Cotton picker row alignment deviation detection method based on GNSS and mechanical sensing
By combining GNSS and mechanical sensing technology, integrating satellite positioning and row sensing data, and using Kalman filter to process data, the problem of row control accuracy of cotton pickers in complex cotton fields is solved, and efficient and accurate automatic row control is achieved.
CN119687847AActive Publication Date: 2025-03-25SOUTH CHINA AGRICULTURAL UNIVERSITY
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Patent Information
- Application Number
- CN202411875553.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-19
- Publication Date
- 2025-03-25
- Estimated Expiration
- 2044-12-19
AI Technical Summary
Technical Problem
It is difficult for existing cotton pickers to achieve efficient and accurate automatic control in complex cotton fields, especially in the absence of monopoly.
Method used
Using a row deviation detection method based on GNSS and mechanical sensing, through the combination of satellite positioning and row sensing devices, GNSS data and mechanical sensor data are fused, and the data is processed using a Kalman filter to obtain more accurate row deviation estimation results.
Benefits of technology
It realizes stable and accurate row control of the cotton picker in complex cotton field environments, and improves the reliability and row accuracy of the system.
✦ Generated by Eureka AI based on patent content.
Abstract
The invention discloses a GNSS (Global Navigation Satellite System) and mechanical sensing-based cotton picker row alignment deviation detection method. The method comprises the following steps of: acquiring a cotton picker row alignment deviation original value measured by a row alignment sensing device of a cotton picker at the current moment; acquiring a detection point coordinate and a motion course of a row sensing device of the cotton picker at the current moment, and storing the coordinates and the motion course to a first-in first-out queue; on the basis of the deviation original value and a set deviation threshold value, whether the crop row at the detection point of the row sensing device of the cotton picker lacks rows and breaks ridges or not is judged; if the row lacking and ridge breaking do not exist, a designed Kalman filter is used to carry out fusion processing on row sensor data and GNSS data so as to obtain a more accurate and smooth row deviation estimation result; if the row lacks and the ridge is broken, GNSS positioning is adopted to calculate the row control deviation at the detection point of the row control sensing device until all row control deviation detection is completed. According to the invention, the cotton picker not only can adapt to small curvature change of crop rows during automatic row control operation, but also can ensure stable and accurate row control during plant missing and ridge breaking in a cotton field.
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