CN107743758A - A kind of unpiloted seeder depositing seed - Google Patents
A kind of unpiloted seeder depositing seed Download PDFInfo
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- CN107743758A CN107743758A CN201711086670.XA CN201711086670A CN107743758A CN 107743758 A CN107743758 A CN 107743758A CN 201711086670 A CN201711086670 A CN 201711086670A CN 107743758 A CN107743758 A CN 107743758A
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- 238000000151 deposition Methods 0.000 title claims abstract description 37
- 238000012545 processing Methods 0.000 claims abstract description 77
- 238000009331 sowing Methods 0.000 claims abstract description 76
- 239000003550 marker Substances 0.000 claims abstract description 37
- 230000004888 barrier function Effects 0.000 claims abstract description 28
- 230000011664 signaling Effects 0.000 claims abstract description 24
- 238000001514 detection method Methods 0.000 claims abstract description 23
- 238000010899 nucleation Methods 0.000 claims abstract description 16
- 241000721671 Ludwigia Species 0.000 claims description 16
- 230000007246 mechanism Effects 0.000 claims description 12
- 230000009471 action Effects 0.000 claims description 9
- 238000005553 drilling Methods 0.000 claims description 7
- 239000000446 fuel Substances 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 6
- 230000011218 segmentation Effects 0.000 claims description 6
- 230000005236 sound signal Effects 0.000 claims description 5
- 238000000605 extraction Methods 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 3
- 238000003780 insertion Methods 0.000 claims description 3
- 230000037431 insertion Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 239000002689 soil Substances 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 238000012876 topography Methods 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 206010016256 fatigue Diseases 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000008685 targeting Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/08—Broadcast seeders; Seeders depositing seeds in rows
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/40—Image enhancement or restoration using histogram techniques
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/70—Denoising; Smoothing
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/136—Segmentation; Edge detection involving thresholding
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30181—Earth observation
- G06T2207/30188—Vegetation; Agriculture
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Environmental Sciences (AREA)
- Guiding Agricultural Machines (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of unpiloted seeder depositing seed, include the boundary marker transmitter of multiple edges for being placed in pending farmland;The obstacle marking transmitter of multiple barrier zones for being placed in pending farmland;It is installed on image acquisition unit, landform sonar detection unit, signal receiver, signal processing module, the execution unit of unmanned seeder depositing seed;Signal processing module is used for the pending farmland region three-dimensional terrain model according to the borderline region in the pending farmland of position signalling structure received, barrier zone and real-time update, and according to sowing boundary position planning travelling line, and traffic route is sent to the execution unit.The present invention instructs control execution unit to carry out seeding operation by the three-dimensional terrain model and the sowing border in sowing region and non-sowing region for building pending farmland foreground area in real time, the accurate planning travelling line of science and speed, labor intensity is reduced, ensure that the stability and sowing efficiency of sowing.
Description
Technical field
The invention belongs to field of agricultural machinery, more particularly to a kind of unpiloted seeder depositing seed.
Background technology
Current crops seeder depositing seed needs driver to carry out execute-in-place in cabin, and prolonged operation not only can
Make driver tired out, cause mechanical casualty accident, and influence operating efficiency, occur the crops bar of remote operation at present
Seeding machinery is broadcast, but because orographic condition is different, sowing zone boundary can not determine in real time, it is impossible to according to landform to vehicle
Realize that accurately control, operator are difficult to ensure that stable sowing operating mode in real time, sowing time and quality are difficult to ensure that.
The content of the invention
The problem of existing for prior art, the invention provides a kind of unmanned seeder depositing seed.
