CN107621634B - A kind of pot seedling transplanting depth monitoring system and method - Google Patents
A kind of pot seedling transplanting depth monitoring system and method Download PDFInfo
- Publication number
- CN107621634B CN107621634B CN201711056848.6A CN201711056848A CN107621634B CN 107621634 B CN107621634 B CN 107621634B CN 201711056848 A CN201711056848 A CN 201711056848A CN 107621634 B CN107621634 B CN 107621634B
- Authority
- CN
- China
- Prior art keywords
- electromagnetic wave
- pot seedling
- signal
- transplanting
- planting depth
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 77
- 238000012544 monitoring process Methods 0.000 title claims abstract description 29
- 239000002689 soil Substances 0.000 claims abstract description 55
- 238000001514 detection method Methods 0.000 claims abstract description 46
- 230000000149 penetrating effect Effects 0.000 claims abstract description 35
- 238000004891 communication Methods 0.000 claims abstract description 12
- 239000000428 dust Substances 0.000 claims abstract description 6
- 230000035515 penetration Effects 0.000 claims abstract 2
- 239000011159 matrix material Substances 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000003064 k means clustering Methods 0.000 claims description 6
- 230000002238 attenuated effect Effects 0.000 claims description 5
- 239000000758 substrate Substances 0.000 claims description 5
- 239000003570 air Substances 0.000 claims description 3
- 230000003750 conditioning effect Effects 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000007796 conventional method Methods 0.000 abstract 1
- 238000004364 calculation method Methods 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 3
- 230000001629 suppression Effects 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 241000405070 Percophidae Species 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000003415 peat Substances 0.000 description 1
- 239000010451 perlite Substances 0.000 description 1
- 235000019362 perlite Nutrition 0.000 description 1
- 238000002310 reflectometry Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 239000010455 vermiculite Substances 0.000 description 1
- 235000019354 vermiculite Nutrition 0.000 description 1
- 229910052902 vermiculite Inorganic materials 0.000 description 1
Landscapes
- Transplanting Machines (AREA)
- Cultivation Receptacles Or Flower-Pots, Or Pots For Seedlings (AREA)
Abstract
Description
技术领域Technical field
本发明涉及移栽机械化检测技术领域，具体地说是一种钵苗移栽栽深监测系统及方法。The invention relates to the technical field of mechanized detection of transplanting, specifically a system and method for monitoring the transplanting depth of pot seedlings.
背景技术Background technique
在移栽机械化进程中，移栽向着高速、高效、高稳定性的技术方向发展，决定移栽质量的主要包括钵苗移栽直立度、栽深等关键因素。目前国内已有的移栽机大部分通过机械式调节覆土镇压轮来实现对栽深的控制，并且没有一种可靠的检测栽植深度及直立度的系统来指导机械的调节范围。因此，若要控制移栽作业质量，必须要对栽深及直立度信息进行检测并参数化处理，为现有的移栽机移栽质量的优化提供必要的技术支撑。In the process of transplanting mechanization, transplanting is developing towards high-speed, efficient, and high-stability technologies. The key factors that determine the quality of transplanting include the uprightness of the transplanted seedlings and the planting depth. At present, most of the existing transplanting machines in China control the planting depth by mechanically adjusting the soil covering and pressing wheels, and there is no reliable system for detecting the planting depth and uprightness to guide the adjustment range of the machine. Therefore, in order to control the quality of transplanting operations, it is necessary to detect and parameterize information on planting depth and uprightness to provide necessary technical support for optimizing the transplanting quality of existing transplanters.
在钵苗栽深的测量方法中，传统的采用视窗法、土壤剖面法来测量栽植深度，但此类方法并不适用于移栽的应用背景。对栽深控制已有的研究中，大部分采用机构仿形的方式来测量栽深，例如中国专利CN105794374A提出了一种栽植深度调控装置，通过平行四边形及锥齿轮机构的设计，实现对栽植过程中地面的仿形机栽植器栽植深度的调节，但调节范围及控制精度较为模糊，并且不能够实时监测钵苗根系的栽植深度。专利号为CN105684615A提出一种移栽深度实时监测机构，其采用轻质滑杆与传感器的结合进行探测钵苗的栽植深度，但测量效果不能够保证精确，容易产生误差。Among the methods for measuring the planting depth of pot seedlings, the window method and the soil profile method are traditionally used to measure the planting depth, but these methods are not suitable for transplanting application backgrounds. In the existing research on planting depth control, most of them use mechanism profiling to measure planting depth. For example, Chinese patent CN105794374A proposes a planting depth control device, which realizes control of the planting process through the design of parallelogram and bevel gear mechanisms. The planting depth of the profiling machine planter on the ground can be adjusted, but the adjustment range and control accuracy are vague, and the planting depth of the root system of the pot seedlings cannot be monitored in real time. The patent number CN105684615A proposes a real-time monitoring mechanism for transplanting depth, which uses a combination of a lightweight slider and a sensor to detect the planting depth of pot seedlings. However, the measurement effect cannot be guaranteed to be accurate and errors are prone to occur.
