CN103798217A - Differential spray boom spraying accurate target-aiming device and target detection method - Google Patents
Differential spray boom spraying accurate target-aiming device and target detection method Download PDFInfo
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Abstract
The invention relates to a differential spray boom spraying accurate target-aiming device and a target detection method. The differential spray boom spraying accurate target-aiming device comprises a spray boom spraying module, a sensor module and a target-aiming spraying control module; the spray boom spraying module comprises a spray boom frame, a liquid pesticide box, a diaphragm pump, a nozzle set and electromagnetic switch valves corresponding to nozzles; the sensor module comprises a row-alignment distance measuring sensor, a furrow distance measuring sensor and a machine and tool traveling speed measuring sensor; the row-alignment distance measuring sensor, the furrow distance measuring sensor and the machine and tool traveling speed measuring sensor are connected with the target-aiming spraying control module respectively. According to the differential spray boom spraying accurate target-aiming device and the target detection method, by the adoption of the row-alignment distance measuring sensor and the furrow distance measuring sensor, random noise caused by vibration of a spray boom when a boom sprayer works can be eliminated differentially; the positions of crops can be determined according to collected crop heights, maximum diameters at breast height and distance measurement variances, the method has high accuracy and good robustness, targets can be accurately recognized by the boom sprayer in a field pesticide application process, and pesticides or liquid fertilizer is sprayed to the targets only.
Description
Technical field
The present invention relates to a kind of differential type spray boom spraying target precision device and target detection method, belong to agricultural plant protection mechanical field.
Background technology
Spray bar type spraying machine is mainly for the grain in large area farmland or economic crops operation, the control to damage by disease and insect and weeding respond well.But in its actual job, particularly some economic crops, the crop to farmland and soil are implemented indiscriminate pesticide spraying, cannot be for the having or not of crop, the plant size of crop carries out dispenser.The natural enemy of some crop pests has also been poisoned with poison by agricultural chemicals in this case, and the problems such as while pesticide efficacy is low, soil pollution have also produced.For above problem, target precision pesticide application technology becomes the emphasis of research in the nearly stage.
Retrieval through prior art document is found, patent announcement number: CN102428904A, title: weed-eradicating robot automatic target detection variable rate spray flow control system, it comprises regulated variable spraying system, there is the master control system of USB camera, mounting system and ultrasonic sensor.The area of plane that it carries out weeds by USB camera is calculated and location positioning, carries out determination of vertical dimension by ultrasonic sensor, thereby determines weeds position and size.It is mainly used in spraying weeding agricultural chemicals, and equipment is comparatively complicated, has both needed to carry out image processing, measures again the distance of weeds, therefore spray in operation and be not suitable in land for growing field crops.
Application for a patent for invention number: CN200310112664.9, title: toward-target precision pesticide application method, provides a kind of and adopted Tree image feature to realize the toward-target precision pesticide application method of toward-target precision pesticide application based on machine vision technique.It comprises Tree image collection, processing and Feature Recognition System, is gathered the form of number, the control of being sprayed insecticide by regulated variable spraying system after analyzing and processing by CCD and image pick-up card.Its range of application is mainly that trees are sprayed insecticide, and is difficult to meet the requirement of field crop dispenser.
The working width of boom sprayer is generally larger, so in facility walking process, due to the out-of-flatness in soil, spray boom has irregular chatterin by a relatively large margin, be arranged on the interference that the sensor on spray boom inevitably can be received random vibration, therefore sensor must can be processed this interference problem, and the method using in existing target spraying patent cannot head it off.
Summary of the invention
The present invention is directed to prior art above shortcomings, a kind of differential type spray boom spraying target precision device and target detection method are provided, can make boom sprayer in land for growing field crops dispenser process, accurately identify target, and only for target spraying pesticide or liquid fertilizer.
The technical solution adopted in the present invention is: a kind of differential type spray boom spraying target precision device, comprising: spray boom spraying module, sensor assembly, target spraying control module.