The present invention is achieved in that a kind of unmanned seeder depositing seed includes:
The boundary marker transmitter of multiple edges for being placed in pending farmland;Each described boundary marker transmitter is put
Two border intersections in farmland, multiple boundary marker transmitters form the bounds in farmland;
The obstacle marking transmitter of multiple barrier zones for being placed in pending farmland;Each barrier zone at least provided with
Three obstacle marking transmitters, the barrier zone is surrounded into polygon;
Be installed on the image acquisition unit of unmanned seeder depositing seed, landform sonar detection unit, sound acquisition module,
Signal receiver, signal processing module, execution unit;
The boundary marker transmitter and obstacle marking transmitter are used to respective position signalling being sent to the signal
Receiver;The boundary marker transmitter and obstacle marking transmitter include GPS positioning system and signal emission module;It is described
GPS positioning system is used to obtain the position signalling where the boundary marker transmitter and obstacle marking transmitter, and passes through institute
Signal emission module is stated to launch the position signalling;
The signal receiver is used for the position letter for receiving each boundary marker transmitter and obstacle marking transmitter
Number and be sent to the signal processing module;
Described image acquiring unit is used to obtain sowing region and non-sowing area image and generates sowing boundary position number
According to being sent to signal processing module;
The landform sonar detection unit is used to obtain echo and terrain elevation data simultaneously by multi-beam, according to
Terrain elevation data builds landform altitude model;
The sound collection processing module is used to gather voice signal during seeder depositing seed operation in real time, and by current sound
Sound signal compares with demarcation voice signal during normal sowing;If present sound signals are with demarcation voice signal in threshold range
Outside, then send seeder depositing seed to the signal processing module and do not sow signal;If present sound signals and demarcation voice signal
In threshold range, then send seeder depositing seed to the signal processing module and normally sow signal;
The signal processing module is used for position signalling, the obstacle marking sent according to the boundary marker transmitter received
The terrain elevation data that the position signalling of transmitter transmitting, landform sonar detection unit are sent builds the frontier district in pending farmland
The pending farmland region three-dimensional terrain model in domain, barrier zone and real-time update, and according to sowing boundary position planning driving
Route, and traffic route is sent to the execution unit;
The execution unit controls the seed-box of seeder according to traffic route and vehicle location control vehicle operation
It is turned on and off;
In vehicle operation, the signal processing module does not sow signal or seeder depositing seed according to seeder depositing seed
Whether normal sowing signal adjustment seeder depositing seed stops sowing.
The boundary marker transmitter and the obstacle marking transmitter include being used for insertion section, the use inserted in soil
In the location division of the installation GPS positioning system, the emission part for installing the signal emission module, for installing battery
Battery unit.
Further, described image acquiring unit obtains acquisition sowing region and non-sowing area image simultaneously by the following method
Generation sowing boundary position:
Step 1: the pending processing farmland of captured in real-time in seeding process, obtains source images;
Step 2: establishing the distribution of statistics of histogram gradation of image, strengthen image pair by being segmented grey linear transformation
After degree, it is smoothed using gaussian filtering, completes the pretreatment of image;
Step 3: obtain the gray value of each pixel and the gray scale interval of image of source images;
Step 4: according to the number of the gray value of each pixel, gray scale interval and the determination, each segmentation threshold is calculated
The numerical value of value, according to the numerical value of each segmentation threshold, it is determined that positioned at the borderline pixel of foreground image, to determine in image
Foreground image image boundary;
Step 5: the extraction of picture edge characteristic point is completed using Canny operators;
Step 6: the landform altitude model and picture edge characteristic point established by landform sonar detection unit determine finely
Image boundary.
