CN109116373A - A kind of droplet drift detection system based on two-dimensional laser radar scanning sensor - Google Patents
A kind of droplet drift detection system based on two-dimensional laser radar scanning sensor Download PDFInfo
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- CN109116373A CN109116373A CN201810780806.5A CN201810780806A CN109116373A CN 109116373 A CN109116373 A CN 109116373A CN 201810780806 A CN201810780806 A CN 201810780806A CN 109116373 A CN109116373 A CN 109116373A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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- Computer Networks & Wireless Communication (AREA)
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Abstract
The droplet drift detection system based on two-dimensional laser radar scanning sensor that the invention discloses a kind of, including two-dimensional laser radar scanning sensor, PC machine, Ethernet cable, battery, weather shield, holder, bracket and mobile platform, the PC machine is connect by the Ethernet cable with the two-dimensional laser radar scanning sensor, the battery is connect with the power end of the two-dimensional laser radar scanning sensor, the signal output end of the two-dimensional laser radar scanning sensor is connect with the weather shield, the control output end of the two-dimensional laser radar scanning sensor is connect with the holder, it is described to be installed on the mobile platform by the bracket.Compared with prior art, the present invention can effectively record the dynamic change with detection drift droplet, lay the foundation for parameter setting, quality evaluation and the formulation of operation or work standard of equipment for plant protection.
Description
Technical field
The present invention relates to a kind of agricultural technology more particularly to a kind of droplet drifts based on two-dimensional laser radar scanning sensor
Move detection system.
Background technique
For equipment for plant protection during farm work, pesticide droplet is by nozzle type, atomisation pressure, mechanical travel speed, behaviour
The influence for making the factors such as method, aerial temperature and humidity, wind speed can generate droplet drift, and the droplet of drift has very big harmfulness,
The pollution that will cause non-target region, damages the natural ecosystems on periphery, or even jeopardizes the living environment of neighbouring resident.Cause
This, the effective detection for the droplet that drifts about becomes one of an important factor for assessing equipment for plant protection operation quality.Conventional Drift droplet is adopted
Collection with measurement using artificial cloth specimen, sampling, later period simple chemical analysis method, it is time-consuming, it is complicated for operation, it is repeated with it is suitable
Answering property is poor, and is difficult to obtain variation tendency of the drift droplet in the time and space.Laser radar scanning sensor (LiDAR,
Light Detection and Ranging) can in a scanning surface continuous emission excimer laser impulse wave, it is anti-through body surface
Penetrate return multiple spot distance value, can in the time and space Overall Acquisition drift droplet dynamic model.
Summary of the invention
The object of the invention is that provide a kind of based on two-dimensional laser radar scanning sensing to solve the above-mentioned problems
The droplet drift detection system of device.
The present invention through the following technical solutions to achieve the above objectives:
A kind of droplet drift detection system based on two-dimensional laser radar scanning sensor of the present invention, including two-dimensional laser thunder
Up to scanning sensor, PC machine, Ethernet cable, battery, weather shield, holder, bracket and mobile platform, the PC machine is logical
It crosses the Ethernet cable to connect with the two-dimensional laser radar scanning sensor, the battery and the two-dimensional laser radar
The power end of scanning sensor connects, the signal output end and the weather shield of the two-dimensional laser radar scanning sensor
Connection, the control output end of the two-dimensional laser radar scanning sensor is connect with the holder, described to be pacified by the bracket
Loaded on the mobile platform.
A kind of detection method of the droplet drift detection system based on two-dimensional laser radar scanning sensor of the present invention, target
Area is that spraying machine sprays region, and buffer area is the isolation strip on targeting regions periphery, if A, B, C, D are respectively 4 sides of buffer area
Droplet detection system is moved to and system centre O point position away from A point 4m parallel with the direction AD, droplet detection system by boundary vertex
The unilateral laser beam flying distance of system is at least 8 meters, and scanning angle is set as 0 ° -180 °, and angular resolution is set as 1 °, sweeps
Frequency 10Hz is retouched, then the scanning range in single period scan period is one perpendicular to ground, semi circular surface that radius is 8m；
When the spraying machine of operation presses its normal travel speed by target zones boundary, unlatching droplet drift detection system simultaneously starts to count
When, changing for space can close droplet detection after the laser beam of droplet detection system, timing 30 seconds to drift droplet at any time
System completes the field acquisition of drift droplet.
The beneficial effects of the present invention are:
The present invention is a kind of droplet drift detection system based on two-dimensional laser radar scanning sensor, with prior art phase
Than it is parameter setting, quality evaluation and the work of equipment for plant protection that the present invention, which can effectively record the dynamic change with detection drift droplet,
The formulation of industry standard lays the foundation.
Detailed description of the invention
Fig. 1 is system construction drawing of the invention；
Fig. 2 is droplet drift detection method schematic diagram of the invention；
Fig. 3 is droplet drift detection system work flow diagram of the invention.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings:
A kind of droplet drift detection system based on two-dimensional laser radar scanning sensor of the invention as shown in Figure 1:, including
Two-dimensional laser radar scanning sensor, PC machine, Ethernet cable, battery, weather shield, holder, bracket and mobile platform,
The PC machine is connect by the Ethernet cable with the two-dimensional laser radar scanning sensor, the battery and described two
Tie up laser radar scanning sensor power end connection, the signal output end of the two-dimensional laser radar scanning sensor with it is described
Weather shield connection, the control output end of the two-dimensional laser radar scanning sensor is connect with the holder, described to pass through
The bracket is installed on the mobile platform.