Described spray boom spraying module, comprise spray bar frame, spray tank, membrane pump, jet head sets and electromagnetic switch valve corresponding to each shower nozzle, described spray bar frame is made up of column and multiple crossbeam, described jet head sets formed by multiple shower nozzles and according to crop row apart from being arranged on the position corresponding to crop row on the crossbeam of spray bar frame.Described membrane pump is communicated with spray tank, electromagnetic switch valve and shower nozzle respectively by drug liquid tube; Described membrane pump pumps liquid from spray tank, is delivered to each electromagnetic switch valve and shower nozzle through drug liquid tube, and whether electromagnetic switch valve control shower nozzle sprays.
Described sensor assembly, comprises row distance measuring sensor, furrow distance measuring sensor and facility walking tachogenerator; Described row distance measuring sensor is fixed on to the position corresponding to crop row on above-mentioned spray bar frame crossbeam; Furrow distance measuring sensor has two, is separately fixed at the position of above-mentioned spray bar frame crossbeam two ends corresponding to furrow between crop row.Row distance measuring sensor and furrow distance measuring sensor are arranged on same crossbeam; Row distance measuring sensor and furrow distance measuring sensor and jet head sets are positioned to same level, and the installation site of row distance measuring sensor and furrow distance measuring sensor is ahead of to jet head sets on facility direct of travel; Described row distance measuring sensor is measured between crop canopies on crop row or strain to soil and in real time to the distance between row distance measuring sensor sensing head, furrow distance measuring sensor is measured the distance between soil and furrow distance measuring sensor sensing head between crop row in real time.Row distance measuring sensor is connected with target spraying control module respectively with furrow distance measuring sensor; Described facility walking tachogenerator is for measuring the speed of related movement between sprayer and soil, and facility walking tachogenerator is connected with target spraying control module;
Described target spraying control module, comprises vehicle power, target spraying controller and input/output interface.Described target spraying controller is preferentially selected STM32 type single-chip microcomputer; Described vehicle power is selected 12 volts or 24 volts of dc sources.Described input/output interface comprises that analog-to-digital conversion, photoelectricity isolation, signal amplify, and Digital I/O drive circuit; Described furrow distance measuring sensor, row distance measuring sensor and facility walking tachogenerator are all connected to target spraying controller by input/output interface.Described multiple electromagnetic switch valves are connected with target spraying control module by input/output interface, and target spraying control module drives the switching of the on off state of magnetic valve by input/output interface.
Described furrow distance measuring sensor and row distance measuring sensor is preferentially selected to ultrasonic sensor.Described furrow distance measuring sensor and to the preferred 30Hz-100Hz of the setpoint frequency of row distance measuring sensor.
A kind of differential type spray boom spraying of the present invention target precision device, concrete target spraying control procedure is as follows:
(1) target spraying control module and sensor die initialization block;
(2) boom sprayer shower nozzle is aimed at row crop is started to operation, facility walking tachogenerator detects the speed of travel, furrow distance measuring sensor and row distance measuring sensor is started to gather crop canopies or soil to the ranging information of sensing head separately according to setpoint frequency, metrical information and the facility speed of travel enter target spraying controller by input/output interface;
(3) target spraying controller in conjunction with the facility speed of travel and furrow with the ranging information of row is carried out to real-time target detection for crop row corresponding to each shower nozzle, when target spraying controller is judged while being target, drive the electromagnetic switch valve of the corresponding crop row of row distance measuring sensor is opened by input/output interface, make the shower nozzle spraying of corresponding crop row.Judge while being non-target when recognizer, drive corresponding electromagnetic switch valve to close by input/output interface, make corresponding shower nozzle stop spraying.