Further, the execution unit includes direction of traffic control unit, the vehicle being electrically connected with signal processing module
Throttle Opening Control unit, vehicle brake control unit and seed-box control unit;
There is the direction of traffic control unit direction controlling module and the vehicle controlled by direction control module to turn
To mechanism, direction control module is connected with signal processing module, for the sowing boundary bit generated according to image acquisition unit
Put and signal processing module structure pending farmland borderline region and barrier zone control vehicle steering mechanism action;
The vehicle accelerator control unit includes a vehicle accelerator control module and is connected with the vehicle accelerator control module
Air throttle stroke detection module, throttle execution mechanism, the vehicle accelerator control module is connected with signal processing module, institute
State the testing result that Throttle Opening Control module is used to obtain air throttle stroke detection module, the sowing generated according to image acquisition unit
Borderline region, barrier zone, the pending farmland area three-dimensional in the pending farmland of boundary position and signal processing module structure
Relief model control throttle execution mechanism action;
The vehicle brake control unit includes a brake unit and the fuel regulator valve being connected with the brake unit, brake
Device, the brake unit are connected with signal processing module, for the border in the pending farmland built according to signal processing module
Region, barrier zone, the folding of pending farmland region three-dimensional terrain model control fuel regulator valve and the action of brake;
The seed-box control unit is used for the seed-box that reception signal processing module is sent and is turned on and off signal, controls
Seed-box is turned on and off.
A kind of unmanned type of seeding, including:
Step 1: position signalling, obstacle marking that signal processing module is sent according to the boundary marker transmitter received
The position signalling of transmitter transmitting builds the borderline region and barrier zone in pending farmland;
Step 2: the terrain elevation data that signal processing module is sent according to the landform sonar detection unit received is real-time
Build the three-dimensional terrain model of pending farmland foreground area;
Step 3: signal processing module sets unmanned seeder depositing seed according to the borderline region area in pending farmland
Benchmark speed of drilling, and according to three-dimensional terrain model setting speed limiting threshold value;
Gone Step 4: signal processing module is planned according to the position signalling of boundary marker transmitter and obstacle marking transmitter
Bus or train route line, and seeding operation is carried out according to benchmark speed of drilling and speed limit threshold value control execution unit;
Step 5: the sowing boundary position that signal processing module generates according to sowing region and non-sowing area image, control
Execution unit processed completes region by sowing and turns to non-sowing region, and signal processing module planning travelling line and controls execution again
Part carries out seeding operation.
The present invention by the boundary marker transmitters of multiple edges for being placed in pending farmland and it is multiple be placed in it is pending
The obstacle marking transmitter of the barrier zone in farmland determines sowing region and obstacle-avoidance area, and signal processing module is according to real-time structure
The sowing border in the three-dimensional terrain model of pending farmland foreground area and sowing region and non-sowing region instructs control to perform
Part carries out seeding operation, the accurate planning travelling line of science and speed, is spent before reducing work, ensure that the stabilization of sowing
Property and sowing efficiency.
Brief description of the drawings
Fig. 1 is the structured flowchart of unmanned seeder depositing seed provided in an embodiment of the present invention;
In figure:1st, boundary marker transmitter;2nd, obstacle marking transmitter;3rd, image acquisition unit;4th, landform sonar detects
Unit;5th, signal receiver;6th, signal processing module;7th, execution unit;8th, sound collection processing module.
Embodiment
In order to further understand the content, features and effects of the present invention, hereby enumerating following examples, and coordinate accompanying drawing
Describe in detail as follows.
The structure of the present invention is explained in detail below in conjunction with the accompanying drawings.
A kind of unmanned seeder depositing seed includes:
The boundary marker transmitter 1 of multiple edges for being placed in pending farmland;Each described boundary marker transmitter
Two border intersections in farmland are placed in, multiple boundary marker transmitters form the bounds in farmland;
The obstacle marking transmitter 2 of multiple barrier zones for being placed in pending farmland;At least set in each barrier zone
Three obstacle marking transmitters are put, the barrier zone is surrounded into polygon;
It is installed on image acquisition unit 3, landform sonar detection unit 4, the signal receiver of unmanned seeder depositing seed
5th, signal processing module 6, sound collection processing module 8, execution unit 7;
The boundary marker transmitter 1 and obstacle marking transmitter 2 are used to respective position signalling being sent to the letter
Number receiver 5;
The signal receiver 5 is used for the position for receiving each boundary marker transmitter 1 and obstacle marking transmitter 2
Signal is simultaneously sent to the signal processing module 6;
The boundary marker transmitter and the obstacle marking transmitter include being used for insertion section, the use inserted in soil
In the location division of the installation GPS positioning system, the emission part for installing the signal emission module, for installing battery
Battery unit.
