Real-time measurement system and method of relative height of spray rod and crop canopy

Abstract

The invention provides a real-time measurement system and method of a relative height of a spray rod and a crop canopy. The method comprises the following steps of step1, calibrating ultrasonic ranging sensors; step2, determining the included angle of the two ultrasonic ranging sensors; step3, collecting the relative height of the spray rod and the crop canopy; step4, carrying out the anti-interference processing of height acquisition data; and step5, calculating the relative height of the spray rod and the crop canopy. The system is characterized in that the two tail ends of the spray rod areprovided with the two ultrasonic ranging sensors which form the certain included angle respectively; under a control unit effect, a crop canopy height is effectively collected; after data anti-interference analysis and conversion, the relative height of the spray rod and the crop canopy is acquired, and the relative height of the spray rod and the crop canopy can be accurately monitored when thespray rod is inclined; and a technical bottleneck that the relative height of the spray rod and the crop canopy can not be accurately acquired when the spray rod is inclined due to jolt during the field operation of a boom sprayer is broken through, and a technology base is laid for the dynamic adjustment of spray rod balance and a height.

Description

technical field [0001] The invention discloses a system and method for real-time measuring the height of a spray boom relative to a crop canopy, belonging to the field of intelligent agricultural equipment. Background technique [0002] The existing boom sprayers on the market in my country are mainly 6-12 meters. On the one hand, the limited spray width leads to low spray efficiency. The pressure loss area is large. With the development needs of rapid land rotation and large-scale planting in China, boom sprayers with a width of more than 24m have appeared on the market. A new problem brought by a large and wide boom sprayer: When the sprayer is working in the field, the boom shakes and tilts due to the uneven ground. With a large sprayer, tilting the boom at a small angle is likely to cause the end of the boom to touch the ground causing the boom to break or bend, as well as scratching the crop. In actual operation, in order to improve the uniformity of droplet depositio...

AI Technical Summary

Problems solved by technology

A new problem brought by a large and wide boom sprayer: When the sprayer is working in the field, the boom shakes and tilts due to the uneven ground

[0003] In the prior art, Patent 1 (Application No. 20150079697.0) discloses a spray boom balance and height automatic adjustment device and method. In this device, an ultrasonic sensor ranging module is used to measure the height of the spray boom to the ground. It is flat, and the height of the spray boom to the ground is easy to measure, but due to the uneven growth of field crops, the crop canopy is uneven, and the measurement accuracy is objectively affected by factors such as crop type, planting density, wind speed, and walking speed. Proper anti-interference processing can obtain effective height data; in addition, since the ultrasonic sensor is installed vertically on the beam of the spray boom, the sensor will also tilt when the spray boom is tilted, and the vertical height of the spray boom to the ground cannot be obtained

Therefore, the spray boom balance and height automatic adjustment device and method disclosed in Patent 1 cannot be used for the real-time measurement of the spray boom to the height of the crop canopy

Patent 2 (Application No. 201010603644.1) discloses a self-balancing boom sprayer. During the spraying operation, the controller detects the horizontal angle of the boom according to the inclination sensor to judge the balance of the boom. Real-time measurement of layer height

The paper "Design and Test of Boom Height Adjustment System" (Wang Songlin et al., Agricultural Mechanization Research, Issue 8, 2014, pages 161-164) designed a three-stage high-speed automatic adjustment spray boom, using three The contact sensor on the spray boom (left section spray boom, middle section spray boom and right section spray boom) monitors the height of the spray boom and the ground in real time, and the controller controls the hydraulic cylinder to adjust the height of each section of the spray boom. This system can effectively adjust The posture of the spray boom and the height of the spray boom are maintained, but the contact sensor used in this device detects the height through contact with the crop, which will cause damage to the crop; on the other hand, if the sensor is just below the ground or the crop height is small, Will cause misjudgment, resulting in reduced system reliability

Paper "Performance evaluation of multiple ground based sensors mounted on a commercial wildblueberry harvester to sense plant height, fruit yield and topographic features in real-time" (Farooque A A, Chang Y K, Zaman Q U, et al, Computers&Electronics in Agriculture, 2013, 91: 135-144) Install an ultrasonic sensor on the wild blueberry harvester to detect the height of the blueberry plant in real time. When the road surface in the field is flat, the height of the blueberry plant can be effectively detected, but when the ground is inclined at a certain angle, the error of the obtained plant height data is large Large, cannot be used for effective detection of plant height

The paper "Design and Experimental Research on On-Line Control of Spray Boom Height" (Pan Fochu et al., Agricultural Mechanization Research, Issue 11, 2017, pages 107-111) used ultrasonic ranging sensors to collect the distance between the crop canopy and the spray boom, and used the inclination angle The sensor obtains the tilt angle of the spray boom, and the measurement result is better than the simple application of ultrasonic measurement, but it cannot accurately obtain the relative height of the spray boom to the canopy when the spray boom is tilted. Stablize

The paper "Direct derivation of maizeplant and crop height from low-cost time-of-flight camera measurements" (PlantMethods, 2016) uses a 3D camera to measure plant height, but the image data processing time is long and the real-time performance is poor

The paper "A LIDAR-based crop height measurement system for Miscanthus giganteus" (Computers&Electronics in Agriculture, 2012) uses laser radar to measure the height of the spray boom relative to the crop canopy. The laser radar used in this method is expensive and low cost performance

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