Agricultural machine operation area measuring system and method based on multiple positioning sensors

Abstract

The invention provides an agricultural machine operation area measurement system and method based on multiple positioning sensors, and the method comprises the steps: obtaining the longitude and latitude information transmitted by a reference module, and obtaining a reference coordinate point of a reference position; agricultural machine state information is acquired; wherein the agricultural machine state information comprises an operation state and a non-operation state; when the agricultural machine is in an operation state, establishing a reference coordinate system based on the reference coordinate point of the reference position; correcting the position coordinates of the agricultural machine in real time under the reference coordinate system to obtain corrected position coordinates of the agricultural machine; and calculating the operation area based on a minimum unit area accumulation method according to the input operation parameters of the agricultural machine and the corrected position coordinates of the agricultural machine. The position of the agricultural machine is corrected and adjusted in real time through the reference module, movement track point offset of the agricultural machine is reduced, the operation area is calculated based on the minimum unit area accumulation method, and the measurement precision of the agricultural machine operation measurement process is improved.

Description

Technical Field

[0001] The present application relates to the field of agricultural intelligent technology, and in particular to a system and method for measuring the operating area of ​​agricultural machinery based on multiple positioning sensors. Background Art

[0002] When agricultural machinery is operating, the operating area is particularly important as the key data for farmers and agricultural machinery owners to conduct transactions and settlements. However, the terrain where agricultural machinery is operating is extremely complex, and the area of ​​many plots cannot be accurately measured and counted.

[0003] Most of the related working area measurement methods are static measurement methods, which are mainly divided into two types. One is a small rectangular working area, which can be measured with a steel ruler; the other is for the measurement of large areas and irregular plots, which requires the use of surveying and mapping instruments such as compasses, theodolites, and total stations to measure the area based on the longitude, latitude, elevation and other navigation and positioning information provided. Although the agricultural machinery working area measurement method based on a single GPS trajectory has achieved dynamic real-time measurement of the working area of ​​agricultural machinery, there are still abnormal situations such as motion trajectory point offset and irregular plots, which can easily cause area loss calculation or area duplication calculation, resulting in a large error between the measured area and the actual area. Summary of the invention

[0004] The present application provides an agricultural machinery operation area measurement system and method based on multi-positioning sensors to solve the problems of poor real-time performance and low accuracy in the agricultural machinery operation measurement process.

[0005] On the one hand, the present application provides an agricultural machinery operation area measurement system based on multiple positioning sensors, comprising: an agricultural machinery, a host module, a human-computer interaction module and a reference module; the reference module is configured to collect static GPS coordinate points, and the human-computer interaction module is configured to set agricultural machinery operation parameters and display operation status; the host module is arranged on the agricultural machinery, and the host module includes multiple positioning sensors and a controller; wherein the controller is configured to:

[0006] Obtain the latitude and longitude information sent by the reference module to obtain the reference coordinate point of the reference position;

[0007] Acquire agricultural machinery status information; wherein the agricultural machinery status information includes: operating status and non-operating status;

[0008] When the agricultural machine is in an operating state, a reference coordinate system is established based on the reference position reference coordinate point;

[0009] Correcting the position coordinates of the agricultural machinery in real time in the reference coordinate system to obtain corrected position coordinates of the agricultural machinery;

[0010] According to the input agricultural machinery operation parameters and the corrected agricultural machinery position coordinates, the operation area is calculated based on the minimum unit area accumulation addition.

[0011] In a possible implementation, the number of the positioning sensors is 4, each of which is arranged on the roof outside the cab of the agricultural machinery, and the positioning sensor is configured to collect the longitude and latitude information of the agricultural machinery, and the longitude and latitude information of the agricultural machinery includes a first coordinate, a second coordinate, a third coordinate and a fourth coordinate.