In embodiments of the present invention, respectively mark transmitter can use GPS positioning system, and GPS positioning system obtains each
The GPS location signal of transmitter is marked, signal receiver 5 is then sent to by signal projector.
Certainly, respectively mark transmitter can use the targeting scheme based on bluetooth Beacon, because Beacon positioning is a kind of
The Radio Transmission Technology of short distance low-power consumption, after appropriate bluetooth local area network access point is installed, by network configuration into based on more
The basic network connection mode of user, and ensure that bluetooth local area network access point is the main equipment of this micronetwork all the time, it is so logical
Cross detection signal intensity and be obtained with farmland the respectively positional information of mark transmitter.
Described image acquiring unit 3 is used to obtain sowing region and non-sowing area image and generates sowing boundary position number
According to being sent to signal processing module 6;
In embodiments of the present invention, image acquisition unit obtains acquisition sowing region and non-sowing region by the following method
Image simultaneously generates sowing boundary position:
Step 1: the pending processing farmland of captured in real-time in seeding process, obtains source images;
Step 2: establishing the distribution of statistics of histogram gradation of image, strengthen image pair by being segmented grey linear transformation
After degree, it is smoothed using gaussian filtering, completes the pretreatment of image;
Step 3: obtain the gray value of each pixel and the gray scale interval of image of source images;
Step 4: according to the number of the gray value of each pixel, gray scale interval and the determination, each segmentation threshold is calculated
The numerical value of value, according to the numerical value of each segmentation threshold, it is determined that positioned at the borderline pixel of foreground image, to determine in image
Foreground image image boundary;
Step 5: the extraction of picture edge characteristic point is completed using Canny operators;
Step 6: the landform altitude model and picture edge characteristic point established by landform sonar detection unit determine finely
Image boundary.
The landform sonar detection unit 4 is used to obtain echo and terrain elevation data, root simultaneously by multi-beam
Landform altitude model is built according to terrain elevation data;
The signal processing module 6 is used for position signalling, the obstruction buoy sent according to the boundary marker transmitter 1 received
Remember the side in the pending farmland of terrain elevation data structure that the position signalling of the transmitting of transmitter 2, landform sonar detection unit 4 are sent
The pending farmland region three-dimensional terrain model in battery limit (BL) domain, barrier zone and real-time update, and according to sowing boundary position planning
Traffic route, and traffic route is sent to the execution unit 7;
The execution unit 7 according to the traffic route and vehicle location control vehicle operation, the execution unit include with
Direction of traffic control unit, vehicle accelerator control unit, vehicle brake control unit and the kind that signal processing module is electrically connected with
Sub- case control unit;
There is the direction of traffic control unit direction controlling module and the vehicle controlled by direction control module to turn
To mechanism, direction control module is connected with signal processing module, for the sowing boundary bit generated according to image acquisition unit
Put and signal processing module structure pending farmland borderline region and barrier zone control vehicle steering mechanism action;
In embodiments of the present invention, first sowing can be according to field boundary navigation direction, and seeder depositing seed is along field boundary
Sowed, direction is turned when running to the farmland edge of a field, to sow border as navigation base control seeder depositing seed edge sowing side
Boundary's operation;
The vehicle accelerator control unit includes a vehicle accelerator control module and is connected with the vehicle accelerator control module
Air throttle stroke detection module, throttle execution mechanism, the vehicle accelerator control module is connected with signal processing module, institute
State the testing result that Throttle Opening Control module is used to obtain air throttle stroke detection module, the sowing generated according to image acquisition unit
Borderline region, barrier zone, the pending farmland area three-dimensional in the pending farmland of boundary position and signal processing module structure
Relief model control throttle execution mechanism action;
For sound collection processing module 8, sound collection processing module starts after planting, to gather drilling in seeder depositing seed
Voice signal during planting with sowing machine, and using the voice signal as demarcation voice signal.Because seeder depositing seed is according to driving
Route is run, when the voice signal that sound collection processing module gathers with demarcation voice signal contrast and exceedes threshold value,
It then may determine that seeder depositing seed sowing task is completed, can now shut down.