Furrow distance measuring sensor and row distance measuring sensor is arranged on same spray bar frame, due to the vibration of facility and the impact of ground relief, in the course of the work, furrow distance measuring sensor and the distance measuring signal to row distance measuring sensor comprise noise to spray bar frame.It is common mode vibration that two sensors are followed the vibration that spray boom produces, but due to the position difference on its place spray bar frame, therefore furrow distance measuring sensor is with different to the Oscillation Amplitude of row distance measuring sensor, and the noise effect that furrow distance measuring sensor is subject to the distance measuring signal that row distance measuring sensor is produced can be regarded as the same.Therefore the common mode vibration data that furrow distance measuring sensor gathers, can be used as a kind of differential signal, for the elimination to the random ambient interferences of row distance measuring sensor.The real time distance signal processing flow of a kind of differential type spray boom spraying of the present invention target precision device is as follows:
1) furrow distance measuring sensor is done to mean shift and amplitude modulation processing, make its Oscillation Amplitude and average and be same level to row distance measuring sensor, the original distance measuring signal that comprises noise of furrow distance measuring sensor record is denoted as s, the reference background signal S that signal after treatment is each crop row
i:
In above formula (1), W is crop line width; l
ifor the mid point from spray bar frame fabric width direction is to the distance of the corresponding shower nozzle of the corresponding i crop row of one side; A is the height of spray bar frame to furrow bottom, and B is that ridge is high.
2) S obtaining after step 1) compensation through the ranging data that furrow distance measuring sensor is obtained
i, also to utilize differential principle, by S
ias characterizing random interfering signal for eliminating the distance measuring signal Y that row distance measuring sensor is obtained
iin error background, as follows:
Make Z
ifor removing on the crop canopies of spray bar frame vibration ambient interferences or ridge soil to the distance measuring signal to row distance measuring sensor sensing head, by S
iand Y
iafter two distance measuring signals are inverted, and can obtain according to differential principle elimination background error:
Z
i＝S
i-Y
i-------------（2）
3) after above-mentioned processing, the ranging data Z to row distance measuring sensor to crop row
istill dynamic error and systematic error to row distance measuring sensor itself have been comprised, therefore need be to the above-mentioned signal Z after treatment of process
icarry out medium filtering, obtain the distance measuring signal D on each crop row
imeet target detection requirement.
Due to each crop row corresponding to row distance measuring sensor be similar to target detection mode, with the mid point from spray bar frame fabric width direction to corresponding i crop behavior example, a kind of differential type spray boom spraying of the present invention target precision device, concrete target detection method is as follows:
1) start after spraying work, to row distance measuring sensor and furrow distance measuring sensor Real-time Collection ranging data, after above-mentioned real time distance signal is processed, soil on crop canopies or ridge is arrived to the distance signal D to row distance measuring sensor sensing head
irespectively joining data length is that in the queue of first in first out of N, up-to-date distance values is at tail of the queue.Target detection carries out the judgement in pattern according to this N point, to distinguish when front sensor detection thing soil on crop or ridge.
2) calculate the distance measuring signal average at the sliding window of queue
wherein H is that shower nozzle arrives the height to row soil; M is sliding window width, meets M<<N, and M is preferably 0.1N～0.2N; D
jfor j distance measuring signal in sliding window.If the height average of sliding window is greater than the plant height threshold value of setting, is tentatively judged as target, and records the position of initial height change point in queue, otherwise be judged as soil part on ridge.Described plant height threshold value, according to the average height of the crop of spraying operation, is artificially set.
3) further calculate the distance measuring signal D in current sliding window
jvariance, change variance threshold values if variance is less than given crop canopies, be defined as target, otherwise be judged as soil part on ridge.Described crop canopies changes variance threshold values and measures and artificial setting according to spraying operation crop canopies growing way feature is artificial.
The data length N of described queue is preferred:
(round numbers), wherein V is facility maximum operational speed, and U is the maximum diameter of a cross-section of a tree trunk 1.3 meters above the ground of crop, and f is furrow distance measuring sensor and the setpoint frequency to row distance measuring sensor.
