CN110221329B - A UWB positioning system for automatic navigation and positioning of agricultural machinery - Google Patents

Abstract

The present invention provides a UWB positioning system for automatic navigation and positioning of agricultural operation machinery, which includes a mobile base station fixedly installed on the agricultural operation machinery and a fixed base station located around the mobile base station and fixedly installed on a support bracket. The base station includes a main fixed base station and at least three slave fixed base stations. The main fixed base station is provided with an RFID reader and an RFID tag, and the mobile base station is provided with a UWB positioning tag; each fixed base station is provided with a UWB ranging module , GPS/BD differential positioning system and processing module; the present invention solves the technical problem of low automatic navigation and positioning accuracy of existing agricultural operation machinery.

Description

A UWB positioning system for automatic navigation and positioning of agricultural machinery

technical field

The invention relates to the technical field of navigation and positioning of farmland operation machinery, in particular to a UWB positioning system for automatic navigation and positioning of agricultural operation machinery.

Background technique

In terms of navigation and positioning technology for farmland operating machinery, geomagnetic pre-embedding, GPS (Global Positioning System, Global Positioning System) positioning, and laser navigation and positioning are usually used. Accurate and cost-effective navigation and positioning, especially the navigation and positioning of small fields, has always been the focus of research. The existing geomagnetic pre-embedded construction and later use costs are relatively high, and the GPS positioning system is costly and greatly affected by the environment (antennas, leaves, etc.) etc.), resulting in low positioning accuracy of automatic navigation.

Contents of the invention

In order to solve the above technical problems, the present invention provides a UWB positioning system for automatic navigation and positioning of agricultural operating machinery, which solves the technical problem of low automatic navigation and positioning accuracy of existing agricultural operating machinery.

A UWB positioning system for automatic navigation and positioning of agricultural operation machinery, including a mobile base station fixedly installed on the agricultural operation machinery and a fixed base station located around the mobile base station and fixedly installed on a support bracket, the fixed base station includes a main fixed base station and at least three slave fixed base stations, the main fixed base station is provided with RFID readers and RFID tags, and the mobile base station is provided with UWB positioning tags.

Each fixed base station is equipped with a UWB ranging module, a GPS/BD differential positioning system and a processing module; among them, the UWB ranging module is used for real-time measurement of the distance between the fixed base station and the mobile base station, and the corresponding shortest distance The height is the height at the same level as the fixed base station and the mobile base station; the GPS/BD differential positioning system is used to read the GPS distance between the fixed base stations, and calculate and obtain the main fixed base station in the fixed base station as the origin according to the GPS distance. The positioning coordinates of all fixed base stations in the agricultural operation area; the processing module is used to calculate and obtain the coordinates of the mobile base station according to the positioning coordinates of the fixed base stations and the distance between the mobile base station and the fixed base station.

Further, the fixed base station also includes:

The acquisition module is connected to the GPS/BD differential positioning system and the processing module respectively, and is used to acquire the beacon operation interval information read by the RFID reader of the main fixed base station and the operation interval boundary information corresponding to the beacon operation interval.

Further, the processing module includes:

The calibration unit is used to switch the mode of the base station, enter the master station-slave station mode with each other, use the UWB ranging mode to obtain the UWB distance between the fixed base stations, and perform linear calibration on the communication parameters according to the GPS distance;

The calculation unit is used to calculate and obtain the coordinates of the mobile base station according to the communication parameters after linear calibration, the positioning coordinates of the fixed base station, and the distance between the mobile base station and the fixed base station.

Further, the fixed base station also includes:

The antenna control module is communicated with the processing module, and is used to obtain the azimuth angle of the antenna of the fixed base station relative to the antenna of the mobile base station according to the coordinates of the mobile base station, and control the antenna of the fixed base station to always point to the antenna of the mobile base station according to the azimuth angle; and It is used to control the rotation motor of the fixed base station according to the azimuth angle, so that the antenna of the fixed base station always points to the antenna of the mobile base station; the database module is connected with the processing module for establishing an electronic map database of the operation area based on the RFID of the main base station as a reference.

