CN106843205B - Device and method for controlling automatic advance of unmanned fertilizer applicator - Google Patents
Device and method for controlling automatic advance of unmanned fertilizer applicator Download PDFInfo
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- CN106843205B CN106843205B CN201611207599.1A CN201611207599A CN106843205B CN 106843205 B CN106843205 B CN 106843205B CN 201611207599 A CN201611207599 A CN 201611207599A CN 106843205 B CN106843205 B CN 106843205B
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- 239000003337 fertilizer Substances 0.000 title claims abstract description 106
- 238000000034 method Methods 0.000 title claims description 33
- 235000005824 Zea mays ssp. parviglumis Nutrition 0.000 claims abstract description 65
- 235000002017 Zea mays subsp mays Nutrition 0.000 claims abstract description 65
- 235000005822 corn Nutrition 0.000 claims abstract description 65
- 239000010902 straw Substances 0.000 claims abstract description 26
- 240000008042 Zea mays Species 0.000 claims description 63
- 230000004720 fertilization Effects 0.000 claims description 12
- 238000013459 approach Methods 0.000 claims description 4
- 229910000831 Steel Inorganic materials 0.000 claims description 2
- 239000010959 steel Substances 0.000 claims description 2
- 208000003643 Callosities Diseases 0.000 abstract description 11
- 206010020649 Hyperkeratosis Diseases 0.000 abstract description 11
- 238000012545 processing Methods 0.000 abstract description 7
- 238000012544 monitoring process Methods 0.000 abstract description 2
- 241000209149 Zea Species 0.000 abstract 2
- 238000005507 spraying Methods 0.000 description 3
- 235000013339 cereals Nutrition 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 239000000575 pesticide Substances 0.000 description 2
- 238000009333 weeding Methods 0.000 description 2
- 241000283690 Bos taurus Species 0.000 description 1
- 241001391944 Commicarpus scandens Species 0.000 description 1
- 241000283086 Equidae Species 0.000 description 1
- 241000283074 Equus asinus Species 0.000 description 1
- 241001331845 Equus asinus x caballus Species 0.000 description 1
- 241001465754 Metazoa Species 0.000 description 1
- 240000006394 Sorghum bicolor Species 0.000 description 1
- 235000011684 Sorghum saccharatum Nutrition 0.000 description 1
- 241000209140 Triticum Species 0.000 description 1
- 235000021307 Triticum Nutrition 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 244000144972 livestock Species 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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- 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
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C15/00—Fertiliser distributors
-
- 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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
- Y02P60/21—Dinitrogen oxide [N2O], e.g. using aquaponics, hydroponics or efficiency measures
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Fertilizing (AREA)
Abstract
The invention discloses a device for controlling an unmanned fertilizer applicator to automatically advance, which is characterized in that: the fertilizer applicator comprises a long strip-shaped component fixedly connected with the fertilizer applicator, the length direction of the long strip-shaped component is consistent with the advancing direction of the fertilizer applicator, three sensors are arranged on the long strip-shaped component, and the three sensors are distributed along the length direction of the long strip-shaped component. The invention adopts the scheme to realize simple control principle and structure and very small data processing amount, thereby reducing the difficulty of processing data by the sensor; the direction control of the fertilizer applicator is more stable and accurate; sometimes, the deviation of the transverse positions of two adjacent corns is larger, and if a single-point sensor is used for monitoring and controlling the advancing direction of the fertilizer applicator, the fertilizer applicator is likely to be severely steered; the strip-shaped multipoint sensor system used by the invention can enable the fertilizer applicator to turn more stably by taking a plurality of corn straws as a reference.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to a method for controlling the automation of an unmanned fertilizer applicator
A traveling device and a control method.
