CN103262773B - Method for positioning fruit trees by adopting effective solar radiation values - Google Patents
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Abstract
The invention discloses a method for positioning fruit trees by adopting effective solar radiation values. The method includes the flowing steps: 1) collecting a solar effective radiation value of each fruit tree shade position under a current sun angle by sensors; 2) according to the current sun angle, dividing the collected effective solar radiation values into a plurality of groups, wherein geographic positions corresponding to the effective solar radiation values in one group are arrayed along the corresponding direction of the sun angle sequentially; 3) averaging the effective solar radiation values in one group to acquire an average value of each group of data, performing first derivation on the average values, and in the group of data corresponding to average values which have zero derivation results, acquiring a connecting line of data point geographical positions; and 4), under different sun angles, repeating step 1) to step 3) to acquire the other connecting line, and determining a point of intersection of the two connecting lines to be a position point of a tree root.
Description
Technical field
The method field that the invention belongs to fruit tree location, relates in particular to a kind of method that adopts the effective radiation value of the sun to carry out fruit tree location.
Background technology
Solar radiation is the important energy source that drives the large ring layer running of the earth five, and zoic vital movement all depends on directly or indirectly and obtains solar radiant energy by various forms.In solar spectrum, 400～700nm wave band is called photosynthetic active radiation, is the important energy source that plant carries out photosynthesis formation primary biomass, is the key factor of climatic potential productivity.
Photosynthetic active radiation refers in solar radiation and can be absorbed for photosynthesis by the chloroplast of green plants, thereby realizes this part radiation of substance accumulation.The total green cover layer of canopy structure Ji Shi plant population acrial part of plant, it affects the intercepting and capturing of plant to the effective radiation of the sun.
The growth of crop be unable to do without photosynthetic impact, and wherein the structure influence of crop canopies intercepting and capturing and the light distribution situation in orchard of crop to light, therefore directly affects the output height of fruit.The output of fruit per unit area has been proved to be with crop the intercepting and capturing of light has been existed to positive correlation, and light is intercepted and captured and is photodistributed inhomogeneous, all can reduce the size of fruit, output and the quality of reduction fruit.The method that improves light interception amount has high-density planting, keeps the Crown Structure of suitable size and shape, and improves leaf area index etc., wherein the reasonably optimizing of crop canopies structure has been become an important technology index of orchard management.Also do not report at present about adopting photosynthetic active radiation value to carry out the research of fruit tree location.
Publication number is the localization method that 101266657 patent documentation discloses a planting fruit-trees, the method is to choose mark tree as fixed point tree, within the scope of mark trunk 1-10 rice noodles, establishing anchor point, set point is made mark, and gather the information of anchor point with GPS receiver, realize the location to fruit tree in each region.
In above-mentioned patent, adopt traditional fruit tree localization method---GPS positioning mode, but feasibility and the certainty of measurement etc. of the method are easily subject to weather, tree crown size waits impact.
Summary of the invention
The object of the present invention is to provide a kind of method that adopts the effective radiation value of the sun to carry out fruit tree location, solved traditional GPS method and affected by weather, tree crown size etc.
Adopt the method for the effective radiation value of the sun to fruit tree location, comprise the following steps:
1) utilize sensor to gather the sun effective radiation value of each position of fruit tree shade under current sun angle;
2) according to current sun angle, the effective radiation value of each sun collecting is divided into some groups, belong to the corresponding geographical position of the effective radiation value of the sun of a group together along being arranged in order with the corresponding direction of sun angle;
3) the effective radiation value of the sun that belongs to a group together is averaged, obtain the mean value of each group of data, these mean values are carried out to first derivation, in corresponding those group data of the mean value that is 0 in differentiate result, obtain the line in each data point geographical position;
4) under different sun angles, repeating step 1)～step 3) obtains another line, determines that the intersection point of two lines is the location point of tree root.
Each fruit tree shade in the present invention does not have overlapping, and tree crown is relatively regular, and the position on tree crown top and tree root position are roughly in same vertical line, and while gathering the effective radiation value of the sun, acquisition range roughly covers whole shade, and data break point is more close more accurate.
Sensor is PAR sensor, for gathering the effective radiation value of the sun of each position of fruit tree shade, for improving collecting efficiency, sensor is generally 18 that are arranged side by side, be installed on a collection car, and the length between two sensors of interval maximum and the length of fruit tree shade adapt, and gather car move within the scope of fruit tree shade by control, can disposablely complete the collection to each position of fruit tree shade.
In step 1), while gathering the effective radiation value of the sun, the real-time geographic position of simultaneously recording sensor, this real-time geographic position is step 2) the corresponding geographical position of the middle effective radiation value of the sun.
