CN112162298B - Fertilizer box allowance monitoring system and monitoring method - Google Patents
Fertilizer box allowance monitoring system and monitoring method Download PDFInfo
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- CN112162298B CN112162298B CN202011139076.4A CN202011139076A CN112162298B CN 112162298 B CN112162298 B CN 112162298B CN 202011139076 A CN202011139076 A CN 202011139076A CN 112162298 B CN112162298 B CN 112162298B
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- 239000003337 fertilizer Substances 0.000 title claims abstract description 315
- 238000012544 monitoring process Methods 0.000 title claims abstract description 37
- 238000000034 method Methods 0.000 title claims abstract description 25
- 239000000126 substance Substances 0.000 claims abstract description 32
- 238000001514 detection method Methods 0.000 claims abstract description 28
- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 238000007599 discharging Methods 0.000 claims abstract description 23
- 238000004364 calculation method Methods 0.000 claims abstract description 9
- 238000012545 processing Methods 0.000 claims abstract description 4
- 238000006243 chemical reaction Methods 0.000 claims description 19
- 230000004720 fertilization Effects 0.000 claims description 15
- 238000004422 calculation algorithm Methods 0.000 claims description 12
- 238000004891 communication Methods 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 230000003993 interaction Effects 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 3
- 238000005070 sampling Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005457 optimization Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 230000002547 anomalous effect Effects 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 239000012298 atmosphere Substances 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
- 238000002366 time-of-flight method Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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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
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
- G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C15/00—Fertiliser distributors
- A01C15/005—Undercarriages, tanks, hoppers, stirrers specially adapted for seeders or fertiliser distributors
- A01C15/006—Hoppers
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C15/00—Fertiliser distributors
- A01C15/16—Fertiliser distributors with means for pushing out the fertiliser, e.g. by a roller
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
- G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
- G01F23/28—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring the variations of parameters of electromagnetic or acoustic waves applied directly to the liquid or fluent solid material
- G01F23/284—Electromagnetic waves
- G01F23/292—Light, e.g. infrared or ultraviolet
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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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
- Y02P60/21—Dinitrogen oxide [N2O], e.g. using aquaponics, hydroponics or efficiency measures
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Radar, Positioning & Navigation (AREA)
- Computer Networks & Wireless Communication (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Thermal Sciences (AREA)
- Fluid Mechanics (AREA)
- Fertilizing (AREA)
Abstract
The invention relates to a fertilizer box allowance monitoring system and a monitoring method, wherein the fertilizer box allowance monitoring system comprises a fertilizer applicator, a fertilizer discharging mechanism, a cab, an electric control system and a main control device; the electric control system comprises: the laser ranging sensor array is used for monitoring the distance information of the chemical fertilizer in the fertilizer box from the inner side of the top of the fertilizer box in real time and sending the distance information to the controller; the opening detection sensor is used for detecting the opening of a fertilizer discharging shaft in the fertilizer discharging mechanism and sending the opening to the controller; the rotating speed detection sensor is used for detecting the rotating speed of a fertilizer discharging shaft in the fertilizer discharging mechanism and sending the rotating speed to the controller; the controller is used for processing all the received information and sending the processed information to the main control equipment; the 5V power supply is used for supplying power to each sensor and the controller; the main control equipment is used for carrying out fertilizer box allowance calculation, fertilizer application duration prediction and emptying early warning. The invention can be widely applied to the field of monitoring the residue of the fertilizer box.
Description
Technical Field
The invention relates to the fields of intelligent agricultural machinery, unmanned fertilizer applicators and granular fertilizer storage and transportation equipment, in particular to a fertilizer box allowance monitoring system and a monitoring method.
Background
The use of fertilizers has a significant contribution to improving the yield of agricultural production. At present, the use of Chinese chemical fertilizers is increased year by year, and doubled in 25 years. Although the application amount of the fertilizer is large, the utilization rate of the fertilizer is less than 40%, and the unused fertilizer enters soil, water and atmosphere through ecological circulation, so that the environment is polluted, and meanwhile, the economic loss is caused.
