An unmanned agricultural machinery operation control method and apparatus, unmanned agricultural machinery, and a storage medium. The unmanned agricultural machinery operation control method comprises: determining a global traveling path of unmanned agricultural machinery on the basis of attribute information of the unmanned agricultural machinery and area information of an area under operation, wherein the area information is jointly determined by an image acquisition apparatus (10), an obstacle detection apparatus (20), and a laser radar (30) which are installed on the unmanned agricultural machinery (S101); and on the basis of the global traveling path and real-time position information of the unmanned agricultural machinery, controlling the unmanned agricultural machinery to execute a corresponding agricultural machinery behavior, wherein the real-time position information is determined by a navigation positioning apparatus (40) installed on the unmanned agricultural machinery, or by a set map in combination with the image acquisition apparatus (10) and/or the laser radar (30) (S102).
Atmospheric compensation method and apparatus for a ground-based synthetic aperture radar, an electronic device, and a storage medium. The method comprises: acquiring a two-dimensional radar multiple scattering image sequence of a target monitored area by means of a ground-based synthetic aperture radar, so as to acquire a first permanent scatterer (PS) point set (S110); on the basis of a preset atmospheric parameter model and a PS point interference phase of the first PS point set, performing atmospheric compensation on the PS point interference phase by means of an estimated atmospheric error phase (S120); determining a residual phase threshold and an accumulated deformation threshold, so as to screen the first PS point set to obtain a second PS point set (S130); and returning to execute the operation of performing atmospheric compensation on the PS point interference phase by means of the estimated the atmospheric error phase to obtain a new residual phase threshold until the ratio of the new residual phase threshold to the residual phase threshold exceeds a preset variation threshold (S140).
G01S 13/88 - Radar or analogous systems, specially adapted for specific applications
G01S 13/90 - Radar or analogous systems, specially adapted for specific applications for mapping or imaging using synthetic aperture techniques
G01S 7/41 - Details of systems according to groups , , of systems according to group using analysis of echo signal for target characterisationTarget signatureTarget cross-section
Provided in the present application are an area reconstruction method and system. The method comprises: collecting an image sequence of a target area, wherein the target area comprises one or more objects to be tested; acquiring prior pose data of each image in the image sequence; reconstructing the target area according to the image sequence and the prior pose data, so as to obtain a pose of the image sequence after reconstruction and a point cloud model of the target area; and according to the reconstruction information, determining spatial data of said object in the target area.
A kinematics estimation and deviation calibration method for a crawler-type tractor, belonging to the technical field of agricultural machinery automatic driving, and comprising the following step: constructing a kinematic model of a crawler-type tractor. In actual situation, due to the factors such as ground fluctuation variation and GNSS dual-antenna installation deviation, heading angle deviation and worse path tracking effect are caused; to simplify the model, the heading angle deviation can be approximated as a certain value; an eastward displacement coordinate component, a northward displacement coordinate component, the tractor speed, a northward displacement coordinate component, the tractor speed and the tractor heading angle are used as system observations; and the constructed crawler-type tractor kalman filter model is a nonlinear model. According to the present invention, the heading angle deviation caused by the ground fluctuation variation, the GNSS antenna installation deviation and the like can be quickly and accurately estimated; the heading angle is compensated; and the adaptability of the system to the ground is improved.
An excavator relative coordinate calculation system based on an angle sensor, comprising a first sensor located at an excavator bucket arm, a second sensor located at an excavator joystick, a third sensor located at an excavator boom, and a fourth sensor located at an excavator body. The fourth sensor communicates with the first sensor, the second sensor, and the third sensor by means of a CAN bus. The system has high measurement precision and adopts a pure mechanical type measurement scheme, the measurement precision is up to 1 cm, and data is not affected by an external environment.
G01B 21/00 - Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
6.
DEPTH MONITORING SYSTEM FOR CONSTRUCTION PILE DRIVING OF CFG PILE MACHINE
Provided by the present invention is a depth monitoring system for the construction pile driving of a CFG pile machine; a laser ranging sensor installed on a gravel pile machine is used, and by means of measuring the distance from a top part of a pile machine support to a pile pipe head part, depth information of a pile head is calculated in combination with the size of a pile machine and pile machine orientation information; a current pile depth is displayed within software; a pile depth value is monitored in real time when a pile is pulled out; when a critical value is reached, an operator is prompted and warned by means of a sound and light alarm and screen flashing. The present invention is user-centered, achieves the precise control of the pile driving depth of a pile machine during the whole process of pile driving, reduces errors in the artificial determination of pile depth, improves the construction quality of a project, and improves the level of construction processing.
The present invention provides a method for assisting a filling operation of a subgrade and a dam, comprising the following steps: step (1), acquiring, according to given engineering coordinates, a stake number and an offset amount of a road at this point; step (2), calculating a design elevation by means of orthogonal lifting and vertical lifting; and step (3), obtaining a cut and fill amount by means of an elevation of a given position and a design elevation of the position. In the present invention, a cut and fill amount in the cases of vertical lifting and orthogonal lifting of a road surface is calculated according to a designed road data structure and a design algorithm, the algorithm relies on the road data structure to implement the calculation of filling amounts of different lifting types of the road surface, thereby assisting a filling operation of a subgrade and a dam in construction processes.
