CN103798217B - Differential type spray boom spraying target precision device and target detection method - Google Patents
Differential type spray boom spraying target precision device and target detection method Download PDFInfo
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Abstract
The present invention relates to a kind of differential type spray boom spraying target precision device and target detection method, comprising: spray boom spray module, sensor assembly, target spraying control module; Spray boom spray module comprises electromagnetic switch valve corresponding to spray bar frame, spray tank, membrane pump, jet head sets and each shower nozzle; Sensor assembly comprises row distance measuring sensor, furrow distance measuring sensor and facility walking tachogenerator; Row distance measuring sensor is connected with target spraying control module with facility walking tachogenerator respectively with furrow distance measuring sensor; The present invention by adopting furrow distance measuring sensor and to row distance measuring sensor, can difference when eliminating boom sprayer operation spray boom vibrate the random noise caused; And according to the plant height gathered, the maximum diameter of a cross-section of a tree trunk 1.3 meters above the ground and range finding variance three feature determination crop location, recognition methods has that accuracy is high and robustness is good, boom sprayer can be made in land for growing field crops dispenser process accurately to identify target, and only for target spraying pesticide or liquid fertilizer.
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 mainly for grain or the economic crops operation in large area farmland, to the control of damage by disease and insect and the respond well of weeding.But when its actual job, particularly some economic crops, implement indiscriminate pesticide spraying to the crop in farmland and soil, cannot for the presence or absence of crop, and the plant size of crop carries out dispenser.The problems such as the natural enemy of some crop pests has also been poisoned with poison by agricultural chemicals in this case, simultaneously low, the soil pollution of pesticide efficacy also create.For above problem, target precision pesticide application technology becomes the emphasis of research in the nearly stage.
Retrieval through prior art document finds, 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.It by USB camera carry out weeds the area of plane calculate and position determine, carry out determination of vertical dimension by ultrasonic sensor, thus determine 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 procossing, has measured the distance of weeds again, therefore sprays in operation in land for growing field crops and be not suitable for.
Application for a patent for invention number: CN200310112664.9, title: toward-target precision pesticide application method, provides a kind of toward-target precision pesticide application method realizing toward-target precision pesticide application based on machine vision technique employing Tree image feature.It comprises Tree image collection, process and Feature Recognition System, is gathered the form of number, carried out the control of spraying insecticide after analyzing and processing by regulated variable spraying system by CCD and image pick-up card.Its range of application is mainly sprayed insecticide to trees, is difficult to the requirement meeting field crop dispenser.
The working width of boom sprayer is general larger, so in facility walking process, due to the out-of-flatness in soil, spray boom has irregular chatterin by a relatively large margin, the sensor be arranged on spray boom inevitably receives the interference of random vibration, therefore sensor must can process this interference problem, and the method used in existing target spraying patent cannot head it off.
Summary of the invention
The present invention is directed to prior art above shortcomings, provide a kind of differential type spray boom spraying target precision device and target detection method, boom sprayer can be made in land for growing field crops dispenser process accurately to 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 spray module, sensor assembly, target spraying control module.
Described spray boom spray module, comprise the electromagnetic switch valve that spray bar frame, spray tank, membrane pump, jet head sets and each shower nozzle are corresponding, described spray bar frame is made up of column and multiple crossbeam, and described jet head sets is made up of multiple shower nozzle and is arranged on the position crossbeam of spray bar frame corresponding to crop row according to crop row distance.Described membrane pump is communicated with shower nozzle with spray tank, electromagnetic switch valve respectively by drug liquid tube; Liquid pumps by described membrane pump from spray tank, is delivered to each electromagnetic switch valve and shower nozzle through drug liquid tube, and whether electromagnetic switch valve controls shower nozzle and spray.
