基于GPRS的单轨林果运输车无线定位测速方法

为及时掌握单轨林果运输车位置及速度信息,提出一种基于GPRS无线通讯技术的单轨林果运输车定位及测速方法.采用嵌入式处理器ARM9作为运输车车载控制仪及远距离地面控制器的核心处理器,并利用旋转编码器提供单轨车位置及速度原始信息,通过GPRS技术实现无线数据传输及控制.阐述了该定位测速方法的部分软件及硬件设计,并对无线数据...     

Sensing and control system for spot-application of granular fertilizer in wild blueberry field

An automated sensing and control system (hardware and software) was developed for real-time spot-application of granular fertilizer in mowed wild blueberry fields. The custom hardware system was incorporated into a commercial pneumatic granular fertilizer spreader. Custom software for the sensing and control system was developed by combining color co-occurrence matrix based texture analysis and g-ratio algorithms in C++ to acquire and process images in real-time to differentiate mowed wild blueberry plants from bare spots and weeds. The performance accuracy of the spot-applicable fertilizer spreader was evaluated both in laboratory simulation and real-time field tests. Simulation results reported that the accuracy of the developed system was 94.9 %. Real-time field tests reported that the system produced acceptable results at ground speeds of 1.6 and 3.2 km h^?1 for the spot-application of fertilizer at target areas (in plant areas only) within the field. Results also indicated that the ground speed of 4.8 km h^?1 was unacceptable, which could be due to blurred images at high speed and surface unevenness of the wild blueberry field. Spot-application of fertilizer using the modified fertilizer spreader could save fertilizer for the wild blueberry producers.     

Apparent electrical conductivity in dry versus wet soil conditions in a shallow soil

The general objective of this study was to evaluate the stability of patterns of apparent soil electrical conductivity (EC_a) in dry versus wet soil conditions in a shallow soil typically used for pastures in Mediterranean conditions of the southern region of Portugal. A 6 ha experimental field of permanent bio-diverse pasture was divided into 76 squares of 28 × 28 m. The soil electrical conductivity was measured using a Dualem 1S sensor under dry conditions (June 2007) and under wet conditions during the rainy season (March 2010). Soil samples, geo-referenced with GPS, were collected in a depth range of 0–0.30 m. The soil was characterized in terms of bedrock depth, moisture content, texture, pH, organic matter content, and macronutrients (nitrogen, phosphorus, and potassium). Pasture samples, also geo-referenced with GPS, were collected to measure the pasture dry matter yield. The statistical analysis of apparent electrical conductivity between dry and wet soil conditions resulted in a linear significant correlation coefficient (R = 0.88). The results also showed a significant correlation between apparent electrical conductivity and the relative field elevation (R = ?0.64 and R = ?0.66), the pasture dry matter yield (R = 0.42 and R = 0.48), the bedrock depth (R = 0.40 and R = 0.27), the pH (R = 0.50 and R = 0.49), the silt (R = 0.27 and R = 0.38) and soil moisture content (R = 0.48 and R = 0.45), in dry and wet conditions, respectively. A multi-variate regression was carried out using the following soil parameters that showed significant correlation with EC_a and that did not present multi-collinearity: pH, bedrock depth, silt and moisture content. The results showed, in dry and wet conditions, that the analysis was significant (R = 0.75 and R = 0.84, respectively). Overall, these results indicate the temporal stability of EC_a patterns under different soil moisture contents, which is relevant with respect to the time when a field should be surveyed and is important for using the electrical conductivity sensor, as a decision support tool for management zones in precision agriculture.     

Improved vegetation segmentation with ground shadow removal using an HDR camera

A vision-based weed control robot for agricultural field application requires robust vegetation segmentation. The output of vegetation segmentation is the fundamental element in the subsequent process of weed and crop discrimination as well as weed control. There are two challenging issues for robust vegetation segmentation under agricultural field conditions: (1) to overcome strongly varying natural illumination; (2) to avoid the influence of shadows under direct sunlight conditions. A way to resolve the issue of varying natural illumination is to use high dynamic range (HDR) camera technology. HDR cameras, however, do not resolve the shadow issue. In many cases, shadows tend to be classified during the segmentation as part of the foreground, i.e., vegetation regions. This study proposes an algorithm for ground shadow detection and removal, which is based on color space conversion and a multilevel threshold, and assesses the advantage of using this algorithm in vegetation segmentation under natural illumination conditions in an agricultural field. Applying shadow removal improved the performance of vegetation segmentation with an average improvement of 20, 4.4, and 13.5% in precision, specificity and modified accuracy, respectively. The average processing time for vegetation segmentation with shadow removal was 0.46 s, which is acceptable for real-time application (<1 s required). The proposed ground shadow detection and removal method enhances the performance of vegetation segmentation under natural illumination conditions in the field and is feasible for real-time field applications.     

