CN105173085B - Unmanned plane variable farm chemical applying automatic control system and method - Google Patents
Unmanned plane variable farm chemical applying automatic control system and method Download PDFInfo
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Abstract
Control module is sprayed the invention provides a kind of paddy rice unmanned plane variable farm chemical applying automatic control system based on image procossing, including field information acquisition module, message processing module, information management decision-making module and unmanned plane variable；Different dose prescription values can be set according to the different disaster-stricken orders of severity in plot, reach more preferable prevention and control of plant diseases, pest control effect, reduce agricultural cost, reduce the paddy rice unmanned plane variable farm chemical applying automatic control system and method based on image procossing of dosage.With variable farm chemical applying technology be combined unmanned plane spray by the present invention, according to the actual victimization state variable spray agricultural chemicals of crop, improves operating efficiency, reduce Pesticide use amount, mitigate environmental pollution, be conducive to crop growth, and real-time monitoring display system realizes visualization operation.
Description
Technical field
The present invention relates to a kind of automatic control 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 is injured to operating personnel
Small, the amount of labour used and labour intensity are reduced, moreover it is possible to meet higher and higher environmental requirement, reach low amounts, smart discharge rate, of low pollution, height
Effect, the requirement of preventing and treating high.
Agriculture unmanned plane, using relatively early, rises emphatically in developed countries such as the U.S., Japan in terms of farmland monitoring, pesticide application
The effect wanted.US Airways dispenser is equipped using large-scale fixed-wing agricultural aviation dispenser, and very flexible is not suitable for Chinese agriculture
Cultivated area is small, plot dispersion, it is with a varied topography the characteristics of.Domestic unmanned plane pesticide spraying has become and develop in recent years faster
One emerging field, more using multi-rotor unmanned aerial vehicle, mobility is good, but all uses uniform spray pattern, it is impossible to according to different
The disaster-stricken order of severity in plot sets different dose prescription values, so as to be unable to reach more preferable prevention and control of plant diseases, pest control effect, reduces agriculture
Industry cost, reduces dosage.
The content of the invention
Regarding to the issue above, can set different according to the different disaster-stricken orders of severity in plot the invention provides a kind of
Dose prescription values, reach more preferable prevention and control of plant diseases, pest control effect, reduce agricultural cost, reduce the water based on image procossing of dosage
Rice unmanned plane variable farm chemical applying automatic control system and method.
To solve the above problems, the technical scheme that the present invention takes is：A kind of paddy rice unmanned plane based on image procossing becomes
Amount dispenser automatic control system, including field information acquisition module, message processing module, information management decision-making module and unmanned plane
Variable sprays control module；
Described field information acquisition module is used to include take photo by plane unmanned plane and supporting flight control system, the cloud of carrying camera
Platform, GPS positioning system and plant protection multi-rotor unmanned aerial vehicle carry computer, wherein image information and GPS of the camera to crop Real-time Collection
The incoming plant protection multi-rotor unmanned aerial vehicle of the location information that alignment system is obtained carries computer；
Described message processing module includes GPS receiver equipment and is installed on embedding on plant protection multi-rotor unmanned aerial vehicle load computer
Enter formula generalized information system, wherein embedded GIS receives the positioning letter that the image information and GPS receiver equipment of camera collection are provided
Cease for generating agricultural land information distribution map；
GPS receiver equipment is used to provide GPS location information for embedded GIS, embedded GIS by
ESuperMap software developments, are mainly used in extracting the image information and GPS location information of collection, set up coordinate system, generate farmland
Information distributing plan.
Described information management decision-making module is loaded on off-line, including management decision system, image procossing link
With crop disease and insect expert system, wherein management decision system receive by embedded GIS generate agricultural land information distribution map,
With reference to the analysis processing result of image procossing link, result is judged and generated by control of crop disease expert system
Variable farm chemical applying prescription map is transferred to plant protection multi-rotor unmanned aerial vehicle and carries computer by corresponding variable farm chemical applying prescription map, off-line；
Described image processing links recognize disease species using image processing techniques, judge the disease order of severity；The work
Thing disease control expert system improves region applicability by improving existing expert system, can be made according to processing result image
Accurate pesticide spraying amount, that is, provide the dispenser prescription values in different plot.