Described sensor assembly, comprises row distance measuring sensor, furrow distance measuring sensor and facility walking tachogenerator; Described being fixed on above-mentioned spray bar frame crossbeam row distance measuring sensor corresponds to the position of crop row; Furrow distance measuring sensor has two, is separately fixed at the position that above-mentioned spray bar frame crossbeam two ends correspond to furrow between crop row.Be arranged on same crossbeam to row distance measuring sensor and furrow distance measuring sensor; Same level is positioned to row distance measuring sensor and furrow distance measuring sensor and jet head sets, and on facility direct of travel, jet head sets is ahead of to the installation site of row distance measuring sensor and furrow distance measuring sensor; Described soil is measured between crop canopies on crop row or strain in real time to row distance measuring sensor and to the distance between row distance measuring sensor sensing head, furrow distance measuring sensor measures the distance between crop row between soil and furrow distance measuring sensor sensing head 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.STM32 type single-chip microcomputer preferentially selected by described target spraying controller; Described vehicle power selects 12 volts or 24 volts of dc sources.Described input/output interface comprises analog-to-digital conversion, Phototube Coupling, signal amplification, and Digital I/O drive circuit; Described furrow distance measuring sensor, to row distance measuring sensor and facility walking tachogenerator be 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 preferentially ultrasonic sensor is selected to row distance measuring 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 and is started operation to row crop, facility walking tachogenerator detects the speed of travel, furrow distance measuring sensor and start to gather crop canopies or the soil ranging information to respective sensing head according to setpoint frequency to row distance measuring sensor, metrical information and the facility speed of travel enter target spraying controller by input/output interface;
(3) target spraying controller carries out real-time target detection with to the ranging information of row for the crop row that each shower nozzle is corresponding in conjunction with the facility speed of travel and furrow, when target spraying controller is judged to be target, driven by input/output interface and the electromagnetic switch valve of the corresponding crop row of row distance measuring sensor is opened, the shower nozzle of corresponding crop row is sprayed.When recognizer is judged to be non-target, drive corresponding electromagnetic switch valve to close by input/output interface, make corresponding shower nozzle stop spraying.
Furrow distance measuring sensor and be arranged on same spray bar frame to row distance measuring sensor, 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.The vibration that spray boom produces followed by two sensors is common mode vibration, but because the position on its place spray bar frame is different, therefore furrow distance measuring sensor is different with to the Oscillation Amplitude of row distance measuring sensor, and furrow distance measuring sensor can be regarded as the same with the noise effect that the distance measuring signal produced row distance measuring sensor is subject to.Therefore the common mode vibration data of furrow distance measuring sensor collection, can be used as a kind of differential signal, for the elimination disturbed row distance measuring sensor random background.The real time distance signal processing flow of a kind of differential type of the present invention spray boom spraying target precision device is as follows:
1) mean shift and amplitude modulation process are done to furrow distance measuring sensor, make its Oscillation Amplitude and average and be same level to row distance measuring sensor, the original distance measuring signal comprising noise of furrow distance measuring sensor record is denoted as s, and the signal after process is the reference background signal S of each crop row
i:
In above formula (1), W is crop line width; l
ifor the distance of the corresponding shower nozzle of corresponding i-th crop row from the mid point in spray bar frame fabric width direction to its side; A is the height bottom spray bar frame to furrow, and B is that ridge is high.
2) through S that the ranging data that obtains furrow distance measuring sensor obtains after step 1) compensates
i, also to utilize differential principle, by S
ias characterizing random interfering signal for eliminating the distance measuring signal Y obtained row distance measuring sensor
iin error background, as follows:
Make Z
ifor removing on the spray bar frame vibration crop canopies of 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 process, to the ranging data Z of row distance measuring sensor to crop row
istill the dynamic error to row distance measuring sensor itself and systematic error is contained, therefore need to the signal Z after above-mentioned 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 be similar to row distance measuring sensor to target detection mode, with the mid point from spray bar frame fabric width direction to corresponding i-th 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) after starting spray operations, to row distance measuring sensor and furrow distance measuring sensor Real-time Collection ranging data, after above-mentioned real time distance signal transacting, by soil on crop canopies or ridge to the distance signal D to row distance measuring sensor sensing head
irespectively joining data length is in the queue of the first in first out of N, and up-to-date distance values is at tail of the queue.Target detection carries out the judgement in pattern according to this N number of point, detect thing for soil on crop or ridge to distinguish current sensor.
2) the distance measuring signal average at the sliding window of queue is calculated
, wherein H is the height that shower nozzle arrives to row soil; M is sliding window width, meets M<<N, and M is preferably 0.1N ~ 0.2N; D
jfor the distance measuring signal of the jth in sliding window.If the height average of sliding window is greater than the plant height threshold value of setting, be then tentatively judged as target, and record 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, artificially sets.
