CN109708665B - Method for detecting accuracy of automatic navigation path of rice transplanter by using total station - Google Patents
Method for detecting accuracy of automatic navigation path of rice transplanter by using total station Download PDFInfo
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- CN109708665B CN109708665B CN201811539940.2A CN201811539940A CN109708665B CN 109708665 B CN109708665 B CN 109708665B CN 201811539940 A CN201811539940 A CN 201811539940A CN 109708665 B CN109708665 B CN 109708665B
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Abstract
The invention relates to a method for checking the accuracy of an automatic navigation path of a rice transplanter by using a total station. The total station has higher precision and can ensure the accuracy of the path of the seedling, so the invention can realize the inspection of the navigation path and further improve the navigation operation quality. The invention relates to an automatic navigation inspection technology of agricultural machinery.
Description
Technical Field
The invention relates to an agricultural machinery automatic navigation inspection technology, in particular to a method for inspecting the accuracy of an automatic navigation path of a rice transplanter by using a total station.
Background
The agricultural automatic navigation technology is rapidly developed under the drive of the precise agricultural technology, is widely applied to the work in various agricultural fields, improves the operation efficiency and reduces the labor cost.
The research and the popularization and the application of the automatic navigation driving technology of agricultural machinery in China are hot due to the addition of a plurality of research institutions and manufacturers, but the operation precision of the automatic navigation products is different due to the difference of the performances of the sensors, the product performance, the control precision and the like. However, at present, there is no uniform and normative method for evaluating the precision of the automatic navigation operation in the aspect of agricultural automatic navigation operation, so that when a user purchases an agricultural automatic navigation product, the user cannot accurately judge whether the operation quality of the purchased product meets the production requirement. Therefore, in order to further improve the operation quality of automatic navigation, an evaluation method needs to be provided for the operation precision of automatic navigation of agricultural machinery.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention aims to: the method for detecting the accuracy of the automatic navigation path of the rice transplanter by using the total station can visually evaluate the accuracy of the automatic navigation path.
In order to achieve the purpose, the invention adopts the following technical scheme:
a method for detecting accuracy of an automatic navigation path of a rice transplanter by using a total station comprises the steps of measuring positions of rice seedlings by using the total station after the rice transplanter automatically navigates and transplants rice seedlings, obtaining a rice seedling path under a total station coordinate system, converting navigation data into a navigation path under the total station coordinate system through coordinate conversion, comparing and analyzing the navigation path under the total station coordinate system and the rice seedling path under the total station coordinate system, and detecting accuracy.
Preferably, the method for checking the accuracy of the automatic navigation path of the rice transplanter by using the total station comprises the following steps: s101, fixing the total station at the ridge side, and automatically driving the automatic navigation rice transplanter to operate in the field after planning a path; s102, measuring the seedling position by using a total station, processing data and obtaining a seedling path under a coordinate system of the total station; s103, obtaining a navigation path in a total station coordinate system through coordinate conversion of the navigation path in the navigation coordinate system; and S104, comparing and analyzing the seedling path under the total station coordinate system obtained in the S102 with the navigation path under the total station coordinate system obtained in the S103, and judging the accuracy of the automatic navigation path.
Preferably, in step S101, the automatic navigation planning path of the rice transplanter is set as follows: in case of good GPS signal, point A, B and line spacing are set, and the automatic navigation system automatically generates a navigation path.
Preferably, the generated navigation path comprises a plurality of straight-line paths and a semi-circular path connecting adjacent straight-line paths; the straight paths are parallel to each other, the distance between adjacent straight paths is equal to the line spacing, and the diameter of the semicircular path is equal to the line spacing.
Preferably, in step S102, 100 points are selected for each row of seedlings to be measured by the total station, 100 position data are recorded, and a seedling path of the seedling in the coordinate system of the total station is generated after processing.
Preferably, in step S102, one of the claws of the seedling planting machine is selected, and the operation path of the seedling planted by the selected claw is measured.
Preferably, the rice transplanter is provided with a GPS signal receiving device, and the distance between the GPS signal receiving device and the selected seedling claw is measured to correct the position deviation, wherein the position of the GPS signal receiving device corresponds to the navigation path under the navigation coordinate system.
Preferably, in step S104, a seedling path map is obtained from the seedling path in the total station coordinate system, a navigation path map is obtained from the navigation path in the total station coordinate system, and the seedling path map and the navigation path map are placed in the same coordinate system for analysis and comparison.
Preferably, in step S104, the lateral deviation of the automatic navigation path of the rice transplanter is obtained, and the root mean square error value and the average value of the lateral deviation are obtained and compared with the delivery accuracy of the automatic navigation system.
Preferably, in step S101, after the total station is fixed, leveling is performed before measurement, and a position of the leveled total station in the navigation coordinate system is obtained.
