CN105606049A - Paddy-field agricultural equipment work attitude measurement method of relative water surface - Google Patents
Paddy-field agricultural equipment work attitude measurement method of relative water surface Download PDFInfo
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Abstract
一种相对水面的水田农业机具作业姿态测量方法包括：a.将水田的水面视作静态并作为测量的基准面，通过固定在作业机具上的二维测距传感器向水田的水面扫描得出水面点集，对水面点集进行拟合得到拟合直线；b.计算二维测距传感器到拟合直线的垂直距离L；计算二维测距传感器到拟合直线的垂线与二维测距传感器的中心线的夹角，即横向倾斜角度β；c.利用三角关系通过垂直距离L得出二维测距传感器的垂直高度，进而得出作业机具相对于水面的垂直高度H；d.将垂直高度H和横向倾斜角度β分别与设定值比较，实现作业机具的姿态控制。无需外加参考基准而获得水田作业机具的姿态信息，可用于水田作业机具姿态控制，属于智能农业机械领域。
A method for measuring the working attitude of paddy field agricultural implements relative to the water surface includes: a. The water surface of the paddy field is regarded as static and used as a reference plane for measurement, and the water surface is obtained by scanning the water surface of the paddy field through a two-dimensional ranging sensor fixed on the working implement Point set, fitting the water surface point set to obtain a fitted straight line; b. Calculate the vertical distance L from the two-dimensional ranging sensor to the fitting straight line; calculate the vertical line and the two-dimensional ranging from the two-dimensional ranging sensor to the fitting straight line The included angle of the center line of the sensor, that is, the lateral inclination angle β; c. Use the triangular relationship to obtain the vertical height of the two-dimensional ranging sensor through the vertical distance L, and then obtain the vertical height H of the working tool relative to the water surface; d. The vertical height H and the lateral inclination angle β are respectively compared with the set values to realize the attitude control of the work tool. The attitude information of the paddy field operation tool can be obtained without adding a reference standard, which can be used for the attitude control of the paddy field operation tool, and belongs to the field of intelligent agricultural machinery.
Description
技术领域technical field
本发明涉及智能农业机械领域，特别涉及一种相对水面的水田农业机具作业姿态测量方法。The invention relates to the field of intelligent agricultural machinery, in particular to a method for measuring the working attitude of paddy field agricultural machinery relative to the water surface.
背景技术Background technique
平整的水田可以保证农田水层深浅一致，节省农业用水；可以减少农药、化肥和除草剂的使用量，提高农药、化肥和除草剂的使用效率，进而减少生产成本和对环境的污染；可以增加农作物产量，促进农业可持续发展。Flat paddy fields can ensure consistent water depth and save agricultural water; can reduce the use of pesticides, fertilizers and herbicides, improve the efficiency of pesticides, fertilizers and herbicides, thereby reducing production costs and environmental pollution; can increase Crop yield, promoting sustainable agricultural development.
传统的水田平整方法都是仿形平整，劳动强度大且效率低，同时平整精度低，难以达到精细平整的要求(刘效勇等，2010)。The traditional paddy field leveling methods are copying leveling, which is labor-intensive and low in efficiency. At the same time, the leveling accuracy is low, and it is difficult to meet the requirements of fine leveling (Liu Xiaoyong et al., 2010).
在水田的常规平整中采用的简易平地设备一般由拖拉机后拖一根木棒或木板作为机具，平地精度主要取决于机具的重量及泥面的软硬程度。由于泥面的软硬和高低的变化，机具也会随其上下起伏。随着现代农业装备发展与应用，要求作业机具保持与作业对象面平行。The simple leveling equipment used in the conventional leveling of paddy fields generally uses a wooden stick or plank behind the tractor as a machine tool. The leveling accuracy mainly depends on the weight of the machine tool and the hardness of the mud surface. Due to the softness and hardness of the mud surface and the change of height, the implements will also rise and fall with it. With the development and application of modern agricultural equipment, it is required that the operating equipment should be kept parallel to the surface of the operating object.
