CN110824500A - Wheat seedling root cutting fertilization laser radar scanning automatic line alignment method and system - Google Patents
Wheat seedling root cutting fertilization laser radar scanning automatic line alignment method and system Download PDFInfo
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- CN110824500A CN110824500A CN201911142709.4A CN201911142709A CN110824500A CN 110824500 A CN110824500 A CN 110824500A CN 201911142709 A CN201911142709 A CN 201911142709A CN 110824500 A CN110824500 A CN 110824500A
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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
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/495—Counter-measures or counter-counter-measures using electronic or electro-optical means
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- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Fertilizing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Transplanting Machines (AREA)
Abstract
The invention discloses a wheat seedling root cutting fertilization laser radar scanning automatic line aligning method and a system, wherein the method comprises the following steps: scanning the surface and the ground of the wheat seedlings through a laser radar sensor to obtain a digital signal diagram; identifying a wheat seedling area and a land area in the digital signal diagram; selecting a plurality of signal points on a vertical middle line of a digital signal diagram; extending from the position of each signal point to the horizontal direction of two sides respectively to obtain a first falling edge trigger point; fitting a middle fitting straight line according to the trigger points corresponding to the signal points; comparing the middle fitting straight line with a vertical central line of the digital signal diagram to obtain slope deviation and position deviation of the straight line; and controlling the working position of the working tool through the offset. The invention controls the operation device to adjust the direction and the position by outputting slope deviation of a straight line and position deviation of the lowest point, forms a closed loop and realizes automatic control operation.
Description
Technical Field
The invention relates to the technical field of intelligent agricultural information processing, in particular to a wheat seedling root cutting and fertilizing laser radar scanning automatic line aligning method and system.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
Under the condition that the cultivated land area in China is reduced year by year, the increase of the unit output rate of land becomes a necessary trend of agricultural industry development, and is particularly important for developing intelligent precise agriculture.
The root cutting and fertilizing agriculture of wheat after seedling emergence and green turning can improve the wheat yield by 10-20%, and the current root cutting and fertilizing operation is mainly finished manually, so that the efficiency is low and the cost is high;
the main mode of cutting root fertilization of present wheat seedling is for the tractor that people's operation hung and cut root fertilizer injection unit, through adjusting the tractor and traveling the position that ground connection control cut root fertilizer injection unit between the route, this mode exists the operation difficulty, inefficiency, to the big scheduling problem of wheat seedling injury.
Disclosure of Invention
In order to solve the problems, the invention provides a laser radar scanning automatic row alignment method and system for wheat seedling root cutting fertilization, which can automatically realize root cutting and row alignment of wheat seedlings and improve the efficiency of root cutting fertilization.
In some embodiments, the following technical scheme is adopted:
a laser radar scanning automatic line alignment method for wheat seedling root cutting and fertilization comprises the following steps:
scanning the surface and the ground of the wheat seedlings through a laser radar sensor to obtain a digital signal diagram;
identifying a wheat seedling area and a land area in the digital signal diagram;
selecting a plurality of signal points on a vertical middle line of a digital signal diagram; extending from each signal point position to two sides respectively in horizontal direction to obtain a first falling edge trigger point LxAnd Rx；
Fitting a middle fitting straight line according to the trigger points corresponding to the signal points;
comparing the middle fitting straight line with a vertical central line of the digital signal diagram to obtain slope deviation and position deviation of the straight line; and controlling the working position of the working tool through the offset.
The laser radar sensor is arranged on the wheat seedling root cutting and fertilizing tool, scans the surface and the ground of the wheat seedling, and identifies the wheat seedling area and the land area according to the difference of the distances from the surface and the ground of the wheat seedling to the laser radar sensor.
The digital signal map comprises at least two rows of wheat seedling areas, and a vertical center line of the digital signal map is located on a land area between the two rows of wheat seedling areas.
The position on the vertical central line is a land area, and at the wave crest, the wheat seedling area is at the wave trough, so that the boundary of the wheat seedling area can be found by finding the falling edge trigger point.
In other embodiments, a wheat root cutting fertilization lidar scanning automatic alignment system is disclosed, comprising:
the laser radar sensor is used for scanning the surface of the wheat seedlings and the ground to obtain a digital signal diagram;
means for identifying a wheat seedling area and a land area in the digital signal map;
selecting a plurality of signal points on a vertical middle line of a digital signal diagram; extending from each signal point position to two sides respectively in horizontal direction to obtain a first falling edge trigger point LxAnd RxThe apparatus of (1);
a device for fitting a middle fitting straight line according to the trigger points corresponding to the signal points;
the central fitting straight line is compared with the vertical central line of the digital signal diagram to obtain the slope deviation and the position deviation of the straight line; and a device for controlling the working position of the working tool by the offset.
In other embodiments, disclosed is a wheat seedling root cutting and fertilizing apparatus, comprising: the laser radar scanning automatic row alignment system for wheat seedling root cutting and fertilization.
