CN203163740U - Integrated navigation system of spraying machine - Google Patents
Integrated navigation system of spraying machine Download PDFInfo
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- CN203163740U CN203163740U CN 201320123738 CN201320123738U CN203163740U CN 203163740 U CN203163740 U CN 203163740U CN 201320123738 CN201320123738 CN 201320123738 CN 201320123738 U CN201320123738 U CN 201320123738U CN 203163740 U CN203163740 U CN 203163740U
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Abstract
The utility model provides an integrated navigation system of a spraying machine. The integrated navigation system comprises a differential global positioning system (DGPS) inertial integrated navigation device, a sprinkling width border machine visual navigation device and a crop line machine visual navigation device, wherein the DGPS inertial integrated navigation device is used for carrying out primary location on a boom sprayer; the sprinkling width border machine visual navigation device is used for acquiring a foam track image, transmitting the image into an image processing module for processing and indentifying the foam track so as to realize the accurate sprinkling width splicing; and the crop line machine visual navigation device is used for acquiring the image of crops, transmitting the image into the image processing module for processing, obtaining track deviation information and indicating a driver to adjust the position of the boom sprayer so as to realize the accurate navigation. The integrated navigation system of the spraying machine is high in positioning accuracy, can effectively prevent the phenomena such as re-spray and leakage spray, and is low in price and easy to produce.
Description
Technical field
The utility model relates to technical field of navigation and positioning, especially a kind of spraying mechanical integrated navigation system.
Background technology
The DGPS navigation can be exported the navigation data of Gao Gengxin rate, improves the GPS navigation precision, can strengthen anti-interference, stability, availability and the integrality of system.But because GPS is subjected to the interference of external environment easily, and bad dynamic performance, obtaining continuously reliably, locating information just must rely on other means.Common GPS navigation system accuracy is low, the sub-meter grade precision can not satisfy agriculture demand, and high-precision expensive.Inertial navigation not only can provide the carrier positions speed parameter, and the 3 d pose parameter of carrier can also be provided, and is complete autonomous navigate mode, is widely used in every field.But the shortcoming that inertial navigation is difficult to overcome is that its navigation positioning error adds up in time, is difficult to work alone for a long time.The DGPS inertia combined navigation system had both kept the advantage of the two, had prevented navigation positioning error accumulation in time again, can improve the overall performance of navigational system.The machine vision navigation technology can be cooked up desired path according to the signal of video camera to the surrounding environment real-time detection, and can move to the intended target place and carry out operation along this path.And the equidistant parallel plantation of crop is conducive to the realization of precision navigation.The even dispenser of spraying mechanical, less, the easy evaporation of mist droplet particle size is difficult for the boundary position of distinguishing that agricultural chemicals does not spray and sprayed.When multirow sprays continuously, respray, leak the spray phenomenon serious, be unfavorable for the growth of plant.How precisely locating the spraying swath border is the key issue that realizes accurate dispenser.
Agricultural machinery loads the accurate location that navigational system is conducive to ad-hoc location.ZL200710028875.2 has announced " a kind of combined positioning method of agricultural machines navigation ", at first adopt pseudo range difference GPS sensor measurement to obtain the positional value of agricultural machinery Primary Location, adopt electronic compass and micromechanical gyro sensor that the course heading of agricultural machinery is measured then, merge two kinds of information, obtain the accurate estimation of agricultural machinery location and course heading information.ZL201110096896.4 has announced a kind of " based on integrated navigation and location system and the method for GPS and machine vision ", the GPS locating device, be used for navigation vehicle is carried out the GPS location, obtain position coordinates, course heading and the travel speed of navigation vehicle, and be sent to the fusion locating device; The machine vision locating device is used for gathering the farmland image on the guidance path, the image that collects is carried out image handle, and extracts guidance path, obtains the position coordinates of known point in the guidance path, and is sent to the fusion locating device; Merge locating device, be used for carrying out spatial registration and temporal registration from the information of described GPS locating device and machine vision locating device, and carry out filtering and handle, obtain final locating information.ZL200610089594.3 has announced a kind of " cotton spraying machine navigation path identification method " adopts vision system and computer acquisition image and processing, realizes identifying automatically, fix a point, quantitatively spraying medicine.Above system can both realize the accurate location of agricultural machinery, and can be applied to boom sprayer, but can't realize the accurate splicing on boom sprayer spraying swath border, causes phenomenons such as spray is resprayed, leaked to boom sprayer, the spray of crossing the border.
