CN109275411A - A kind of Wheat lodging detection system based on laser sensor - Google Patents
A kind of Wheat lodging detection system based on laser sensor Download PDFInfo
- Publication number
- CN109275411A CN109275411A CN201710628229.3A CN201710628229A CN109275411A CN 109275411 A CN109275411 A CN 109275411A CN 201710628229 A CN201710628229 A CN 201710628229A CN 109275411 A CN109275411 A CN 109275411A
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- CN
- China
- Prior art keywords
- laser sensor
- ptu
- holder
- machine
- controller
- 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.)
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
- A01D41/127—Control or measuring arrangements specially adapted for combines
- A01D41/1278—Control or measuring arrangements specially adapted for combines for automatic steering
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
Abstract
The present invention discloses a kind of Wheat lodging detection system based on laser sensor, including laser sensor, PTU holder, power module, controller and PC machine composition.It is characterized by: the PTU holder is mounted on the front end of combine harvester, the laser sensor is mounted on the adapting table of PTU holder, electric energy needed for power module provides work for PTU holder, laser sensor, PC machine and controller, controller is bi-directionally connected with PC machine, and laser sensor, PTU holder are connect with PC machine.The present invention is characterized in that: distinguishable normal wheat out and lodging wheat under non-structured farm environment, when encountering lodging wheat, accelerate harvesting progress and harvesting quality by the method turned down winder angle and improve feeding screw feeder distance, make combine harvester continuous work, improves the working efficiency of combine harvester.
Description
Technical field
The present invention relates to a kind of Wheat lodging detection systems, and in particular to a kind of Wheat lodging inspection based on laser sensor
Examining system.
Background technique
Lodging is the stalk due to extraneous factor initiation from upright state to permanent the phenomenon that misplacing, and is to influence wheat, water
One of an important factor for rice, seeding corn and other crops high yield.
Under non-structured natural environment, on the one hand plant lodging can impact grain yield, on the other hand
Influence is gathered in Modern Agricultural Machineization.Combine harvester carry out automatic harvesting when, can by turn down winder angle and
It improves the methods of feeding screw feeder distance and accelerates lodge small wheat harvesting progress and harvesting quality.Therefore how accurately to detect to lodge small
Wheat effectively improves the harvesting efficiency of combine harvester, becomes as an important project.
The present invention proposes a kind of Wheat lodging detection system based on laser sensor, is the intelligent and automatic of harvester
It is turned into industry offer theories integration the job area for widening agricultural machinery is improved the intelligent level of agricultural equipment, had very
Important realistic meaning and wide application prospect.
Summary of the invention
To solve the above-mentioned problems, the Wheat lodging detection based on laser sensor that the purpose of the present invention is to provide a kind of
System.
The present invention is achieved by the following technical solutions: a kind of Wheat lodging detection system based on laser sensor,
It is by laser sensor, PTU holder, power module, controller and PC machine composition.It is characterized by: the PTU holder is installed
In the front end of combine harvester, the laser sensor is mounted on the adapting table of PTU holder, and power module is PTU holder, swashs
Electric energy needed for optical sensor, PC machine and controller provide work, controller are bi-directionally connected with PC machine, laser sensor, PTU cloud
Platform is connect with PC machine.
The controller includes course changing control module, winder control module, screw feeder control module, memory module and leads to
Believe unit.The PC machine includes operating system, display unit, storage unit, microprocessor unit；Microprocessor unit and control
Device communication unit connection processed.
The present invention is based on above-mentioned compositions, its working principle is that: combine harvester walk work when, laser sensor acquisition away from
From information, PTU holder provides angle of revolution information, after handling range data and angle of revolution data by PC machine, identifies feature
Target fits guidance path and generates control parameter, and parameter is transferred to controller by PC machine, finally controls agricultural machinery by controller
Winder angle, feeding screw feeder distance and steering angle.
A kind of beneficial effect of the Wheat lodging detection system based on laser sensor of the present invention is: provided based on sharp
It is normal small that the Wheat lodging detection system of optical sensor can be such that combine harvester tells under non-structured farm environment
Wheat and lodging wheat, in complicated farm environment it is anticipated that path walk, when encountering lodging wheat, dialled by turning down
Standing grain wheel angle and the method for improving feeding screw feeder distance accelerate harvesting progress and harvesting quality, make combine harvester continuous work,
Improve the working efficiency of combine harvester.
Detailed description of the invention
Fig. 1 is a kind of Wheat lodging detection system structural block diagram based on laser sensor of the present invention.
