CN106054274A - Device and method for positioning corn high-stalk crop and detecting crop row position - Google Patents

Device and method for positioning corn high-stalk crop and detecting crop row position Download PDF

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Publication number
CN106054274A
CN106054274A CN201610453496.7A CN201610453496A CN106054274A CN 106054274 A CN106054274 A CN 106054274A CN 201610453496 A CN201610453496 A CN 201610453496A CN 106054274 A CN106054274 A CN 106054274A
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China
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laser sensor
laser
semen maydis
crop
support
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CN201610453496.7A
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Inventor
张春龙
孙成龙
陈子文
李南
孙哲
李伟
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China Agricultural University
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China Agricultural University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V8/00—Prospecting or detecting by optical means
    • G01V8/10—Detecting, e.g. by using light barriers
    • G01V8/20—Detecting, e.g. by using light barriers using multiple transmitters or receivers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
    • Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geophysics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention belongs to the fields of modern intelligent agricultural equipment and precision agriculture, and particularly relates to a device and a method for positioning a corn high-stalk crop and detecting a crop row position. The device comprises a first laser sensor support (10), a second laser sensor support (11), a laser transmitting sensor (14) and a laser receiving sensor (15); both the first laser sensor support (10) and the second laser sensor support (11) have a portal support structure, and upper cross beams of the both are perpendicular to left and right side plates; the first laser sensor support (10) and the second laser sensor support (11) have the same height and width, the upper cross beams of the both are located in the same plane and crossed at the midpoint, and the included angle between the two upper cross beams is alpha; and the upper cross beam of the first laser sensor support (10) or the second laser sensor support (11) is perpendicular to the moving direction of the device, namely perpendicular to the crop row. The device is simple in structure and high in positioning and detection accuracy.