In summary, the present invention has the following advantages:
1. the invention can obtain the actual path of the seedling by measuring the position of the seedling by the total station, and then analyze and compare the actual path and the navigation path in the same coordinate system through a series of coordinate transformation, can test the accuracy of the automatic navigation system by using the method, meets the requirement of actual production, and has important significance for improving the operation quality and the operation economy of the agricultural machine and further improving the automation and the intelligence level of the operation of the agricultural machine.
2. The method for checking the accuracy of the automatic navigation system is suitable for various conditions and can also be used for checking the accuracy of automatic navigation of other vehicles.
3. The total station has higher precision and can ensure the accuracy of the path of the seedling, so the invention can realize the inspection of the navigation path and further improve the navigation operation quality.
Drawings
Fig. 1 is a schematic structural diagram of a total station.
Fig. 2 is a navigation path planning setting diagram.
Fig. 3 is a top view of the total station position and the transplanter start position.
Fig. 4 is a seedling path diagram in a total station coordinate system.
Fig. 5 is a navigation path diagram in a total station coordinate system.
Fig. 6 is a comparison graph of seedling path and navigation path under the same coordinate system.
Fig. 7 is a total station inspection straight navigation path lateral error graph.
Detailed Description
The present invention will be described in further detail with reference to specific embodiments.
A method for detecting the accuracy of an automatic navigation path of a rice transplanter by using a total station comprises the following steps:
s101, fixing the total station beside a ridge, and automatically driving the automatic navigation rice transplanter to operate in the field after planning a path. In step S101, the automatic navigation planning path of the rice transplanter is set as follows: in case of good GPS signal, point A, B and line spacing are set, and the automatic navigation system automatically generates a navigation path. The generated navigation path comprises a plurality of sections of straight line paths and a semi-circular path connecting adjacent straight line paths; the straight paths are parallel to each other, the distance between adjacent straight paths is equal to the line spacing, and the diameter of the semicircular path is equal to the line spacing. In step S101, after the total station is fixed, leveling is performed before measurement, and the position of the leveled total station in the navigation coordinate system is obtained.
And S102, measuring the seedling position by using the total station, processing data and obtaining a seedling path under a coordinate system of the total station. In step S102, 100 points are selected for each row of seedlings by the total station to measure, 100 pieces of position data are recorded, and a seedling path of the seedling under the total station coordinate system is generated after processing. In step S102, one of the seedling claws of the transplanter is selected, and the operation path of the seedling planted by the selected seedling claw is measured. The rice transplanter is provided with a GPS signal receiving device, and the distance between the GPS signal receiving device and the selected seedling claw is measured to correct the position deviation, wherein the position of the GPS signal receiving device corresponds to a navigation path under a navigation coordinate system.
And S103, obtaining the navigation path in the total station coordinate system through coordinate conversion of the navigation path in the navigation coordinate system.
And S104, comparing and analyzing the seedling path under the total station coordinate system obtained in the S102 with the navigation path under the total station coordinate system obtained in the S103, and judging the accuracy of the automatic navigation path. In step S104, a seedling path map is obtained from a seedling path under a total station coordinate system, a navigation path map is obtained from a navigation path under the total station coordinate system, and the seedling path map and the navigation path map are placed under the same coordinate system for analysis and comparison. In step S104, the transverse deviation of the automatic navigation path of the rice transplanter is obtained, and the transverse error root mean square error value and the average value are obtained and compared with the delivery precision of the automatic navigation system.
In fig. 1, 1 is a lens, 2 is an observation hole, 3 is a focusing nut, 4 is a key and a display screen, 5 is a base, and 6 is a mounting bracket.
In fig. 2, the navigation path is set only by setting the point a, the point B and the line spacing L of the navigation path, and the system automatically generates a navigation path. On the navigation coordinate system, the x-axis points to the north, the y-axis points to the east, and the z-axis is not shown in the figure. The system generates an entire navigation trajectory from point A, B and the line spacing L, including a semi-circular arc path of radius R, for the turn. The point P is the position of the transplanter, P is the actual position of the transplanter during working, AB is the set navigation route, and the distance between P and AB is the deviation between the actual running route and the system set navigation route. The transplanter walks along an AB straight line, a BB1 semi-circular arc, a B1A1 straight line and a A1A2 semi-circular arc in sequence according to the set navigation path, and the rest is done until the terminal point A3. The distance from the point P to the line AB is the navigation lateral deviation.
In fig. 3, the total station is placed beside the ridge, the automatic navigation transplanter works in the field, 7 is the transplanter, and 8 is the total station.
In fig. 4, 100 points are selected for each row of seedlings to be measured, position data of the seedlings are recorded, and a seedling path diagram of the seedlings in a total station coordinate system is generated after processing. The figures show 1-6 rows of seedlings.
