CN114916319B - Mountain crop harvesting method and system, storage medium and intelligent terminal - Google Patents
Mountain crop harvesting method and system, storage medium and intelligent terminal Download PDFInfo
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- CN114916319B CN114916319B CN202210631678.4A CN202210631678A CN114916319B CN 114916319 B CN114916319 B CN 114916319B CN 202210631678 A CN202210631678 A CN 202210631678A CN 114916319 B CN114916319 B CN 114916319B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D91/00—Methods for harvesting agricultural products
- A01D91/02—Products growing in the soil
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Abstract
The application relates to a mountain crop harvesting method, a mountain crop harvesting system, a storage medium and an intelligent terminal, which relate to the field of agricultural harvesting and comprise the steps of obtaining image detection information and position information; matching crop holding characteristics from a crop database, and selecting grabbing position information from a grabbing database frame; controlling a manipulator on the unmanned aerial vehicle to move to the position where the grabbing position information is located, and grabbing and folding the crop holding characteristics on the grabbing position information; matching auxiliary points from an auxiliary point database; controlling the auxiliary device to move to an auxiliary point, taking a central point as a center, and controlling the manipulator to stir the soil circumferentially by a preset stripping distance and stripping strength; if the image detection information contains the crop fruit characteristics, the auxiliary device stops shifting the soil, controls the unmanned aerial vehicle to lift the crops out of the soil, and transports the crops to a preset collection point. This application has the effect that improves and reaps efficiency.
Description
Technical Field
The application relates to the field of agricultural harvesting, in particular to a mountain crop harvesting method, a mountain crop harvesting system, a storage medium and an intelligent terminal.
Background
Crops are various plants cultivated in agriculture and are generally used for food.
In the related art, in remote mountain areas, due to the complex topography, the fragmented fields and the undeveloped roads, the existing harvesting machine cannot enter the inter-mountain fields. Once it is desired to harvest the crop, one typically uses conventional tools for manual harvesting to achieve harvesting of the crop.
With respect to the related art in the above, the inventors consider that: by adopting the manual harvesting mode, although the harvesting work can be completed on crops, the personnel are tired when harvesting, the overall efficiency is low, and the improvement space is provided.
Disclosure of Invention
In order to improve harvesting efficiency, the application provides a mountain crop harvesting method, a mountain crop harvesting system, a storage medium and an intelligent terminal.
In a first aspect, the application provides a mountain crop harvesting method, which adopts the following technical scheme:
a mountain crop harvesting method comprising:
acquiring current image detection information and current position information in a current identification area;
analyzing the crop holding characteristics stored in the preset crop database and the image detection information to match the crop holding characteristics corresponding to the image detection information, and selecting the crop holding characteristics from the image detection information;
analyzing according to crop holding characteristics, position information and holding position information selected from frames stored in a preset holding database to determine the crop holding characteristics selected from the frames and the holding position information corresponding to the position information;
controlling a preset manipulator on the unmanned aerial vehicle to move to the position where the grabbing position information is located, grabbing and gathering crop holding characteristics on the grabbing position information, and defining the gathered position as a central point;
matching the position information, the central point and the auxiliary points stored in the preset auxiliary point database to determine the auxiliary points corresponding to the position information and the central point;
controlling a preset auxiliary device to move to an auxiliary point, taking a central point as a center, controlling a manipulator preset on the auxiliary device to circumferentially stir the soil by a preset stripping distance and stripping strength, and judging whether the image detection information contains preset crop fruit characteristics;
if the image detection information does not contain the characteristics of the crops fruits, the auxiliary device continues to stir the soil;
if the image detection information contains the crop fruit characteristics, the auxiliary device stops shifting the soil, and controls the unmanned aerial vehicle to pull out the crops from the soil by the preset lifting force and transport the crops to the preset collection point.
Through adopting above-mentioned technical scheme, through discerning the image to know whether have crops in the picture, and snatch crops through the manipulator on the unmanned aerial vehicle, stir soil through the manipulator on the auxiliary device simultaneously, thereby further expose crops, control unmanned aerial vehicle at last and extract crops, improved holistic operating efficiency.
Optionally, if the image detection information includes a characteristic of a crop fruit, the method for controlling the soil excavation depth includes:
acquiring current exposure height information between the crop fruit characteristics and soil;
judging whether the height value corresponding to the exposure height information is larger than the height value corresponding to the preset reference height information or not;
if the height value corresponding to the exposed height information is not larger than the height value corresponding to the reference height information, controlling the auxiliary device to continuously stir the soil and continuously detect;
if the height value corresponding to the exposure height information is larger than the height value corresponding to the reference height information, the auxiliary device is controlled to stop stirring the soil, the manipulator is controlled to clamp the crops corresponding to the exposure height information, and when the unmanned aerial vehicle is synchronously controlled to lift the crops upwards, the manipulator synchronously pulls the crops upwards with the preset auxiliary force.
