CN111587647B - Fertilizing method and system - Google Patents
Fertilizing method and system Download PDFInfo
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- CN111587647B CN111587647B CN202010340506.2A CN202010340506A CN111587647B CN 111587647 B CN111587647 B CN 111587647B CN 202010340506 A CN202010340506 A CN 202010340506A CN 111587647 B CN111587647 B CN 111587647B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C15/00—Fertiliser distributors
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
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Abstract
The embodiment of the invention provides a fertilizing method and a fertilizing system, wherein the method comprises the following steps: acquiring the mounting height of each sensor on a target agricultural machine according to a preset combination mode of the sensors, the mounting angle of each sensor on the target agricultural machine, the width of a current topdressing row, the mounting distance of the sensors and the height of a target crop; performing Kalman filtering processing on data acquired by each sensor to acquire an optimal estimation distance and an optimal prediction distance; acquiring an offset direction according to the optimal estimated distance and the optimal predicted distance; acquiring an offset distance according to the optimal estimated distance, the optimal predicted distance, the sensor installation angle, the first preset distance and the second preset distance; and changing the current position of the target agricultural machine according to the offset direction and the offset distance so as to fertilize the target crops. The embodiment of the invention utilizes different ultrasonic sensor combination modes to scan the topdressing row of the target crop in real time, and realizes the method for accurately aligning the topdressing row of the target crop.
Description
Technical Field
The invention relates to the technical field of agriculture, in particular to a fertilizing method and a fertilizing system.
Background
The wheat planting area is second to rice and corn, and plays a significant role in the grain production and planting in China. Wheat production has direct influence on food safety in China, increase of agricultural output value in wheat growing areas and increase of income of farmers. In 2018, the wheat seeding area in China is 24266.19 kilo hectares, the total yield is 13144.05 ten thousand tons, the yield is increased by 25.87 percent compared with the yield in 2005, and the seeding area accounts for 22 percent of the grain crops in China. The fertilizer is used as a determinant factor for grain yield increase to promote the increase of crop yield, and the statistical data of food and agricultural organization (FAD) of the united nations show that the yield increase effect of the fertilizer on crops is about 40-60 percent at most.
According to statistics, the usage amount of the fertilizer in farmland in 1996 one-year 2009 in China is increased by 41.2%, the corresponding increase rate of the total grain yield is only 5.1%, and the continuous fertilizer input does not bring stable increase of the grain yield, so that the important reason of the result is that the yield increase effect is reduced due to excessive fertilizer input and reduced fertilizer utilization rate. The Ministry of Chinese agriculture indicates that the average fertilizer usage amount in China is higher currently, and the average fertilizer usage amount per mu of crops reaches 21.9kg, which is far higher than the world average level of 8kg per mu, and is 2.6 times of that in the United states and 2.5 times of that in European Union. More serious, the excessive application of the fertilizer causes environmental problems, crops in many areas have lodging and yield reduction, and the problems of soil acidification and hardening are increasingly serious.
The wheat top dressing accurate alignment technology commonly used in China at present can be roughly divided into two types of machine vision navigation and satellite navigation. And the machine vision navigation collects image information through an image sensor and extracts the wheat seedling line center line. However, the machine vision navigation has high cost, and in an unstructured complex environment, a vision sensor is easily affected by an environmental noise signal and image information is lost due to crop loss, so that the real-time problem exists, and the system adaptability is poor.
At present, the application based on satellite positioning navigation is popularized, but the satellite positioning signal cannot be based on the satellite positioning navigation in the places with weak satellite positioning signals or incomplete map information, such as remote farms and indoor positioning navigation. The operation precision of satellite navigation is easily influenced by external environmental factors, including geographical position, operation ground fluctuation degree and the like, and the problems of low reliability, high implementation cost, complex installation and debugging and the like are solved.
Wheat belongs to close planting crops, the wheat top dressing is mainly manual at present, mechanical fertilization only accounts for about 30% of the planting area of main crops, the existing top dressing machine is mainly applied in a spreading mode, the utilization rate of chemical fertilizers is reduced due to untimely irrigation after the fertilizer is spread, and the roots and seedlings of the wheat are easily damaged due to the fact that a furrow opener of the top dressing machine enters the ground. The problems that the wheat seedlings and roots are damaged by the furrow opener and the like are caused by low line aligning precision in the operation process of the top dressing machine.
The injury of the wheat seedling root can easily cause the phenomena of suspension of the wheat seedling root, lack of water and nutrients, thin seedling, yellow seedling, withered seedling and the like, and cause the reduction of the wheat yield, and the soil hardening and land acidification can be caused in the past to cause the pollution of the environment and the water body.
Therefore, a method for precisely aligning crops during fertilization is needed.
Disclosure of Invention
In order to solve the above problems, embodiments of the present invention provide a fertilizing method and system.
In a first aspect, an embodiment of the present invention provides a fertilizing method, including:
acquiring the mounting height of each sensor on a target agricultural machine according to a preset combination mode of the sensors, the mounting angle of each sensor on the target agricultural machine, the width of a current topdressing row, the mounting distance of the sensors and the height of a target crop;
performing Kalman filtering processing on data acquired by each sensor for the current position of the target agricultural machinery at the current moment to acquire an optimal estimation distance and an optimal prediction distance;
acquiring the offset direction of the target agricultural machine according to the optimal estimated distance and the optimal predicted distance;
acquiring the offset distance of the target agricultural machine according to the optimal estimated distance, the optimal predicted distance, the sensor installation angle, a first preset distance and a second preset distance;
and changing the current position of the target agricultural machine according to the offset direction and the offset distance so as to fertilize the target crop.
