CN115808930A - Control system of paddy field weeding robot - Google Patents
Control system of paddy field weeding robot Download PDFInfo
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- CN115808930A CN115808930A CN202310086266.1A CN202310086266A CN115808930A CN 115808930 A CN115808930 A CN 115808930A CN 202310086266 A CN202310086266 A CN 202310086266A CN 115808930 A CN115808930 A CN 115808930A
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Abstract
The invention discloses a control system of a paddy field weeding robot, which comprises a data acquisition port, a server port and a control platform port, wherein the data acquisition port is used for acquiring weeding equipment data and planting area data, the server port is used for introducing the data acquired by the data acquisition port to carry out turbidity change calculation and risk degree calculation, classifying and storing the data, modeling each planting area according to the risk degree, introducing a turbidity change calculation module to estimate the time of reducing turbidity to a dangerous state, and sequencing according to the dangerous state so that the weeding equipment has sufficient preparation time before the turbidity is reduced to the dangerous state, and therefore a vortex wheel type mechanism of the weeding robot stirs silt in a designated small water field after reaching the position, the light transmittance in water is reduced, the photosynthesis of weeds in the water is inhibited, the growth environment of the weeds is damaged, and the purpose of eliminating the weeds in the paddy field is achieved.
Description
Technical Field
The invention relates to the field of general control systems, in particular to a control system of a paddy field weeding robot.
Background
The control system is a management system with self-goal and function composed of control subject, control object and control medium, the control system is used to maintain and change any interest or variable quantity in the machine, mechanism or other equipment according to the desired mode, the control system is used to make the controlled object reach the predetermined ideal state, the control system makes the controlled object tend to a certain desired stable state, when the control of the paddy field weeding robot is carried out, a control system of the paddy field weeding robot is needed, the paddy field weeding robot based on the vortex wheel mechanism is proposed previously, the damage to the growing crop can be avoided during the operation, and the robot can be controlled to walk according to the preset path, the kinetic energy is transferred to the vortex wheel mechanism by the motor rotation driving belt, the vortex wheel mechanism installed at the bottom of the chassis rotates at high speed, the silt in the water is stirred, the light transmittance in the water is reduced, the photosynthesis of the weeds in the water is inhibited, the growing environment of the weeds is damaged, the purpose of eliminating the weeds in the field is achieved, compared with the traditional mode of cutting the weeds and removing the weeds by relying on pesticide, the weeding device can provide a novel mode, but when the device is operated, the invention can only control the water field weeding machine can uniformly stir the water field, the invention can not control the problem of preventing the water field by stirring and can be easily caused by the water field weeding machine, the water field.
Disclosure of Invention
The invention mainly aims to provide a control system of a paddy field weeding robot, which can effectively solve the problems in the background art: we have proposed the paddy field weeding robot based on whirling wheel mechanism before, can avoid the destruction to the growth crop during operation, and steerable robot is walked according to the preset route, rotate the drive belt through the motor and transmit kinetic energy to whirling wheel mechanism, realize that the whirling wheel mechanism who installs in the chassis bottom rotates at a high speed, stir the silt in the aquatic, reduce the luminousness in aquatic, restrain the photosynthesis of aquatic weeds, destroy the growth environment of weeds, thereby reach the purpose of eliminating weeds in the paddy field, compare the tradition and utilize the cutting to destroy weeds and rely on the mode that the pesticide removed weeds, the device can provide novel weeding mode, but its when operation, can only walk through appointed route, stir the paddy field evenly, lead to some positions to stir too much like this and lead to the plant loss, some positions stir inadequately simultaneously, lead to the overgrowth of water grass, can's according to the water, water grass and plant's basic condition can's control the stirring process.
