CN105045302A - Soil application device based on laser positioning and method - Google Patents
Soil application device based on laser positioning and method Download PDFInfo
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- CN105045302A CN105045302A CN201510446921.5A CN201510446921A CN105045302A CN 105045302 A CN105045302 A CN 105045302A CN 201510446921 A CN201510446921 A CN 201510446921A CN 105045302 A CN105045302 A CN 105045302A
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Abstract
The invention relates to the field of agricultural machinery, and in particular relates to a soil application device based on laser positioning and a method. According to the soil application device provided by the invention, an application position is accurate determined through laser positioning; according to the correspondence between predetermined application amount and the soil application position, liquid corresponding to the application amount is applied; and even in a greenhouse, accurate soil application can be carried out. The disadvantage that positioning cannot be carried out for soil application before sowing in the absence of crop in the prior art is overcome. The soil application device can carry out automatic operation without human intervention. The work efficiency and the accuracy of soil application are improved.
Description
Technical field
The present invention relates to agricultural mechanical field, be specifically related to a kind of soil pesticide device and method based on laser positioning.
Background technology
Soil is the main media that disease and pest is propagated, and is also the main place of disease and pest breeding.Many bacteriums, nematode, virus, worm's ovum and insect etc. all can survive in soil, in addition, also often have weed seed in soil; And the cultivated area along with melon and fruit, vegetables, flowers, medicinal plant etc. with economic worth crop constantly expands, the high-density planting of industrialized agriculture and year after year plant a kind of crop on same soil; These situations all can cause soil to pass the growth and breeding of insect pathogen above.If this kind of disease is controlled not in time, Severe Reduction can be caused and reduce product quality, even can cause total crop failure.
In order to eliminate or suppress the disease and pest that exists in soil, a kind of method is preferably prior to seeding to soil pesticide, prevents trouble before it happens.Current existed the robot apparatus of soil pesticide to replace manual dispenser.
In order to be beneficial to sowing, be desirably in the place's dispenser of crop-planting point, and expect to apply different dose with plant growth situation not existing together according to disease and pest in former years.But, due at pre-sowing application, crop-planting point can not be determined when dispenser, and often in greenhouse, there is no GPS positioning signal, even if having GPS positioning signal in outdoor, but positioning precision is also not enough to determine dispenser position, and different doses cannot be applied by diverse location.
Summary of the invention
For defect of the prior art, the invention provides a kind of soil pesticide device and method based on laser positioning, can accurately locate dispenser point, and determine formulation rate according to position location.
The invention provides a kind of soil pesticide device based on laser positioning, comprising: operation car body, and mobile laser terminal, controller and the soil pesticide arranged on operation car body bores;
Described mobile laser terminal comprises laser pickoff, the modulating lasering beam that described laser pickoff is launched for receiving fixed laser terminal, determines the primary importance at described mobile laser terminal place;
Described controller, according to the relative position that described primary importance and mobile laser terminal and soil pesticide are bored, determine the second place of the soil that drill bit that described soil pesticide bores is corresponding, and according to the corresponding relation of the described second place and the formulation rate that pre-sets and soil pesticide position, determine that described soil pesticide is drilled in the corresponding formulation rate of described second position, generate the dispenser instruction comprising described corresponding formulation rate;
Described soil pesticide bores, and according to the dispenser instruction that described controller sends, pierces the soil of described second position, applies the liquid of described corresponding formulation rate.
Preferably, described fixed laser terminal rotates transmitting modulating lasering beam along the horizontal plane, the frequency of the modulating lasering beam launched when rotating to different angles is different, described laser pickoff determines the distance of described mobile laser terminal to described fixed laser terminal according to the described modulating lasering beam received, then according to the frequency of described modulating lasering beam, determine the angle that described modulating lasering beam is launched, thus determine the primary importance at described mobile laser terminal place.