The beneficial effect of spray boom of the present invention spraying target precision device and detection method thereof is: 1, by furrow distance measuring sensor with to row distance measuring sensor, while can difference eliminating boom sprayer operation, spray boom vibrates the random noise causing.2, determine crop location according to the plant height, the maximum diameter of a cross-section of a tree trunk 1.3 meters above the ground that gather and three features of range finding variance, recognition methods has that accuracy is high and robustness is good.3, for the boom sprayer target precision spraying of land for growing field crops operation provides utility unit and target detection method.
Accompanying drawing explanation
Fig. 1 is frame for movement scheme of installation of the present invention.
Fig. 2 is target spraying control procedure flow chart of the present invention.
Fig. 3 is real time distance signal processing flow figure of the present invention.
Fig. 4 be furrow distance measuring sensor with to row distance measuring sensor common mode vibration oscillogram.
Fig. 5 be furrow distance measuring sensor with to the common mode vibration oscillogram after the amplitude modulation of row distance measuring sensor.
Fig. 6 is the original waveform of plant height being carried out to data acquisition.
Fig. 7 vibrates the data waveform figure after the background noise producing for elimination.
Fig. 8 is filtered signal waveforms.
In figure: 1. furrow distance measuring sensor, 2. pair row distance measuring sensor, 3. jet head sets, 4. spray bar frame.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in Figure 1, described spray boom spraying module, comprise spray bar frame 4, spray tank, membrane pump, jet head sets 3 and electromagnetic switch valve corresponding to each shower nozzle, described spray bar frame is made up of column and multiple crossbeam, and described multiple shower nozzles are arranged on the crossbeam of spray bar frame according to crop row distance.Described membrane pump pumps liquid from spray tank, is delivered to each electromagnetic switch valve and shower nozzle through drug liquid tube, and whether electromagnetic switch valve control shower nozzle sprays.
As shown in Figure 1, described sensor assembly, comprises row distance measuring sensor 2, furrow distance measuring sensor 1 and facility walking tachogenerator; Described row distance measuring sensor 2 is fixed on to the position corresponding to crop row on above-mentioned spray bar frame crossbeam, furrow distance measuring sensor 1 is fixed in the outermost of above-mentioned spray bar frame crossbeam corresponding to the furrow position between crop row.Row distance measuring sensor 2 and furrow distance measuring sensor 1 and jet head sets 3 are positioned to same level, and the installation site of row distance measuring sensor 2 and furrow distance measuring sensor 1 is ahead of to jet head sets on facility direct of travel; Described row distance measuring sensor 2 is measured to the distance between soil and sensor head between crop canopies on crop row or strain, furrow distance measuring sensor 1 is measured the distance between soil and sensor head between crop row.Row distance measuring sensor 2 is connected with target spraying control module respectively with furrow distance measuring sensor 1; Described facility walking tachogenerator is for measuring the speed of related movement between sprayer and soil, and facility walking tachogenerator is connected with target spraying control module; It is definite that described distance measuring sensor is walked speed apart from the installation dimension of shower nozzle according to the highest line of the response time of target spraying control module and operation in facility direction of advance, and the response time of target spraying control module is measured by real system.
As shown in Figure 2, a kind of differential type spray boom spraying of the present invention target precision device, target spraying control procedure is as follows:
(1) target spraying control module and sensor die initialization block;
(2) boom sprayer shower nozzle is aimed at row crop is started to operation, facility walking tachogenerator detects the speed of travel, furrow distance measuring sensor and row distance measuring sensor is started to gather crop canopies or soil to the ranging information of sensing head separately according to setpoint frequency, metrical information and the facility speed of travel enter target spraying controller by input/output interface;
(3) target spraying controller in conjunction with the facility speed of travel and furrow with the ranging information of row is carried out to real-time target detection for crop row corresponding to each shower nozzle, when target spraying controller is judged while being target, drive the electromagnetic switch valve of the corresponding crop row of row distance measuring sensor is opened by input/output interface, make the shower nozzle spraying of corresponding crop row.Judge while being non-target when recognizer, drive corresponding electromagnetic switch valve to close by input/output interface, make corresponding shower nozzle stop spraying.