In order to achieve the purpose, the invention adopts the technical scheme that:
a control system of a paddy field weeding robot comprises a data acquisition port, a server port and a control platform port, wherein the data acquisition port is used for acquiring weeding equipment data and planting area data, the server port is used for introducing the data acquired by the data acquisition port to perform turbidity change calculation and risk degree calculation, classifying and storing the data, modeling each planting area according to the risk degree, and the control platform port is used for extracting and calculating data information and controlling the operation of weeding equipment;
the data acquisition port comprises a weeding equipment data acquisition module and a planting area data acquisition module, the weeding equipment data acquisition module is used for acquiring data of the weeding robot, and the planting area data acquisition module is used for acquiring density data of water bodies, planted plants and conventional aquatic weeds in a planting area.
The planting area data acquisition module comprises a water body turbidity acquisition unit, the water body turbidity acquisition unit is used for acquiring the turbidity of the water body, the water body turbidity acquisition unit comprises an acquisition strategy of the water body turbidity, and the specific method comprises the following steps: modularly dividing the paddy field into
The small block controls the aerial optical equipment to collect the light reflection and incident light intensity of the water body, and simultaneously calculates and collects the distance between the aerial optical equipment and each block, so that the calculation formula of the turbidity of the water body is as follows:
in which
Is the intensity of the incident light and,
is the light intensity of the emergent light,
is a coefficient of proportionality that is,
for the distance between the light source and the receiving sensor, at least two points of time are taken for calculating the turbidity of the water body of the same paddy field water body reference object
To obtain the water turbidity
The change curve of the change with time is known from the prior art, and the turbidity of the water body
The time-varying curve is an image with a decreasing linear function in the former period of time and in the latter period of time due to the turbidity of the water body
Is lower than the threshold value of the turbidity of the water body for the photosynthesis of the weeds, so the weeds are not needed to be considered.
The invention has the further improvement that the weeding equipment data acquisition module comprises a position data acquisition unit, an operation attitude acquisition unit and an ultrasonic induction acquisition unit, wherein the position data acquisition unit is used for acquiring the position of the weeding equipment relative to each paddy field, and the position data acquisition unit comprises latitude phase difference values
Longitude phase difference value
And a difference in height value
The running attitude acquisition unit is used for acquiring the current running attitude data of the weeding equipment, wherein the running attitude acquisition unit is used for setting 0 and 1 in idle, the ultrasonic sensing acquisition unit is used for acquiring obstacles on a road, when the paddy field weeding robot touches the obstacles, the ultrasonic sensing acquisition unit sends a signal to the main control module, and the main control module sends a control signal to adjust the autonomous steering of the paddy field weeding robot, so that the paddy field weeding robot can automatically decelerate and turn around, collision dead angle and induction blind area can not occur, and seedling pressing can be avoided occurring during operation.
The invention is further improved in that the planting area data acquisition module also comprises a past aquatic weed density acquisition unit and a plant data acquisition unit, wherein the past aquatic weed density acquisition unit is used for acquiring the past aquatic weed density condition of the area
The calculation strategy of the aquatic weed density is to count the area of the aquatic weed occupying the land in the block of land in the last five years, the value range is that 1 is taken for the wasteland, 0.5 is taken for the dry land, 0.2 is taken for the paddy field, and the calculation formula is
Wherein
The number of years occupied by the wasteland is large,
the life span of the dry land is taken up,
the number of years occupied by the paddy field,
the plant data acquisition unit is used for acquiring the data condition of the plant, including the growth height
And a distance
。
The invention is further improved in that the server port comprises a data transmission module, a risk degree calculation module, a data classified storage module, a turbidity change calculation module, a data analysis module and a planting area modeling module, wherein the data transmission module is used for information transmission among all the modules of the system, the data classified storage module is used for classified storage of collected data, the data analysis module is used for analyzing and calculating the data, the planting area modeling module is used for classified modeling of the collected water turbidity data and visual display of the turbidity of each water body, the turbidity change calculation module is used for calculating and predicting the time when the turbidity is reduced to a dangerous state, and the risk degree calculation module is used for calculating the risk degree from the data of the comprehensive turbidity change calculation module, the plant data collection unit and the previous waterweed density collection unit.