Through adopting above-mentioned technical scheme, exposing crops the back, further exposing crops, the last manipulator of rethread auxiliary device carries out the centre gripping to with the synchronous lifting pulling that makes progress of unmanned aerial vehicle, in order to extract crops from soil, in order to improve holistic efficiency.
Optionally, the method for controlling the manipulator to pull the crops upwards comprises the following steps:
continuously acquiring current pressure detection information of crops corresponding to the clamping exposure height information of the manipulator in unit time;
when the manipulator is pulled upwards by the aid of the auxiliary force, judging whether the adjacent pressure detection information is in an increasing state or not;
if the pressure detection information presents an increasing state, the detection is continued, and the manipulator is controlled to pull upwards by auxiliary force;
and if the pressure detection information does not present an increasing state and the pressure values corresponding to the adjacent pressure detection information are consistent, controlling the manipulator to loosen the crops.
Through adopting above-mentioned technical scheme, through detecting the overall pressure after the manipulator centre gripping, the manipulator is unchangeable to the centre gripping dynamics of crops, but when the manipulator drove crops upwards to lift, the change can appear in holistic dynamics, therefore the pressure value also can change thereupon, judges through whether continuously rising to the pressure value this moment to know the state of crops, also can judge whether crops break away from soil.
Optionally, before the unmanned aerial vehicle pulls out crops from the soil by using the lifting force, the soil loosening method comprises the following steps:
acquiring current coverage area information corresponding to the crop holding characteristics in the image detection information;
analyzing and matching according to the coverage area information, the insertion number information, the insertion depth information and the distance information stored in the preset positioning database to determine the insertion number information, the insertion depth information and the distance information corresponding to the coverage area information;
selecting the number of the corresponding plunger according to the insertion number information; according to the insertion depth information, a clamping hand preset on the auxiliary device is controlled to clamp and insert the insertion rod; and controlling the insertion distance of the plunger according to the distance information to complete the loop insertion.
Through adopting above-mentioned technical scheme, thereby knowing through the understanding to the coverage area, the rethread inserted bar inserts in soil to play the effect to the soil removes in advance, and according to the coverage area in order to control the degree of difficulty that inserted root and male degree of depth, reduce crops and pull out.
Optionally, the control method of the plunger includes:
acquiring current insertion state information of a current plunger;
analyzing and matching according to the coverage area information, the vibration frequency information and the heating temperature information stored in the preset parameter database to determine the vibration frequency information and the heating temperature information corresponding to the coverage area information;
judging whether the insertion state information corresponding to all the insertion rods to be inserted is consistent with the insertion reference information;
if the insertion state information is inconsistent with the insertion reference information, continuing to detect;
and if the insertion state information is consistent with the insertion reference information, controlling the plunger to vibrate at a frequency value corresponding to the vibration frequency information, controlling the plunger to vibrate at a temperature value corresponding to the heating temperature information, stopping vibration and heating after the crops are pulled out of the soil, and pulling out the plunger from the soil.
Through adopting above-mentioned technical scheme, the back is being inserted into soil to the plunger, through the mode of heating and vibration, not only with the more soft of soil treatment, also rise the temperature of soil moreover to reduce the moisture in the soil, make better pulling out of crops.
Optionally, the method for judging that the crops are pulled out of the soil comprises the following steps:
when crops are pulled upwards by the lifting force above the unmanned aerial vehicle, whole fruit characteristic information synchronously rising with the crop holding characteristic in the image detection information is acquired:
calculating current space detection information between flat soil and whole fruit characteristic information in the image detection information;
judging whether the distance value corresponding to the distance detection information is larger than the distance value corresponding to the preset reference distance information or not;
if the distance value corresponding to the distance detection information is not greater than the distance value corresponding to the reference distance information, continuing to detect and define that the unmanned aerial vehicle is not pulled out, and keeping the unmanned aerial vehicle to lift by the lifting force;
if the distance value corresponding to the distance detection information is larger than the distance value corresponding to the reference distance information, the unmanned aerial vehicle is defined as pulled out, and lifting force above the unmanned aerial vehicle is cancelled for lifting.
Through adopting above-mentioned technical scheme, through understanding the state that rises in step to know the overall state of whole fruit, and through the discernment of interval, whether with subaerial soil separation with knowing whole fruit, also can cooperate the pressure value on the auxiliary device to carry out the check-up in advance, in order to improve holistic accuracy, the practicality is strong.
Optionally, before the unmanned aerial vehicle is transported to the collection point, the method for cleaning the crops comprises:
acquiring current area detection information corresponding to the whole fruit characteristic information;
analyzing and matching according to the number information, force information, distance information and area detection information of the spray heads preset in the preset range database to determine the number information, force information and distance information of the spray heads corresponding to the area detection information;
and selecting and activating the spray heads preset on the auxiliary device according to the number corresponding to the spray head number information, controlling the distance between the spray heads and crops according to the distance value corresponding to the spray head distance information, and showering the crops by the spraying force corresponding to the spray head force information.