The variable fertilizing technology can reduce the application amount of the fertilizer and reduce the influence of the fertilizer on the environment. And fertilizer quality is one of the important factors affecting crop yield. Monitoring of the quality of fertilization is one of the main directions of current fertilizer applicator research. In the variable fertilizing process, the residual amount of the fertilizer stored in the fertilizer box is insufficient and is not timely replenished, or the fertilizer has poor fluidity and is difficult to flow to a fertilizer discharging port, so that the fertilizing amount is far lower than the target fertilizing amount, and the yield of crops is further reduced. In order to prevent the fertilizer quality from being difficult to guarantee due to insufficient residual amount of the fertilizer stored in the fertilizer box and not timely supplementing or poor fluidity of the fertilizer which is difficult to flow to a fertilizer discharging port, a manual monitoring method is commonly used. However, the manual monitoring method is often inaccurate, and a large amount of manpower and material resources are required, so that the fertilization cost is increased.
Disclosure of Invention
Aiming at the problems, the invention aims to provide a fertilizer box surplus monitoring system and a monitoring method, which are used for effectively monitoring the surplus of the fertilizer in a fertilizer box and can solve the problem of crop yield reduction caused by insufficient surplus of the fertilizer in the fertilizer box.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
in a first aspect, the invention provides a fertilizer box residual quantity monitoring system, which comprises a fertilizer applicator, wherein the fertilizer applicator comprises a fertilizer box, a fertilizer mechanism and a cab, and the fertilizer mechanism is arranged at a fertilizer outlet on the side wall of the fertilizer box; it also includes: the electronic control system and the main control equipment; the electric control system comprises a laser ranging sensor array, an opening detection sensor, a rotating speed detection sensor, a 5V power supply and a controller; the laser ranging sensor array is arranged on the inner side of the top of the fertilizer box and used for monitoring the distance information of the chemical fertilizer in the fertilizer box from the inner side of the top of the fertilizer box in real time and sending the distance information to the controller; the opening detection sensor is arranged in the fertilizer mechanism, is used for detecting the opening of a fertilizer discharging shaft in the fertilizer mechanism and sends the opening to the controller; the rotating speed detection sensor is arranged in the fertilizer mechanism and is used for detecting the rotating speed of a fertilizer discharging shaft in the fertilizer mechanism and sending the rotating speed to the controller; the controller and the 5V power supply are arranged on the side edge of the fertilizer box, the controller is used for processing all received information and sending the information to the main control equipment, and the 5V power supply is used for supplying power for each sensor and the controller; the main control equipment is arranged in the cab and used for monitoring the residual quantity of the fertilizer box according to the received information, and predicting the fertilization time and carrying out evacuation early warning according to the residual quantity of the fertilizer box and the fertilization rate.
Further, the laser ranging sensor array comprises a plurality of laser ranging sensors, and each laser ranging sensor is arranged at the top of the fertilizer box through a plurality of fixed guide rails arranged on the same horizontal plane on the inner side of the top of the fertilizer box to form a sensor plane lattice.
Further, the controller comprises first to fourth sub-controllers, each of the first to fourth sub-controllers is respectively connected with the laser ranging sensors in each column of the laser ranging sensor array, and is used for receiving the distance information acquired by the laser ranging sensors in each column, and the real-time distance information is obtained through calculation after analog-to-digital conversion by the built-in A/D conversion module; the second sub-controller is used for receiving displacement quantity change information acquired by the opening detection sensor, and obtaining real-time displacement information after analog-to-digital conversion by the built-in A/D conversion module; the third sub-controller is used for receiving the rotating speed information acquired by the rotating speed sensor, and obtaining a real-time speed value after analog-to-digital conversion by the built-in A/D conversion module.
Further, the first to fourth sub-controllers each adopt an Arduino controller.
Further, a main controller is arranged in the main control equipment, and a fertilizer surface fitting module, a fertilizer volume calculating module, a fertilizer allowance converting module, a fertilizer duration predicting module and a man-machine interaction interface in the fertilizer box are arranged in the main controller; the chemical fertilizer surface fitting module in the chemical fertilizer is used for reconstructing a curved surface of the chemical fertilizer in the chemical fertilizer box according to the depth signals acquired by the laser ranging sensor array; the chemical fertilizer volume calculation module is used for calculating the space volume of the residual chemical fertilizer in the fertilizer box according to the calculated chemical fertilizer surface information; the chemical fertilizer allowance replacing module is used for calculating the quality of the current residual chemical fertilizer according to the calculated space volume of the residual chemical fertilizer; the fertilizing duration prediction module is used for predicting fertilizing duration according to the current fertilizing rate and the quality of the residual fertilizer; the man-machine interaction interface is used for displaying the residual amount and the fertilization time length of the fertilizer in the fertilizer box.