目前市场上的大多数农业机械仍为传统的仿形作业方式，只有少量农业装备可实现作业机具具有高度方向的控制而不受农田不平整影响，农田精细平整主要采用激光平地技术和GPS平地技术。激光平地技术能够大幅度地提高田间土地平整精度，成本相对较低，效率较高，节水增产。不过，激光平地技术易受外界因素影响，在强光和大风下工作会使平地精度产生较大误差(李鑫磊，2011)，同时，由于激光接收器的垂直接收范围有限，在大面积坡面平整时，会出现激光信号丢失现象，难以满足农田坡面平整要求(王泷等，2013)。此外，激光平地系统的工作半径有限，一般为200～450米(TrimbleInc.,2003；2007)。全球定位系统(globalpositioningsystem，GPS)技术能够获得地表任何位置的定位信息，且工作不受天气影响，具有测量速度快、工作效率高的突出特点，而RTK-GPS技术的动态定位精度更可达到厘米级水平，为高效、大规模实施土地平整提供了重要的支撑条件(Aziz,etal.,2006；李益农等，2005)。基于GPS的土地平整技术作为新兴科技，在美国等发达国家已得到较好地应用。目前，我国水田田块面积增大，成片耕种，田埂窄小；不论平原地区水田还是丘陵地区水田都会有遮挡物，如防护林等，此外，我国大部分区域尚未建立CORS(ContinuousOperationalReferenceSystem)，要获得高精度GPS定位信息需自主架设差分基准站。农田精细平整技术中现有激光平地技术和GPS平地技术，激光平地技术受距离限制，而GPS平地技术的成本高、且信号受遮挡物影响测量精度。At present, most of the agricultural machinery on the market still use the traditional profiling operation method, and only a small amount of agricultural equipment can realize the control of the height direction of the working machine without being affected by the unevenness of the farmland. The fine leveling of the farmland mainly adopts laser leveling technology and GPS leveling technology . Laser leveling technology can greatly improve the accuracy of field leveling, with relatively low cost, high efficiency, water saving and production increase. However, laser leveling technology is easily affected by external factors. Working under strong light and strong winds will cause large errors in leveling accuracy (Li Xinlei, 2011). When the laser signal is lost, it is difficult to meet the requirements of farmland slope leveling (Wang Long et al., 2013). In addition, the working radius of the laser leveling system is limited, generally 200-450 meters (Trimble Inc., 2003; 2007). The global positioning system (GPS) technology can obtain the positioning information of any position on the surface, and the work is not affected by the weather. It has the outstanding characteristics of fast measurement speed and high work efficiency, and the dynamic positioning accuracy of RTK-GPS technology can reach centimeters It provides important support conditions for efficient and large-scale implementation of land leveling (Aziz, et al., 2006; Li Yinong et al., 2005). As an emerging technology, GPS-based land leveling technology has been well applied in developed countries such as the United States. At present, the area of paddy fields in my country is increasing, cultivated in patches, and the ridges are narrow; paddy fields in plain areas or hilly areas will have shelters, such as shelter forests, etc. In addition, CORS (Continuous Operational Reference System) has not been established in most areas of my country. To obtain High-precision GPS positioning information requires independent establishment of differential reference stations. There are laser leveling technology and GPS leveling technology in farmland fine leveling technology. Laser leveling technology is limited by distance, while GPS leveling technology has high cost and the signal is affected by obstructions to measure accuracy.
因此，有必要提供一种基于水田特性的水田精细平整方法、技术以及相关装备，以满足市场需求。Therefore, it is necessary to provide a paddy field fine leveling method, technology and related equipment based on paddy field characteristics to meet market demand.
发明内容Contents of the invention
针对现有技术中存在的技术问题，本发明的目的是：提供一种区别于传统水田平整方法的相对水面的水田农业机具作业姿态测量方法。In view of the technical problems existing in the prior art, the object of the present invention is to provide a method for measuring the attitude of paddy field agricultural implements relative to the water surface which is different from the traditional paddy field leveling method.