Description

A kind of Semen Maydis class long-stalked crop location and the device and method of crop row position detection
Technical field
The invention belongs to modern reading intelligent agriculture equipment and precision agriculture field, make for Semen Maydis class height bar particularly to one During the inter-plant hoeing of thing, crop location and the device and method of crop row position detection.
Background technology
The weeding system that China commonly uses at present has manpower weeding and chemical weed control.Manpower weeding take substantial amounts of labour force and Efficiency of hoeing up weeds is low；Chemical herbicide can bring farmland weed population replacement, herbicide damage to take place frequently, herbicide resistance strengthens, eat The problem such as residual accumulation and environmental pollution in thing.In addition people's concern to food safety and the demand to pollution-free food, efficiently, The machinery of environmental protection is hoed up weeds and is increasingly received publicity.In strain room machine is hoed up weeds, Seedling grass information identification location is technological difficulties, domestic Crop Seedling and crop row are identified and position by outer many employing machine vision techniques and GPS technology, are positioned by single crop Information can control " keeping away Seedling to hoe up weeds " motion of inter-plant hoeing cutter, can control facility in real time along crop row by crop row location information Operation.But machine vision and GPS technology are the most relatively costly, difficulty is relatively big, and the lead time is longer.During Semen Maydis class long-stalked crop is One of cereal crops that state is important, the in addition shape facility of Semen Maydis cotyledon, use machine vision technique to be identified Semen Maydis also Root position positions more difficulty, and algorithm is complicated.
Summary of the invention
It is an object of the invention to provide a kind of Semen Maydis class long-stalked crop location and the device of crop row position detection, by adopting Use low cost sensor, it is achieved single Semen Maydis class long-stalked crop is positioned and the row separate-blas estimation of crop.
It is a further object to provide a kind of Semen Maydis class long-stalked crop location and the method for crop row position detection.
To achieve these goals, the technical scheme is that
The present invention provides a kind of Semen Maydis class long-stalked crop location and the device of crop row position detection, and this device includes first Laser sensor support the 10, second laser sensor support 11, Laser emission sensor 14 and laser pick-off sensor 15；
First laser sensor support 10 and the second laser sensor support 11 are " door " shape supporting structure, have level Direction arrange entablature and vertical direction arrange left plate and right plate；First laser sensor support 10 and second swashs Optical sensor support 11 has identical height and width, and the entablature of the two in the same plane, and intersects at midpoint, and two There is between individual entablature an angle α, 10 degree≤α≤30 degree；
Left plate along the first laser sensor support 10 and the second laser sensor support 11 is disposed with multiple laser and connects Receive sensor 15；
Right plate along the first laser sensor support 10 and the second laser sensor support 11 is disposed with multiple and laser Receive sensor 15 Laser emission sensor 14 one to one；
One of them entablature of first laser sensor support 10 or the second laser sensor support 11 is transported with this device Dynamic direction is vertical, i.e. vertical with crop row.
Preferably, described angle α is 15 degree.
One Laser emission sensor 14 and a laser pick-off sensor 15 are referred to as a pair laser sensor, and first swashs The most vertically-mounted 4～6 pairs of laser sensors on optical sensor support 10 and the second laser sensor support 11.
The height of laser sensor the highest on laser sensor rack side plate is less than the height of Semen Maydis class long-stalked crop 3, And higher than weeds height.
This device includes that profiling unit, profiling unit include frame 5, upper side link 6, connecting rod 7, lower side link 8, contour wheel Rack connecting plate 9, left contour wheel support 1, right contour wheel support 12 and contour wheel 13；
Wherein, between frame 5 with connecting rod 7, it is connected and is formed revolute pair by upper side link 6 and lower side link 8, constitute flat Row tetragon feeler mechanism；
Contour wheel rack connecting plate 9 is connected with connecting rod 7；
Contour wheel rack connecting plate about 9 two ends lengthwise position is respectively arranged with multiple installing hole, connects left profiling respectively Wheel support 1 and right contour wheel support 12；Two contour wheels 13 are separately mounted to left contour wheel support 1 and right contour wheel support 12 On；
The entablature of the first laser sensor support 10 and the second laser sensor support 11 is connected with connecting rod 7.
Frame 5 is fixed on installing plate 4, and installing plate 4 is connected with inter-plant hoeing cutter or inter-plant hoeing unit.
The present invention provides a kind of device using Semen Maydis class long-stalked crop location and the detection of crop row position to carry out detecting Method, it is characterised in that: the method includes:
A, single Semen Maydis class long-stalked crop location:
Laser emission sensor 14 launches laser to laser pick-off sensor 15；First laser sensor group A or second swashs When laser sensor in optical sensor group B is all blocked, illustrate that this object is Semen Maydis class long-stalked crop 3, when not being complete When portion is blocked or is not blocked, explanation does not has Semen Maydis class long-stalked crop 3 or for other chaff interferences；
B, Semen Maydis class long-stalked crop row detect:
1) entablature of the second laser sensor support 11 is vertical with crop row；If the first laser sensor group A and Dual-laser sensor group B is all blocked simultaneously, then Semen Maydis class long-stalked crop line position is in the transverse center position of detection device；
2) first all it is blocked when the first laser sensor group A, when then the second laser sensor group B is all blocked, Illustrating that Semen Maydis class long-stalked crop row laterally opposed device center is to the left, its left transversal displacement is La；
3) first all it is blocked when the second laser sensor group B, when then the first laser sensor group A is all blocked, Illustrating that Semen Maydis class long-stalked crop row laterally opposed device center is to the right, its right transversal displacement is Lb。
Described left transversal displacement LaFor:
L a = L 1 t a n α
Wherein, L1It is that first second laser sensor group B that is all blocked of the first laser sensor group A is all blocked, The displacement that device is passed by.
Described right transversal displacement LbFor:
L b = L 2 t a n α
Wherein, L2It is that first first laser sensor group A that is all blocked of the second laser sensor group B is all blocked, The displacement that device is passed by.
Compared with prior art, the beneficial effects of the present invention is:
1) use cost laser sensor group that single Semen Maydis class long-stalked crop is positioned, reduce development cost, Realize the detection of target.
2) detection device and the detection method of two groups of laser sensor groups the most angled are devised, according to two groups of biographies Sensor detection detection ordering and response time are poor, in conjunction with current vehicle speed, calculate the lateral attitude of Semen Maydis class long-stalked crop row with inclined Shifting amount.The method is novel, simple, feasible, and stability is higher.
3) feeler mechanism is devised, it is ensured that sensor is constant relative to ground distance.
Accompanying drawing explanation
Fig. 1 is the structural representation of the device of Semen Maydis class long-stalked crop of the present invention location and the detection of crop row position；
Fig. 2 is the front view of the device of Semen Maydis class long-stalked crop of the present invention location and the detection of crop row position；
Fig. 3 is Semen Maydis class long-stalked crop of the present invention location and the Method And Principle figure of crop row position detection.
Reference therein is:
1 left contour wheel support
3 Semen Maydis class long-stalked crop 4 installing plates
Side link in 5 frames 6
7 connecting rod 8 times side links
9 contour wheel rack connecting plate 10 first laser sensor supports
11 second laser sensor support 12 right contour wheel support
13 contour wheel 14 Laser emission sensors
