CN105173085A - Automatic control system and method for variable pesticide spraying of unmanned aerial vehicle - Google Patents

Automatic control system and method for variable pesticide spraying of unmanned aerial vehicle Download PDF

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CN105173085A
CN105173085A CN201510599304.9A CN201510599304A CN105173085A CN 105173085 A CN105173085 A CN 105173085A CN 201510599304 A CN201510599304 A CN 201510599304A CN 105173085 A CN105173085 A CN 105173085A
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farm chemical
variable
unmanned aerial
chemical applying
information
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CN105173085B (en
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王金星
刘双喜
张菡
李伟
刘志强
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Shandong Agricultural University
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Abstract

The invention provides an automatic control system for variable pesticide spraying of a rice unmanned aerial vehicle based on image processing. The automatic control system comprises a field information acquiring module, an information processing module, an information management decision-making module and an unmanned aerial vehicle variable spraying control module. The automatic control system and the automatic control method for variable pesticide spraying of the rice unmanned aerial vehicle based on image processing can set different dose prescription values according to disaster severity degrees of different plots so as to achieve better pest control effect, reduces agricultural cost and reduces dose. By combining the unmanned aerial vehicle pesticide spraying with a variable pesticide spraying technology, the pesticides are sprayed according to the practical damage condition changes of crops, so that the operation efficiency is improved, the dose of pesticides is reduced, the environmental pollution is relieved, the crop growth is facilitated, and the visual operation is realized by virtue of a real-time monitoring and display system.

Description

Unmanned plane variable farm chemical applying autonomous cruise speed system and method
Technical field
The present invention relates to a kind of autonomous cruise speed system of paddy rice unmanned plane variable farm chemical applying, belong to agricultural plant protection technical field.
Background technology
Compared with the artificial dispenser operation in traditional field, unmanned plane dispenser operating efficiency is high, and agricultural chemicals injures little to operating personnel, and the amount of labour used and labour intensity reduce, more and more higher environmental demands can also be met, reach the requirement of low amounts, smart discharge rate, of low pollution, high effect, high control.
Agricultural unmanned plane uses comparatively early in the developed country such as the U.S., Japan, plays an important role in farmland monitoring, pesticide application.US Airways dispenser adopts large-scale fixed-wing agricultural aviation dispenser to equip, very flexible, be not suitable for that Chinese agriculture cultivated area is little, plot dispersion, feature with a varied topography.Domestic unmanned plane pesticide spraying has become a development in recent years emerging field faster, the many rotor wing unmanned aerial vehicles of many employings, manoevreability is good, but all adopt even spray pattern, the disaster-stricken order of severity different dose prescription values cannot be set according to different plot, thus better prevention and control of plant diseases, pest control effect cannot be reached, reduce agricultural cost, reduce dosage.
Summary of the invention
For the problems referred to above, the invention provides and a kind ofly the disaster-stricken order of severity can set different dose prescription values according to different plot, reach better prevention and control of plant diseases, pest control effect, reduce agricultural cost, reduce the paddy rice unmanned plane variable farm chemical applying autonomous cruise speed system based on image procossing and the method for dosage.
For solving the problem, the technical scheme that the present invention takes is: a kind of paddy rice unmanned plane variable farm chemical applying autonomous cruise speed system based on image procossing, comprises field information acquisition module, message processing module, information management decision-making module and unmanned plane variable and spray control module;
Described field information acquisition module is for comprising take photo by plane unmanned plane and supporting flight control system, the The Cloud Terrace carrying camera, GPS position fixing system and plant protection many rotor wing unmanned aerial vehicles live brain, and wherein camera all imports plant protection many rotor wing unmanned aerial vehicles live brain into the locating information that the graphicinformation of crop Real-time Collection and GPS position fixing system obtain;
Described message processing module comprises GPS reception facilities and is installed on the embedded GIS on plant protection many rotor wing unmanned aerial vehicles live brain, and wherein embedded GIS receives locating information that the graphicinformation of collected by camera and GPS reception facilities provide for generating agricultural land information distribution graph;
GPS reception facilities is used for providing GPS locating information for embedded GIS, and embedded GIS, by eSuperMap software development, is mainly used in graphicinformation and the GPS locating information of extracting collection, sets up system of axes, generate agricultural land information distribution graph.