The present invention provides a method for quickly extracting the outer boundary of a triangular network. The method comprises the following steps: step (1): storing all triangles in a triangular network into a database; step (2): extracting any triangle, and acquiring a point A with the minimum x coordinate in the triangle A; step (3): obtaining a set S of all triangles including the point A by retrieving a database, and removing the original triangle A to obtain a set T; step (4): acquiring a point B with the minimum x coordinate in P by acquiring a set P of the vertexes of the triangles in the set T, if the x coordinate of the point A is smaller than the x coordinate of the point B, obtaining a boundary point A, otherwise, using B as an origin point, and circularly acquiring a boundary point. According to the present invention, quick extraction of the outer boundary of a triangular network can be implemented, and upon testing, design data of 140,000 triangles can be obtained, and a boundary can be successfully extracted within 60ms.
Provided is a graphics algorithm for displaying compaction process data, comprising the following steps: step (1), providing a central controller, a BeiDou positioning module and a compaction sensor; step (2), acquiring, by means of the compaction sensor, data generated in a compaction process; step (3), performing filtering on data associated with pause, shutdown and startup of a machine in the compaction process, and retaining normal construction data; and step (4), using a canvas to display a construction machine and a current construction position and current speed information thereof, and to display construction progress information over time. The present invention employs data processing and canvas drawing techniques to create an animation of a construction process, such that a proprietor, a construction unit and a supervisor can timely and accurately monitor information about construction quality, engineering measurement and construction progress so as to ascertain the construction quality.
Disclosed in the present invention are a main control valve installation assembly, an engine installation system, and an installation method, comprising an upper installation plate, an installation position being disposed respectively on two sides of the upper installation plate, the installation positions being docked to an installation shaft of an engine; and a lower installation plate, the lower installation plate having an integrally arranged horizontal plate and vertical plate, the horizontal plate being installed in the upper installation plate in an attached manner, and the vertical plate being perpendicular to the upper installation plate, the main control valve being arranged on the vertical plate. By means of installing same above the engine of a bulldozer, a driving hydraulic main control valve can be automatically controlled to smoothly embed in the bulldozer, avoiding welding in the assembly process and enabling easy installation of connecting pipes.
Provided is a digitalized construction system for pavement compaction. Site construction data is acquired by means of a WebService; construction data information is stored by means of a MySql database; a Java platform framework is constructed by means of a Spring+SpringMVC+MyBatis technique; and personalized customization is carried out on a data visualization diagram by means of an Echarts visualization library, and a digitalized construction management platform is constructed in a website mode of a Web end. In the present invention, construction data acquisition and processing are carried out based on terminal software and hardware such as a centimeter-level differential positioning base station, a Beidou high-precision positioning antenna, a CS200 compaction sensor and a Beidou intelligent host, and data is wirelessly transmitted to a background server in real time; and on the basis of an existing JavaWeb development framework and a MySql data storage technique, data reading, parsing and display of a web end are realized.
Provided in the present invention are an automatic bulldozer blade control system and control method. The control system comprises a RTK dual-antenna module, a data receiving and resolving module, an algorithm calculating module, a display module, and a bulldozer blade control module. The RTK dual-antenna module comprises a three-axis sensor and a positioning system; the data receiving and resolving module is configured to receive and resolve data acquired by the RTK dual-antenna module; the algorithm calculating module is configured to analyze the received and resolved data; said data is then displayed by means of the display module; the bulldozer blade control module controls a bulldozer blade according to the analyzing and resolving results. The present invention is of user-centered design, and achieves accurate control to upper and lower amplitudes of a bulldozer blade during a working process of a bulldozer, thereby reducing errors in human judgment, improving the project construction quality, and improving the construction technology level.
The present invention provides a wireless control motor start and stop system, comprising a motor, an alternating current contactor S3, a relay K1, a switch S1, a switch S2, a relay K2, a relay K3 and a control module, the control module comprises a lora module and a 4G module. The present invention can stably and safely complete control of low voltage to high voltage, and the control interface can be expanded, multiplex device can be simultaneously controlled.
H02P 1/10 - Manually-operated on/off switch controlling relays or contactors operating sequentially for starting a motor
H02P 1/26 - Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting an individual polyphase induction motor
H02P 3/18 - Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an AC motor
14.
REAL-TIME DETECTION ALGORITHM FOR VIBRATION INFORMATION OF VIBRATION ROLLER BASED ON ACCELERATION MAGNITUDE
Disclosed is a real-time detection algorithm for vibration information of a vibration roller based on acceleration magnitude. A method adopting the algorithm comprises the following steps: an accelerometer mounted on a vibration wheel collects the original acceleration magnitude, and calculates the frequency, amplitude and compactness of the vibration wheel, so as to reflect the real-time compaction condition of the road surface, thereby improving the compaction quality and construction efficiency of road surface construction.
