基于Kalman滤波的田间导航车辆定位校正方法研究

以装载了RTK-DGPS导航系统的KUBOTASPU-68水田插秧机为试验平台,以姿态测量系统提供载体姿态信息,研究农业机械导航的姿态校正方法。在分析车载GPS倾斜误差产生原因基础上,提出了采用多传感器联合测量载体姿态角以提供校正信息。采用MEMS传感器集成模块ADIS16355作为惯性测量单元,卡尔曼滤波实现传感器信息融合以计算姿态角,设计了姿态测量系统。阐述了两种传感器融合测量实时姿态角的算法,基于ARM7Cotex-M3微处理器设计了姿态测量系统硬件。     

基于AT89S51的蔬菜大棚温控系统设计

以AT89S51单片机为控制核心,以数字温度传感器DS18B20为测温元件,采集温室内的温度信息。通过对当前温室环境的现状进行分析,对温室温度参数进行调节,以达到栽培作物生长发育的需要,为作物的生长提供最适宜的温度环境,大幅提高作物的产量和质量。     

基于物联网的生猪运动行为及猪舍环境远程监控系统

In intensive and large-scale livestock breeding, how to evaluate welfare of each individual effectively has become one hotspot of welfare breeding.In this study, a remote monitor system based on computer vision technology and wireless sensor networks was proposed.In the system, pig videos in the piggery were captured by IP cameras and transmitted remotely to PC systems for objects tracking and trajectory extraction, and the piggery environmental data such as temperature, humidity and harmful gases were collected by wireless sensor networks(WSN) nodes.Traditional Camshift tracking algorithm was improved.The average root mean square errors of traditional and improved algorithm were 78.07 and 32.29, indicating the improved algorithm reduced error and improved tracking stability.The results of the real-time monitoring of environmental parameters by WSN showed that the hydrogen and ammonia concentrations, and the ambient temperature were all kept in the normal range, while the carbon dioxide concentration was exceeded, and the air humidity was slightly high.Through data mining, precise welfare monitoring and breeding management were realized.     

Soil salinity and its distribution determined by soil sampling and electromagnetic techniques

Abstract. Diagnosis of soil salinity and its spatial variability is required to establish control measures in irrigated agriculture. This article shows the usefulness of electromagnetic (EM) and soil sampling techniques to map salinity. We analysed the salinity of a 1‐ha plot of surface‐irrigated olive plantation in Aragon, NE Spain, by measuring the electrical conductivity of the saturation extract (EC_e) of soil samples taken at 22 points, and by reading the Geonics EM38 sensor at 141 points in the horizontal (EM_H) and vertical (EM_V) dipole positions. EM_H and EM_V values had asymmetrical bimodal distributions, with most readings in the non‐saline range and a sharp transition to relatively high readings. Most salinity profiles were uniform (i.e. EM_H=EM_V), except in areas with high salinity and concurrent shallow water tables, where the profiles were inverted as shown by EM_H > EM_V, and by EC_e being greater in shallow than in deeper layers. The regressions of EC_e on EM readings predicted EC_e with R² > 84% for the 0–100 to 0–150 cm soil depths. We then produced salinity contour maps from the 141 EC_e values estimated from the electromagnetic readings and the 22 measured values of EC_e. Owing to the high soil sampling density, the maps were similar (i.e. mean surface‐weighted EC_e values between 3.9 dS m^?1 and 4.2 dS m^?1), although the electromagnetically estimated EC_e improved the mapping of details. Whereas soil sampling is preferred for analysing the vertical distribution of soil salinity, the electromagnetic sensor is ideal for mapping the lateral variability of soil salinity.     

大田农业节水物联网技术应用现状与发展趋势

物联网技术与农业领域应用的结合是推动传统农业向现代农业转型升级的重要驱动力,农业节水是中国农业发展长期关注的重点。以物联网技术感知层、传输层、应用层架构为主线,针对大田主要粮食作物水分需求,总结物联网技术在大田农业节水关键环节中的应用发展现状以及存在的局限性,并在大数据、云计算等现代信息技术发展基础上,结合新时期互联网+战略,对物联网技术快速发展态势下农业节水技术、服务、模式的未来发展趋势进行探讨,提出技术向服务转变、决策向预测转变、微观向宏观转变的发展思路。     

橡胶油管式车辆行驶称重技术的研究

提出了一种橡胶油管的车辆行驶称重技术，并研制了一种便携式车辆行驶称重系统。针对多种因素会对行驶称重系统的输出值产生影响，提出一种与BP神经网络相结合的计算模型，进行数据处理，同时结合信息融合技术建立了车型识别模型及专家系统。经一系列试验证明，该行驶称重系统可实现不同路面的超载检查的要求，为车辆超载检测及交通数据统计提供了一种经济有效的手段。     

太阳自动跟踪系统中光电传感器的设计

针对现有光电传感器存在形式单一、跟踪精度不高、运行稳定性较差等不足,该文通过对光电传感器进行结构设计,设计了一种金字塔式和箱体式嵌套的粗-精跟踪光电传感器,其中箱体式可拆卸、单独使用,其内部的凹面镜利用反射作用有效减小了箱体高度,保证了跟踪过程中的跟踪精度和运行稳定性。在对该传感器的电路进行设计时,选取四运放集成电路LM324为核心,利用其比较作用来控制电机驱动执行机构,从而使聚光系统对准太阳。利用MATLAB/Simulink对模糊PID(proportional integration differentiation,比例-积分-微分)控制器建模和仿真,与PID控制相比,模糊PID控制曲线的响应时间较短,在0.1 s时给系统一个宽度为0.1的矩形脉冲干扰,在0.1~0.2 s之间系统的响应曲线、控制误差的响应曲线以及控制器的输出变化曲线呈现不同的变化;在0.2 s时,均达到稳定状态。通过分析可知,无论是否存在干扰,该控制方法均能使控制器迅速达到稳定状态,减少系统响应时间,从而减少系统的运行成本。该研究为太阳自动跟踪系统的稳定运行和跟踪精度的提高提供了参考。     

基于单片机的超声测距系统设计

介绍一种基于单片机的脉冲反射式超声测距系统,提出了系统的总体构成,针对测距系统发射、接收、检测、显示部分的总体设计方案进行了论证,分析了系统各部分的硬件及软件实现。最后文中分析了误差产生的原因,并对系统完善提出了一些建议。     

基于WSN的油菜生长环境数据采集系统

针对传统作物生长环境数据获取手段实时性差、劳动强度大以及部署微型自动气象站和商用Zigbee产品成本高、开放性较差等问题，设计并实现了一种基于WSN的油菜生长环境数据采集系统。提出了轻量级的能量感知路由协议CLFP，并给出了软硬件的相关设计方法。仿真和大田试验结果表明，系统温度采集精度最高可达0.01 ℃，测湿精度达±5%，光强采集范围为1~65 535 lx，可并发的数据传输达到36路，可满足农业现场环境数据的较高测量要求。在标称电源供电情况下，系统实际有效生存周期超过142 d，由于采用AT89C51和nRF2401作为基础硬件平台，成本低廉，有助于大规模部署和应用。