Described unmanned plane variable sprays control system includes the variable farm chemical applying control being loaded into plant protection multi-rotor unmanned aerial vehicle
System processed, variable farm chemical applying control system carries computer and is connected by CAN and plant protection multi-rotor unmanned aerial vehicle, receives many rotors of plant protection
The variable farm chemical applying prescription map of UAV system computer transmission.
Variable farm chemical applying control system receives the variable farm chemical applying prescription map that plant protection multi-rotor unmanned aerial vehicle carries computer transmission, is applied to
Variable farm chemical applying control system implements the sprinkling of crop unmanned plane field pesticides.
Described plant protection multi-rotor unmanned aerial vehicle load computer selects S3C6410 type ARM industrial computers and configures lcd touch and shows
Screen.Plant protection multi-rotor unmanned aerial vehicle carries computer and is used for entering with GPS receiver equipment, off-line and variable farm chemical applying control system system
Row information is transmitted and data interaction.
Described variable farm chemical applying control system including variable spray controller, medicine-chest, liquid pump, magnetic valve, liquid pipe, spray boom and
Shower nozzle, is provided with liquid pump in medicine-chest, and is connected to shower nozzle through liquid pipe, spray boom, and liquid pipe is provided with the magnetic valve for controlling its break-make.
Prescription values requirement according to operation point, sends spraying instruction and sprays controller to variable by ARM industrial computers, is sprayed by variable
The conduction time of controller control magnetic valve is applied to change the amount of liquid medicine of shower nozzle sprinkling.
A kind of paddy rice unmanned plane variable farm chemical applying autocontrol method based on image procossing, comprises the following steps successively：
Step one：Using unmanned plane collection field image information of taking photo by plane, while obtain field by Airborne GPS alignment system determining
Position information；
Step 2：Field image information to gathering is processed, to analyze different plot crops by disease incidence；
Step 3：By Information Management Decision-making System variable farm chemical applying is made according to crop by the analysis result of disease incidence
Fang Tu；
Step 4：Unmanned plane variable farm chemical applying control system obtains variable farm chemical applying prescription map, is pressed by plant protection multi-rotor unmanned aerial vehicle
Implement automatic variable dispenser operation according to predetermined route；
Step 5：Shown in real time in dispenser operation process and as where detection control station monitoring plant protection multi-rotor unmanned aerial vehicle
Position, medicine-chest dose and dispenser state.
The collection of field image information is to divide operation band, every bandwidth 4m, and every by farmland in step one
Bar operation takes and sets some test points with 4m spacing, test point is taken pictures in real time acquisition by unmanned plane of taking photo by plane；Field positioning letter
Breath collection is to obtain farmland profile diagram by GPS positioning system, and profile diagram is divided with 4m × 4m sizing grids to it, and generation is made
Thing field information distributing plan.
Treatment Analysis are carried out to the field image information for gathering in step 2, Damage Types are recognized, it is concretely comprised the following steps：First
Image scab message part is amplified, gaussian filtering noise reduction then is carried out to the image for gathering；Filtered image is used
Thresholding method obtains paddy rice leaf portion scab；Extract color, shape, the texture information at disease position；Using SVMs
(SVM) the scab information identification to extracting, judges Damage Types.
Variable farm chemical applying prescription map is the analysis result according to image procossing in step 3, by Information Management Decision-making System making
Generated based on the information distributing plan of thing field.
Variable farm chemical applying control system foundation variable farm chemical applying prescription map in step 4, by multi-rotor unmanned aerial vehicle according to GPS location
The predetermined course of system carries out operation.
By crop unmanned plane variable farm chemical applying method of the research based on image procossing, according to the different disaster-stricken serious journeys in plot
The different dose prescription values of degree setting, can reach more preferable prevention and control of plant diseases, pest control effect, reduce agricultural cost, reduce dosage.
With variable farm chemical applying technology be combined unmanned plane spray by the present invention, according to the actual victimization state variable spray of crop
Agricultural chemicals, improves operating efficiency, reduces Pesticide use amount, mitigates environmental pollution, is conducive to crop growth, and real-time monitoring
Display system realizes visualization operation.Image processing techniques, Real-time Collection plant growth are employed during pest and disease damage analysis
Information, has accomplished timely and effectively to judge；Implemented to obtain unit positional information by gps system, and in the mesh coordinate of prescription map
System's fusion, judges grid residing for unit, obtains corresponding prescription values, is automatically performed operation, saves manpower.