In other embodiments, the wheat seedling root cutting and fertilizing device adopts the wheat seedling root cutting and fertilizing laser radar scanning automatic line aligning method.
Compared with the prior art, the invention has the beneficial effects that:
the invention utilizes the laser radar range finder to carry out scanning range finding, thus improving the speed of information acquisition; the interference can be reduced by searching from the center to the two sides for straight line fitting, and the speed of the fitted straight line is improved; the direction and the position are adjusted by controlling the operation device through outputting the slope deviation of the straight line and the position deviation of the lowest point, a closed loop is formed, and automatic control operation is realized.
Drawings
FIG. 1 is a flow chart of a laser radar scanning automatic row alignment method for root cutting and fertilization of wheat seedlings according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a laser radar scanning system according to an embodiment of the present invention;
the method comprises the following steps of 1, a digital signal diagram, 2, a left wheat seedling area, 3, a two-way path searching, 4, an analog signal, 5, a right wheat seedling area, 6, a land area, 7, a vertical central line of the signal diagram, 8, a middle fitting straight line and 9, a digital signal.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise, and it should be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of features, steps, operations, devices, components, and/or combinations thereof.
The embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
Example one
In one or more embodiments, a laser radar scanning automatic row alignment method for wheat seedling root cutting and fertilization is disclosed, and with reference to fig. 1, the method comprises the following steps:
(1) identifying the wheat seedlings and the land according to different distances from the wheat seedling surface and the land surface to the laser radar distance meter;
specifically, the laser radar sensor is arranged on the wheat seedling root cutting and fertilizing tool, the wheat seedling root cutting and fertilizing tool is close to the laser radar distance meter according to the distance between the surface of the wheat seedling and the laser radar distance meter, the land surface is far away from the laser radar distance meter, the wheat seedling part with a low distance parameter is known, and the land part with a high distance parameter is known, so that the wheat seedling area is represented as a low level, and the land area is represented as a high level on the digital signal diagram shown in fig. 2. Thus, in FIG. 2, 2 represents the left seedling area, 5 represents the right seedling area, and 6 represents the land area.
(2) Starting from the vertical central line of the signal diagram, from bottom to top, descending edge trigger points are searched towards two sides along the digital signal, and a bidirectional search path 3 is formed.
Specifically, firstly, the analog signal 4 obtained by scanning is converted into a digital signal 9, and a plurality of points P are selected from the vertical middle line 7 of a signal diagram at certain time intervals from bottom to top0，P1,…PnFrom P0～PnSequentially searching the first falling edge trigger point to two sides along the digital signal 9 to obtain a first left point LxFirst point R to the rightxAdding a left wheat seedling point set L and a right wheat seedling point set R respectively.
If the scanning is extended from the position of the signal point to the horizontal direction of two sides, the obtained first trigger point is a rising edge trigger point, and the vertical central line of the signal diagram is positioned on the wheat seedling area, at this time, the laser radar scanning device fixed together with the root cutting knife needs to be moved to the left (or right) for a set distance, and the scanning is performed again until the first trigger point is obtained, namely, the falling edge trigger point, and the vertical central line of the signal diagram is already positioned in the land area.
(3) Carrying out filter fitting on the left and right falling edge trigger point sets, and generating a middle fitting straight line 8 of the left and right point sets;
specifically, a middle point M is generated according to points on the left wheat seedling point set L and the right wheat seedling point set Rx＝ (Lx+Rx) 2, to MxAnd performing straight line fitting to obtain an intermediate fitting straight line 8.
(4) Comparing the vertical central line 7 of the signal diagram with the generated middle fitting straight line 8 to output an adjusting action;
specifically, the slope difference Δ k ═ k of the vertical central line 7 of the signal map and the generated intermediate fitting straight line 8 is calculatedz-knCalculating the difference value of x on the x axis of the points on the two straight linesz-xnAnd outputting the slope deviation and the position deviation of the straight line as external control parameters of the wheat seedling root cutting and fertilizing operation tool as position deviation, and adjusting the operation position in real time to realize automatic alignment of the wheat seedling root cutting and fertilizing operation.
Example two
In one or more embodiments, a wheat root cutting fertilization lidar scanning automatic row alignment system is disclosed, comprising:
the laser radar sensor is used for scanning the surface of the wheat seedlings and the ground to obtain a digital signal diagram;
means for identifying a wheat seedling area and a land area in the digital signal map;
selecting a plurality of signal points on a vertical middle line of a digital signal diagram; extending from each signal point position to two sides respectively in horizontal direction to obtain a first falling edge trigger point LxAnd RxThe apparatus of (1);
a device for fitting a middle fitting straight line according to the trigger points corresponding to the signal points;
the central fitting straight line is compared with the vertical central line of the digital signal diagram to obtain the slope deviation and the position deviation of the straight line; and a device for controlling the working position of the working tool by the offset.