The effect of each component part is as follows:
(1) for emitting laser beams, detection drift droplet returns to droplet distance and angle to two-dimensional laser radar scanning sensor
Information is spent to PC machine；
(2) PC machine is connected by Ethernet cable with two-dimensional laser radar scanning sensor, for two-dimensional laser thunder to be arranged
Up to scanning sensor parameter and receive, processing data；
(3) Ethernet cable realizes data communication for connecting two-dimensional laser radar scanning sensor and PC machine；
(4) battery is used to power for two-dimensional laser radar scanning sensor；
(5) weather shield is mounted on two-dimensional laser radar scanning sensor for preventing steam, dust in air
Equal contaminant sensors mirror surface；
(6) holder is directly connect with two-dimensional laser radar scanning sensor, for adjusting sensor detecting area direction；
(7) bracket, for installing two-dimensional laser radar scanning sensor to mobile platform；
(8) mobile platform is mobile in field convenient for droplet drift detection system for carrying entire hardware system.
It is as shown in Figure 2: 1- target, the target zones 2-, the buffer area 3-, 4- spraying machine, 5- drift droplet, the detection of 6- droplet in figure
System, 7- laser beam, a kind of detection side of the droplet drift detection system based on two-dimensional laser radar scanning sensor of the present invention
Method, target zones are that spraying machine sprays region, and buffer area is the isolation strip on targeting regions periphery, if A, B, C, D are respectively buffer area
4 border vertices, droplet detection system is moved to and system centre O point position away from A point 4m parallel with the direction AD, mist
The unilateral laser beam flying distance of drop detection system is at least 8 meters, and (scanning distance depends on inner laser radar scanning sensor
Model), scanning angle is set as 0 ° -180 °, and angular resolution is set as 1 °, scan frequency 10Hz, then single week scan period
Scanning range in phase is one perpendicular to ground, semi circular surface that radius is 8m；When the spraying machine of operation presses its normal row
Speed is sailed by target zones boundary, droplet drift detection system is opened and simultaneously starts timing, the variation in drift droplet space at any time
Droplet detection system can be closed across the laser beam of droplet detection system, after timing 30 seconds, the field for completing drift droplet is adopted
Collection.
The workflow of droplet drift detection system single is as shown in Figure 3.
(1) firstly, two-dimensional laser radar scanning sensor parameters are arranged, including angular resolution, scanning range, scanning frequency
Rate etc.；
(2) data communication between two-dimensional laser radar scanning sensor and PC machine is debugged, it is ensured that data communication is normal；
(3) droplet detection system is moved to experimental plot, determines detection position and direction；
(4) droplet detection system and timing 30s are opened；
(5) timing time arrives, and closes droplet detection system, completes field data acquisition；
(6) after field data acquisition, data is handled, analyzed and are modeled based on the software systems developed in PC machine,
Complete the detection of drift droplet.
Basic principles and main features and advantages of the present invention of the invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (2)
- The detection system 1. a kind of droplet based on two-dimensional laser radar scanning sensor drifts about, it is characterised in that: swash including two dimension Optical radar scanning sensor, PC machine, Ethernet cable, battery, weather shield, holder, bracket and mobile platform, the PC Machine is connect by the Ethernet cable with the two-dimensional laser radar scanning sensor, the battery and the two-dimensional laser The power end of radar scanning sensor connects, and the signal output end and the weather of the two-dimensional laser radar scanning sensor are anti- Shield connection, the control output end of the two-dimensional laser radar scanning sensor is connect with the holder, described to pass through the branch Frame is installed on the mobile platform.
- 2. a kind of detection method of the droplet drift detection system based on two-dimensional laser radar scanning sensor, it is characterised in that: Target zones are that spraying machine sprays region, and buffer area is the isolation strip on targeting regions periphery, if A, B, C, D are respectively the 4 of buffer area Droplet detection system is moved to and system centre O point position away from A point 4m parallel with the direction AD, droplet inspection by a border vertices The unilateral laser beam flying distance of examining system is at least 8 meters, and scanning angle is set as 0 ° -180 °, and angular resolution is set as 1 °, scan frequency 10Hz, then the scanning range in single period scan period be one perpendicular to ground, radius is 8m half Disc；When the spraying machine of operation presses its normal travel speed by target zones boundary, unlatching droplet drift detection system is simultaneously opened Beginning timing, changing for space can close droplet after the laser beam of droplet detection system, timing 30 seconds to drift droplet at any time Detection system completes the field acquisition of drift droplet.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810780806.5A CN109116373B (en) | 2018-07-17 | 2018-07-17 | Droplet drift detection system based on two-dimensional laser radar scanning sensor |
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| CN201810780806.5A CN109116373B (en) | 2018-07-17 | 2018-07-17 | Droplet drift detection system based on two-dimensional laser radar scanning sensor |
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| CN109116373A true CN109116373A (en) | 2019-01-01 |
| CN109116373B CN109116373B (en) | 2022-12-09 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110006614A (en) * | 2019-02-01 | 2019-07-12 | 北京农业智能装备技术研究中心 | A kind of monitoring system and method for aerial pesticide medical fluid droplet cloud cluster drift trend in aerial pesticide |
| CN110476941A (en) * | 2019-09-30 | 2019-11-22 | 华南农业大学 | Automatic target detection variable rate spray control system, spraying machine and control method |
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| CN110476941A (en) * | 2019-09-30 | 2019-11-22 | 华南农业大学 | Automatic target detection variable rate spray control system, spraying machine and control method |
| CN110476941B (en) * | 2019-09-30 | 2023-09-26 | 华南农业大学 | Automatic target variable spraying control system, spraying machine and control method |
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| Publication number | Publication date |
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| CN109116373B (en) | 2022-12-09 |
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