Brief description of the drawings
Fig. 1 is the schematic diagram of the unmanned plane variable farm chemical applying automatic control system based on image procossing；
Fig. 2 is the flow chart of the unmanned plane variable farm chemical applying method based on image procossing；
Fig. 3 is the variable farm chemical applying prescription map of Information Management Decision-making System generation；
Fig. 4 is variable farm chemical applying control system architecture schematic diagram；
1st, spray boom, 2, multi-rotor unmanned aerial vehicle, 3, variable spray controller, 4, liquid pipe, 5, shower nozzle, 6, liquid pump, 7, medicine-chest, 8,
Magnetic valve, 9, detection control station.
Specific embodiment
A kind of paddy rice unmanned plane variable farm chemical applying automatic control system based on image procossing, as shown in figure 1, including field letter
Breath acquisition module, message processing module, information management decision-making module and unmanned plane variable spray control module；
Described field information acquisition module is used to include take photo by plane unmanned plane and supporting flight control system, the cloud of carrying camera
Platform, GPS positioning system and plant protection multi-rotor unmanned aerial vehicle carry computer, wherein image information and GPS of the camera to crop Real-time Collection
The incoming plant protection multi-rotor unmanned aerial vehicle of the location information that alignment system is obtained carries computer；Described plant protection multi-rotor unmanned aerial vehicle carries electricity
Brain is from S3C6410 type ARM industrial computers and configures liquid crystal touch display screen；
Described message processing module includes GPS receiver equipment and is installed on embedding on plant protection multi-rotor unmanned aerial vehicle load computer
Enter formula generalized information system, wherein embedded GIS receives the positioning letter that the image information and GPS receiver equipment of camera collection are provided
Cease for generating agricultural land information distribution map；
Described information management decision-making module is loaded on off-line, including management decision system, image procossing link
With crop disease and insect expert system, wherein management decision system receive by embedded GIS generate agricultural land information distribution map,
With reference to the analysis processing result of image procossing link, result is judged and generated by control of crop disease expert system
Variable farm chemical applying prescription map is transferred to plant protection multi-rotor unmanned aerial vehicle and carries computer by corresponding variable farm chemical applying prescription map, off-line；
Described unmanned plane variable sprays control module includes the variable farm chemical applying control being loaded into plant protection multi-rotor unmanned aerial vehicle 2
System processed, variable farm chemical applying control system carries computer and is connected by CAN and plant protection multi-rotor unmanned aerial vehicle, receives many rotors of plant protection
The variable farm chemical applying prescription map of UAV system computer transmission.
A kind of paddy rice unmanned plane variable farm chemical applying autocontrol method based on image procossing, as shown in Fig. 2 successively include with
Lower step：
Step one：Using unmanned plane collection field image information of taking photo by plane, while obtain field by Airborne GPS alignment system determining
Position information；
The collection of field image information is to divide operation band, every bandwidth 4m, and in every operation band by farmland
On some test points are set with 4m spacing, test point is taken pictures in real time acquisition by unmanned plane of taking photo by plane, be delivered to ground by image transmission system
Face receiving station；Field locating information acquisition is to obtain farmland profile diagram by GPS positioning system, and by profile diagram with 4m × 4m grids
Size is divided to it, generation crop field information distributing plan.
Step 2：Field image information to gathering is processed, to analyze different plot crops by disease incidence；
Described carries out Treatment Analysis to image, mainly divides following steps：
(1) first many places scab information position in image is amplified, gaussian filtering noise reduction then is carried out to enlarged drawing；
(2) filtered image is obtained into crop leaf portion scab with thresholding method；
(3) color, shape, the texture information at disease position are extracted.The color characteristic is by one to three rank color moment formula
1. -3. 4. represented with normalized color histogram formula：
Wherein pi.jThe probability that i-th Color Channel gray scale occurs for the pixel of j is represented, N is pixel total number, HCI(I) it is
The histogram of image I, p is the pixel in image, and w × h is the size of image.
The shape facility is represented that its formula is as follows respectively by the circularity at scab position, rectangular degree, eccentricity：
Wherein S represents the area of scab, and L represents girth, and W × H is length x width, and C1, C2, C3 are respectively each of target
Rotary inertia of the individual pixel rotating around x, y, z reference axis.
The textural characteristics by by formula 8. -10. calculate angular second moment (ASM), contrast (CON) and the degree of correlation respectively
(COR) 3 texture quantizating index based on gray level co-occurrence matrixes are represented：
In formula, N is gray level, σx、μxIt is the average and variance of parametric texture on line direction, σy、μyIt is texture on column direction
The average and variance of parameter.
(4) degree of disease is judged by Disease Characters information, and application SVMs (SVM) is known to the scab information extracted
Not, disease species are judged, wherein the training sample of the SVM is obtained by scanning rice disease primary colors collection of illustrative plates.
Step 3：By Information Management Decision-making System variable farm chemical applying is made according to crop by the analysis result of disease incidence
Fang Tu；
Described formulation variable farm chemical applying prescription map, mainly by crop disease and insect expert system according to image processing and analyzing knot
Fruit determines corresponding plot pesticide spraying amount, that is, determine prescription values, and by Information Management Decision-making System by each prescription values and crop
Field information distributing plan is combined generation variable farm chemical applying prescription map as shown in Figure 3, and prescription map is transferred to by storage device
Plant protection multi-rotor unmanned aerial vehicle carries the embedded GIS of computer.
Step 4：Unmanned plane variable farm chemical applying control system obtains variable farm chemical applying prescription map, is pressed by plant protection multi-rotor unmanned aerial vehicle
Implement automatic variable dispenser operation according to predetermined route；
The implementation variable farm chemical applying operation, is mainly completed, in plant protection multi-rotor unmanned aerial vehicle by plant protection multi-rotor unmanned aerial vehicle 2
Variable farm chemical applying control system is provided with, including variable sprays controller 3, medicine-chest 7, liquid pump 6, magnetic valve 8, liquid pipe 4, the and of spray boom 1
Liquid pump 6 is provided with shower nozzle 5, medicine-chest 7, and shower nozzle 5 is connected to through liquid pipe 4, spray boom 1, liquid pipe 4 is provided with for controlling its break-make
Magnetic valve 8.Prescription values requirement according to operation point, sends spraying instruction and sprays controller 3 to variable by ARM industrial computers,
By variable spray controller 3 control magnetic valve 8 conduction time come change shower nozzle 5 spray amount of liquid medicine.
Embedded GIS obtains unit by GPS positioning system current in real time according to given variable farm chemical applying prescription map
The warp of position, latitude information, and merged with prescription map coordinate system, grid residing for unit is judged, so as to obtain unit current work
The operation prescription values of position, then variable farm chemical applying control system is applied to by CAN is automatically performed field variable and spray operation.
Step 5：Shown in real time in dispenser operation process and plant protection multi-rotor unmanned aerial vehicle institute is monitored by detection control station 9
In position, medicine-chest dose and dispenser state.
Embodiment of above is merely to illustrate the present invention, and not limitation of the present invention, do not departing from essence of the invention
The various change and modification, all equivalent technical schemes made in the case of god and scope fall within scope of the invention.
Claims (1)
1. a kind of paddy rice unmanned plane variable farm chemical applying automatic control system based on image procossing, it is characterised in that：Including field letter
Breath acquisition module, message processing module, information management decision-making module and unmanned plane variable spray control module；
Described field information acquisition module is used to include take photo by plane unmanned plane and supporting flight control system, head, the GPS of carrying camera
Alignment system and plant protection multi-rotor unmanned aerial vehicle carry computer, wherein image information and GPS location system of the camera to crop Real-time Collection
The incoming plant protection multi-rotor unmanned aerial vehicle of the location information for obtaining of uniting carries computer；
Described message processing module includes GPS receiver equipment and is installed on embedded on plant protection multi-rotor unmanned aerial vehicle load computer
The location information that the image information and GPS receiver equipment that generalized information system, wherein embedded GIS receive camera collection are provided is used
In generation agricultural land information distribution map；
Described information management decision-making module is loaded on off-line, including management decision system, image procossing link and work
Thing pest and disease damage expert system, wherein management decision system receive the agricultural land information distribution map generated by embedded GIS, with reference to
The analysis processing result of image procossing link, is judged by control of crop disease expert system and is generated to result and be corresponding
Variable farm chemical applying prescription map, off-line by variable farm chemical applying prescription map be transferred to plant protection multi-rotor unmanned aerial vehicle carry computer；
Described unmanned plane variable sprays control module includes the variable farm chemical applying control system being loaded into plant protection multi-rotor unmanned aerial vehicle
System, variable farm chemical applying control system carries computer and is connected by CAN and plant protection multi-rotor unmanned aerial vehicle, many rotors of reception plant protection nobody
The variable farm chemical applying prescription map of airborne computer transmission；Described variable farm chemical applying control system sprays controller, medicine-chest, liquid including variable
Pump, magnetic valve, liquid pipe, spray boom and shower nozzle, are provided with liquid pump in medicine-chest, and are connected to shower nozzle through liquid pipe, spray boom, and liquid pipe is provided with use
In the magnetic valve for controlling its break-make；Prescription values requirement according to operation point, carries computer and sends by plant protection multi-rotor unmanned aerial vehicle
Spraying instruction spray controller to variable, by variable spray controller control magnetic valve conduction time come change shower nozzle spray
The amount of liquid medicine spilt；
The automatic control process of variable farm chemical applying is as follows：
Step one：Using unmanned plane collection field image information of taking photo by plane, while obtaining field positioning letter by Airborne GPS alignment system
Breath；
The collection of field image information be by farmland divide operation band, every bandwidth 4m, and every operation take with
4m spacing sets some test points, test point is taken pictures in real time acquisition by unmanned plane of taking photo by plane, and is delivered to ground by image transmission system and connects
Receive station；Field locating information acquisition is to obtain farmland profile diagram by GPS positioning system, and by profile diagram with 4m × 4m sizing grids
It is divided, generation crop field information distributing plan；
Step 2：Field image information to gathering is processed, to analyze different plot crops by disease incidence；
Treatment Analysis are carried out to image, step is as follows：
(1) first many places scab information position in image is amplified, gaussian filtering noise reduction then is carried out to enlarged drawing；
(2) filtered image is obtained into crop leaf portion scab with thresholding method；
(3) color, shape, the texture information at disease position are extracted；The color by one to three rank color moment formula 1. _ 3. and mark
4. standardization color histogram formula represents：
Wherein pi.jThe probability that i-th Color Channel gray scale occurs for the pixel of j is represented, N is pixel total number, HCI(I) it is image
The histogram of I, p is the pixel in image, and w × h is the size of image；
The shape is represented that its formula is as follows respectively by the circularity at scab position, rectangular degree, eccentricity：
Wherein S represents the area of scab, and L represents girth, and W × H is length x width, and C1, C2, C3 are respectively each pictures of target
Rotary inertia of the vegetarian refreshments rotating around x, y, z reference axis；
The texture by by formula 8. -10. calculate angular second moment (ASM), contrast (CON) and the degree of correlation (COR) 3 respectively
Texture quantizating index based on gray level co-occurrence matrixes is represented：
In formula, N is gray level, σx、μxIt is the average and variance of parametric texture on line direction, σy、μyIt is parametric texture on column direction
Average and variance；
(4) degree of disease, and scab information identification of the application support vector machines to extracting are judged by Disease Characters information, is sentenced
Disease species are determined, wherein the training sample of the SVM is obtained by scanning rice disease primary colors collection of illustrative plates；
Step 3：By Information Management Decision-making System variable farm chemical applying prescription is made according to crop by the analysis result of disease incidence
Figure；
The formulation of the variable farm chemical applying prescription map, is to determine phase according to image processing and analyzing result by crop disease and insect expert system
Plot pesticide spraying amount is answered, that is, determines prescription values, and by Information Management Decision-making System by each prescription values and crop field information
Distribution map is combined generation variable farm chemical applying prescription map, and prescription map is transferred into plant protection multi-rotor unmanned aerial vehicle by storage device carries electricity
The embedded GIS of brain；
Step 4：Unmanned plane variable farm chemical applying control system obtains variable farm chemical applying prescription map, by plant protection multi-rotor unmanned aerial vehicle according to pre-
Fixed route implements automatic variable dispenser operation；
Prescription values requirement according to operation point, sends spraying instruction and sprays control to variable by plant protection multi-rotor unmanned aerial vehicle
Device, by variable spray controller control magnetic valve conduction time come change shower nozzle spray amount of liquid medicine；
Embedded GIS obtains unit current location by GPS positioning system in real time according to given variable farm chemical applying prescription map
Warp, latitude information, and merged with prescription map coordinate system, grid residing for unit is judged, so as to obtain unit current work position
Operation prescription values, then variable farm chemical applying control system be applied to by CAN be automatically performed field variable and spray operation；
Step 5：Shown in real time in dispenser operation process and in place by detection control station monitoring plant protection multi-rotor unmanned aerial vehicle institute
Put, medicine-chest dose and dispenser state.
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