Preferably, the real-time geographic position that adopts GPS position indicator to record sensor, time when record data gather simultaneously, obtain the sun angle value of there and then by computings such as longitudes and latitudes, can also calculate according to the position relationship of GPS position indicator and each PAR sensor the geographical location information of the point of each collection.
In step 2) in, the effective radiation value of each sun is divided into after some groups, and every group of effective radiation value of the sun carried out to interpolation processing.The point of PAR sensor collection is irregular, after the effective radiation value grouping of the sun that PAR sensor is gathered, the data in some geographical position have disappearance, for supplementing missing data, need carry out interpolation processing to every group of effective radiation value of the sun, the method of this interpolation processing is preferably triangular interpolation method, carries out interpolation arithmetic by line between data point to set up several triangles.
In step 3), to the result line of first derivation, and line is carried out to smoothing processing.The point that can be accurately 0 by first derivative through the data of smoothing processing corresponds in original PAR image data, and obtains the line in each data point geographical position;
Smoothing processing wherein adopts Savitzky-Golay level and smooth, and smooth window is made as 5, and it is the method for data smoothing problem in a kind of direct processing time territory, is mainly to adopt method of least squares to carry out fitting of a polynomial to the multiple points in window.
The present invention adopts the effective radiation value of the sun to position research to the positional information of fruit tree, through data difference, first derivation, data smoothing scheduling algorithm, realize the positional information of fruit tree is located accurately, simultaneously for the automation mechanized operation that realizes fruit beta pruning provides precondition, can reduce labor cost, there is extremely strong applicability, economy and using value.
Brief description of the drawings
Fig. 1 is the effective radiation value harvester of sun schematic diagram;
Fig. 2 is sensor corresponding positional information while gathering the sun effective radiation value;
Fig. 3 is the effective radiation value gatherer process of sun schematic diagram;
Fig. 4 is the first derivation curve map after smoothing processing.
Embodiment
In operating process, conventionally using a row fruit tree as anchored object, but every row fruit tree is arranged and is formed by many fruit trees, therefore, in actual test process, first need every fruit tree to position, in following embodiment, to gather single the effective radiation value of the sun within the scope of fruit tree shade as test data.
As shown in Figure 1, the effective radiation value harvester of the sun comprises a collection car 1, on this collection car 1, is fixed with mounting rod 2, and 9 PAR sensors have respectively been installed in the both sides of mounting rod 2, for gathering the effective radiation value of the sun of each position of fruit tree shade.Gather the moving direction of car 1 and the line direction of fruit tree parallel, gather on car 1 GPS position indicator 3 is also installed, can be according to the relative position of the spacing of PAR sensor, size and PAR sensor and GPS position indicator 3, obtain the geographical position of each PAR sensor in any collection point.
Selected fine day 12:30PM and 14:30PM are the acquisition time of the effective radiation value of the sun below, at these two time points, gather respectively certain the effective radiation value of the sun within the scope of fruit tree shade, and to these two groups of data analysis, complete the location to this fruit tree, its positioning step is as follows:
(1) at 12:30PM, control collection car moves within the scope of fruit tree shade, gather the effective radiation value of the sun of 18 each location points of PAR sensors collection fruit tree shade on car, GPS position indicator record gathers the real-time position information of car simultaneously, then calculate the geographical position of 18 PAR sensors in any collection point according to spacing, the size etc. of PAR sensor, thereby obtain geographical position corresponding to the effective radiation value of each sun, and can obtain the sun angle value of there and then by longitude and latitude.
(2) as shown in Figure 2, the GPS positional information of the point gathering with 18 PAR sensors in this figure, the corresponding effective radiation value of the sun in each collection point, according to current sun angle, the effective radiation value of the sun of 18 PAR sensors collection is divided into some groups, the principle of grouping is: belong to the corresponding geographical position of the effective radiation value of the sun of a group together along being arranged in order with the corresponding direction of sun angle, the line that belongs to the geographical position of the effective radiation value of the sun of a group together extends along sun angle direction.
Simultaneously, from Fig. 2, it can also be seen that, the point of PAR sensor collection is irregular, the data in some geographical position have disappearance, for supplementing missing data, adopt trigonometric interpolation algorithm to carry out interpolation processing to every group of effective radiation value of the sun, and the data after interpolation processing are averaged, then carry out first derivative computing, the curve that first derivation is obtained carries out Savitzky-Golay smoothing processing, adopting smooth window is 5, choose differentiate result and be corresponding those group data of mean value of 0, and set up a linear representation (being the line in this group data geographical position), this linear representation points to tree root position.
(3) at 14:30PM, now the relative 12:30PM of sun angle is to change, control collection car moves within the scope of fruit tree shade, gather the effective radiation value of the sun of 18 each location points of PAR sensors collection fruit tree shade on car, gather the real-time position information of car by GPS position indicator record, according to the position relationship of the layout of PAR sensor and each PAR sensor and GPS position indicator, can obtain the geographical position of the point of each collection.