3) the distance measuring signal D in current sliding window mouth is calculated further
jvariance, if variance is less than given crop canopies change variance threshold values, is then defined as target, otherwise is judged as soil part on ridge.Described crop canopies change variance threshold values artificially measures according to spraying operation crop canopies growing way feature and artificially sets.
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, can difference when eliminating boom sprayer operation spray boom vibrate the random noise caused.2, according to the plant height gathered, the maximum diameter of a cross-section of a tree trunk 1.3 meters above the ground and range finding variance three feature determination crop location, 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 is the data waveform figure after elimination vibration institute reasons for its use noise.
Fig. 8 is filtered signal waveforms.
In figure: 1. furrow distance measuring sensor, 2. to 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 spray module, comprise the electromagnetic switch valve that spray bar frame 4, spray tank, membrane pump, jet head sets 3 and each shower nozzle are corresponding, described spray bar frame is made up of column and multiple crossbeam, and described multiple shower nozzle is arranged on the crossbeam of spray bar frame according to crop row distance.Liquid pumps by described membrane pump from spray tank, is delivered to each electromagnetic switch valve and shower nozzle through drug liquid tube, and whether electromagnetic switch valve controls shower nozzle and spray.
As shown in Figure 1, described sensor assembly, comprises row distance measuring sensor 2, furrow distance measuring sensor 1 and facility walking tachogenerator; Described being fixed on above-mentioned spray bar frame crossbeam row distance measuring sensor 2 corresponds to the position of crop row, the outermost that furrow distance measuring sensor 1 is fixed on above-mentioned spray bar frame crossbeam corresponds to the furrow position between crop row.Same level is positioned to row distance measuring sensor 2 and furrow distance measuring sensor 1 and jet head sets 3, and on facility direct of travel, jet head sets is ahead of to the installation site of row distance measuring sensor 2 and furrow distance measuring sensor 1; Described measure distance between crop canopies on crop row or strain between soil and sensor head to row distance measuring sensor 2, furrow distance measuring sensor 1 measures the distance between crop row between soil and sensor head.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; Described distance measuring sensor is walked speed in the installation dimension of facility direction of advance distance shower nozzle according to the response time of target spraying control module and the highest line of operation and is determined, the response time of target spraying control module is drawn by real system measurement.
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 and is started operation to row crop, facility walking tachogenerator detects the speed of travel, furrow distance measuring sensor and start to gather crop canopies or the soil ranging information to respective sensing head according to setpoint frequency to row distance measuring sensor, metrical information and the facility speed of travel enter target spraying controller by input/output interface;
(3) target spraying controller carries out real-time target detection with to the ranging information of row for the crop row that each shower nozzle is corresponding in conjunction with the facility speed of travel and furrow, when target spraying controller is judged to be target, driven by input/output interface and the electromagnetic switch valve of the corresponding crop row of row distance measuring sensor is opened, the shower nozzle of corresponding crop row is sprayed.When recognizer is judged to be non-target, drive corresponding electromagnetic switch valve to close by input/output interface, make corresponding shower nozzle stop spraying.
Furrow distance measuring sensor and be arranged on same spray bar frame to row distance measuring sensor, 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.The vibration that spray boom produces followed by two sensors is common mode vibration, but because the position on its place spray bar frame is different, therefore furrow distance measuring sensor with to the Oscillation Amplitude of row distance measuring sensor different (example as shown in Figure 4), furrow distance measuring sensor can be regarded as the same with the noise effect that the distance measuring signal produced row distance measuring sensor is subject to.Therefore the common mode vibration data of furrow distance measuring sensor collection, can be used as a kind of differential signal, for the elimination disturbed row distance measuring sensor random background.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) mean shift and amplitude modulation process are done to furrow distance measuring sensor, 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 comprising noise of furrow distance measuring sensor record is denoted as s, and the signal after process is the reference background signal S of each crop row
i:
In above formula (1), W is crop line width; l
ifor the distance of the corresponding shower nozzle of corresponding i-th crop row from the mid point in spray bar frame fabric width direction to its side, due to the symmetry of spray bar frame on fabric width direction, be therefore only illustrated for the furrow distance measuring sensor of side herein; A is the height bottom spray bar frame to furrow, and B is that ridge is high.
