CN107896582A - A kind of unmanned seeder depositing seed - Google Patents
A kind of unmanned seeder depositing seed Download PDFInfo
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- CN107896582A CN107896582A CN201711087288.0A CN201711087288A CN107896582A CN 107896582 A CN107896582 A CN 107896582A CN 201711087288 A CN201711087288 A CN 201711087288A CN 107896582 A CN107896582 A CN 107896582A
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- sowing
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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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- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of unmanned 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 signal 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 unmanned 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 since orographic condition is different, sowing zone boundary cannot 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
In view of the problems of the existing technology, the present 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；
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, the letter of unmanned seeder depositing seed
Number processing module, execution unit；
The boundary marker transmitter and obstacle marking transmitter are used to respective positions signal being sent to the signal
Receiver；
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 at the same time by multi-beam, according to
Terrain elevation data builds landform altitude model；
The signal processing module is used for position signal, the obstacle marking sent according to the boundary marker transmitter received
The terrain elevation data that the position signal 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 kind of seeder according to the traffic route and vehicle location control vehicle operation
Sub- case is turned on and off.
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 gray value of each pixel, gray scale interval and the definite number, each segmentation threshold is calculated
The numerical value of value, according to the numerical value of each segmentation threshold, determines the borderline pixel positioned at 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 boundary marker transmitter is at least four, each described boundary marker transmitter, which is placed in, to be waited to locate
Manage the edge in farmland.
Further, the obstacle marking transmitter includes at least one group of obstacle marking transmitter group, every group of obstacle marking hair
Emitter 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.
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 that the seed-box control unit is used to receive signal processing module transmission 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 signal, obstacle marking that signal processing module is sent according to the boundary marker transmitter received
The position signal of transmitter transmitting builds the borderline region and barrier zone in pending farmland；
Step 2: signal processing module is real-time according to the terrain elevation data that the landform sonar detection unit received is sent
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；
Go Step 4: signal processing module is planned according to the position signal 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 is generated 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
Component 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
Component carries out seeding operation, the accurate planning travelling line of science and speed, reduces degree before work, ensure that the stabilization of sowing
Property and sowing efficiency.
Brief description of the drawings
Fig. 1 is the structure diagram 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.
Embodiment
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and coordinate attached 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；
The obstacle marking transmitter 2 of multiple barrier zones for being placed in pending farmland；
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, execution unit 7；
The boundary marker transmitter 1 and obstacle marking transmitter 2 are used to respective positions signal 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；
In embodiments of the present invention, respectively mark transmitter can use the locating scheme based on bluetooth Beacon, due to
Beacon positioning is a kind of Radio Transmission Technology of short distance low-power consumption, will after appropriate bluetooth local area network access point is installed
Network configuration ensures that bluetooth local area network access point is this micronetwork all the time into the basic network connection mode based on multi-user
Main equipment, the positional information of respectively mark transmitter is so obtained with farmland by detecting signal strength.
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 gray value of each pixel, gray scale interval and the definite number, each segmentation threshold is calculated
The numerical value of value, according to the numerical value of each segmentation threshold, determines the borderline pixel positioned at 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 at the same time by multi-beam
Landform altitude model is built according to terrain elevation data；
The signal processing module 6 is used for position signal, 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 signal 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
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；
The seed-box that seed-box control unit is used to receive signal processing module transmission 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, 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.
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, illustrates 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, each described boundary marker transmitter is put
Edge in pending farmland.
In embodiments of the present invention, obstacle marking transmitter 2 includes 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 with the direction of traffic that signal processing module is electrically connected single
Member, vehicle accelerator control unit, vehicle brake control unit.
In embodiments of the present invention, unmanned type of seeding includes：
Step 1: position signal, obstacle marking that signal processing module is sent according to the boundary marker transmitter received
The position signal of transmitter transmitting builds the borderline region and barrier zone in pending farmland；
Step 2: signal processing module is real-time according to the terrain elevation data that the landform sonar detection unit received is sent
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；
Go Step 4: signal processing module is planned according to the position signal 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 is generated 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
Component 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 component 7 carries out seeding operation, the accurate planning travelling line of science and speed, reduces degree before work, ensure that sowing
Stability and sowing efficiency.