Preferably, the acquiring of the installation height of each sensor on the target agricultural machine according to a preset combination mode of the sensor, the installation angle of each sensor on the target agricultural machine, the width of the current topdressing row, the installation distance of the sensor and the height of the target crop specifically comprises:
a first sensor, a second sensor, a third sensor and a fourth sensor are mounted on the target agricultural machine, the first sensor and the second sensor are mounted on one side of the midpoint of the front shaft of the target agricultural machine, the third sensor and the fourth sensor are mounted on the other side of the midpoint of the front shaft of the target agricultural machine, the distances between the first sensor and the fourth sensor and the midpoint of the front shaft of the target agricultural machine are equal, the distances between the second sensor and the third sensor and the midpoint of the front shaft of the target agricultural machine are equal, and the mounting heights of all the sensors are equal;
if the preset combination mode of the sensors is a line edge crossing mode, the installation angles of all the sensors are the same, the line edge crossing combination mode is specifically that the first sensor scans one side of the current additional fertilization line, the second sensor scans an adjacent additional fertilization line of the current additional fertilization line, the third sensor scans the other adjacent additional fertilization line of the current additional fertilization line, and the fourth sensor scans the other side of the current additional fertilization line;
the mounting height of each sensor is calculated according to the following formula:
wherein H represents an installation height of the first sensor, x represents a width of the current topdressing row, w represents an installation interval of the first sensor and the second sensor, θ represents an installation angle of the first sensor, and H represents a height of the target crop.
Preferably, the acquiring of the installation height of each sensor on the target agricultural machine according to a preset combination mode of the sensor, the installation angle of each sensor on the target agricultural machine, the width of the current topdressing row, the installation distance of the sensor and the height of the target crop specifically comprises:
a first sensor, a second sensor, a third sensor and a fourth sensor are mounted on the target agricultural machine, the first sensor and the second sensor are mounted on one side of the midpoint of the front shaft of the target agricultural machine, the third sensor and the fourth sensor are mounted on the other side of the midpoint of the front shaft of the target agricultural machine, the distances between the first sensor and the fourth sensor and the midpoint of the front shaft of the target agricultural machine are equal, the distances between the second sensor and the third sensor and the midpoint of the front shaft of the target agricultural machine are equal, and the mounting heights of all the sensors are equal;
if the preset combination mode of the sensors is an edge correction mode, the line edge correction combination mode is specifically that the first sensor scans the adjacent topdressing line of the current topdressing line at a preset angle, the second sensor vertically scans one side of the current topdressing line, the third sensor vertically scans the other side of the current topdressing line, and the fourth sensor scans the other adjacent topdressing line of the current topdressing line at the preset angle;
the mounting height of each sensor is calculated according to the following formula:
H＝cotθ×(x-w)+h，
wherein H represents an installation height of the first sensor, x represents a width of the current topdressing row, w represents an installation interval of the first sensor and the second sensor, θ represents an installation angle of the first sensor, and H represents a height of the target crop.
Preferably, the acquiring of the installation height of each sensor on the target agricultural machine according to a preset combination mode of the sensor, the installation angle of each sensor on the target agricultural machine, the width of the current topdressing row, the installation distance of the sensor and the height of the target crop specifically comprises:
a first sensor, a second sensor, a third sensor and a fourth sensor are mounted on the target agricultural machine, the first sensor and the second sensor are mounted on one side of the midpoint of the front shaft of the target agricultural machine, the third sensor and the fourth sensor are mounted on the other side of the midpoint of the front shaft of the target agricultural machine, the distances between the first sensor and the fourth sensor and the midpoint of the front shaft of the target agricultural machine are equal, the distances between the second sensor and the third sensor and the midpoint of the front shaft of the target agricultural machine are equal, and the mounting heights of all the sensors are equal;
if the preset combination mode of the sensors is a parallel combination mode, the parallel combination mode is specifically that the first sensor vertically scans an adjacent topdressing row of the current topdressing row, the second sensor vertically scans one side of the current topdressing row, the third sensor vertically scans the other side of the current topdressing row, and the fourth sensor vertically scans the other adjacent topdressing row of the current topdressing row;
and determining the installation height according to a preset height.
Preferably, the obtaining an offset distance of the target agricultural machine according to the optimal estimated distance, the optimal predicted distance, the sensor installation angle, the first preset distance, and the second preset distance specifically includes:
wherein d represents the offset distance, θ represents the installation angle of the sensor, y5Represents said first preset distance, y0Represents the second preset distance, z (k) represents the optimal predicted distance, and x (k) represents the optimal estimated distance.
Preferably, the first preset distance is obtained by:
placing a first calibration object at the position where the sensor outputs 5V;
and taking the distance measured by the sensor as the first preset distance.
Preferably, the second preset distance is determined by:
placing a second calibration object at the position where the sensor outputs 0V;
and taking the distance measured by the sensor as the second preset distance.
In a second aspect, an embodiment of the present invention provides a fertilization system, including:
the mounting module is used for acquiring the mounting height of each sensor on the target agricultural machine according to the preset combination mode of the sensors, the mounting angle of each sensor on the target agricultural machine, the width of the current topdressing row, the mounting distance of the sensors and the height of the target crops;
the Kalman module is used for carrying out Kalman filtering processing on data acquired by each sensor for the current position of the target agricultural machinery at the current moment to acquire an optimal estimation distance and an optimal prediction distance;
the offset direction module is used for acquiring the offset direction of the target agricultural machine according to the optimal estimation distance and the optimal prediction distance;
the offset distance module is used for acquiring the offset distance of the target agricultural machine according to the optimal estimated distance, the optimal predicted distance, the sensor installation angle, the first preset distance and the second preset distance;
and the fertilizing module is used for changing the current position of the target agricultural machine according to the offset direction and the offset distance so as to fertilize the target crops.