Background
China is a big agricultural country with the most population in the world, and the yield of corn, wheat, sorghum and other grains has important influence on the economic and social development of China. Scientific and efficient fertilization is one of important measures for guaranteeing stable yield and increased yield of grains. As agriculture in China is large in population, in the past, the fertilization of crops mainly depends on manpower and animal power (cattle, horses, donkeys, mules and the like). However, with the increasing progress of urbanization of the population, particularly after the 21 st century, the problem of insufficient agricultural labor has become more and more prominent. Therefore, the fertilization mode is urgently needed to be developed towards mechanization and automation.
According to the development level of the current fertilizing machine, from the overall performance analysis, the fertilizing machine mainly comprises three systems, namely a power system, a fertilizer box, a flow control system and a traveling direction control system, and with continuous improvement of the three systems, three fertilizing machines are successively developed and developed in China:
first, two-person walking operation. One person or livestock (pulled by people) pulls in front, one person grasps the handrail of the fertilizer applicator, and the two persons cooperate to finish the fertilization. Obviously, the fertilizing mode has low mechanization degree, much manpower occupation and low fertilizing efficiency.
Second, one person operates on foot. The advancing direction of the fertilizer applicator is controlled by one person by adopting mechanical traction (gasoline engines and the like) and grasping the armrest of the fertilizer applicator. The mechanical degree of the fertilizer applicator is high, but the fertilizing speed of the fertilizer applicator is directly limited by the physical strength of operators, so that the fertilizing efficiency is low.
Third, larger machines are used. One person sits on the machine to control the advancing direction of the machine to complete the fertilizing process. At present, the fertilization mode has the highest mechanization degree, the lowest labor consumption and the highest fertilization efficiency. However, the fertilizing machine has limitations, for example, 10 to 15 days before and after the tassel is removed from the corn is the best period for applying the granular fertilizer, but the corn straw is too high to be fertilized by the machine. The first or second machine can be used to attack the granular fertilizer, but because the corn stalk is high, the leaves are dense, the weather is hot, the fertilization is carried out on foot, and the physical strength and endurance of the fertilization personnel are undoubtedly a great test.
According to the analysis, the problems of low efficiency, low automation degree, narrow application range and the like exist in the prior fertilizer applicator. The reason is mainly caused by the fact that the advancing direction of the fertilizer applicator cannot be automated, and the power system, the fertilizer box and the flow control system are mature and can be completely mechanized and automated. Therefore, the inventor provides a device and a method for enabling a machine to automatically advance without manual operation, which can help the complete mechanization and automation of the fertilizer applicator.
For convenience of description, the scheme of the invention is designed by taking a corn fertilizer applicator as an example. In order to make the corn fertilizer applicator stably move forward without damaging the corn, the three fertilizer applicators are controlled by people in real time. If people need to be liberated to realize full automation, a sensor is an effective way to replace people, and accordingly, two design schemes exist:
the first, with the ridge as the reference. The distance between the fertilizer applicator and the ridge is monitored by using an ultrasonic or infrared sensor so as to control the advancing direction of the fertilizer applicator. However, in the actual situation, each row of corn is not provided with a ridge, even if the corn is provided with the ridge, the corn can be very short, and most of the corn is subjected to different degrees in the cultivation process or the wind-blowing and rain-spraying process, so that the control of the advancing direction of the fertilizer applicator by taking the ridge as a reference is very difficult or even unrealistic.
And secondly, taking corn straws as a reference. A certain position on the left side and the right side of the fertilizer applicator is respectively provided with a sensor (ultrasonic wave, infrared, image, pressure and the like), and the relative distance between the fertilizer applicator and two lines of corn straws is monitored by utilizing the two sensors, so that the advancing direction of the fertilizer applicator is controlled. However, unlike a continuous wall, two adjacent corns in a row of corns have a certain spacing therebetween and the spacing is not uniform, and some corns are still larger (such as seedling lacking positions), which undoubtedly brings a huge challenge to sensor data processing, and in addition, the data acquisition and control accuracy of the sensor is seriously disturbed due to the large number of corn leaves.
