the three tests. If the statistical error rate of the operating sowing amount is ≤3% after the average value, the dust resistance of the seed sensor is qualified. The above is an exemplary description of the present invention. Obviously, the specific implementation of the present invention is not limited to the above-mentioned method, as long as various non-substantial improvements are made using the method concept and technical solution of the present invention; or the above-mentioned concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. A navigation system for seeding monitoring and anti-deviation, characterized in that: It includes a navigation-assisted driving system and a sowing monitoring terminal. The navigation-assisted driving system is composed of a navigation control unit, an on-board computing and steering execution unit, and also includes: Single base station system uses only one base station and receives carrier phase code and pseudo-range observation differential correction parameters issued by the base station through data communication technology to improve satellite navigation accuracy and other performance; Ground-based augmentation systems use ground-based transmitters to broadcast differential corrections, integrity information, and other information to improve the accuracy and other performance of satellite navigation users within a certain range; Satellite-based augmentation systems use satellites to broadcast differential corrections, integrity information, and other information to improve the accuracy and other performance of satellite navigation users over a wide area; The sowing monitoring terminal consists of a vehicle-mounted display unit, an alarm unit, an image acquisition unit, a sowing information acquisition unit, etc. It has the functions of sowing amount statistics, sowing operation information display, seed shortage and blockage alarm, image acquisition, satellite positioning, remote transmission of operation information, local data storage and breakpoint resumption.

2. The method of claim 1, which is applicable to a navigation system for seeding monitoring and anti-deviation, is characterized in that: The specific steps are as follows: Step S1, selecting a point A and a point B on the work site, and using a virtual straight line passing through point A and point B as a first reference line of the auxiliary driving system; Step S2, selecting a point A and a heading angle on the work site, using a virtual straight line passing through point A and the heading angle as a second reference line of the auxiliary driving system, and guiding the agricultural machinery along the planned virtual path according to the AB line or the A-heading; Step S3, real-time dynamic measurement and stable working state are carried out, and high-precision dynamic relative positioning measurement technology is realized through the real-time data link between the reference station and the mobile station and the carrier relative positioning fast solution technology. The auxiliary driving system controls the agricultural machinery to continuously travel along the navigation line for a distance of not less than 5m, and controls the absolute value of the lateral offset error to be less than 2.5cm; Step S4, define the lateral offset error, the average trajectory tracking error and the average connection row spacing error. The lateral offset error is: the vertical distance of the center point of the working machine from the current navigation line during the operation of agricultural machinery. The positive and negative are defined as: along the current operation trajectory, the center point of the working machine is positive when it is biased to the right, and negative when it is biased to the left. The average trajectory tracking error is: in a stable working state, the absolute value of the average lateral offset error of the center point of the working machine relative to the current navigation line. The average connection row spacing error is: in a stable working state, the absolute value of the average error between the actual measured operation connection row spacing and the preset operation connection row spacing; Step S5, calculating the trajectory tracking average error and trajectory straightness accuracy; Step S6, setting the connecting row spacing according to the instructions provided by the enterprise, driving the agricultural machine to the navigation line AB adjacent to the right side of the navigation line AB, the auxiliary driving system should enter a stable working state before reaching the starting line to calculate the average error of the connecting row spacing of this operation and the accuracy of the connecting row spacing of this operation, and then repeat the test on the navigation line adjacent to the left side of the navigation line A-B; Step S7, while driving, performing sowing operations at a normal operating speed, stopping the vehicle after the total sowing amount counted by the vehicle-mounted display unit exceeds a set value, and checking the actual total sowing amount; Step S8, testing the accuracy of the missing alarm and the jam alarm, and using the terminal remote transmission frequency and packet loss rate.

3. The method for a navigation system for seeding monitoring and anti-deviation according to claim 2, characterized in that: The formula for calculating the average trajectory tracking error is: Where x represents the average trajectory tracking error in centimeters; xi represents the lateral offset error of the i-th sampling point in centimeters; N represents the total number of samples; The formula for calculating the trajectory straightness accuracy is: Among them, S1 represents the straightness accuracy; The formula for calculating the average error of the connection line spacing of this operation is: Among them, h represents the average error of the connection line spacing, in centimeters, hi represents the trajectory spacing of the i-th sampling point, in centimeters; H represents the preset connection line spacing, in centimeters; The formula for calculating the spacing accuracy of the connecting lines of this operation is: Among them, S2 represents the spacing accuracy of connecting rows, in centimeters.

4. The method for a navigation system for seeding monitoring and anti-deviation according to claim 2, characterized in that: The formula for calculating the statistical error rate of each sowing amount is: Among them, ΔQ represents the statistical error rate of seeding amount, Q1 represents the seeding amount counted by the terminal, in grains; Q2 represents the actual total amount of seeding, in grains; The formula for calculating the accuracy of the missing seed alarm is: Among them, A represents the accuracy rate of seed shortage alarm; N1 represents the number of terminal seed shortage alarms; N2 represents the number of tests; The formula for calculating the jam alarm accuracy is: Among them, B represents the accuracy of congestion alarm, P1 represents the number of terminal congestion alarms, and P2 represents the number of tests.

5. The method for a navigation system for seeding monitoring and anti-deviation according to claim 2, characterized in that: In the assisted driving mode, the agricultural machinery is driven at a specified speed along the AB navigation line for a certain distance, manually stopped, and the assisted driving system is set to manual mode. After waiting for a certain period of time, the assisted driving system is started again to drive at the specified speed. The lateral offset error of the actual driving trajectory points is recorded using the test equipment and the trajectory straightness accuracy is calculated again. The test is repeated multiple times and the maximum value of the multiple trajectory straightness accuracy is taken as the final measured value of the stop-start accuracy.

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