In a third aspect, an embodiment of the present invention provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the steps of the fertilization method provided in the first aspect of the present invention.
In a fourth aspect, an embodiment of the present invention provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of a fertilizing method provided in the first aspect of the present invention.
According to the fertilizing method and the fertilizing system provided by the embodiment of the invention, the top dressing row of the target crop is scanned in real time by using different ultrasonic sensor combination modes, so that a safer, more reliable, low-cost, high-row alignment precision method for the target crop top dressing row is improved for farmers. The method has important significance for enhancing the integration of agricultural machinery, improving the precision of topdressing, reducing the loss rate of crops, improving the utilization rate of chemical fertilizers, improving the yield and quality of crops and promoting the research of topdressing technologies and the development of equipment.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a flowchart of a fertilizing method provided in an embodiment of the present invention;
FIG. 2 is a schematic diagram of a sensor mounting method according to an embodiment of the present invention;
FIG. 3 is a diagram illustrating an edge correction mode according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a parallel combination mode in an embodiment of the present invention;
fig. 5 is an application schematic diagram of a fertilization method provided by an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a fertilization system provided by an embodiment of the present invention;
fig. 7 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Wheat belongs to close planting crops, the wheat top dressing is mainly manual at present, mechanical fertilization only accounts for about 30% of the planting area of main crops, the existing top dressing machine is mainly applied in a spreading mode, the utilization rate of chemical fertilizers is reduced due to untimely irrigation after the fertilizer is spread, and the roots and seedlings of the wheat are easily damaged due to the fact that a furrow opener of the top dressing machine enters the ground. The problems that the wheat seedlings and roots are damaged by the furrow opener and the like are caused by low line aligning precision in the operation process of the top dressing machine.
The embodiment of the invention provides a wheat topdressing accurate alignment method based on an ultrasonic sensor, which is reliable, convenient to use, low in cost and high in precision, and has the advantages of strengthening the integration of agricultural machinery, improving the topdressing alignment precision, reducing the wheat loss rate and improving the utilization rate of a chemical fertilizer.
Fig. 1 is a flowchart of a fertilizing method provided in an embodiment of the present invention, and as shown in fig. 1, the method includes:
s1, acquiring the installation height of each sensor on the target agricultural machine according to the preset combination mode of the sensors, the installation angle of each sensor on the target agricultural machine, the width of the current topdressing row, the installation distance of the sensors and the height of the target crops;
s2, performing Kalman filtering processing on data acquired by each sensor to obtain an optimal estimated distance and an optimal predicted distance for the current position of the target agricultural machinery at the current moment;
s3, obtaining the offset direction of the target agricultural machine according to the optimal estimated distance and the optimal predicted distance;
s4, obtaining the offset distance of the target agricultural machine according to the optimal estimated distance, the optimal predicted distance, the sensor installation angle, the first preset distance and the second preset distance;
and S5, changing the current position of the target agricultural machine according to the offset direction and the offset distance so as to fertilize the target crop.
In the embodiment of the invention, the wheat fertilization, the target agricultural machine as a fertilizer applicator and 4 sensors mounted on the fertilizer applicator are taken as examples for explanation, specifically, the mounted sensors are ultrasonic sensors, and the number of the sensors can be determined according to actual needs.
The ultrasonic sensor has two analog quantity output modes, namely an ascending mode and a descending mode, a measured object is placed at a position where 5V is output for calibration, and a measured object is placed at a position where 0V is output for calibration.
In the measuring range of the ultrasonic sensor, the ultrasonic output distance is a linear output mode, and a linear output relational expression of the ultrasonic sensor is calculated according to a calibrated value:
where y represents the output distance (mm) of the sensor, y5For measuring distance when the ultrasonic sensor outputs 5V analog voltage during calibration, y0X represents the output analog voltage value (V) for the distance when outputting the 0V analog voltage in the calibration process.
Fig. 2 is a schematic diagram of the installation manner of the sensor in the embodiment of the present invention, as shown in fig. 2, the mounting brackets are used to install the ultrasonic sensors S1, S2, S3 and S4 at positions from left to right in the traveling direction of the fertilizer applicator, the midpoint of the front wheelbase is defined as a center point, and the distances from the installation positions of S2 and S3 to the center point are ensured to be equal, that is, the distances from the installation positions of S1 to a2 and from the installation positions of S1 and S4 to the center point are equal, that is, the distances from the installation positions of b1 to b2, and the installation height and the angle of the ultrasonic sensors are adjusted to combine into different preset combination patterns.
Firstly, determining the installation angle of each sensor on the fertilizer applicator according to different preset combination modes of the four sensors. Specifically, the installation angle of each sensor in different preset combination modes is different, so that the scanning modes of the wheat topdressing line are different.
Different preset combination modes are different in corresponding calculation formula, and the corresponding calculation formula is selected according to the installation angle of each sensor on the fertilizer applicator, the width of the wheat top dressing row, the installation distance between the sensors and the height of the small face, so that the installation height of each sensor on the fertilizer applicator is calculated.
And for the current position of the fertilizer applicator at the current moment, each sensor acquires current data, and Kalman fusion is performed according to the data acquired by each sensor to obtain the optimal estimated distance and the optimal predicted distance. Specifically, the steps of performing kalman fusion are as follows:
starting a sampling timer, simultaneously acquiring data of each ultrasonic sensor, calculating a state covariance matrix P and a process covariance matrix Q according to the data of the ultrasonic sensors, wherein the source of measurement noise covariance is a sensor measurement error, a sensor manufacturer gives a precision index when in use, the index is a measurement covariance R, and the acquired data of the ultrasonic sensors are fused by a Kalman filtering method to obtain an optimal estimated distance and an optimal predicted distance.
