Studies on Precision Agriculture in CAUeeas.europa.eu/archives/delegations/china/documents/eu_china/... · Studies on Precision Agriculture in CAU Li Minzan, Wang Maohua Key Laboratory

Studies on Precision Agriculture in CAU

Li Minzan, Wang Maohua

Key Laboratory of Modern Precision Agriculture Integration Research,

China Agricultural University

[email protected]

[email protected]


Key Laboratory of Modern

Precision Agriculture System

Integration Research,

Ministry of Education, China


Dr. Maohua Wang

Professor of China Agricultural University

Member of Chinese Academy of Engineering

Member of International Eurasian Academy of

Sciences

Honor President of Chinese Society of

Agricultural Engineering

Honor President of Chinese Society of

Agricultural Machinery



Prof. Simon Blackmore

Head of Engineering

Harper Adams University, UK


Prof. Peter Shulze Lammers

Bonn University, Germany


Prof. Nick Sigrimis

The Agricultural University

of Athens, Greece

2013/11/12 [email protected] 8

Overview of precision agriculture

Data collection

Modeling and DSS

VRT


Outline

Studies on smart agricultural machines 2

Development of agricultural sensors 1

We need to strengthening studies

on modeling and DSS 3


Development of agricultural sensors

Development of crop sensors 2

Development of other sensors in PA 3

Development of soil sensors 1


Outline

Development of soil

sensors 1


Development of soil sensors

Sensor of soil moisture

Force sensor

Pivot

Force lever

Blade

Sensing coneEC sensor

Water content sensor

100 MHz

HPF

v

140 Hz

~

LPF i



Sensor of soil moisture



Sensor of soil EC

y = 689.6x -0.814

R2 = 0.994

200

300

400

500

600

700

0 1 2 3 4

输出电压(V)

土壤

电导

率(μ

S/cm)

a=5,b=10 a=5,b=15

a=5,b=20 a=10,b=20

a=15,b=30

15


Sensor of soil EC

电极传感器单元导线电缆

插头

插头

数据采集和处理单元

接接收机

与上位机通讯


Sensor of soil nutrient contents

6

8

10

12

14

16

18

6 11 16 21

Measured moisture content (%)

Forc

aste

d m

ois

ture

conte

nt (%

)

Calibration

Validation

0.6

0.8

1

1.2

1.4

1.6

0.6 0.8 1 1.2 1.4 1.6

Measured TN content (%)

For

ecas

ted

TN

con

tent

(%

)Calibration

Validation


Development of soil sensorsa

Sensor of soil nutrient content


.. … …. …. … ..

… λ1 λ2 λ3 λn

Light source

Optical

fiber

Transducer

Sensor unit Instrument

.. .… .… .… …. …. …. … ..

. .

. . . . .

. . .

. . . . . . . . . .

. . . . . . .

Adjustment

数

据

采

集

I/

U

转

换

信

号

放

大

A

/

D

转

换

信

号

滤

波

暗

电

流

消

除

数

据

预

处

理

建

模

预

测

显

示

存

储

Signal processing

土壤全氮含量

0.6

0.8

1

1.2

1.4

1.6

0.6 0.8 1 1.2 1.4 1.6TN 实测值 (%)

TN

预测值

(%

)

Calibration

Validation

Y type fiber was adopted as the transmission channel

2013/11/12 [email protected]


光电探

测器

土壤

入射光纤

码盘

反射光纤

LED位置

LED

探头


%1001

2 V

Vr

MATRIX_I

)1

lg(r

A

（1）

（2）

V1: output voltage of pushing

probe on the standard whiteboard

V2: output voltage of pushing

probe into the soil

r: reflectance of soil sample

A: absorbance of soil sample

FOSS 2300 prototype

Calib

ratio

n



Fig. 8 Comparison between prediction and measurement

The correlation coefficient(R2) of the model was

0.92.The validation correlation coefficient(R2) to

soil samples was 0.70.