The utility model content
At spraying machine in the prior art respray, leak spray, defective such as the spray of crossing the border, the utility model provides a kind of spraying mechanical integrated navigation system, information by integrated GPS inertial navigation unit, spraying swath border guider and the collection of crop row guider, adjust the boom sprayer position, realize accurately spraying, prevent from respraying, leak spray, phenomenon such as the spray of crossing the border, concrete technical scheme is as follows:
A kind of spraying mechanical integrated navigation system, by boom sprayer, foaming agent flusher and navigational system are formed, it is characterized in that: described navigational system comprises the DGPS inertia combined navigation device that directly links to each other with truck-mounted computer, spraying swath border machine vision navigation device and crop row machine vision navigation device, the spray boom of described spraying machine hangs on removable power machine 3 rears, the camera A4 that is used for collection crop row frame is installed in the wheel top of removable power machine 3, the camera B2 and the camera C6 that gather the spraying swath boundary information are installed in the spray boom two ends, foaming agent flusher A1 and foaming agent flusher B7 are installed in respectively on the described spray boom, and lay respectively at camera B2 and camera C6 under.
Described removable power machine 3 be in tractor, automobile or the tricycle any.
Described spraying swath border machine vision navigation device comprises: image capture module is used for gathering the foam trace image; Image processing module is handled the image that image capture module collects, and extracts the foam track, and is sent to truck-mounted computer.
Described crop row machine vision navigation device comprises: image capture module is used for gathering the capable image of field crops; Image processing module is handled the image that image capture module collects, and extracts crop row center line, obtains the track runout information, and is sent to truck-mounted computer.
A kind of spraying mechanical integrated navigation system, the DGPS inertia combined navigation device of choosing common sub-meter grade precision obtains the Primary Location image of boom sprayer by DGPS navigation and inertia combined navigation.Spraying swath border guider is made up of foam unit A1, foam unit B7 and foam recognition device; Foam unit A1 and foam unit B7 are installed in spray boom 5 edges, the foam recognition device comprises camera B2, camera C6 and the image processing module of normal tape network interface, and camera B2 and camera C6 are installed in respectively directly over foam unit A1 and the foam unit B7.When the field boom sprayer drives near the crop row end, spray foam by foam unit A1 or foam unit B7, in order to distinguish foam and crop, choose a kind of foam very big with the crop color distortion.During line feed, take froth images by corresponding camera B2 or camera C6, be sent to the ARM graphics processing unit, obtain the foam trace information, differentiate the target departure degree, and provide runout information, the driver receives the lateral attitude of adjusting boom sprayer behind the signal, makes used camera A (B) optical axis alignment foam track, finishes spraying swath and accurately splices, and the positional information correction that DGPS inertia combined navigation device is gathered, so that the extraction of next step positional information.
In the crop row navigational system, camera A4 is installed in the wheel top of removable power machine 3, reduces the interference of rocking when walking.Gather the crop row image in real time and be sent to the ARM graphics processing unit, obtain the crop position of center line, obtain off-track information, and send the driver to, adjust the direction of boom sprayer, boom sprayer is sailed every trade.
Image processing process is as follows: the image pre-service, and the contrast of raising target and background more is conducive to information extraction; Split image is separated target; Remove noise and assorted point; The Hough conversion obtains crop row center line image or foam line track; Target departs from differentiation, and whether the optical axis of camera B2 or camera C6 aims at foam track or crop row center.
Described spraying mechanical integrated navigation system, take the navigation of going forward one by one step by step: DGPS inertial navigation coarse positioning---spraying swath accurately splices---is sailed every trade, obtains accurate spraying swath boundary information.
The utlity model has beneficial effect.The utility model is revised the DGPS navigation information by utilizing foam trace information and crop row positional information, adopts the DGPS guider of common sub-meter grade precision to realize the navigation of centimetre-sized precision field, carries out accurately seamless spliced accurate dispenser of spraying swath.
Description of drawings
Fig. 1 is spraying mechanical integrated navigation system structural drawing
Fig. 2 is the image treatment scheme
Among the figure: 1 foam unit A, 2 camera B, 3 removable power machines, 4 camera A, 5 spray booms, 6 camera C, 7 foam unit B, 8 shower nozzles.
Embodiment
A kind of spraying mechanical integrated navigation system one-piece construction as shown in Figure 1, by boom sprayer, foaming agent flusher and navigational system are formed, navigational system comprises the DGPS inertia combined navigation device that directly links to each other with truck-mounted computer, spraying swath border machine vision navigation device and crop row machine vision navigation device, the spray boom of described spraying machine hangs on removable power machine 3 rears, the camera A4 that is used for collection crop row frame is installed in the wheel top of removable power machine 3, the camera B2 and the camera C6 that gather the spraying swath boundary information are installed in the spray boom two ends, foaming agent flusher A1 and foaming agent flusher B7 are installed in respectively on the described spray boom 5, and lay respectively at camera B2 and camera C6 under.Fig. 1 expresses for clear, is staggered a little in the position of foam unit A1 and camera B2, foam unit B7 and camera C6.Removable power machine 3 can be tractor, automobile, tricycle etc.
Spraying swath border machine vision navigation device comprises: image capture module is used for gathering the foam trace image; Image processing module is handled the image that image capture module collects, and extracts the foam track, and is sent to truck-mounted computer.
Crop row machine vision navigation device comprises: image capture module is used for gathering the capable image of field crops; Image processing module is handled the image that image capture module collects, and extracts crop row center line, obtains the track runout information, and is sent to truck-mounted computer.