And then, according to the difference between the optimal estimated distance and the optimal predicted distance, judging the offset direction of the position of the fertilizer applicator according to the positive and negative of the difference, using the row path direction of the fertilizer applicator as a guide, if the difference is positive, indicating that the wheat top dressing row is right-biased, and if the difference is negative, indicating that the wheat top dressing row is left-biased.
And calculating the offset distance of the fertilizer applicator according to the optimal estimated distance, the optimal predicted distance, the sensor installation angle, the first preset distance and the second preset distance, and then changing the current position of the fertilizer applicator according to the offset direction and the offset distance so as to accurately fertilize the wheat.
According to the fertilizing method provided by the embodiment of the invention, the top dressing row of the target crop is scanned in real time by using different ultrasonic sensors, so that a safer, more reliable, low-cost, high-row alignment precision and accurate target crop top dressing row alignment method is provided for farmers. The method has important significance for enhancing the integration of agricultural machinery, improving the precision of topdressing, reducing the loss rate of crops, improving the utilization rate of chemical fertilizers, improving the yield and quality of crops and promoting the research of topdressing technologies and the development of equipment.
On the basis of the foregoing embodiment, preferably, the acquiring, according to a preset combination mode of the sensors, an installation angle of each sensor on the target agricultural machine, a width of a current topdressing row, a sensor installation interval, and a height of the target crop, an installation height of each sensor on the target agricultural machine specifically includes:
a first sensor, a second sensor, a third sensor and a fourth sensor are mounted on the target agricultural machine, the first sensor and the second sensor are mounted on one side of the midpoint of the front shaft of the target agricultural machine, the third sensor and the fourth sensor are mounted on the other side of the midpoint of the front shaft of the target agricultural machine, the distances between the first sensor and the fourth sensor and the midpoint of the front shaft of the target agricultural machine are equal, the distances between the second sensor and the third sensor and the midpoint of the front shaft of the target agricultural machine are equal, and the mounting heights of all the sensors are equal;
if the preset combination mode of the sensor is a line edge crossing mode, the line edge crossing combination mode specifically comprises the following steps: the first sensor scans one side of the current additional fertilization line, the second sensor scans an adjacent additional fertilization line of the current additional fertilization line, the third sensor scans another adjacent additional fertilization line of the current additional fertilization line, and the fourth sensor scans the other side of the current additional fertilization line;
the mounting height of each sensor is calculated according to the following formula:
wherein H represents an installation height of the first sensor, x represents a width of the current topdressing row, w represents an installation interval of the first sensor and the second sensor, θ represents an installation angle of the first sensor, and H represents a height of the target crop.
Specifically, if the preset combination pattern of the sensors is a row edge crossing pattern, the installation pattern of the sensors in fig. 2 is a row edge crossing pattern, the installation angle of each sensor in the pattern is the same, and the pattern specifically is as follows: the middle two rows in fig. 2 are the first current top dressing row and the second current top dressing row, the left-most row is adjacent to the top dressing row, the right-most row is adjacent to the other top dressing row, the first sensor S1 scans the first current top dressing row at an angle, the second sensor S2 also scans the adjacent top dressing row at an angle, the third sensor S3 scans the other adjacent top dressing row at the same angle, and the fourth sensor S4 scans the second current top dressing row at the same angle.
And under the line edge crossing mode, obtaining the installation height of each sensor on the fertilizer applicator according to the installation angle of each sensor on the target agricultural machine, the width of the wheat topdressing line, the installation distance between the sensors and the height of the wheat and the following calculation formula:
wherein the installation height of each sensor is the same, H represents the installation height of the sensor, x represents the width of the current topdressing row, w represents the installation distance between the first sensor and the second sensor, theta represents the installation angle of the first sensor, and H represents the height of the target crop.
Fig. 3 is a schematic diagram of an edge correction mode in an embodiment of the present invention, and as shown in fig. 3, on the basis of the above embodiment, preferably, the obtaining of the installation height of each sensor on the target agricultural machine according to a preset combination mode of the sensors, an installation angle of each sensor on the target agricultural machine, a width of a current topdressing row, an installation distance of the sensors, and a height of the target crop specifically includes:
a first sensor, a second sensor, a third sensor and a fourth sensor are mounted on the target agricultural machine, the first sensor and the second sensor are mounted on one side of the midpoint of the front shaft of the target agricultural machine, the third sensor and the fourth sensor are mounted on the other side of the midpoint of the front shaft of the target agricultural machine, the distances between the first sensor and the fourth sensor and the midpoint of the front shaft of the target agricultural machine are equal, the distances between the second sensor and the third sensor and the midpoint of the front shaft of the target agricultural machine are equal, and the mounting heights of all the sensors are equal;
if the preset combination mode of the sensors is an edge correction mode, the edge correction mode is specifically that the first sensor scans the adjacent topdressing line of the current topdressing line at a preset angle, the second sensor vertically scans one side of the current topdressing line, the third sensor vertically scans the other side of the current topdressing line, and the fourth sensor scans the other adjacent topdressing line of the current topdressing line at the preset angle;
the mounting height of each sensor is calculated according to the following formula:
H＝cotθ×(x-w)+h，
wherein H represents an installation height of the first sensor, x represents a width of the current topdressing row, w represents an installation interval of the first sensor and the second sensor, θ represents an installation angle of the first sensor, and H represents a height of the target crop.
Specifically, in fig. 3, the middle row represents a current topdressing row, the left row represents an adjacent topdressing row, and the right row represents another adjacent topdressing row, and if the preset combination mode of the sensor is the edge correction mode, the specific content of the edge correction mode is as follows: the first sensor scans the adjacent additional fertilization line at a preset angle, the second sensor vertically scans one side of the current additional fertilization line, the third sensor vertically scans the other side of the current additional fertilization line, and the fourth sensor scans the other adjacent additional fertilization line at a preset angle.