The invention has the further improvement that the turbidity change calculation module comprises a dangerous water body turbidity calculation strategy, the dangerous water body turbidity calculation strategy comprises the following steps of substituting the measured data of each water body into a dangerous water body turbidity formula for calculation, and the dangerous water body turbidity calculation formula is as follows:
wherein
At the turbidity hazard threshold, i.e., below which weeds can perform normal photosynthesis,
is the maximum speed at which the robot is traveling,
is water turbidity
Two acquisition points on the time-varying curve,
is a real-time turbidity measurement value, and calculates the calculated turbidity of the dangerous water body
And arranged in ascending order
The paddy field weeding robot reaches the silt in the appointed position stirs appointed fritter paddy field according to the sequence of arranging, and this is applicable to the farmland of 50 mu below and uses, because the land scope is little, and the variable scope is little, divides into through carrying out the modularization to the paddy field like this, divides into
The equal-size small blocks control the aerial optical equipment to collect the light reflection and incident light intensity of the water body, and simultaneously calculate and collect the distance between the aerial optical equipment and each block, so as to quickly obtain the evolution process of the turbidity of the water body of each water field, the turbidity change calculation module is introduced to pre-estimate the time of the turbidity reduced to the dangerous state, sequencing is carried out according to the dangerous state, so that the weeding equipment has sufficient preparation time before the turbidity is reduced to the dangerous state, and therefore, the rotating wheel type mechanism of the weeding robot reaches the position and stirs the silt in the designated small water field, the light transmittance in water is reduced, the photosynthesis of weeds in water is inhibited, the growth environment of the weeds is damaged, and the purpose of eliminating the weeds in the water field is achieved.
The invention is further improved in that the control platform port comprises a database management system, a weeding device control module and a data extraction module, wherein the database management system is used for storing and managing data, the weeding device control module is used for controlling the weeding devices to operate according to weeding strategies, and the data extraction module is used for extracting the calculation data of the turbidity change calculation module and the danger degree calculation module.
The invention is further improved in that the danger degree calculation module comprises dangerA degree calculation strategy that is, 1) calculating a degree of risk:
will be
Is obtained by substituting a formula
Wherein the density of the aquatic weeds is
At a growth height of
And a spacing of
(ii) a 2) And calculating the calculated risk
And arranged in ascending order
The paddy field weeding robot reaches the designated position according to the arrangement sequence to stir silt in the designated small paddy field, and the paddy field weeding robot is suitable for being used in a large farm for more than 200 mu, so that on the basis of turbidity change calculation, the small plant data acquisition condition and the traditional waterweed density acquisition condition are introduced and are brought into a risk degree calculation module, a risk degree calculation formula is provided to calculate the risk degree, the risk degree is further arranged, the solution is optimized, and the normal growth of plants is not influenced while weeds are eliminated.
Compared with the prior art, the invention has the following beneficial effects:
1) The invention divides paddy fields into paddy fields by modularization
The small blocks with equal size control the aerial optical equipment to collect the reflection and incident light intensity of the water body light and simultaneously carry out aerial optical collectionThe equipment calculates the collection apart from the distance of each piece to obtain the evolution process of each piece of paddy field water body turbidity fast, introduce turbidity change calculation module and reduce the time that reduces to the dangerous condition and predict, sort according to the dangerous condition, so that weeding equipment has sufficient preparation time before the turbidity reduces to the dangerous condition, thereby stir the silt in the appointed fritter paddy field after making the wheeled mechanism of mediating of weeding robot reach the position, reduce the luminousness in the aquatic, restrain the photosynthesis of aquatic weeds, destroy the growing environment of weeds, thereby reach the mesh of eliminating weeds in the paddy field.
2) On the basis of turbidity change calculation, the small-block plant data acquisition condition and the traditional waterweed density acquisition condition are introduced and brought into a risk degree calculation module, a risk degree calculation formula is provided for calculating the risk degree, the risk degree is further arranged, the solution is further optimized, and the normal growth of plants is not influenced while weeds are eliminated.
