CN109116373B - Droplet drift detection system based on two-dimensional laser radar scanning sensor - Google Patents
Droplet drift detection system based on two-dimensional laser radar scanning sensor Download PDFInfo
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- CN109116373B CN109116373B CN201810780806.5A CN201810780806A CN109116373B CN 109116373 B CN109116373 B CN 109116373B CN 201810780806 A CN201810780806 A CN 201810780806A CN 109116373 B CN109116373 B CN 109116373B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
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Abstract
The invention discloses a droplet drift detection system based on a two-dimensional laser radar scanning sensor, which comprises the two-dimensional laser radar scanning sensor, a PC (personal computer), an Ethernet cable, a storage battery, a weather protection cover, a holder, a support and a mobile platform, wherein the PC is connected with the two-dimensional laser radar scanning sensor through the Ethernet cable, the storage battery is connected with a power supply end of the two-dimensional laser radar scanning sensor, a signal output end of the two-dimensional laser radar scanning sensor is connected with the weather protection cover, a control output end of the two-dimensional laser radar scanning sensor is connected with the holder, and the two-dimensional laser radar scanning sensor is arranged on the mobile platform through the support. Compared with the prior art, the invention can effectively record and detect the dynamic change of the drifting fog drops, and lays a foundation for parameter setting, quality evaluation and working standard establishment of plant protection machinery.
Description
Technical Field
The invention relates to an agricultural technology, in particular to a fogdrop drifting detection system based on a two-dimensional laser radar scanning sensor.
Background
In the field operation process of the plant protection machinery, pesticide fog drops can drift under the influence of factors such as the type of a spray head, the spray pressure, the driving speed of the machinery, the operation method, the air temperature, the air speed and the like, and the drifting fog drops have great harmfulness, can cause pollution of non-target areas, damage peripheral natural ecological systems and even endanger the living environment of nearby residents. Therefore, effective detection of drifting mist droplets becomes one of the important factors for evaluating the operation quality of plant protection machinery. The traditional method for collecting and measuring the drifting fog drops adopts manual sample distribution, sampling and later-stage sample chemical analysis, is labor-consuming and time-consuming, is complex to operate, has poor repeatability and adaptability, and is difficult to obtain the time and space variation trend of the drifting fog drops. Laser radar scanning sensor (LiDAR, light Detection and Ranging) can continuously emit laser pulse waves in a scanning plane, and the laser pulse waves are reflected by the surface of an object to return multipoint distance values, so that a dynamic model of drifting fog drops can be comprehensively obtained in time and space.
Disclosure of Invention
The invention aims to solve the problems and provide a droplet drift detection system based on a two-dimensional laser radar scanning sensor.
The invention achieves the above purpose through the following technical scheme:
the invention relates to a droplet drifting detection system based on a two-dimensional laser radar scanning sensor, which comprises the two-dimensional laser radar scanning sensor, a PC (personal computer), an Ethernet cable, a storage battery, a weather protection cover, a holder, a support and a mobile platform, wherein the PC is connected with the two-dimensional laser radar scanning sensor through the Ethernet cable, the storage battery is connected with a power supply end of the two-dimensional laser radar scanning sensor, a signal output end of the two-dimensional laser radar scanning sensor is connected with the weather protection cover, a control output end of the two-dimensional laser radar scanning sensor is connected with the holder, and the two-dimensional laser radar scanning sensor is installed on the mobile platform through the support.
The invention relates to a detection method of a fogdrop drift detection system based on a two-dimensional laser radar scanning sensor, wherein a target area is a spraying area of a spraying machine, a buffer area is an isolation zone at the periphery of the target area, A, B, C and D are respectively set as 4 boundary vertexes of the buffer area, the fogdrop detection system is moved to a position which is parallel to an AD direction and has a central O point 4m away from the A point, the unilateral laser beam scanning distance of the fogdrop detection system is at least 8m, the scanning angle is set to be 0-180 degrees, the angular resolution is set to be 1 degree, the scanning frequency is 10Hz, and the scanning range in a single scanning period is a semicircular surface which is perpendicular to the ground and has the radius of 8 m; when the operating sprayer passes through the boundary of the target area at a normal running speed, the fogdrop drifting detection system is started and timing is started, drifting fogdrops can pass through a laser beam of the fogdrops detection system along with the change of time and space, and the fogdrops detection system is closed after timing for 30 seconds, so that the field collection of the drifting fogdrops is completed.
The invention has the beneficial effects that:
compared with the prior art, the invention can effectively record and detect the dynamic change of drifting fog drops and lays a foundation for parameter setting, quality evaluation and working standard establishment of plant protection machinery.
Drawings
FIG. 1 is a system block diagram of the present invention;
FIG. 2 is a schematic diagram of a droplet drift detection method of the present invention;
fig. 3 is a flow chart of the operation of the droplet drift detection system of the present invention.
Detailed Description
The invention will be further described with reference to the accompanying drawings in which:
as shown in fig. 1: the invention relates to a droplet drifting detection system based on a two-dimensional laser radar scanning sensor, which comprises the two-dimensional laser radar scanning sensor, a PC (personal computer), an Ethernet cable, a storage battery, a weather protection cover, a holder, a support and a mobile platform, wherein the PC is connected with the two-dimensional laser radar scanning sensor through the Ethernet cable, the storage battery is connected with a power supply end of the two-dimensional laser radar scanning sensor, a signal output end of the two-dimensional laser radar scanning sensor is connected with the weather protection cover, a control output end of the two-dimensional laser radar scanning sensor is connected with the holder, and the two-dimensional laser radar scanning sensor is installed on the mobile platform through the support.