The mounting height of each sensor is then calculated according to the following formula:
H＝cotθ×(x-w)+h，
wherein the installation height of each sensor is the same, H represents the installation height of the sensor, x represents the width of the current topdressing row, w represents the installation distance between the first sensor and the second sensor, θ represents the installation angle of the first sensor, and H represents the height of the target crop.
Fig. 4 is a schematic view of a parallel combination mode in an embodiment of the present invention, as shown in fig. 4, on the basis of the above embodiment, preferably, the obtaining of the installation height of each sensor on the target agricultural machine according to the preset combination mode of the sensor, the installation angle of each sensor on the target agricultural machine, the width of the current topdressing row, the installation distance of the sensor, and the height of the target crop specifically includes:
a first sensor, a second sensor, a third sensor and a fourth sensor are mounted on the target agricultural machine, the first sensor and the second sensor are mounted on one side of the midpoint of the front shaft of the target agricultural machine, the third sensor and the fourth sensor are mounted on the other side of the midpoint of the front shaft of the target agricultural machine, the distances between the first sensor and the fourth sensor and the midpoint of the front shaft of the target agricultural machine are equal, the distances between the second sensor and the third sensor and the midpoint of the front shaft of the target agricultural machine are equal, and the mounting heights of all the sensors are equal;
if the preset combination mode of the sensors is a parallel combination mode, the parallel combination mode is specifically that the first sensor vertically scans an adjacent topdressing row of the current topdressing row, the second sensor vertically scans one side of the current topdressing row, the third sensor vertically scans the other side of the current topdressing row, and the fourth sensor vertically scans the other adjacent topdressing row of the current topdressing row;
and determining the installation height according to a preset height.
Specifically, 6 sensors are installed in fig. 4, the installation heights of the 6 sensors are the same, three sensors are installed on the left side of the midpoint of the front shaft of the fertilizer applicator, three sensors are installed on the right side of the midpoint of the front shaft of the fertilizer applicator, the three sensors on the left side vertically scan one side of the current additional fertilizer row, the three sensors on the right side vertically scan the other side of the current additional fertilizer row, the installation height H of each sensor in the mode is 30-40cm, and the installation heights of the sensors are guaranteed to be consistent.
On the basis of the foregoing embodiment, preferably, the obtaining an offset distance of the target agricultural machine according to the optimal estimated distance, the optimal predicted distance, the sensor installation angle, the first preset distance, and the second preset distance specifically includes:
wherein d represents the offset distance, θ represents the installation angle of the sensor, y5Represents said first preset distance, y0Represents the second preset distance, z (k) represents the optimal predicted distance, and x (k) represents the optimal estimated distance.
Specifically, the determination method of the optimal predicted distance and the optimal estimated distance is as follows:
step one, a state covariance matrix P is a matrix formed by covariance among states, diagonal elements are the variances of all the states, other elements are the covariance of all the states, the state covariance can be a multi-dimensional matrix, and the dimension and the state number are consistent.
Step two, acquiring X error of each state according to sensor data and recording the X error as Xe。
Xe＝[X1e,X2e,X3e,X4e]T，
And step three, the process covariance matrix Q is a covariance matrix formed by the covariance between the element errors of the state X.
The covariance of each state X in the first step is obtained by the following formula:
wherein n is the number of filtering in each time, X1iIs the analog voltage value, X, output by the S1 sensor2iFor the analog voltage value output by the S2 sensor,
for the average of the analog voltage values output by the S1 sensor,
the average value of the analog voltage values is output for the S2 sensor.
And in the second step, the error of each state X is obtained through the following formula:
wherein n is the number of filtering in each time, XiFor the analog voltage values output by the respective sensors,
the average value of the analog voltage values is output for the sensor.
And measuring the noise covariance R in the third step, and obtaining the noise covariance R through the following formula:
the specific steps of Kalman filtering fusion of data collected by a sensor comprise:
first, the system of the next state is predicted by using the process model of the system. Assuming that the present system state is k, the present state can be predicted based on the last state of the system according to the model of the system:
X(k|k-1)＝AX(k-1|k-1)+BU(k)。
x (k | k-1) is the result of the previous state prediction, X (k-1| k-1) is the optimal result of the previous state, A and B are system parameters, and U (k) is the control quantity of the current state, which may be 0 if there is no control quantity.
The state covariance matrix P is then updated:
P(K|K-1)＝A P(K-1|K-1)AT+Q，
wherein P (k | k-1) is the covariance corresponding to X (k | k-1), P (k-1| k-1) is the covariance corresponding to X (k-1| k-1), AT represents the transpose of A, and Q is the covariance of the system process.
Then, the predicted values Z (K) and the measured values of the sensors are combined to obtain the optimized estimated value X (k | k) of the current state (k).
X(k|k)＝X(k|k-1)+Kg(k)(Z(k)-H X(k|k-1))，
Where Kg is the Kalman gain, H is a parameter of the measurement system, X (k | k-1) is the result of the last state prediction, and X (k-1| k-1) is the optimal result of the last state.
Next, the Kalman gain Kg is calculated.
Kg(k)＝P(k|k-1)HT/(H P(k|k-1)HT+R)，
Where H is a parameter of the measurement system, P (k | k-1) is a covariance corresponding to X (k | k-1), P (k-1| k-1) is a covariance corresponding to X (k-1| k-1), and R is a measurement noise covariance.
Finally, the covariance P (k | k) of X (k | k) in the k state is updated.
P(k|k)＝(I-Kg(k)H)P(k|k-1)，
Wherein H is a parameter of the measurement system, P (k | k-1) is a covariance corresponding to X (k | k-1), Kg is a Kalman gain, and I is an identity matrix.