Drawings
Fig. 1 is a schematic diagram of an overall framework of a control system of a paddy field weeding robot according to the present invention.
Fig. 2 is a schematic diagram of information transmission of a control system of a paddy field weeding robot according to the present invention.
Detailed Description
In order to make the technical means, the original characteristics, the achieved objects and the functions of the present invention easy to understand, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the orientation or the positional relationship based on the orientation or the positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, but not for indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus not be construed as limiting the present invention. Furthermore, the terms "a," "an," "two," and "three" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The invention will be further illustrated with reference to specific embodiments.
Example 1
The embodiment divides the paddy field into a plurality of parts by modularizing
The method comprises the steps that small blocks with the same size are controlled to collect light reflection and incident light intensity of a water body by aerial optical equipment, meanwhile, the distance between the aerial optical equipment and each block is calculated and collected to obtain the evolution process of the turbidity of the water body of each paddy field rapidly, a turbidity change calculation module is introduced to estimate the time of reducing the turbidity to a dangerous state, sorting is carried out according to the dangerous state to enable the weeding equipment to have sufficient preparation time before the turbidity is reduced to the dangerous state, so that silt in the small blocks of paddy field is designated to be stirred after a rotating wheel mechanism of the weeding robot reaches the position, the light transmittance in water is reduced, the photosynthesis of weeds in water is inhibited, the growth environment of the weeds is damaged, and the purpose of eliminating the weeds in the paddy field is achieved, and the specific scheme is that as shown in figures 1 and 2, a control modeling system of the weeding robot comprises a data collection port, a server port and a control platform port, the data collection port is used for collecting data of the weeding equipment and the planting area data, the server port is used for introducing the data collected by the data collection port for carrying out change calculation and danger degree calculation, classified storage of the data of the paddy field turbidity, meanwhile, the weeding equipment is used for extracting the operation information, and the control platform for controlling the operation of the weeding equipment;
the data acquisition port comprises a weeding equipment data acquisition module and a planting area data acquisition module, the weeding equipment data acquisition module is used for acquiring data of the weeding robot, and the planting area data acquisition module is used for acquiring density data of water bodies, planted plants and traditional aquatic weeds in a planting area.
The planting area data acquisition module comprises a water body turbidity acquisition unit, the water body turbidity acquisition unit is used for acquiring the turbidity of the water body, the water body turbidity acquisition unit comprises an acquisition strategy of the water body turbidity, and the specific method comprises the following steps: modular paddling for paddy fieldIs divided into
The fritter controls aerial optical equipment and gathers water light reflection and incident light intensity, calculates the collection to the distance of aerial optical equipment apart from each piece simultaneously, and the formula of calculating of a water turbidity like this is:
wherein
Is the intensity of the incident light and is,
is the light intensity of the emergent light,
is a coefficient of proportionality that is,
for the distance between the light source and the receiving sensor, at least two points of time are taken for calculating the turbidity of the water body of the same paddy field water body reference object
To obtain the water turbidity
The change curve of the water body turbidity changing along with the time is known from the prior art
The time-varying curve is an image with a decreasing linear function in the former period and the water turbidity in the latter period
The water turbidity threshold value of the weeds capable of photosynthesis is lower, so that the consideration is not needed;
wherein, weeding equipment data acquisition module includes position data acquisition unit, operation gesture acquisition unit and ultrasonic sensing acquisition unit, and position data acquisition is singleThe elements are used for collecting the position of the weeding equipment relative to each paddy field, including latitude phase difference values
Longitude phase difference value
And a difference value of height
The utility model discloses a paddy field weeding robot, including the operation attitude data, operation attitude acquisition unit is used for gathering weeding equipment present operation attitude data, including being in the operation and putting 0, put 1 in idle, ultrasonic induction acquisition unit is used for gathering the barrier on the road, when paddy field weeding robot is touchhing the barrier, ultrasonic induction acquisition unit signals gives host system, host system sends control signal adjustment and realizes paddy field weeding robot's autonomic direction of turning to, make paddy field weeding robot can automatic deceleration and transfer the direction, collision dead angle and response blind area can not appear, can avoid appearing pressing the seedling when the operation.
