基于超声波传感器的小麦追肥精准评估系统研究  

Accurate Evaluation System for Wheat Topdressing Based on Ultrasonic Sensor

作　　者：李修华[1] 颜森 高娜娜[2,3] 安晓飞 武广伟[2,3] 孟志军[2,3] LI Xiuhua;YAN Sen;GAO Nana;AN Xiaofei;WU Guangwei;MENG Zhijun(School of Electrical Engineering,Guangxi University,Nanning 530004,China;Beijing Research Center for Information Technology in Agriculture,Beijing 100097,China;Beijing Research Center for Intelligent Equipment for Agriculture,Beijing 100097,China)

机构地区：[1]广西大学电气工程学院,南宁530004 [2]北京农业信息技术研究中心,北京100097 [3]北京农业智能装备技术研究中心,北京100097

出　　处：《农业机械学报》2020年第S01期203-209,共7页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家重点研发计划项目(2016YFD0200600);国家自然科学基金项目(31760342)。

摘　　要：针对小麦追肥作业过程中开沟器易损苗伤根、追肥位置准确性无法评估的问题,基于超声波传感器设计了小麦追肥精准评估系统,提出一种基于超声波传感器阵列交叉探测小麦追肥行的方法,实时评估追肥机具作业精度。系统由作业轨迹检测部分、数据采集部分和数据分析评估部分组成,依靠安装在追肥机具上的超声波传感器交叉扫描小麦追肥行,检测追肥机具作业轨迹。采集器实时采集超声波传感器数据,记录追肥机具作业轨迹,采用阈值滤波算法对异常数据进行筛选和剔除,利用卡尔曼滤波算法最优估计当前时刻电压,根据目标电压和最优估计电压计算追肥机具偏移距离,进行追肥机具作业精度评估。田间试验结果表明:追肥机具作业速度为3~4 km/h时,评估系统能够准确检测出追肥机具作业精度,偏移误判率为9%,最大误差距离为3.15 cm,误差距离在2 cm之内的占比超过90%,标准差均值为2.10 cm,与实际作业情况相符。本评估系统可以实现在小麦追肥作业过程中,实时对追肥机具作业精度量化评估,为小麦精准对行追肥作业精度评价提供了一种新的测量手段。Aiming at the problem of damage to wheat seedlings caused by furrow cutters and failure to evaluate the accuracy of topdressing position in the process of wheat top dressing operation,a precise evaluation system of wheat topdressing based on ultrasonic sensor was studied to evaluate the accuracy of topdressing machine in real time.The system was composed of a work trajectory detection part,a data collection part,and a data analysis and evaluation part.The ultrasonic sensors were installed on topdressing machines to scan the wheat line and detect the operation track of the topdressing machines.The collected data were sent to the controller from each ultrasonic sensor by CAN bus in real time to keep tracking topdressing machine operation.The abnormal data were filtered out and eliminated threshold filter algorithm.The optimally current voltage was estimated by the Kalman filter algorithm.The offset distance of the fertilizing machine and the accuracy of the topdressing machine were calculated according to the difference between the target voltage and the optimal estimated voltage.Field experiment showed that the offset misjudgment rate was 9%,the maximum error distance was 3.15 cm,the error distance during 2 cm accounted for more than 90%,and the average standard deviation was 2.10 cm,which was consistent with the actual operating conditions.In conclusion,the evaluation system provided a new means of measurement for evaluating the accuracy of wheat topdressing.

关 键 词：小麦追肥 评估系统 超声波传感器 作业精度 

分 类 号：S126[农业科学—农业基础科学] S224.22