Further, the main control equipment and the electric control system are in CAN communication.
In a second aspect of the present invention, there is provided a method for monitoring the remaining amount of a fertilizer box, comprising the steps of:
1) Resetting the laser ranging sensor array in the electric control system, checking whether the resetting is finished, if so, entering the step 2), otherwise, continuously resetting;
2) The main control equipment reads the information of each sensor processed by the controller in the electric control system, eliminates errors by using a RANSAC algorithm, and realizes fitting reconstruction of the surface of the fertilizer by using a three-dimensional reconstruction technology to obtain the residual amount of the fertilizer in the fertilizer box;
3) Judging whether the residual quantity of the fertilizer box is sufficient according to a fertilizing rate control table calibrated in advance, if so, displaying residual quantity information of the fertilizer box through a man-machine interface, otherwise, sending out an empty box alarm.
Further, in the step 2), the method for calculating the fertilizer allowance comprises the following steps:
2.1 Constructing a sensor lattice plane by using a plane where the laser ranging sensor array is positioned, and calibrating the volume from the bottom of the fertilizer box to the sensor lattice plane to obtain a calibrated empty box volume;
2.2 Based on the depth information of the fertilizer surface in the fertilizer box detected by the laser ranging sensor from the lattice plane of the sensor, performing curved surface reconstruction by utilizing the three-dimensional reconstruction principle, and further calculating the space volume between the lattice plane of the sensor and the surface of the fertilizer;
2.3 Using the calibrated empty box volume to subtract the space volume between the sensor lattice plane and the surface of the fertilizer to obtain the volume of the actual residual fertilizer in the fertilizer box.
2.4 According to the volume and the bulk density of the actual residual fertilizer in the fertilizer box, the mass of the actual residual fertilizer in the fertilizer box is obtained.
Further, in the step 2.4), the calculation formula of the actual residual fertilizer mass is:
M＝ρ×V
Wherein: m represents the mass of the residual fertilizer in the fertilizer box; ρ represents the bulk density of the fertilizer in the fertilizer tank; v represents the volume of the remaining fertilizer in the fertilizer box.
Further, in the step 3), the prediction formula of the fertilization time is:
T＝M/q
Wherein: m represents the mass of the residual fertilizer in the fertilizer box; t represents the emptying time of the fertilizer; q represents the rate of drainage in the fertilizer box.
Due to the adoption of the technical scheme, the invention has the following advantages: (1) The electric control system is provided with the laser ranging sensor array, so that the accumulation shape and the allowance of the fertilizer in the fertilizer box can be monitored in real time, the fitting pattern error is small, and the allowance detection linearity is high; (2) The electronic control system is provided with the opening detection sensor and the rotating speed detection sensor, so that the opening and the rotating speed of the fertilizer discharging shaft in the fertilizer box can be monitored in real time, and the emptying early warning can be carried out by combining the surplus predicted fertilization time of the fertilizer box; (3) The controller and the display screen are communicated by using the CAN bus, so that real-time communication CAN be realized, the communication speed is high, and the reliability is high. Therefore, the invention can be widely applied to the field of monitoring the residual quantity of the fertilizer box.
Drawings
FIG. 1 is a schematic diagram of the residual quantity detecting device;
FIG. 2 is a diagram of a fertilizer mechanism model of the present invention;
fig. 3a and 3b are a partial view of the fertilizer box of the present invention and an installation effect view of the inner sheave of the fertilizer box, respectively;
FIG. 4 is a schematic flow chart of the detection system of the present invention;
FIG. 5 is a diagram showing the principle of on-line detection of the residue of a fertilizer box;
FIG. 6 is a plot of a fertilizer surface fit with noise data;
FIG. 7 is a least squares method versus RANSAC algorithm optimization comparison;
FIG. 8 is a false result of the RANSAC algorithm;
The reference numerals in the figures are as follows: 1. a fertilizer box; 2. a fixed guide rail; 3. a laser ranging sensor; 4. arduino controller; 5. a 5V power supply; 6. an encoder; 7. a fertilizer discharging box; 8. blocking the sensor; 9. an opening degree detection sensor; 10. a push rod; 11. a 24V power supply; 12. and a motor.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and examples.