Preferably, described mobile laser terminal, also comprise height adjustment mechanism, for regulating the height of described mobile laser terminal when the variation of described Operation Van body position, the modulating lasering beam making described laser pickoff can receive described fixed laser terminal all the time to launch.
Preferably, described mobile laser terminal, also comprises laser range finder, receives reflected light for Emission Lasers towards periphery; The data of described controller also for recording according to described laser range finder determine the spatial distribution state of crop.
Preferably, described controller, also for determining according to the spatial distribution state of described crop or upgrading the corresponding relation of formulation rate and soil pesticide position.
Preferably, described controller, also for the corresponding relation according to the dispenser degree of depth preset and soil pesticide position, determines that described soil pesticide is drilled in the corresponding dispenser degree of depth of described second position; Described dispenser brill is drilled into the corresponding dispenser depth dispenser of soil in described second position according to the dispenser instruction of described controller.
Preferably, described soil pesticide bores, and also comprises variable farm chemical applying regulator, for regulating according to the corresponding formulation rate in the dispenser instruction of controller the actual formulation rate sprayed from described drill bit; Described soil pesticide bores, and also comprises dispenser Vib., for being eliminated the bubble in the liquid of described variable farm chemical applying regulator ejection by vibration.
Preferably, described soil pesticide bores, and also comprises apparatus for adjusting position; Described controller is according to the difference of the soil pesticide position preset and the described second place, and send the shift order of the drill bit that mobile described soil pesticide bores, described apparatus for adjusting position moves horizontally described drill bit according to described shift order.
Preferably, described soil pesticide bores as multiple, and described controller creeps into row control respectively by the signal cable of correspondence to multiple soil pesticide, and described signal cable can be adsorbed on operation vehicle bottom.
Present invention also offers a kind of soil pesticide method based on laser positioning, use the above-mentioned soil pesticide device based on laser positioning to carry out dispenser to soil, comprising:
Fixed laser terminal is arranged on fixed position, launches modulating lasering beam;
The laser pickoff of mobile laser terminal receives the modulating lasering beam that fixed laser terminal is launched, determine the distance L of described mobile laser terminal to described fixed laser terminal, then according to the frequency of described modulating lasering beam, determine the angle that described modulating lasering beam is launched, obtain the angle [alpha] of mobile laser terminal and fixed laser terminal, thus obtain the primary importance of described mobile laser terminal;
The relative position that controller bores according to mobile laser terminal and soil pesticide, determine the second place of the soil that drill bit that described soil pesticide bores is corresponding, the second place is:
Xa＝L*cosα+Xb
Ya＝L*sinα+Yb
Wherein Xa, Ya are second place coordinate in the horizontal plane, and Xb, Yb are the relative position coordinate in the horizontal plane that mobile laser terminal and soil pesticide bore;
Described controller is according to the described second place and the formulation rate that pre-sets and the corresponding relation of soil pesticide position, and determine that described soil pesticide is drilled in the corresponding formulation rate of described second position, generation comprises the dispenser instruction of described corresponding formulation rate;
Described soil pesticide bores and receives described dispenser instruction, pierces the soil of described second position, applies the liquid of described corresponding formulation rate.
Soil pesticide device and method of the present invention accurately determines dispenser position by laser positioning, the liquid of corresponding formulation rate is applied according to predetermined formulation rate and the corresponding relation of soil pesticide position, even if thus in greenhouse, also can carry out accurate soil pesticide operation, overcome in prior art the shortcoming broadcast front soil pesticide and do not have crop to locate.And can automatic job, without the need to manual intervention, improve soil pesticide work efficiency and degree of accuracy.
In instructions of the present invention, describe a large amount of detail.But can understand, embodiments of the invention can be put into practice when not having these details.In some instances, be not shown specifically known method, structure and technology, so that not fuzzy understanding of this description.