[0012] In a possible implementation, the controller is further configured to:

[0013] Obtain the latitude and longitude information of agricultural machinery;

[0014] Calculate the distance between the first coordinate point and the third coordinate point according to the latitude and longitude information to obtain a first distance;

[0015] Calculate the distance between the second coordinate point and the fourth coordinate point according to the latitude and longitude information to obtain a second distance;

[0016] Calculating a first difference value according to the first distance and a first preset length, and calculating a second difference value according to the second distance and a second preset length;

[0017] Get the preset error range;

[0018] Determine the coordinates associated with the first difference and / or the second difference within a preset error range as valid position coordinates;

[0019] The position coordinates of the agricultural machinery are calculated based on the effective position coordinates.

[0020] In a possible implementation, the host module further includes a work platform detection unit, which is disposed on a work arm of the agricultural machine, and the work platform detection unit is configured to detect a tilt angle of the work arm.

[0021] In a possible implementation, during the process of acquiring the agricultural machinery status information, the controller is further configured to:

[0022] Analyzing the current tilt angle of the working arm from the agricultural machine status information;

[0023] If the inclination angle of the working arm is within a preset range, determining that the agricultural machine is in an operating state;

[0024] If the inclination angle of the working arm is not within the preset range, it is determined that the agricultural machine is in a non-working state.

[0025] In a possible implementation, the host module also includes a LoRa communication processing unit and a Bluetooth communication processing unit, the LoRa communication processing unit is wirelessly connected to the reference module, and the Bluetooth communication unit is wirelessly connected to the human-computer interaction module; the reference module communicates with the host module through the LoRa communication processing unit, and the human-computer interaction module communicates with the host module through the Bluetooth communication processing unit.

[0026] In a possible implementation, the host module further includes a position information processing unit, which is configured to correct the coordinates of the reference module; perform real-time correction on the position coordinates of the agricultural machinery in the coordinate system to obtain the corrected position coordinates of the agricultural machinery, and further includes:

[0027] Obtaining the current reference position coordinates sent by the reference module;

[0028] Calculate in real time the error value between the current reference position coordinates and the reference position reference coordinates; wherein the reference position reference coordinates are pre-set reference coordinates;

[0029] The position coordinates of the agricultural machinery are corrected in real time according to the error value to obtain corrected position coordinates of the agricultural machinery.

[0030] In a possible implementation, according to the input agricultural machinery operation parameters and the corrected agricultural machinery position coordinates, the operation area is calculated based on the minimum unit area accumulation addition, and the controller is further configured as follows:

[0031] Divide the minimum unit according to the agricultural machinery operation points to obtain multiple unit blocks;

[0032] Accumulating according to the unit blocks and performing overlapping calculation on the overlapping minimum units to obtain the effective operation area;

[0033] The operating area of ​​the agricultural machinery is obtained by summing up multiple effective operating areas.

[0034] In one possible implementation, the reference module includes a reference position receiving unit, a LoRa communication unit and a reference position information processing unit; the reference position information processing unit is configured to calculate the coordinate information collected by the reference position receiving unit, and the LoRa communication unit is configured to send the reference coordinate information calculated by the reference position information processing unit to the host module.

[0035] On the other hand, the present application provides a method for measuring an agricultural machinery operation area based on a multi-positioning sensor, which is configured in the agricultural machinery operation area measurement system based on a multi-positioning sensor described in the first aspect, and the method comprises:

[0036] Obtain the latitude and longitude information sent by the reference module to obtain the reference coordinate point of the reference position;

[0037] Acquire agricultural machinery status information; wherein the agricultural machinery status information includes: operating status and non-operating status;

[0038] When the agricultural machine is in an operating state, a reference coordinate system is established based on the reference position reference coordinate point;

[0039] Correcting the position coordinates of the agricultural machinery in real time in the reference coordinate system to obtain corrected position coordinates of the agricultural machinery;

[0040] According to the input agricultural machinery operation parameters and the corrected agricultural machinery position coordinates, the operation area is calculated based on the minimum unit area accumulation addition.