As shown in fig. 1 and 2, the invention provides a fertilizer box residual quantity monitoring system, which comprises: there are fertilizer applicators and electronic control systems and master control devices provided in the fertilizer applicators. Specifically, the fertilizer applicator comprises a fertilizer box 1, a fertilizer mechanism and a cab, wherein the fertilizer mechanism is arranged at a fertilizer outlet on the side wall of the lower part of the fertilizer box 1 and is used for adjusting the fertilizer application rate; the electric control system comprises a laser ranging sensor array, an opening detection sensor 9, a rotating speed detection sensor, a 5V power supply 5, a 24V power supply 11 and a controller; the laser ranging sensor array is arranged on the inner side of the top of the fertilizer box 1 and is used for monitoring the distance information of the chemical fertilizer in the fertilizer box from the inner side of the top of the fertilizer box (namely, the sensor plane) in real time and sending the distance information to the controller; the opening detection sensor is arranged in the fertilizer mechanism and used for detecting the opening of a fertilizer discharging shaft in the fertilizer mechanism and sending the opening to the controller; the rotating speed detection sensor is arranged in the fertilizer mechanism and used for detecting the rotating speed of a fertilizer shaft in the fertilizer mechanism and sending the rotating speed to the controller; the controller is arranged at one side of the fertilizer box 1 and is used for processing all received information and sending the information to the main control equipment; the 5V power supply is used for supplying power to each sensor and the controller. The main control equipment is arranged in the cab and used for monitoring the residual quantity of the fertilizer box according to the received information, and predicting the fertilization time and carrying out evacuation early warning according to the residual quantity of the fertilizer box and the current fertilization rate.
Preferably, the laser ranging sensor array comprises a plurality of laser ranging sensors 1, and each laser ranging sensor is arranged at the top of the fertilizer box 1 through a plurality of fixed guide rails 2 arranged on the same horizontal plane at the top of the fertilizer box 1 to form a plane lattice for collecting point cloud information detection depth information of the surface of the fertilizer. More preferably, the number of the laser ranging sensors is 24, and the laser ranging sensors are arranged in 4*6 arrays.
Preferably, the controller comprises a first sub-controller 4, a fourth sub-controller 4, each sub-controller adopts an Arduino controller, and an A/D conversion module is built in each sub-controller. The first sub-controller is connected with the laser ranging sensors in each column of the laser ranging sensor array respectively, and is used for receiving the distance information acquired by the laser ranging sensors in each column, and calculating the distance information in real time after analog-digital conversion by the A/D conversion module; the second sub-controller is used for receiving displacement quantity change information acquired by the opening detection sensor, and obtaining real-time displacement information after analog-to-digital conversion by the A/D conversion module; the third sub-controller is used for receiving the rotating speed information acquired by the rotating speed sensor, and obtaining a real-time speed value after analog-to-digital conversion by the A/D conversion module.
Preferably, as shown in fig. 2 and 3a and 3b, the fertilizer application mechanism includes a fertilizer box 7, a fertilizer sheave 13, a fertilizer shaft 14, a fertilizer box 1, an opening adjustment push rod 10, a rotation speed adjustment motor 12, an encoder 6 and a 24V power supply 11. The fertilizer discharging box 7 is arranged at a fertilizer outlet of the wall of the fertilizer box 1, a fertilizer discharging grooved wheel 13 is arranged in the fertilizer discharging box 7, a fertilizer discharging shaft 14 is inserted into the fertilizer discharging grooved wheel 13, an opening adjusting push rod 10 and a rotating speed adjusting motor 12 are respectively connected with the fertilizer discharging shaft 14, and the opening and the rotating speed of the fertilizer discharging shaft 14 are adjusted by adjusting the opening adjusting push rod 10 and the rotating speed adjusting motor 12, so that the fertilizer applying rate is adjusted; the encoder 6 is used for reading the rotation speed of the rotation speed regulating motor 12 and sending the rotation speed to the main control equipment, and the 24V power supply 11 is used for supplying power to the rotation speed regulating motor 12.