Except as otherwise noted, the technical term that uses of the disclosure or scientific terminology should be the ordinary meaning that those skilled in the art of the invention understand." first ", " second " that use in the disclosure and similar word do not represent any order, quantity or importance, and are only used to distinguish different ingredients." to comprise " or the similar word such as " comprising " means to occur that element before this word or object contain the element or object that appear at this word presented hereinafter and equivalent, and do not get rid of other elements or object." connection " or " being connected " etc. similar word be not defined in physics or the connection of machinery, no matter but can comprise electrical connection, be direct or indirectly.
Last it is noted that above each embodiment is only in order to illustrate technical scheme of the present invention, be not intended to limit; Although with reference to foregoing embodiments to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein some or all of technical characteristic; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of various embodiments of the present invention technical scheme, it all should be encompassed in the middle of the scope of claim of the present invention and instructions.
Accompanying drawing explanation
Fig. 1 is the schematic configuration diagram of soil pesticide device according to an embodiment of the invention;
Fig. 2 is each parts annexation figure of soil pesticide device according to an embodiment of the invention.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is further described.Following examples only for technical scheme of the present invention is clearly described, and can not limit the scope of the invention with this.
One embodiment of the invention provides a kind of soil pesticide device based on laser positioning, as shown in Figure 1, comprising: operation car body 1, and mobile laser terminal 2, controller 3 and the soil pesticide arranged on operation car body 1 bores 4.
Mobile laser terminal comprises laser pickoff 21, the modulating lasering beam that laser pickoff 21 is launched for receiving fixed laser terminal 5, determines the primary importance at mobile laser terminal place.Fixed laser terminal 5 generally can be fixed on the fixtures such as wall, and holding position is motionless.Mobile laser terminal is preferably mounted at car body topmost, avoids barrier obstruction.It should be understood that, here primary importance generally refers to the point of in fixed laser terminal 5 as a reference point, the coordinate of a standard point in the mobile laser terminal of trying to achieve after determining reference direction, the concrete method of trying to achieve primary importance is see explanation below.The wall at 6 expression fixed laser terminal 5 places in Fig. 1,7 represent soil, operation car body 1 also comprise wheel and other equipment.
Controller 3, the relative position of 4 is bored with soil pesticide according to primary importance and mobile laser terminal 2, determine that soil pesticide bores the second place in the soil 7 of drill bit 41 correspondence of 4, and according to the corresponding relation of the second place and the formulation rate that pre-sets and soil pesticide position, determine that described soil pesticide is drilled in the corresponding formulation rate of described second position, generate the dispenser instruction comprising described corresponding formulation rate.The relative position that mobile laser terminal 2 and soil pesticide bore 4 can measure in advance, also can be measured by the distance measuring equipment that operation car body 1 carries.Should be appreciated that, it not is apply liquid in each second position that soil pesticide bores, and the second position only at its place and the soil pesticide position pre-set are in and overlap or be interposed between mutually predetermined threshold and just carry out dispenser operation apart from time interior.
Soil pesticide bores 4, according to the dispenser instruction that controller 3 sends, pierces the soil of second position, applies the liquid of corresponding formulation rate.
In the present embodiment, dispenser position is accurately determined by laser positioning, the liquid of corresponding formulation rate is applied according to predetermined formulation rate and the corresponding relation of soil pesticide position, even if thus in greenhouse, also can carry out accurate soil pesticide operation, overcome in prior art the shortcoming broadcast front soil pesticide and do not have crop to locate.And can automatic job, without the need to manual intervention, improve dispenser work efficiency and degree of accuracy.
