分层施肥机作业监测系统的设计与田间试验

为解决分层施肥作业过程中难以人工判断缺肥或堵塞等问题,并根据施肥作业实际需求,设计开发了一种分层施肥监测系统,解决了传统施肥作业无法实时监测机具作业状态和可视化操作的问题.以三菱FX2N PLC及外围电路进行传感器输入信号的采集,采用适配modbus协议的LoRa无线扩频技术实现了与上位机的无线数据通信,减少了现场布线.通过人机交互界面进行相关参数设置,为不同机型机具进行系统的移植提供了方便.选取了穿透性强、辐射角度广的对射式光电传感器实时监测施肥流动状态.在机具地轮处安装霍尔传感器并可依据安装磁钢的数量提高作业速度的精度,从而提高作业面积的数据准确性,也为故障位置信息记录提供可靠保障.田间试验表明,该监测系统可有效监控分层施肥作业状态,人机交互良好,系统稳定性高,满足复杂农业中的作业要求,可以实现100％缺肥或堵塞等故障报警,作业面积统计误差小于0.05％,可以实现分层施肥作业的监测目标.     

施肥开沟机作业信息远程监测方法与试验

针对目前施肥开沟机缺少作业信息检测装置及其远程监测的需要,基于惯性传感器技术、数据处理技术及网络通讯技术,开发施肥开沟机作业信息远程监测系统。所检测施肥开沟机作业信息包括开沟深度、油耗、作业时间、作业轨迹和作业距离,其中,油耗采用超声波油位传感器检测,作业时间通过设定界限值判断是否为作业段来检测,作业距离和作业轨迹则依赖于GPS定位。由于开沟深度和农作物产量相关,作业信息检测方法重点围绕开沟深度进行研究。采用2个惯性传感器分别检测开沟机和车身的俯仰角,相减得到的倾角差值结合开沟机相关尺寸计算可得开沟深度。基于卡尔曼滤波算法对倾角差值进行滤波以减小机具振动等产生的检测误差。在MATLAB中建立倾角差滤波模型进行仿真,仿真发现:Q/R比值不变,Q、R值变化时,滤波效果基本相同;Q/R比值不同时,随Q/R减小,滤波后倾角差的方差越小,但滞后效果越明显。倾角差滤波试验分为2部分:1)滤波验证试验以模型车为载体,利用不同Q、R参数进行试验,结果与仿真结论一致;2)土槽试验中固定Q、R参数,倾角差经滤波,其方差由4.07减小为0.47,表明滤波有效。田间试验对作业信息进行检测,结果表明:1)开沟深度检测误差在5%以内,结果精确;2)其他作业信息检测准确,检测方法可靠,远程监测系统具有实用价值。     

水产养殖水下机器人研究进展

水产养殖是世界范围内食品领域发展最快的行业之一,为人类提供了超过一半的水产品。但是,水产养殖目前面临机械化、自动化程度较低以及产量及效率不高等问题,因此迫切需要转型升级。水下机器人是一种机动灵活的水下作业装备,与传统的水下作业手段相比,在作业方式、范围、适应能力等方面具有明显的优势,应用于水产养殖监测及作业后,有望改变现有养殖模式,推进水产养殖业向机械化、工程化、智慧化、智能化转型,缓解水产养殖业的发展危机。尽管水下机器人近年来得到了蓬勃发展,但是目前在水产养殖业的推广应用仍非常有限,而且尚有诸多技术瓶颈未得到解决。本文面向水产养殖水下机器人的应用实际,对水质监测、视频监控及传输、目标识别与定位、高精度水下导航、智能规划与控制、机器人-机械手系统精准作业等关键技术进行了详细分析,并展望了未来的发展方向,以期为水产养殖水下机器人的研究和应用提供综合性参考。     