Further, the antenna of the fixed base station is a directional antenna, and the antenna of the mobile base station is an omnidirectional antenna.

Further, the support bracket includes a thick lifting rod with a cavity structure inside and a wire lifting rod whose bottom end is embedded in the inside from the top of the thick lifting rod. The cavity structure and its upper and lower ends are respectively fixedly connected with an upper connection cover and a lower connection cover. The inside of the thick lifting rod is provided with a screw motor on the top surface of the lower connection cover, and the inside of the thick lifting rod is provided with a lifting guide rod along its axial direction.

Both the lower end surface of the guide rod and the top surface of the support base are provided with a first threaded hole along its axial direction, and the lower end of the guide rod and the top end of the support base are connected by a lifting guide nut connected in the first threaded hole; the upper end surface of the guide rod is close to the middle position and the lower connecting cover near the middle position are provided with a second threaded hole along its axial direction, the upper end surface of the guide rod near the edge position and the lower connecting cover near the edge position are all provided with elongated through holes along the axial direction, the guide rod and the wire The lifting rods are threadedly connected by the screw rod whose upper end is connected to the output shaft of the screw motor and the lower end is connected in the second threaded hole, and a plurality of guide rods whose one end is fixed on the lower connecting cover and the other end is inserted into the elongated through hole. rod connection.

Further, the upper end of the wire lifting rod is covered with a turntable, and the top of the turntable is also connected with a mushroom-shaped signal box for communication and positioning; the inner top wall of the turntable is fixed with a slip ring contact head; the bottom surface of the upper connection cover is provided with a steering gear, and the top surface is fixed with a slip ring circuit board. Fixed connection at the upper end;

A slip ring circuit board is fixedly arranged on the top surface of the upper connection cover, and the slip ring circuit board is respectively connected with the steering gear and the screw motor for communication, and is used to control the lifting of the screw motor and the rotation of the steering gear. There is a slip ring channel, which corresponds to the slip ring contact, and is used to trigger the slip ring circuit board to send control signals for the lifting of the screw motor and the rotation of the steering gear.

Further, a battery is arranged between the screw motor and the steering gear in the wire lifting rod, and a solar panel is also arranged on the outer surface of the wire lifting rod. The circuit or electronic components in the ring circuit board, signal box, etc. provide power, and the solar panel can convert solar energy into electric energy outdoors to meet the needs of outdoor use; there is also a sealing ring between the outer surface of the upper end of the wire lifting rod and the turntable , the sealing ring is arranged in an annular groove opened radially on the outer surface of the wire lifting rod, and the sealing ring is used to prevent external water mist from entering the inside of the support rod during the rotation of the turntable.

Further, the upper part of the support base is cylindrical and has a cavity structure inside, and a second threaded hole corresponding to the screw rod is opened in the middle of the inner bottom along its axial direction.

Further, the thick lifting rod, the wire lifting rod and the turntable are all cylindrical.

The above-mentioned support bracket, by rotating the turntable, the slip ring contact in the turntable contacts the slip ring channel, triggering the control signal for the rotation of the screw motor, and the screw motor rotates forward and reverse to drive the lifting of the wire lifting rod, thereby realizing the free expansion and contraction of the support bracket. To adjust the elevation of the base station.

Compared with the prior art, the present invention has the advantages of:

The UWB positioning system used for automatic navigation and positioning of agricultural machinery provided by the present invention adjusts the lifting of the base station through the support bracket. During the lifting process of the base station, the UWB ranging module measures the distance between the fixed base station and the mobile base station in real time, and the The height corresponding to the distance between the fixed base station and the mobile base station is at the same level, and then the GPS/BD differential positioning system reads the GPS distance between the fixed base stations, and calculates according to the GPS distance to obtain the main fixed base station in the fixed base station. The positioning coordinates of all fixed base stations in the agricultural operation area where the base station is the origin, and the final processing module calculates and obtains the coordinates of the mobile base station according to the positioning coordinates of the fixed base station and the distance between the mobile base station and the fixed base station. Therefore, the present invention provides UWB positioning system, according to the approximate horizontal working environment of the paddy field operation area, through the base station elevation change base station and the mobile station fixed-point distance measurement principle of the shortest, so that the base station is on the same horizontal plane, so that the same horizontal plane can be accurately obtained through the GPS/BD differential positioning system of the base station The positioning coordinates of the base station in the operating area, and finally quickly solve the high-precision mobile station coordinates, thus solving the technical problem of low positioning accuracy of the automatic navigation of the existing agricultural operation machinery.