Described information management decision-making module is loaded on off-line, comprise management decision system, image procossing link and crop disease and insect expert system, wherein management decision system receives the agricultural land information distribution graph generated by embedded GIS, the analysis processing result of combining image processing links, being judged result by control of crop disease expert system and generate corresponding variable farm chemical applying prescription map, variable farm chemical applying prescription map is transferred to plant protection many rotor wing unmanned aerial vehicles live brain by off-line;
Described image procossing link utilizes image processing techniques identification disease species, judges the disease order of severity; Described control of crop disease expert system, by improving existing expert system to improve region applicability, can be made pesticide spraying amount accurately according to processing result image, namely provide the dispenser prescription values in different plot.
Described unmanned plane variable sprays control system and comprises the variable farm chemical applying control system be loaded on the many rotor wing unmanned aerial vehicles of plant protection, variable farm chemical applying control system is connected with plant protection many rotor wing unmanned aerial vehicles live brain by CAN, receives the variable farm chemical applying prescription map that the many rotor wing unmanned aerial vehicles of plant protection carry computer transmission.
Variable farm chemical applying control system receives the variable farm chemical applying prescription map that the many rotor wing unmanned aerial vehicles of plant protection carry computer transmission, is applied to variable farm chemical applying control system and implements the sprinkling of crop unmanned plane field pesticides.
Described plant protection many rotor wing unmanned aerial vehicles live brain is selected S3C6410 type ARM industrial computer and configures liquid crystal touch display screen.Plant protection many rotor wing unmanned aerial vehicles live brain is used for carrying out information transmission and data interaction with GPS reception facilities, off-line and variable farm chemical applying control system system.
Described variable farm chemical applying control system comprises variable and sprays controller, medicine-chest, liquid pump, electromagnetic valve, liquid pipe, spray boom and shower nozzle, is provided with liquid pump, and is connected to shower nozzle through liquid pipe, spray boom in medicine-chest, and liquid pipe is provided with the electromagnetic valve for controlling its break-make.According to the prescription values requirement of operation point, send spraying instruction by ARM industrial computer and spray controller to variable, sprayed the current"on"time of controller Controlling solenoid valve by variable, change the amount of liquid medicine of sprinkler.
Based on a paddy rice unmanned plane variable farm chemical applying autocontrol method for image procossing, comprise the following steps successively:
Step one: utilize unmanned plane of taking photo by plane to gather field image information, obtain field locating information by Airborne GPS position fixing system simultaneously;
Step 2: process the field image information gathered, to analyze different plot crop by disease incidence;
Step 3: make variable farm chemical applying prescription map according to crop by the analysis result of disease incidence by Information Management Decision-making System;
Step 4: unmanned plane variable farm chemical applying control system obtains variable farm chemical applying prescription map, implements automatic variable dispenser operation by the many rotor wing unmanned aerial vehicles of plant protection according to predetermined route;
Step 5: display in real time in dispenser operation process also monitors plant protection many rotor wing unmanned aerial vehicles position, medicine-chest dose and dispenser state by detection control station.
In step one, the collection of field image information makes industrial belt, every bar bandwidth 4m by dividing farmland, and arranging some test points with 4m spacing in every row culture industrial belt, and by taking photo by plane, unmanned plane to be taken pictures acquisition in real time to test point; Field locating information acquisition obtains farmland profile diagram by GPS position fixing system, and divided it with 4m × 4m sizing grid by profile diagram, generates crop field information distributing plan.
Carry out Treatment Analysis to the field image information gathered in step 2, identify Damage Types, its concrete steps are: first amplify image scab message part, then carry out gaussian filtering noise reduction to the image gathered; Filtered image thresholding method is obtained Rice Leaf portion scab; Extract color, shape, the texture information at disease position; Application SVMs (SVM), to the scab information identification of extracting, judges Damage Types.
In step 3, variable farm chemical applying prescription map is the analysis result according to image procossing, is generated based on the information distributing plan of crop field by Information Management Decision-making System.
In step 4, variable farm chemical applying control system is according to variable farm chemical applying prescription map, carries out operation by many rotor wing unmanned aerial vehicles according to the course that GPS position fixing system is predetermined.
By the crop unmanned plane variable farm chemical applying method of research based on image procossing, set different dose prescription values according to the disaster-stricken order of severity in different plot, better prevention and control of plant diseases, pest control effect can be reached, reduce agricultural cost, reduce dosage.