Through adopting above-mentioned technical scheme, through discerning the area of putting the fruit in order to the matching goes out corresponding shower nozzle quantity, injection dynamics and shower nozzle distance, thereby gets rid of the soil on putting the fruit in order to also can leave the hole of plunger on soil and repair, also can irrigate again through the soil that water will be dried, in order to play the effect of repairing soil.
In a second aspect, the present application provides a crop harvesting system, which adopts the following technical scheme:
a crop harvesting system comprising:
the device comprises an acquisition module, a display module and a display module, wherein the acquisition module is used for acquiring image detection information, position information, exposure height information, pressure detection information, coverage area information, insertion state information, whole fruit characteristic information and area detection information;
a memory for storing a program of the mountain crop harvesting method as described above;
a processor, a program in the memory capable of being loaded and executed by the processor and implementing the mountain crop harvesting method as described above.
Through adopting above-mentioned technical scheme, through discerning the image to know whether there is crops in the picture, and snatch crops through the manipulator on the unmanned aerial vehicle, stir soil through the manipulator on the auxiliary device simultaneously, thereby further expose crops, control unmanned aerial vehicle at last and extract crops, improved holistic operating efficiency.
In a third aspect, the present application provides an intelligent terminal, which adopts the following technical scheme:
an intelligent terminal comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and executes the mountain crop harvesting method.
Through adopting above-mentioned technical scheme, through discerning the image to know whether have crops in the picture, and snatch crops through the manipulator on the unmanned aerial vehicle, stir soil through the manipulator on the auxiliary device simultaneously, thereby further expose crops, control unmanned aerial vehicle at last and extract crops, improved holistic operating efficiency.
In a fourth aspect, the present application provides a computer storage medium capable of storing a corresponding program, having a feature of facilitating achievement of improved harvesting efficiency, employing the following technical scheme:
a computer readable storage medium storing a computer program capable of being loaded by a processor and executing the above-described upland crop harvesting method.
Through adopting above-mentioned technical scheme, through discerning the image to know whether there is crops in the picture, and snatch crops through the manipulator on the unmanned aerial vehicle, stir soil through the manipulator on the auxiliary device simultaneously, thereby further expose crops, control unmanned aerial vehicle at last and extract crops, improved holistic operating efficiency.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the labor intensity is reduced, and the harvesting efficiency of crops is improved;
2. the method cleans crops and repairs excavated soil.
Drawings
Fig. 1 is a flow chart of a method of crop harvesting.
Fig. 2 is a flowchart of a soil excavation depth control method.
Fig. 3 is a flowchart of a control method for the robot to pull up the crop.
Fig. 4 is a flow chart of a soil loosening method.
Fig. 5 is a flowchart of a control method of the plunger.
FIG. 6 is a flow chart of a method for determining the extraction of a crop from soil.
FIG. 7 is a flow chart of a method of cleaning a crop.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is further described in detail below with reference to fig. 1-7 and the embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The embodiment of the application discloses mountain crops reaps method carries out aerial discernment through unmanned aerial vehicle, and rethread auxiliary device removes the walking to manipulator on the control auxiliary device is dialled soil and is held, and the last plunger of auxiliary device inserts soil and vibrates and heat.
Through the last manipulator of unmanned aerial vehicle and the manipulator on the auxiliary device in step with the crops lifting, retrieve the plunger after extracting, spray crops through the shower nozzle on the auxiliary device at last to transport to the transportation point with clean crops are concentrated. The crops in the application can be radishes, sweet potatoes and the like.
Referring to fig. 1, a method of harvesting a crop includes the steps of:
step 100: and acquiring current image detection information and current position information in the current identification area.
The camera is installed on the unmanned aerial vehicle, and images are collected when the unmanned aerial vehicle flies, so that image detection information is output. The identification area is relevant according to the wide angle parameter of unmanned aerial vehicle's flying height, flight angle and camera, sets up by the staff according to actual conditions, does not describe here any more.
Positional information is unmanned aerial vehicle's current position, installs the gps chip on the unmanned aerial vehicle to current position when flying unmanned aerial vehicle is known and output positional information.
Step 101: and analyzing the crop holding characteristics stored in the preset crop database and the image detection information to match the crop holding characteristics corresponding to the image detection information, and selecting the crop holding characteristics from the image detection information.
The crop database is a preset database, and crop holding characteristics and image detection information are stored in the crop database. After the image detection information is input into the crop database, the crop holding characteristics corresponding to the image detection information are analyzed and matched from the crop database.
The crop holding characteristic is a part on the crop which can be mechanically held and stressed by a manipulator, and the crop holding characteristic is selected from the image detection information frame so as to be convenient to select, so that the crop pulling stability is improved.