The functions of the components are as follows:
(1) The two-dimensional laser radar scanning sensor is used for emitting laser beams, detecting drifting fog drops and returning distance and angle information of the fog drops to the PC;
(2) The PC is connected with the two-dimensional laser radar scanning sensor through an Ethernet cable and is used for setting parameters of the two-dimensional laser radar scanning sensor and receiving and processing data;
(3) The Ethernet cable is used for connecting the two-dimensional laser radar scanning sensor and the PC to realize data communication;
(4) The storage battery is used for supplying power to the two-dimensional laser radar scanning sensor;
(5) The weather shield is arranged on the two-dimensional laser radar scanning sensor and used for preventing water vapor, dust and the like in the air from polluting the mirror surface of the sensor;
(6) The holder is directly connected with the two-dimensional laser radar scanning sensor and is used for adjusting the direction of a detection area of the sensor;
(7) The support is used for mounting the two-dimensional laser radar scanning sensor to the mobile platform;
(8) The mobile platform is used for carrying the whole hardware system, and is convenient for the droplet drift detection system to move in the field.
As shown in fig. 2: in the figure, 1-target, 2-target zone, 3-buffer zone, 4-sprayer, 5-drifting fog drop, 6-fog drop detection system and 7-laser beam, the invention relates to a detection method of the fog drop drifting detection system based on a two-dimensional laser radar scanning sensor, the target zone is a spraying zone of the sprayer, the buffer zone is an isolation zone at the periphery of the target zone, A, B, C and D are respectively set as 4 boundary vertexes of the buffer zone, the fog drop detection system is moved to a position which is parallel to an AD direction and is 4m away from an O point at the center of the system to the A point, the unilateral laser beam scanning distance of the fog drop detection system is at least 8m (the scanning distance depends on the model of the internal laser radar scanning sensor), the scanning angle is set to be 0-180 degrees, the angular resolution is set to be 1 degree, the scanning frequency is 10Hz, and the scanning range in a single scanning period is a semi-circular surface which is perpendicular to the ground and has the radius of 8 m; when the operating sprayer passes through the boundary of the target area at a normal running speed, the fogdrop drifting detection system is started and timing is started, drifting fogdrops can pass through a laser beam of the fogdrops detection system along with the change of time and space, and the fogdrops detection system is closed after timing for 30 seconds, so that the field collection of the drifting fogdrops is completed.
The single-shot workflow of the droplet drift detection system is shown in fig. 3.
(1) Firstly, setting parameters of a two-dimensional laser radar scanning sensor, including angular resolution, scanning range, scanning frequency and the like;
(2) Debugging data communication between the two-dimensional laser radar scanning sensor and the PC to ensure normal data communication;
(3) Moving the fog drop detection system to a test field, and determining a detection position and a detection direction;
(4) Starting a fog drop detection system and timing for 30s;
(5) When the timing time is up, closing the fog drop detection system to complete field data acquisition;
(6) After field data are collected, the data are processed, analyzed and modeled based on a software system developed on a PC (personal computer), and detection of drifting fog drops is completed.
The foregoing shows and describes the general principles and features of the present invention, together with the advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (1)
1. A detection method of a fogdrop drift detection system based on a two-dimensional laser radar scanning sensor comprises the two-dimensional laser radar scanning sensor, a PC (personal computer), an Ethernet cable, a storage battery, a weather protection cover, a cradle head, a support and a mobile platform, wherein the PC is connected with the two-dimensional laser radar scanning sensor through the Ethernet cable, the storage battery is connected with a power supply end of the two-dimensional laser radar scanning sensor, a signal output end of the two-dimensional laser radar scanning sensor is connected with the weather protection cover, a control output end of the two-dimensional laser radar scanning sensor is connected with the cradle head, and the two-dimensional laser radar scanning sensor is installed on the mobile platform through the support; the method is characterized in that: the method comprises the following steps that a target area is a spraying area of a spraying machine, a buffer area is an isolation zone at the periphery of the target area, A, B, C and D are respectively 4 boundary vertexes of the buffer area, a fog drop detection system is moved to a position which is parallel to an AD direction and has a system center O point 4m away from an A point, the scanning distance of a single-side laser beam of the fog drop detection system is at least 8m, the scanning angle is set to be 0-180 degrees, the angle resolution is set to be 1 degree, the scanning frequency is 10Hz, and the scanning range in a single scanning period is a semicircular surface which is perpendicular to the ground and has the radius of 8 m; when the operating sprayer passes through the boundary of the target area at a normal running speed, the fogdrop drifting detection system is started and timing is started, drifting fogdrops can pass through a laser beam of the fogdrops detection system along with the change of time and space, and the fogdrops detection system is closed after timing for 30 seconds, so that the field collection of the drifting fogdrops is completed.
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| CN201810780806.5A CN109116373B (en) | 2018-07-17 | 2018-07-17 | Droplet drift detection system based on two-dimensional laser radar scanning sensor |
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| CN201810780806.5A CN109116373B (en) | 2018-07-17 | 2018-07-17 | Droplet drift detection system based on two-dimensional laser radar scanning sensor |
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| CN109116373B true CN109116373B (en) | 2022-12-09 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110006614B (en) * | 2019-02-01 | 2021-01-05 | 北京农业智能装备技术研究中心 | System and method for monitoring drift trend of aerial pesticide application liquid medicine fogdrop cloud cluster |
| CN110476941B (en) * | 2019-09-30 | 2023-09-26 | 华南农业大学 | Automatic target variable spraying control system, spraying machine and control method |
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