As shown in Figure 3, the sun angle of 14:30PM is α, in the time gathering the effective radiation value of the sun of each location point of fruit tree shade under this angle, and P0, P1 ... Pn is the shade position of tree crown, X0, and X1 ... Xn is the position at tree root place.According to sun angle α, the effective radiation value of the sun of 18 PAR sensors collection is divided into some groups, the line in geographical position corresponding to every group of effective radiation of the sun extends along sun angle α direction.Adopt trigonometric interpolation algorithm to carry out interpolation processing to every group of effective radiation value of the sun, and the data after interpolation processing are averaged, then carry out first derivative computing, as shown in Figure 4, the curve that first derivation is obtained carries out Savitzky-Golay smoothing processing, and adopting smooth window is 5, chooses differentiate result and be corresponding those group data of mean value of 0, set up another linear representation (being the line in this group data geographical position), and this linear representation points to tree root position.
(4) try to achieve the intersection point of two linear representations in step (2) and step (3), be the location point of tree root, can complete the location to fruit tree.
Claims (6)
1. adopt the method for the effective radiation value of the sun to fruit tree location, it is characterized in that, comprise the following steps:
1) utilize sensor to gather the sun effective radiation value of each position of fruit tree shade under current sun angle;
2) according to current sun angle, the effective radiation value of each sun collecting is divided into some groups, belong to the corresponding geographical position of the effective radiation value of the sun of a group together along being arranged in order with the corresponding direction of sun angle;
In step 1), while gathering the effective radiation value of the sun, the real-time geographic position of simultaneously recording sensor, this real-time geographic position is the corresponding geographical position of the effective radiation value of the sun;
3) the effective radiation value of the sun that belongs to a group together is averaged, obtain the mean value of each group of data, these mean values are carried out to first derivation, in corresponding those group data of the mean value that is 0 in differentiate result, obtain the line in each data point geographical position;
4) under different sun angles, repeating step 1)～step 3) obtains another line, determines that the intersection point of two lines is the location point of tree root.
2. the method for the effective radiation value of the employing sun as claimed in claim 1 to fruit tree location, is characterized in that, the real-time geographic position that adopts GPS position indicator to record sensor.
3. the method for the effective radiation value of the employing sun as claimed in claim 1 to fruit tree location, is characterized in that, in step 2) in, the effective radiation value of each sun is divided into after some groups, and every group of effective radiation value of the sun carried out to interpolation processing.
4. the method for the effective radiation value of the employing sun as claimed in claim 3 to fruit tree location, is characterized in that, the method for described interpolation processing is triangular interpolation method.
5. the method for the effective radiation value of the employing sun as claimed in claim 1 to fruit tree location, is characterized in that, in step 3), to the result line of first derivation, and line is carried out to smoothing processing.
6. the method for the effective radiation value of the employing sun as claimed in claim 5 to fruit tree location, it is characterized in that, described sensor is 18, and be arranged side by side on a collection car, gather car by control and move within the scope of fruit tree shade, complete the collection of the effective radiation value of the sun to each position of fruit tree shade.
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| CN102506998A (en) * | 2011-11-23 | 2012-06-20 | 中环天仪（天津）气象仪器有限公司 | Calibration device and calibration method used for indoor pyranometer |
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| US7873490B2 (en) * | 2005-12-28 | 2011-01-18 | Solmetric Corporation | Solar access measurement device |
| US8171668B2 (en) * | 2008-03-24 | 2012-05-08 | Plantra, Inc. | Spectrally selective grow tube |
| JP5354500B2 (en) * | 2009-11-02 | 2013-11-27 | 島根県 | Irrigation equipment |
| US20130096832A1 (en) * | 2011-10-18 | 2013-04-18 | Dongaone Co., Ltd. | Method and system for partitioning farming field |
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| CN102506998A (en) * | 2011-11-23 | 2012-06-20 | 中环天仪（天津）气象仪器有限公司 | Calibration device and calibration method used for indoor pyranometer |
Non-Patent Citations (5)
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| JP特開2011-92152A 2011.05.12 |
| 孟平等.果树冠层太阳总辐射与净辐射分形特征的相关分析.《林业科学》.2005,第41卷(第1期),全文. |
| 晁海等.杏树冠层内光合有效辐射(PAR)分布规律及结构优化初探.《新疆农业科学》.2008,第45卷(第1期),全文. |
| 杏树冠层内光合有效辐射(PAR)分布规律及结构优化初探;晁海等;《新疆农业科学》;20080210;第45卷(第1期);全文 * |
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