Disclosure of Invention
The invention aims to solve the technical problem of providing a control unmanned operation for overcoming the defects of the prior art
The device for the fertilizer applicator to automatically advance has a simple structure, and can effectively reduce the difficulty of processing data by the sensor; the device can make the fertilizer applicator turn stably in the automatic advancing process; the fertilizer applicator adopting the device can automatically and directionally walk on the basis of one line of corns, so that the fertilizer application mode is more flexible; the device can enable the fertilizer applicator to sense the change of the corn straws all the time in the advancing process, so that the walking process of the fertilizer applicator is safer and more reliable; by adopting the device, the risk of damage of the fertilizer applicator to the corn straws and leaves is reduced;
the invention also provides a control method for controlling the automatic advance of the unmanned fertilizer applicator, which can effectively reduce the difficulty of processing data by the sensor; the method can lead the fertilizer applicator to turn stably in the automatic advancing process; the method ensures that the fertilizer applicator can automatically and directionally walk on the basis of one row of corns, so that the fertilizer application mode is more flexible; the method can lead the fertilizer applicator to sense the change of the corn straws all the time in the advancing process, thus leading the walking process of the fertilizer applicator to be safer and more reliable; the method reduces the risk of damage to the corn straws and leaves by the fertilizer applicator.
The invention adopts the following technical scheme (the embodiments and the claims are written after the check is finished)
The device and the method adopting the technical scheme have the following technical effects:
(1) the control principle and the structure are simple, the data processing amount is very small, and the difficulty of processing data by the sensor is reduced;
(2) the direction control of the fertilizer applicator is more stable and accurate; sometimes, the deviation of the transverse positions of two adjacent corns is larger, and if a single-point sensor is used for monitoring and controlling the advancing direction of the fertilizer applicator, the fertilizer applicator is likely to be severely steered; the strip-shaped multipoint sensor system used by the invention can enable the fertilizer applicator to turn more stably by taking a plurality of corn straws as a reference;
(3) the fertilizer applicator can automatically and directionally walk on the basis of one row of corns, so that the fertilizer application mode is more flexible. In reality, the row spacing of the corns in different or even the same field can be different, so the fertilizing modes or positions are different, and some corns are closer to a certain corn row in the middle of two corn rows. At the moment, if two rows of corns on the two sides of the fertilizer applicator are taken as a reference, the advancing direction of the fertilizer applicator is controlled through the sensor, the sensor and related control parameters are required to be adjusted continuously, and on the contrary, if the single-side sensor system in the invention is used for controlling the fertilizer applicator, the fertilizer applicator is convenient and quick;
(4) the fertilizer applicator can sense the change of the corn straws all the time in the advancing process, so that the walking process of the fertilizer applicator is safer and more reliable;
(5) the risk of damage to the corn straws and leaves by the fertilizer applicator is greatly reduced; if the pressure sensor acts on one corn straw, the corn straw is easy to break, the sensor acts on a plurality of corn straws, so that the risk of breaking the corn straws is greatly reduced, in addition, the front part of the fertilizer applicator is provided with the leaf splitter, and the leaf splitter can comb the corn leaves which belong to the left and right two rows to two sides in the advancing process of the fertilizer applicator, so that the damage of the fertilizer applicator to the corn leaves and even the straws can be reduced, the advancing resistance of the fertilizer applicator is reduced, and the influence of the corn leaves on the sensor can be relieved to a certain extent.
The technical scheme of the invention is further explained by combining the attached drawings.
Drawings
FIG. 1 is a schematic structural diagram of the present invention;
fig. 2 is a flow chart of the working principle of the invention.
In the figure: 1-sensor a; 2-sensor B; 3-sensor C; 4-an elongated member.
Detailed Description
Example, as shown in fig. 1, a device for controlling an unmanned fertilizer applicator to automatically advance is disclosed
In the plain, corn straws are used as a reference, and the advancing direction of the fertilizer applicator is controlled by using the sensors, which is different from other schemes, the device comprises a long strip-shaped member 4 fixedly connected with the fertilizer applicator, the length direction of the long strip-shaped member 4 is consistent with the advancing direction of the fertilizer applicator, three sensors are arranged on the long strip-shaped member 4, and the three sensors are distributed along the length direction of the long strip-shaped member 4.