Description of drawings

FIG. 1 is a schematic diagram of a main fixed base station;

FIG. 2 is a schematic diagram of a secondary fixed base station;

3 is a schematic diagram of all base stations in the work area with the main fixed base station as the origin in Embodiment 2 of the present invention;

Fig. 4 is a schematic structural view of the support bracket.

Detailed ways

In order to facilitate the understanding of the present invention, the present invention will be described more fully and in detail below in conjunction with the accompanying drawings and preferred embodiments, but the protection scope of the present invention is not limited to the following specific embodiments.

The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, but the present invention can be implemented in many different ways defined and covered by the claims.

Embodiment one

A UWB positioning system for automatic navigation and positioning of agricultural operation machinery, including a mobile base station fixedly installed on the agricultural operation machinery and a fixed base station located around the mobile base station and fixedly installed on the support bracket, as shown in Figure 1 and the accompanying drawings As shown in 2, the fixed base station includes a master fixed base station and at least three slave fixed base stations. The master fixed base station is provided with an RFID reader and an RFID tag, and the mobile base station is provided with a UWB positioning tag.

Each fixed base station is equipped with a UWB ranging module, a GPS/BD differential positioning system and a processing module; among them, the UWB ranging module is used for real-time measurement of the distance between the fixed base station and the mobile base station, and the corresponding shortest distance The height is the height at the same level as the fixed base station and the mobile base station; the GPS/BD differential positioning system is used to read the GPS distance between the fixed base stations, and according to the GPS distance solution, the main fixed base station in the fixed base station is The positioning coordinates of all fixed base stations in the agricultural operation area at the origin; the processing module is used to calculate and obtain the coordinates of the mobile base station according to the positioning coordinates of the fixed base stations and the distance between the mobile base station and the fixed base station.

The UWB positioning system for automatic navigation and positioning of agricultural machinery provided by Embodiment 1 of the present invention adjusts the lifting of the fixed base station through the support bracket, and measures the distance between the fixed base station and the mobile base station in real time through the UWB ranging module, and corresponds the shortest distance The height of the fixed base station and the mobile base station are at the same level; then the GPS distance between the fixed base stations is read through the GPS/BD differential positioning system in the fixed base station, and the distance obtained from the fixed base station is calculated according to the GPS distance The positioning coordinates of all fixed base stations in the agricultural operation area where the main fixed base station is the origin; finally, based on the positioning coordinates of the fixed base station and the distance between the mobile base station and the fixed base station, the coordinates of the mobile base station are obtained through calculation, which solves the problem of existing agricultural operations. The technical problem of low mechanical automatic navigation positioning accuracy, according to the approximate horizontal working environment of the paddy field operation area, through the principle of the shortest distance measurement between the fixed base station and the mobile base station, all the base stations are on the same level, so that the fixed base station GPS/ The BD differential positioning system accurately obtains the positioning coordinates of all fixed base stations in the work area on the same horizontal plane, and finally obtains high-precision mobile station coordinates through fast calculation.

Specifically, this embodiment adopts the principle of the shortest distance between the fixed base station and the mobile base station to measure the distance between the fixed base station and the mobile base station according to the elevation change of the base station, so that all base stations are on the same horizontal plane. The UWB positioning system used for automatic navigation and positioning of agricultural operation machinery can more accurately read the positioning coordinates of the mobile base station in the operation area, thereby obtaining high-precision mobile base station coordinates; on the other hand, due to the use of two-dimensional operation area movement The positioning coordinates of the base station greatly simplify the complexity of calculating the coordinates of the mobile base station. Therefore, the UWB positioning system described in this embodiment adjusts all base stations to the same horizontal plane, and reads the mobile base station in the two-dimensional work area. The positioning coordinates can be quickly calculated to obtain the coordinates of the mobile base station.