为了达到上述目的，本发明采用如下技术方案：In order to achieve the above object, the present invention adopts following technical scheme:
一种相对水面的水田农业机具作业姿态测量方法，其特征在于：包括如下步骤：a.将水田的水面视作静态并作为测量的基准面，通过固定在作业机具上的二维测距传感器向水田的水面扫描得出水面点集，对水面点集进行拟合得到拟合直线；b.计算二维测距传感器到拟合直线的垂直距离L；计算二维测距传感器到拟合直线的垂线与二维测距传感器的中心线的夹角，即横向倾斜角度β；c.利用三角关系通过垂直距离L得出二维测距传感器的垂直高度，进而得出作业机具相对于水面的垂直高度H；d.将垂直高度H和横向倾斜角度β分别与设定值比较，实现作业机具的姿态控制。其中，步骤b中，二维测距传感器的中心线为传感器已知参数，计算中心线和二维测距传感器到拟合直线垂线的夹角，得到作业机具相对水面的横向倾斜角度β。A method for measuring the working attitude of paddy field agricultural implements relative to the water surface, characterized in that it includes the following steps: a. The water surface of the paddy field is regarded as static and used as a reference plane for measurement, and the two-dimensional ranging sensor fixed on the working implement is used to Scan the water surface of the paddy field to obtain the water surface point set, and fit the water surface point set to obtain the fitted straight line; b. Calculate the vertical distance L from the two-dimensional ranging sensor to the fitted straight line; calculate the distance between the two-dimensional ranging sensor and the fitted straight line The angle between the vertical line and the center line of the two-dimensional distance measuring sensor, that is, the lateral inclination angle β; c. Using the triangular relationship to obtain the vertical height of the two-dimensional distance measuring sensor through the vertical distance L, and then obtain the working tool relative to the water surface Vertical height H; d. Comparing the vertical height H and the lateral inclination angle β with the set values respectively to realize the attitude control of the work tool. Wherein, in step b, the center line of the two-dimensional ranging sensor is a known parameter of the sensor, and the angle between the center line and the two-dimensional ranging sensor and the fitting straight line is calculated to obtain the lateral inclination angle β of the working tool relative to the water surface.
作为一种优选，所述步骤a中，通过二维测距传感器的旋转测距部件形成二维的扫描面，二维测距传感器向下以一个扫描角度向水面扫描，水面和扫描面相交处形成垂直于作业机具前进方向的扫描线，由扫描线得到拟合直线；水面和扫描面的夹角为角α，其与安装角相关(与安装角互补)，步骤c中，通过垂直距离L和角α得出垂直高度H。As a preference, in step a, a two-dimensional scanning surface is formed by the rotating distance measuring component of the two-dimensional ranging sensor, and the two-dimensional ranging sensor scans downwards to the water surface at a scanning angle, and the intersection of the water surface and the scanning surface Form a scanning line perpendicular to the forward direction of the work tool, and obtain a fitted straight line from the scanning line; the angle between the water surface and the scanning surface is an angle α, which is related to the installation angle (complementary to the installation angle). In step c, pass the vertical distance L The sum angle α gives the vertical height H.
作为一种优选，扫描线包括水面点集和非水面点集，通过滤波算法排除非水面点集，选出水面点集。滤波算法为现有的算法，其作用为：减少非水面扫描点的干扰，提高水面扫描直线的准确度。As a preference, the scan line includes the water surface point set and the non-water surface point set, and the non-water surface point set is excluded by filtering algorithm to select the water surface point set. The filtering algorithm is an existing algorithm, and its function is to reduce the interference of non-water surface scanning points and improve the accuracy of water surface scanning straight lines.
作为一种优选，扫描角度(即二维测距传感器旋转角度)为60-120度。As a preference, the scanning angle (that is, the rotation angle of the two-dimensional ranging sensor) is 60-120 degrees.
作为一种优选，非水面点集对应水面凸出物和田埂信息。水面凸出物包括凸出于水面的土壤、凸出于水面的杂草等。As a preference, the non-water surface point set corresponds to water surface protrusions and field ridge information. Water surface protrusions include soil protruding from the water surface, weeds protruding from the water surface, etc.
作为一种优选，步骤d中，通过固定在作业机具上的姿态传感器对作业机具的运动姿态进行校正，精确控制作业机具的姿态；此处所说的作业机具的姿态，包括作业机具的垂直高度H和横向倾斜角度β，其中垂直高度H对应作业机具的作业深度。As a preference, in step d, correct the movement attitude of the work tool through the attitude sensor fixed on the work tool, and precisely control the attitude of the work tool; the attitude of the work tool mentioned here includes the vertical height H of the work tool and the lateral tilt angle β, where the vertical height H corresponds to the working depth of the work tool.
作为一种优选，姿态传感器用于测量作业机具的空间姿态角度，至少包括俯仰角度和横滚角度；其中俯仰角度用于校正牵拉作业机具的拖拉机前后倾斜变化对角α的影响，进而用来校正垂直高度H，横滚角度用于校正拖拉机左右倾斜变化对横向倾斜角度β测量的影响。As a preference, the attitude sensor is used to measure the spatial attitude angle of the work tool, including at least the pitch angle and the roll angle; wherein the pitch angle is used to correct the influence of the front and rear tilt changes of the tractor pulling the work tool on the angle α, and then used to The vertical height H is corrected, and the roll angle is used to correct the influence of the left and right tilt changes of the tractor on the measurement of the lateral tilt angle β.