The system comprises a server port, a data transmission module, a data classification storage module, a turbidity change calculation module, a data analysis module and a planting area modeling module, wherein the data transmission module is used for information transmission among all modules of the system;
the turbidity change calculation module comprises a dangerous water body turbidity calculation strategy, the dangerous water body turbidity calculation strategy comprises the following steps of substituting the measurement data of each water body into a dangerous water body turbidity formula for calculation, and the dangerous water body turbidity calculation formula is as follows:
Example 2
Embodiment 2 introduces the data acquisition situation of the small pieces of plants and the previous water grass density acquisition situation on the basis of turbidity change calculation, brings the data acquisition situation and the previous water grass density acquisition situation into a danger degree calculation module, proposes a danger degree calculation formula to calculate the danger degree, further arranges the danger degree, further optimizes the solution, and further eliminates weeds without influencing the normal growth of the plants, and the specific scheme is that, as shown in fig. 1 and fig. 2, a control system of a paddy field weeding robot comprises a data acquisition port, a server port and a control platform port, wherein the data acquisition port is used for acquiring data of weeding equipment and data of a planting area, the server port is used for introducing the data acquired by the data acquisition port to perform turbidity change calculation and danger degree calculation, and performs classified storage on the data, and simultaneously performs modeling on each planting area according to the danger degree, and the control platform port is used for extracting and calculating data information and controlling the operation of the weeding equipment;
the data acquisition port comprises a weeding equipment data acquisition module and a planting area data acquisition module, the weeding equipment data acquisition module is used for acquiring data of the weeding robot, and the planting area data acquisition module is used for acquiring density data of water bodies, planted plants and traditional aquatic weeds in a planting area.
The planting area data acquisition module comprises a water body turbidity acquisition unit, the water body turbidity acquisition unit is used for acquiring the turbidity of the water body, the water body turbidity acquisition unit comprises an acquisition strategy of the water body turbidity, and the specific method comprises the following steps: modularly dividing the paddy field into
The small block controls the aerial optical equipment to collect the light reflection and incident light intensity of the water body, and simultaneously calculates and collects the distance between the aerial optical equipment and each block, so that the calculation formula of the turbidity of the water body is as follows:
in which
Is the intensity of the incident light and,
is the light intensity of the emergent light,
is a coefficient of proportionality that is,
for the distance between the light source and the receiving sensor, at least two points of time are taken for calculating the turbidity of the water body of the same paddy field water body reference object
To obtain the water turbidity
The change curve of the change with time is known from the prior art, and the turbidity of the water body
The time-varying curve is an image with a decreasing linear function in the former period and the water turbidity in the latter period
Is lower than the water body turbidity threshold value of the photosynthesis of the weeds, so the water body turbidity threshold value is not considered.
In this embodiment, weeding equipment data acquisition module includes position data acquisition unit, operation gesture acquisition unit and ultrasonic sensing acquisition unit, and position data acquisition unit is used for gathering weeding equipment position for each paddy field, wherein includes latitude looks difference value
Longitude phase difference value
And a difference value of height
The utility model discloses a paddy field weeding robot, including the operation attitude data, operation attitude acquisition unit is used for gathering weeding equipment present operation attitude data, including being in the operation and putting 0, put 1 in idle, ultrasonic induction acquisition unit is used for gathering the barrier on the road, when paddy field weeding robot is touchhing the barrier, ultrasonic induction acquisition unit signals gives host system, host system sends control signal adjustment and realizes paddy field weeding robot's autonomic direction of turning to, make paddy field weeding robot can automatic deceleration and transfer the direction, collision dead angle and response blind area can not appear, can avoid appearing pressing the seedling when the operation.