农机深松作业远程监测系统设计与实现

传统人工方式抽检农机作业数量和质量,存在检测效率低、检测覆盖面少、精度差等问题。以深松作业为例,介绍了一种农机作业远程监测系统的研发与实现过程。重点探讨了深松作业监管信息化系统、作业深度测量和作业过程重漏区域自动检测方法的实现过程。田间试验表明:系统能实现深松作业质量和作业面积准确监测,为深松作业补助提供量化依据。目前,系统已经在全国多地进行了应用示范,显著提升了补贴监测管理的准确性,减少管理部门的人力物力付出,减轻监管压力,提升了农机作业管理信息化水平。     

基于反射式光电感应的精量播种机漏播监测系统研究

排种器是播种机的核心部件,其性能稳定性直接影响播种作业质量。实际工作过程中,由于排种器通常处于密闭状态,无法通过人工直接观测其作业质量,若发生断条漏播等问题将严重影响作物产量。针对中、小粒径作物开发了一种基于反射光电感应的精量播种机漏播监测系统,该系统采用FS-V11漫反射式光放大器获取排种脉冲信号,准确度高、抗扰动能力强。设计了基于单片机MSP430F149的信号处理电路,并以落种时长为基准,规划了种粒监测软件流程,实现系统软件硬件集成。以小麦精量排种器为例,进行漏播监测试验,结果表明,当排种器转速为30 r/min时,监测精度为95.5%;当排种器转速在30~45 r/min之间随机变速时,监测精度为93.5%。     

插秧机作业面积实时监测系统的设计

针对目前插秧机作业过程中对作业面积的统计方法比较复杂,实时性不高和在数据共享中存在的问题,设计一套插秧机作业面积实时监测系统。该系统采用B/S架构,运用等宽测量算法,结合集成GPS卫星定位技术、非接触检测技术、GPRS无线传输技术、百度地图API技术和数据库技术。系统在插秧机工作时,通过GSM模块访问上位机系统固定IP,实现下位机与上位机的无线通信连接,将定位信息通过TCP方式传送到上位机后台进行处理分析。试验结果表明,该系统能对插秧机作业状态进行自动感知,并能实时显示机插面积和插秧机作业轨迹,实现远程监测,系统测量相对误差可达到1.2%左右,可为实时测量插秧机作业面积提供依据。     

基于农机CAN总线的无线远程数据监测系统研究

针对农机作业监测与管理存在的监测信息不足、管理不规范、有效监控缺乏等问题,对拖拉机无线远程数据监测系统进行了研究。该无线远程监测系统由边缘计算网关、网络高清摄像头、车载计算机与云端服务器组成。借助网关内的ARM Cortex-A7处理器对农机作业数据进行采集与封装,4G无线通信模块负责将搭建在施肥机上的传感器所采集到的施肥机作业数据(速度、方向、高程等)传输至云端服务器,通过云平台对数据进行实时监控,分析处理。试验结果表明,施肥机在连续作业数据量大时,系统运行平稳且延时较低,作业数据传输成功率在99%以上,满足复杂的田间工作环境需求。实现了变量施肥机作业状态参数的无线远程实时监测。     

丘陵山区农机深松作业深度和面积远程监测系统

为了提高农机在丘陵山区深松作业深度和面积的监测准确性,研究设计了一种深松作业远程监测系统.该系统以角位移传感器间接测量作业深度,利用北斗/GPS定位数据计算深松面积,并在此基础上搭建了基于·NET分布式深松作业远程监测服务平台,实现多台农机深松作业深度和面积的远程监控,为政府补贴资金计算与核实提供了便利,提高了深松作业监测效率.试验结果表明,使用角位移传感器适用于丘陵山区农机深松作业深度测量,深度测量平均误差为0.98cm,使用北斗/GPS定位基于多边形解析法计算小地块面积相对误差为3.2%,满足丘陵山区农机深松作业监测要求.     