Determine that primary importance such as can be realized by such as rear mode: fixed laser terminal 5 rotates along the horizontal plane launches modulating lasering beam, and the frequency of the modulating lasering beam launched when rotating to different angles is different, thus the emission angle that different frequencies is corresponding different.Such as fixed laser terminal 5 is rotated 180 ° and is launched the laser beam that 1000 frequencies become arithmetic progression, and the angular interval of each laser beam is 0.18 degree.Laser pickoff 21 determines the distance of mobile laser terminal to described fixed laser terminal according to the modulating lasering beam received, and this can be realized by existing laser positioning technology.Then laser pickoff 21 or controller 2 are according to the frequency of the modulating lasering beam received, and determine the angle that modulating lasering beam is launched, thus determine the primary importance at mobile laser terminal 2 place.Such as using the laser emitting point in fixed laser terminal 5 as initial point, its direction being parallel to wall extension is in the horizontal plane as 0 degree, because angle, distance all obtain, be so easy to just can in the hope of (such as according to sine, cosine formula) for the planimetric coordinates of primary importance.And the coordinate of the second place is according to the relative coordinate of drill bit and primary importance, is easy to calculate.
Because the soil of farming is general smooth not, so mobile laser terminal 2 generally also needs to comprise height adjustment mechanism (not shown), for regulating the height of mobile laser terminal 2 when operation car body 1 shift in position, the modulating lasering beam making laser pickoff 21 can receive fixed laser terminal 5 all the time to launch.
Mobile laser terminal 2 also comprises laser range finder (not shown), receives reflected light obtain ranging data for Emission Lasers towards periphery.The ranging data of controller 3 also for recording according to described laser range finder determines the spatial distribution state of crop.Controller 3, also for determining according to the spatial distribution state of described crop or upgrading the corresponding relation of formulation rate and soil pesticide position, namely laser range finder can record the position that many of space exists the barriers such as branches and leaves, the spatial distribution state of crop just can be obtained according to these position distribution, and the spatial distribution state of crop has reacted the upgrowth situation of crop, according to the upgrowth situation of crop and the empirical data of formulation rate, just can determine or upgrade the corresponding relation of formulation rate and soil pesticide position.At present, after crop harvesting, crop is not had in greenhouse, soil is after ploughing deeply, smooth soil does not have object of reference, once the soil of the position of long-term cropping needed dispenser, do not have the line space of long-term cropping can Shaoshi medicine or not dispenser, the present invention can utilize laser positioning to reconstruct plant height and the luxuriant degree of branches and leaves of virtual location and virtual location, and judge according to these location points and reconstruction of three-dimensional images, calculate needed for soil pesticide amount, and reconstruct data for many years can be carried out compound reconstruct and come by built-in algorithms calculated with mathematical model formulation rate.
Controller 3, also for the corresponding relation according to the dispenser degree of depth pre-set and soil pesticide position, determine the corresponding dispenser degree of depth of soil pesticide brill 4 in second position, dispenser instruction also comprises the corresponding dispenser degree of depth.Soil pesticide brill 4 pierces soil according to the corresponding dispenser degree of depth in the dispenser instruction of controller in second position and arrives the dispenser of corresponding dispenser depth.Such as, soil pesticide brill 4 often rotates a drill bit 41 and pierces the degree of depth determined, the selected number of times rotated just can select the dispenser degree of depth pierced.
As shown in Figure 2, soil pesticide bores 4, comprises drill bit 41, variable farm chemical applying regulator 42 and dispenser Vib. 43.Variable farm chemical applying regulator 42 is for regulating the actual formulation rate of the liquid of ejection according to the corresponding formulation rate in the dispenser instruction of controller 3.Dispenser Vib. 43, eliminates the bubble in the liquid of variable farm chemical applying regulator 42 ejection by vibration.
As shown in Figure 2, controller 3 comprises master controller 32 and multiplexer (MUX 33, the ranging data that mobile laser terminal 1 collects can be sent to master controller 32 and form crop distribution state data, and the primary importance data collected directly are sent into multichannel multiplexer (MUX 33 and are obtained second place data, in other embodiments, master controller 32 and multiplexer (MUX 33 also can be same.Should be appreciated that, controller generally has the device such as processor and storer.It is multiple that soil pesticide bores 4, and multiplexer (MUX 33 creeps into row control respectively by the signal cable 31 of correspondence to multiple soil pesticide, and signal cable 31 can comprise rare earth magnetic material on surface, thus is adsorbed on operation vehicle bottom.
