CN207197512U - The detection device of distance between a kind of spray boom and crop plant - Google Patents
The detection device of distance between a kind of spray boom and crop plant Download PDFInfo
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- CN207197512U CN207197512U CN201720765126.7U CN201720765126U CN207197512U CN 207197512 U CN207197512 U CN 207197512U CN 201720765126 U CN201720765126 U CN 201720765126U CN 207197512 U CN207197512 U CN 207197512U
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Abstract
The detection device of distance between a kind of spray boom and crop plant, including fog machine and the spray boom support that is transversely mounted on fog machine；Shower nozzle and yi word pattern laser scanning device are provided with the spray boom support；The fog machine is provided with CCD camera；The fog machine trailing wheel is provided with the encoder coaxial with trailing wheel.The utility model application LASER Light Source launches laser beam irradiate crop as contour line, by IMAQ, introduces value preserving machine traveling displacement detecting, the distance between spray boom and crop plant and crop plant effective area are obtained using the method for image procossing.
Description
Technical field：
It the utility model is related to the detection side of the distance between spray boom and crop plant and crop plant effective area
Method and detection means.
Background technology：
Plant protection machine operation needs detection the distance between spray boom and crop plant and crop plant effective area in real time,
For adjustment control spray boom and spray value.The utilization rate sprayed insecticide can so be improved, it is ensured that spray amount is evenly distributed, and ensures
Pesticide supplying effect, reduces residues of pesticides and reduction pollution of preserving the ecological environment has important meaning.
Existing same domain has similar to patent：
With spraying spray boom gap self-adaptive regulating (application number：201520140394.0)；
The patent of invention is proposed to use ultrasonic wave and infrared distance sensor, measured in real time between spray rod device and crop
Distance.The multiple ultrasonic waves of this method needs and infrared distance sensor are evenly distributed in the head of spray boom, the data phase measured
Fusion, obtains distance between spray boom and crop.
A kind of spray boom balance and highly automated adjusting means and method (application number：201510079697.0)；
The patent of invention is proposed using ultrasonic distance-measuring sensor monitoring spray boom or so two end terrain clearance values, controller
The operation height of spray boom is adjusted after the surveyed end terrain clearance value of spray boom two is handled compared with the operation height value set.
The operating method of the patent of the above two is very big by environmental influence, and measurement accuracy is relatively low, it is impossible to realizes that crops are planted
The detection of strain effective area.
Certainly spray bar type spraying machine (application number is walked in highland：201220382991.0)
Patent of invention proposition can measure height of the spray boom apart from ground using height sensor, not detect spray boom and farming
The distance between thing plant and crop plant effective area.
Detection method (the application number of crop plant height：CN200810059040.8)
The patent of invention proposes continuously to scan crops using optoelectronic scanning system, so as to extract the side of current location plant
Edge altitude information, contour line at the top of crops is obtained with the method for curve matching, by the ripple for calculating contour line at the top of crops
Plant height of the peak as crops.
Paper：The research of plant height non-destructive measuring method based on image procossing.This method is predominantly studied with measuring cotton
Object, cotton plants image is obtained by calibrated single camera, cotton strain stem is simplified to two passes in two-dimensional space
Key point coordinates, plant then is obtained in world coordinate system using camera parameters matrix and two key point constraintss
Three-dimensional information, so as to obtain plant height.
Above paper and " detection method of crop plant height " patent are only applicable to individual plantses, are not suitable with spray boom
Large area operation.
Utility model content：
Purpose of utility model：The utility model refers to a kind of spray boom and farming using image processing techniques and laser scanning
The detection method and equipment of distance between thing, and the detection method of the crop plant effective surface area for controlling spray value and
Equipment.
Technical scheme：
The detection device of distance between a kind of spray boom and crop plant, it is characterised in that：Including fog machine and horizontal peace
Spray boom support on fog machine；
Shower nozzle and yi word pattern laser scanning device are provided with the spray boom support；
The fog machine is provided with CCD camera；
The fog machine trailing wheel is provided with the encoder coaxial with trailing wheel.
The detection device of distance between described spray boom and crop plant, it is characterised in that：The yi word pattern laser is swept
Imaging apparatus projects laser rays vertically downward, is scanned on green plants and forms the scanning of yi word pattern laser linear array.
The detection device of distance between described spray boom and crop plant, it is characterised in that：Described yi word pattern laser
Scanning means includes the level crossing and generating laser that rotation is driven by motor；Also include two photoelectric cells.
