CN104930998A - Intelligent weeder, knife-sprout distance optimization method of the intelligent weeder, and knife-sprout information optimization system of the intelligent weeder - Google Patents
Intelligent weeder, knife-sprout distance optimization method of the intelligent weeder, and knife-sprout information optimization system of the intelligent weeder Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
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Abstract
The invention discloses an intelligent weeder, a knife-sprout distance optimization method of the intelligent weeder, and a knife-sprout information optimization system of the intelligent weeder. Through introduction of displacement information measured by a displacement sensor and cooperation with a visual knife-sprout distance acquired by a visual acquisition device, detection of the knife-sprout distance does not individually depend on a machine visual sense any more but is decided by the visual information and the displacement information together, such that knife-sprout distance information errors caused by influences exerted by external factors on visual equipment are reduced, the influences exerted by a visual blind area on knife-sprout distance extraction are reduced, and at the same time, the optimization method provided by the invention is simple, effectively shortens the processing time and obtains better real-time performance.
Description
Technical field
The present invention relates to intelligence to hoe up weeds field, more specifically relate to a kind of intelligent weeder and cutter spacing optimization method, cutter seedling Advance data quality system.
Background technology
Farmland weed takes place frequently, and the weeding system at present based on chemical weed control has brought the serious problems such as herbicide resistance, food security and ecological environmental pollution; And artificial weeding cost is high, efficiency is low.Intelligent, automated machine is hoed up weeds and can significantly to be increased work efficiency while abandoning chemical weed control, will become the important technical of Developing Sustainable Agriculture.
All carry out both at home and abroad intelligent machine to hoe up weeds the research of technology, ultimate principle is the positional information of locating crop in real time, by accurately controlling the object that robot movement completes " hide crop seedling and uproot weeds " in real time.Real-time location crop seedling positional information obtains by machine vision, geographical seed map, and this method application is comparatively extensive and precision is higher.Applied for machines vision identifies crops and weeds, vision collecting equipment, such as PC, gathers visual information and process to draw when preceding crop seedling and the horizontal range of end effector of hoeing up weeds, i.e. cutter spacing.Calculate by current cutter spacing and forwarding speed information swivel speed of hoeing up weeds in real time, control cutter spacing of hoeing up weeds and be in the state of hoeing up weeds during position between seedling, be in when seedling position and keep away seedling state.Crop seedling information is accurately located for realizing machine vision, domestic and international researchist has done a large amount of vision algorithm research, exempts from the methods such as segmentation analysis, gray-scale value summation be all that of obtaining ideal image processing effect by adopting Kazakhstan not conversion, Kalman filtering, image.
In actual tests process, cutter spacing information is subject to the impact of the factors such as surrounding environment, light, blind area, cannot obtain continuous print, accurately cutter spacing.Concrete phenomenon is as follows: 1) due to the reason such as mechanical vibration and image acquisition and processing, and cutter spacing can fluctuate up and down at actual value, and fluctuation in a big way can affect measurement and control accuracy; 2) due to reasons such as light change or shade block, cause disappearing from vision visual field suddenly when preceding crop, so when the cutter spacing information of preceding crop with cutter of hoeing up weeds will be lost, provide next crop and the cutter spacing information of cutter of hoeing up weeds, continuous print cutter spacing cannot be obtained; 3) owing to there is vision dead zone (due to reasons such as image acquisition demand and mechanical erections, cutter center position of hoeing up weeds is can't see in viewing field of camera, viewing field of camera lower limb is vision dead zone to the distance at cutter center of hoeing up weeds, as shown in Figure 1), when preceding crop once enter vision dead zone, namely leave viewing field of camera scope, vision system will send the cutter spacing information of next crop with cutter of hoeing up weeds, and current Crop Information is lost, cause and cannot obtain accurate cutter spacing.
Above problems affect is when preceding crop and the accuracy of cutter cutter spacing information of hoeing up weeds, thus impact is hoed up weeds, the control accuracy of swivel speed, is finally reflected to operation effectiveness of hoeing up weeds, and increases seedling-damaging ratio.