Soil pesticide bores 4, can also comprise apparatus for adjusting position (not shown); Described controller is according to the difference of the soil pesticide position preset and the described second place, and send the shift order of the drill bit that mobile described soil pesticide bores, described apparatus for adjusting position moves horizontally described drill bit according to described shift order.Thus can accurately determine soil pesticide position, do not need the position fine adjustment to the movement of mobile operating car body.
Controller 3 can also comprise Peripheral Interface, for the corresponding relation of the formulation rate that pre-sets described in receiving and soil pesticide position.As shown in Figure 1, Peripheral Interface is such as USB interface 34 and blue tooth interface 35, thus from such as USB flash disk peripherals receives the corresponding relation of formulation rate and the soil pesticide position pre-set.
Should be appreciated that, according to actual needs, soil pesticide device of the present invention also comprises power, advances and control system, because the present invention does not relate to the improvement to these systems, so do not illustrate in the accompanying drawings, also repeats no more at this.
Corresponding to the above-mentioned soil pesticide device based on laser positioning, present invention also offers a kind of soil pesticide method based on laser positioning, use the above-mentioned soil pesticide device based on laser positioning to carry out dispenser to soil, comprising:
Fixed laser terminal is arranged on fixed position, launches modulating lasering beam;
The laser pickoff of mobile laser terminal receives the modulating lasering beam that fixed laser terminal is launched, determine the distance L of described mobile laser terminal to described fixed laser terminal, then according to the frequency of described modulating lasering beam, determine the angle that described modulating lasering beam is launched, obtain the angle [alpha] of mobile laser terminal and fixed laser terminal, thus obtain the primary importance of described mobile laser terminal;
The relative position that controller bores according to mobile laser terminal and soil pesticide, determine the second place of the soil that drill bit that described soil pesticide bores is corresponding, the second place is:
Xa＝L*cosα+Xb
Ya＝L*sinα+Yb
Wherein Xa, Ya are second place coordinate in the horizontal plane, and Xb, Yb are the relative position coordinate in the horizontal plane that mobile laser terminal and soil pesticide bore;
Controller is according to the described second place and the formulation rate that pre-sets and the corresponding relation of soil pesticide position, and determine that soil pesticide is drilled in the corresponding formulation rate of described second position, generation comprises the dispenser instruction of corresponding formulation rate;
Soil pesticide bores and receives described dispenser instruction, pierces the soil of second position, applies the liquid of corresponding formulation rate.
Claims (10)
1. based on a soil pesticide device for laser positioning, it is characterized in that, comprising: operation car body, and mobile laser terminal, controller and the soil pesticide arranged on operation car body bores;
Described mobile laser terminal comprises laser pickoff, the modulating lasering beam that described laser pickoff is launched for receiving fixed laser terminal, determines the primary importance at described mobile laser terminal place;
Described controller, according to the relative position that described primary importance and mobile laser terminal and soil pesticide are bored, determine the second place of the soil that drill bit that described soil pesticide bores is corresponding, and according to the corresponding relation of the described second place and the formulation rate that pre-sets and soil pesticide position, determine that described soil pesticide is drilled in the corresponding formulation rate of described second position, generate the dispenser instruction comprising described corresponding formulation rate;
Described soil pesticide bores, and according to the dispenser instruction that described controller sends, pierces the soil of described second position, applies the liquid of described corresponding formulation rate.
2. soil pesticide device according to claim 1, it is characterized in that, described fixed laser terminal rotates transmitting modulating lasering beam along the horizontal plane, the frequency of the modulating lasering beam launched when rotating to different angles is different, described laser pickoff determines the distance of described mobile laser terminal to described fixed laser terminal according to the described modulating lasering beam received, then according to the frequency of described modulating lasering beam, determine the angle that described modulating lasering beam is launched, thus determine the primary importance at described mobile laser terminal place.