On the basis of the above embodiment, preferably, the first preset distance is obtained by:
placing a first calibration object at the position where the sensor outputs 5V;
and taking the distance measured by the sensor as the first preset distance.
Y in the above formula5Which is the first predetermined distance in the embodiments of the present invention.
On the basis of the above embodiment, preferably, the second preset distance is determined as follows:
placing a second calibration object at the position where the sensor outputs 0V;
and taking the distance measured by the sensor as the second preset distance.
Y in the above formula0Which is the first predetermined distance in the embodiments of the present invention.
The embodiment of the invention also comprises the following steps: and uploading the data of the offset distance of the wheat top dressing row to an interface system, and uploading the offset distance of the wheat top dressing row to access equipment by the interface system in a corresponding communication mode according to different communication modes of the access equipment and displaying the offset distance in real time.
Fig. 5 is a schematic diagram of an application of a fertilizing method provided by an embodiment of the present invention, and as shown in fig. 5, the method includes an information processing center 1, a display unit 2, an S1 ultrasonic sensor 3, an S2 ultrasonic sensor 4, an S3 ultrasonic sensor 5, and an S4 ultrasonic sensor 6, wherein the whole system is installed on an agricultural vehicle, and the S1, the S2, the S3, and the S4 ultrasonic sensors respectively scan topdressing row information of wheat. The information processing center 1 acquires the wheat top dressing line information, obtains the offset distance of the wheat top dressing line by adopting a Kalman data fusion method, uploads the obtained offset data to the access equipment and displays the offset data in real time.
The ultrasonic sensor is selected from ultrasonic sensors with the same parameters of working voltage, measurement precision, blind areas and the like, the model of the ultrasonic sensor is CUM18-M1DV, the working voltage is 10-30VDC, the measurement distance is 50-1000mm, the diffusion angle of the ultrasonic receiving and transmitting module is not more than 15 degrees, and the frequency of acquired data is 20 HZ.
The technical scheme of the embodiment of the invention comprises a wheat topdressing accurate alignment method based on an ultrasonic sensor, which comprises the following steps:
s1, initializing and calibrating the ultrasonic sensor, and performing self-defined setting on a plurality of operation parameters of the accurate alignment system through an interactive interface;
s2 mounting, namely mounting the ultrasonic sensors S1, S2, S3 and S4 at positions from left to right in the traveling direction of the target agricultural machine by using mounting brackets, and combining the positions into different accurate alignment modes by adjusting the mounting height and angle of the ultrasonic sensors;
s3, information processing, namely, starting a sampling timer, then acquiring ultrasonic data, performing Kalman data fusion on the acquired ultrasonic sensor data, and calculating to obtain the offset distance of the wheat topdressing line;
and S4, uploading the offset distance of the wheat top dressing row to the access equipment in a corresponding communication mode according to different communication modes of the access equipment, and displaying the offset distance on the access equipment.
According to the embodiment, the width x of the top dressing row of the wheat is 20cm, the installation distance between the S1 sensor and the S2 sensor is 10cm, the installation angle theta of the S1 sensor is 45 degrees, and the height h of the wheat is 8 cm.
And (3) obtaining the installation height of the sensor through a formula corresponding to the line edge crossing mode, and calculating the installation height H of the line edge crossing mode sensor to be 23 cm.
And (3) obtaining the installation height of the sensor through a formula corresponding to the edge correction mode, and calculating the installation height H of the edge correction mode sensor to be 18 cm.
The installation height H of each sensor in the parallel combination mode is 30-40cm, and the installation height of each sensor is ensured to be consistent.
According to the method for installing the sensor in the line edge crossing mode provided by the embodiment of the invention, the ultrasonic sensors S1, S2, S3 and S4 can be combined into the line edge crossing mode with the installation angle theta of 45 degrees and the installation height H of 23cm, and the mode ensures that the sensors S1 and S2 scan an adjacent additional fertilizer line and the sensors S3 and S4 scan another adjacent additional fertilizer line.
According to the edge correction mode sensor mounting method provided by the embodiment of the invention, the angle theta of mounting the ultrasonic sensors of S1 and S3 is 45 degrees and the angle theta of mounting the ultrasonic sensors of S2 and S4 is 90 degrees and the height H is 18cm, and are combined into an edge correction mode, and the mode ensures that S1 and S3 scan the left side of the adjacent additional fertilization row and S2 and S4 scan the right side of the adjacent additional fertilization row downwards vertically.
According to the installation method of the parallel combination mode sensor provided by the embodiment of the invention, the installation angle theta of the ultrasonic sensors S1, S2 and S3 is 90 degrees, and the installation angle theta of the ultrasonic sensors S2 and S3 is 30cm, so that the ultrasonic sensors can be combined into the parallel combination mode, the mode ensures that the sensor S1 scans the left side of the adjacent additional fertilizer row, S2 vertically scans the central position of the additional fertilizer row downwards, and S3 scans the right side of the adjacent additional fertilizer row.
Farmers can adjust the height position and the angle of the ultrasonic sensor according to actual conditions to combine different detection modes to meet the actual requirements of topdressing in different growth periods.