Vehicle accelerator control unit is using field boundary and farmland three-dimensional terrain model as according to control in embodiments of the present invention
The aperture of air throttle processed, for example, when image acquisition unit detects field boundary, vehicle accelerator control module control air throttle
Executing agency reduces valve opening, reduces car speed, can also be according to three-dimensional terrain model setting speed early warning value, when a certain area
When elevation difference is larger in the elevation map in domain, illustrate that the region landform is uneven, vehicle accelerator control module control air throttle is held
Row mechanism reduces valve opening, reduces car speed;
The vehicle brake control unit includes a brake unit and the fuel regulator valve being connected with the brake unit, brake
Device, the brake unit are connected with signal processing module, for the border in the pending farmland built according to signal processing module
Region, barrier zone, the folding of pending farmland region three-dimensional terrain model control fuel regulator valve and the action of brake.
In embodiments of the present invention, vehicle brake control unit is using field boundary and farmland three-dimensional terrain model as according to control
The action of fuel regulator valve, brake processed, for example, when image acquisition unit detects field boundary, brake unit control combustion
Oil control valve reduces aperture, while brake acts, and reduces car speed, can also be according to three-dimensional terrain model setting speed early warning
Value, when elevation difference is larger in some region of elevation map, illustrate that the region landform is uneven, brake unit control fuel oil control
Valve processed reduces aperture, while brake acts, and reduces car speed;
In embodiments of the present invention, boundary marker transmitter 1 is at least four, and each described boundary marker transmitter is put
Edge in pending farmland.
In embodiments of the present invention, obstacle marking transmitter 2 comprises at least one group of obstacle marking transmitter group, every group of obstacle
Mark transmitter group includes at least three obstacle marking transmitters;
Obstacle marking transmitter group described in one group is set at each obstacle in pending farmland;
Multiple obstacle marking transmitters of one group of obstacle marking transmitter group are respectively provided with around at each group of obstacle.
In embodiments of the present invention, execution unit 7 includes controlling list with the direction of traffic that signal processing module is electrically connected with
Member, vehicle accelerator control unit, vehicle brake control unit and seed-box control unit.
Seed-box control unit is used for the seed-box that reception signal processing module is sent and is turned on and off signal, controls seed
Case is turned on and off.Specifically, for seeder in normal sowing, seed at the uniform velocity drops into the groove held successfully from seed-box
It is interior.After seeder is moved to route repetition region or planting with sowing machine terminates, signal processing module controls single to seed-box
Member sends shutdown signal.Seed-box control unit closes seed-box, so as to stop sowing according to the shutdown signal.
In embodiments of the present invention, unmanned type of seeding includes:
Step 1: position signalling, obstacle marking that signal processing module is sent according to the boundary marker transmitter received
The position signalling of transmitter transmitting builds the borderline region and barrier zone in pending farmland;
Step 2: the terrain elevation data that signal processing module is sent according to the landform sonar detection unit received is real-time
Build the three-dimensional terrain model of pending farmland foreground area;
Step 3: signal processing module sets unmanned seeder depositing seed according to the borderline region area in pending farmland
Benchmark speed of drilling, and according to three-dimensional terrain model setting speed limiting threshold value;
Gone Step 4: signal processing module is planned according to the position signalling of boundary marker transmitter and obstacle marking transmitter
Bus or train route line, and seeding operation is carried out according to benchmark speed of drilling and speed limit threshold value control execution unit;
Step 5: the sowing boundary position that signal processing module generates according to sowing region and non-sowing area image, control
Execution unit processed completes region by sowing and turns to non-sowing region, and signal processing module planning travelling line and controls execution again
Part carries out seeding operation.