发明内容Contents of the invention
本发明所要解决的技术问题是提供一种钵苗移栽栽深监测系统及方法，解决现有技术中存在的移栽钵苗栽植深度不能够精确测量导致移栽作业质量下降的问题。The technical problem to be solved by the present invention is to provide a transplanting depth monitoring system and method for pot seedlings, so as to solve the problem in the prior art that the planting depth of transplanted pot seedlings cannot be accurately measured, resulting in a decrease in the quality of the transplanting operation.
本发明为解决上述技术问题所采用的技术方案是：一种钵苗移栽栽深监测系统，包括设置于移栽机覆土镇压轮上方用于提供钵苗位置信息的钵苗位置探测单元，用于检测栽植钵苗入土深度的探地雷达，用于控制探地雷达的电磁波发射频率的电磁波频率控制模块、处理器以及显示及报警模块，探地雷达的发射天线通过通信电缆线与电磁波频率控制模块连接，电磁波频率控制模块的信号输出端与处理器的信号输入端连接，处理器的信号输出端与显示器及报警模块连接，钵苗位置探测单元的信号输出端与处理器的信号输入端连接。The technical solution adopted by the present invention to solve the above technical problems is: a pot seedling transplanting depth monitoring system, which includes a pot seedling position detection unit arranged above the soil-covering suppression wheel of the transplanting machine for providing pot seedling position information. Ground penetrating radar for detecting the depth of planting pot seedlings into the soil, electromagnetic wave frequency control module, processor and display and alarm module for controlling the electromagnetic wave emission frequency of the ground penetrating radar. The transmitting antenna of the ground penetrating radar is controlled by the communication cable and electromagnetic wave frequency. Module connection, the signal output end of the electromagnetic wave frequency control module is connected to the signal input end of the processor, the signal output end of the processor is connected to the display and alarm module, the signal output end of the seedling position detection unit is connected to the signal input end of the processor .
本发明所述钵苗位置探测单元由光电传感器阵列及信号调理电路组成雷达一维测线，设置于移栽机的一对覆土镇压轮的上方，当钵苗通过一对覆土镇压轮之间的覆土镇压通道时，光电传感器检测到钵苗信号，确定雷达一维测线的位置。The seedling position detection unit of the present invention is composed of a photoelectric sensor array and a signal conditioning circuit to form a radar one-dimensional measuring line. It is arranged above a pair of soil-covering and suppressing wheels of the transplanting machine. When the channel is covered with soil to suppress it, the photoelectric sensor detects the seedling signal and determines the position of the radar's one-dimensional survey line.
本发明所述探地雷达的发射天线和接收天线并行固定设置于移栽机覆土镇压轮的后侧上方位置。The transmitting antenna and the receiving antenna of the ground penetrating radar of the present invention are fixed and arranged in parallel on the rear side of the soil-covering and suppressing wheel of the transplanting machine.
本发明所述探地雷达的接收天线包括雷达数据采集卡以及用于数据传输的RS232通信接口及RS485通信接口。The receiving antenna of the ground penetrating radar of the present invention includes a radar data acquisition card and an RS232 communication interface and an RS485 communication interface for data transmission.
利用所述的钵苗移栽栽深监测系统监测钵苗栽深的方法，包括以下步骤：The method for monitoring the planting depth of pot seedlings by using the described pot seedling transplanting depth monitoring system includes the following steps:
步骤一、移栽作业开始，当钵苗通过一对覆土镇压轮之间的覆土镇压通道时，钵苗位置探测单元检测到钵苗信号，并将该信号发送至处理器，处理器发出信号，控制探地雷达向覆土镇压轮之间的钵苗发射初始电磁波信号Ra；Step 1. The transplanting operation starts. When the seedlings pass through the soil covering channel between a pair of soil covering wheels, the seedling position detection unit detects the seedling signal and sends the signal to the processor, which sends out a signal. Control the ground-penetrating radar to transmit the initial electromagnetic wave signal R a to the seedlings between the soil-covered suppression wheels;
步骤二、处理器根据探地雷达发射的初始电磁波场强信号Ra、电磁波经过空气、土壤、移栽钵苗基质三中介质损失后得到电磁波耗散回波场强终值信号Rb，由公式(1)计算钵苗的栽植深度D：Step 2: The processor obtains the electromagnetic wave dissipation echo field strength final value signal R b based on the initial electromagnetic wave field strength signal R a emitted by the ground penetrating radar and the electromagnetic wave passing through the three media loss of air, soil, and transplanted seedling matrix. Formula (1) calculates the planting depth D of pot seedlings:
其中D为钵苗栽植深度，μ土、μ空分别为电磁波在栽植土壤和空气中的场强衰减系数，ξ空、ξ土、ξ基分别为空气、土壤、移栽钵苗基质三种介质的介电常数，d为雷达天线距离地面的高度；Among them, D is the planting depth of pot seedlings, μ soil and μ air are the field strength attenuation coefficients of electromagnetic waves in planting soil and air respectively, ξ air , ξ soil and ξ base are respectively the three media of air, soil and transplanting pot seedling matrix. The dielectric constant of , d is the height of the radar antenna from the ground;
步骤三、处理器对系统通过探地雷达监测的钵苗栽植深度D与预设标准栽植深度值对比，判断栽深信息并传输给报警及显示模块。Step 3: The processor compares the seedling planting depth D monitored by the system through ground penetrating radar with the preset standard planting depth value, determines the planting depth information and transmits it to the alarm and display module.