Disclosed is a low-power-consumption active RFID system based on an inertial measurement module, the system comprising a microprocessor module, a radio-frequency chip module, an inertial measurement unit module and a lithium battery, wherein the microprocessor module, the radio-frequency chip module and the inertial measurement unit module are respectively connected to the lithium battery; and the microprocessor module is connected to the radio-frequency chip module and the inertial measurement unit module, respectively. The present low-power-consumption solution combines an inertial measurement module to determine whether a plough is in a non-use state, thereby more accurately controlling a transmission working state of a tag on the basis of traditional active RFID tags, and prolonging the service life of a tag product.
G06K 19/077 - Constructional details, e.g. mounting of circuits in the carrier
G06K 17/00 - Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups , e.g. automatic card files incorporating conveying and reading operations
16.
PILE DRIVER CONSTRUCTION PILE DRIVING REAL-TIME OVERFILLING ALARM METHOD
A pile driver construction pile driving real-time overfilling alarm method. An RTK dual-antenna system is mounted on a pile driver, and a current main and secondary antenna height difference is calculated by means of AVR data output by the RTK dual-antenna system; depth information of a pile head is calculated in combination with the size and orientation information of the pile driver, and the current pile depth is displayed in software; a pile depth value is monitored in real time during pile pulling; when a critical value is reached, an operator is prompted and warned in the form of audible and visual alarm and screen flickering. The method is user-oriented and realizes the accurate control of the pile driving depth of the pile driver in the whole process of piling, reduces errors of human determining of the pile depth, improves the construction quality of the project, and improves the construction technology level.
A subgrade compaction construction data efficient processing system, comprising a data splitting unit, a data storage queue unit, a storage task scheduling thread pool unit, an original data storage unit, a data calculation task queue unit, and a calculation task execution unit. The construction data efficient processing system aim at achieving high-concurrency rapid storage and high-concurrency rapid calculation processing of a large amount of construction original data. By designing a reasonable data fragmentation rule and a storage task scheduling policy based on a thread pool, high-concurrency rapid storage of real-time data is implemented. By means of fragmented storage of the data, high-concurrency reading, calculation and processing of the original data are implemented.
Provided is a digital construction system for subgrade compaction. A WebService is used to acquire on-site construction data, a MySql database is used to store construction data information, Spring + SpringMVC + MyBatis technology is used to build a java platform framework, an Echarts visual library is used to customize a visual data chart in a personalized manner, and a digital construction management platform is built in a Web-end website mode. The present invention is user-centered, reduces construction costs to the greatest extent, and ensures construction quality. Based on Beidou satellite positioning, the control precision completely meets the market requirements; and an owner, a construction unit and a supervisor can accurately master and monitor, in a timely manner, information, such as construction quality, project measurement and construction progress information, by means of a computer.
The present invention provides an algorithm for rapid generation of a detailed image showing quality of compact construction. The algorithm comprises the following steps: step (1): generating a vehicle trajectory; step (2): dividing construction data into a grid; step (3): extracting data; step (4): mapping the trajectory; step (5): processing the data grid; step (6): generating a construction image. The method employs original compact construction data as a basis for generating trajectory data, while simultaneously processing the construction data to generate a construction data grid, thereby enabling fast indexing of the construction data.
The present invention provides a dynamic compaction digital construction management platform system, comprising the following steps: step (1), receiving on-site construction data in real time on the basis of a UDP data transmission protocol; step (2), storing construction data information by using a MySql database; step (3), building a java platform framework by using a Spring + SpringMVC + MyBatis technology; step (4), customizing a data visualization chart in a personalized manner by using an Echarts visualization library; and step (5), building a digital construction management platform by using a Web end website mode. The present invention achieves 24-hour all-day monitoring construction without on-site recording personnel, avoids manual errors, and ensures the construction quality and reduces the construction cost.
Provided by the present invention is a road thinning algorithm, comprising the following steps: by using a relevant algorithm of a horizontal road curve, start point azimuth, end point azimuth, start point curve and end point curve information of various elements of the horizontal road curve may be calculated according to horizontal road curve element information of road design data or intersection information of the horizontal road curve; and the horizontal road curve may be thinned by means of corresponding horizontal curve element information; the described method depends on a horizontal road curve algorithm, and by using corresponding curve information of various elements in the horizontal road curve, a thinning result point set of a horizontal curve may be obtained according to curve characteristics and corner characteristics of the curve in combination with corresponding precision requirements for degree of thinning.
The present invention provides an elevation-based automated layering algorithm for subgrade compaction, comprising the following steps: step (1): vehicle modeling; step (2): invalid data filtering; step (3): surface elevation calculation; step (4): discontinuous data linear interpolation; step (5): calculation of layering using an elevation threshold; step (6): construction continuity correction; and step (7): layer thickness calculation. The present invention aims to achieve automated compaction date layering and automated layer thickness detection, and achieves, by means of few configurations, automated compaction data layering and automated detection of layer thickness in construction, thereby having a high accuracy in results of automated layering and automated layer thickness detection.
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