作为一种优选，姿态传感器安装在二维测距传感器上，二维测距传感器安装在作业机具上。As a preference, the attitude sensor is installed on the two-dimensional ranging sensor, and the two-dimensional ranging sensor is installed on the work tool.
作为一种优选，作业机具为平地铲，由水田拖拉机牵引；平地铲由高程油缸和调平油缸控制，保持平地铲的垂直高度H和横向倾斜角度β与设定值一致。As a preference, the operating tool is a leveling shovel, towed by a paddy field tractor; the leveling shovel is controlled by an elevation oil cylinder and a leveling oil cylinder, and the vertical height H and lateral inclination angle β of the leveling shovel are kept consistent with the set values.
总的说来，本发明具有如下优点：Generally speaking, the present invention has following advantages:
(1)本发明通过固定在水田作业机具上的二维测距传感器扫描测量水田的水面，滤除干扰信息后提取水田的水面点集拟合成拟合直线，计算二维测距传感器与拟合直线的垂直距离L和横向倾斜角度β，再通过三角关系转换得到作业机具相对于水田的水面的垂直高度H。无需外加参考基准而获得水田作业机具的姿态信息，可用于水田作业机具姿态控制。(1) The present invention scans and measures the water surface of the paddy field by scanning and measuring the water surface of the paddy field through the two-dimensional ranging sensor fixed on the paddy field operation tool, and extracts the water surface point set of the paddy field after filtering out the interference information to fit into a fitting straight line, and calculates the distance between the two-dimensional ranging sensor and the simulated line. The vertical distance L of the combined straight line and the lateral inclination angle β, and then converted through the triangular relationship to obtain the vertical height H of the working tool relative to the water surface of the paddy field. The attitude information of the paddy field operation tool can be obtained without an external reference datum, which can be used for the attitude control of the paddy field operation tool.
(2)本发明的测量方法采用姿态传感器对拖拉机/水田平地机的运动姿态产生的影响进行了校正，保证了测量准确性。(2) The measurement method of the present invention corrects the influence of the motion posture of the tractor/paddy field grader by using the posture sensor, so as to ensure the measurement accuracy.
(3)本发明结构简单、操作方便，可对作业机具的姿态相对于水面进行精确控制，实现水面以下水田的平整。(3) The present invention is simple in structure and easy to operate, and can accurately control the posture of the working tool relative to the water surface, so as to realize the leveling of paddy fields below the water surface.
附图说明Description of drawings
图1为作业机具的垂直高度H的测量示意图，为作业机具的侧视图。FIG. 1 is a schematic diagram of measuring the vertical height H of the work tool, which is a side view of the work tool.
图2为作业机具作业横向倾斜角β测量的示意图，为作业机具的后视图。Fig. 2 is a schematic diagram of measuring the lateral inclination angle β of the working tool, which is a rear view of the working tool.
图3为本发明在水田平地机上应用示意图。Fig. 3 is a schematic diagram of the application of the present invention on a paddy field grader.
其中，1.二维测距传感器、2.姿态传感器、3.二维测距传感器的扫描面，由一个扫描周期内的所有测量线路形成、4.水田平地机、5.平地铲。xL,yL,zL为二维测距传感器的空间直角坐标系，xA,yA,zA为姿态传感器的空间直角坐标系，两空间直角坐标系相互平行；角α为测距传感器扫描面平面与水平面的夹角；横向倾斜角β为二维测距传感器到拟合直线的垂线与二维测距传感器的中心线的夹角。Among them, 1. Two-dimensional ranging sensor, 2. Attitude sensor, 3. The scanning surface of the two-dimensional ranging sensor is formed by all the measuring lines in one scanning cycle, 4. Paddy field grader, 5. Leveling shovel. x L , y L , z L is the space rectangular coordinate system of the two-dimensional ranging sensor, x A , y A , z A is the space rectangular coordinate system of the attitude sensor, and the two space rectangular coordinate systems are parallel to each other; the angle α is the distance measurement The angle between the plane of the sensor scanning surface and the horizontal plane; the lateral inclination angle β is the angle between the vertical line from the two-dimensional ranging sensor to the fitting line and the center line of the two-dimensional ranging sensor.
具体实施方式detailed description
下面来对本发明做进一步详细的说明。The present invention will be described in further detail below.