The present invention by the boundary marker transmitters 1 of multiple edges for being placed in pending farmland and it is multiple be placed in it is pending
The obstacle marking transmitter 2 of the barrier zone in farmland determines sowing region and obstacle-avoidance area, and signal processing module 6 is according to real-time structure
The three-dimensional terrain model and the sowing border in sowing region and non-sowing region for building pending farmland foreground area instruct control to hold
Row part 7 carries out seeding operation, the accurate planning travelling line of science and speed, is spent before reducing work, ensure that sowing
Stability and sowing efficiency.
It is described above to be only the preferred embodiments of the present invention, any formal limitation not is made to the present invention,
Every technical spirit according to the present invention belongs to any simple modification made for any of the above embodiments, equivalent variations and modification
In the range of technical solution of the present invention.
Claims (5)
- A kind of 1. unpiloted seeder depositing seed, it is characterised in that including:The boundary marker transmitter of multiple edges for being placed in pending farmland;Each described boundary marker transmitter is placed in agriculture Two border intersections in field, multiple boundary marker transmitters form the bounds in farmland;The obstacle marking transmitter of multiple barrier zones for being placed in pending farmland;In each barrier zone at least provided with three Obstacle marking transmitter, the barrier zone is surrounded into polygon;Be installed on the image acquisition unit of unmanned seeder depositing seed, landform sonar detection unit, sound collection processing module, Signal receiver, signal processing module, execution unit;The boundary marker transmitter and obstacle marking transmitter are used to respective position signalling being sent to the signal reception Device;The boundary marker transmitter and obstacle marking transmitter include GPS positioning system and signal emission module;The GPS Alignment system is used to obtain the position signalling where the boundary marker transmitter and obstacle marking transmitter, and passes through the letter Number transmitter module launches the position signalling;The signal receiver is for receiving the position signalling of each boundary marker transmitter and obstacle marking transmitter simultaneously It is sent to the signal processing module;Described image acquiring unit is used to obtain sowing region and non-sowing area image and generates sowing boundary position data hair Give signal processing module;The landform sonar detection unit is used to obtain echo and terrain elevation data simultaneously by multi-beam, according to landform Altitude data builds landform altitude model;The sound collection processing module is used to gather voice signal during seeder depositing seed operation in real time, and current sound is believed Number compared with demarcation voice signal during normal sowing;If present sound signals with demarcation voice signal outside threshold range, Then seeder depositing seed is sent to the signal processing module do not sow signal;If present sound signals are with demarcation voice signal in threshold In the range of value, then send seeder depositing seed to the signal processing module and normally sow signal;The signal processing module is used for position signalling, the obstacle marking transmitting sent according to the boundary marker transmitter received The borderline region in the pending farmland of terrain elevation data structure that the position signalling of device transmitting, landform sonar detection unit are sent, The pending farmland region three-dimensional terrain model of barrier zone and real-time update, and according to sowing boundary position planning roadway Line, and traffic route is sent to the execution unit;The execution unit controls the seed-box of seeder to open according to traffic route and vehicle location control vehicle operation Or close;In vehicle operation, the signal processing module does not sow signal according to seeder depositing seed or seeder depositing seed is normal Whether sowing signal adjustment seeder depositing seed stops sowing.
- 2. unpiloted seeder depositing seed as claimed in claim 1, it is characterised in that the boundary marker transmitter and described Obstacle marking transmitter includes being used for the insertion section, the location division for installing the GPS positioning system, use inserted in soil Emission part in the installation signal emission module, the battery unit for installing battery.
