CN104076711A - On-line fixed point predicating method for target soil fertilizer injection at crop root area - Google Patents
On-line fixed point predicating method for target soil fertilizer injection at crop root area Download PDFInfo
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- CN104076711A CN104076711A CN201410294998.0A CN201410294998A CN104076711A CN 104076711 A CN104076711 A CN 104076711A CN 201410294998 A CN201410294998 A CN 201410294998A CN 104076711 A CN104076711 A CN 104076711A
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Abstract
The invention belongs to the technical field of measurement and control, and particularly relates to an on-line fixed point predicating method for target soil fertilizer injection at crop root area. According to the method, the position and growth vigor of the crop leaves are detected through an infrared sensor so as to judge the growth position of the crop root and predict whether the root surfers from diseases or not, and then the position where the area of the eggplant root suffering from diseases is located and the area range and boundary where the root is located are judged so as to obtain the medicine spraying quantity, and the space occupation ratio of an electromagnetic valve is automatically adjusted; the liquid medicine is evenly sprayed to the root area according to the calculated injection time; so that the medicine can only be sprayed to the required portion, pesticide consumption is greatly saved, and pollution by the redundant pesticide and waste of the pesticide are reduced.
Description
Technical field
The invention belongs to continuous casting technical field, relate in particular to a kind of for robotization continuous casting system speed measuring device and working method thereof.
Background technology
For cost-saving, the peasant in base, a greenhouse is ready continuous cultivation same crop, and for example tomato, has a lot of peasants in same piece of land, plants the tomato of same kind for years.The object of doing is like this in order to utilize the advantage of own experience, and buyer agent is also ready to cooperate for a long time simultaneously, so peasant is unwilling to rotate crops in kind.Plantation continuously on soil in same heliogreenhouse, soil can grow by germ, if the soil disinfection technology and equipment not had can cause serious problem.Traditional mode cannot be understood fully the situation of ill plant root, so employing lifts seedlings or the artificial arbitrarily mode of biosolid injection drug solns is carried out, and consumption out of true causes waste.To target dispenser, can effectively address this problem.
Summary of the invention
The not smart problem of consumption existing for tradition spray medicine operating type, the fertile medicine note of a kind of crop root zone soil that the present invention proposes is executed target on-line prediction fix-point method, mainly comprises:
Step 1, a set of automatic detection and chemical spraying device are installed on tractor, this device comprises 6 infrared sensors, speed pickup, single-chip microcomputer, solenoid valve, spray medicine injection head;
Step 2, according to each layer of plant attribute, set up plant model, draw and start detection time and survey end time, spray medicine injection start time and spray medicine injection end time;
Step 3, according to plant statistics set up prediction plant whether ill equation, according to solenoid valve and spray medicine injection head characteristic, set up the accounting equation that root district injection flow is precisely controlled;
Step 4, startup tractor and this device, allow tractor walk between eggplant ground, beginning detection time separately of six layers that single-chip microcomputer is recorded 6 infrared sensors and survey end time, plant height, speed pickup is recorded tractor actual job gait of march;
Step 5, according to sensing data, calculate plant root area width, and according to prediction plant whether ill equation judge that whether plant ill;
Step 6, calculate spray medicine injection start time, spray medicine injection end time and solenoid valve dutycycle, if current plant is ill, single-chip microcomputer is worked by controlling solenoid control spray medicine injection head according to result of calculation output order.
Described step 1 comprises: a set of automatic detection and chemical spraying device are installed on tractor, and this device is comprised of 6 infrared sensors, speed pickup, single-chip microcomputer, solenoid valve, spray medicine injection head; Wherein, 6 infrared sensors are vertically arranged and are installed from high to low, and its detection direction is parallel with soil, vertical with tractor working direction; Speed pickup is arranged in tractor wheels, for detection of tractor pace; Single-chip microcomputer is for the treatment of sensing data, and output order is controlled solenoid valve and spray medicine injection head.