15 laser pick-off sensors A the first laser sensor groups
B the second laser sensor group V device pace
L1First second laser sensor group B that is all blocked of first laser sensor group A is all blocked, and device is walked The displacement crossed
L2First first laser sensor group A that is all blocked of second laser sensor group B is all blocked, and device is walked The displacement crossed
Detailed description of the invention
Below in conjunction with embodiment, the present invention is further described.
As it is shown in figure 1, Semen Maydis class long-stalked crop of the present invention location and the device of crop row position detection, including profiling list Unit, first laser sensor support the 10, second laser sensor support 11, Laser emission sensor 14 and laser pick-off sensor 15。
First laser sensor support 10 and the second laser sensor support 11 are " door " shape supporting structure, have level Direction arrange entablature and vertical direction arrange left plate and right plate；First laser sensor support 10 and second swashs Optical sensor support 11 has identical height and width, and the entablature of the two in the same plane, and intersects at midpoint, and two There is between individual entablature an angle α, 10 degree≤α≤30 degree；Described angle α is preferably 15 degree.
Left plate along the first laser sensor support 10 and the second laser sensor support 11 is disposed with multiple laser and connects Receive sensor 15.
Right plate along the first laser sensor support 10 and the second laser sensor support 11 is disposed with multiple and laser Receive sensor 15 Laser emission sensor 14 one to one.
Corresponding to one Laser emission sensor 14 and one laser pick-off sensor 15 is referred to as a pair laser Sensor, vertically-mounted 4 to 6 pairs of laser sensors on the first laser sensor support 10 and the second laser sensor support 11.
Laser emission sensor 14 and laser pick-off sensor 15 on first laser sensor support 10 constitute first and swash Optical sensor group A；Laser emission sensor 14 and laser pick-off sensor 15 on second laser sensor support 11 constitute Dual-laser sensor group B.
The height of laser sensor the highest on laser sensor rack side plate is less than the height of Semen Maydis class long-stalked crop 3, And higher than weeds height.
For adapting to the situation of surface relief, the device of Semen Maydis class long-stalked crop of the present invention location and the detection of crop row position is taken It is loaded on profiling unit.
Described profiling unit includes frame 5, upper side link 6, connecting rod 7, lower side link 8, contour wheel rack connecting plate 9, a left side Contour wheel support 1, right contour wheel support 12 and contour wheel 13.Wherein, by upper side link 6 and lower company between frame 5 and connecting rod 7 Hack lever 8 is connected by screw and is formed revolute pair, constitutes parallelogram feeler mechanism.Contour wheel rack connecting plate 9 passes through spiral shell Nail is connected with connecting rod 7, relatively can carry out vertical or horizontal installation site adjustment by connecting rod 7 simultaneously.Contour wheel rack connecting plate 9 Two ends, left and right lengthwise position is respectively equipped with multiple installing hole, is used for connecting left contour wheel support 1 and right contour wheel support 12, and can Relative contour wheel rack connecting plate 9 between two contour wheels 13 is made to carry out longitudinal regulation.Two contour wheels 13 pass through bolt respectively It is arranged on left contour wheel support 1 and right contour wheel support 12, and rotatably.
Frame 5 is fixed by screws on installing plate 4, and can be mounted opposite plate 4 and carry out vertical and horizontal installation site Fine setting.Installing plate 4 is for being connected this device with inter-plant hoeing cutter or inter-plant hoeing unit；Inter-plant hoeing cutter and inter-plant hoeing Unit is a part for intelligence inter-plant hoeing machine, is the performance element of inter-plant hoeing.
As depicted in figs. 1 and 2, the first laser sensor support 10 and the entablature of the second laser sensor support 11 and company Bar 7 connects；And ensure the first laser sensor support 10 or the second laser sensor support 11 one of them entablature with should The device direction of motion is vertical, i.e. vertical with crop row.
Semen Maydis class long-stalked crop of the present invention location and the method for crop row position detection, including:
A, single Semen Maydis class long-stalked crop location:
As in figure 2 it is shown, Laser emission sensor 14 launches laser to laser pick-off sensor 15；Sharp when not having object to block When photoemission pickoff 14 or laser pick-off sensor 15, laser can arrive laser pick-off sensor from Laser emission sensor 14 15, on the contrary, when there being object to block, laser cannot be delivered to laser pick-off sensor 15；First laser sensor group A or second When laser sensor in laser sensor group B is all blocked, illustrate that this object is Semen Maydis class long-stalked crop 3, when not being When being all blocked or be not blocked, illustrate not have Semen Maydis class long-stalked crop 3 or for other chaff interferences；
B, Semen Maydis class long-stalked crop row detect:
1) as shown in Figure 3 a, the entablature of the second laser sensor support 11 is vertical with crop row；If the first laser Sensor group A and the second laser sensor group B are all blocked simultaneously, then Semen Maydis class long-stalked crop line position is in detecting the horizontal of device Center；
2) as shown in Figure 3 b, when the first laser sensor group A is first all blocked, and then the second laser sensor group B is complete When portion is blocked, illustrate that Semen Maydis class long-stalked crop row laterally opposed device center is to the left, its left transversal displacement LaCalculating public Formula is:
L a = L 1 t a n α
Wherein, L1It is that first second laser sensor group B that is all blocked of the first laser sensor group A is all blocked, The displacement that device is passed by；
3) as shown in Figure 3 c, when the second laser sensor group B is first all blocked, and then the first laser sensor group A is complete When portion is blocked, illustrate that Semen Maydis class long-stalked crop row laterally opposed device center is to the right, its right transversal displacement LbCalculating public Formula is:
L b = L 2 t a n α
Wherein, L2It is that first first laser sensor group A that is all blocked of the second laser sensor group B is all blocked, The displacement that device is passed by.
Before the present invention is mountable to the inter-plant hoeing unit of intelligence inter-plant hoeing machine, during work, Semen Maydis class long-stalked crop row It is positioned at the transverse center position of device, by two groups of laser sensor detection crop displacements and crop row displacement, controls between strain Tine rotates or grass-remover is independently to row motion.
The present invention provides Semen Maydis class long-stalked crop positional information and crop row positional information for grass-remover.During work, profiling Wheel 13 can drive whole device that ground is carried out forming movement, it is ensured that detection device can be according to the fluctuating campaign on earth's surface.When The laser beam that laser transmitter projects goes out all is blocked, it is judged that this shelter is Semen Maydis class long-stalked crop, now inter-plant hoeing Cutter starts to keep away Seedling motion under the control of single-chip microcomputer, and when judging that between strain, tine is moved through crop by fifth wheel, tine starts hoe Weeds between strain, once circulate, it is achieved to the detection of single Semen Maydis with keep away Seedling and hoe up weeds.
When Semen Maydis class long-stalked crop row laterally opposed detection device lateral center offsets, by judging the first laser Which is first all blocked for sensor group A and the second laser sensor group B, is blocked, judges that Semen Maydis class height bar is made after another Thing row opposite sets lateral shift position；When the first laser sensor group A is first all blocked, then the second laser sensor group B is all blocked, and Semen Maydis class long-stalked crop row laterally opposed device center is to the left；Otherwise, the most to the right.Is obtained by fifth wheel One laser sensor group A, second laser sensor group B that is first all blocked all is blocked the position that time inner machine passed by Move, calculated the transversal displacement of Semen Maydis class long-stalked crop row by formula, by deviation post and side-play amount, control intelligence hoe Grass machine is carried out independently to row motion.