Assessing GNSS correction signals for assisted guidance systems in agricultural vehicles

Accuracy levels achieved with differential global positioning system (DGPS) receivers in agricultural operations depend upon the quality of the correction signal. This study has assessed differential signal error from a Dedicated Base Station, OmniSTAR VBS, European Geostationary Navigation Overlay System, European reference frame-IP for internet protocol (EUREF-IP) and radio navigation satellite aided technique (RASANT). These signals were utilized in guidance assisting systems for agricultural applications, such as tillage, harvesting, planting and spraying, in which GPS receivers were used under dynamic conditions. Simulations of agricultural operations on different days and at different time slots and simultaneously recording the tractor′s geo-position from a DGPS receiver and the tractor′s geo-position from a real-time kinematic (RTK) GPS allowed the comparison of the GPS correction signals. The hardware used for tractor guidance was a lightbar (Trimble model EZ-Guide Plus) system. ANOVA statistics showed a significant difference between the accuracy of the correction signals from different sources. GPS correction signal recommendations to farmers depend upon the accuracy required for the specific operation: (a) Yield monitoring and soil sampling (<1 m) are possible with all the GPS correction signals accessed in any time slot. (b) Broadcast seeding, fertilizer and herbicide application (<0.5 m) are possible for 80% of time with OmniSTAR VBS, 40% of time with RASANT and EUREF-IP and 100% of time with a dedicated base station. (c) Transplanting and drill seeding (<0.04 m) are not possible with the accuracy correction provided by any one of the systems used in this study.     

一种风压转换近地风速检测装备设计与试验

【目的】针对目前相关设备风场自干扰大的问题,为更好地获取无人机(Unmanned arial vehicle,UAV)近地风场参数信息,以风压信号为基础,采用皮托管风速传感器设计一种风压转换近地风速检测装备。【方法】利用轴流风机对叶轮风速传感器和皮托管风速传感器的感应位置进行风速干扰对比试验,利用热线式标准风速仪测定干扰前后的风速变化,利用轴流风机以相同的风速检测该装备所有传感器的测量风速并记录,得到该系统的一致性。将同一风速下标准热线式风速仪的测量风速和该系统的传感器测量风速进行对比,找出皮托管风速传感器准确度较低的风速段,利用Matlab软件对风压信号–风速值进行拟合。【结果】在10.00~15.00 m·s–1风速下皮托管风速传感器对直流风速的削弱不超过1%,而叶轮传感器达到20%以上。系统所采用的30个风压变送器在风速为15.00 m·s~~(–1)时的最大绝对差异为0.96 m·s–1,最大相对差异为6.40%,变异系数为1%。以三次公式进行拟合后,误差平方和(SSE)为0.099 6,拟合优度(R2)0.96。【结论】本系统能够有效检测无人机下旋翼风速数据,且比叶轮式风速传感器网络测量系统在减少干扰方面具有明显优势,可以为研究无人机田间作业提供有效帮助。     

GPS定位试验及提高定位精度的方法研究

对3种不同的4个GPS接收机进行了定位试验,主要包括单点静态定位试验和动态测量面积的试验.经过一系列的数据分析和处理,分别得到了3种典型的GPS接收机在这2种试验条件下的定位精度及排序,并且采用算术平均值法对最佳测量次数进行了研究,提高了GPS单点静态定位的精度.提出了在数据处理中加入控制点的方法,提高了GPS动态测量面积的定位精度.     

基于Pro/E的水田秸秆还田耕整机的设计与运动仿真

运用Pro/E软件设计了一种双螺旋刀辊组合的水田秸秆还田耕整机,能够一次性实现水田秸秆的翻埋还田、旋耕碎土、平地等多项功能.应用Pro/E软件中的机构模块对螺旋刀辊进行了运动学仿真,得到了刀辊转速一定时机组在不同前进速度下的4种不同运动轨迹,通过对运动轨迹的分析可优化机组工作的前进速度.     

