阅读说明：本技术 一种麦苗割根施肥激光雷达扫描自动对行方法及系统 (Wheat seedling root cutting fertilization laser radar scanning automatic line alignment method and system ) 是由 林海波 卢元栋 修玉峰 于 2019-11-20 设计创作，主要内容包括：本发明公开了一种麦苗割根施肥激光雷达扫描自动对行方法及系统,包括：通过激光雷达传感器对麦苗表面和地面进行扫描,得到数字信号图；识别出数字信号图中的麦苗区域和土地区域；在数字信号图的垂直中线上,选取若干信号点；从每一个信号点位置分别向两边水平方向延伸,得到第一个下降沿触发点；根据各信号点对应的触发点,拟合出中间拟合直线；将中间拟合直线与数字信号图的垂直中线进行比较,得到直线斜率偏移和位置偏移；通过所述偏移量控制作业工具的作业位置。本发明通过输出直线斜率偏移和最低点位置偏移控制作业装置对方向和位置进行调整,构成闭环,实现自动控制作业。(The invention discloses a wheat seedling root cutting fertilization laser radar scanning automatic line aligning method and a system, wherein the method comprises the following steps: scanning the surface and the ground of the wheat seedlings through a laser radar sensor to obtain a digital signal diagram; identifying a wheat seedling area and a land area in the digital signal diagram; selecting a plurality of signal points on a vertical middle line of a digital signal diagram; extending from the position of each signal point to the horizontal direction of two sides respectively to obtain a first falling edge trigger point; fitting a middle fitting straight line according to the trigger points corresponding to the signal points; comparing the middle fitting straight line with a vertical central line of the digital signal diagram to obtain slope deviation and position deviation of the straight line; and controlling the working position of the working tool through the offset. The invention controls the operation device to adjust the direction and the position by outputting slope deviation of a straight line and position deviation of the lowest point, forms a closed loop and realizes automatic control operation.)

1. A wheat seedling root cutting fertilization laser radar scanning automatic line alignment method is characterized by comprising the following steps:

scanning the surface and the ground of the wheat seedlings through a laser radar sensor to obtain a digital signal diagram;

identifying a wheat seedling area and a land area in the digital signal diagram;

selecting a plurality of signal points on a vertical middle line of a digital signal diagram; extending and scanning from each signal point position to the horizontal directions of two sides respectively to obtain a first falling edge trigger point L_xAnd R_x；

Fitting a middle fitting straight line according to the trigger points corresponding to the signal points;

comparing the middle fitting straight line with a vertical central line of the digital signal diagram to obtain slope deviation and position deviation of the straight line; and controlling the working position of the working tool through the offset.

2. The automatic row aligning method by laser radar scanning for wheat cutting and root fertilizing as claimed in claim 1, wherein the laser radar sensor is arranged on the wheat cutting and root fertilizing tool, the laser radar sensor scans the wheat surface and the ground, and the wheat area and the land area are identified according to the distance between the wheat surface and the ground and the laser radar sensor.

3. The laser radar scanning automatic row alignment method for wheat seedling root cutting fertilization as claimed in claim 1, wherein the digital signal diagram comprises at least two rows of wheat seedling areas, and a vertical center line of the digital signal diagram is located on a land area between the two rows of wheat seedling areas.

4. As claimed in claim1 the wheat seedling root cutting fertilization laser radar scanning automatic line aligning method is characterized in that a point L corresponding to each signal point is obtained_xAnd a point R_xMiddle point M of_xM obtained for each signal point_xAnd performing straight line fitting to obtain an intermediate fitting straight line.

5. The automatic row alignment method for wheat seedling root cutting and fertilization through laser radar scanning is characterized in that if the scanning is extended from the position of the signal point to the horizontal direction of two sides, the obtained first trigger point is a rising edge trigger point, the laser radar sensor is moved until the obtained first trigger point is a falling edge trigger point.

6. The laser radar scanning automatic line aligning method for wheat seedling root cutting fertilization as claimed in claim 1, wherein a slope difference between the middle fitting straight line and a vertical central line of a digital signal diagram is calculated to obtain a straight line slope deviation.

7. The laser radar scanning automatic row alignment method for wheat seedling root cutting and fertilization as claimed in claim 1, wherein a difference value in an x-axis direction between a middle fitting straight line and a corresponding point on a vertical central line of a digital signal diagram is calculated to obtain a position deviation.

8. The utility model provides a wheat is cut automatic row system that is right of root fertilization lidar scanning which characterized in that includes:

the laser radar sensor is used for scanning the surface of the wheat seedlings and the ground to obtain a digital signal diagram;

means for identifying a wheat seedling area and a land area in the digital signal map;

selecting a plurality of signal points on a vertical middle line of a digital signal diagram; extending from each signal point position to two sides respectively in horizontal direction to obtain a first falling edge trigger point L_xAnd R_xThe apparatus of (1);

a device for fitting a middle fitting straight line according to the trigger points corresponding to the signal points;

the central fitting straight line is compared with the vertical central line of the digital signal diagram to obtain the slope deviation and the position deviation of the straight line; and a device for controlling the working position of the working tool by the offset.