Fig. 6 is a schematic structural diagram of a fertilization system provided in an embodiment of the present invention, and as shown in fig. 6, the fertilization system includes: a mounting module 601, a kalman module 602, an offset direction module 603, an offset distance module 604, and a fertilization module 605, wherein:
the mounting module 601 is used for acquiring the mounting height of each sensor on the target agricultural machine according to a preset combination mode of the sensors, the mounting angle of each sensor on the target agricultural machine, the width of the current topdressing row, the mounting distance of the sensors and the height of the target crops;
the kalman module 602 is configured to perform kalman filtering processing on data acquired by each sensor to obtain an optimal estimated distance and an optimal predicted distance for a current position of the target agricultural machinery at a current time;
the offset direction module 603 is configured to obtain an offset direction of the target agricultural machine according to the optimal estimated distance and the optimal predicted distance;
the offset distance module 604 is configured to obtain an offset distance of the target agricultural machine according to the optimal estimated distance, the optimal predicted distance, a sensor installation angle, a first preset distance, and a second preset distance;
the fertilizing module 605 is configured to change the current position of the target agricultural machine according to the offset direction and the offset distance, so as to fertilize the target crop.
For the embodiment of the system, to implement the above method embodiments, please refer to the above method embodiments for specific flows and details, which are not described herein again.
Fig. 7 is a schematic entity structure diagram of an electronic device according to an embodiment of the present invention, and as shown in fig. 7, the electronic device may include: a processor (processor)701, a communication Interface (Communications Interface)702, a memory (memory)703 and a bus 704, wherein the processor 701, the communication Interface 702 and the memory 703 complete communication with each other through the bus 704. The communication interface 702 may be used for information transfer of an electronic device. The processor 701 may invoke logic instructions in the memory 703 to perform a method comprising:
acquiring the mounting height of each sensor on a target agricultural machine according to a preset combination mode of the sensors, the mounting angle of each sensor on the target agricultural machine, the width of a current topdressing row, the mounting distance of the sensors and the height of a target crop;
performing Kalman filtering processing on data acquired by each sensor for the current position of the target agricultural machinery at the current moment to acquire an optimal estimation distance and an optimal prediction distance;
acquiring the offset direction of the target agricultural machine according to the optimal estimated distance and the optimal predicted distance;
acquiring the offset distance of the target agricultural machine according to the optimal estimated distance, the optimal predicted distance, the sensor installation angle, a first preset distance and a second preset distance;
and changing the current position of the target agricultural machine according to the offset direction and the offset distance so as to fertilize the target crop.
In addition, the logic instructions in the memory 703 can be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the above-described method embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, an embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented to perform the transmission method provided in the foregoing embodiments when executed by a processor, and for example, the method includes:
acquiring the mounting height of each sensor on a target agricultural machine according to a preset combination mode of the sensors, the mounting angle of each sensor on the target agricultural machine, the width of a current topdressing row, the mounting distance of the sensors and the height of a target crop;
performing Kalman filtering processing on data acquired by each sensor for the current position of the target agricultural machinery at the current moment to acquire an optimal estimation distance and an optimal prediction distance;
acquiring the offset direction of the target agricultural machine according to the optimal estimated distance and the optimal predicted distance;
acquiring the offset distance of the target agricultural machine according to the optimal estimated distance, the optimal predicted distance, the sensor installation angle, a first preset distance and a second preset distance;
and changing the current position of the target agricultural machine according to the offset direction and the offset distance so as to fertilize the target crop.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (4)
1. A method of fertilizing, comprising:
acquiring the mounting height of each sensor on a target agricultural machine according to a preset combination mode of the sensors, the mounting angle of each sensor on the target agricultural machine, the width of a current topdressing row, the mounting distance of the sensors and the height of a target crop;
according to the preset combination mode of the sensors, the installation angle of each sensor on the target agricultural machine, the width of the current topdressing line, the installation distance of the sensors and the height of the target crops, the installation height of each sensor on the target agricultural machine is obtained, and the method specifically comprises the following steps:
a first sensor, a second sensor, a third sensor and a fourth sensor are mounted on the target agricultural machine, the first sensor and the second sensor are mounted on one side of the midpoint of the front shaft of the target agricultural machine, the third sensor and the fourth sensor are mounted on the other side of the midpoint of the front shaft of the target agricultural machine, the distances between the first sensor and the fourth sensor and the midpoint of the front shaft of the target agricultural machine are equal, the distances between the second sensor and the third sensor and the midpoint of the front shaft of the target agricultural machine are equal, and the mounting heights of all the sensors are equal;
if the preset combination mode of the sensors is a line edge crossing mode, the installation angles of all the sensors are the same, the line edge crossing combination mode is specifically that the first sensor scans one side of the current additional fertilization line, the second sensor scans an adjacent additional fertilization line of the current additional fertilization line, the third sensor scans the other adjacent additional fertilization line of the current additional fertilization line, and the fourth sensor scans the other side of the current additional fertilization line;
the mounting height of each sensor is calculated according to the following formula:
wherein H represents an installation height of the first sensor, x represents a width of the current topdressing row, w represents an installation interval of the first sensor and the second sensor, θ represents an installation angle of the first sensor, and H represents a height of the target crop;
if the preset combination mode of the sensors is an edge correction mode, the edge correction mode is specifically that the first sensor scans the adjacent topdressing line of the current topdressing line at a preset angle, the second sensor vertically scans one side of the current topdressing line, the third sensor vertically scans the other side of the current topdressing line, and the fourth sensor scans the other adjacent topdressing line of the current topdressing line at the preset angle;
the mounting height of each sensor is calculated according to the following formula:
H＝cotθ×(x-w)+h，
wherein H represents an installation height of the first sensor, x represents a width of the current topdressing row, w represents an installation interval of the first sensor and the second sensor, θ represents an installation angle of the first sensor, and H represents a height of the target crop;
if the preset combination mode of the sensors is a parallel combination mode, the parallel combination mode is specifically that the first sensor vertically scans an adjacent topdressing row of the current topdressing row, the second sensor vertically scans one side of the current topdressing row, the third sensor vertically scans the other side of the current topdressing row, and the fourth sensor vertically scans the other adjacent topdressing row of the current topdressing row;
determining the installation height according to a preset height;
performing Kalman filtering processing on data acquired by each sensor for the current position of the target agricultural machinery at the current moment to acquire an optimal estimation distance and an optimal prediction distance;
acquiring the offset direction of the target agricultural machine according to the positive and negative of the difference value of the optimal estimated distance and the optimal predicted distance;
acquiring the offset distance of the target agricultural machine according to the optimal estimated distance, the optimal predicted distance, the sensor installation angle, a first preset distance and a second preset distance;
changing the current position of the target agricultural machine according to the offset direction and the offset distance so as to fertilize the target crop;
the obtaining of the offset distance of the target agricultural machine according to the optimal estimated distance, the optimal predicted distance, the sensor installation angle, the first preset distance and the second preset distance specifically includes:
wherein d represents the offset distance, θ represents a mounting angle of the first sensor, y5Represents said first preset distance, y0Represents the second preset distance, Z (K) represents the optimal predicted distance, and X (K) represents the optimal estimated distance;
the first preset distance is obtained by the following method:
placing a first calibration object at the position where the sensor outputs 5V;
taking the distance measured by the sensor as the first preset distance;
the second preset distance is determined as follows:
placing a second calibration object at the position where the sensor outputs 0V;
taking the distance measured by the sensor as the second preset distance;
wherein the sensor is an ultrasonic sensor, and the crop comprises wheat.