In addition, Embodiment 1 of the present invention obtains the number corresponding to the field through the pre-fixed RFID (Radio Frequency Identification, radio frequency identification tag) and the RFID reader of the main fixed base station, and remotely obtains the numbers of the four fixed base stations of the field through GPRS. Positioning information, which realizes the acquisition of unique associated positioning parameters after a single precise positioning.

Embodiment two

A UWB positioning system for automatic navigation and positioning of agricultural operation machinery, including a mobile base station fixedly installed on the agricultural operation machinery and a fixed base station located around the mobile base station and fixedly installed on a support bracket, the fixed base station includes a main The fixed base station and at least three slave fixed base stations, the master fixed base station is provided with RFID readers and RFID tags, and the mobile base station is provided with UWB positioning tags.

Specifically, in this embodiment, the UWB base station with RFID tags installed is defined as the main fixed base station, and the other three base stations without RFID tags are defined as slave fixed base stations; and the main fixed base station has remote network communication functions and RFID beacon information reading Function, with GPS/BD differential positioning system data reading function; remote network communication function is used to send the beacon information of the operation area to the server, and obtain the operation interval boundary information corresponding to the beacon operation interval and the precise positions corresponding to the four base stations Coordinate information; It should be noted that all fixed base stations in this embodiment are supported by support poles with height adjustment and azimuth adjustment, and have azimuth angle detection function, and the data between the slave fixed base station and the main fixed base station Exchange function and GPS/BD differential positioning system data reading function.

Specifically, in this embodiment, fixed bases are installed at four positions corresponding to the field, and a corresponding RFID tag is installed on one of the four bases, and the RFID tag in this embodiment is used to read the beacon operation interval information; and then Fix the support bracket of the UWB base station on the fixed base, and install the UWB positioning tag on the agricultural machine; the mobile base station is installed at the highest position of the agricultural machine to avoid the weakening of the communication signal caused by occlusion.

Each fixed base station is equipped with a UWB ranging module, a GPS/BD differential positioning system, and a processing module.

Among them, the UWB ranging module is used to measure the distance between the fixed base station and the mobile base station in real time, and use the height corresponding to the shortest distance as the height at the same level as the fixed base station and the mobile base station; specifically, this embodiment adjusts the fixed base station When it is at the same level as the mobile base station, by adjusting the lifting control of the fixed base station, measure the distance from the fixed base station to the mobile base station in real time, and obtain the shortest distance. A base reference where base stations are at the same level.

The GPS/BD differential positioning system is used to read the GPS distance between the fixed base stations, and obtain the positioning coordinates of all the fixed base stations in the agricultural operation area with the main fixed base station in the fixed base stations as the origin according to the GPS distance solution; Specifically, as shown in Figure 3, assuming that the main fixed base station in this embodiment is point O, the other three slave fixed base stations are respectively points A, B, and C, and the mobile base station is point D, then the obtained main fixed base station is The specific process of positioning coordinates of the base station in the work area of the origin is as follows:

First, after obtaining the corresponding precise GPS positioning coordinates through GPS positioning, you can directly measure the distance to obtain L _OA , L _OC , L _AC , L _OB , and L _BC . According to Figure 3, it is not difficult to calculate the operation with the main fixed base station as the origin The coordinate expression of the positioning coordinates of the regional base station:

Similarly, you can get:

Among them, point O of the base station is the main fixed base station, and point O is defined as the coordinate origin, X ₃ is the coordinate of point C of the base station with the main fixed base station as the origin, (X ₁ , Y ₁ ) is the base station with the main fixed base station as the origin The coordinates of point A, (X ₂ , Y ₂ ) are the coordinates of point B of the base station with the main fixed base station as the origin.

The processing module is used to calculate and obtain the coordinates of the mobile base station according to the positioning coordinates of the fixed base station and the distance between the mobile base station and the fixed base station.