本实施例是本发明应用于水田平地机的平地铲作业姿态测量与控制，包括水田平地机、平地铲(即本实施例中的作业机具)、二维测距传感器、姿态传感器和控制系统。This embodiment is the attitude measurement and control of the leveling shovel applied to the paddy field grader of the present invention, including the paddy field leveler, the leveling shovel (that is, the working tool in this embodiment), the two-dimensional ranging sensor, the attitude sensor and the control system.
平地铲与水田平地机连接，可通过高程油缸实现平地铲的上下调节(高程调节)，通过调平油缸实现平地铲的左右调节(自动调平)。二维测距传感器和姿态传感器均安装在平地铲上，二维测距传感器和姿态传感器对应的直角坐标系相互平行。The leveling shovel is connected with the paddy field grader, and the up and down adjustment of the leveling shovel (elevation adjustment) can be realized through the elevation cylinder, and the left and right adjustment of the leveling shovel can be realized through the leveling cylinder (automatic leveling). Both the two-dimensional ranging sensor and the attitude sensor are installed on the leveling shovel, and the Cartesian coordinate systems corresponding to the two-dimensional ranging sensor and the attitude sensor are parallel to each other.
二维测距传感器倾斜向平地铲后方扫描测量水田的水面，通过滤波算法滤除干扰信息后提取水田的水面点集，并将水面点集拟合成拟合直线，计算二维测距传感器在扫描面上到拟合直线的垂直距离L(通过二维测距传感器读取)和横向倾斜角度β(实时测量线路中二维测距传感器到拟合之间之间的距离和垂直距离L，两者构成直角三角形，可算出夹角，该数值经由控制系统配合二维测距传感器横滚角度计算校正)，夹角α(与安装角互补，由安装角算出，安装角在二维测距传感器安装时即可确定，夹角α经由控制系统配合姿态传感器的俯仰角度计算校正)，再利用三角关系转换得到平地铲相对于水田的水面的垂直高度H(H＝L·sinα)。The two-dimensional ranging sensor scans and measures the water surface of the paddy field obliquely to the back of the flat shovel. After filtering out the interference information through the filtering algorithm, the water surface point set of the paddy field is extracted, and the water surface point set is fitted into a fitting line, and the two-dimensional ranging sensor is calculated. The vertical distance L from the scanning surface to the fitting line (read by the two-dimensional ranging sensor) and the lateral tilt angle β (the distance between the two-dimensional ranging sensor and the fitting in the real-time measurement line and the vertical distance L, The two form a right triangle, and the included angle can be calculated. The value is calculated and corrected by the control system with the two-dimensional ranging sensor roll angle), the included angle α (complementary to the installation angle, calculated from the installation angle, and the installation angle is in the two-dimensional distance measurement The angle α can be determined when the sensor is installed, the angle α is calculated and corrected by the control system and the pitch angle of the attitude sensor), and then the vertical height H of the shovel relative to the water surface of the paddy field is obtained by using the triangular relationship conversion (H=L sin α).
水田平地机受水田的硬底层高低起伏影响使平地铲离水面的高度和倾斜角度时刻变化，再通过测量到的垂直高度H和横向倾斜角度β与设定在控制系统中的高度和倾斜角度比较，控制平地铲的高程油缸和调平油缸，保持平地铲的垂直高度H和平地铲横向倾斜角度β接近设定的平地铲高度和倾斜角度，实现平地铲的姿态测量与控制，达到水田精准平整目的。采用姿态传感器对水田平地机的运动姿态产生的影响进行了校正，保证了测量准确性。The paddy field grader is affected by the ups and downs of the hard bottom of the paddy field, so that the height and inclination angle of the shovel above the water surface change constantly, and then the measured vertical height H and lateral inclination angle β are compared with the height and inclination angle set in the control system , control the elevation cylinder and leveling cylinder of the shovel, keep the vertical height H of the shovel and the lateral inclination angle β of the shovel close to the set height and inclination angle of the shovel, realize the attitude measurement and control of the shovel, and achieve accurate leveling of paddy fields Purpose. The attitude sensor is used to correct the influence of the movement attitude of the paddy field grader to ensure the measurement accuracy.
上述实施例为本发明较佳的实施方式，但本发明的实施方式并不受上述实施例的限制，其他的任何未背离本发明的精神实质与原理下所作的改变、修饰、替代、组合、简化，均应为等效的置换方式，都包含在本发明的保护范围之内。The above-mentioned embodiment is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited by the above-mentioned embodiment, and any other changes, modifications, substitutions, combinations, Simplifications should be equivalent replacement methods, and all are included in the protection scope of the present invention.
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