本发明所述步骤二中获得电磁波耗散回波场强终值信号Rb的具体方法包括以下步骤：The specific method for obtaining the electromagnetic wave dissipation echo field strength final value signal R b in step 2 of the present invention includes the following steps:
(1)处理器记录探地雷达发射的初始电磁波场强信号Ra，通过Ra计算电磁波向地探测过程中在空气中衰减后得到的电磁波强度R1： (1) The processor records the initial electromagnetic wave field strength signal R a emitted by the ground penetrating radar, and uses R a to calculate the electromagnetic wave intensity R 1 obtained after the electromagnetic wave is attenuated in the air during the ground detection process:
(2)由R1计算出电磁波向地探测过程中在土壤与空气交界层透射后得到的电磁波强度R2： (2) Calculate the electromagnetic wave intensity R 2 obtained after transmission at the interface layer between soil and air during the electromagnetic wave ground detection process from R 1 :
(3)由R2计算出电磁波向地探测过程中在土壤中衰减后得到的电磁波强度R3： (3) Calculate the electromagnetic wave intensity R 3 obtained after attenuation in the soil during the electromagnetic wave ground detection process from R 2 :
(4)由R3计算出电磁波回波探测过程中与钵苗基质层面反射后得到的电磁波强度R4： (4) Calculate the electromagnetic wave intensity R 4 obtained after reflection from the seedling substrate layer during the electromagnetic wave echo detection process from R 3 :
(5)由R4计算出电磁波回波探测过程中在土壤中衰减后得到的电磁波强度R5： (5) Calculate the electromagnetic wave intensity R 5 obtained after attenuation in the soil during the electromagnetic wave echo detection process from R 4 :
(6)由R5计算出电磁波回波探测过程中在土壤与空气交界层面投射后的到的电磁波强度R6： (6) Calculate the electromagnetic wave intensity R 6 projected at the interface between soil and air during the electromagnetic wave echo detection process from R 5 :
(7)由R6计算出回波探测过程中在空气中衰减后得到的电磁波强度即电磁波耗散回波场强终值信号Rb： (7) Calculate the electromagnetic wave intensity obtained after attenuation in the air during the echo detection process, that is, the electromagnetic wave dissipation echo field strength final value signal R b from R 6 :
本发明所述步骤二中获得电磁波耗散回波场强终值信号Rb的具体方法为：The specific method for obtaining the final value signal R b of the electromagnetic wave dissipation echo field strength in step two of the present invention is:
(1)探地雷达发射多次电磁波采集钵苗栽深信息，电磁波经过空气、土壤、基质介质损失后最终得到n个不同的电磁波耗散回波场强终值信号Rb1,Rb2,…Rbn，通过设置阈值去除野值信息，获取p个可用的电磁波耗散回波场强终值信号Rb1,Rb2,…,Rbp，其中p≤n；(1) The ground penetrating radar emits multiple electromagnetic waves to collect information on the planting depth of seedlings. After the electromagnetic waves are lost through the air, soil, and matrix media, n different electromagnetic wave dissipation echo field strength final value signals R b1 , R b2 ,… are finally obtained. R bn , by setting a threshold to remove outlier information, obtain p available electromagnetic wave dissipation echo field strength final value signals R b1 , R b2 ,..., R bp , where p≤n;
(2)通过K均值聚类的方法，求出步骤(1)获取的可用电磁波耗散回波场强终值信号Rb1,Rb2,…,Rbp的均值信号，去除因移栽中尘土等因素的干扰，获得最终的电磁波耗散回波场强终值信号Rb。(2) Through the K-means clustering method, find the mean signal of the available electromagnetic wave dissipation echo field strength final value signal R b1 , R b2 ,..., R bp obtained in step (1), and remove the dust caused by transplanting. Interference from other factors, the final electromagnetic wave dissipation echo field strength final value signal R b is obtained.
本发明所述通过设置阈值去除野值信息从而获取一组耗散回波场强终值信号的方法为：将Rb1,Rb2,…Rbn分别代入公式|Ri-μ|-mσ进行计算，计算结果大于0的为野值，将其去除，计算结果小于0的为可用值，留下备用。The method of obtaining a set of final value signals of dissipated echo field strength by setting thresholds to remove outlier information according to the present invention is: substituting R b1 , R b2 ,...R bn into the formula |R i -μ|-mσ respectively. Calculation, if the calculation result is greater than 0, it is a wild value, which is removed, and if the calculation result is less than 0, it is a usable value, and it is left as a spare.