广域差分GPS与AFS产量监测系统在棉花精准收获上的应用

通过在采棉机上安装AFS产量监测系统及建立广域差分GPS基准站，绘制出棉田产量空问分布图，为精准农业的实施提供田问基础数据。     

农作物产量自动监测技术及关键设备

为实现谷物产量的实时测量,将测产系统搭载在联合收割机上是最好的选择。本文概述了农作物产量监测系统的四个重要组成部分(谷物流量传感器;谷物水分传感器;GPS接收机;田间计算机和用户界面)的工作原理和关键技术。特别是对几种类型的谷物流量传感器的工作原理作了较为详细的介绍。     

Insight棉花产量监测系统及应用研究

棉花产量空间分布图能集中反映农田时空变量对棉花的影响,为科学调节投入和制定管理决策措施提供重要依据。研究了美国AgLeader公司Insight棉花产量监测系统的组成及工作原理,并利用该系统对试验地块棉花产量进行了测算;详细描述了Insight测产系统的设置与标定过程,并应用AFS农田空间管理系统生成了试验地块的产量空间分布图。结果表明,该图给出的棉田产量分布差异与实地调查分析结果基本吻合。     

Relationships Between Yield Monitor Data and Airborne Multidate Multispectral Digital Imagery for Grain Sorghum

Remote sensing imagery taken during a growing season not only provides spatial and temporal information about crop growth conditions, but also is indicative of crop yield. The objective of this study was to evaluate the relationships between yield monitor data and airborne multidate multispectral digital imagery and to identify optimal time periods for image acquisition. Color-infrared (CIR) digital images were acquired from three grain sorghum fields on five different dates during the 1998 growing season. Yield data were also collected from these fields using a yield monitor. The images and the yield data were georeferenced to a common coordinate system. Four vegetation indices (two band ratios and two normalized differences) were derived from the green, red, and near-infrared (NIR) band images. The image data for the three bands and the four vegetation indices were aggregated to generate reduced-resolution images with a cell size equivalent to the combine's effective cutting width. Correlation analyses showed that grain yield was significantly related to the digital image data for each of the three bands and the four vegetation indices. Multiple regression analyses were also performed to relate grain yield to the three bands and to the three bands plus the four indices for each of the five dates. Images taken around peak vegetative development produced the best relationships with yield and explained approximately 63, 82, and 85% of yield variability for fields 1, 2, and 3, respectively. Yield maps generated from the image data using the regression equations agreed well with those from the yield monitor data. These results demonstrated that airborne digital imagery can be a very useful tool for determining yield patterns before harvest for precision agriculture.     

采棉机产量监测系统采集数据的误差分析

为了获取农田作物产量信息，建立产量分布图，在消化、吸收美国AgLeader公司棉花产量监测系统PF3000的基础上，进行了棉花测产收获试验。在收获过程中，对流量传感器、速度传感器等进行了标定，并对产量数据进行了处理。试验结果表明，现场标定可有效提高测产系统流量传感器和速度传感器的测量精度，但田问环境比较复杂，产量数据采集过程中仍会引入一些误差，需对产量数据进行误差处理。误差处理后得到的棉花产量分布图聚类性增强，较为符合实际情况。     

化肥与有机肥及两者配施长期定位试验

本文研究了长期施肥对作物产量、肥料效应和土壤肥力的变化。结果表明：土壤的地力贡献具有持久性的特点，肥料对产量的贡献率为４２．７％。不同施肥组合产量总趋势是：ＭＮＰＫ、ＮＰＫ＞ＭＮＰ、ＮＰ＞ＭＮ、Ｍ＞Ｎ＞ＣＫ。说明有机肥与氮磷钾化肥配施产量最高，氮磷钾化肥配施也能获得高产稳产，提高土壤肥力。在等氮量条件下，有机肥的增产作用主要是携入磷钾养分所致。氮肥单施肥料效应逐年下降，与磷钾肥配合施用时磷钾肥效应则呈上升趋势。化肥与有机肥配施，随着配合的完全程度增加，肥料效应也依次上升。氮肥利用率化肥大于有机肥，钾肥则相反，磷肥两者基本相同。从养分投入、产出平衡及土壤肥力变化，可为施肥结构调整提供科学依据。     

奶牛散栏饲养行为观察与电视监视

本文重点探讨不同的饲养管理方式对乳牛行为的影响及闭路电视监视乳牛行为的作用．从而为研究、提高散栏奶牛生产性能和牛群的生产管理水平，进一步改进设计，完善散栏饲养管理规范，促进乳牛业的发展．     