[0041] It can be seen from the above technical scheme that the present application provides a system and method for measuring the operation area of ​​agricultural machinery based on multiple positioning sensors, the system comprising: agricultural machinery, a host module, a human-computer interaction module and a reference module; the reference module is configured to collect static GPS coordinate points, the human-computer interaction module is configured to set agricultural machinery operation parameters, display operation status and pricing calculation information; the host module is arranged on the agricultural machinery, and the host module comprises a plurality of positioning sensors and a controller; the controller is configured to: obtain the longitude and latitude information sent by the reference module, obtain the reference position reference coordinate points; obtain the agricultural machinery status information; when the agricultural machinery is in the operation state, establish a reference coordinate system based on the reference position reference coordinate points; perform real-time correction of the agricultural machinery position coordinates under the reference coordinate system to obtain the corrected agricultural machinery position coordinates; calculate the operation area based on the minimum unit area accumulation addition according to the input agricultural machinery operation parameters and the corrected agricultural machinery position coordinates. The reference module is used to correct and adjust the position of the agricultural machinery in real time to avoid the deviation of the agricultural machinery motion trajectory points, and calculate the operation area based on the minimum unit area accumulation addition, so that the agricultural machinery operation measurement process has high measurement accuracy and convenient operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the embodiments are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0043] Figure 1 A schematic diagram of the structure of an agricultural machinery operation area measurement system based on a multi-positioning sensor provided in an embodiment of the present application;

[0044] Figure 2 This is a schematic diagram of the structure of the host module according to an embodiment of the present application;

[0045] Figure 3A schematic diagram of the structure of a reference module according to an embodiment of the present application;

[0046] Figure 4 A schematic diagram of a human-computer interaction interface according to an embodiment of the present application;

[0047] Figure 5 A flowchart of a human-computer interaction module according to an embodiment of the present application;

[0048] Figure 6 A schematic diagram of receiving coordinates of the agricultural machinery operation position according to an embodiment of the present application;

[0049] Figure 7 This is a schematic diagram of the minimum unit accumulation method for the agricultural machinery operation area according to an embodiment of the present application;

[0050] Figure 8 A timing diagram of an agricultural machinery operating area measurement system based on multi-positioning sensors provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] The following embodiments are described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following embodiments do not represent all implementations consistent with the present application. They are only examples of systems and methods consistent with some aspects of the present application as detailed in the claims.

[0052] When agricultural machinery is operating, the operating area is particularly important as the key data for farmers and agricultural machinery owners to conduct transactions and settlements. However, the terrain where agricultural machinery is operating is extremely complex, and the area of ​​many plots cannot be accurately measured and counted.

[0053] Traditional methods of measuring the working area belong to static measurement methods. One is for small rectangular working areas, which can be measured by steel rulers or based on experience, which is simple and practical; the other is for large areas and irregular plots, which require the use of surveying instruments such as compasses, theodolites, and total stations, but the process is cumbersome and requires a lot of manpower and time. At present, there is also an area estimation method for farmland boundary measurement based on satellite positioning technology, which measures the area according to the navigation and positioning information such as longitude, latitude, and elevation provided. Although the agricultural machinery working area measurement method based on a single GPS trajectory has realized dynamic real-time measurement of the working area of ​​agricultural machinery, there are still abnormal situations such as motion trajectory point offset and irregular plots, which can easily cause area loss calculation or area duplication calculation, resulting in a large error between the measured area and the actual area.

[0054] Based on this, some embodiments of the present application provide a system and method for measuring the working area of ​​agricultural machinery based on multi-positioning sensors, which perform real-time correction and adjustment of the position of agricultural machinery through a reference module to avoid the deviation of the agricultural machinery motion trajectory points, and calculate the working area based on the minimum unit area accumulation addition, so that the agricultural machinery operation measurement process has high measurement accuracy and easy operation.

