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Soil moisture detection and data processing robot control method

A soil moisture and data processing technology, applied in two-dimensional position/channel control, vehicle position/route/height control, soil material testing, etc., which can solve the difficulty of sensor maintenance, inability to detect in real time, and increase the cost of sensor input, etc. problems, to achieve the effect of improving detection efficiency, reducing input costs and maintenance costs

Inactive Publication Date: 2019-07-05
ANHUI AGRICULTURAL UNIVERSITY
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Problems solved by technology

The distributed placement of the former soil moisture sensor increases the input cost of the sensor, and due to the distributed characteristics, the maintenance of the sensor is relatively difficult, while the latter requires a lot of labor, and the detection speed is limited, so it cannot be detected in real time.

Method used

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  • Soil moisture detection and data processing robot control method
  • Soil moisture detection and data processing robot control method
  • Soil moisture detection and data processing robot control method

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Embodiment Construction

[0020] refer to Figure 1 to Figure 3 , a robot control method for soil moisture detection and data processing proposed by the present invention, comprising:

[0021] Step S1, establishing a robot starting point set and a walking path corresponding to each robot starting point in the robot starting point set.

[0022] This step specifically includes: the side of the robot close to the edge of the field is the outer wheel of the robot, and the starting point of the robot is determined through the gap between the outer wheel of the robot and the edge of the field. The value range of the gap Z between the outer wheel of the robot and the edge of the field is: 0<Z<(L-nM-(n -1)W-R), select N points within the value range of Z to establish a starting point set for the robot, where L is the width of the field, n is the number of ridges of crops in the field, M is the width of the ridge, W is the distance between ridges, and R is The minimum turning radius of the robot;

[0023] Tak...

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Abstract

The invention discloses a soil moisture detection and data processing robot control method. The method comprises the steps that S1 a robot starting point set and walking paths corresponding to robot starting points in the robot starting point set one to one are established; S2 a starting point is selected from the starting point set and used as a target starting point, and a robot starts from thetarget starting point and follows a target walking path corresponding to the target starting point one to one; S3 during the walking of the robot, the position of the robot is taken as a collection point every T seconds, and the soil moisture and position coordinate of the collection point are acquired; and S4 after the robot finishes the target walking path, the target starting point in the robotstarting point set is deleted; S5 whether the robot starting point set is an empty set is determined, and if so, a potential map of the field soil moisture is established according to soil moisture and position coordinates of several collection points, otherwise step S3 is carried out.

Description

technical field [0001] The invention relates to the technical field of soil detection, in particular to a robot control method for soil moisture detection and data processing. Background technique [0002] With the development of agricultural machinery and equipment technology, soil moisture control is widely used in agricultural production. The existing soil moisture detection is mainly to place soil moisture sensors at fixed points in a distributed manner, or to collect samples at specific points with manual patrol hand-held sensors. The distributed placement of the former soil moisture sensor increases the input cost of the sensor, and due to the distributed characteristics, the maintenance of the sensor is relatively difficult, while the latter requires a lot of labor, and the detection speed is limited, so it cannot be detected in real time. As far as our country is concerned, it is extremely necessary to study a high-efficiency soil moisture detection device and metho...

Claims

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Application Information

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IPC IPC(8): G01N33/24G01S19/14G05D1/02
CPCG05D1/021G01N33/24G01N33/246G01S19/14G01N33/245
Inventor 刘路柏仁贵宋宇陈黎卿杨洋
Owner ANHUI AGRICULTURAL UNIVERSITY
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