Fig. 7 Bp NN train curve

Training number of epochs(times)

trainin

g

0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5 0.55 0.60.05

0.1

0.15

0.2

0.25

0.3

0.35

0.4

predicted nitrogen content (%)

measu

red n

itrogen

conten

t (%)

Calibration






膜

相

基底

电极

待测试

液

水化

层

干膜

层

I

A

I

A

I

D

I

d

d

I

d

—A-离子在膜内相的活度

I

A —待测溶液A

-离子的活度

I

A

I

D

—界面电势I

d —膜内界面电势

d —膜内扩散电势

基

底

电

极

离子选择性电极

参比电极

电势测量

待测溶

液

膜电位

产生

A- A

-

A-

A-

A-

A-

A-

A-

A-

A-

A-

A-

A-

A-

A-

A-

A-

A-

A-

A-

A-

A-

A-

A-

A-

A-

A-

A-

A-

A-

A-

A-

A-

基底电极

/ /

0 , ,

2.303log ...A B A Cz z z zpot pot

A A B B A C C

A

RTE E a K a K a

z F

ISE检测阵列

信号调理模块

接口/通信模块

待测样本溶液

流入

传感及检测



检测电极阵列 Testing Electrode Array

Ag/AgCl

NO3-

导线

NH4+ K+ H+ H2PO4

－ PO43－HPO4

2－

内参溶液

RE ISE1 ISE2 ISE3 ISE4 ISE5 ISE6

ISE7

Conditioning Cell

活化池

检测池

Testing Chamberl



Outline

Development of crop

sensors 2

rir

rir

r

ir

RR

RRNDVI

R

RRVI

Development of spectral sensors for monitoring crop growth status

Development of crop sensors


Measurement of whole plants

Measurement of leaf



+

－

+

－

+

－

+

－

.........

.........

Reflect

light

Fiber

Sensor

Main unit

（amplify, data logger,

display, and store）

To

PC

To memory

device

+

－

+

－

+

－

+

－

..................

..................

Reflect

light

Fiber

Sensor

Main unit

（amplify, data logger,

display, and store）

To

PC

To memory

device



0

0.5

1

1.5

2

2.5

0.4 0.5 0.6 0.7 0.8

NDCI

Chlorophyll content(mg/g) calibration

validation model

RC2 =0.736

RV2 =0.685





ZigBee

作物长势分析仪

Controller

4 3

12

Sensor unit

y = -4E-06x2 + 0.0008x + 0.6408

R² = 0.9941

y = -4E-06x2 + 0.0009x + 0.5966

R² = 0.9373

0.5

0.55

0.6

0.65

0.7

0.75

0 50 100 150

水稻

冠层

ND

VI值

水稻施氮量/ (kg·hm-2)

QX7.7

KYS7.8



Data Process

sunlight

Sunlight

Reflect

Sunlight

550nm，650nm, 766nm, 850nmnm



OPA333

JN5139 模块

RF 射

频无

线发

送

A / D

转换

信号

采集

上部光学通道

下部光学通道

模拟

开关

电路

放大电路





控制单元测量单元

Ⅰ

Ⅱ

Ⅱ

Ⅱ

……



y = 121.19x + 20.22R² = 0.718

30

35

40

45

50

55

60

65

70

0.22 0.24 0.26 0.28 0.3 0.32 0.34 0.36

Ch

loro

ph

yll

co

nte

nt

(mg/L

)

NDVI 550,850nm



4449380 4449400 4449420 4449440 4449460

452590

452600

452610

452620

452630

0.3

0.4

0.5

0.6

0.7

0.8

NDVI

650,766

(nm)

NDVI

650,850

(nm)

NDVI

550,766

(nm)

NDVI

550,850

nm

Chlorophyll

content 0.811 0.815 0.804 0.826



NIR-CCD

VisibleCCD

Plasma



Structure



Relation between grey value and reflectance in each wavebands

Calibration plate

y = 0.191x + 1.319R² = 1

0

10

20

30

40

50

60

0 100 200 300

反射

率(%

)

灰度值

y = 0.194x + 0.031R² = 0.998

0

10

20

30

40

50

60

0 100 200 300

反射

率(%

)

灰度值

y = 0.21x - 5.816R² = 0.961

0

10

20

30

40

50

60

0 100 200 300

反射

率(%

)

灰度值

y = 0.734x - 2.593R² = 0.998

0

10

20

30

40

50

60

0 20 40 60 80

反射率

%

灰度值

R G

B NIR



Experiments on tomato plants

Relationship between nutrient parameter and vegetation index

R NDVI GNDVI GRVI RVI NDGI DVI

SPAD 0.925 0.936 0.934 0.927 0.770 0.926

N content

0.771 0.795 0.810 0795 0.672 0.621

0

10

20

30

40

50

0 10 20 30 40 50

SP

AD值预测值

SPAD值实测值

建模

验证

RC=0.926RV=0.951

1

2

3

4

5

6

1 2 3 4 5 6

全N含

量预

测值

(%)