- 3. unpiloted seeder depositing seed as claimed in claim 1, it is characterised in that described image acquiring unit passes through following Method obtains sowing region and non-sowing area image and generates sowing boundary position:Step 1: the pending processing farmland of captured in real-time in seeding process, obtains source images;Step 2: establishing the distribution of statistics of histogram gradation of image, strengthen picture contrast by being segmented grey linear transformation Afterwards, it is smoothed using gaussian filtering, completes the pretreatment of image;Step 3: obtain the gray value of each pixel and the gray scale interval of image of source images;Step 4: according to the number of the gray value of each pixel, gray scale interval and the determination, each segmentation threshold is calculated Numerical value, according to the numerical value of each segmentation threshold, it is determined that positioned at the borderline pixel of foreground image, before determining in image The image boundary of scape image;Step 5: the extraction of picture edge characteristic point is completed using Canny operators;Step 6: the landform altitude model and picture edge characteristic point established by landform sonar detection unit determine precise image Border.
- 4. unpiloted seeder depositing seed as claimed in claim 1, it is characterised in that the execution unit include with signal Manage direction of traffic control unit, vehicle accelerator control unit, vehicle brake control unit and seed-box control that module is electrically connected with Unit processed;The direction of traffic control unit has a direction controlling module and the vehicle steering machine controlled by direction control module Structure, direction control module are connected with signal processing module, for the sowing boundary position that is generated according to image acquisition unit and The borderline region in the pending farmland of signal processing module structure and barrier zone control vehicle steering mechanism action;The vehicle accelerator control unit includes a vehicle accelerator control module and the section being connected with the vehicle accelerator control module Valve stroke detection module, throttle execution mechanism, the vehicle accelerator control module are connected with signal processing module, the oil Door control module is used for the testing result for obtaining air throttle stroke detection module, the sowing border generated according to image acquisition unit Position and borderline region, barrier zone, the pending farmland region dimensional topography in the pending farmland of signal processing module structure Model cootrol throttle execution mechanism acts;The vehicle brake control unit includes a brake unit and the fuel regulator valve, the brake that are connected with the brake unit, The brake unit is connected with signal processing module, for the frontier district in the pending farmland built according to signal processing module Domain, barrier zone, the folding of pending farmland region three-dimensional terrain model control fuel regulator valve and the action of brake;The seed-box control unit is used for the seed-box that reception signal processing module is sent and is turned on and off signal, controls seed Case is turned on and off.
- A kind of 5. unmanned type of seeding, it is characterised in that including:Step 1: position signalling, obstacle marking that signal processing module is sent according to the boundary marker transmitter received are launched The position signalling of device transmitting builds the borderline region and barrier zone in pending farmland;Step 2: the terrain elevation data that signal processing module is sent according to the landform sonar detection unit received is built in real time The three-dimensional terrain model of pending farmland foreground area;Step 3: signal processing module sets the base of unmanned seeder depositing seed according to the borderline region area in pending farmland Quasi- speed of drilling, and according to three-dimensional terrain model setting speed limiting threshold value;Step 4: signal processing module plans roadway according to the position signalling of boundary marker transmitter and obstacle marking transmitter Line, and seeding operation is carried out according to benchmark speed of drilling and speed limit threshold value control execution unit;Step 5: the sowing boundary position that signal processing module generates according to sowing region and non-sowing area image, control are held Row part completes region by sowing and turns to non-sowing region, and signal processing module planning travelling line and controls execution unit again Carry out seeding operation.
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Publication number | Priority date | Publication date | Assignee | Title |
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CN114630575A (en) * | 2020-11-09 | 2022-06-14 | 深圳市大疆创新科技有限公司 | Solid material scattering control method and device, scattering machine and movable platform |
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CN111142518A (en) * | 2019-12-16 | 2020-05-12 | 农业农村部南京农业机械化研究所 | Self-adaptive seeding control system based on unmanned technology and control method thereof |
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CN114630575A (en) * | 2020-11-09 | 2022-06-14 | 深圳市大疆创新科技有限公司 | Solid material scattering control method and device, scattering machine and movable platform |
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