In this embodiment, the planting area data collecting module further comprises a previous float grass density collecting unit and a plant data collecting unit, so as to obtain the float grass densityThe acquisition unit is used for acquiring the density of the previous aquatic weeds in the area
The calculation strategy of the aquatic weed density is to count the area of the land occupied by the aquatic weeds in the land in the last five years, wherein the value range is 1 in the wasteland, 0.5 in the dry land and 0.2 in the paddy field, and the calculation formula is
Wherein
The number of years occupied by the wasteland is large,
the life span of the dry land is taken up,
the number of years occupied by the paddy field,
the plant data acquisition unit is used for acquiring the data condition of the plant, including the growth height
And a distance
。
In this embodiment, the server port includes a data transmission module, a risk calculation module, a data classification storage module, a turbidity change calculation module, a data analysis module and a planting area modeling module, the data transmission module is used for information transmission among the modules of the system, the data classification storage module is used for classifying and storing the collected data, the data analysis module is used for analyzing and calculating the data, the planting area modeling module is used for classifying and modeling the collected water turbidity data, the turbidity of each water body is visually displayed, the turbidity change calculation module is used for calculating and predicting the time when the turbidity is reduced to a dangerous state, and the risk calculation module is used for calculating the risk of the comprehensive turbidity change calculation module, the plant data collection unit and the data of the previous aquatic weed density collection unit.
In this embodiment, the turbidity change calculation module includes a dangerous water turbidity calculation strategy, which includes the following steps, and the measured data of each water is substituted into a dangerous water turbidity formula for calculation, where the dangerous water turbidity calculation formula is:
wherein
At the turbidity hazard threshold, i.e., below which weeds can perform normal photosynthesis,
is the maximum speed at which the robot is traveling,
is water turbidity
Two acquisition points on the time-varying curve,
is a real-time turbidity measurement.
In this embodiment, the control platform port includes a database management system, a weeding device control module, and a data extraction module, where the database management system is used to store and manage data, the weeding device control module is used to control the weeding device to operate according to a weeding strategy, and the data extraction module is used to extract the calculation data of the turbidity change calculation module and the risk calculation module.
In this embodiment, the risk calculation module includes a risk calculation policy, where the risk calculation policy is, 1) calculating the risk:
will be
Is obtained by substituting a formula
Wherein the density of the aquatic weeds is
At a growth height of
And a spacing of
2) and calculating the calculated risk
And arranged in ascending order
The paddy field weeding robot reaches the designated position according to the arrangement sequence and stirs the silt in the designated small paddy field, and the paddy field weeding robot is suitable for the farmland with the large range of more than 200 mu through our inspection.
The foregoing shows and describes the general principles and features of the present invention, together with the advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. The utility model provides a paddy field weeding robot's control system which characterized in that: the system comprises a data acquisition port, a server port and a control platform port, wherein the data acquisition port is used for acquiring weeding equipment data and planting area data, the server port is used for introducing the data acquired by the data acquisition port to perform turbidity change calculation and risk degree calculation, classifying and storing the data, modeling each planting area according to the risk degree, and the control platform port is used for extracting and calculating data information and controlling the operation of the weeding equipment;
the data acquisition port comprises a weeding equipment data acquisition module and a planting area data acquisition module, the weeding equipment data acquisition module is used for acquiring data of the weeding robot, and the planting area data acquisition module is used for acquiring density data of water, planted plants and conventional aquatic weeds in a planting area;
the planting area data acquisition module comprises a water body turbidity acquisition unit, the water body turbidity acquisition unit is used for acquiring the turbidity of the water body, the water body turbidity acquisition unit comprises an acquisition strategy of the water body turbidity, and the specific method comprises the following steps: modularly dividing the paddy field into
The small block controls the aerial optical equipment to collect the light reflection and incident light intensity of the water body, and simultaneously calculates and collects the distance between the aerial optical equipment and each block, so that the calculation formula of the turbidity of the water body is as follows:
in which
Is the intensity of the incident light and is,
is the light intensity of the emergent light,
is a coefficient of proportionality that is,
for the distance between the light source and the receiving sensor, at least two points of time are taken for calculating the turbidity of the water body of the same paddy field water body reference object
To obtain the water turbidity
Time-dependent profile.