The detection device of distance between described spray boom and crop plant, it is characterised in that：Described two photoelectric cells
Position relationship there is following feature：
If the first photoelectric cell and the second photoelectric cell are α by center of circle angle of level crossing,
Spray boom effective length is Lα,
The ultimate range Hmax that can reach between spray boom and crop plant,
Then：
The detection device of distance between described spray boom and crop plant, it is characterised in that：Also include ARM processors；
The arm processor input connects the first photoelectric cell, the second photoelectric cell, CCD cameras and hind axle coding respectively
Device；Output end connection LCD is shown, keyboard and CAN interface；The output end connects motor by driving interface and laser is sent out
Emitter.
The detection method of distance between a kind of spray boom and crop plant, it is characterised in that：
This method is a kind of in the image of acquisition, by extracting laser in crop plant surface pixels point set, spray boom
Pixel point set, the method for obtaining the distance between spray boom and crop plant；
This method be it is a kind of in the image of acquisition by extracting laser in crop plant surface pixels point set, calculate agriculture
Crop surface ray trajectory length, while the travel distance of fog machine is detected, obtain the calculating side of crop plant effective surface area
Method.
The described method for obtaining the distance between spray boom and crop plant, it is specific as follows：
The image of collection is handled, noise is removed according to histogram threshold value, repeat element is folded and compiles contracting, retention level
Direction first derivative is not zero a little, makes unique point in vertical direction；Using spray boom pixel count as horizontal axis
I, k axle, apart from pixel count as vertical coordinate axle j, l axles between spray boom and crop plant；
Pixel is distinguished by RGB color threshold value, determines the position where laser spots in image, given threshold removes
Outlier,In the range of, retain i (j-1)<Point maximum i (j), turns into unique point on j directions, and
Obtain smooth curve image；If laser is in crop plant surface pixels point set:
Wherein：
I is horizontal direction pixel position, and M is horizontal direction maximum pixel；
J is vertical direction pixel position, and N is vertical direction maximum pixel, is even number；
Pixel picture value is 0, background 1；
Generate j row vector：
J=j (i) | i=1 ... M；
The processing of spray boom pixel point set：By dilation erosion after the binaryzation to image, noise is removed, the element repeated folds
Contracting is compiled,In the range of, retain k (l-1)<Point maximum k (l), turns into unique point on l directions；If
Spray boom pixel point set is：
Generate l row vector：
L=l (k) | k=1 ... M；
It can show that pixel mean number b is between spray boom and crops in scatter diagram：
Actual average distance corresponding to each point between spray boom and crops is Bavg：
Bavg=ab；
The maximum Bmax and minimum value Bmin, Bmax and Bmin that then can determine that distance between spray boom and crops should
Within sprinkling effective travel.
The computational methods for obtaining crop plant effective surface area, it is specific as follows：
If driven pulley radius is R, photoelectric encoder is every to turn umber of pulse P, the follower shaft and photoelectric encoder axle of fog machine
It is driven no-load voltage ratio K；
One pulse equivalence fog machine operating range Sp of mileage photoelectric encoder is：
Then in a two field picture, resulting encoder pulse number is Np to the first photoelectric cell after reception signal twice,
Then fog machine operating range S10For：
S10=Np × Sp；
Borrow the concept of integration, analysis twice between laser scanning line the equivalent area A of crop plant as minimal face
Product；
Utilize laser spots point set
Pixel picture value is 0, background 1；Generate i row vector：
J=j (i) | i=1 ... M；
Crop surface ray trajectory length LNFor：
Then the equivalent area A of crop plant is between laser scanning line twice：
Then fog machine cumulative area As during advance is：
Wherein c is accumulation A number.
Also include the scaling method of the distance between image pixel corresponding spray boom and crop plant equivalent, tool in this method
Body is：
Keep distance between camera and spray boom constant, camera angle keeps constant；
At 1m, a 0.1 × 0.1m is being placed immediately below yi word pattern laser scanning device2Hard paper, advance with fog machine
Direction, the hard paper and column that 45 ° of level are fixed, and starter, obtain image, spray boom to 0.1 × 0.1m2Swash on hard paper
The image pixel points of light, i.e. the equivalent metric distance a of unit pixel.
Brief description of the drawings：
Fig. 1 detection means general structure 3D schematic diagrames；
Fig. 2 detection means top views；
Fig. 3 laser scanning device structure charts；
Fig. 4 yi word patterns laser rays forms schematic diagram；
Fig. 5 obtains image schematic diagram；
Fig. 6 crop plant height detection means system block diagrams；
Fig. 7 pixel equivalents obtain schematic diagram a；
Fig. 8 pixel equivalents obtain schematic diagram b；
The software main flows (left side) of Fig. 9 arm processors, interrupt service routine flow (in, right)；
The image schematic diagram of Figure 10 processing collections；
Figure 11 operation result figures；
Marked in figure：
1 fog machine；2CCD cameras；3 spray boom supports；4 yi word pattern laser scanning devices；5 shower nozzles；6 cameras fix branch
Frame；7 driven pulleys；8 belts；9 motors；10 first photoelectric cells；11 second photoelectric cells；13 level crossings；14 laser generators；
15 obtain effective image picture frame.