Preferably, a main controller is arranged in the main control equipment, and a fertilizer surface fitting module, a fertilizer volume calculating module, a fertilizer allowance converting module, a fertilizer duration predicting module and a man-machine interaction interface in the fertilizer box are arranged in the main controller. The chemical fertilizer surface fitting module in the chemical fertilizer is used for reconstructing a curved surface of the chemical fertilizer in the fertilizer box according to the depth signals acquired by the laser ranging sensor array; the fertilizer volume calculation module is used for calculating the space volume of the residual fertilizer in the fertilizer box according to the calculated fertilizer surface information; the fertilizer allowance replacing module is used for calculating the quality of the current residual fertilizer according to the calculated space volume of the residual fertilizer; the fertilizing duration prediction module is used for predicting fertilizing duration according to the current fertilizing rate and the quality of the residual fertilizer; the man-machine interaction interface is used for displaying the fertilizer allowance and the fertilizer duration in the fertilizer box.
Preferably, the communication mode of the main control equipment and the electric control system adopts CAN communication.
As shown in fig. 4, based on the above-mentioned fertilizer box residual amount monitoring system, the invention further provides a fertilizer box residual amount monitoring method, which comprises the following steps:
1) Resetting the laser ranging sensor array in the electric control system, checking whether the resetting is finished, if so, entering the step 2), otherwise, continuously resetting.
2) The main control equipment reads the information of each sensor processed by the controller in the electric control system, eliminates errors by using a RANSAC algorithm, and realizes fitting reconstruction of the fertilizer surface by using a three-dimensional reconstruction technology to obtain the residual amount of the fertilizer in the fertilizer box.
In the electric control system, depth information detected by each laser ranging sensor is input into the main control equipment, a graph and a calculation result can be fitted through algorithm calculation, fertilization duration is predicted, and fertilizer discharge early warning is carried out. The invention researches a three-dimensional reconstruction method based on laser point cloud, monitors the residual quantity of a fertilizer box, and specifically comprises the following steps:
2.1 As shown in fig. 5, a sensor lattice plane is constructed by the plane of the laser ranging sensor array, and the volume from the bottom of the fertilizer box to the sensor lattice plane is calibrated to obtain the calibrated empty box volume.
2.2 Based on the depth information of the fertilizer surface in the fertilizer box detected by the laser ranging sensor from the lattice plane of the sensor, the curved surface reconstruction is performed by utilizing the three-dimensional reconstruction principle, and the space volume between the lattice plane of the sensor and the surface of the fertilizer is calculated.
As shown in fig. 6, since the laser ranging sensor array is used to collect depth data by using the time-of-flight method, noise data is generated during actual use, the noise data affects the whole detection data, and the detection information of the sensor lattice needs to be preprocessed. In order to remove noise data and influence on the detection effect, the invention adopts a method of repeated detection for a plurality of times to remove the noise data. The most common method for optimizing data is the least square method, but when the least square method is used for optimizing data, the final result has a large difference from the true value due to the interference of noise data. The invention therefore contemplates the use of a random sample consensus algorithm (Random Sample Consensus, RANSAC) for data optimization. The RANSAC algorithm assumes that the data contains both correct data and anomalous data (otherwise known as noise). The correct data is denoted as inner points (inliers) and the abnormal data is denoted as outer points (outliers). At the same time RANSAC also assumes that, given a correct set of data, there is a way in which model parameters that fit these data can be calculated. The randomness is to randomly select sampling data according to the probability of occurrence of correct data, and the randomness simulation can approximately obtain a correct result according to the law of large numbers.
As shown in fig. 7, the depth data is optimized by using a least square method and a random sampling coincidence algorithm. As can be seen from fig. 7, the algorithm mechanism based on random sample consensus (RANSAC) divides data into outliers and outliers for data optimization, and uses the RANSAC algorithm to exclude fewer outliers than using the least squares method to optimize analysis-by-memory data with minimum variance for all data.
As shown in fig. 8, since the accuracy of the random sampling coincidence algorithm cannot reach 100%, when sampling is performed for multiple iterations, a certain probability is that one of the outer points is extracted for multiple times, which may lead to an erroneous result, so that the optimized result needs to be processed by adding a threshold value discrimination.
2.3 Using the calibrated empty box volume to subtract the space volume between the sensor lattice plane and the surface of the fertilizer to obtain the volume of the actual residual fertilizer in the fertilizer box.