Step 102: and analyzing according to the crop holding characteristics, the position information and the grabbing position information selected by the frame stored in the preset grabbing database to determine the crop holding characteristics selected by the frame and the grabbing position information corresponding to the position information.
The grabbing database is a preset database, and crop holding characteristics, position information and grabbing position information are stored in the grabbing database. The position information and the crop holding characteristics are input into the grabbing database, so that the grabbing position information corresponding to the crop holding characteristics and the position information is matched from the grabbing database.
Step 103: the manipulator on the unmanned aerial vehicle that the control was preset moves to snatching position information place position, grips the characteristic to the crops that snatch on the position information and snatchs and draw in to the position definition after will drawing in is the central point.
The last manipulator of control unmanned aerial vehicle removes to snatching position information place position, grips the characteristic to the crops that snatch on the position information and snatchs and draw in to the completion is snatched, and will draw in the position definition after as the central point.
Because the last manipulator of unmanned aerial vehicle carries out the regulation of position through unmanned aerial vehicle's removal, consequently snatch the central point of drawing in the back and be the only a little on the unmanned aerial vehicle current position.
Step 104: and matching the position information, the central point and the auxiliary point stored in the preset auxiliary point database to determine the auxiliary point corresponding to the position information and the central point.
The auxiliary point database is a preset database, and position information, a center point and auxiliary points are stored in the auxiliary point database. After the central point and the position information are input into the auxiliary point database, the auxiliary point corresponding to the position information and the central point is matched from the auxiliary point database.
The auxiliary point is used for the auxiliary device to stop.
Step 105: and controlling the preset auxiliary device to move to an auxiliary point, taking the central point as a center, controlling the circumferential direction of a manipulator preset on the auxiliary device to stir the soil by using the preset stripping distance and the stripping strength, and judging whether the image detection information contains the preset crop fruit characteristics.
After the auxiliary point is gone out in the matching, control auxiliary device removes to the auxiliary point to use the central point to stir soil in order to shell the distance and shell the dynamics of opening as the manipulator circumference on the central point control auxiliary device, thereby realize stiring out of soil, wherein shell the distance and outwards shell the distance of opening for every time, and shell the dynamics of opening and referring to the power of outwards shelling out, the manipulator can be pressed close to soil and stir, and decurrent distance is predetermined, thereby realize stiring out of soil.
When the crop fruit is shifted, whether the image detection information contains the crop fruit characteristics or not is judged, the crop fruit characteristics are preset characteristics, and once the crop fruit characteristics are found in the soil shifting process, the crop is excavated.
Step 1060: if the image detection information does not contain the characteristics of the crops fruits, the auxiliary device continues to stir the soil.
If the image detection information does not contain the crop fruit characteristics, the fact that the crops are not excavated is indicated, and at the moment, the auxiliary device continues to stir the soil.
Step 1061: if the image detection information contains the crop fruit characteristics, the auxiliary device stops shifting the soil, and controls the unmanned aerial vehicle to pull out the crops from the soil by the preset lifting force and transport the crops to the preset collection point.
If include crops fruit characteristic in the image detection information, then indicate to excavate crops, control auxiliary device stops stirring soil this moment to control unmanned aerial vehicle above lift and extract crops from soil, wherein, the lift is predetermined dynamics, is set up by the staff according to actual conditions, does not describe here any more.
After extracting crops, transport the crops of unmanned aerial vehicle centre gripping to the collection point on the spot to accomplish the short distance transportation of crops. The collection point is a preset position, and is set by a worker according to an actual situation, which is not described herein.
Referring to fig. 2, in order to improve the extraction efficiency once a crop is recognized during excavation of soil, a soil excavation depth control method includes the steps of:
step 200: and acquiring current exposure height information between the characteristics of the crop fruits and the soil.
The distance between the characteristics of the crop fruits and the soil on the flat ground is identified through a camera on the auxiliary device, so that the exposure height information is output. The exposure height information is the height of the crop exposed to the soil. In this case, the depth of excavation of the soil by the manipulator is assumed.
Step 201: and judging whether the height value corresponding to the exposure height information is larger than the height value corresponding to the preset reference height information.
And judging whether the height value corresponding to the exposure height information is greater than the height value corresponding to the reference height information, wherein the reference height information is a preset height and is set by a worker according to the actual situation, which is not described herein again. The reference height information may be set according to the type of crop.
Step 2020: and if the height value corresponding to the exposure height information is not greater than the height value corresponding to the reference height information, controlling the auxiliary device to continuously stir the soil and continuously detect.
If the height value corresponding to the exposure height information is not larger than the height value corresponding to the reference height information, the exposed height of the crops is not enough, and therefore the auxiliary device is controlled to continue to stir the soil and continue to detect.