2) through S that the ranging data that obtains furrow distance measuring sensor obtains after step 1) compensates
i, also to utilize employing differential principle, by S
ias characterizing random interfering signal for eliminating the distance measuring signal Y obtained row distance measuring sensor
iin error background, as follows:
Make Z
ifor removing on the spray bar frame vibration crop canopies of 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）
The ranging waveform to soil on row crop canopy or ridge (example as shown in Figure 7) reflected on each crop row can be drawn according to formula (2);
3) after above-mentioned process, to the ranging data Z of row distance measuring sensor to crop row
istill the dynamic error to row distance measuring sensor itself and systematic error is contained, therefore need to the signal Z after above-mentioned 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 be similar to row distance measuring sensor to target detection mode, with the mid point from spray bar frame fabric width direction to corresponding i-th 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) after starting spray operations, to row distance measuring sensor and furrow distance measuring sensor Real-time Collection ranging data, after above-mentioned real time distance signal transacting, by soil on crop canopies or ridge to the distance signal D to row distance measuring sensor sensing head
ijoining a data length is in the queue of the first in first out of N, and up-to-date distance values is at tail of the queue.Target detection carries out the judgement in pattern according to this N number of point, detect thing for crop is still to row soil to distinguish current sensor.
2) the distance measuring signal average at the sliding window of queue is calculated
, wherein H is the height that shower nozzle arrives to row soil; M is sliding window width, meets M<<N, and M is preferably 0.1N ~ 0.2N; D
jfor the distance measuring signal of the jth in sliding window.If the height average of sliding window is greater than the plant height threshold value of setting, be then tentatively judged as target, and record 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, artificially sets.
3) the distance measuring signal D in current sliding window mouth is calculated further
jvariance, if variance is less than given crop canopies change variance threshold values, is then defined as target, otherwise is judged as soil part on ridge.Described crop canopies change variance threshold values artificially measures according to spraying operation crop canopies growing way feature and artificially sets.
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 the frequency acquisition of 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 spray module, sensor assembly, target spraying control module;
Described spray boom spray module, comprise the electromagnetic switch valve that spray bar frame, spray tank, membrane pump, jet head sets and each shower nozzle are corresponding, described spray bar frame is made up of column and multiple crossbeam, and described jet head sets is made up of multiple shower nozzle and is arranged on the position crossbeam of spray bar frame corresponding to crop row according to crop row distance; Described membrane pump is communicated with shower nozzle with spray tank, electromagnetic switch valve respectively by drug liquid tube, and electromagnetic switch valve controls shower nozzle spraying;
Described sensor assembly, comprises row distance measuring sensor, furrow distance measuring sensor and facility walking tachogenerator; Described crossbeam row distance measuring sensor being fixed on to spray bar frame corresponds to the position of crop row; Furrow distance measuring sensor has two, and the crossbeam two ends being separately fixed at above-mentioned spray bar frame correspond to the position of furrow between crop row; Be arranged on same spray bar frame crossbeam to row distance measuring sensor and furrow distance measuring sensor; Same level is positioned to row distance measuring sensor and furrow distance measuring sensor and jet head sets, and on facility direct of travel, jet head sets is ahead of to the installation site of row distance measuring sensor and furrow distance measuring sensor; Described soil is measured between crop canopies on crop row or strain in real time to row distance measuring sensor and to the distance between row distance measuring sensor sensing head, furrow distance measuring sensor measures the distance between crop row between soil and furrow distance measuring sensor sensing head 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; STM32 type single-chip microcomputer selected by described target spraying controller; Described vehicle power selects 12 volts or 24 volts of dc sources; Described input/output interface comprises analog-to-digital conversion, Phototube Coupling, signal amplification and Digital I/O drive circuit; Described furrow distance measuring sensor, to row distance measuring sensor and facility walking tachogenerator be all connected to target spraying controller by input/output interface; Multiple electromagnetic switch valve is connected with target spraying control module by input/output interface, and target spraying control module drives the switching of the on off state of electromagnetic switch 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, it 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 and is started operation to row crop, facility walking tachogenerator detects the speed of travel, furrow distance measuring sensor and to row distance measuring sensor start according to setpoint frequency gather ranging information, ranging information and the facility speed of travel enter target spraying controller by input/output interface;