Airborne Hyperspectral Imagery and Yield Monitor Data for Mapping Cotton Yield Variability

Increased availability of hyperspectral imagery necessitates the evaluation of its potential for precision agriculture applications. This study examined airborne hyperspectral imagery for mapping cotton (Gossypium hirsutum L.) yield variability as compared with yield monitor data. Hyperspectral images were acquired using an airborne imaging system from two cotton fields during the 2001 growing season, and yield data were collected from the fields using a cotton yield monitor. The raw hyperspectral images contained 128 bands between 457 and 922 nm. The raw images were geometrically corrected, georeferenced and resampled to 1 m resolution, and then converted to reflectance. Aggregation functions were then applied to each of the 128 bands to reduce the cell resolution to 4 m (close to the cotton picker's cutting width) and 8 m. The yield data were also aggregated to the two grids. Correlation analysis showed that cotton yield was significantly related to the image data for all the bands except for a few bands in the transitional range from the red to the near-infrared region. Stepwise regression performed on the yield and hyperspectral data identified significant bands and band combinations for estimating yield variability for the two fields. Narrow band normalized difference vegetation indices derived from the significant bands provided better yield estimation than most of the individual bands. The stepwise regression models based on the significant narrow bands explained 61% and 69% of the variability in yield for the two fields, respectively. To demonstrate if narrow bands may be better for yield estimation than broad bands, the hyperspectral bands were aggregated into Landsat-7 ETM+ sensor's bandwidths. The stepwise regression models based on the four broad bands explained only 42% and 58% of the yield variability for the two fields, respectively. These results indicate that hyperspectral imagery may be a useful data source for mapping crop yield variability.     

莲雾插穗与其母体植株叶片光合特性比较研究

在种苗智能化快繁系统调控下,探讨生根过程中莲雾插穗叶片与其母体植株叶片光合特性的差异。结果表明,扦插前中期插穗叶片的净光合速率高于母体植株,插穗叶片PSII有效光化学量子产量（YIELD ）始终保持在离体时的较高水平,插穗生根后叶片光合电子传递速率（ETR）均高于母体植株,反映了在种苗智能化快繁系统调控下,莲雾插穗叶片的光合能力不低于其母体植株,仍保持刚离体时的较高水平,插穗依靠叶片光合作用为其生根提供物质和能量。     

谷物产量监视器的试验研究

设计和开发了应用于联合收割机的谷物产量监视系统。该系统能够同时集割台高度、谷物水分、谷物温度和谷物流量等4路模拟信号以及地速和升运器转速等2路数字信号和GPS差分信号,并且能够每隔1秒钟向CF卡存储一次信息。系统可以向操作员提供液晶屏显示和触摸屏输入。实验表明系统运行稳定,存储正确。     

Grain Yield Mapping: Yield Sensing,Yield Reconstruction,and Errors

Research findings are reviewed focusing on yield sensing methods, yield reconstruction, mapping, and errors. Yield sensing methods were explained and yield mapping process was briefly introduced. Grain flow through different combines was explained and the effects of combine dynamics on yield measurement accuracy were discussed. Other errors caused by various sensors that are utilized by a yield monitor were included. It was concluded that with proper installation, calibration, and operation of yield monitors, sufficient accuracy can be achieved in yield measurements to make site-specific decisions. Nevertheless, attention must be paid when interpreting yield maps since yield measurement accuracy can vary depending upon the measurement principle, combine grain flow model, size of management area chosen, and the operator's capabilities and carefulness in following instructions to obtain the best accuracy possible under varying field operating conditions. Some of the errors can be filtered out by careful analysis of the raw yield (or flow rate) data provided by yield monitors. Researchers have focused on crop flow models to improve yield reconstruction process. A yield reconstruction algorithm that effectively handles non-linear combine dynamics has not been developed by researchers yet. More efforts towards yield reconstruction should be encouraged.