Step 2021: if the height value corresponding to the exposure height information is larger than the height value corresponding to the reference height information, the auxiliary device is controlled to stop shifting the soil, the manipulator is controlled to clamp the crops corresponding to the exposure height information, and when the lifting force of the unmanned aerial vehicle is synchronously controlled to pull the crops upwards, the manipulator is synchronously pulled upwards by the preset auxiliary force.
If the height value corresponding to the exposure height information is larger than the height value corresponding to the reference height information, the fact that the exposed height of the crops is enough is indicated, at the moment, the auxiliary device is controlled to stop stirring the soil, and the manipulator is controlled to clamp the crops corresponding to the exposure height information.
And when lift above the synchronous control unmanned aerial vehicle upwards pulled out crops, the manipulator upwards pulled out with the auxiliary force in step. The auxiliary force is a preset force, and is set by a worker according to the time condition, which is not described herein.
Referring to fig. 3, the method for controlling the manipulator to pull the crops upwards comprises the following steps:
step 300: and continuously acquiring current pressure detection information of the crops corresponding to the clamping exposure height information of the manipulator in unit time.
The unit time is a preset time, and is set by a worker according to an actual situation, which is not described herein. And the intensity of the clamping of crops by the manipulator is detected by the pressure sensor in unit time, and the pressure sensor can be arranged on the manipulator or arranged according to actual conditions, which is not described in detail herein.
The pressure sensor detects and identifies the force of clamping crops by the manipulator and outputs pressure detection information. Meanwhile, in the process of pulling upwards, the pressure value corresponding to the pressure detection information can be increased.
Step 301: when the manipulator is pulled up by the assisting force, it is judged whether the adjacent pressure detection information is in an increasing state.
When the manipulator is pulled out upwards with the auxiliary force, whether the adjacent pressure detection information presents an increasing state is judged, and therefore whether the manipulator is consistently pulled out upwards is known.
The incremental state is a state in which the pressure value corresponding to the pressure detection information is continuously increased.
Step 3020: if the pressure detection information is in an increasing state, the detection is continued, and the manipulator is controlled to pull upwards by the auxiliary force.
If the pressure detection information is in an increasing state, the state of upward pulling is indicated, at the moment, the detection is continued, and the manipulator is controlled to be pulled upward by the assisting force.
Step 3021: and if the pressure detection information does not present an increasing state and the pressure values corresponding to the adjacent pressure detection information are consistent, controlling the manipulator to loosen the crops.
If the pressure detection information is not in the increasing state, and the pressure values corresponding to the adjacent pressure detection information are consistent, the fact that the crops are pulled out is indicated, the manipulator is controlled to loosen the crops, and the manipulator on the unmanned aerial vehicle continues to keep the clamping state at the moment so as to prevent the crops from falling.
Referring to fig. 4, before the crop is pulled out of the soil by the unmanned aerial vehicle with the lifting force, the soil loosening method comprises the following steps:
step 400: and acquiring current coverage area information corresponding to the crop holding characteristics in the image detection information.
Coverage area information corresponding to the crop holding characteristics in the image detection information is obtained, namely the area of the crop characteristics in the image is judged so as to know the whole range. The recognition mode adopts a recognition area in the image, and a specified reference object can be determined in the image, so that the area is known.
Step 401: and analyzing and matching according to the coverage area information, the insertion quantity information, the insertion depth information and the distance information stored in the preset positioning database to determine the insertion quantity information, the insertion depth information and the distance information corresponding to the coverage area information.
The positioning database is a preset database, and coverage area information, insertion quantity information, insertion depth information and distance information are stored in the positioning database. By inputting the coverage area information, the insertion number information, the insertion depth information and the distance information corresponding to the coverage area information are searched from the positioning database.
The insertion quantity information is a quantity value using the plungers, the insertion depth information is a depth of insertion of the plungers into the soil, the distance information is a distance between the plungers and the crops, and the distance between adjacent plungers is a constant distance, thereby reducing interference between the plungers.
Step 402: selecting the number of the corresponding plunger according to the insertion number information; according to the insertion depth information, a clamping hand preset on the auxiliary device is controlled to clamp and insert the insertion rod; and controlling the insertion distance of the plunger according to the distance information to complete the loop insertion.
And selecting the number of the corresponding inserted rods according to the insertion number information so as to perform quantity equipment, wherein the inserted rods are arranged in the box, and the inserted rods are taken out and used through the manipulator.
And then, clamping the inserted rod by a clamping hand according to the insertion depth information and completing the insertion of a single rod, and repeatedly inserting the inserted rod by a manipulator on the auxiliary device according to the distance information after completing the insertion of a single rod until the inserted rod is fully inserted for one circle so as to complete the circular insertion.
Referring to fig. 5, the method for controlling the plunger includes the steps of:
step 500: and acquiring the current insertion state information of the current plunger.
The microswitch is installed at the bottom of the plunger, is installed at the bottom of the plunger in the length direction and can also be installed at other positions, and is specifically set by a worker according to actual conditions, which is not described herein.