Described step 2 comprises: for target crop to be detected, set up model, 6 infrared sensors are divided into i layer to i+5 layer totally 6 sweep limit, the overlapping 10mm in scanning slice border; For the crop target detection model of setting up is tested, set Time Created, position and volume to six layers beginning detection time Ti1 separately and detection end time Ti2, spray medicine injection start time Ts and spray medicine injection end time Tt and injection areas are analyzed, and draw:
Infrared sensor is by the time T of plant central shaft
c
If crop run-off the straight, relies on model can obtain the accurate location of root district injection areas scope;
The T.T. T that the quantitative injection in plant root district needs
x=bH/V, wherein b is related coefficient corresponding between root area width and its plant height of root-knot nematode invasion plant, H is plant height;
Postpone spray date T
d=L
0/ V, wherein L
0for the delay distance that user arranges, be the distance on tractor direct of travel between infrared sensor point of fixity and spray medicine injection head;
Spray medicine injection start time T
s=T
c-T
x/ 2+T
d; Spray medicine injection stand-by time
Described step 3 comprises: according to plant statistics, the equation of setting up the ill plant root area of independent prediction and calculation width y1 and plant width x1 closes and is: y1=3.79x1+0.7, matching degree of correlation R
2=0.92, the cm of unit; The root area width y2 of normal plant and the accounting equation of plant height x2 are: y2=4x2+0.86, matching degree of correlation R
2=0.84, the cm of unit; According to solenoid valve and spray medicine injection head characteristic, setting up the root district accurate accounting equation of controlling of injection flow is: y3=12.163x3+7.6, and wherein y3 is flow, units/ml, x3 is solenoid valve dutycycle, R
2=0.935, the R of second-order fit equation wherein
2be 0.9714.
Described step 4 comprises: start tractor and this device, allow tractor walk between eggplant ground, beginning detection time Ti1 separately of six layers that single-chip microcomputer is recorded 6 infrared sensors and survey end time Ti2, plant height H, speed pickup is recorded tractor actual job gait of march V;
Wherein, for i sensor start to detect the time T i1 of plant and sensor finish to detect plant time T i2 set up array N1 and N2, for storing respectively the value of Ti1 and Ti2; I is the vernier of array N1 and N2;
be the formula that calculates tractor actual job gait of march, Δ l is the distance that pulse of the every generation of speed pickup is passed by, and Δ t is the time interval length that speed pickup produces individual pulse.
Described step 5 comprises: single-chip microcomputer calculates plant width x1=(Ti2-Ti1) V, and in x1 substitution step 3, equation y1=3.79x1+0.7 draws ill plant root area width y1; Plant height H brings the root area width y2 that equation y2=4x2+0.86 in step 3 draws normal plant into; If y1 >=y2, illustrates that current plant is normal, if y1 < is y2, illustrate that current plant is ill.
Described step 6 comprises: according to the formula in step 2, calculate spray medicine injection start time T
s=T
c-T
x/ 2+T
d; Spray medicine injection stand-by time
spray value Q=Q
1-aH, Q
1be maximum benchmark dose, a is the coefficient of relationship of plant height and spray value; Spray medicine solenoid valve dutycycle U=f (Q/T
x), wherein, f (x) is the functional relation of unit interval spray value and dutycycle; If current plant is ill, single-chip microcomputer is controlled solenoid valve according to result of calculation output order, completes the spray medicine to plant root.
Beneficial effect of the present invention is to survey by infrared sensor position and the growing way height of crop cauline leaf, thereby judge the growth position of crop root and predict that whether root is ill, then judge the position at place, ill eggplant root district, and regional extent size and the border at root place, draw spray value, and automatic regulating electromagnetic valve dutycycle, according to the inject time calculating, liquid is evenly expelled in the scope of root area; So just can significantly save pesticide dosage in the not dispenser of place that does not need dispenser, reduce pollution and the waste of unnecessary agricultural chemicals.
Accompanying drawing explanation
Fig. 1 is schematic diagram of the present invention;
Fig. 2 is plant model schematic diagram;
Fig. 3 is the time tree-model figure after processing;
Fig. 4 is that single-chip microcomputer calculates control flow chart.
Embodiment
Below in conjunction with drawings and Examples, method proposed by the invention is described further.