The elongated member 4 may be a strip member such as an elongated steel plate, and the sensor is preferably a pressure sensor.
The sensors comprise a sensor A1, a sensor B2 and a sensor C3, wherein the sensor A1, the sensor B2 and the sensor C3 are sequentially fixed at three positions along the length direction of the long-strip-shaped member 4, and the advancing direction of the fertilizer applicator and the distance between the fertilizer applicator and the corn straws are controlled through the sensor A1, the sensor B2 and the sensor C3.
As shown in figure 2, the control method for realizing the automatic advance of the fertilizer applicator by unmanned operation is characterized in that the distance between the fertilizer applicator and the corn stalks is mainly controlled by a sensor B2, the range of pressure to be applied to the sensor B2 is set according to the distance between the pre-fertilization position of the fertilizer applicator and the corn stalks before fertilization, and if the sensor B2 does not apply any pressure in the starting position or the advancing process, the fertilizer applicator gradually approaches the corn stalks until the distance between the fertilizer applicator and the corn stalks enables the pressure to be applied to the sensor B2 to be within the set range.
The traveling direction of the fertilizer applicator is controlled by the sensor A1 and the sensor C3, and the traveling direction of the fertilizer applicator is controlled according to the pressure difference between the sensor A1 and the sensor C3.
During the advancing process of the fertilizer applicator, if the pressure applied to the sensor A1 is greater than the pressure applied to the sensor C3, the fertilizer applicator tends to approach the corn stalks, and the control system drives the fertilizer applicator in the direction away from the corn stalks through the steering wheel until the pressure applied to the pressure sensor A1 is similar to the pressure applied to the sensor C3, and ensures that the pressure applied to the sensor B2 is within the set range to control the distance between the fertilizer applicator and the corn stalks.
When the pressure applied to the sensor A1 is smaller than that applied to the sensor C3 during the traveling of the fertilizer applicator, the fertilizer applicator tends to be far away from the corn stalks, and the control system drives the fertilizer applicator to be close to the corn stalks through the steering wheels until the pressure applied to the pressure sensor A1 is close to that applied to the sensor C3, and ensures that the pressure applied to the sensor B2 is within a set range to control the distance between the fertilizer applicator and the corn stalks.
In conclusion, the invention provides a novel method and a novel device for completely automatically walking based on a fertilizer applicator, and the method and the device have simple structure and strong practicability. Besides the fertilizer applicator, the design scheme of the invention can also be applied to the automation of agricultural machinery equipment such as weeding, pesticide spraying and the like and even unmanned driving on specific occasions.
The foregoing is illustrative of the best mode of the invention and details not described herein are within the common general knowledge of a person of ordinary skill in the art. The protection scope of the invention is subject to the content of the claims, the device and the control method of the invention can also be used for fertilizing other crops, the device and the control method of the invention can also be applied to the automation of agricultural machinery and equipment such as weeding, pesticide spraying and the like, even unmanned driving under specific occasions, and any equivalent transformation based on the technical teaching of the invention is also within the protection scope of the invention.