(3) target spraying controller carries out real-time target detection with to the ranging information of row distance measuring sensor for the crop row that each shower nozzle is corresponding in conjunction with the facility speed of travel, furrow distance measuring sensor, when target spraying controller is judged to be target, driven by input/output interface and the electromagnetic switch valve of the corresponding crop row of row distance measuring sensor is opened, the shower nozzle of corresponding crop row is sprayed; When recognizer is judged to be non-target, 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, it is characterized in that, step is as follows:
1) after starting spray operations, to soil between the crop canopies on row distance measuring sensor measurement crop row or strain and to the range data between row distance measuring sensor sensing head, furrow distance measuring sensor measures the range data between crop row between soil and furrow distance measuring sensor sensing head, after real time distance signal transacting, by soil on crop canopies or ridge to the distance signal D to row distance measuring sensor sensing head
irespectively joining data length is in the queue of the first in first out of N, and up-to-date distance values is at tail of the queue; Target detection carries out the judgement in pattern according to this N number of point, detect thing for soil on crop or ridge to distinguish current sensor;
2) the distance measuring signal average at the sliding window of queue is calculated
, wherein H is the height that shower nozzle arrives to row soil; M is sliding window width, and meeting M much smaller than N, M is 0.1N ~ 0.2N; D
jfor the distance measuring signal of the jth in sliding window; If the height average of sliding window is greater than the plant height threshold value of setting, be then tentatively judged as target, and record the position of initial height change point in queue, otherwise be judged as soil part on ridge; Described plant height threshold value artificially sets according to the average height of the crop of spraying operation;
3) the distance measuring signal D in current sliding window mouth is calculated further
jvariance, if variance is less than given crop canopies change variance threshold values, is then defined as target, otherwise is judged as soil part on ridge; Described crop canopies change variance threshold values artificially measures according to spraying operation crop canopies growing way feature and artificially sets;
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, it is characterized in that, step is as follows:
1) mean shift and amplitude modulation process are done to furrow distance measuring sensor, make its Oscillation Amplitude and average and be same level to row distance measuring sensor, the original distance measuring signal comprising noise of furrow distance measuring sensor record is denoted as s, and the signal after process is the reference background signal S of each crop row
i:
In above formula, W is crop line width; l
ifor the distance of the corresponding shower nozzle of corresponding i-th crop row from the mid point in spray bar frame fabric width direction to its side; A is the height bottom spray bar frame to furrow, and B is that ridge is high;
2) through the ranging data that obtains furrow distance measuring sensor through step 1) compensate after the S that obtains
i, utilize differential principle, by S
ias characterizing random interfering signal for eliminating the distance measuring signal Y obtained row distance measuring sensor
iin error background, as follows:
Make Z
ifor removing on the spray bar frame vibration crop canopies of 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
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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| CN201758639U (en) * | 2010-08-05 | 2011-03-16 | 张玉华 | Automatic garden sprinkling machine |
| CN102613162A (en) * | 2012-04-23 | 2012-08-01 | 西北农林科技大学 | Self-propelled automatically targeting precise pesticide spraying machine |
| CN102613161A (en) * | 2012-04-06 | 2012-08-01 | 山东农业大学 | Control system for boom sprayer and spraying compensation control method |
| CN203692279U (en) * | 2014-03-03 | 2014-07-09 | 山东农业大学 | Boom sprayer accurate targeting device based on difference structure |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3756063B2 (en) * | 2001-01-16 | 2006-03-15 | 株式会社丸山製作所 | Drug spraying control device |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5246164A (en) * | 1991-12-16 | 1993-09-21 | Mccann Ian R | Method and apparatus for variable application of irrigation water and chemicals |
| CN201094235Y (en) * | 2007-09-30 | 2008-08-06 | 北京农业信息技术研究中心 | Pesticides atomizing controller |
| CN201758639U (en) * | 2010-08-05 | 2011-03-16 | 张玉华 | Automatic garden sprinkling machine |
| CN102613161A (en) * | 2012-04-06 | 2012-08-01 | 山东农业大学 | Control system for boom sprayer and spraying compensation control method |
| CN102613162A (en) * | 2012-04-23 | 2012-08-01 | 西北农林科技大学 | Self-propelled automatically targeting precise pesticide spraying machine |
| CN203692279U (en) * | 2014-03-03 | 2014-07-09 | 山东农业大学 | Boom sprayer accurate targeting device based on difference structure |
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