Furrow distance measuring sensor and row distance measuring sensor is arranged on same spray bar frame, due to the vibration of facility and the impact of ground relief, in the course of the work, furrow distance measuring sensor and the distance measuring signal to row distance measuring sensor comprise noise (example as shown in Figure 6) to spray bar frame.It is common mode vibration that two sensors are followed the vibration that spray boom produces, but due to the position difference on its place spray bar frame, therefore furrow distance measuring sensor with to the Oscillation Amplitude of row distance measuring sensor different (example as shown in Figure 4), the noise effect that furrow distance measuring sensor is subject to the distance measuring signal that row distance measuring sensor is produced can be regarded as the same.Therefore the common mode vibration data that furrow distance measuring sensor gathers, can be used as a kind of differential signal, for the elimination to the random ambient interferences of row distance measuring sensor.As shown in Figure 3, the real time distance signal processing flow of spray boom spraying target precision device of the present invention is as follows:
1) furrow distance measuring sensor is done to mean shift and amplitude modulation processing, make its Oscillation Amplitude and average and be same level (example as shown in Figure 5) to row distance measuring sensor, the original distance measuring signal that comprises noise of furrow distance measuring sensor record is denoted as s, the reference background signal S that signal after treatment is each crop row
i:
In above formula (1), W is crop line width; l
ifor the mid point from spray bar frame fabric width direction is to the distance of the corresponding shower nozzle of the corresponding i crop row of one side, due to the symmetry of spray bar frame in fabric width direction, be therefore only illustrated as an example of the furrow distance measuring sensor of a side example herein; A is the height of spray bar frame to furrow bottom, and B is that ridge is high.
2) S obtaining after step 1) compensation through the ranging data that furrow distance measuring sensor is obtained
i, also to utilize employing differential principle, by S
ias characterizing random interfering signal for eliminating the distance measuring signal Y that row distance measuring sensor is obtained
iin error background, as follows:
Make Z
ifor removing on the crop canopies of spray bar frame vibration ambient interferences or ridge soil to the distance measuring signal to row distance measuring sensor sensing head, by S
iand Y
iafter two distance measuring signals are inverted, and can obtain according to differential principle elimination background error:
Z
i＝S
i-Y
i-------------（2）
Can draw the range finding waveform to soil on row crop canopy or ridge (example as shown in Figure 7) reflecting on each crop row according to formula (2);
3) after above-mentioned processing, the ranging data Z to row distance measuring sensor to crop row
istill dynamic error and systematic error to row distance measuring sensor itself have been comprised, therefore need be to the above-mentioned signal Z after treatment of process
icarry out medium filtering (example as shown in Figure 8), obtain the distance measuring signal D on each crop row
imeet target detection requirement.
Due to each crop row corresponding to row distance measuring sensor be similar to target detection mode, with the mid point from spray bar frame fabric width direction to corresponding i crop behavior example, a kind of differential type spray boom spraying of the present invention target precision device, concrete target detection method is as follows:
1) start after spraying work, to row distance measuring sensor and furrow distance measuring sensor Real-time Collection ranging data, after above-mentioned real time distance signal is processed, soil on crop canopies or ridge is arrived to the distance signal D to row distance measuring sensor sensing head
ijoin in the queue of the first in first out that a data length is N, up-to-date distance values is at tail of the queue.Target detection carries out the judgement in pattern according to this N point, to distinguish when front sensor detection thing is as crop is still to row soil.
2) calculate the distance measuring signal average at the sliding window of queue
wherein H is that shower nozzle arrives the height to row soil; M is sliding window width, meets M<<N, and M is preferably 0.1N～0.2N; D
jfor j distance measuring signal in sliding window.If the height average of sliding window is greater than the plant height threshold value of setting, is tentatively judged as target, and records the position of initial height change point in queue, otherwise be judged as soil part on ridge.Described plant height threshold value, according to the average height of the crop of spraying operation, is artificially set.
3) further calculate the distance measuring signal D in current sliding window
jvariance, change variance threshold values if variance is less than given crop canopies, be defined as target, otherwise be judged as soil part on ridge.Described crop canopies changes variance threshold values and measures and artificial setting according to spraying operation crop canopies growing way feature is artificial.