Claims (9)

1. a Semen Maydis class long-stalked crop location and the device of crop row position detection, it is characterised in that: this device includes first Laser sensor support (10), the second laser sensor support (11), Laser emission sensor (14) and laser pick-off sensor (15)；
First laser sensor support (10) and the second laser sensor support (11) are " door " shape supporting structure, have level Direction arrange entablature and vertical direction arrange left plate and right plate；First laser sensor support (10) and second Laser sensor support (11) has identical height and width, and the entablature of the two in the same plane, and intersects at midpoint Fork, has an angle α between two entablatures, 10 degree≤α≤30 degree；
Left plate along the first laser sensor support (10) and the second laser sensor support (11) is disposed with multiple laser and connects Receive sensor (15)；
Right plate along the first laser sensor support (10) and the second laser sensor support (11) is disposed with multiple and laser Receive sensor (15) Laser emission sensor (14) one to one；
One of them entablature of first laser sensor support (10) or the second laser sensor support (11) is transported with this device Dynamic direction is vertical, i.e. vertical with crop row.
Semen Maydis class long-stalked crop the most according to claim 1 location and the device of crop row position detection, it is characterised in that: Described angle α is 15 degree.
Semen Maydis class long-stalked crop the most according to claim 1 location and the device of crop row position detection, it is characterised in that: One Laser emission sensor (14) and a laser pick-off sensor (15) are referred to as a pair laser sensor, the first laser The most vertically-mounted 4～6 pairs of laser sensors on sensor bracket (10) and the second laser sensor support (11).
Semen Maydis class long-stalked crop the most according to claim 1 location and the device of crop row position detection, it is characterised in that: The height of laser sensor the highest on laser sensor rack side plate is less than the height of Semen Maydis class long-stalked crop (3), and is higher than Weeds height.
Semen Maydis class long-stalked crop the most according to claim 1 location and the device of crop row position detection, it is characterised in that: This device includes that profiling unit, profiling unit include frame (5), upper side link (6), connecting rod (7), lower side link (8), contour wheel Rack connecting plate (9), left contour wheel support (1), right contour wheel support (12) and contour wheel (13)；
Wherein, it is connected and is formed revolute pair, structure by upper side link (6) and lower side link (8) between frame (5) with connecting rod (7) Become parallelogram feeler mechanism；
Contour wheel rack connecting plate (9) is connected with connecting rod (7)；
Contour wheel rack connecting plate (9) two ends, left and right lengthwise position is respectively arranged with multiple installing hole, connects left contour wheel respectively Support (1) and right contour wheel support (12)；Two contour wheels (13) are separately mounted to left contour wheel support (1) and right contour wheel props up On frame (12)；
The entablature of the first laser sensor support (10) and the second laser sensor support (11) is connected with connecting rod (7).
Semen Maydis class long-stalked crop the most according to claim 4 location and the device of crop row position detection, it is characterised in that: Frame (5) is fixed on installing plate (4), and installing plate (4) is connected with inter-plant hoeing cutter or inter-plant hoeing unit.
7. the device that Semen Maydis class long-stalked crop positions and crop row position is detected using one of claim 1-6 described enters The method of row detection, it is characterised in that: the method includes:
A, single Semen Maydis class long-stalked crop location:
Laser emission sensor (14) launches laser to laser pick-off sensor (15)；First laser sensor group (A) or second When laser sensor in laser sensor group (B) is all blocked, illustrate that this object is Semen Maydis class long-stalked crop (3), when When being not all of being blocked or not being blocked, explanation does not has Semen Maydis class long-stalked crop (3) or for other chaff interferences；
B, Semen Maydis class long-stalked crop row detect:
1) entablature of the second laser sensor support (11) is vertical with crop row；If the first laser sensor group (A) and Dual-laser sensor group (B) is all blocked simultaneously, then Semen Maydis class long-stalked crop line position is in the transverse center position of detection device；
2) first all it is blocked when the first laser sensor group (A), when then the second laser sensor group (B) is all blocked, Illustrating that Semen Maydis class long-stalked crop row laterally opposed device center is to the left, its left transversal displacement is La；
3) first all it is blocked when the second laser sensor group (B), when then the first laser sensor group (A) is all blocked, Illustrating that Semen Maydis class long-stalked crop row laterally opposed device center is to the right, its right transversal displacement is Lb。
The method of detection the most according to claim 7, it is characterised in that: described left transversal displacement LaFor:
L a = L 1 t a n α
Wherein, L1It is that the first second laser sensor group (B) that is all blocked of the first laser sensor group (A) is all blocked, dress Put passed by displacement.
The method of detection the most according to claim 7, it is characterised in that: described right transversal displacement LbFor:
L b = L 2 t a n α
Wherein, L2It is that the first first laser sensor group (A) that is all blocked of the second laser sensor group (B) is all blocked, dress Put passed by displacement.
CN201610453496.7A 2016-06-21 2016-06-21 Device and method for positioning corn high-stalk crop and detecting crop row position Pending CN106054274A (en)