3. soil pesticide device according to claim 1, it is characterized in that, described mobile laser terminal, also comprise height adjustment mechanism, for regulating the height of described mobile laser terminal when the variation of described Operation Van body position, the modulating lasering beam making described laser pickoff can receive described fixed laser terminal all the time to launch.
4. soil pesticide device according to claim 1, is characterized in that, described mobile laser terminal, also comprises laser range finder, receives reflected light for Emission Lasers towards periphery; The data of described controller also for recording according to described laser range finder determine the spatial distribution state of crop.
5. soil pesticide device according to claim 4, is characterized in that, described controller, also for determining according to the spatial distribution state of described crop or upgrading the corresponding relation of formulation rate and soil pesticide position.
6. soil pesticide device according to claim 1, is characterized in that, described controller, also for the corresponding relation according to the dispenser degree of depth preset and soil pesticide position, determines that described soil pesticide is drilled in the corresponding dispenser degree of depth of described second position; The corresponding dispenser depth dispenser be drilled in described second position according to the dispenser instruction of described controller in soil is bored in described dispenser.
7. soil pesticide device according to claim 1, is characterized in that, described soil pesticide bores, and also comprises variable farm chemical applying regulator, for regulating according to the corresponding formulation rate in the dispenser instruction of controller the actual formulation rate sprayed from described drill bit; Described soil pesticide bores, and also comprises dispenser Vib., for being eliminated the bubble in the liquid of described variable farm chemical applying regulator ejection by vibration.
8. soil pesticide device according to claim 7, is characterized in that, described soil pesticide bores, and also comprises apparatus for adjusting position; Described controller is according to the difference of the soil pesticide position preset and the described second place, and send the shift order of the drill bit that mobile described soil pesticide bores, described apparatus for adjusting position moves horizontally described drill bit according to described shift order.
9. according to the soil pesticide device of claim 1-8 according to any one of it, it is characterized in that, described soil pesticide bores as multiple, and described controller creeps into row control respectively by the signal cable of correspondence to multiple soil pesticide, and described signal cable can be adsorbed on operation vehicle bottom.
10. based on a soil pesticide method for laser positioning, it is characterized in that, use the soil pesticide device based on laser positioning of claim 1-9 according to any one of it to carry out dispenser to soil, comprising:
Fixed laser terminal is arranged on fixed position, launches modulating lasering beam;
The laser pickoff of mobile laser terminal receives the modulating lasering beam that fixed laser terminal is launched, determine the distance L of described mobile laser terminal to described fixed laser terminal, then according to the frequency of described modulating lasering beam, determine the angle that described modulating lasering beam is launched, obtain the angle [alpha] of mobile laser terminal and fixed laser terminal, thus obtain the primary importance of described mobile laser terminal;
The relative position that controller bores according to mobile laser terminal and soil pesticide, determine the second place of the soil that drill bit that described soil pesticide bores is corresponding, the second place is:
Xa＝L*cosα+Xb
Ya＝L*sinα+Yb
Wherein Xa, Ya are second place coordinate in the horizontal plane, and Xb, Yb are the relative position coordinate in the horizontal plane that mobile laser terminal and soil pesticide bore;
Described controller is according to the described second place and the formulation rate that pre-sets and the corresponding relation of soil pesticide position, and determine that described soil pesticide is drilled in the corresponding formulation rate of described second position, generation comprises the dispenser instruction of described corresponding formulation rate;
Described soil pesticide bores and receives described dispenser instruction, pierces the soil of described second position, applies the liquid of described corresponding formulation rate.
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| CN201510446921.5A CN105045302B (en) | 2015-07-27 | 2015-07-27 | Soil pesticide device and method based on laser positioning |
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