全N含量实测值(%)

建模

验证

RC=0.807RV=0.680



Experiments on corn plants

Plant

Soil

Shadow



(a) RGB image (b) 2G-R-B for filtering (c) OTSU separating

(a) NIR image (b) Median for filtering (c) OTSU separating

Rc² = 0.619

Rv² = 0.806

3.50

4.00

4.50

5.00

3.50 4.00 4.50 5.00

全N含

量预

测值

(%)

全N含量实测值(%)

建模

验证






Outline

Development of other

sensors in PA 3

Development of other sensors in PA

Sensor of yield monitor


Sensor of yield monitor

Serial

number

Voltage accumulation

(After differential) /V

Actual weight

of grain /kg

Prediction weight

of grain /kg

Accuracy

/%

Calibration 287.108 626.0 —— ——

1 320.388 676.5 698.4 3.24

2 292.416 626.8 637.5 1.71

3 336.686 687.8 734.0 6.72

4 258.304 573.3 563.1 -1.78

5 300.875 641.9 655.9 2.18

6 301.277 673.6 656.8 -2.49

7 297.969 671.5 649.6 -3.26



Wireless Sensor network





太阳能供电组件

LED控制光源

支架

设备空间

天线传感器接口

















ARM 920T

S3C2442AGPS

GPRS

ZigBee

COM5

COM2

COM4

ZigBee无

线模块

5V电源板

子

土壤水分

传感器ADC

ON/OFF

3.7V锂充

电电池 7.4V锂充

电电池

集成PDA框图

传感器节点框图

2013/11/12 [email protected] 53 2013/11/12 [email protected]


2013/11/12 [email protected] 54 2013/11/12 [email protected]



激光 GPS 激光及GPS控制平地技术研究进展

激光控制平地系统

Laser Transmitter

Laser Receiver Control panel

Hydraulic control system

Dry-fields

Paddy-fields

Structure of the System

Tractor

Controller

RTK GPS Receiver

Hydraulic system

Forklift

Vehicle-mounted IPC

RTK GPS Receiver

Vehicle-mounted IPC

Hydraulic

System

MTI-

AHRS

MTI-AHRS

Topographic Surveying Land Leveling

Data

Processing

Forklift

Maximum

Elevation

Differenc

e

Standard

Deviation

|hi - hd |≤8cm

Percentage

Before

leveling 39 16.8 13

After

leveling 17 7.8 85

Test Results of GPS Land Leveling

GPS控制平地系统

车辆自动行走控制技术研究进展

表9 实验数据

GPS导航软件


表9 实验数据

机器视觉导航

作物行提取算法

灰度化：2g-r-b

二值化：Otsu

候选点：垂直投影法

直线提取：霍夫、随机霍夫、随机方法等

Experimental Platform Design

原始图像采集

腐蚀-中值滤波-膨胀处理

导航线提取算法

横向偏差与航向偏差

彩色

图像

信息

含噪作物信息

突出作物颜色信息

滤除图片背景噪声

滤除杂草、多株等干扰

相对位姿求解

相机标定信息

导航偏差

信息

图像分割(灰度化、二值化）

无噪作物信息

导航线信息

图像预处理导航线提取

Image Pre-processing and Navigation Line

Extraction

基于机器视觉的农机具导航系统设计



表9 实验数据

XTE

-0.2

-0.15

-0.1

-0.05

0

0.05

0.1

0.15

1 11 21 31 41 51 61 71 81 91 101 111 121 131 141 151 161 171 181 191 201 211 221 231 241 251XTE

AgGPS 332；速度：2.8km/h；

导航控制周期200ms;

PID(P=10,I=0,D=0)

[email protected] 62 2013/11/12

2013/11/12 JSAM2010, Matsuyama

谢谢！

Documents

Studies on Precision Agriculture in CAUeeas.europa.eu/archives/delegations/china/documents/eu_china/... · Studies on Precision Agriculture in CAU Li Minzan, Wang Maohua Key Laboratory