Unmanned plane is sprayed medicine and combines with variable farm chemical applying technology by the present invention, according to the actual victimization state variable spray agricultural chemicals of crop, improves operating efficiency, decrease Pesticide use amount, alleviate environmental pollution, be conducive to crop growth, and Real-Time Monitoring display system achieves visual operation.Have employed image processing techniques in disease and pest analytic process, Real-time Collection plant growth information, accomplished to judge timely and effectively; Implemented to obtain unit location information by gps system, and merge in the grid coordinate system of prescription map, judge grid residing for unit, obtain corresponding prescription values, automatically fulfil assignment, save manpower.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the unmanned plane variable farm chemical applying autonomous cruise speed system based on image procossing;
Fig. 2 is the diagram of circuit of the unmanned plane variable farm chemical applying method based on image procossing;
Fig. 3 is the variable farm chemical applying prescription map that Information Management Decision-making System generates;
Fig. 4 is variable farm chemical applying Control system architecture schematic diagram;
1, spray boom, 2, many rotor wing unmanned aerial vehicles, 3, variable sprays controller, 4, liquid pipe, 5, shower nozzle, 6, liquid pump, 7, medicine-chest, 8, electromagnetic valve, 9, detection control station.
Detailed description of the invention
Based on a paddy rice unmanned plane variable farm chemical applying autonomous cruise speed system for image procossing, as shown in Figure 1, comprise field information acquisition module, message processing module, information management decision-making module and unmanned plane variable and spray control module;
Described field information acquisition module is for comprising take photo by plane unmanned plane and supporting flight control system, the The Cloud Terrace carrying camera, GPS position fixing system and plant protection many rotor wing unmanned aerial vehicles live brain, and wherein camera all imports plant protection many rotor wing unmanned aerial vehicles live brain into the locating information that the graphicinformation of crop Real-time Collection and GPS position fixing system obtain; Described plant protection many rotor wing unmanned aerial vehicles live brain is selected S3C6410 type ARM industrial computer and configures liquid crystal touch display screen;
Described message processing module comprises GPS reception facilities and is installed on the embedded GIS on plant protection many rotor wing unmanned aerial vehicles live brain, and wherein embedded GIS receives locating information that the graphicinformation of collected by camera and GPS reception facilities provide for generating agricultural land information distribution graph;
Described information management decision-making module is loaded on off-line, comprise management decision system, image procossing link and crop disease and insect expert system, wherein management decision system receives the agricultural land information distribution graph generated by embedded GIS, the analysis processing result of combining image processing links, being judged result by control of crop disease expert system and generate corresponding variable farm chemical applying prescription map, variable farm chemical applying prescription map is transferred to plant protection many rotor wing unmanned aerial vehicles live brain by off-line;
Described unmanned plane variable sprays control module and comprises the variable farm chemical applying control system be loaded on the many rotor wing unmanned aerial vehicles 2 of plant protection, variable farm chemical applying control system is connected with plant protection many rotor wing unmanned aerial vehicles live brain by CAN, receives the variable farm chemical applying prescription map that the many rotor wing unmanned aerial vehicles of plant protection carry computer transmission.
Based on a paddy rice unmanned plane variable farm chemical applying autocontrol method for image procossing, as shown in Figure 2, comprise the following steps successively:
Step one: utilize unmanned plane of taking photo by plane to gather field image information, obtain field locating information by Airborne GPS position fixing system simultaneously;
The collection of field image information makes industrial belt, every bar bandwidth 4m by dividing farmland, and arranging some test points with 4m spacing in every row culture industrial belt, and by taking photo by plane, unmanned plane to be taken pictures acquisition in real time to test point, is delivered to ground receiving station by image transmission system; Field locating information acquisition obtains farmland profile diagram by GPS position fixing system, and divided it with 4m × 4m sizing grid by profile diagram, generates crop field information distributing plan.
Step 2: process the field image information gathered, to analyze different plot crop by disease incidence;
Described carries out Treatment Analysis to image, main point following step:
(1) first scab information position, many places in image is amplified, then gaussian filtering noise reduction is carried out to enlarged image;
(2) filtered image thresholding method is obtained crop leaf portion scab;
(3) color, shape, the texture information at disease position is extracted.Described color characteristic by one to three rank color moment formula 1.-3. 4. represent with normalized color histogram formula:
μ i = 1 N Σ j = 1 N P i . j ①
σ i = 1 N Σ j = 1 N ( p i . j - μ i ) 2 ②
s i = 1 N Σ j = 1 N ( p i . j - μ i ) 3 a ③
h C I = Pr [ p ∈ I C I ] = H C I ( I ) w × h ④
Wherein p i.jrepresent that i-th Color Channel gray scale is the probability of the pixel appearance of j, N is the total number of pixel, H cI(I) be the histogram of image I, p is the pixel in image, and w × h is the size of image.