Summary of the invention
(1) technical matters that will solve
The technical problem to be solved in the present invention how to detect the continuous print cutter spacing of intelligent weeder fast, accurately.
(2) technical scheme
In order to solve the problems of the technologies described above, the invention provides a kind of cutter spacing optimization method of intelligent weeder, said method comprising the steps of:
The difference of the vision cutter spacing that S1, the vision cutter spacing calculating current collection and last time gather; Described vision cutter spacing is the crop seedling collected by the vision collecting equipment of intelligent weeder and the distance of hoeing up weeds between cutter;
S2, obtain the displacement that current collection vision cutter spacing and the cutter of hoeing up weeds in the last time period gathered between vision cutter spacing advance;
S3, according to the difference of described vision cutter spacing and described in hoe up weeds displacement that cutter advances to determine to hoe up weeds the current credible advance displacement of cutter;
Spacing is optimized to described in S4, the cutter that obtains hoeing up weeds according to the hoe up weeds current described credible advance displacement of cutter and the last optimization cutter spacing optimizing the cutter of hoeing up weeds obtained are current.
Preferably, in described step S3, credible advance displacement utilizes following steps to calculate:
S31, calculating relative deviation
Wherein, e
rfor described relative deviation, Δ L
cfor the displacement that described cutter of hoeing up weeds advances, Δ L
sfor the vision cutter spacing of described current collection and the difference of the last vision cutter spacing gathered;
S32, calculate the current described credible advance displacement of cutter of hoeing up weeds
Wherein, Δ L is the current described credible advance displacement of cutter of hoeing up weeds, and a is target offset threshold values.
Preferably, in described step S4, be optimized to spacing described in cutter of hoeing up weeds is current and utilize following formulae discovery:
L＝L′-ΔL
Wherein, L is the current described optimization cutter spacing of cutter of hoeing up weeds, and L ' is the last optimization cutter spacing optimizing the cutter of hoeing up weeds obtained, and Δ L is the current described credible advance displacement of cutter of hoeing up weeds.
A cutter seedling Advance data quality system for intelligent weeder, described cutter seedling Advance data quality system comprises vision collecting equipment, displacement transducer and optimizes unit;
Described vision collecting equipment for gathering the vision cutter spacing of cutter of hoeing up weeds, and passes to described optimization unit;
The displacement that institute's displacement sensors advances for cutter of hoeing up weeds described in gathering, and pass to described optimization unit;
The difference of the vision cutter spacing that described optimization unit gathers for the vision cutter spacing and last time calculating current collection; Obtain the displacement that current collection vision cutter spacing and the cutter of hoeing up weeds in the last time period gathered between vision cutter spacing advance; And according to the difference of described vision cutter spacing and described in hoe up weeds displacement that cutter advances to determine to hoe up weeds the current credible advance displacement of cutter; The described credible advance displacement current according to cutter of hoeing up weeds and the last optimization cutter spacing optimizing the cutter of hoeing up weeds obtained obtain hoeing up weeds cutter current described in be optimized to spacing.
Preferably, described optimization unit comprises communication module, optimization calculation unit and measures displacement unit;
The described vision cutter spacing that described vision collecting equipment is gathered by described communication module passes to described optimization calculation unit;
Described measurement displacement unit is connected with institute displacement sensors, the signal that displacement sensors is uploaded for receiving, obtains through process displacement that current collection vision cutter spacing and the cutter of hoeing up weeds in the last time period gathered between vision cutter spacing advance and passes to described optimization calculation unit;
Described optimization calculation unit utilizes the described vision cutter spacing received to calculate the vision cutter spacing of current collection and the difference of the last vision cutter spacing gathered, calculate described vision cutter spacing difference and current described in hoe up weeds the relative deviation of displacement that cutter advances, utilize described relative deviation to determine to hoe up weeds the current credible advance displacement of cutter, and utilize the current described credible advance displacement of cutter of hoeing up weeds and the last optimization cutter spacing optimizing the cutter of hoeing up weeds obtained obtain hoeing up weeds cutter current described in be optimized to spacing.