Fig. 2 is a kind of method stream of the laser data processing of Wheat lodging detection system based on laser sensor of the present invention
Cheng Tu.
Specific embodiment
1 the present invention will be further explained with reference to the accompanying drawing:
A kind of Wheat lodging detection system based on laser sensor, be by laser sensor, PTU holder, power module,
Controller and PC machine composition.It is characterized by: the PTU holder is mounted on the front end of combine harvester, the laser sensing
Device is mounted on the adapting table of PTU holder, and power module provides work institute for PTU holder, laser sensor, PC machine and controller
The electric energy needed, controller are bi-directionally connected with PC machine, and PC machine is connect with laser sensor, PTU holder.
The present invention makes the two-dimensional signal of laser sensor to three-dimensional space by the angle of revolution information of acquisition PTU holder
Conversion.The range information collected is transmitted to PC machine by laser sensor, the characteristic target point that PC machine identifies laser, is intended
It closes out crop to be gathered in and has gathered in the edge line between crop, be converted into the parallel lines for having certain intervals therewith by calculating
As guidance path and navigational parameter is calculated, after PC machine sends navigational parameter to controller, controller carries out steering module
Travelling control.PC machine identifies lodging wheat, carries out harvesting to it further according to the difference in height of normal wheat and lodging wheat
When, controller sends instruction to winder control module and feeding screw feeder control module, turns down winder angle and improves feeding
Screw feeder distance is to accelerate harvesting progress and harvesting quality.
Claims (3)
1. a kind of Wheat lodging detection system based on laser sensor mainly includes laser sensor, PTU holder, power supply mould
Block, controller and PC machine composition.It is characterized by: the PTU holder is mounted on the front end of combine harvester, the laser
Sensor is mounted on the adapting table of PTU holder, and power module provides work for PTU holder, laser sensor, PC machine and controller
Required electric energy, controller are bi-directionally connected with PC machine, and laser sensor, PTU holder are connect with PC machine.
2. a kind of Wheat lodging detection system based on laser sensor according to claim 1, it is characterised in that: described
Controller include course changing control module, winder control module, screw feeder control module, memory module and communication unit.
3. a kind of Wheat lodging detection system based on laser sensor according to claim 1, it is characterised in that: described
PC machine include operating system, display unit, storage unit, microprocessor unit；Microprocessor unit and controller communication unit
Member connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710628229.3A CN109275411A (en) | 2017-07-22 | 2017-07-22 | A kind of Wheat lodging detection system based on laser sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710628229.3A CN109275411A (en) | 2017-07-22 | 2017-07-22 | A kind of Wheat lodging detection system based on laser sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109275411A true CN109275411A (en) | 2019-01-29 |
Family
ID=65185502
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710628229.3A Pending CN109275411A (en) | 2017-07-22 | 2017-07-22 | A kind of Wheat lodging detection system based on laser sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109275411A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2021019531A (en) * | 2019-07-26 | 2021-02-18 | 井関農機株式会社 | Reaping work method |
| CN114674823A (en) * | 2022-04-07 | 2022-06-28 | 北大荒集团黑龙江七星农场有限公司 | Detection system based on illumination influences rice seedling raising and growth |
| GB2610131A (en) * | 2021-08-16 | 2023-02-22 | Univ Jiangsu | Adaptive device for header capable of performing lodging detection based on laser sensor and control method thereof |
| WO2023019892A1 (en) * | 2021-08-16 | 2023-02-23 | 江苏大学 | Adaptive device for lodging detection header using laser sensor, and control method |
-
2017
- 2017-07-22 CN CN201710628229.3A patent/CN109275411A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2021019531A (en) * | 2019-07-26 | 2021-02-18 | 井関農機株式会社 | Reaping work method |
| GB2610131A (en) * | 2021-08-16 | 2023-02-22 | Univ Jiangsu | Adaptive device for header capable of performing lodging detection based on laser sensor and control method thereof |
| WO2023019892A1 (en) * | 2021-08-16 | 2023-02-23 | 江苏大学 | Adaptive device for lodging detection header using laser sensor, and control method |
| GB2610131B (en) * | 2021-08-16 | 2023-11-15 | Univ Jiangsu | Adaptive device for header capable of performing lodging detection based on laser sensor and control method thereof |
| CN114674823A (en) * | 2022-04-07 | 2022-06-28 | 北大荒集团黑龙江七星农场有限公司 | Detection system based on illumination influences rice seedling raising and growth |
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