本发明所述通过K均值聚类方法获得最终的标准耗散回波信号强度信号Rb的方法为：The method of obtaining the final standard dissipated echo signal strength signal R b through the K-means clustering method according to the present invention is:
(a)选取2个带聚类的聚类中心θ1，θ2；(a) Select two clustering centers θ 1 and θ 2 with clustering;
(b)通过公式C＝argmin||Rbi-θj||2(j＝1,2)(1≤i≤p)计算选取的可用电磁波耗散回波场强终值信号Rb1,Rb2,…,Rbp中的每个信号点到聚类中心的欧式距离并将每个信号点聚类到离改点最近的聚类中，其中C代表可用电磁波耗散回波场强终值信号Rbi与2个聚类距离最近的聚类；(b) Calculate the selected final value signal of available electromagnetic wave dissipation echo field strength R b1 , R through the formula C=argmin||R bi -θ j || 2 (j=1,2)(1≤i≤p) b2 ,…,R Euclidean distance from each signal point in bp to the cluster center and cluster each signal point into the cluster closest to the changed point, where C represents the final value of the available electromagnetic wave dissipation echo field strength The signal R bi is the cluster closest to the two clusters;
(c)通过公式计算每个聚类中所有信号点的平均值，并将其作为新的聚类中心，其中q表示每个聚类中信号点的个数；(c) By formula Calculate the average of all signal points in each cluster and use it as the new cluster center, where q represents the number of signal points in each cluster;
(d)重复步骤(b)和(c)，直到聚类中心不再扩大移动范围或聚类次数达到要求为止；(d) Repeat steps (b) and (c) until the clustering center no longer expands its movement range or the number of clusterings reaches the required number;
(e)通过公式求出最终的电磁波耗散回波场强终值信号Rb。(e) By formula Find the final electromagnetic wave dissipation echo field strength final value signal R b .
本发明的有益效果是：本发明利用探地雷达发射的电磁波探测移栽钵苗根部入土深度信息，解决了传统方法上移栽栽深检测破坏移栽作业质量甚至伤苗的问题，克服了利用土壤剖面法检测钵苗栽植深度的非实时性，通过算法屏蔽移栽尘土污染对电磁波耗散的影响，优化了栽植深度的检测精度，本发明提升了栽深检测的作业效果，保护了移栽作业质量。The beneficial effects of the present invention are: the present invention uses electromagnetic waves emitted by ground-penetrating radar to detect information on the depth of roots of transplanted seedlings in the soil, which solves the problem of the traditional method of detecting the depth of transplanted seedlings that damages the quality of the transplanting operation and even damages the seedlings, and overcomes the problem of using The soil profiling method detects the non-real-time nature of the planting depth of pot seedlings. It uses an algorithm to shield the impact of transplanting dust pollution on electromagnetic wave dissipation and optimizes the detection accuracy of planting depth. The present invention improves the operational effect of planting depth detection and protects transplanting. Quality of work.
附图说明Description of the drawings
图1为本发明移栽钵苗栽深监测系统的结构框架图；Figure 1 is a structural frame diagram of the transplanting pot seedling planting depth monitoring system of the present invention;
图2为本发明探地雷达发射电磁波探测钵苗栽深的过程示意图。Figure 2 is a schematic diagram of the process of emitting electromagnetic waves from ground penetrating radar to detect the planting depth of seedlings according to the present invention.
图中标记：Ra、初始电磁波场强信号，R1、电磁波向地探测过程中在空气中衰减后得到的电磁波强度，R2、电磁波向地探测过程中在土壤与空气交界层透射后得到的电磁波强度，R3、电磁波向地探测过程中在土壤中衰减后得到的电磁波强度，R4、电磁波回波探测过程中与钵苗基质层面反射后得到的电磁波强度，R5、电磁波回波探测过程中在土壤中衰减后得到的电磁波强度，R6、电磁波回波探测过程中在土壤与空气交界层面投射后的到的电磁波强度，Rb、电磁波耗散回波场强终值信号，D、钵苗栽植深度。Marked in the figure: R a , initial electromagnetic wave field strength signal, R 1 , electromagnetic wave intensity obtained after attenuation in the air during the process of electromagnetic wave detection to the ground, R 2 , obtained after transmission in the interface layer of soil and air during the process of electromagnetic wave detection to the ground The electromagnetic wave intensity, R 3 , the electromagnetic wave intensity obtained after attenuation in the soil during the electromagnetic wave ground detection process, R 4 , the electromagnetic wave intensity obtained after reflection from the seedling substrate layer during the electromagnetic wave echo detection process, R 5 , the electromagnetic wave echo The electromagnetic wave intensity obtained after attenuation in the soil during the detection process, R 6 , the electromagnetic wave intensity obtained after being projected at the interface level of soil and air during the electromagnetic wave echo detection process, R b , the final value signal of the electromagnetic wave dissipation echo field strength, D. Planting depth of pot seedlings.