Preferably, described relative deviation utilizes following formulae discovery:
Wherein, e
rfor described relative deviation, Δ L
cfor the displacement that described cutter of hoeing up weeds advances, Δ L
sfor the vision cutter spacing of described current collection and the difference of the last vision cutter spacing gathered.
Preferably, described credible advance displacement utilizes following formulae discovery:
Wherein, Δ L is described credible advance displacement, and a is target offset threshold values.
Preferably, be optimized to spacing described in cutter of hoeing up weeds is current and utilize following formulae discovery:
L＝L′-ΔL
Wherein, L is the current described optimization cutter spacing of cutter of hoeing up weeds, and L ' is the last optimization cutter spacing optimizing the cutter of hoeing up weeds obtained, and Δ L is the current described credible advance displacement of cutter of hoeing up weeds.
Preferably, institute's displacement sensors comprises scrambler and fifth wheel.
A kind of intelligent weeder, comprises above-mentioned cutter seedling Advance data quality system.
(3) beneficial effect
The invention provides a kind of intelligent weeder and cutter spacing optimization method thereof, cutter seedling Advance data quality system, the present invention is by introducing the displacement information recorded by displacement transducer, coordinate the vision cutter spacing that vision collecting equipment gathers, the detection of cutter spacing is made not depend on machine vision separately, but jointly determined by visual information and displacement information, thus reduction visual apparatus affects the error causing cutter spacing information to occur by extraneous factor, and eliminate the impact that tool setting spacing in vision dead zone extracts, optimization method provided by the invention is simple simultaneously, effectively save the processing time, obtain better real-time.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is cutter spacing instrumentation plan in prior art;
Fig. 2 is the cutter spacing optimization method process flow diagram of the intelligent weeder of one embodiment of the present of invention;
Fig. 3 is that in one embodiment of the present of invention, cutter spacing calculates schematic diagram;
Fig. 4 is the structural representation of the intelligent weeder of one embodiment of the present of invention;
Fig. 5 is the cutter spacing optimization method process flow diagram of the intelligent weeder of another embodiment of the present invention.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.Following examples for illustration of the present invention, but can not be used for limiting the scope of the invention.
Fig. 1 is cutter spacing instrumentation plan in prior art, there is shown the generation principle of vision dead zone in prior art.As shown in the figure, 1 represents carrying on mechanism, for carrying camera 2 and cutter unit 3 of hoeing up weeds, 4 represent crop seedling, can find out the movement along with carrying on mechanism, viewing field of camera scope can move, when crop seedling is in vision dead zone, crop seedling information can not be collected, so treated to cutter spacing will ignore crop seedling in vision dead zone.
Therefore the invention provides a kind of method detecting the continuous print cutter spacing of intelligent weeder fast, accurately, as shown in Figure 2, said method comprising the steps of:
The difference of the vision cutter spacing that S1, the vision cutter spacing calculating current collection and last time gather;
Wherein, vision cutter spacing refers to the distance of the position of the crop seedling of vision collecting and the position of cutter of hoeing up weeds, i.e. cutter spacing;
S2, obtain the displacement that current collection vision cutter spacing and the cutter of hoeing up weeds in the last time period gathered between vision cutter spacing advance;
S3, according to the difference of described vision cutter spacing and described in hoe up weeds displacement that cutter advances to determine to hoe up weeds the current credible advance displacement of cutter;
Spacing is optimized to described in S4, the cutter that obtains hoeing up weeds according to the hoe up weeds current described credible advance displacement of cutter and the last optimization cutter spacing optimizing the cutter of hoeing up weeds obtained are current.