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CN108982420A (en) * 2018-07-12 2018-12-11 华南农业大学 A kind of the rice crop row Midline positioning device and method of light-tactilely-perceptible
CN109618572A (en) * 2019-02-26 2019-04-16 东北农业大学 A kind of Zhu Jian weeding mechanism with automatic adjusument function
CN113155026A (en) * 2021-04-25 2021-07-23 山西钢科碳材料有限公司 Rocker arm position detection device of wire winding machine, control system and method of wire winding machine

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CN103168521A (en) * 2013-03-29 2013-06-26 中国农业大学 Device and method of transversely horizontal adjusting of agricultural implement

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108982420A (en) * 2018-07-12 2018-12-11 华南农业大学 A kind of the rice crop row Midline positioning device and method of light-tactilely-perceptible
CN108872998A (en) * 2018-09-04 2018-11-23 华南农业大学 Crops location detecting apparatus and detection method
CN108872998B (en) * 2018-09-04 2023-08-29 华南农业大学 Crop position detection equipment and detection method
CN109618572A (en) * 2019-02-26 2019-04-16 东北农业大学 A kind of Zhu Jian weeding mechanism with automatic adjusument function
CN113155026A (en) * 2021-04-25 2021-07-23 山西钢科碳材料有限公司 Rocker arm position detection device of wire winding machine, control system and method of wire winding machine

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Application publication date: 20161026