Gas exchange-wind speed relation measured with sulfur hexafluoride on a lake

Gas-exchange processes control the uptake and release of various gases in natural systems such as oceans, rivers, and lakes. Not much is known about the effect of wind speed on gas exchange in such systems. In the experiment described here, sulfur hexafluoride was dissolved in lake water, and the rate of escape of the gas with wind speed (at wind speeds up to 6 meters per second) was determined over a 1-month period. A sharp change in the wind speed dependence of the gas-exchange coefficient was found at wind speeds of about 2.4 meters per second, in agreement with the results of wind-tunnel studies. However, the gas-exchange coefficients at wind speeds above 3 meters per second were smaller than those observed in wind tunnels and are in agreement with earlier lake and ocean results.     

Crop height variability detection in a single field by multi-temporal terrestrial laser scanning

Information on crop height, crop growth and biomass distribution is important for crop management and environmental modelling. For the determination of these parameters, terrestrial laser scanning in combination with real-time kinematic GPS (RTK–GPS) measurements was conducted in a multi-temporal approach in two consecutive years within a single field. Therefore, a time-of-flight laser scanner was mounted on a tripod. For georeferencing of the point clouds, all eight to nine positions of the laser scanner and several reflective targets were measured by RTK–GPS. The surveys were carried out three to four times during the growing periods of 2008 (sugar-beet) and 2009 (mainly winter barley). Crop surface models were established for every survey date with a horizontal resolution of 1 m, which can be used to derive maps of plant height and plant growth. The detected crop heights were consistent with observations from panoramic images and manual measurements (R² = 0.53, RMSE = 0.1 m). Topographic and soil parameters were used for statistical analysis of the detected variability of crop height and significant correlations were found. Regression analysis (R² < 0.31) emphasized the uncertainty of basic relations between the selected parameters and crop height variability within one field. Likewise, these patterns compared with the normalized difference vegetation index (NDVI) derived from satellite imagery show only minor significant correlations (r < 0.44).     

Impact of reader antenna polarisation, distance, inlay design, conveyor speed, tag location and orientation on the coupling of UHF RFID as applied to modified atmosphere packaged meat

Undetected RFID tags make the potential benefits of RFID unattainable. This study aimed to determine the most significant factors that affect RFID and particularly its application to the traceability of meat. Experimental parameters included five RFID tag inlays, two levels of conveyor speeds, five variations of beef sample and an empty container, 12 tags per test sample, three distances and two types of reader antenna polarisations. Tag detection rates were determined in three replicates per combination of test parameters. A GLM ANOVA was carried out on tag detection rate. In decreasing order of significance in terms of the effect on mean tag detection rate were distance, sample, inlay design, conveyor speed and reader antenna polarisation. Interaction of these factors also proved significant, in decreasing order of importance were reader antenna * inlay, sample type * distance, inlay * distance, sample type * inlay, sample type * reader antenna, distance * speed, sample type * speed and finally sample type * distance * speed. Linearly polarised antenna preformed better overall at detecting tags, with 63% mean detection rate compared with circularly polarised antenna with 57% mean detection rate. Varying the tag inlay resulted in mean detection rates of between 62% and 88%. Ideal transponder location on package was reader antenna polarisation dependent, but generally tags facing reader antennas exhibited better detection rate. Results revealed that the under side of the package was the most un-detectable transponder location, considering the placement of reader antennas on top, left and right sides of the sample. Conveyor speed also proved significant with a variation from 0.5 to 1.0 m/s resulting in an average detection rate ranging from 62% to 57%, respectively. Circularly polarised antennas are believed to perform better in cases of random tag orientation on products. It can be concluded that RFID systems implementation in the meat supply chain requires a holistic approach where distances, polarisations, inlay type, meat composition and conveyor speed need to be considered.     