Intelligence weeder comprises vision collecting equipment and displacement transducer, described vision collecting equipment is poor for the vision cutter seedling gathering cutter of hoeing up weeds, institute's displacement sensors (detects the sensor of advance displacement, mainly in the present invention adopt the rotation of scrambler to fifth wheel to detect, obtain the displacement of advancing in the mode of the corresponding forward travel distance of pulse) displacement of advancing for cutter of hoeing up weeds described in gathering.Analytical calculation process corresponding to method of the present invention has the next single-chip microcomputer to complete, the cutter spacing that its real-time reception vision collecting equipment sends, and is captured in by displacement transducer the distance that cutter of hoeing up weeds between twice reception cutter spacing information advances; The signal that displacement transducer can be utilized to upload in addition obtains weeder pace V.
Fig. 3 is that in one embodiment of the present of invention, cutter spacing calculates schematic diagram.Fifth wheel (displacement transducer) and cutter unit (being provided with cutter of hoeing up weeds) of hoeing up weeds all are arranged on carrying on mechanism, and fifth wheel is provided with rotary encoder, test the speed and survey the displacement of advance.In the process that cutter and fifth wheel advance at random device (weeder) of hoeing up weeds, the invariant position of crop seedling; What in figure, dotted line represented is when a upper moment receiving vision cutter spacing, the position of fifth wheel and cutter of hoeing up weeds; What solid line represented is when being currently received vision cutter spacing, the position of fifth wheel and cutter of hoeing up weeds.When hoe up weeds cutter between two Plants time, ideally have:
ΔL
S＝L
S′-L
S＝ΔL
C
In formula,
Δ L
s---the difference (the vision cutter spacing of current collection and the difference of the last vision cutter spacing gathered) of the adjacent vision cutter spacing received for twice, hereinafter referred to as vision displacement deviation, unit is mm;
L
s---the cutter spacing that the vision collecting equipment be currently received sends, unit is mm;
L
s'---the cutter spacing that the vision collecting equipment that a upper moment receives sends, unit is mm;
Δ L
c---the adjacent distance receiving in the cutter spacing time period cutter of hoeing up weeds for twice and advance that rotary encoder records, hereinafter referred to as measure offset deviation, unit is mm.
Further, described relative deviation utilizes following formulae discovery:
Wherein, e
rfor described relative deviation, Δ L
cfor the displacement that described cutter of hoeing up weeds advances, Δ L
sfor the vision cutter spacing of described current collection and the difference of the last vision cutter spacing gathered.
Current credible advance displacement utilizes following formulae discovery:
Wherein, Δ L is described credible advance displacement, and a is target offset threshold values.
Wherein the value of a will according to the abundant e obtained under actual condition
rvalue is selected, and the value of a obtains less, and Δ L is to Δ L
cdegree of dependence larger, otherwise then less.
Further, the current optimization cutter spacing of cutter of hoeing up weeds utilizes following formulae discovery:
L＝L′-ΔL
Wherein, L is the current described optimization cutter spacing of cutter of hoeing up weeds, and L ' lastly optimizes the optimization cutter spacing obtained, and Δ L is current credible advance displacement.
After receiving the cutter spacing information of vision collecting equipment transmission at every turn, just vision displacement deviation and measurement offset deviation are compared, calculate e
r, then according to e
rsize determine that receiving vision cutter spacing information from the last time receives to this most believable advance displacement L of cutter that to hoe up weeds vision cutter spacing information, calculate this cutter spacing information L again, finally cutter spacing L and speed V is sent to the cutter control system of hoeing up weeds of weeder.
Accordingly, the invention also discloses a kind of cutter seedling Advance data quality system of intelligent weeder, described cutter seedling Advance data quality system comprises vision collecting equipment, displacement transducer and optimizes unit; Described vision collecting equipment is poor for the vision cutter seedling gathering cutter of hoeing up weeds, and passes to described optimization unit; The displacement that institute's displacement sensors advances for cutter of hoeing up weeds described in gathering, and pass to described optimization unit.