2. The control system of a paddy field weeding robot according to claim 1, characterized in that: weeding equipment data acquisition module includes position data acquisition unit, operation gesture acquisition unit and ultrasonic sensing acquisition unit, position data acquisition unit is used for gathering weeding equipment for each position of paddy field, wherein includes latitude looks difference value
Longitude phase difference value
And a difference in height value
The operation attitude acquisition unit is used for acquiring the current operation attitude data of the weeding equipment, wherein the operation attitude data comprises a currently-operated position 0 and an idle position 1.
3. The control system of a paddy field weeding robot according to claim 2, characterized in that: the planting area data acquisition module also comprises a past aquatic weed density acquisition unit and a plant data acquisition unit, wherein the past aquatic weed density acquisition unit is used for acquiring the past aquatic weed density condition of the area
The calculation strategy of the aquatic weed density is to count the area of the piece of land occupied by the aquatic weeds in the previous five years, wherein the value range is 1 in the wasteland, 0.5 in the dry land and 0.2 in the paddy field, and the calculation formula is
In which
The number of years occupied by the wasteland is large,
the number of years occupied by the dry land is,
the number of years of the paddy field is,
the plant data acquisition unit is used for acquiring the data condition of the plant, including the growth height
And spacing of
。
4. The control system of a paddy field weeding robot according to claim 3, characterized in that: the server port comprises a data transmission module, a risk degree calculation module, a data classification storage module, a turbidity change calculation module, a data analysis module and a planting area modeling module, wherein the data transmission module is used for information transmission among all the modules of the system, the data classification storage module is used for classifying and storing collected data, the data analysis module is used for analyzing and calculating the data, the planting area modeling module is used for classifying and modeling the collected water turbidity data and visually displaying the turbidity of each water body, the turbidity change calculation module is used for calculating and predicting the time when the turbidity is reduced to a dangerous state, and the risk degree calculation module is used for calculating the risk degree of the comprehensive turbidity change calculation module, the plant data collection unit and the data of the previous aquatic weed density collection unit.
5. The control system of a paddy field weeding robot according to claim 4, wherein: the turbidity change calculation module comprises a dangerous water body turbidity calculation strategy, the dangerous water body turbidity calculation strategy comprises the following steps of substituting the measurement data of each water body into a dangerous water body turbidity formula for calculation, and the dangerous water body turbidity calculation formula is as follows:
6. The control system of a paddy field weeding robot as claimed in claim 5, wherein: the control platform port comprises a database management system, a weeding equipment control module and a data extraction module, wherein the database management system is used for storing and managing data, the weeding equipment control module is used for controlling the weeding equipment to operate according to a weeding strategy, and the data extraction module is used for extracting the calculation data of the turbidity change calculation module and the danger degree calculation module.
7. The control system of a paddy field weeding robot according to claim 6, characterized in that: the risk calculation module comprises a risk calculation strategy, wherein the risk calculation strategy is 1) calculating the risk:
will be
Is obtained by substituting a formula
Wherein the density of the aquatic weeds is
At a growth height of
And a spacing of
(ii) a 2) And calculating the calculated risk
And arranged in ascending order
And the paddy field weeding robot reaches the designated position according to the arrangement sequence to stir the silt in the designated small paddy field.
8. The control system of a paddy field weeding robot as claimed in claim 7, wherein: ultrasonic induction collection unit is used for gathering the barrier on the road, and when paddy field weeding robot when touchhing the barrier, ultrasonic induction collection unit signals gives host system, and host system sends control signal adjustment and realizes paddy field weeding robot's autonomic direction of turning to make paddy field weeding robot can automatic deceleration and turn around the direction, can not appear colliding the dead angle and respond to the blind area, can avoid appearing pressing the seedling when the operation.
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| CN115808930B (en) | 2023-04-18 |
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