During farm work, when removable power machine 3 is about to drive to the crop row end, carrying out foam by truck-mounted computer control foam unit A1 or foam unit B7 sprays, to finishing this row spraying operation, the driver turns removable power machine 3 then, begins the spraying operation of other delegation.DGPS navigation inertia composite set obtains the preliminary positional information of removable power machine 3, and is sent to truck-mounted computer.Camera B2 or camera C6 gather the foam trace image, being sent to image processing module handles, extract the foam trace information, be sent to truck-mounted computer, after the driver receives information, adjust the position of removable power machine 3, until the optical axis alignment foam track of camera B2 or camera C6, also the positional information of DGPS navigation inertia composite set collection is revised simultaneously, so that the extraction of positional information.Gather the crop row image by the camera A4 that is installed in removable power machine 3 wheels top, and be sent to image processing module and handle, extract the crop row center line positional information, export removable power machine 3 runout informations and be sent to truck-mounted computer, the driver adjusts the position of removable power machine 3 according to information, make removable power machine 3 carry out accurately seamless spliced accurate dispenser of spraying swath, phenomenons such as spray is resprayed, leaked in minimizing, the spray of crossing the border.
Also can make photoelectric alarm device or audible alarm unit replace the vehicle computing machine operation, when removable power machine 3 position deviations, namely send different warning messages according to offset direction.Perhaps with a row LED display lamp, according to deviation distance, set the demonstration number of LED display lamp.
The mark on spraying swath border also can adopt the handmarking, when removable power machine 3 travels to the crop row end, got off by the driver, make the visible marking on the spraying swath border, with camera B (C) alignment mark, controlling party realizes that to the spraying mechanical direction spraying swath accurately splices.
Should be noted that at last, above embodiment is only unrestricted in order to the technical solution of the utility model to be described, although with reference to preferred embodiment the utility model is had been described in detail, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement the technical solution of the utility model, and not breaking away from the spirit and scope of technical solutions of the utility model, it all should be encompassed within the claim scope of the present utility model.
Claims (4)
1. spraying mechanical integrated navigation system, by boom sprayer, foaming agent flusher and navigational system are formed, it is characterized in that: described navigational system comprises the DGPS inertia combined navigation device that directly links to each other with truck-mounted computer, spraying swath border machine vision navigation device and crop row machine vision navigation device, the spray boom of described spraying machine hangs on removable power machine (3) rear, the camera A (4) that is used for collection crop row frame is installed in the wheel top of removable power machine (3), the camera B (2) and the camera C6 that gather the spraying swath boundary information are installed in spray boom (5) two ends, foaming agent flusher A (1) and foaming agent flusher B (7) are installed in respectively on the described spray boom (5), and lay respectively at camera B (2) and camera C (6) under.
2. a kind of spraying mechanical integrated navigation system according to claim 1, it is characterized in that described removable power machine (3) in tractor, automobile and the tricycle any.
3. a kind of spraying mechanical integrated navigation system according to claim 1, it is characterized in that described spraying swath border machine vision navigation device comprises: image capture module is used for gathering the foam trace image; Image processing module is handled the image that image capture module collects, and extracts the foam track, and is sent to truck-mounted computer.
4. a kind of spraying mechanical integrated navigation system according to claim 1, it is characterized in that described crop row machine vision navigation device comprises: image capture module is used for gathering the capable image of field crops; Image processing module is handled the image that image capture module collects, and extracts crop row center line, obtains the track runout information, and is sent to truck-mounted computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320123738 CN203163740U (en) | 2013-03-19 | 2013-03-19 | Integrated navigation system of spraying machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320123738 CN203163740U (en) | 2013-03-19 | 2013-03-19 | Integrated navigation system of spraying machine |
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| CN203163740U true CN203163740U (en) | 2013-08-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201320123738 Expired - Fee Related CN203163740U (en) | 2013-03-19 | 2013-03-19 | Integrated navigation system of spraying machine |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103196441A (en) * | 2013-03-19 | 2013-07-10 | 江苏大学 | Spraying machine integrated navigation method and system of |
| CN107631756A (en) * | 2017-10-09 | 2018-01-26 | 江苏大学 | Self-walking sprayer with spraying rod inter-vehicle information system and operation quality method for visualizing |
-
2013
- 2013-03-19 CN CN 201320123738 patent/CN203163740U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103196441A (en) * | 2013-03-19 | 2013-07-10 | 江苏大学 | Spraying machine integrated navigation method and system of |
| CN107631756A (en) * | 2017-10-09 | 2018-01-26 | 江苏大学 | Self-walking sprayer with spraying rod inter-vehicle information system and operation quality method for visualizing |
| CN107631756B (en) * | 2017-10-09 | 2023-12-15 | 江苏大学 | Vehicle-mounted information system of self-propelled boom sprayer and operation quality visualization method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130828 Termination date: 20200319 |