The difference of the vision cutter spacing that described optimization unit gathers for the vision cutter spacing and last time calculating current collection; Obtain the displacement that current collection vision cutter spacing and the cutter of hoeing up weeds in the last time period gathered between vision cutter spacing advance; And according to the difference of described vision cutter spacing and described in hoe up weeds displacement that cutter advances to determine to hoe up weeds the current credible advance displacement of cutter; The described credible advance displacement current according to cutter of hoeing up weeds and the last optimization cutter spacing optimizing the cutter of hoeing up weeds obtained obtain hoeing up weeds cutter current described in be optimized to spacing.
Further, described optimization unit comprises communication module, optimization calculation unit and measures displacement unit; The described vision cutter spacing that described vision collecting equipment is gathered by described communication module passes to described optimization calculation unit; Described measurement displacement unit is connected with institute displacement sensors, the signal that displacement sensors is uploaded for receiving, obtains through process displacement that current collection vision cutter spacing and the cutter of hoeing up weeds in the last time period gathered between vision cutter spacing advance and passes to described optimization calculation unit; Described optimization calculation unit utilizes the described vision cutter spacing received to calculate the vision cutter spacing of current collection and the difference of the last vision cutter spacing gathered, calculate described vision cutter spacing difference and current described in hoe up weeds the relative deviation of displacement that cutter advances, utilize described relative deviation to determine to hoe up weeds the current credible advance displacement of cutter, and utilize the current described credible advance displacement of cutter of hoeing up weeds and the last optimization cutter spacing optimizing the cutter of hoeing up weeds obtained obtain hoeing up weeds cutter current described in be optimized to spacing.
Further, optimization calculation unit utilizes following formulae discovery relative deviation:
Wherein, e
rfor described relative deviation, Δ L
cfor the displacement that described cutter of hoeing up weeds advances, Δ L
sfor the vision cutter spacing of described current collection and the difference of the last vision cutter spacing gathered;
Optimization calculation unit utilizes the credible advance displacement of following formulae discovery:
Wherein, Δ L is described credible advance displacement, and a is target offset threshold values.
Optimization calculation unit utilizes following formulae discovery to hoe up weeds the current optimization cutter spacing of cutter:
L＝L′-ΔL
Wherein, L is the current described optimization cutter spacing of cutter of hoeing up weeds, and L ' lastly optimizes the optimization cutter spacing obtained, and Δ L is current described credible advance displacement.
Further, described optimization unit also comprises the unit that tests the speed, and it is connected with institute displacement sensors, and the signal for the institute's displacement sensors by reception processes, the speed that the cutter that obtains hoeing up weeds advances.
As shown in Figure 4, select C8051F020 single-chip microcomputer as the processor (namely optimizing unit) of cutter seedling optimization system, the cutter spacing information that host computer (i.e. vision collecting equipment) sends is accepted by serial ports R232, and the signal pulse of Real-time Collection displacement transducer, by above-mentioned cutter seedling Advance data quality Algorithms Integration vision cutter spacing and measurement offset deviation, draw comparatively real cutter spacing information, the cutter spacing information after optimization and machine forwarding speed information are sent to cutter control system of hoeing up weeds simultaneously.
Fig. 5 is the cutter spacing optimization method process flow diagram of the intelligent weeder of another embodiment of the present invention.Cutter seedling Advance data quality system real-time interrupt gathers the tachometer pulse of intelligent weeder, and when host computer (vision collecting equipment) has data to send, interrupt mode receives the vision cutter spacing information that host computer is sent by RS232.Then read and measure dfisplacement pulse, and impulse meter is reset, to proceed to the collection of tachometer pulse and measurement dfisplacement pulse next time.Then enter cutter spacing optimization method, calculate vision displacement deviation and measure offset deviation, and both relative error e
r, according to e
rvalue and the value rule of Δ L determine adjacently to receive the most believable advance displacement L of cutter that to hoe up weeds between vision cutter spacing information for twice, then export the cutter spacing information L after this suboptimization.Calculate the pace V of intelligent weeder again, finally cutter spacing L and speed V is sent to cutter control system of hoeing up weeds.After this circulation terminates, continue to wait for that timer interruption and serial ports interrupt next time, carry out next circulation.