The fertile medicine note of a kind of crop root zone soil that the present invention proposes is executed target on-line prediction fix-point method, mainly comprises:
Step 1, a set of automatic detection and chemical spraying device are installed on tractor, this device comprises 6 infrared sensors, speed pickup, single-chip microcomputer, solenoid valve, spray medicine injection head;
Step 2, according to each layer of plant attribute, set up plant model, draw and start detection time and survey end time, spray medicine injection start time and spray medicine injection end time;
Step 3, according to plant statistics set up prediction plant whether ill equation, according to solenoid valve and spray medicine injection head characteristic, set up the accounting equation that root district injection flow is precisely controlled;
Step 4, startup tractor and this device, allow tractor walk between eggplant ground, beginning detection time separately of six layers that single-chip microcomputer is recorded 6 infrared sensors and survey end time, plant height, speed pickup is recorded tractor actual job gait of march;
Step 5, according to sensing data, calculate plant root area width, and according to prediction plant whether ill equation judge whether that plant is ill;
Step 6, calculate spray medicine injection start time, spray medicine injection end time and solenoid valve dutycycle, if current plant is ill, single-chip microcomputer is worked by controlling solenoid control spray medicine injection head according to result of calculation output order.
Above step particular content comprises:
Step 1, a set of automatic detection and chemical spraying device are installed on tractor, as shown in Figure 1, this device is comprised of 6 infrared sensors, speed pickup, single-chip microcomputer, solenoid valve, spray medicine injection head; Wherein, 6 infrared sensors are vertically arranged and are installed from high to low, and its detection direction is parallel with soil, vertical with tractor working direction; Speed pickup is arranged in tractor wheels, for detection of tractor pace; Single-chip microcomputer is for the treatment of sensing data, and output order is controlled solenoid valve and spray medicine injection head;
Step 2, for target crop to be detected, set up model, according to each layer of plant attribute, draw infrared sensor setting height(from bottom), be divided into i layer to i+5 layer totally 6 sweep limit, as shown in Figure 2,6 overlapping 10mm in infrared sensor scanning slice border; For the crop target detection model of setting up is tested, set Time Created, as shown in Figure 3, position and volume to six layers beginning detection time Ti1 separately and detection end time Ti2, spray medicine injection start time Ts and spray medicine injection end time Tt and injection areas are analyzed, and draw:
Infrared sensor is by the time T of plant central shaft
c
If crop run-off the straight, relies on model can obtain the accurate location of root district injection areas scope;
The T.T. T that the quantitative injection in plant root district needs
x=bH/V, wherein b is related coefficient corresponding between root area width and its plant height of root-knot nematode invasion plant, H is plant height;
Postpone spray date T
d=L
0/ V, wherein L
0for the delay distance that user arranges, be the distance on tractor direct of travel between infrared sensor point of fixity and spray medicine injection head;
Spray medicine injection start time T
s=T
c-T
x/ 2+T
d; Spray medicine injection stand-by time
Step 3, according to plant statistics, the equation of setting up the ill plant root area of independent prediction and calculation width y1 and plant width x1 closes and to be: y1=3.79x1+0.7, matching degree of correlation R
2=0.92, the cm of unit; The root area width y2 of normal plant and the accounting equation of plant height x2 are: y2=4x2+0.86, matching degree of correlation R
2=0.84, the cm of unit; According to solenoid valve and spray medicine injection head characteristic, setting up the root district accurate accounting equation of controlling of injection flow is: y3=12.163x3+7.6, and wherein y3 is flow, units/ml, x3 is solenoid valve dutycycle, R
2=0.935, the R of second-order fit equation wherein
2be 0.9714;
Step 4, startup tractor and this device, allow tractor walk between eggplant ground, beginning detection time Ti1 separately of six layers that single-chip microcomputer is recorded 6 infrared sensors and survey end time Ti2, plant height H, speed pickup is recorded tractor actual job gait of march V; Wherein, for i sensor start to detect the time T i1 of plant and sensor finish to detect plant time T i2 set up array N1 and N2, for storing respectively the value of Ti1 and Ti2; I is the vernier of array N1 and N2;
be the formula that calculates tractor actual job gait of march, Δ l is the distance that pulse of the every generation of speed pickup is passed by, and Δ t is the time interval length that speed pickup produces individual pulse;
Step 5, single-chip microcomputer calculate plant width x1=(Ti2-Ti1) V, and in x1 substitution step 3, equation y1=3.79x1+0.7 draws ill plant root area width y1; Plant height H brings the root area width y2 that equation y2=4x2+0.86 in step 3 draws normal plant into; If y1 >=y2, illustrates that current plant is normal, if y1 < is y2, illustrate that current plant is ill;
Step 6, according to the formula in step 2, calculate spray medicine injection start time T
s=T
c-T
x/ 2+T
d; Spray medicine injection stand-by time
spray value Q=Q
1-aH, Q
1be maximum benchmark dose, a is the coefficient of relationship of plant height and spray value; Spray medicine solenoid valve dutycycle U=f (Q/T
x), wherein, f (x) is the functional relation of unit interval spray value and dutycycle; As shown in Figure 4, if current plant is ill, single-chip microcomputer is controlled solenoid valve according to result of calculation output order, completes the spray medicine to plant root.