The data length N of described queue is preferred:
(round numbers), wherein V is facility maximum operational speed, U is the maximum diameter of a cross-section of a tree trunk 1.3 meters above the ground of crop, the frequency acquisition that f is distance measuring sensor.Described sliding window width M<<N, M is preferably 0.1N～0.2N.
Claims (4)
1. a differential type spray boom spraying target precision device, is characterized in that comprising: spray boom spraying module, sensor assembly, target spraying control module;
Described spray boom spraying module, comprise spray bar frame, spray tank, membrane pump, jet head sets and electromagnetic switch valve corresponding to each shower nozzle, described spray bar frame is made up of column and multiple crossbeam, described jet head sets formed by multiple shower nozzles and according to crop row apart from being arranged on the position corresponding to crop row on the crossbeam of spray bar frame; Described membrane pump is communicated with spray tank, electromagnetic switch valve and shower nozzle respectively by drug liquid tube, the spraying of electromagnetic switch valve control shower nozzle;
Described sensor assembly, comprises row distance measuring sensor, furrow distance measuring sensor and facility walking tachogenerator; Described row distance measuring sensor is fixed on to the position corresponding to crop row on above-mentioned spray bar frame crossbeam; Furrow distance measuring sensor has two, is separately fixed at the position of above-mentioned spray bar frame crossbeam two ends corresponding to furrow between crop row; Row distance measuring sensor and furrow distance measuring sensor are arranged on same crossbeam; Row distance measuring sensor and furrow distance measuring sensor and jet head sets are positioned to same level, and the installation site of row distance measuring sensor and furrow distance measuring sensor is ahead of to jet head sets on facility direct of travel; Described row distance measuring sensor is measured between crop canopies on crop row or strain to soil and in real time to the distance between row distance measuring sensor sensing head, furrow distance measuring sensor is measured the distance between soil and furrow distance measuring sensor sensing head between crop row in real time; Row distance measuring sensor is connected with target spraying control module respectively with furrow distance measuring sensor; Described facility walking tachogenerator is for measuring the speed of related movement between sprayer and soil, and facility walking tachogenerator is connected with target spraying control module;
Described target spraying control module, comprises vehicle power, target spraying controller and input/output interface; Described target spraying controller is preferentially selected STM32 type single-chip microcomputer; Described vehicle power is selected 12 volts or 24 volts of dc sources; Described input/output interface comprises that analog-to-digital conversion, photoelectricity isolation, signal amplify, and Digital I/O drive circuit; Described furrow distance measuring sensor, row distance measuring sensor and facility walking tachogenerator are all connected to target spraying controller by input/output interface; Described multiple electromagnetic switch valves are connected with target spraying control module by input/output interface, and target spraying control module drives the switching of the on off state of magnetic valve by input/output interface;
Described furrow distance measuring sensor and be ultrasonic sensor to row distance measuring sensor; Described furrow distance measuring sensor and be 30Hz-100Hz to the setpoint frequency of row distance measuring sensor.
2. the target spraying control method of a kind of differential type spray boom spraying target precision device as claimed in claim 1, is characterized in that step is as follows:
(1) target spraying control module and sensor die initialization block;
(2) boom sprayer shower nozzle is aimed at row crop is started to operation, facility walking tachogenerator detects the speed of travel, furrow distance measuring sensor and row distance measuring sensor is started to gather crop canopies or soil to the ranging information of sensing head separately according to setpoint frequency, metrical information and the facility speed of travel enter target spraying controller by input/output interface;
(3) target spraying controller in conjunction with the facility speed of travel and furrow with the ranging information of row is carried out to real-time target detection for crop row corresponding to each shower nozzle, when target spraying controller is judged while being target, drive the electromagnetic switch valve of the corresponding crop row of row distance measuring sensor is opened by input/output interface, make the shower nozzle spraying of corresponding crop row; Judge while being non-target when recognizer, drive corresponding electromagnetic switch valve to close by input/output interface, make corresponding shower nozzle stop spraying.