2. A fertilization system, comprising:
the mounting module is used for acquiring the mounting height of each sensor on the target agricultural machine according to the preset combination mode of the sensors, the mounting angle of each sensor on the target agricultural machine, the width of the current topdressing row, the mounting distance of the sensors and the height of the target crops;
the Kalman module is used for carrying out Kalman filtering processing on data acquired by each sensor for the current position of the target agricultural machinery at the current moment to acquire an optimal estimation distance and an optimal prediction distance;
the offset direction module is used for acquiring the offset direction of the target agricultural machine according to the positive and negative of the difference value of the optimal estimated distance and the optimal predicted distance;
the offset distance module is used for acquiring the offset distance of the target agricultural machine according to the optimal estimated distance, the optimal predicted distance, the sensor installation angle, the first preset distance and the second preset distance;
the fertilization module is used for changing the current position of the target agricultural machine according to the offset direction and the offset distance so as to fertilize the target crops;
according to the preset combination mode of the sensors, the installation angle of each sensor on the target agricultural machine, the width of the current topdressing line, the installation distance of the sensors and the height of the target crops, the installation height of each sensor on the target agricultural machine is obtained, and the method specifically comprises the following steps:
a first sensor, a second sensor, a third sensor and a fourth sensor are mounted on the target agricultural machine, the first sensor and the second sensor are mounted on one side of the midpoint of the front shaft of the target agricultural machine, the third sensor and the fourth sensor are mounted on the other side of the midpoint of the front shaft of the target agricultural machine, the distances between the first sensor and the fourth sensor and the midpoint of the front shaft of the target agricultural machine are equal, the distances between the second sensor and the third sensor and the midpoint of the front shaft of the target agricultural machine are equal, and the mounting heights of all the sensors are equal;
if the preset combination mode of the sensors is a line edge crossing mode, the installation angles of all the sensors are the same, the line edge crossing combination mode is specifically that the first sensor scans one side of the current additional fertilization line, the second sensor scans an adjacent additional fertilization line of the current additional fertilization line, the third sensor scans the other adjacent additional fertilization line of the current additional fertilization line, and the fourth sensor scans the other side of the current additional fertilization line;
the mounting height of each sensor is calculated according to the following formula:
wherein H represents an installation height of the first sensor, x represents a width of the current topdressing row, w represents an installation interval of the first sensor and the second sensor, θ represents an installation angle of the first sensor, and H represents a height of the target crop;
if the preset combination mode of the sensors is an edge correction mode, the edge correction mode is specifically that the first sensor scans the adjacent topdressing line of the current topdressing line at a preset angle, the second sensor vertically scans one side of the current topdressing line, the third sensor vertically scans the other side of the current topdressing line, and the fourth sensor scans the other adjacent topdressing line of the current topdressing line at the preset angle;
the mounting height of each sensor is calculated according to the following formula:
H＝cotθ×(x-w)+h，
wherein H represents an installation height of the first sensor, x represents a width of the current topdressing row, w represents an installation interval of the first sensor and the second sensor, θ represents an installation angle of the first sensor, and H represents a height of the target crop;
if the preset combination mode of the sensors is a parallel combination mode, the parallel combination mode is specifically that the first sensor vertically scans an adjacent topdressing row of the current topdressing row, the second sensor vertically scans one side of the current topdressing row, the third sensor vertically scans the other side of the current topdressing row, and the fourth sensor vertically scans the other adjacent topdressing row of the current topdressing row;
determining the installation height according to a preset height;
the obtaining of the offset distance of the target agricultural machine according to the optimal estimated distance, the optimal predicted distance, the sensor installation angle, the first preset distance and the second preset distance specifically includes:
wherein d represents the offset distance, θ represents a mounting angle of the first sensor, y5Represents said first preset distance, y0Represents the second preset distance, Z (K) represents the optimal predicted distance, and X (K) represents the optimal estimated distance;
the first preset distance is obtained by the following method:
placing a first calibration object at the position where the sensor outputs 5V;
taking the distance measured by the sensor as the first preset distance;
the second preset distance is determined as follows:
placing a second calibration object at the position where the sensor outputs 0V;
taking the distance measured by the sensor as the second preset distance;
wherein the sensor is an ultrasonic sensor, and the crop comprises wheat.
3. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the steps of the fertilization method of claim 1.
4. A non-transitory computer readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the fertilizing method as claimed in claim 1.
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