Particularly, the vision cutter spacing information sent with UART0 serial ports interrupting receive host computer, uses the collection of T0 counter to test the speed and displacement pulse, calculates the speed of a motor vehicle with the timing of T1 timer.During beginning, in initialization, start T0 counter and T1 timer; Wait for T1 timer interruption, read T0 tachometer pulse, close T1 timer; Wait for serial ports interrupting receive vision cutter spacing information, after finishing receiving, in master routine, read the pulse of T0 displacement, reset T0 counter, open T1 timer; Use above-mentioned cutter seedling optimization method to process the vision cutter spacing received and displacement pulse, obtain comparatively real cutter spacing; Then calculate the speed of a motor vehicle, and the speed of a motor vehicle and the cutter spacing after optimizing are sent to cutter control system of hoeing up weeds.Continue to wait for T1 timer interruption next time, enter next circulation.
Generally, vision displacement deviation and measurement offset deviation are more or less the same, both relative error e
rbe worth less, within preset range ([-a, a]), get Δ L=Δ L according to the value rule of Δ L
s, namely now think that visual information is the most believable, directly use vision cutter spacing information.Once visual information is subject to light, vibrates or enter the impact of the factors such as vision dead zone, vision displacement deviation relative measurement offset deviation, by having a larger sudden change, causes both relative error e
rvalue produces sudden change, and exceeds preset range, gets Δ L=Δ L according to the value rule of Δ L
c, namely now think that displacement information is the most believable, correct cutter spacing with displacement information and obtain continuously.Cutter spacing accurately.
The invention also discloses a kind of intelligent weeder, it is characterized in that comprising above-mentioned cutter seedling Advance data quality system.
The present invention is by introducing the displacement information recorded by displacement transducer, the acquisition of cutter seedling information is made not depend on machine vision separately, but jointly determined by visual information and displacement information, thus improve the accuracy of cutter seedling information, reduce machine vision and affect the error causing cutter spacing information to occur by extraneous factor, eliminate the impact of vision dead zone tool setting spacing information extraction, simplify image processing algorithm, save PC process image temporal, obtain better real-time.
The present invention provides continuously cutter spacing and velocity information accurately for cutter control system of hoeing up weeds, and alleviates the working load of cutter control system of hoeing up weeds.
Above embodiment is only for illustration of the present invention, but not limitation of the present invention.Although with reference to embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that, various combination, amendment or equivalent replacement are carried out to technical scheme of the present invention, do not depart from the spirit and scope of technical solution of the present invention, all should be encompassed in the middle of right of the present invention.
Claims (10)
1. a cutter spacing optimization method for intelligent weeder, is characterized in that, said method comprising the steps of:
The difference of the vision cutter spacing that S1, the vision cutter spacing calculating current collection and last time gather; Described vision cutter spacing is the crop seedling collected by the vision collecting equipment of intelligent weeder and the distance of hoeing up weeds between cutter;
S2, obtain the displacement that current collection vision cutter spacing and the cutter of hoeing up weeds in the last time period gathered between vision cutter spacing advance;
S3, according to the difference of described vision cutter spacing and described in hoe up weeds displacement that cutter advances to determine to hoe up weeds the current credible advance displacement of cutter;
Spacing is optimized to described in S4, the cutter that obtains hoeing up weeds according to the hoe up weeds current described credible advance displacement of cutter and the last optimization cutter spacing optimizing the cutter of hoeing up weeds obtained are current.
2. the cutter spacing optimization method of intelligent weeder according to claim 1, is characterized in that, in described step S3, credible advance displacement utilizes following steps to calculate:
S31, calculating relative deviation
Wherein, e
rfor described relative deviation, Δ L
cfor the displacement that described cutter of hoeing up weeds advances, Δ L
sfor the vision cutter spacing of described current collection and the difference of the last vision cutter spacing gathered;
S32, calculate the current described credible advance displacement of cutter of hoeing up weeds
Wherein, Δ L is the current described credible advance displacement of cutter of hoeing up weeds, and a is target offset threshold values.