[0055] On the one hand, if Figure 1 As shown, the present application provides an agricultural machinery operation area measurement system based on multi-positioning sensors, including: agricultural machinery, host module, human-computer interaction module and reference module; the reference module is used to collect static GPS coordinate points, and the human-computer interaction module is used to set agricultural machinery operation parameters and display operation status; the host module and the reference module communicate via wireless LoRa, and the host module and the human-computer interaction module communicate via Bluetooth. Figure 2 As shown, the host module is used to calculate the operating area in real time according to the GPS coordinate points and the operating status of the agricultural machinery.

[0056] In some embodiments, the host module includes a LoRa communication processing unit and a Bluetooth communication processing unit, the LoRa communication processing unit is wirelessly connected to the reference module, and the Bluetooth communication unit is wirelessly connected to the human-computer interaction module; the reference module communicates with the host module through the LoRa communication processing unit, and the human-computer interaction module communicates with the host module through the Bluetooth communication processing unit. The communication distance of LoRa is not less than 5 kilometers, and the communication distance of Bluetooth is generally within 10 meters.

[0057] like Figure 3 As shown, when the reference module is in use, it is placed in an open space in the working area and sends the acquired coordinate information to the host module. In order to ensure the endurance of the reference module, the reference module can be powered by a battery. In some embodiments, the reference module includes two reference position receiving units, one LoRa communication unit and one reference position information processing unit. The coordinates of the two reference position receiving units are (r x1 , r y1 ) and (r x2 , r y2 ); the reference position information processing unit calculates the average value of the two reference position receiving units over a period of time, and outputs the average value as the reference position coordinate (r x , r y ); the LoRa communication unit is configured to send the reference position coordinates calculated by the reference position information processing unit to the host module.

[0058] like Figure 4 and Figure 5As shown, the human-computer interaction module is mostly a terminal device, which can be a handheld computer or a smart phone in some embodiments. The app software is run on the terminal device to communicate with the host module via Bluetooth. The user can set parameters through the user interface in the human-computer interaction module, where the parameters that can be set include but are not limited to agricultural machinery operation width parameters, the side length of the unit area of ​​agricultural machinery operation, the unit price of the operation, and the speed of agricultural machinery travel. When the operation starts, the display interface of the terminal device displays the agricultural machinery operation latitude and longitude information, the operation area and other information. When the operation ends, the final operation area is displayed on the display interface of the terminal device. After receiving the user's operation, the operation area is priced and the pricing result is displayed.

[0059] The host module is arranged on the agricultural machine, and the host module includes a plurality of positioning sensors and a controller; the controller is configured as follows:

[0060] S1: Obtain the latitude and longitude information of the reference module to obtain the reference coordinate point of the reference position;

[0061] When starting the operation, the controller receives the reference position reference coordinate point sent by the reference module so as to subsequently establish a rectangular coordinate system using it as a coordinate point.

[0062] S2: Acquire agricultural machinery status information; wherein the agricultural machinery status information includes: operating status and non-operating status;

[0063] In order to avoid the situation where the agricultural machinery makes invalid calculations of the working area due to U-turns or obstacle avoidance operations in the field, resulting in reduced measurement accuracy, the controller needs to obtain the agricultural machinery status information in real time and calculate the working area only when the agricultural machinery is in operation.

[0064] In some embodiments, the host module further includes a workbench detection unit, the workbench detection unit is disposed on the work arm of the agricultural machine, and the workbench detection unit is configured to detect the inclination angle of the work arm. The workbench status detection unit determines the work status according to different angles.

[0065] In some embodiments, during the process of acquiring agricultural machinery status information, the controller is further configured to:

[0066] Analyzing the current tilt angle of the working arm from the agricultural machine status information;

[0067] If the inclination angle of the working arm is within a preset range, determining that the agricultural machine is in an operating state;

[0068] If the inclination angle of the working arm is not within the preset range, it is determined that the agricultural machine is in a non-working state.