Described shape facility is represented by the circularity at scab position, rectangular degree, eccentricity, and its formula is as follows respectively:
e = 4 π S L 2 ⑤
R = S W × H ⑥
E = ( C 1 + C 2 ) - ( C 1 + C 2 ) 2 + 4 C 3 2 ( C 1 + C 2 ) - ( C 1 + C 2 ) 2 + 4 C 3 2 ⑦
Wherein S represents the area of scab, and L represents girth, and W × H is length x width, and C1, C2, C3 are that each pixel of target is respectively around the rotor inertia of x, y, z coordinate axle respectively.
Described textural characteristics by by formula 8.-10. calculate angle second moment (ASM) respectively, contrast ratio (CON) and the degree of correlation (COR) 3 represent based on the texture quantizating index of gray level co-occurrence matrixes:
A S M = Σ i , j = 1 N P ( i , j \ d , θ ) 2 ⑧
C O N = Σ i , j = 1 N ( i - j ) 2 P ( i , j \ d , θ ) ⑨
C O R = Σ i = 1 N Σ j = 1 N ( i , j ) P ( i , j ) - μ x μ y σ x σ y ⑩
In formula, N is gray level, σ x, μ xfor average and the variance of parametric texture on line direction, σ y, μ yfor average and the variance of parametric texture on column direction.
(4) judge degree of disease by Disease Characters information, and apply SVMs (SVM) to the scab information identification of extracting, judge disease species, the training sample of wherein said SVM is obtained by scanning rice disease primary colors collection of illustrative plates.
Step 3: make variable farm chemical applying prescription map according to crop by the analysis result of disease incidence by Information Management Decision-making System;
Described formulation variable farm chemical applying prescription map, mainly determine corresponding plot pesticide spraying amount by crop disease and insect expert system according to image processing and analyzing result, namely prescription values is determined, and each prescription values to be combined with crop field information distributing plan the variable farm chemical applying prescription map generated as shown in Figure 3 by Information Management Decision-making System, prescription map is transferred to the embedded GIS of plant protection many rotor wing unmanned aerial vehicles live brain by storage equipment.
Step 4: unmanned plane variable farm chemical applying control system obtains variable farm chemical applying prescription map, implements automatic variable dispenser operation by the many rotor wing unmanned aerial vehicles of plant protection according to predetermined route;
The operation of described enforcement variable farm chemical applying, mainly completed by the many rotor wing unmanned aerial vehicles 2 of plant protection, the many rotor wing unmanned aerial vehicles of plant protection are provided with variable farm chemical applying control system, comprise variable and spray controller 3, medicine-chest 7, liquid pump 6, electromagnetic valve 8, liquid pipe 4, spray boom 1 and shower nozzle 5, liquid pump 6 is provided with in medicine-chest 7, and being connected to shower nozzle 5 through liquid pipe 4, spray boom 1, liquid pipe 4 is provided with the electromagnetic valve 8 for controlling its break-make.According to the prescription values requirement of operation point, send spraying instruction by ARM industrial computer and spray controller 3 to variable, sprayed the current"on"time of controller 3 Controlling solenoid valve 8 by variable, change the amount of liquid medicine that shower nozzle 5 sprays.
Embedded GIS is according to given variable farm chemical applying prescription map, by warp, the latitude information of GPS position fixing system Real-time Obtaining unit current location, and merge with prescription map system of axes, judge grid residing for unit, thus obtain the operation prescription values of unit current work position, then be applied to variable farm chemical applying control system by CAN and automatically complete field variable and spray operation.
Step 5: display in real time in dispenser operation process also monitors plant protection many rotor wing unmanned aerial vehicles position, medicine-chest dose and dispenser state by detection control station 9.
Above embodiment only for illustration of the present invention, and is not limitation of the present invention, and the various change made without departing from the spirit and scope of the present invention and modification, all equivalent technical schemes also belong to category of the present invention.