2.4 According to the volume and the bulk density of the actual residual fertilizer in the fertilizer box, the mass of the actual residual fertilizer in the fertilizer box is obtained.
The residual mass of the known chemical fertilizer can be obtained by multiplying the residual volume of the known chemical fertilizer by the bulk density, and the mass of the residual chemical fertilizer in the chemical fertilizer tank can be obtained by the formula (1).
M＝ρ×V (1)
Wherein: m represents the mass of the residual fertilizer in the fertilizer box; ρ represents the bulk density of the fertilizer in the fertilizer tank; v represents the volume of the remaining fertilizer in the fertilizer box.
3) Judging whether the residual quantity of the fertilizer box is sufficient according to a fertilizing rate control table calibrated in advance, if so, displaying residual quantity information of the fertilizer box through a man-machine interface, otherwise, sending out an empty box alarm.
The fertilizer applying mechanism can be in any fertilizer discharging mode, and before fertilizer application, the fertilizer discharging rate of the fertilizer applicator needs to be calibrated, and a full-factor fertilizer applying rate control table is generated.
Through the electric control system, can obtain: the fertilizer residual quantity in the fertilizer box, real-time opening degree information and real-time rotating speed information. The rate (q) of fertilizer removal from the fertilizer tank is determined by the opening (L) and the rotational speed (N) in real time. During the use of the fertilizer applicator, the present invention concludes by repeated experiments: when the remaining amount in the fertilizer box is lower than a fixed value delta, the fertilizer discharge rate in the fertilizer box is much smaller than (q). Therefore, the three pieces of information obtained by the invention can send out early warning information before the residual amount of the fertilizer in the fertilizer box can not guarantee normal work. Meanwhile, the invention can also predict the emptying time of the fertilizer.
The prediction of fertilization time is calculated by the following formula (2):
T＝M/q (2)
Wherein: m represents the mass of the residual fertilizer in the fertilizer box; t represents the emptying time of the fertilizer; q represents the rate of drainage in the fertilizer box.
The foregoing description is only exemplary embodiments of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes using the descriptions and the drawings of the present invention, or direct or indirect application in other related technical fields, are included in the scope of the present invention.
Claims (8)
1. The fertilizer box allowance monitoring system comprises a fertilizer applicator, wherein the fertilizer applicator comprises a fertilizer box, a fertilizer mechanism and a cab, and the fertilizer mechanism is arranged at a fertilizer outlet on the side wall of the fertilizer box; characterized by further comprising:
The electronic control system and the main control equipment;
The electric control system comprises a laser ranging sensor array, an opening detection sensor, a rotating speed detection sensor, a 5V power supply and a controller;
The laser ranging sensor array is arranged on the inner side of the top of the fertilizer box and used for monitoring the distance information of the chemical fertilizer in the fertilizer box from the inner side of the top of the fertilizer box in real time and sending the distance information to the controller;
The opening detection sensor is arranged in the fertilizer mechanism, is used for detecting the opening of a fertilizer discharging shaft in the fertilizer mechanism and sends the opening to the controller;
the rotating speed detection sensor is arranged in the fertilizer mechanism and is used for detecting the rotating speed of a fertilizer discharging shaft in the fertilizer mechanism and sending the rotating speed to the controller;
The controller and the 5V power supply are arranged on the side edge of the fertilizer box, the controller is used for processing all received information and sending the information to the main control equipment, and the 5V power supply is used for supplying power for each sensor and the controller;
The main control equipment is arranged in the cab and is used for monitoring the residual quantity of the fertilizer box according to the received information, and predicting the fertilization time length and carrying out evacuation early warning according to the residual quantity of the fertilizer box and the fertilization rate;
The laser ranging sensor array comprises a plurality of laser ranging sensors, and each laser ranging sensor is arranged at the top of the fertilizer box through a plurality of fixed guide rails arranged on the same horizontal plane on the inner side of the top of the fertilizer box to form a sensor plane lattice;
The controller comprises first to fourth sub-controllers, each of the first to fourth sub-controllers is respectively connected with the laser ranging sensors in each column of the laser ranging sensor array and is used for receiving the distance information acquired by the laser ranging sensors in each column, and the distance information is calculated to obtain real-time distance information after analog-to-digital conversion is carried out by the built-in A/D conversion module; the second sub-controller is used for receiving displacement quantity change information acquired by the opening detection sensor, and obtaining real-time displacement information after analog-to-digital conversion by the built-in A/D conversion module; the third sub-controller is used for receiving the rotating speed information acquired by the rotating speed sensor, and obtaining a real-time speed value after analog-to-digital conversion by the built-in A/D conversion module.