[0069] Among them, θ1 is the working state angle, and θ2 is the non-working state angle. The judgment angle is selected as a preset range to avoid misjudgment of the state when the ground is undulating. In the non-working state, the coordinate position of the agricultural machinery does not participate in the area calculation. The participation of this unit effectively improves the adaptability of the agricultural machinery operation process, such as returning to the field to refuel, turning around at the field, and avoiding obstacles in the field.

[0070] S3: when the agricultural machine is in an operating state, establishing a coordinate system based on the reference coordinate point of the reference position;

[0071] The reference coordinates of the reference position (r x0 , r y0 ) is used as the origin to establish a rectangular coordinate system.

[0072] In some embodiments, in order to accurately calculate the operating area, it is also necessary to calculate the error value of the reference position. The host module also includes a position information processing unit, which is configured to correct the coordinates of the reference module; the position information processing module reads the reference module data every preset time (which can be 1 second), and the reference position coordinates (r xn , r yn ), the error between the real-time calculated reference position coordinate and the reference position reference coordinate is (δ x0 , δ y0 ), the calculation formula is: δ x0 =r xn -r x0 ,δ y0 =r yn -r y0 .

[0073] S4: Correcting the position coordinates of the agricultural machinery in real time in the coordinate system to obtain corrected position coordinates of the agricultural machinery;

[0074] In order to accurately obtain the position of the agricultural machinery, in some embodiments, the number of the positioning sensors is 4, each of which is respectively arranged on the roof outside the cab of the agricultural machinery, and the positioning sensor is configured to collect the longitude and latitude information of the agricultural machinery, and the longitude and latitude information of the agricultural machinery includes a first coordinate, a second coordinate, a third coordinate and a fourth coordinate. The controller calculates the position of the agricultural machinery based on the longitude and latitude information of the agricultural machinery.

[0075] The controller is also configured to:

[0076] Obtain the latitude and longitude information of agricultural machinery;

[0077] Calculate the distance between the first coordinate point and the third coordinate point according to the latitude and longitude information to obtain a first distance;

[0078] Calculate the distance between the second coordinate point and the fourth coordinate point according to the latitude and longitude information to obtain a second distance;

[0079] Calculating a first difference value according to the first distance and a first preset length, and calculating a second difference value according to the second distance and a second preset length;

[0080] Get the preset error range;

[0081] Determine the coordinates associated with the first difference and / or the second difference within a preset error range as valid position coordinates;

[0082] The position coordinates of the agricultural machinery are calculated based on the effective position coordinates.

[0083] In some embodiments, Figure 6 As shown in the figure, the position coordinates of the four positioning sensors are set as (x1, y1), (x2, y2), (x3, y3), and (x4, y4), and the agricultural machinery coordinate position is set as (x n ,y n ). Unit 1 and unit 3 are a pair, and unit 2 and unit 4 are a pair. Unit 1 and unit 3 form line segment a, with a distance of L1, and unit 2 and unit 4 form line segment b, with a distance of L2. L1 and L2 are known and determined lengths. According to the longitude and latitude information, the distance between two points is calculated to be l1, and the distance between unit 2 and unit 4 is l2. If l1 is within the allowable error range of L1 (generally set to 5%), the position coordinate is valid. If l2 is within the allowable error range of L2, the position coordinate is also valid. The position information of the agricultural machinery is calculated from the position coordinates of units 1, 2, 3, and 4: x n =(x1+x2+x3+x4) / 4, y n =(y1+y2+y3+y4) / 4. If one set of data is invalid, it is discarded and the valid set of data is used. The valid set of data is assigned to the invalid set of data to calculate the coordinate position of the agricultural machinery (x n ,y n ).

[0084] After obtaining the position coordinates of the agricultural machinery, in order to avoid the position deviation of the agricultural machinery and affect the accuracy of the working area measurement, the position of the agricultural machinery needs to be corrected in real time.