Claims (8)

1. based on a paddy rice unmanned plane variable farm chemical applying autonomous cruise speed system for image procossing, it is characterized in that: comprise field information acquisition module, message processing module, information management decision-making module and unmanned plane variable and spray control module;
Described field information acquisition module is for comprising take photo by plane unmanned plane and supporting flight control system, the The Cloud Terrace carrying camera, GPS position fixing system and plant protection many rotor wing unmanned aerial vehicles live brain, and wherein camera all imports plant protection many rotor wing unmanned aerial vehicles live brain into the locating information that the graphicinformation of crop Real-time Collection and GPS position fixing system obtain;
Described message processing module comprises GPS reception facilities and is installed on the embedded GIS on plant protection many rotor wing unmanned aerial vehicles live brain, and wherein embedded GIS receives locating information that the graphicinformation of collected by camera and GPS reception facilities provide for generating agricultural land information distribution graph;
Described information management decision-making module is loaded on off-line, comprise management decision system, image procossing link and crop disease and insect expert system, wherein management decision system receives the agricultural land information distribution graph generated by embedded GIS, the analysis processing result of combining image processing links, being judged result by control of crop disease expert system and generate corresponding variable farm chemical applying prescription map, variable farm chemical applying prescription map is transferred to plant protection many rotor wing unmanned aerial vehicles live brain by off-line;
Described unmanned plane variable sprays control module and comprises the variable farm chemical applying control system be loaded on the many rotor wing unmanned aerial vehicles of plant protection, variable farm chemical applying control system is connected with plant protection many rotor wing unmanned aerial vehicles live brain by CAN, receives the variable farm chemical applying prescription map that the many rotor wing unmanned aerial vehicles of plant protection carry computer transmission.
2. the paddy rice unmanned plane variable farm chemical applying autonomous cruise speed system based on image procossing according to claim 1, is characterized in that: described plant protection many rotor wing unmanned aerial vehicles live brain is selected S3C6410 type ARM industrial computer and configures liquid crystal touch display screen.
3. the paddy rice unmanned plane variable farm chemical applying autonomous cruise speed system based on image procossing according to claim 1, it is characterized in that: described variable farm chemical applying control system comprises variable and sprays controller, medicine-chest, liquid pump, electromagnetic valve, liquid pipe, spray boom and shower nozzle, liquid pump is provided with in medicine-chest, and being connected to shower nozzle through liquid pipe, spray boom, liquid pipe is provided with the electromagnetic valve for controlling its break-make.
4., based on a paddy rice unmanned plane variable farm chemical applying autocontrol method for image procossing, it is characterized in that comprising the following steps successively:
Step one: utilize unmanned plane of taking photo by plane to gather field image information, obtain field locating information by Airborne GPS position fixing system simultaneously;
Step 2: process the field image information gathered, to analyze different plot crop by disease incidence;
Step 3: make variable farm chemical applying prescription map according to crop by the analysis result of disease incidence by Information Management Decision-making System;
Step 4: unmanned plane variable farm chemical applying control system obtains variable farm chemical applying prescription map, implements automatic variable dispenser operation by the many rotor wing unmanned aerial vehicles of plant protection according to predetermined route;
Step 5: display in real time in dispenser operation process also monitors plant protection many rotor wing unmanned aerial vehicles position, medicine-chest dose and dispenser state by detection control station.
5. the paddy rice unmanned plane variable farm chemical applying autocontrol method based on image procossing according to claim 4, it is characterized in that: in step one, the collection of field image information makes industrial belt by dividing farmland, every bar bandwidth 4m, and in every row culture industrial belt, some test points are being set with 4m spacing, by taking photo by plane, unmanned plane to be taken pictures acquisition in real time to test point; Field locating information acquisition obtains farmland profile diagram by GPS position fixing system, and divided it with 4m × 4m sizing grid by profile diagram, generates crop field information distributing plan.
6. the paddy rice unmanned plane variable farm chemical applying autocontrol method based on image procossing according to claim 4, it is characterized in that: in step 2, Treatment Analysis is carried out to the field image information gathered, identify Damage Types, its concrete steps are: first amplify image scab message part, then carry out gaussian filtering noise reduction to the image gathered; Filtered image thresholding method is obtained Rice Leaf portion scab; Extract color, shape, the texture information at disease position; Application SVMs (SVM), to the scab information identification of extracting, judges Damage Types.
7. the paddy rice unmanned plane variable farm chemical applying autocontrol method based on image procossing according to claim 4, it is characterized in that: in step 3, variable farm chemical applying prescription map is the analysis result according to image procossing, is generated based on the information distributing plan of crop field by Information Management Decision-making System.
8. the paddy rice unmanned plane variable farm chemical applying autocontrol method based on image procossing according to claim 4, it is characterized in that: in step 4, variable farm chemical applying control system is according to variable farm chemical applying prescription map, carries out operation by the unmanned unmanned plane of the many rotors of plant protection according to the course that GPS position fixing system is predetermined.
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CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20170616

Termination date: 20190918