Economic analysis for smart sprayer application in wild blueberry fields

The wild blueberry industry is spending over $80 million CAD per year on agrochemicals for 93 000 ha under production in North America. A pressing need to reduce agro-chemical usage and production cost has resulted in the development of a smart sprayer for spot-application of agrochemicals in wild blueberry fields. This paper encompasses the economic analysis to determine the potential savings for spot-applications of agrochemicals using a smart sprayer. The economic analysis compared the smart sprayer with two other commercially available sprayers (basic and swath control). The swath control sprayer and smart sprayer both featured GPS auto-steer and boom section control to reduce over-spray in already applied areas based on GPS position. The basic sprayer used a foam marker for guidance with no swath control management. The smart sprayer featured a machine vision system that automatically detected target areas in the field further reducing agrochemical input by shutting individual nozzles off in non-target areas in the field. The cost analysis was performed to compare the different features of the sprayer technologies, i.e., base sprayer, additional technology, training, usage, repair and maintenance. The additional components installed on the smart sprayer were justified in terms of agrochemicals/water savings via spot-applications, tractor fuel and operator’s time. The application total cost was $2052 ha^?1 using the basic sprayer, $1799 ha^?1 using the swath control sprayer, and $1138 ha^?1 using the smart sprayer over a 2 year production cycle of the selected fields that were used in this study. The payback period ranged from 2.0 years (60 ha field size) to 9.8 years (20 ha field size) using the swath control sprayer. The payback period ranged from 11 months (60 ha field size) to 3.5 years (20 ha field size) when using the smart sprayer. Results revealed that the smart sprayer had significant advantage from both an environmental and economic perspective over the other two sprayers.     

GPS接收机RTK定位中整周模糊度的快速解算方法

该文以单频GPS接收机为基础,以RTK(实时载波相位动态测量)为目标,通过丈量短基线、交换天线,以及前后载波相位观测值的处理,在2min内解算出具有足够精度和可靠性的整周模糊度.失锁时利用失锁前最近的定位点再次初始化,由此实现的差分GPS动态定位精度可达平面误差бP≤±5cm,高程误差бH≤±10cm.可广泛应用于工程测量、放样、测图,实例证明,在水土保持、林业资源调查、环境监测中亦有广泛的应用.     

有机肥施耕一体机设计

为解决有机肥施撒不均匀、费时、费力以及缓解土壤板结、酸化等问题,设计一种有机肥施耕一体机。该机通过接地驱动轮与地面的摩擦转动,带动料斗内搅拌轮的转动,对料斗内有机肥料进行一定程度的搅拌,同时电机在不同行进速度下转开不同角度,漏料口打开,肥料均匀撒落,在肥料撒落到地面的同时被旋耕机耕耙到土壤中,最终实现施肥、耕、耙机械化。该一体机结构简单、操作方便,能均匀撒落有机肥料,制造成本低,省时又省力,对农业机械设计有一定的借鉴意义。     

农机具田间测速中双路光电编码器的算法试验研究

本研究对基于增量型光电编码器的双路装置,在农田状况下测量距离和计算速度等方面进行了研究。使用自制的测量设备,针对农田的各种路况分别进行测量和计算,通过对大量试验数据的分析和推导,对比不同算法对测量结果的影响后,得出了在不同路况下更为科学的算法。     

Implementation of a low-cost crop detection prototype for selective spraying in greenhouses

During phytosanitary treatments aimed at minimizing product losses, selective spraying systems can be employed. These systems consist of a group of detection–action devices which manage the spraying. In this work, the technical feasibility of a low-cost ultrasound detection system prototype has been assessed for pesticide spray application on greenhouse crops. The prototype is based on a commercially-available car parking assistance system, which has been modified to amplify the signal and activate an electro-valve for spray control. This system was fitted into a self-propelled machine with two vertical spray booms. A laboratory test was carried out to evaluate the system limitations (detection range, response time, optimal sensor location); and once the feasibility of the system was known, a field test was conducted. Inside the greenhouse, the same parameters were determined for canopy presence. The system’s capacity to start and stop spraying at the beginnings and ends of the crop lines was also analysed. In addition, the minimum crop line surface with no plant mass that triggers system activation was determined. The results show that the detection range was 0–0.4 m with an average response time of 1.67 s. Based on these parameters, the optimal sensor location was determined for the different forward velocities. In conclusion, the results show that this system is suitable for plant detection at a forward speed of 0.9 m s^?1, allowing growers to stop spraying automatically at the ends of the crop lines and where plant mass absence is greater than 1.0 lineal meter.     