The above; be only the present invention's embodiment preferably, but protection scope of the present invention is not limited to this, is anyly familiar with in technical scope that those skilled in the art disclose in the present invention; the variation that can expect easily or replacement, within all should being encompassed in protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.
Claims (7)
1. soil fertile medicine note in crop root zone is executed a target on-line prediction fix-point method, it is characterized in that, mainly comprises:
Step 1, a set of automatic detection and chemical spraying device are installed on tractor, this device comprises 6 infrared sensors, speed pickup, single-chip microcomputer, solenoid valve, spray medicine injection head;
Step 2, according to each layer of plant attribute, set up plant model, draw and start detection time and survey end time, spray medicine injection start time and spray medicine injection end time;
Step 3, according to plant statistics set up prediction plant whether ill equation, according to solenoid valve and spray medicine injection head characteristic, set up the accounting equation that root district injection flow is precisely controlled;
Step 4, startup tractor and this device, allow tractor walk between eggplant ground, beginning detection time separately of six layers that single-chip microcomputer is recorded 6 infrared sensors and survey end time, plant height, speed pickup is recorded tractor actual job gait of march;
Step 5, according to sensing data, calculate plant root area width, and according to prediction plant whether ill equation judge that whether plant ill;
Step 6, calculate spray medicine injection start time, spray medicine injection end time and solenoid valve dutycycle, if current plant is ill, single-chip microcomputer is worked by controlling solenoid control spray medicine injection head according to result of calculation output order.
2. method according to claim 1, is characterized in that, described step 1 comprises: a set of automatic detection and chemical spraying device are installed on tractor, and this device is comprised of 6 infrared sensors, speed pickup, single-chip microcomputer, solenoid valve, spray medicine injection head; Wherein, 6 infrared sensors are vertically arranged and are installed from high to low, and its detection direction is parallel with soil, vertical with tractor working direction; Speed pickup is arranged in tractor wheels, for detection of tractor pace; Single-chip microcomputer is for the treatment of sensing data, and output order is controlled solenoid valve and spray medicine injection head.