EXAMPLE III
In one or more embodiments, disclosed is a wheat seedling root cutting and fertilizing apparatus, including: and the wheat seedling root cutting and fertilizing laser radar scanning automatic line aligning system in the second embodiment.
In other embodiments, a wheat seedling root cutting and fertilizing device is disclosed, which adopts the laser radar scanning automatic row alignment method for wheat seedling root cutting and fertilizing described in the first embodiment.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (10)
1. A wheat seedling root cutting fertilization laser radar scanning automatic line alignment method is characterized by comprising the following steps:
scanning the surface and the ground of the wheat seedlings through a laser radar sensor to obtain a digital signal diagram;
identifying a wheat seedling area and a land area in the digital signal diagram;
selecting a plurality of signal points on a vertical middle line of a digital signal diagram; extending and scanning from each signal point position to the horizontal directions of two sides respectively to obtain a first falling edge trigger point LxAnd Rx；
Fitting a middle fitting straight line according to the trigger points corresponding to the signal points;
comparing the middle fitting straight line with a vertical central line of the digital signal diagram to obtain slope deviation and position deviation of the straight line; and controlling the working position of the working tool through the offset.
2. The automatic row aligning method by laser radar scanning for wheat cutting and root fertilizing as claimed in claim 1, wherein the laser radar sensor is arranged on the wheat cutting and root fertilizing tool, the laser radar sensor scans the wheat surface and the ground, and the wheat area and the land area are identified according to the distance between the wheat surface and the ground and the laser radar sensor.
3. The laser radar scanning automatic row alignment method for wheat seedling root cutting fertilization as claimed in claim 1, wherein the digital signal diagram comprises at least two rows of wheat seedling areas, and a vertical center line of the digital signal diagram is located on a land area between the two rows of wheat seedling areas.
4. As claimed in claim1 the wheat seedling root cutting fertilization laser radar scanning automatic line aligning method is characterized in that a point L corresponding to each signal point is obtainedxAnd a point RxMiddle point M ofxM obtained for each signal pointxAnd performing straight line fitting to obtain an intermediate fitting straight line.
5. The automatic row alignment method for wheat seedling root cutting and fertilization through laser radar scanning is characterized in that if the scanning is extended from the position of the signal point to the horizontal direction of two sides, the obtained first trigger point is a rising edge trigger point, the laser radar sensor is moved until the obtained first trigger point is a falling edge trigger point.
6. The laser radar scanning automatic line aligning method for wheat seedling root cutting fertilization as claimed in claim 1, wherein a slope difference between the middle fitting straight line and a vertical central line of a digital signal diagram is calculated to obtain a straight line slope deviation.
7. The laser radar scanning automatic row alignment method for wheat seedling root cutting and fertilization as claimed in claim 1, wherein a difference value in an x-axis direction between a middle fitting straight line and a corresponding point on a vertical central line of a digital signal diagram is calculated to obtain a position deviation.
8. The utility model provides a wheat is cut automatic row system that is right of root fertilization lidar scanning which characterized in that includes:
the laser radar sensor is used for scanning the surface of the wheat seedlings and the ground to obtain a digital signal diagram;
means for identifying a wheat seedling area and a land area in the digital signal map;
selecting a plurality of signal points on a vertical middle line of a digital signal diagram; extending from each signal point position to two sides respectively in horizontal direction to obtain a first falling edge trigger point LxAnd RxThe apparatus of (1);
a device for fitting a middle fitting straight line according to the trigger points corresponding to the signal points;
the central fitting straight line is compared with the vertical central line of the digital signal diagram to obtain the slope deviation and the position deviation of the straight line; and a device for controlling the working position of the working tool by the offset.
9. The utility model provides a wheat cuts root fertilizer injection unit which characterized in that includes: the wheat root cutting fertilization lidar scanning automatic row alignment system of claim 8.
10. A wheat seedling root cutting and fertilizing device is characterized in that a laser radar scanning automatic line aligning method for wheat seedling root cutting and fertilizing is adopted according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911142709.4A CN110824500A (en) | 2019-11-20 | 2019-11-20 | Wheat seedling root cutting fertilization laser radar scanning automatic line alignment method and system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911142709.4A CN110824500A (en) | 2019-11-20 | 2019-11-20 | Wheat seedling root cutting fertilization laser radar scanning automatic line alignment method and system |
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| CN110824500A true CN110824500A (en) | 2020-02-21 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111587647A (en) * | 2020-04-26 | 2020-08-28 | 北京农业信息技术研究中心 | Fertilizing method and system |
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2019
- 2019-11-20 CN CN201911142709.4A patent/CN110824500A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111587647A (en) * | 2020-04-26 | 2020-08-28 | 北京农业信息技术研究中心 | Fertilizing method and system |
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Application publication date: 20200221 |