许氏平鲉、大泷六线鱼临界游速与爆发游速及其生理指标的研究

利用垂直循环回流水槽和PVC水槽,分别测定了许氏平鲉Sebastes schlegeli、大泷六线鱼Hexagram-mos otakii的临界游速和爆发游速,并分析了鱼类游泳后对其生理指标的影响。结果表明：体长为10~22cm的许氏平鲉其临界游速为44.69~69.07 cm/s,其相对临界游速为3.11~4.69 BL/s;体长为10~22 cm的大泷六线鱼其临界游速为42.39~82.93 cm/s,其相对临界游速为3.45~4.90 BL/s;体长为10~22 cm的许氏平鲉其爆发游速为76.68~118.18 cm/s;体长为10~22 cm的大泷六线鱼其爆发游速为81.69~121.25 cm/s。根据临界游速测定结果,估算出许氏平鲉和大泷六线鱼的最大游泳距离分别为6 776.4 m和7 423.2 m;根据爆发游速的测定结果估算出两种鱼的最适逃逸距离为15~25 m。临界游泳疲劳后,许氏平鲉血糖、血乳酸和肌肉乳酸含量均显著高于对照组（P〈0.05）,肌糖元、肌肉蛋白与对照组无显著差异（P〉0.05）;大泷六线鱼血乳酸、肌肉乳酸含量显著高于对照组（P〈0.05）,血糖、肌糖元、肌肉蛋白含量显著低于对照组（P〈0.05）。爆发游泳疲劳后,许氏平鲉血糖、血乳酸、肌肉乳酸含量均显著高于对照组（P〈0.05）,肌糖元含量与对照组无显著差异（P〉0.05）;大泷六线鱼血糖、肌糖元、肌肉蛋白含量显著低于对照组（P〈0.05）,血乳酸含量显著高于对照组（P〈0.01）,肌肉乳酸含量显著高于对照组（P〈0.05）。     

履带拖拉机旋耕机组稳定性仿真分析与试验

针对履带拖拉机旋耕机组在坡道上行驶稳定性问题,利用SolidWorks三维软件建立某型履带拖拉机车体和旋耕机组的三维模型,在多体动力学软件Recurdyn/Track(LM)中建立履带行走装置模型,并建立整机静态稳定性数学模型。针对多体动力学软件Recurdyn/ground模块提供的3种土质路面进行整机稳定性的仿真分析。仿真结果表明,整机在黏土、砂壤土及干沙土最大爬坡角度分别为31°、23°和18°,在黏土、砂壤土的爬坡稳定性高于干沙土;整机在黏土的侧向坡道沿等高线行驶时,土壤附着能力大于砂壤土和干砂土,速度波动最小。最后进行了爬坡稳定性的试验验证。该研究为履带拖拉机旋耕机组行驶稳定性提供重要参考。     

简易船舶GPS、艏向显示器的设计

针对目前许多小型渔货船上没有罗经导航仪的现状,设计了一套成本较低的船舶GPS艏向显示器。简易船舶GPS、艏向显示器由主控制器、电子罗经传感器、GPS模块、TFT液晶显示屏、电源稳压模块组成。通过主控制器处理电子罗经传感器测得的船艏向信息、GPS模块测得的地理位置信息,再驱动液晶显示屏显示实时时间、经纬度、船速、船艏向角等航行信息,提高航行安全性。经实验测试,简易船舶GPS艏向显示器性能稳定,设备小巧,价格低廉,适合在小型渔货船上推广应用。     

Automatic wheel slip control system in field operations for 2WD tractors

A microcontroller based automatic wheel slip control system was designed and developed for 2WD tractors. The system continuously measures wheel slip under field conditions and generates commands for depth adjustment if the wheel slip falls outside the desired range. Wheel slip was calculated using the actual and theoretical speeds of the tractor obtained by measuring the rotational speed (rpm) of front and rear wheels, respectively. The developed system was installed on a test tractor and the performance was evaluated with different implements under varying field conditions. The performance data indicated a significant reduction in fuel consumption per hectare (20–30%), increase in field capacity (7–38%), and gain in tractive efficiency (4–10%) with slip control system versus the existing draft control system. The slip control system is also expected to reduce the operator’s effort as it adjusts the depth control lever automatically in response to variation in the soil conditions within the field.