3. method according to claim 1, is characterized in that, described step 2 comprises: for target crop to be detected, set up model, 6 infrared sensors are divided into i layer to i+5 layer totally 6 sweep limit, the overlapping 10mm in scanning slice border; For the crop target detection model of setting up is tested, set Time Created, position and volume to six layers beginning detection time Ti1 separately and detection end time Ti2, spray medicine injection start time Ts and spray medicine injection end time Tt and injection areas are analyzed, and draw:
Infrared sensor is by the time T of plant central shaft
c
If crop run-off the straight, relies on model can obtain the accurate location of root district injection areas scope;
The T.T. T that the quantitative injection in plant root district needs
x=bH/V, wherein b is related coefficient corresponding between root area width and its plant height of root-knot nematode invasion plant, H is plant height;
Postpone spray date T
d=L
0/ V, wherein L
0for the delay distance that user arranges, be the distance on tractor direct of travel between infrared sensor point of fixity and spray medicine injection head;
Spray medicine injection start time T
s=T
c-T
x/ 2+T
d; Spray medicine injection stand-by time
4. method according to claim 1, is characterized in that, described step 3 comprises: according to plant statistics, the equation of setting up the ill plant root area of independent prediction and calculation width y1 and plant width x1 closes and is: y1=3.79x1+0.7, matching degree of correlation R
2=0.92, the cm of unit; The root area width y2 of normal plant and the accounting equation of plant height x2 are: y2=4x2+0.86, matching degree of correlation R
2=0.84, the cm of unit; According to solenoid valve and spray medicine injection head characteristic, setting up the root district accurate accounting equation of controlling of injection flow is: y3=12.163x3+7.6, and wherein y3 is flow, units/ml, x3 is solenoid valve dutycycle, R
2=0.935, the R of second-order fit equation wherein
2be 0.9714.
5. method according to claim 1, it is characterized in that, described step 4 comprises: start tractor and this device, allow tractor walk between eggplant ground, beginning detection time Ti1 separately of six layers that single-chip microcomputer is recorded 6 infrared sensors and survey end time Ti2, plant height H, speed pickup is recorded tractor actual job gait of march V;
Wherein, for i sensor start to detect the time T i1 of plant and sensor finish to detect plant time T i2 set up array N1 and N2, for storing respectively the value of Ti1 and Ti2; I is the vernier of array N1 and N2;
be the formula that calculates tractor actual job gait of march, Δ l is the distance that pulse of the every generation of speed pickup is passed by, and Δ t is the time interval length that speed pickup produces individual pulse.
6. method according to claim 1, is characterized in that, described step 5 comprises: single-chip microcomputer calculates plant width x1=(Ti2-Ti1) V, and in x1 substitution step 3, equation y1=3.79x1+0.7 draws ill plant root area width y1; Plant height H brings the root area width y2 that equation y2=4x2+0.86 in step 3 draws normal plant into; If y1 >=y2, illustrates that current plant is normal, if y1 < is y2, illustrate that current plant is ill.
7. method according to claim 1, is characterized in that, described step 6 comprises: according to the formula in step 2, calculate spray medicine injection start time T
s=T
c-T
x/ 2+T
d; Spray medicine injection stand-by time T
t=
spray value Q=Q
1-aH, Q
1be maximum benchmark dose, a is the coefficient of relationship of plant height and spray value; Spray medicine solenoid valve dutycycle U=f (Q/T
x), wherein, f (x) is the functional relation of unit interval spray value and dutycycle; If current plant is ill, single-chip microcomputer is controlled solenoid valve according to result of calculation output order, completes the spray medicine to plant root.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410294998.0A CN104076711B (en) | 2014-06-25 | 2014-06-25 | A kind of crop root zone soil fertilizer medicine note executes target on-line prediction fix-point method |
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|---|---|---|---|
| CN201410294998.0A CN104076711B (en) | 2014-06-25 | 2014-06-25 | A kind of crop root zone soil fertilizer medicine note executes target on-line prediction fix-point method |
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| CN104076711A true CN104076711A (en) | 2014-10-01 |
| CN104076711B CN104076711B (en) | 2016-11-16 |
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|---|---|---|---|
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Cited By (4)
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|---|---|---|---|---|
| CN105045302A (en) * | 2015-07-27 | 2015-11-11 | 北京农业智能装备技术研究中心 | Soil application device based on laser positioning and method |
| CN109258600A (en) * | 2018-07-25 | 2019-01-25 | 苏州速菲特农林工具有限公司 | A kind of control device for tractor orchard spray |
| WO2019224043A1 (en) * | 2018-05-23 | 2019-11-28 | Robert Bosch Gmbh | Supply system for plant care and method for plant care |
| CN114514914A (en) * | 2021-12-28 | 2022-05-20 | 中国农业大学 | Intelligent sensing fertilization and pesticide spraying method and device |
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| Publication number | Publication date |
|---|---|
| CN104076711B (en) | 2016-11-16 |
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