In fig. 5, the data recorded by navigation is derived, and the automatic navigation path diagram of the rice transplanter in the total station coordinate system can be obtained through coordinate conversion. Only two-dimensional coordinate system conversion is carried out, the altitude is not considered, data in different coordinate systems can be converted into data in the same coordinate system, and a coordinate conversion method is the prior art. The figure shows that seedlings are planted in 1-6 rows.
In fig. 6, the navigation coordinates in the world coordinate system are converted into data in the total station coordinate system through coordinate conversion, so that the navigation coordinates and the seedling path in the total station coordinate system are in the same coordinate system, and whether the navigation path is accurate or not can be checked through a comparison graph.
In fig. 7, a row is randomly selected, the transplanter is used for linear automatic driving operation, a total station is used for measuring a seedling path diagram, and finally the method can be used for obtaining the transverse deviation of the automatic navigation path of the transplanter, wherein the root mean square error value of the transverse deviation is 1.43cm, the average value is 0.97cm, the average value is lower than 2cm, and the transverse deviation is consistent with the delivery precision of an automatic navigation system. The transverse error is the deviation of the running track of the automatic navigation control vehicle and the set vertical direction of the navigation track.
The invention aims to provide a method for checking the accuracy of an automatic navigation path.
The method for evaluating the automatic navigation operation precision is designed by utilizing the research, is applicable to vehicles of various models, can test the automatic navigation accuracy of other vehicles, and can improve the quality of the automatic navigation operation of a machine. The invention has lower research cost and is easy to realize.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (8)
1. A method for detecting the accuracy of an automatic navigation path of a rice transplanter by using a total station is characterized by comprising the following steps: after the transplanter performs automatic navigation and seedling transplanting, measuring the position of a seedling by using a total station to obtain a seedling path under a total station coordinate system, converting navigation data into a navigation path under the total station coordinate system through coordinate conversion, and performing comparative analysis on the navigation path under the total station coordinate system and the seedling path under the total station coordinate system to check the accuracy; the method specifically comprises the following steps:
s101, fixing the total station at the ridge side, and automatically driving the automatic navigation rice transplanter to operate in the field after planning a path;
s102, measuring the seedling position by using a total station, processing data and obtaining a seedling path under a coordinate system of the total station; in the step S102, 100 points are selected for each row of seedlings by using a total station to carry out measurement, 100 position data are recorded, and a seedling path of the seedlings under a total station coordinate system is generated after the position data are processed;
s103, obtaining a navigation path in a total station coordinate system through coordinate conversion of the navigation path in the navigation coordinate system;
and S104, comparing and analyzing the seedling path under the total station coordinate system obtained in the S102 with the navigation path under the total station coordinate system obtained in the S103, and judging the accuracy of the automatic navigation path.
2. The method for verifying the accuracy of the automatic navigation path of the rice transplanter by using the total station as claimed in claim 1, wherein: in step S101, the automatic navigation planning path of the rice transplanter is set as follows: in case of good GPS signal, point A, B and line spacing are set, and the automatic navigation system automatically generates a navigation path.
3. The method for verifying the accuracy of the automatic navigation path of the rice transplanter by using the total station as claimed in claim 2, wherein: the generated navigation path comprises a plurality of sections of straight line paths and a semi-circular path connecting adjacent straight line paths; the straight paths are parallel to each other, the distance between adjacent straight paths is equal to the line spacing, and the diameter of the semicircular path is equal to the line spacing.
4. The method for verifying the accuracy of the automatic navigation path of the rice transplanter by using the total station as claimed in claim 1, wherein: in step S102, one of the seedling claws of the transplanter is selected, and the operation path of the seedling planted by the selected seedling claw is measured.
5. The method for verifying the accuracy of the automatic navigation path of the rice transplanter by using the total station as claimed in claim 4, wherein: the rice transplanter is provided with a GPS signal receiving device, and the distance between the GPS signal receiving device and the selected seedling claw is measured to correct the position deviation, wherein the position of the GPS signal receiving device corresponds to a navigation path under a navigation coordinate system.
6. The method for verifying the accuracy of the automatic navigation path of the rice transplanter by using the total station as claimed in claim 1, wherein: in step S104, a seedling path map is obtained from a seedling path under a total station coordinate system, a navigation path map is obtained from a navigation path under the total station coordinate system, and the seedling path map and the navigation path map are placed under the same coordinate system for analysis and comparison.
7. The method for verifying the accuracy of the automatic navigation path of the rice transplanter by using the total station as claimed in claim 1, wherein: in step S104, the transverse deviation of the automatic navigation path of the rice transplanter is obtained, and the transverse error root mean square error value and the average value are obtained and compared with the delivery precision of the automatic navigation system.
8. The method for verifying the accuracy of the automatic navigation path of the rice transplanter by using the total station as claimed in claim 1, wherein: in step S101, after the total station is fixed, leveling is performed before measurement, and the position of the leveled total station in the navigation coordinate system is obtained.
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