3. the cutter spacing optimization method of intelligent weeder according to claim 1, is characterized in that, in described step S4, is optimized to spacing and utilizes following formulae discovery described in cutter of hoeing up weeds is current:
L＝L′-ΔL
Wherein, L is the current described optimization cutter spacing of cutter of hoeing up weeds, and L ' is the last optimization cutter spacing optimizing the cutter of hoeing up weeds obtained, and Δ L is the current described credible advance displacement of cutter of hoeing up weeds.
4. a cutter seedling Advance data quality system for intelligent weeder, is characterized in that, described cutter seedling Advance data quality system comprises vision collecting equipment, displacement transducer and optimizes unit;
Described vision collecting equipment for gathering the vision cutter spacing of cutter of hoeing up weeds, and passes to described optimization unit;
The displacement that institute's displacement sensors advances for cutter of hoeing up weeds described in gathering, and pass to described optimization unit;
The difference of the vision cutter spacing that described optimization unit gathers for the vision cutter spacing and last time calculating current collection; Obtain the displacement that current collection vision cutter spacing and the cutter of hoeing up weeds in the last time period gathered between vision cutter spacing advance; And according to the difference of described vision cutter spacing and described in hoe up weeds displacement that cutter advances to determine to hoe up weeds the current credible advance displacement of cutter; The described credible advance displacement current according to cutter of hoeing up weeds and the last optimization cutter spacing optimizing the cutter of hoeing up weeds obtained obtain hoeing up weeds cutter current described in be optimized to spacing.
5. cutter seedling Advance data quality system according to claim 4, is characterized in that, described optimization unit comprises communication module, optimization calculation unit and measures displacement unit;
The described vision cutter spacing that described vision collecting equipment is gathered by described communication module passes to described optimization calculation unit;
Described measurement displacement unit is connected with institute displacement sensors, the signal that displacement sensors is uploaded for receiving, obtains through process displacement that current collection vision cutter spacing and the cutter of hoeing up weeds in the last time period gathered between vision cutter spacing advance and passes to described optimization calculation unit;
Described optimization calculation unit utilizes the described vision cutter spacing received to calculate the vision cutter spacing of current collection and the difference of the last vision cutter spacing gathered, calculate described vision cutter spacing difference and current described in hoe up weeds the relative deviation of displacement that cutter advances, utilize described relative deviation to determine to hoe up weeds the current credible advance displacement of cutter, and utilize the current described credible advance displacement of cutter of hoeing up weeds and the last optimization cutter spacing optimizing the cutter of hoeing up weeds obtained obtain hoeing up weeds cutter current described in be optimized to spacing.
6. cutter seedling Advance data quality system according to claim 5, it is characterized in that, described relative deviation utilizes following formulae discovery:
Wherein, e
rfor described relative deviation, Δ L
cfor the displacement that described cutter of hoeing up weeds advances, Δ L
sfor the vision cutter spacing of described current collection and the difference of the last vision cutter spacing gathered.
7. cutter seedling Advance data quality system according to claim 5, is characterized in that, described credible advance displacement utilizes following formulae discovery:
Wherein, Δ L is described credible advance displacement, and a is target offset threshold values.
8. the cutter seedling Advance data quality system according to any one of claim 4 to 7, is characterized in that, be optimized to spacing and utilize following formulae discovery described in cutter of hoeing up weeds is current:
L＝L′-ΔL
Wherein, L is the current described optimization cutter spacing of cutter of hoeing up weeds, and L ' is the last optimization cutter spacing optimizing the cutter of hoeing up weeds obtained, and Δ L is the current described credible advance displacement of cutter of hoeing up weeds.
9. the cutter seedling Advance data quality system according to any one of claim 4 to 7, it is characterized in that, institute's displacement sensors comprises scrambler and fifth wheel.
10. an intelligent weeder, is characterized in that, comprises the cutter seedling Advance data quality system described in any one of claim 4-9.
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| 黄小龙等: "苗间锄草机器人锄草刀优化设计", 《农业机械学报》 * |
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