Once the plunger is inserted into the soil, the insertion state information is output, and identification is performed.
Step 501: and analyzing and matching according to the coverage area information, the vibration frequency information and the heating temperature information stored in the preset parameter database to determine the vibration frequency information and the heating temperature information corresponding to the coverage area information.
The parameter database is a preset database, and coverage area information, vibration frequency information and heating temperature information are stored in the parameter database. And inputting the coverage area information into a parameter database, so as to match the vibration frequency information and the heating temperature information corresponding to the coverage area information from the parameter database.
The vibration frequency information is used for controlling the vibration frequency of the plunger, the vibration can be carried out by adopting a motor, and the specific vibration mode is set according to the actual situation and is not described herein any more.
The heating temperature information is used for controlling the temperature of the plunger, heating can be carried out through the electric heating wire, and the specific heating mode is set according to actual conditions and is not described in detail herein.
Step 502: and judging whether the insertion state information corresponding to all the inserted rods is consistent with the insertion reference information or not.
Whether the corresponding inserting state information of all the inserting rods to be inserted is consistent with the inserting reference information or not is judged, wherein the inserting reference information is the preset information inserted into the soil, and whether the inserting rods are inserted into the soil or not is known through comparison.
Step 5030: if the insertion state information is not consistent with the insertion reference information, the detection is continued.
If the insertion state information is inconsistent with the insertion reference information, the insertion state information indicates that the inserted rod is not inserted into the soil, and the detection is continued.
Step 5031: and if the insertion state information is consistent with the insertion reference information, controlling the plunger to vibrate at a frequency value corresponding to the vibration frequency information, controlling the plunger to vibrate at a temperature value corresponding to the heating temperature information, stopping vibration and heating after the crops are pulled out of the soil, and pulling out the plunger from the soil.
And if the insertion state information is consistent with the insertion reference information, the insertion rod is inserted into the soil, the insertion rod is controlled to vibrate at a frequency value corresponding to the vibration frequency information, and the insertion rod is controlled to vibrate at a temperature value corresponding to the heating temperature information, so that the soil is vibrated and heated.
And stopping vibrating and heating after the crops are pulled out of the soil, and controlling a manipulator on the auxiliary device to pull out the plunger from the soil.
Referring to fig. 6, the method for judging that the crop is pulled out of the soil includes the steps of:
step 600: when unmanned aerial vehicle rises to pull crops upwards, whole fruit characteristic information that holds the synchronous rising of characteristic with crops in the image detection information is obtained.
When unmanned aerial vehicle rises to pull crops upwards, whole fruit characteristic information that rises with crops holding characteristic in the image detection information in step is obtained. The whole fruit characteristic information is a characteristic which rises synchronously with the crop holding characteristic, and soil with whole fruits is contained in the whole fruit characteristic information.
Step 601: and calculating current space detection information between the flat soil and the whole fruit characteristic information in the image detection information.
The method comprises the steps of firstly identifying the flat soil in image detection information, then identifying whole fruit characteristic information in the image detection information, and finally calculating the detection information of the distance between the flat soil and the whole fruit characteristic information, namely calculating the distance between the column whole fruit characteristic information and the flat soil quality inspection.
Step 602: and judging whether the distance value corresponding to the distance detection information is larger than the distance value corresponding to the preset reference distance information or not.
And judging whether the distance value corresponding to the distance detection information is greater than the distance value corresponding to the reference distance information, wherein the reference distance information is a preset distance value and is set by a worker according to actual conditions, which is not described herein again.
Step 6030: if the distance value corresponding to the distance detection information is not larger than the distance value corresponding to the reference distance information, the unmanned aerial vehicle is continuously detected and defined as not pulled out, and the unmanned aerial vehicle is kept to lift by the lifting force.
If the distance value corresponding to the distance detection information is not greater than the distance value corresponding to the reference distance information, the crop is still in the pulled-up state, at the moment, the crop is not pulled out, the crop is continuously detected and defined as not pulled out, and the unmanned aerial vehicle is kept to lift by the lifting force.
Step 6031: and if the distance value corresponding to the distance detection information is larger than the distance value corresponding to the reference distance information, the unmanned aerial vehicle is defined as pulled out, and the unmanned aerial vehicle is cancelled to lift by the lifting force.
If the distance value corresponding to the distance detection information is larger than the distance value corresponding to the reference distance information, the crop is pulled out of the soil, the pulling out is defined, and the unmanned aerial vehicle is cancelled to lift by the lifting force.
Referring to fig. 7, before the unmanned aerial vehicle is transported to a collection point, the method for cleaning crops comprises the following steps:
step 700: and acquiring current area detection information corresponding to the whole fruit characteristic information.