Advantage and effect：The utility model application LASER Light Source launches laser beam irradiate crop as contour line, passes through figure
As collection, introduce value preserving machine traveling displacement detecting, using the method for image procossing obtain between spray boom and crop plant away from
From with crop plant effective area.
Embodiment：
Crop plant height detection means general structure 3D schematic diagrames are as shown in figure 1, top view is as shown in Figure 2：Including 1
Fog machine, 6 camera supports and 3 spray boom supports on 1 fog machine, 2CCD cameras are installed on 6 camera fixing supports,
5 shower nozzles and 4 yi word pattern laser scanning devices are housed on 3 spray booms.
4 described yi word pattern laser scanning devices can project vertically downward in spray boom, the scanning formation one on green plants
Font laser linear array scans.
Fog machine walking displacement is provided with the coaxial photoelectric encoder of fog machine trailing wheel.
The design of scan line angle：
Yi word pattern laser scanning line is as shown in figure 3, by 7 driven pulleys, 8 belts, 9 motors, 10 first photoelectric cells and 11
Two photoelectric cells, 12 laser scanning device bases, 13 level crossings and 14 laser generators composition.
In order to reduce rotary inertia, rotate level crossing more steady, using motor pulley reducer structure in figure.Motor
Stable yi word pattern laser rays can be formed by its reflection by rotating laser.
10 first photoelectric cells and 11 second photoelectric cell installation site angles are α.Itself and spray boom effective length LαAnd
The maximum height Hmax that can reach between spray boom and crop is relevant, and each parameters relationship is as shown in Figure 4.
During ratio wheel rotate counterclockwise, laser beam is by mirror-reflection to 10 first photoelectric cells, 10 first photo elements
Part receives optical signal, produces electric signal, is laser scanning line left end signal, CCD camera shutter opening；Driven pulley rotation makes to swash
When light light reflexes to 11 second photoelectric cell by level crossing, 11 second photoelectric cells receive optical signal again, produce telecommunications
Number, CCD camera shutter close is controlled, obtains a two field picture.The image that CCD camera is got is as shown in Figure 5.Such as Fig. 6 institutes
Show, be control system block diagram.
ARM microprocessor, input signal are respectively laser scanning line right-hand member signal (enabling signal), laser scanning line left end
Signal (shutdown signal), CCD camera interface and photoelectric encoder count distance measuring signal, ARM receive after input signal by
Corresponding computing and processing, and then according to demand, the opening and closing of controlled motor and laser, and result given aobvious.Meanwhile can
To reach the purpose with fog machine communication.
Also include a kind of detection method that distance between spray boom and crop plant is carried out using the said equipment, this method is
It is a kind of in the image of acquisition, by extracting laser in crop plant surface pixels point set, spray boom pixel point set, obtain spray boom
The method of the distance between crop plant；
This method be it is a kind of in the image of acquisition by extracting laser in crop plant surface pixels point set, calculate agriculture
Crop surface ray trajectory length, while the travel distance of fog machine is detected, obtain the calculating side of crop plant effective surface area
Method.
The scaling method of the distance between image pixel corresponding spray boom and crop plant equivalent：
The scaling method that the utility model uses is as follows：Keep distance between camera and spray boom constant, camera angle holding
It is constant.
At 1m, a 0.1 × 0.1m is being placed immediately below yi word pattern laser scanning device2Hard paper, advance with 1 fog machine
Direction, the hard paper and column that 45 ° of level are fixed, as shown in Figure 7,8.
Starter, obtain image, spray boom to 0.1 × 0.1m2The image pixel points of laser rays, i.e. unit on hard paper
The equivalent metric distance a of pixel.
Image acquiring method：
CCD camera is connected by DCMI interfaces with arm processor, obtains the image of collection, and then by view data
Stored with DMA transmission means into SRAM.Then image is performed the encoding operation, is stored in bmp forms in SD card, with
After image can be handled.
The software main flow and interrupt service routine flow of arm processor, as shown in block diagram 9.