具体实施方式Detailed ways
如图所示，一种钵苗移栽栽深监测系统，包括设置于移栽机覆土镇压轮上方用于提供钵苗位置信息的钵苗位置探测单元，用于检测栽植钵苗入土深度的探地雷达，用于控制探地雷达的电磁波发射频率的电磁波频率控制模块、处理器以及显示及报警模块，探地雷达的发射天线通过通信电缆线与电磁波频率控制模块连接，电磁波频率控制模块的信号输出端与处理器的信号输入端连接，处理器的信号输出端与显示器及报警模块连接，钵苗位置探测单元的信号输出端与处理器的信号输入端连接，处理器根据钵苗栽植深度值得预设标准值以及探地雷达探测的钵苗栽植深度值进行比较并实现栽深不合格报警显示及控制鸭嘴栽植器深度调节动作。As shown in the figure, a monitoring system for pot seedling transplanting depth includes a pot seedling position detection unit installed above the soil covering and suppressing wheel of the transplanter for providing pot seedling position information, and a detector for detecting the pot seedling depth of planting into the soil. Ground radar, electromagnetic wave frequency control module, processor and display and alarm module used to control the electromagnetic wave emission frequency of ground penetrating radar. The transmitting antenna of ground penetrating radar is connected to the electromagnetic wave frequency control module through communication cables. The signal of the electromagnetic wave frequency control module The output end is connected to the signal input end of the processor, the signal output end of the processor is connected to the display and the alarm module, the signal output end of the seedling position detection unit is connected to the signal input end of the processor, and the processor values according to the planting depth of the seedlings. The preset standard value is compared with the pot seedling planting depth value detected by ground penetrating radar, and the alarm display of unqualified planting depth is realized and the depth adjustment action of the duckbill planter is controlled.
本发明所述钵苗位置探测单元由光电传感器阵列及信号调理电路组成雷达一维测线，设置于移栽机的一对覆土镇压轮的上方，当钵苗通过一对覆土镇压轮之间的覆土镇压通道时，光电传感器检测到钵苗信号，确定雷达一维测线的位置。The seedling position detection unit of the present invention is composed of a photoelectric sensor array and a signal conditioning circuit to form a radar one-dimensional measuring line. It is arranged above a pair of soil-covering and suppressing wheels of the transplanting machine. When the channel is covered with soil to suppress it, the photoelectric sensor detects the seedling signal and determines the position of the radar's one-dimensional survey line.
本发明所述探地雷达的发射天线和接收天线并行固定设置于移栽机覆土镇压轮的后侧上方位置。The transmitting antenna and the receiving antenna of the ground penetrating radar of the present invention are fixed and arranged in parallel on the rear side of the soil-covering and suppressing wheel of the transplanting machine.
本发明所述探地雷达的接收天线包括雷达数据采集卡以及用于数据传输的RS232通信接口及RS485通信接口。The receiving antenna of the ground penetrating radar of the present invention includes a radar data acquisition card and an RS232 communication interface and an RS485 communication interface for data transmission.
利用所述的钵苗移栽栽深监测系统监测钵苗栽深的方法，包括以下步骤：The method for monitoring the planting depth of pot seedlings by using the described pot seedling transplanting depth monitoring system includes the following steps:
步骤一、移栽作业开始，当钵苗通过一对覆土镇压轮之间的覆土镇压通道时，钵苗位置探测单元检测到钵苗信号，并将该信号发送至处理器，处理器发出信号，控制探地雷达向覆土镇压轮之间的钵苗发射初始电磁波信号Ra；Step 1. The transplanting operation starts. When the seedlings pass through the soil covering channel between a pair of soil covering wheels, the seedling position detection unit detects the seedling signal and sends the signal to the processor, which sends out a signal. Control the ground-penetrating radar to transmit the initial electromagnetic wave signal R a to the seedlings between the soil-covered suppression wheels;
步骤二、处理器根据探地雷达发射的初始电磁波场强信号Ra、电磁波经过空气、土壤、移栽钵苗基质三中介质损失后得到电磁波耗散回波场强终值信号Rb，由公式(1)计算钵苗的栽植深度D：Step 2: The processor obtains the electromagnetic wave dissipation echo field strength final value signal R b based on the initial electromagnetic wave field strength signal R a emitted by the ground penetrating radar and the electromagnetic wave passing through the three media loss of air, soil, and transplanted seedling matrix. Formula (1) calculates the planting depth D of pot seedlings:
其中D为钵苗栽植深度，μ土、μ空分别为电磁波在栽植土壤和空气中的场强衰减系数，ξ空、ξ土、ξ基分别为空气、土壤、移栽钵苗基质三种介质的介电常数，d为雷达天线距离地面的高度；Among them, D is the planting depth of pot seedlings, μ soil and μ air are the field strength attenuation coefficients of electromagnetic waves in planting soil and air respectively, ξ air , ξ soil and ξ base are respectively the three media of air, soil and transplanting pot seedling matrix. The dielectric constant of , d is the height of the radar antenna from the ground;
步骤三、处理器对系统通过探地雷达监测的钵苗栽植深度D与预设标准栽植深度值对比，判断栽深信息并传输给报警及显示模块。Step 3: The processor compares the seedling planting depth D monitored by the system through ground penetrating radar with the preset standard planting depth value, determines the planting depth information and transmits it to the alarm and display module.