After the unmanned aerial vehicle extracts crops from the soil, the crops are cleaned, and the cleaned water can flow into the soil which is just extracted. The current area detection information corresponding to the whole fruit characteristic information is acquired through the camera on the auxiliary device, so that the area condition of the crops is known.
Step 701: and analyzing and matching according to the preset spray head quantity information, spray head force information, spray head distance information and area detection information in the preset range database to determine the spray head quantity information, spray head force information and spray head distance information corresponding to the area detection information.
The range database is a preset database, and the range database stores information of the number of the spray heads, information of the force of the spray heads, information of the distance of the spray heads and area detection information. The area detection information is input into the range database, so that the spray head quantity information, the spray head force information and the spray head distance information corresponding to the area detection information are matched from the range database.
Wherein, shower nozzle quantity information is the shower nozzle quantity that needs to wash this time crops on the auxiliary device. The spray nozzle force information is the force of water in the spray nozzle spraying outwards. The sprinkler distance information is the distance between the sprinkler and the crop. And the shower nozzle adopts the annular distribution on crops to surround crops, and the height of shower nozzle is predetermined height, is set up by the staff according to actual conditions, does not do the repeated description here.
Step 702: and selecting and activating the spray heads preset on the auxiliary device according to the number corresponding to the spray head number information, controlling the distance between the spray heads and crops according to the distance value corresponding to the spray head distance information, and showering the crops by the spraying force corresponding to the spray head force information.
And selecting and activating the spray heads on the auxiliary device according to the number corresponding to the spray head number information, so as to be used for showering the crops.
And controlling the distance between the sprayer and the crops according to the distance value corresponding to the sprayer distance information and showering the crops by the spraying force corresponding to the sprayer force information so as to finish primary cleaning of the crops.
Based on the same invention concept, the embodiment of the invention provides a crop harvesting system, which comprises:
the device comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring image detection information, position information, exposure height information, pressure detection information, coverage area information, insertion state information, whole fruit characteristic information and area detection information;
a memory for storing a program of the above mountain crop harvesting method;
a processor, a program in memory capable of being loaded for execution by the processor and implementing the above mountain crop harvesting method.
It will be clear to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working processes of the system, the apparatus and the unit described above, reference may be made to the corresponding processes in the foregoing method embodiments, and details are not described here again.
Embodiments of the present invention provide a computer-readable storage medium storing a computer program that can be loaded by a processor and executed to perform a mountain crop harvesting method.
Computer storage media include, for example: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, an optical disk, or other various media capable of storing program codes.
Based on the same inventive concept, the embodiment of the invention provides an intelligent terminal, which comprises a memory and a processor, wherein the memory is stored with a computer program which can be loaded by the processor and can execute a mountain crop harvesting method.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the above division of each functional module is only used for illustration, and in practical applications, the above function distribution may be performed by different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working processes of the system, the apparatus and the unit described above, reference may be made to the corresponding processes in the foregoing method embodiments, and details are not described here again.
The foregoing is a preferred embodiment of the present application and is not intended to limit the scope of the present application in any way, and any features disclosed in this specification (including the abstract and drawings) may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.
Claims (8)
1. A mountain crop harvesting method is characterized by comprising the following steps:
acquiring current image detection information and current position information in a current identification area;
analyzing according to the crop holding characteristics stored in the preset crop database and the image detection information to match the crop holding characteristics corresponding to the image detection information, and framing out the crop holding characteristics from the image detection information;
analyzing according to the crop holding characteristics, the position information and the grabbing position information selected by the frame stored in the preset grabbing database to determine the crop holding characteristics selected by the frame and the grabbing position information corresponding to the position information;
controlling a manipulator on a preset unmanned aerial vehicle to move to the position where the grabbing position information is located, grabbing and furling the crop holding characteristics on the grabbing position information, and defining the furled position as a central point;
matching the position information, the central point and the auxiliary points stored in the preset auxiliary point database to determine the auxiliary points corresponding to the position information and the central point;
controlling a preset auxiliary device to move to an auxiliary point, taking a central point as a center, controlling a manipulator preset on the auxiliary device to circumferentially stir the soil by a preset stripping distance and stripping strength, and judging whether the image detection information contains preset crop fruit characteristics;
if the image detection information does not contain the characteristics of the crops fruits, the auxiliary device continues to stir the soil;
if the image detection information contains the characteristics of the crops fruits, stopping poking the soil by the auxiliary device, controlling the unmanned aerial vehicle to pull the crops out of the soil by the preset uplifting force, and transporting the crops to a preset collection point;
if the image detection information contains the characteristics of the crop fruits, the method for controlling the soil excavation depth comprises the following steps:
acquiring current exposure height information between the crop fruit characteristics and soil;
judging whether the height value corresponding to the exposure height information is larger than the height value corresponding to the preset reference height information or not;
if the height value corresponding to the exposed height information is not larger than the height value corresponding to the reference height information, controlling the auxiliary device to continuously stir the soil and continuously detect;
if the height value corresponding to the exposure height information is larger than the height value corresponding to the reference height information, controlling the auxiliary device to stop shifting the soil, controlling the manipulator to clamp the crops corresponding to the exposure height information, and synchronously controlling the manipulator to synchronously pull the crops upwards by the aid of preset auxiliary force when the unmanned aerial vehicle is synchronously controlled to lift the crops upwards;
before crops are pulled out of soil by the lift force of the unmanned aerial vehicle, the soil loosening method comprises the following steps:
acquiring current coverage area information corresponding to the crop holding characteristics in the image detection information;
analyzing and matching according to the coverage area information, the insertion quantity information, the insertion depth information and the distance information stored in the preset positioning database to determine the insertion quantity information, the insertion depth information and the distance information corresponding to the coverage area information;
selecting the number of the corresponding plunger according to the insertion number information; according to the insertion depth information, a clamping hand preset on the auxiliary device is controlled to clamp and insert the insertion rod; and controlling the insertion distance of the plunger according to the distance information to complete the loop insertion.