The method for obtaining the distance between spray boom and crop plant：
The image of collection is handled, noise is removed according to histogram threshold value, repeat element is folded and compiles contracting, retention level
Direction first derivative is not zero a little, makes unique point in vertical direction.I using spray boom pixel count as reference axis, k
Axle, apart from pixel count as vertical coordinate j, l axles between spray boom and crop plant.Effect diagram such as Figure 11 after image calculates
It is shown.
Pixel is distinguished by RGB color threshold value, determines the position where laser spots in image, given threshold removes
Outlier,In the range of, retain i (j-1)<Point maximum i (j), turns into unique point on j directions, and
Obtain smooth curve image.If laser is in crop plant surface pixels point set:
Wherein：
I is horizontal direction pixel position, and M is horizontal direction maximum pixel.
J is vertical direction pixel position, and N is vertical direction maximum pixel, is even number.
Pixel picture value is 0, background 1.Generate j row vector：
J=j (i) | i=1 ... M
The processing of spray boom pixel point set：By dilation erosion after the binaryzation to image, noise is removed, the element repeated folds
Contracting is compiled,In the range of, retain k (l-1)<Point maximum k (l), turns into unique point on l directions；If
Spray boom pixel point set is：
Generate l row vector：
L=l (k) | k=1 ... N
It can show that pixel mean number b is between spray boom and crops in scatter diagram：
Actual average distance corresponding to each point between spray boom and crops is Bavg：
Bavg=ab
The maximum Bmax and minimum value Bmin, Bmax and Bmin that then can determine that distance between spray boom and crops should be
Spray within effective travel.
Obtain the computational methods of crop plant effective surface area：
Fog machine in spray drug operation, in order to reach saving agricultural chemicals, the purpose to reduce environmental pollution is, it is necessary to job area
Interior spraying area is accurately measured, and is advantageous to accurately control herbal sprinkling amount, ensures pesticide supplying effect, improves spraying matter
Amount.
The utility model uses photoelectric encoder, calculates fog machine travel speed.
In order to prevent trackslipping, mileage photoelectric encoder connects the driven pulley of fog machine, and driven pulley radius is R, photoelectric coding
Device is every to turn umber of pulse P, and (follower shaft of K=fog machines turns follower shaft and photoelectric encoder axle transmission the no-load voltage ratio K of fog machine
Speed：Photoelectric encoder rotating speed).
One pulse equivalence fog machine operating range Sp of mileage photoelectric encoder is：
In one two field picture, resulting encoder pulse number is Np to No. 10 first photoelectric cells after reception signal twice, then
Fog machine operating range S10For：
S10=Np × Sp
Borrow the concept of integration, analysis twice between laser scanning line the equivalent area A of crop plant as minimal face
Product.
In Fig. 10, laser spots point set is utilized：
Pixel picture value is 0, background 1；Generate i row vector：
J=j (i) | i=1 ... M；
Crop surface ray trajectory length LNFor：
Then the equivalent area A of crop plant is between laser scanning line twice：
Then fog machine cumulative area As during advance is：
Wherein c is accumulation A number.
Embodiment：
Device parameter
In the present embodiment：
Fog machine spray boom effective length LαFor 4m；
Yi word pattern laser scanning device (spray boom) and crops distance Hmax are 1m；
Laser generator uses 100mW laser heads, wavelength 655nm；
Fog machine trailing wheel radius is 0.6m；
Photoelectric encoder uses OMRON companies E6B2 type rotary encoders, and the raw umber of pulse Np that often changes the line of production is 1000；
CCD camera uses 1024 × 768 resolution ratio；ARM chips use STM32F407；
Yi word pattern laser scanning device, motor：HRA300, rotating speed：3000 revs/min, rotating ratio：1:6.
Design at surface sweeping wire clamp angle：
Yi word pattern laser scanning device, laser 10 are with 11 angle αs：
The distance between image pixel corresponding spray boom and crop plant equivalent
Starter, obtain image, spray boom to 0.1 × 0.1m2Laser rays on hard paper, the figure between the spray boom away from 1m upper ends
As pixel number is 192, the i.e. equivalent metric distance of unit pixel
A=0.0052.
Obtain the distance between spray boom and crop plant
By dilation erosion after the binaryzation of the image got to CCD camera, noise is removed, corresponding i and j is identical
Axial coordinate k and l, the element repeated, which folds, compiles contracting, retains unique point in vertical direction.And picture in its entirety is traveled through, retain RGB
Color space is at (i, j, 1)>150&(i,j,2)<100&(i,j,3)<Pixel point coordinates in the range of 100 connects to obtain smooth song
Line, determine that spray boom is as shown in figure 11 with laser spot position.