本发明所述步骤二中获得电磁波耗散回波场强终值信号Rb的具体方法包括以下步骤：The specific method for obtaining the electromagnetic wave dissipation echo field strength final value signal R b in step 2 of the present invention includes the following steps:
(1)处理器记录探地雷达发射的初始电磁波场强信号Ra，通过Ra计算电磁波向地探测过程中在空气中衰减后得到的电磁波强度R1： (1) The processor records the initial electromagnetic wave field strength signal R a emitted by the ground penetrating radar, and uses R a to calculate the electromagnetic wave intensity R 1 obtained after the electromagnetic wave is attenuated in the air during the ground detection process:
(2)由R1计算出电磁波向地探测过程中在土壤与空气交界层透射后得到的电磁波强度R2： (2) Calculate the electromagnetic wave intensity R 2 obtained after transmission at the interface layer between soil and air during the electromagnetic wave ground detection process from R 1 :
(3)由R2计算出电磁波向地探测过程中在土壤中衰减后得到的电磁波强度R3： (3) Calculate the electromagnetic wave intensity R 3 obtained after attenuation in the soil during the electromagnetic wave ground detection process from R 2 :
(4)由R3计算出电磁波回波探测过程中与钵苗基质层面反射后得到的电磁波强度R4： (4) Calculate the electromagnetic wave intensity R 4 obtained after reflection from the seedling substrate layer during the electromagnetic wave echo detection process from R 3 :
(5)由R4计算出电磁波回波探测过程中在土壤中衰减后得到的电磁波强度R5： (5) Calculate the electromagnetic wave intensity R 5 obtained after attenuation in the soil during the electromagnetic wave echo detection process from R 4 :
(6)由R5计算出电磁波回波探测过程中在土壤与空气交界层面投射后的到的电磁波强度R6： (6) Calculate the electromagnetic wave intensity R 6 projected at the interface between soil and air during the electromagnetic wave echo detection process from R 5 :
(7)由R6计算出回波探测过程中在空气中衰减后得到的电磁波强度即电磁波耗散回波场强终值信号Rb： (7) Calculate the electromagnetic wave intensity obtained after attenuation in the air during the echo detection process, that is, the electromagnetic wave dissipation echo field strength final value signal R b from R 6 :
本发明所述步骤二中获得电磁波耗散回波场强终值信号Rb的具体方法为：The specific method for obtaining the final value signal R b of the electromagnetic wave dissipation echo field strength in step two of the present invention is:
(1)探地雷达发射多次电磁波采集钵苗栽深信息，电磁波经过空气、土壤、基质介质损失后最终得到n个不同的电磁波耗散回波场强终值信号Rb1,Rb2,…Rbn，通过设置阈值去除野值信息，获取p个可用的电磁波耗散回波场强终值信号Rb1,Rb2,…,Rbp，其中p≤n；(1) The ground penetrating radar emits multiple electromagnetic waves to collect information on the planting depth of seedlings. After the electromagnetic waves are lost through the air, soil, and matrix media, n different electromagnetic wave dissipation echo field strength final value signals R b1 , R b2 ,… are finally obtained. R bn , by setting a threshold to remove outlier information, obtain p available electromagnetic wave dissipation echo field strength final value signals R b1 , R b2 ,..., R bp , where p≤n;
(2)通过K均值聚类的方法，求出步骤(1)获取的可用电磁波耗散回波场强终值信号Rb1,Rb2,…,Rbp的均值信号，去除因移栽中尘土等因素的干扰，获得最终的电磁波耗散回波场强终值信号Rb。(2) Through the K-means clustering method, find the mean signal of the available electromagnetic wave dissipation echo field strength final value signal R b1 , R b2 ,..., R bp obtained in step (1), and remove the dust caused by transplanting. Interference from other factors, the final electromagnetic wave dissipation echo field strength final value signal R b is obtained.
本发明所述通过设置阈值去除野值信息从而获取一组耗散回波场强终值信号的方法为：将Rb1,Rb2,…Rbn分别代入公式Ri-μ-mσ进行计算，计算结果大于0的为野值，将其去除，计算结果小于0的为可用值，留下备用。The method of obtaining a set of final value signals of dissipated echo field strength by setting thresholds to remove outlier information according to the present invention is: substituting R b1 , R b2 ,...R bn into the formula R i -μ-mσ respectively for calculation, If the calculation result is greater than 0, it is a wild value and is removed. If the calculation result is less than 0, it is a usable value and is left as a spare.