9. The utility model provides a wheat cuts root fertilizer injection unit which characterized in that includes: the wheat root cutting fertilization lidar scanning automatic row alignment system of claim 8.

10. A wheat seedling root cutting and fertilizing device is characterized in that a laser radar scanning automatic line aligning method for wheat seedling root cutting and fertilizing is adopted according to any one of claims 1 to 7.

Technical Field

The invention relates to the technical field of intelligent agricultural information processing, in particular to a wheat seedling root cutting and fertilizing laser radar scanning automatic line aligning method and system.

Background

The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

Under the condition that the cultivated land area in China is reduced year by year, the increase of the unit output rate of land becomes a necessary trend of agricultural industry development, and is particularly important for developing intelligent precise agriculture.

The root cutting and fertilizing agriculture of wheat after seedling emergence and green turning can improve the wheat yield by 10-20%, and the current root cutting and fertilizing operation is mainly finished manually, so that the efficiency is low and the cost is high;

the main mode of cutting root fertilization of present wheat seedling is for the tractor that people's operation hung and cut root fertilizer injection unit, through adjusting the tractor and traveling the position that ground connection control cut root fertilizer injection unit between the route, this mode exists the operation difficulty, inefficiency, to the big scheduling problem of wheat seedling injury.

Disclosure of Invention

In order to solve the problems, the invention provides a laser radar scanning automatic row alignment method and system for wheat seedling root cutting fertilization, which can automatically realize root cutting and row alignment of wheat seedlings and improve the efficiency of root cutting fertilization.

In some embodiments, the following technical scheme is adopted:

a laser radar scanning automatic line alignment method for wheat seedling root cutting and fertilization comprises the following steps:

scanning the surface and the ground of the wheat seedlings through a laser radar sensor to obtain a digital signal diagram;

identifying a wheat seedling area and a land area in the digital signal diagram;

selecting a plurality of signal points on a vertical middle line of a digital signal diagram; extending from each signal point position to two sides respectively in horizontal direction to obtain a first falling edge trigger point L_xAnd R_x；

Fitting a middle fitting straight line according to the trigger points corresponding to the signal points;

comparing the middle fitting straight line with a vertical central line of the digital signal diagram to obtain slope deviation and position deviation of the straight line; and controlling the working position of the working tool through the offset.

The laser radar sensor is arranged on the wheat seedling root cutting and fertilizing tool, scans the surface and the ground of the wheat seedling, and identifies the wheat seedling area and the land area according to the difference of the distances from the surface and the ground of the wheat seedling to the laser radar sensor.

The digital signal map comprises at least two rows of wheat seedling areas, and a vertical center line of the digital signal map is located on a land area between the two rows of wheat seedling areas.

The position on the vertical central line is a land area, and at the wave crest, the wheat seedling area is at the wave trough, so that the boundary of the wheat seedling area can be found by finding the falling edge trigger point.

In other embodiments, a wheat root cutting fertilization lidar scanning automatic alignment system is disclosed, comprising:

the laser radar sensor is used for scanning the surface of the wheat seedlings and the ground to obtain a digital signal diagram;

means for identifying a wheat seedling area and a land area in the digital signal map;

selecting a plurality of signal points on a vertical middle line of a digital signal diagram; extending from each signal point position to two sides respectively in horizontal direction to obtain a first falling edge trigger point L_xAnd R_xThe apparatus of (1);

a device for fitting a middle fitting straight line according to the trigger points corresponding to the signal points;

the central fitting straight line is compared with the vertical central line of the digital signal diagram to obtain the slope deviation and the position deviation of the straight line; and a device for controlling the working position of the working tool by the offset.

In other embodiments, disclosed is a wheat seedling root cutting and fertilizing apparatus, comprising: the laser radar scanning automatic row alignment system for wheat seedling root cutting and fertilization.

In other embodiments, the wheat seedling root cutting and fertilizing device adopts the wheat seedling root cutting and fertilizing laser radar scanning automatic line aligning method.

Compared with the prior art, the invention has the beneficial effects that:

the invention utilizes the laser radar range finder to carry out scanning range finding, thus improving the speed of information acquisition; the interference can be reduced by searching from the center to the two sides for straight line fitting, and the speed of the fitted straight line is improved; the direction and the position are adjusted by controlling the operation device through outputting the slope deviation of the straight line and the position deviation of the lowest point, a closed loop is formed, and automatic control operation is realized.

Drawings

FIG. 1 is a flow chart of a laser radar scanning automatic row alignment method for root cutting and fertilization of wheat seedlings according to an embodiment of the invention;

FIG. 2 is a schematic diagram of a laser radar scanning system according to an embodiment of the present invention;

the method comprises the following steps of 1, a digital signal diagram, 2, a left wheat seedling area, 3, a two-way path searching, 4, an analog signal, 5, a right wheat seedling area, 6, a land area, 7, a vertical central line of the signal diagram, 8, a middle fitting straight line and 9, a digital signal.

Detailed Description

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise, and it should be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of features, steps, operations, devices, components, and/or combinations thereof.

The embodiments and features of the embodiments of the present invention may be combined with each other without conflict.