2. The mountain crop harvesting method of claim 1, wherein the method of controlling the crop to be pulled upwards by the manipulator comprises:
continuously acquiring current pressure detection information of crops corresponding to the clamping exposure height information of the manipulator in unit time;
when the manipulator is pulled upwards by the aid of the auxiliary force, judging whether the adjacent pressure detection information is in an increasing state or not;
if the pressure detection information presents an increasing state, the detection is continued, and the manipulator is controlled to pull upwards by auxiliary force;
and if the pressure detection information is not in an increasing state and the pressure values corresponding to the adjacent pressure detection information are consistent, controlling the manipulator to loosen the crops.
3. The mountain crop harvesting method as claimed in claim 1, wherein the control method of the rod inserting comprises:
acquiring current insertion state information of a current plunger;
analyzing and matching according to the coverage area information, the vibration frequency information and the heating temperature information stored in the preset parameter database to determine the vibration frequency information and the heating temperature information corresponding to the coverage area information;
judging whether the insertion state information corresponding to all the insertion rods to be inserted is consistent with the insertion reference information;
if the insertion state information is inconsistent with the insertion reference information, continuing to detect;
and if the insertion state information is consistent with the insertion reference information, controlling the plunger to vibrate at a frequency value corresponding to the vibration frequency information, controlling the plunger to vibrate at a temperature value corresponding to the heating temperature information, stopping vibration and heating after the crops are pulled out of the soil, and pulling out the plunger from the soil.
4. The mountain crop harvesting method of claim 1, wherein the method of determining that the crop is pulled out of the soil comprises:
when crops are pulled upwards by the lifting force above the unmanned aerial vehicle, whole fruit characteristic information synchronously rising with the crop holding characteristic in the image detection information is acquired:
calculating current space detection information between flat soil and whole fruit characteristic information in the image detection information;
judging whether the distance value corresponding to the distance detection information is larger than the distance value corresponding to the preset reference distance information or not;
if the distance value corresponding to the distance detection information is not greater than the distance value corresponding to the reference distance information, continuing to detect and define that the unmanned aerial vehicle is not pulled out, and keeping the unmanned aerial vehicle to lift by the lifting force;
if the distance value corresponding to the distance detection information is larger than the distance value corresponding to the reference distance information, the unmanned aerial vehicle is defined as pulled out, and lifting force above the unmanned aerial vehicle is cancelled for lifting.
5. The mountain crop harvesting method of claim 4, wherein before the unmanned aerial vehicle is transported to the collection point, the crop cleaning method comprises:
acquiring current area detection information corresponding to the whole fruit characteristic information;
analyzing and matching according to the number information, force information, distance information and area detection information of the spray heads preset in the preset range database to determine the number information, force information and distance information of the spray heads corresponding to the area detection information;
and selecting and activating the spray heads preset on the auxiliary device according to the number corresponding to the spray head number information, controlling the distance between the spray heads and crops according to the distance value corresponding to the spray head distance information, and showering the crops by the spraying force corresponding to the spray head force information.
6. A crop harvesting system, comprising:
the device comprises an acquisition module, a display module and a display module, wherein the acquisition module is used for acquiring image detection information, position information, exposure height information, pressure detection information, coverage area information, insertion state information, whole fruit characteristic information and area detection information;
a memory for storing a program of the mountain crop harvesting method of any one of claims 1 to 5;
a processor, a program in memory capable of being loaded for execution by the processor and implementing the mountain crop harvesting method of any of claims 1 to 5.
7. An intelligent terminal, comprising a memory and a processor, the memory having stored thereon a computer program that can be loaded by the processor and that executes the method according to any one of claims 1 to 5.
8. A computer-readable storage medium, characterized in that a computer program is stored which can be loaded by a processor and which executes a method according to any one of claims 1 to 5.
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