The above is only the preferred embodiments of the present invention, and not makees limitation in any form 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 (6)
- A kind of 1. unmanned seeder depositing seed, it is characterised in that including：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；Be installed on the image acquisition unit of unmanned seeder depositing seed, landform sonar detection unit, signal receiver, at signal Manage module, execution unit；The boundary marker transmitter and obstacle marking transmitter are used to respective positions signal being sent to the signal reception Device；The signal receiver is for receiving the position signal 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 at the same time by multi-beam, according to landform Altitude data builds landform altitude model；The signal processing module is used for position signal, 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 signal 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.
- 2. unmanned seeder depositing seed as claimed in claim 1, it is characterised in that described image acquiring unit passes through with lower section 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 gray value of each pixel, gray scale interval and the definite number, each segmentation threshold is calculated Numerical value, according to the numerical value of each segmentation threshold, determines the borderline pixel positioned at 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.
- 3. unmanned seeder depositing seed as claimed in claim 1, it is characterised in that the boundary marker transmitter is at least four A, each boundary marker transmitter is placed in the edge in pending farmland.
- 4. unmanned seeder depositing seed as claimed in claim 1, it is characterised in that the obstacle marking transmitter includes at least One group of obstacle marking transmitter group, every group of obstacle marking transmitter group include 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.
- 5. unmanned seeder depositing seed as claimed in claim 1, it is characterised in that the execution unit includes and signal processing Direction of traffic control unit, vehicle accelerator control unit, vehicle brake control unit and the seed-box control that module is electrically connected Unit；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 that the seed-box control unit is used to receive signal processing module transmission is turned on and off signal, controls seed Case is turned on and off.
- A kind of 6. unmanned type of seeding, it is characterised in that including：Step 1: position signal, obstacle marking that signal processing module is sent according to the boundary marker transmitter received are launched The position signal of device transmitting builds the borderline region and barrier zone in pending farmland；Step 2: signal processing module is built in real time according to the terrain elevation data that the landform sonar detection unit received is sent 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 signal 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 is generated according to sowing region and non-sowing area image, control are held Row component 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711087288.0A CN107896582A (en) | 2017-11-07 | 2017-11-07 | A kind of unmanned seeder depositing seed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201711087288.0A CN107896582A (en) | 2017-11-07 | 2017-11-07 | A kind of unmanned seeder depositing seed |
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| Publication Number | Publication Date |
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| CN107896582A true CN107896582A (en) | 2018-04-13 |
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| CN201711087288.0A Withdrawn CN107896582A (en) | 2017-11-07 | 2017-11-07 | A kind of unmanned seeder depositing seed |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113892399A (en) * | 2021-09-13 | 2022-01-07 | 中国一冶集团有限公司 | Accurate positioning spray-seeding grass planting method and pulse pressure spray-seeding machine |
| CN117837360A (en) * | 2024-01-09 | 2024-04-09 | 四川省农业机械科学研究院 | Seeding method based on visual positioning |
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| CN204279950U (en) * | 2014-10-23 | 2015-04-22 | 黄守瑜 | Seeding apparatus |
| WO2016002623A1 (en) * | 2014-06-30 | 2016-01-07 | ヤンマー株式会社 | Parallel travel work system |
| CN107046879A (en) * | 2017-05-17 | 2017-08-18 | 南京信息工程大学 | The full-automatic unmanned seeder of warmhouse booth |
| CN107926264A (en) * | 2017-10-23 | 2018-04-20 | 北京勇搏科技有限公司 | A kind of harvester based on unmanned technology |
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| CN101238033A (en) * | 2005-08-04 | 2008-08-06 | 雅马哈发动机株式会社 | Unmanned helicopter |
| WO2016002623A1 (en) * | 2014-06-30 | 2016-01-07 | ヤンマー株式会社 | Parallel travel work system |
| CN204279950U (en) * | 2014-10-23 | 2015-04-22 | 黄守瑜 | Seeding apparatus |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113892399A (en) * | 2021-09-13 | 2022-01-07 | 中国一冶集团有限公司 | Accurate positioning spray-seeding grass planting method and pulse pressure spray-seeding machine |
| CN117837360A (en) * | 2024-01-09 | 2024-04-09 | 四川省农业机械科学研究院 | Seeding method based on visual positioning |
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