Claims (1)
1. The utility model provides a device that automatic march of control unmanned on vehicle fertilizer distributor which characterized in that: the fertilizer applicator comprises a long-strip-shaped component (4) fixedly connected with the fertilizer applicator, wherein the length direction of the long-strip-shaped component (4) is consistent with the advancing direction of the fertilizer applicator, three sensors are arranged on the long-strip-shaped component (4), and the three sensors are distributed along the length direction of the long-strip-shaped component (4);
the strip-shaped component (4) is a strip-shaped steel plate;
the sensor is a pressure sensor;
the sensor comprises a sensor A (1), a sensor B (2) and a sensor C (3), the sensor A (1), the sensor B (2) and the sensor C (3) are sequentially fixed at three positions along the length direction of the long-strip-shaped member (4), and the proceeding direction of the fertilizer applicator and the distance between the fertilizer applicator and the corn straws are controlled through the sensor A (1), the sensor B (2) and the sensor C (3);
the distance between the fertilizer applicator and the corn straws is controlled by a sensor B (2), the advancing direction of the fertilizer applicator is controlled by a sensor A (1) and a sensor C (3), and the advancing direction of the fertilizer applicator is controlled according to the pressure difference between the sensor A (1) and the sensor C (3);
before fertilization, a pressure range to be applied to the sensor B (2) is set according to the distance between the pre-fertilization position of the fertilizer applicator and the corn stalks, and if the sensor B (2) does not apply any pressure in the initial position or the advancing process, the fertilizer applicator gradually approaches the corn stalks until the distance between the fertilizer applicator and the corn stalks enables the pressure applied to the sensor B (2) to be within the set range;
in the advancing process of the fertilizer applicator, if the pressure applied to the sensor A (1) is greater than the pressure applied to the sensor C (3), the fertilizer applicator tends to approach the corn straws, at the moment, the control system enables the fertilizer applicator to move towards the direction far away from the corn straws through the steering wheel until the pressure applied to the pressure sensor A (1) is similar to the pressure applied to the sensor C (3), and the pressure applied to the sensor B (2) is ensured to be within a set range so as to control the distance between the fertilizer applicator and the corn straws;
in the advancing process of the fertilizer applicator, if the pressure applied to the sensor A (1) is smaller than the pressure applied to the sensor C (3), the fertilizer applicator tends to be far away from the corn straws, at the moment, the control system enables the fertilizer applicator to move towards the direction close to the corn straws through the steering wheel until the pressure applied to the pressure sensor A (1) is close to the pressure applied to the sensor C (3), and the pressure applied to the sensor B (2) is ensured to be within the set range so as to control the distance between the fertilizer applicator and the corn straws.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611207599.1A CN106843205B (en) | 2016-12-23 | 2016-12-23 | Device and method for controlling automatic advance of unmanned fertilizer applicator |
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| CN201611207599.1A CN106843205B (en) | 2016-12-23 | 2016-12-23 | Device and method for controlling automatic advance of unmanned fertilizer applicator |
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| CN106843205B true CN106843205B (en) | 2020-04-14 |
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| CN110320827A (en) * | 2018-03-31 | 2019-10-11 | 西北农林科技大学 | A kind of closing apple orchard passed based on figure is digged pit fertilizer applicator remote monitoring system |
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| CN101480126A (en) * | 2009-02-19 | 2009-07-15 | 浙江大学 | Variable-rate fertilization robot for greenhouse |
| US7976259B2 (en) * | 2007-07-16 | 2011-07-12 | Joe David Craig | System for feeding biomass into a pressurized vessel |
| CN104802872A (en) * | 2014-01-29 | 2015-07-29 | 浙江大学 | Climbing machine vehicle |
| CN105057301A (en) * | 2015-09-17 | 2015-11-18 | 中国船舶重工集团公司第七一三研究所 | Automatic deviation rectifying method and automatic deviation rectifying system for advancement of solar panel cleaning vehicle |
| CN105607633A (en) * | 2015-12-18 | 2016-05-25 | 中国印钞造币总公司 | Autonomous path searching method and system for mobile scanning vehicle in piling region environment |
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- 2016-12-23 CN CN201611207599.1A patent/CN106843205B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7976259B2 (en) * | 2007-07-16 | 2011-07-12 | Joe David Craig | System for feeding biomass into a pressurized vessel |
| CN101480126A (en) * | 2009-02-19 | 2009-07-15 | 浙江大学 | Variable-rate fertilization robot for greenhouse |
| CN104802872A (en) * | 2014-01-29 | 2015-07-29 | 浙江大学 | Climbing machine vehicle |
| CN105057301A (en) * | 2015-09-17 | 2015-11-18 | 中国船舶重工集团公司第七一三研究所 | Automatic deviation rectifying method and automatic deviation rectifying system for advancement of solar panel cleaning vehicle |
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