[0085] In some embodiments, during the process of correcting the position of the agricultural machine, the controller is configured to:

[0086] Obtaining the current reference position coordinates sent by the reference module;

[0087] Calculate in real time the error value between the current reference position coordinates and the reference position reference coordinates; wherein the reference position reference coordinates are pre-set reference coordinates;

[0088] The position coordinates of the agricultural machinery are corrected in real time according to the error value to obtain corrected position coordinates of the agricultural machinery.

[0089] Among them, the contents related to the error value between the reference position coordinates before calculation and the reference position reference coordinates have been introduced in the above embodiments and will not be repeated here.

[0090] When the error value (δ x0 , δ y0 ) and read the position coordinates of the agricultural machinery (x n ,y n ), according to the coordinate error of the reference module (δ x0 , δ y0 ) to avoid continuous position drift. The corrected position coordinates of the agricultural machinery are (x', y'), x' = x n +δ x0 , y'=y n +δ y0 .

[0091] S5: Calculate the operation area based on the minimum unit area accumulation addition according to the input agricultural machinery operation parameters and the corrected agricultural machinery position coordinates.

[0092] like Figure 7 As shown in the figure, the minimum unit accumulation method for agricultural machinery operation area includes:

[0093] Divide the minimum unit according to the agricultural machinery operation points to obtain multiple unit blocks;

[0094] Accumulating according to the unit blocks and performing overlapping calculation on the overlapping minimum units to obtain the effective operation area;

[0095] The operating area of ​​the agricultural machinery is obtained by summing up multiple effective operating areas.

[0096] The working principle of the agricultural machinery operation area measurement system based on multi-positioning sensors is given below.

[0097] like Figure 8 As shown, set the parameters in the human-computer interaction module, set the operating width to w, the side length per unit area to a, and the operating unit price to b yuan / mu. In addition, the benchmark module needs to be placed in an open area in the operating area. After it is ready, the agricultural machinery is ready to start operating.

[0098] After receiving the start operation command, the controller of the host module reads the reference module data, and the first packet of data read is set as the reference position reference coordinate (r x0 , ry0 ), and then read the reference module data every 1 second, the reference position coordinates (r xn , r yn ), the error between the real-time calculated reference position coordinate and the reference position reference coordinate is (δ x0 , δ y0 ).

[0099] The controller obtains the agricultural operation status information of the operation platform detection unit and reads the position coordinates (x n ,y n ), according to the coordinate error of the reference module (δ x0 , δ y0 ) to avoid continuous position drift. The corrected position coordinates of the agricultural machinery are (x', y').

[0100] According to the corrected agricultural machinery position coordinates, the minimum unit area accumulation method is used to calculate the operating area and send it to the human-computer interaction module. The area calculation process is as follows:

[0101] Establish a rectangular coordinate system with the reference coordinate (r x0 , r y0 ) is the coordinate origin. Calculate the minimum number of units, divide it in the direction parallel to the workbench to obtain the number of units n1=w / a, the distance traveled in the forward direction of the agricultural machinery is d, and the number of units is n2=d / a. If the distance d is too large, d is halved, and a virtual position point is inserted, and the accumulation is performed twice. At the same time, it is necessary to uniformly number the accumulated unit blocks and record the coordinate points. When the minimum unit overlaps, it is necessary to calculate the number of overlaps n3. Calculate the area sk=(n1*n2-n3)*a*a. The real-time operating area of ​​the agricultural machinery S=s1+s2+…+sn.