And then it can determine that crops apart from the closest approach distance Bmin of spray boom are 123 pixels and solstics distance
Bmax is 210 pixels,
Pixel mean number b is between spray boom and crops：
The equivalent metric distance of unit pixel is：
A=0.0052.
Then correspond under present laser scan line, the actual range average value Bavg between spray boom and crop plant is：
Bavg=ab=156.5 × 0.0052m=0.8138m
Obtain crop plant effective surface area：
According to above, the follower shaft and photoelectric encoder axle of fog machine are driven no-load voltage ratio K=0.03.
One pulse equivalence fog machine operating range Sp of mileage photoelectric encoder is：
Then in a two field picture, resulting encoder obtains pulse number and is No. 10 first photoelectric cells after reception signal twice
Np=6670, then fog machine operating range S10For：
S10=Np × Sp=0.7539
And try to achieve 1328.06 pixels of curve integration lengths, then crop surface ray trajectory length LNFor：
Then shutter starts once that the equivalent area A of crop plant is between laser scanning line twice：
Claims (5)
- A kind of 1. detection device of distance between spray boom and crop plant, it is characterised in that：Including fog machine (1) and horizontal peace Spray boom support (3) on fog machine (1)；Shower nozzle (5) and yi word pattern laser scanning device (4) are provided with the spray boom support (3)；The fog machine (1) is provided with CCD camera (2)；Fog machine (1) trailing wheel is provided with the encoder coaxial with trailing wheel.
- 2. the detection device of distance between spray boom according to claim 1 and crop plant, it is characterised in that：Described one Font laser scanning device (4) projects laser rays vertically downward, is scanned on green plants and forms the scanning of yi word pattern laser linear array.
- 3. the detection device of distance between spray boom according to claim 2 and crop plant, it is characterised in that：Described Yi word pattern laser scanning device (4) includes the level crossing (13) and generating laser (14) that rotation is driven by motor；Also include two Individual photoelectric cell.
- 4. the detection device of distance between spray boom according to claim 3 and crop plant, it is characterised in that：Described two The position relationship of individual photoelectric cell has following feature：If the first photoelectric cell (10) and the second photoelectric cell (11) using level crossing (13) be center of circle angle as α, spray boom is effectively long Spend for Lα,The ultimate range Hmax that can reach between spray boom and crop plant,Then：
- 5. the detection device of distance between spray boom according to claim 4 and crop plant, it is characterised in that：Also include Arm processor；The arm processor input connects the first photoelectric cell (10), the second photoelectric cell (11), CCD and taken the photograph respectively As head and trailing wheel shaft encoder；Output end connection LCD is shown, keyboard and CAN interface；The output end passes through driving interface Connect motor and generating laser (14).
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107339948A (en) * | 2017-06-28 | 2017-11-10 | 沈阳工业大学 | The detection device and method of distance between a kind of spray boom and crop plant |
| CN108489432A (en) * | 2018-05-15 | 2018-09-04 | 江苏大学 | A kind of spray boom is with respect to crop canopies height real-time measurement system and method |
| CN108762081A (en) * | 2018-06-05 | 2018-11-06 | 沈阳工业大学 | A kind of nonlinear control method of fog machine spray boom position uncertain system |
| CN109937996A (en) * | 2019-04-08 | 2019-06-28 | 华南农业大学 | A kind of floated spraying machine with wide spraying rod of rotor and its control method |
-
2017
- 2017-06-28 CN CN201720765126.7U patent/CN207197512U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107339948A (en) * | 2017-06-28 | 2017-11-10 | 沈阳工业大学 | The detection device and method of distance between a kind of spray boom and crop plant |
| CN107339948B (en) * | 2017-06-28 | 2023-07-07 | 沈阳工业大学 | Equipment and method for detecting distance between spray boom and crop plant |
| CN108489432A (en) * | 2018-05-15 | 2018-09-04 | 江苏大学 | A kind of spray boom is with respect to crop canopies height real-time measurement system and method |
| CN108489432B (en) * | 2018-05-15 | 2019-10-01 | 江苏大学 | A kind of spray boom is with respect to crop canopies height real-time measurement system and method |
| CN108762081A (en) * | 2018-06-05 | 2018-11-06 | 沈阳工业大学 | A kind of nonlinear control method of fog machine spray boom position uncertain system |
| CN109937996A (en) * | 2019-04-08 | 2019-06-28 | 华南农业大学 | A kind of floated spraying machine with wide spraying rod of rotor and its control method |
| CN109937996B (en) * | 2019-04-08 | 2024-04-09 | 华南农业大学 | Rotor wing suspension type wide spray boom sprayer and control method thereof |
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