3. the target detection method of a kind of differential type spray boom spraying target precision device as claimed in claim 1, is characterized in that comprising the steps:
1) start after spraying work, to row distance measuring sensor and furrow distance measuring sensor Real-time Collection ranging data, after real time distance signal is processed, soil on crop canopies or ridge is arrived to the distance signal D to row distance measuring sensor sensing head
irespectively joining data length is that in the queue of first in first out of N, up-to-date distance values is at tail of the queue; Target detection carries out the judgement in pattern according to this N point, to distinguish when front sensor detection thing soil on crop or ridge;
2) calculate the distance measuring signal average at the sliding window of queue
wherein H is that shower nozzle arrives the height to row soil; M is sliding window width, meets M<<N, and M is preferably 0.1N～0.2N; D
jfor j distance measuring signal in sliding window; If the height average of sliding window is greater than the plant height threshold value of setting, is tentatively judged as target, and records the position of initial height change point in queue, otherwise be judged as soil part on ridge; Described plant height threshold value, according to the average height of the crop of spraying operation, is artificially set;
3) further calculate the distance measuring signal D in current sliding window
jvariance, change variance threshold values if variance is less than given crop canopies, be defined as target, otherwise be judged as soil part on ridge; Described crop canopies changes variance threshold values and measures and artificial setting according to spraying operation crop canopies growing way feature is artificial;
The data length N of described queue is:
wherein V is facility maximum operational speed, and U is the maximum diameter of a cross-section of a tree trunk 1.3 meters above the ground of crop, and f is furrow distance measuring sensor and the setpoint frequency to row distance measuring sensor, N round numbers.
4. the real time distance signal processing method of a kind of differential type spray boom spraying target precision device as claimed in claim 1, is characterized in that flow process is as follows:
1) furrow distance measuring sensor is done to mean shift and amplitude modulation processing, make its Oscillation Amplitude and average and be same level to row distance measuring sensor, the original distance measuring signal that comprises noise of furrow distance measuring sensor record is denoted as s, the reference background signal S that signal after treatment is each crop row
i:
In above formula (1), W is crop line width; l
ifor the mid point from spray bar frame fabric width direction is to the distance of the corresponding shower nozzle of the corresponding i crop row of one side; A is the height of spray bar frame to furrow bottom, and B is that ridge is high;
2) S obtaining after step 1) compensation through the ranging data that furrow distance measuring sensor is obtained
i, utilize differential principle, by S
ias characterizing random interfering signal for eliminating the distance measuring signal Y that row distance measuring sensor is obtained
iin error background, as follows:
Make Z
ifor removing on the crop canopies of spray bar frame vibration ambient interferences or ridge soil to the distance measuring signal to row distance measuring sensor sensing head, by S
iand Y
iafter two distance measuring signals are inverted, and can obtain according to differential principle elimination background error:
Z
i＝S
i-Y
i-------------（2）
3) to signal Z
icarry out medium filtering, obtain the distance measuring signal D on each crop row
imeet target detection requirement.
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| CN104115809A (en) * | 2014-07-24 | 2014-10-29 | 中国农业大学 | Toward-target spraying machine and method for crops in field |
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| CN104663635A (en) * | 2015-02-14 | 2015-06-03 | 江苏大学 | Interference signal filtering device and method of sprayer |
| CN105724357A (en) * | 2016-03-07 | 2016-07-06 | 秦广泉 | Plant protection machine with special pesticide spraying device and pesticide spraying method of plant protection machine |
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| CN113016756A (en) * | 2021-02-22 | 2021-06-25 | 江苏大学 | Multi-source information fusion-based spray rod ground height real-time monitoring system and method |
| CN114680097A (en) * | 2022-06-02 | 2022-07-01 | 农业农村部南京农业机械化研究所 | Spraying machine pesticide application positioning method based on monitoring data acquisition and processing |
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