[0102] On the other hand, the present application provides a method for measuring an agricultural machinery operation area based on a multi-positioning sensor, which is configured in the agricultural machinery operation area measurement system based on a multi-positioning sensor described in the first aspect, and the method comprises:

[0103] Obtain the real-time latitude and longitude information of the reference position and obtain the reference coordinate point of the reference position;

[0104] Acquire agricultural machinery status information; wherein the agricultural machinery status information includes: operating status and non-operating status;

[0105] When the agricultural machine is in an operating state, a coordinate system is established based on the reference coordinate point of the reference position;

[0106] Correcting the position coordinates of the agricultural machinery in real time in the coordinate system to obtain corrected position coordinates of the agricultural machinery;

[0107] According to the input agricultural machinery operation parameters and the corrected agricultural machinery position coordinates, the operation area is calculated based on the minimum unit area accumulation addition.

[0108] As can be seen from the above embodiments, the present application provides a system and method for measuring the operating area of ​​agricultural machinery based on multiple positioning sensors, the system comprising: agricultural machinery, a host module, a human-computer interaction module and a reference module; the reference module is configured to collect static GPS coordinate points, the human-computer interaction module is configured to set agricultural machinery operating parameters, display operating status and pricing calculation information; the host module is arranged on the agricultural machinery, the host module comprises a plurality of positioning sensors and a controller, the positioning sensor is a positioning sensor; the controller is configured to: obtain the longitude and latitude information sent by the reference module, obtain the reference position reference coordinate point; obtain the agricultural machinery status information; when the agricultural machinery is in the operating state, establish a coordinate system based on the reference position reference coordinate point; perform real-time correction of the agricultural machinery position coordinates under the coordinate system to obtain the corrected agricultural machinery position coordinates; calculate the operating area based on the minimum unit area accumulation addition according to the input agricultural machinery operating parameters and the corrected agricultural machinery position coordinates. The reference module is used to correct and adjust the position of the agricultural machinery in real time to avoid the deviation of the agricultural machinery motion trajectory point, and calculate the operating area based on the minimum unit area accumulation addition, so that the agricultural machinery operation measurement process has high measurement accuracy and convenient operation.

[0109] Similar parts between the embodiments provided in this application can be referenced to each other. The specific implementation methods provided above are only a few examples under the overall concept of this application and do not constitute a limitation on the scope of protection of this application.

Claims

1. An agricultural machinery operation area measurement system based on multi-positioning sensors, characterized in that: include: Agricultural machinery, host module, human-machine interaction module and benchmark module; The reference module is configured to collect static GPS coordinate points, and the human-computer interaction module is configured to set agricultural machinery operation parameters and display operation status; the host module is arranged on the agricultural machinery, and the host module includes a controller and a plurality of positioning sensors; wherein the controller is configured to: Obtain the latitude and longitude information sent by the reference module to obtain the reference coordinate point of the reference position; Acquire agricultural machinery status information; wherein the agricultural machinery status information includes: operating status and non-operating status; When the agricultural machine is in an operating state, a reference coordinate system is established based on the reference position reference coordinate point; Correcting the position coordinates of the agricultural machinery in real time in the reference coordinate system to obtain corrected position coordinates of the agricultural machinery; According to the input agricultural machinery operation parameters and the corrected agricultural machinery position coordinates, the operation area is calculated based on the minimum unit area accumulation addition.

2. The agricultural machinery operation area measurement system based on multi-positioning sensors according to claim 1 is characterized in that: The number of the positioning sensors is 4, each of which is arranged on the roof outside the cab of the agricultural machinery. The positioning sensor is configured to collect the longitude and latitude information of the agricultural machinery, and the longitude and latitude information of the agricultural machinery includes a first coordinate, a second coordinate, a third coordinate and a fourth coordinate.

3. The agricultural machinery operation area measurement system based on multi-positioning sensors according to claim 2 is characterized in that: The controller is also configured to: Obtain the latitude and longitude information of agricultural machinery; Calculate the distance between the first coordinate point and the third coordinate point according to the latitude and longitude information to obtain a first distance; Calculate the distance between the second coordinate point and the fourth coordinate point according to the latitude and longitude information to obtain a second distance; Calculating a first difference value according to the first distance and a first preset length, and calculating a second difference value according to the second distance and a second preset length; Get the preset error range; Determine the coordinates associated with the first difference and / or the second difference within a preset error range as valid position coordinates; The position coordinates of the agricultural machinery are calculated based on the effective position coordinates.