本发明所述通过K均值聚类方法获得最终的标准耗散回波信号强度信号Rb的方法为：The method of obtaining the final standard dissipated echo signal strength signal R b through the K-means clustering method according to the present invention is:
(a)选取2个带聚类的聚类中心θ1，θ2；(a) Select two clustering centers θ 1 and θ 2 with clustering;
(b)通过公式C＝argmin||Rbi-θj||2(j＝1,2)(1≤i≤p)计算选取的可用电磁波耗散回波场强终值信号Rb1,Rb2,…,Rbp中的每个信号点到聚类中心的欧式距离并将每个信号点聚类到离改点最近的聚类中，其中C代表可用电磁波耗散回波场强终值信号Rbi与2个聚类距离最近的聚类；(b) Calculate the selected final value signal of available electromagnetic wave dissipation echo field strength R b1 , R through the formula C=argmin||R bi -θ j || 2 (j=1,2)(1≤i≤p) b2 ,…,R Euclidean distance from each signal point in bp to the cluster center and cluster each signal point into the cluster closest to the changed point, where C represents the final value of the available electromagnetic wave dissipation echo field strength The signal R bi is the cluster closest to the two clusters;
(c)通过公式计算每个聚类中所有信号点的平均值，并将其作为新的聚类中心，其中q表示每个聚类中信号点的个数；(c) By formula Calculate the average of all signal points in each cluster and use it as the new cluster center, where q represents the number of signal points in each cluster;
(d)重复步骤(b)和(c)，直到聚类中心不再扩大移动范围或聚类次数达到要求为止；(d) Repeat steps (b) and (c) until the clustering center no longer expands its movement range or the number of clusterings reaches the required number;
(e)通过公式求出最终的电磁波耗散回波场强终值信号Rb。(e) By formula Find the final electromagnetic wave dissipation echo field strength final value signal R b .
本发明监测原理：由于移栽钵苗基质通常由草炭、蛭石、珍珠岩、幼苗根系四种成分组成，在栽植完成后，钵苗表面覆土的土壤为沙粒、土壤基质等组成。而探地雷达发射的电磁波依次要经过空气、土壤、钵苗基质三种介质。不同的介质电磁波介电常数不同，对于探地雷达发射的电磁波吸收及反射率不同，通过不同介质后，探地雷达接收端收到的回波信号场强值不同，通过对回波信号的分析并通过算法屏蔽移栽过程中偶然的尘土浓度污染对雷达电磁回波信号的干扰，获取初始电磁波场强信号Ra及最终的电磁波耗散回波场强终值信号Rb，通过对电磁波在介质中能量漫散特性与距离因素的分析，确定栽植钵苗在覆土后在土壤层中的栽植深度。Monitoring principle of the present invention: Since the substrate for transplanting pot seedlings is usually composed of four components: peat, vermiculite, perlite, and seedling roots, after the planting is completed, the soil covering the surface of the pot seedlings is composed of sand, soil matrix, etc. The electromagnetic waves emitted by ground penetrating radar pass through three media in sequence: air, soil, and seedling matrix. Different media have different dielectric constants of electromagnetic waves. The absorption and reflectivity of electromagnetic waves emitted by ground penetrating radar are different. After passing through different media, the field strength of the echo signal received by the ground penetrating radar receiving end is different. Through the analysis of the echo signal The algorithm is used to shield the interference of accidental dust concentration pollution on the radar electromagnetic echo signal during the transplanting process, and the initial electromagnetic wave field strength signal R a and the final electromagnetic wave dissipation echo field strength final value signal R b are obtained. Analysis of energy dispersion characteristics and distance factors in the medium determines the planting depth of pot seedlings in the soil layer after covering with soil.