Preferably, the fixed base station also includes:

The acquisition module is connected to the GPS/BD differential positioning system and the processing module respectively, and is used to obtain the beacon operation interval information read by the RFID reader of the main fixed base station and the operation interval boundary information corresponding to the beacon operation interval;

Preferably, the processing module includes:

The calibration unit is used to switch the mode of the base station, enter the master station-slave station mode with each other, use the UWB ranging mode to obtain the UWB distance between the fixed base stations, and perform linear calibration on the communication parameters according to the GPS distance;

Specifically, when the calibration unit performs linear calibration, due to errors in UWB ranging, there is a certain error in the distance between the base station and the mobile base station obtained in this embodiment according to the UWB ranging mode. Before moving the coordinates of the base station, the distance between the base station and the mobile base station is calibrated by linearly calibrating the communication parameters.

During the positioning process, the position of the mobile base station relative to the four points of OABC will change, but the GPS distances of L _OA , L _OC , L _AC , and _LAB use differential positioning, and the corresponding distance accuracy is accurate, which can be used as a distance measurement calibration Parameters are calibrated.

The corresponding calibration coefficients are as follows:

Among them, a _0A means that A is the base station, and O is the slave station. The distance calibration coefficient of the state measurement, a _AO is the base station, A is the distance calibration coefficient of the slave station state measurement, L _OA is the GPS distance, l _{measurement OA} is the UWB distance, and so on, and the meaning of other variables will not be described in detail .

During the movement, the corresponding distance calibration algorithm is as follows:

The corresponding calibration coefficients are as follows:

Through the above process, the calculation formulas for the corresponding calibrated l _{school OD} , l _{school AD} , l _{school BD} , and l _{school CD} distances are obtained respectively;

Wherein, _lOD , _lAD , _lBD , and _lCD are the UWB distances between the base station and the mobile base station obtained according to the UWB ranging mode in this embodiment.

The calculation unit is used to calculate and obtain the coordinates of the mobile base station according to the communication parameters after linear calibration, the positioning coordinates of the fixed base station, and the distance between the mobile base station and the fixed base station.

Specifically, in this embodiment, according to the communication parameters after linear calibration, the positioning coordinates of the base station, and the distance between the mobile base station and the base station, the calculation formula for obtaining the coordinates of the mobile base station is specifically:

Wherein, the x, y, z coordinates are the corresponding coordinates of point D on the OABC plane.

Preferably, the fixed base station also includes:

The antenna control module is communicated with the processing module, and is used to obtain the azimuth angle of the antenna of the fixed base station relative to the antenna of the mobile base station according to the coordinates of the mobile base station, and control the antenna of the fixed base station to always point to the antenna of the mobile base station according to the azimuth angle; and It is used to control the rotation motor of the fixed base station according to the azimuth angle, so that the antenna of the fixed base station always points to the antenna of the mobile base station;

The database module is communicatively connected with the processing module, and is used to establish an electronic map database of the operation area based on the RFID of the main fixed base station as a reference.

Preferably, the antenna of the fixed base station is a directional antenna, and the antenna of the mobile base station is an omnidirectional antenna.

Since the mobile base station in this embodiment is changing position all the time, although the antenna of the mobile base station is an omnidirectional antenna, the antenna of the fixed base station is a directional antenna. Therefore, in order to ensure the best communication quality, the directional antenna of the fixed base station needs to constantly follow the mobile base station. The omnidirectional antenna angle changes. Specifically, this embodiment first obtains the azimuth angle of the antenna of the fixed base station relative to the antenna of the mobile base station according to the calculated coordinates of the mobile base station, and then controls the rotation motor of the fixed base station according to the azimuth angle so that the antenna of the fixed base station always points to the mobile base station. The antenna of the base station, so that the signal between the fixed base station and the mobile base station remains the strongest, that is, the best communication quality is guaranteed.

In this embodiment, the main fixed base station and the slave fixed base station read GPS positioning data and transmit them to the main fixed base station. The main fixed base station transmits the positioning information of four fixed base stations and the RFID positioning information to the server through the remote transmission network. The base station positioning information of the tag information, and obtain the base station plane coordinate information of the work area with the main fixed base station as the origin based on the BD/GPS positioning information. In the specific implementation process, the agricultural machinery is manually or remotely driven, and according to the characteristics of the operating vehicle, it first circles around the outer circle of the operating area to obtain the perimeter positioning parameters of the operating area with the main fixed base station as the origin, and upload them to the server through the main fixed base station , so that it is convenient for the server to establish an electronic map database of the operation area based on the main fixed base station RFID as a reference.

The UWB positioning system for automatic navigation and positioning of agricultural machinery provided by the embodiments of the present invention adjusts the lifting of the fixed base station and measures the distance between the base station and the mobile base station in real time, and takes the height corresponding to the shortest distance as the height corresponding to the base station and the mobile base station. The height of the level, read the GPS distance between the base stations through the GPS/BD differential positioning system of the base station, and calculate the positioning coordinates of the base station and the positioning coordinates based on the base station according to the GPS distance, as well as the distance between the mobile base station and the base station, The coordinates of the mobile base station are obtained through calculation, which solves the technical problem of low automatic navigation and positioning accuracy of the existing agricultural operation machinery. According to the approximate horizontal working environment of the paddy field operation area, the principle of the shortest distance between the fixed base station and the mobile base station is measured through the elevation change of the base station, so that All base stations are on the same horizontal plane, so that the positioning coordinates of the mobile base station in the work area on the same horizontal plane can be accurately obtained through the GPS/BD differential positioning system of the fixed base station, and finally the coordinates of the mobile base station with high precision can be quickly obtained through quick calculation.

In addition, the embodiment of the present invention adopts the interface between the high-performance differential satellite positioning system and the local positioning system to realize the precise position and high-precision positioning of the working field and obtain the calibration error coefficient of UWB positioning through the known high-precision latitude and longitude parameters between base stations. The error correction is carried out to further improve the calculation accuracy of the coordinates of the mobile base station. Through the approximate horizontal working environment of the paddy field operation area and the principle of the shortest distance measurement between the base station and the mobile base station based on the elevation change of the base station, it is obtained that the four fixed base stations are on the same level; through the pre-fixed RFID and the RFID reader of the main fixed base station, the corresponding The number of the field, and the positioning information of the four fixed base stations of the field are obtained remotely through GPRS, which realizes the acquisition of the only associated positioning parameters after a single precise positioning.

In addition, both Embodiment 1 and Embodiment 2 adopt support brackets. As shown in Figure 4, the support bracket includes a thick lifting rod 1 with a cavity structure inside and a bottom end embedded in the top of the thick lifting rod 1. The wire lifting rod 2, the bottom end of the thick lifting rod 1 is provided with a support base 3, the inside of the wire lifting rod 2 is a cavity structure and its upper and lower ends are respectively fixedly connected with an upper connecting cover 4 and a lower connecting cover 5, and the thick lifting rod A screw motor 7 is arranged on the top surface of the lower connection cover 5 inside 1, and a lifting guide rod 8 is arranged inside the thick lifting rod 1 along its axial direction.

The lower end surface of the guide rod 9 and the top end surface of the support base 3 are all provided with a first threaded hole along its axial direction, and the lower end of the guide rod 9 is connected with the top end of the support base 3 by being connected to the lifting guide nut 17 in the first threaded hole; The upper end surface of the rod 9 is near the middle position and the lower connecting cover 5 is provided with a second threaded hole along its axial direction. Elongated through hole, between the guide rod 9 and the wire lifting rod 2, the upper end is connected on the output shaft of the screw motor 7 and the lower end is connected to the screw mandrel 15 of the second lifting guide nut 18 in the second threaded hole, and It is connected by a plurality of guide rods 9 whose one end is fixed on the lower connection cover 5 and the other end is inserted into the elongated through hole.

The upper end of the wire lifting rod 2 is covered with a turntable 10, and the top of the turntable 10 is also connected with a mushroom head-shaped signal box 11 for communication and positioning; Slip ring contacts 12; the bottom surface of the upper connection cover 4 is provided with a steering gear 14, and the top surface is fixed with a slip ring circuit board 13, the steering gear 14 is threadedly connected with the upper connection cover 4, and the end of the output shaft runs through The inside of the turntable 10 and the inner top wall are fixedly connected to the upper end of the turntable 10; the top surface of the upper connection cover 4 is fixedly provided with a slip ring circuit board 13, and the slip ring circuit board 13 is respectively connected to the steering gear 14 and the screw motor 7 for communication. It is used to control the lifting of the screw motor 7 and the rotation of the steering gear 14. A slip ring channel is also provided on the slip ring circuit board 13. The slip ring channel corresponds to the slip ring contact 12 and is used to trigger the slip ring circuit board 13 to send out wires. The control signals for the lifting of the rod motor 7 and the rotation of the steering gear 14.

A battery is arranged between the screw motor 7 and the steering gear 14 in the screw lifting rod 2, a solar panel is also arranged on the outer surface of the screw lifting rod 2, and a solar panel is also arranged between the upper end outer surface of the screw lifting rod 2 and the turntable 10. sealing ring 15.

The upper part of the support base 3 is cylindrical and has a cavity structure inside, and a second threaded hole 16 corresponding to the threaded rod 15 is opened in the middle of the inner bottom along its axial direction.

Thick elevating rod 1, wire elevating rod 2 and turntable 10 are all cylindrical.

The support bracket described in Embodiment 1 and Embodiment 2 of the present invention, by rotating the turntable 10, the slip ring contact 12 in the turntable 10 contacts the slip ring channel, triggers the control signal for the rotation of the screw motor 7, and controls the screw motor 7 forward rotation or reverse rotation; the power output shaft of the screw motor 7 outputs power to the screw rod 15, thereby driving the screw rod 15 to rotate up or down; thereby further driving the lower connecting cover 5 fixedly connected with the screw rod 15 1. The wire lifting rod 2 rises or falls, so as to realize the lifting of the support bracket to adjust the base station.

Claims (9)

1. The utility model provides a UWB positioning system for agricultural operation machinery automatic navigation location, is including the fixed base station of fixed mounting on agricultural operation machinery and be located the fixed base station of moving base station all around and fixed mounting on the support frame, the fixed base station includes a main fixed base station and at least three follow fixed base station, is provided with RFID reader and RFID label on the main fixed base station, be provided with UWB positioning label on the mobile base station, its characterized in that:

each fixed base station is provided with a UWB ranging module, a GPS/BD differential positioning system and a processing module; the UWB ranging module is used for measuring the distance between the fixed base station and the mobile base station in real time, and taking the height corresponding to the shortest distance as the height of the same level of the fixed base station and the mobile base station; the GPS/BD differential positioning system is used for reading the GPS distance between the fixed base stations and obtaining the positioning coordinates of all the fixed base stations in the agricultural operation area by taking the main fixed base station in the fixed base stations as the origin according to the GPS distance dissociation calculation; the processing module is used for calculating and obtaining the coordinates of the mobile base station according to the positioning coordinates of the fixed base station and the distance between the mobile base station and the fixed base station, wherein the processing module comprises:

the calibration unit is used for switching the modes of the base stations, entering a master station-slave station mode, acquiring UWB distances between the fixed base stations by adopting a UWB ranging mode, and carrying out linear calibration on communication parameters according to the GPS distances;

and the calculation unit is used for calculating and obtaining the coordinates of the mobile base station according to the communication parameters after the linear calibration, the positioning coordinates of the fixed base station and the distance between the mobile base station and the fixed base station.

2. The UWB positioning system for automatic navigation positioning of agricultural work machines of claim 1 wherein:

the fixed base station further comprises:

the acquisition module is respectively connected with the GPS/BD differential positioning system and the processing module in a communication way and is used for acquiring beacon operation interval information read by the RFID reader of the main fixed base station and operation interval boundary information corresponding to the beacon operation interval.

3. The UWB positioning system for automatic navigation positioning of agricultural work machines of claim 1 wherein:

the fixed base station further comprises:

the antenna control module is in communication connection with the processing module and is used for obtaining the azimuth angle of the antenna of the fixed base station relative to the antenna of the mobile base station according to the coordinates of the mobile base station and controlling the antenna of the fixed base station to always point to the antenna of the mobile base station according to the azimuth angle; the fixed base station is used for controlling the fixed base station to rotate the motor according to the azimuth angle, so that the antenna of the fixed base station always points to the antenna of the mobile base station;

and the database module is in communication connection with the processing module and is used for establishing an operation area electronic map database based on the RFID of the main base station as a reference.

4. A UWB positioning system for automatic navigation positioning of agricultural work machines as defined in claim 3, wherein:

the antenna of the fixed base station is a directional antenna, and the antenna of the mobile base station is an omni-directional antenna.

5. The UWB positioning system for automatic navigation positioning of agricultural work machines of claim 4 wherein:

the supporting bracket comprises a thick lifting rod with a cavity structure inside and a wire lifting rod with the bottom end embedded into the thick lifting rod from the top end of the thick lifting rod, a supporting base is sleeved at the bottom end of the thick lifting rod, an upper connecting cover and a lower connecting cover are respectively fixedly connected with the inner part of the wire lifting rod with the cavity structure, a screw rod motor is arranged on the top surface of the lower connecting cover inside the thick lifting rod, and a lifting guide rod is arranged inside the thick lifting rod along the axial direction of the thick lifting rod;

the lower end face of the guide rod and the top end face of the support base are respectively provided with a first threaded hole along the axial direction of the guide rod, and the lower end of the guide rod is connected with the top end of the support base through a lifting guide nut connected in the first threaded hole; the guide rod upper end face is close to the intermediate position and the lower connecting cover is close to the intermediate position and is provided with a second threaded hole along the axial direction of the guide rod upper end face, the guide rod upper end face is close to the edge position and the lower connecting cover is close to the edge position and is provided with a long through hole along the axial direction of the guide rod upper end face, the guide rod and the wire lifting rod are connected on an output shaft of the screw rod motor through the upper end, the lower end of the guide rod is connected with screw rods in the second threaded hole through threaded connection, and one end of the guide rod is fixed on the lower connecting cover, and the other end of the guide rod is sleeved into the long through hole through a plurality of guide rods.

6. A UWB positioning system for automatic navigation positioning of agricultural work machines as defined in claim 5, wherein:

the upper end part of the wire lifting rod is sleeved with a rotary table, and the top of the rotary table is also connected with a signal box which is mushroom-head-shaped and is used for communication and positioning; a slip ring contact is fixedly arranged on the inner top wall of the turntable along the axial direction of the turntable;

the steering engine is arranged on the bottom surface of the upper connecting cover, the slip ring circuit board is fixedly arranged on the top surface, the steering engine is in threaded connection with the upper connecting cover, and the end part of an output shaft penetrates through the inside of the turntable and the inner top wall and is fixedly connected with the upper end of the turntable;

the upper connecting cover is characterized in that a slip ring circuit board is fixedly arranged on the top surface of the upper connecting cover and is respectively in communication connection with the steering engine and the screw motor and used for controlling the lifting of the screw motor and controlling the rotation of the steering engine, and a slip ring channel is further arranged on the slip ring circuit board and corresponds to the slip ring contact and is used for triggering the slip ring circuit board to send control signals for the lifting of the screw motor and the rotation of the steering engine.

7. The UWB positioning system for automatic navigation positioning of agricultural work machines of claim 6 wherein:

a battery is arranged between the screw rod motor in the wire lifting rod and the steering engine, a solar cell panel is further arranged on the outer surface of the wire lifting rod, and a sealing ring is further arranged between the outer surface of the upper end of the wire lifting rod and the turntable.

8. A UWB positioning system for automatic navigation positioning of agricultural work machines as defined in claim 5, wherein:

the upper part of the supporting base is cylindrical and is of a cavity structure, and a second threaded hole corresponding to the screw rod is formed in the middle position of the inner bottom of the supporting base along the axial direction of the supporting base.

9. A UWB positioning system for automatic navigation positioning of agricultural work machines as defined in claim 5, wherein:

the thick lifting rod, the wire lifting rod and the turntable are all cylindrical.

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