4. The agricultural machinery operation area measurement system based on multi-positioning sensors according to claim 1 is characterized in that: The host module further includes a work platform detection unit, which is disposed on a work arm of the agricultural machine and is configured to detect an inclination angle of the work arm.

5. The agricultural machinery operation area measurement system based on multi-positioning sensors according to claim 4 is characterized in that: In the process of acquiring the agricultural machinery status information, the controller is further configured to: Analyzing the current tilt angle of the working arm from the agricultural machine status information; If the inclination angle of the working arm is within a preset range, determining that the agricultural machine is in an operating state; If the inclination angle of the working arm is not within the preset range, it is determined that the agricultural machine is in a non-working state.

6. The agricultural machinery operation area measurement system based on multi-positioning sensors according to claim 1 is characterized in that: The host module also includes a LoRa communication processing unit and a Bluetooth communication processing unit, the LoRa communication processing unit is wirelessly connected to the reference module, and the Bluetooth communication unit is wirelessly connected to the human-computer interaction module; the reference module communicates with the host module through the LoRa communication processing unit, and the human-computer interaction module communicates with the host module through the Bluetooth communication processing unit.

7. The agricultural machinery operation area measurement system based on multi-positioning sensors according to claim 6 is characterized in that: The host module further includes a position information processing unit, which is configured to correct the coordinates of the reference module; perform real-time correction on the position coordinates of the agricultural machinery in the coordinate system to obtain the corrected position coordinates of the agricultural machinery, and further includes: Obtaining the current reference position coordinates sent by the reference module; Calculate in real time the error value between the current reference position coordinates and the reference position reference coordinates; wherein the reference position reference coordinates are pre-set reference coordinates; The position coordinates of the agricultural machinery are corrected in real time according to the error value to obtain corrected position coordinates of the agricultural machinery.

8. The agricultural machinery operation area measurement system based on multi-positioning sensors according to claim 7 is characterized in that: According to the input agricultural machinery operation parameters and the corrected agricultural machinery position coordinates, the operation area is calculated based on the minimum unit area accumulation addition, and the controller is further configured to: Divide the minimum unit according to the agricultural machinery operation points to obtain multiple unit blocks; Accumulating according to the unit blocks and performing overlapping calculation on the overlapping minimum units to obtain the effective operation area; The operating area of ​​the agricultural machinery is obtained by summing up multiple effective operating areas.

9. The agricultural machinery operation area measurement system based on multi-positioning sensors according to claim 1 is characterized in that: The reference module includes a reference position receiving unit, a LoRa communication unit and a reference position information processing unit; The reference position information processing unit is configured to calculate the coordinate information collected by the reference position receiving unit, and the LoRa communication unit is configured to send the reference coordinate information calculated by the reference position information processing unit to the host module.

10. A method for measuring the operating area of ​​agricultural machinery based on multi-positioning sensors, characterized in that: The agricultural machinery operation area measurement system based on a multi-positioning sensor configured in any one of claims 1 to 9, the method comprising: Obtain the latitude and longitude information sent by the reference module to obtain the reference coordinate point of the reference position; Acquire agricultural machinery status information; wherein the agricultural machinery status information includes: operating status and non-operating status; When the agricultural machine is in an operating state, a reference coordinate system is established based on the reference position reference coordinate point; Correcting the position coordinates of the agricultural machinery in real time in the reference coordinate system to obtain corrected position coordinates of the agricultural machinery; According to the input agricultural machinery operation parameters and the corrected agricultural machinery position coordinates, the operation area is calculated based on the minimum unit area accumulation addition.

Images