2. The fertilizer bin margin monitoring system of claim 1, wherein: the first sub-controller, the second sub-controller and the third sub-controller are all Arduino controllers.
3. The fertilizer bin margin monitoring system of claim 1, wherein: the main control equipment is internally provided with a main controller, and the main controller is internally provided with a fertilizer surface fitting module, a fertilizer volume calculating module, a fertilizer allowance converting module, a fertilizer duration predicting module and a man-machine interaction interface in the fertilizer box;
The chemical fertilizer surface fitting module in the chemical fertilizer is used for reconstructing a curved surface of the chemical fertilizer in the chemical fertilizer box according to the depth signals acquired by the laser ranging sensor array;
The chemical fertilizer volume calculation module is used for calculating the space volume of the residual chemical fertilizer in the fertilizer box according to the calculated chemical fertilizer surface information;
the chemical fertilizer allowance replacing module is used for calculating the quality of the current residual chemical fertilizer according to the calculated space volume of the residual chemical fertilizer;
the fertilizing duration prediction module is used for predicting fertilizing duration according to the current fertilizing rate and the quality of the residual fertilizer;
The man-machine interaction interface is used for displaying the residual amount and the fertilization time length of the fertilizer in the fertilizer box.
4. The fertilizer bin margin monitoring system of claim 1, wherein: the main control equipment and the electric control system are in CAN communication.
5. A method for monitoring the residual quantity of a fertilizer box by adopting the system as claimed in any one of claims 1 to 4, which is characterized by comprising the following steps:
1) Resetting the laser ranging sensor array in the electric control system, checking whether the resetting is finished, if so, entering the step 2), otherwise, continuously resetting;
2) The main control equipment reads the information of each sensor processed by the controller in the electric control system, eliminates errors by using a RANSAC algorithm, and realizes fitting reconstruction of the surface of the fertilizer by using a three-dimensional reconstruction technology to obtain the residual amount of the fertilizer in the fertilizer box;
3) Judging whether the residual quantity of the fertilizer box is sufficient according to a fertilizing rate control table calibrated in advance, if so, displaying residual quantity information of the fertilizer box through a man-machine interface, otherwise, sending out an empty box alarm.
6. The fertilizer box surplus monitoring method of claim 5, wherein: in the step 2), the method for calculating the fertilizer allowance comprises the following steps:
2.1 Constructing a sensor lattice plane by using a plane where the laser ranging sensor array is positioned, and calibrating the volume from the bottom of the fertilizer box to the sensor lattice plane to obtain a calibrated empty box volume;
2.2 Based on the depth information of the fertilizer surface in the fertilizer box detected by the laser ranging sensor from the lattice plane of the sensor, performing curved surface reconstruction by utilizing the three-dimensional reconstruction principle, and further calculating the space volume between the lattice plane of the sensor and the surface of the fertilizer;
2.3 Using the calibrated empty box volume to subtract the space volume between the sensor lattice plane and the surface of the fertilizer to obtain the volume of the actual residual fertilizer in the fertilizer box;
2.4 According to the volume and the bulk density of the actual residual fertilizer in the fertilizer box, the mass of the actual residual fertilizer in the fertilizer box is obtained.
7. The fertilizer box surplus monitoring method of claim 6, wherein: in the step 2.4), the calculation formula of the actual residual fertilizer mass is as follows:
M=ρ×V
Wherein: m represents the mass of the residual fertilizer in the fertilizer box; ρ represents the bulk density of the fertilizer in the fertilizer tank; v represents the volume of the remaining fertilizer in the fertilizer box.
8. The fertilizer box surplus monitoring method of claim 5, wherein: in the step 3), the prediction formula of the fertilization time is as follows:
T= M/q
Wherein: m represents the mass of the residual fertilizer in the fertilizer box; t represents the emptying time of the fertilizer; q represents the rate of drainage in the fertilizer box.
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