Claims (8)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711056848.6A CN107621634B (en) | 2017-10-27 | 2017-10-27 | A kind of pot seedling transplanting depth monitoring system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711056848.6A CN107621634B (en) | 2017-10-27 | 2017-10-27 | A kind of pot seedling transplanting depth monitoring system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107621634A CN107621634A (en) | 2018-01-23 |
| CN107621634B true CN107621634B (en) | 2023-10-27 |
Family
ID=61093429
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711056848.6A Active CN107621634B (en) | 2017-10-27 | 2017-10-27 | A kind of pot seedling transplanting depth monitoring system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107621634B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN87105739A (en) * | 1986-08-25 | 1988-03-16 | 井农机株式会社 | Transplantation device |
| JPS63263485A (en) * | 1987-04-22 | 1988-10-31 | Komatsu Ltd | Underground object exploration equipment |
| JPS6443115A (en) * | 1987-08-11 | 1989-02-15 | Kubota Ltd | Agricultural working machine |
| JPH0870636A (en) * | 1994-09-06 | 1996-03-19 | Yanmar Agricult Equip Co Ltd | Transplanter |
| CN101923063A (en) * | 2010-08-19 | 2010-12-22 | 河南工业大学 | A method for identifying foreign objects in grain piles |
| US8207885B2 (en) * | 2007-09-19 | 2012-06-26 | Niitek, Inc. | Adjustable pulse width ground penetrating radar |
| CN103766048A (en) * | 2012-10-26 | 2014-05-07 | 北京德邦大为科技有限公司 | Radar measurement and control precision seeder |
| CN105246319A (en) * | 2013-05-20 | 2016-01-13 | 埃尔瓦有限公司 | Systems and methods for detecting soil characteristics |
| CN106205067A (en) * | 2016-08-03 | 2016-12-07 | 黑龙江八农垦大学 | Microwave Doppler radar seed manure flowing alarm |
| CN207424253U (en) * | 2017-10-27 | 2018-05-29 | 河南科技大学 | A kind of potted-seedling transplanting plants deep monitoring system |
-
2017
- 2017-10-27 CN CN201711056848.6A patent/CN107621634B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN87105739A (en) * | 1986-08-25 | 1988-03-16 | 井农机株式会社 | Transplantation device |
| JPS63263485A (en) * | 1987-04-22 | 1988-10-31 | Komatsu Ltd | Underground object exploration equipment |
| JPS6443115A (en) * | 1987-08-11 | 1989-02-15 | Kubota Ltd | Agricultural working machine |
| JPH0870636A (en) * | 1994-09-06 | 1996-03-19 | Yanmar Agricult Equip Co Ltd | Transplanter |
| US8207885B2 (en) * | 2007-09-19 | 2012-06-26 | Niitek, Inc. | Adjustable pulse width ground penetrating radar |
| CN101923063A (en) * | 2010-08-19 | 2010-12-22 | 河南工业大学 | A method for identifying foreign objects in grain piles |
| CN103766048A (en) * | 2012-10-26 | 2014-05-07 | 北京德邦大为科技有限公司 | Radar measurement and control precision seeder |
| CN105246319A (en) * | 2013-05-20 | 2016-01-13 | 埃尔瓦有限公司 | Systems and methods for detecting soil characteristics |
| CN106205067A (en) * | 2016-08-03 | 2016-12-07 | 黑龙江八农垦大学 | Microwave Doppler radar seed manure flowing alarm |
| CN207424253U (en) * | 2017-10-27 | 2018-05-29 | 河南科技大学 | A kind of potted-seedling transplanting plants deep monitoring system |
Non-Patent Citations (1)
| Title |
|---|
| Ibtissem Hosni等.On the effects of vegetation on radar backscattering. 2016 2nd International Conference on Advanced Technologies for Signal and Image Processing (ATSIP).2016,全文. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107621634A (en) | 2018-01-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN115754221B (en) | A step-by-step time-domain reflection soil available nutrient in-situ rapid measurement system and method | |
| CN102095797B (en) | Fruit ripeness ultrasonic non-destructive detection method and system based on comparison method | |
| CN109115776B (en) | Color and depth information-based plug seedling growth nondestructive monitoring method and device | |
| US20200302586A1 (en) | Work layer imaging and analysis for implement monitoring, control and operator feedback | |
| CN109581546B (en) | Rainfall type identification method based on microwave link attenuation and polarization information | |
| CN106813678B (en) | Ultrasonic sounding instrument calibration detection device and calibration detection method thereof | |
| CN110988981A (en) | Phased array sound wave advanced prediction system and method suitable for drilling and blasting method tunnel | |
| CN103940907B (en) | Coal petrography identifies equipment and its recognition methods | |
| Zhao et al. | Ground surface detection method using ground penetrating radar signal for sugarcane harvester base-cutter control | |
| CN104678369A (en) | Dual-polarization weather radar calibration method based on non-fixed metal ball | |
| CN113670433B (en) | Method capable of improving on-line sensitivity measurement accuracy of array elements of hydrophone array | |
| CN119164376A (en) | A laser measurement target and its settlement monitoring device | |
| CN108781657B (en) | A potato seeder and its missed seeding detection method and detection device | |
| CN107621634B (en) | A kind of pot seedling transplanting depth monitoring system and method | |
| Wang et al. | Photoelectric sensor-based belt-type high-speed seed guiding device performance monitoring method and system | |
| Liu et al. | Design and experiment of seeding performance monitoring system for suction corn planter | |
| CN207424253U (en) | A kind of potted-seedling transplanting plants deep monitoring system | |
| CN115208495B (en) | Complex indoor environment channel modeling method and device in wireless body area network | |
| CN107807356B (en) | GPR diffraction wave velocity analysis method | |
| AU2019319769B2 (en) | Depth detection of a soil coulter | |
| Zhang et al. | Information acquisition system of multipoint soil surface height variation for profiling mechanism of seeding unit of precision corn planter | |
| CN109490412B (en) | Soil in situ detection method and system for seed missed sowing | |
| CN111060969A (en) | Well control Q compensation method | |
| CN117745150A (en) | Roadbed compaction quality intelligent assessment method | |
| CN109269413A (en) | Equipment based on time-of-flight method measurement object size |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |