CN108157343A - A kind of accurate variable farm chemical applying system in short anvil apple orchard based on unmanned aerial vehicle remote sensing - Google Patents
A kind of accurate variable farm chemical applying system in short anvil apple orchard based on unmanned aerial vehicle remote sensing Download PDFInfo
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- CN108157343A CN108157343A CN201810280635.XA CN201810280635A CN108157343A CN 108157343 A CN108157343 A CN 108157343A CN 201810280635 A CN201810280635 A CN 201810280635A CN 108157343 A CN108157343 A CN 108157343A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
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- Catching Or Destruction (AREA)
Abstract
The invention discloses a kind of accurate variable farm chemical applying systems in short anvil apple orchard based on unmanned aerial vehicle remote sensing, mainly include unmanned plane spectral remote sensing module, Remote Sensing Data Processing module and accurate variable farm chemical applying module.Unmanned plane spectral remote sensing module acquires short anvil apple tree spectrum picture and location information using multispectral camera and Big Dipper positioning device, and the information of acquisition is sent to Remote Sensing Data Processing module；Remote Sensing Data Processing module generates the prescription map of the garden pest and disease damage, is sent to accurate variable farm chemical applying module by comparing the spectroscopic data in short anvil apple tree pest and disease damage database, and combining position information；Accurate variable farm chemical applying module is according to pest and disease damage prescription map, and after carrying out decision to target sensing data with reference to Big Dipper positioning device, ultrasonic wave, control pesticide applicator completes the accurate variable farm chemical applying to fruit tree.By the present invention, can different doses for the degree of different apple tree pest and disease damages, be sprayed, so as to reduce the use of pesticide according to real-time pest and disease damage situation.
Description
Technical field
The present invention relates to agriculture pesticide application technology field more particularly to a kind of short anvil apple orchard based on unmanned aerial vehicle remote sensing are accurate
Variable farm chemical applying system.
Background technology
At present, due to short anvil apple orchard it is tree-like it is narrow, line-spacing is big, it is easy to accomplish mechanization, therefore for short anvil apple orchard
Mechanization pesticide application technology and equipment Development are rapid, but existing pesticide applicator causes the wave of pesticide mostly using quantitative insecticide-applying way
Take and environmental pollution.Although also there are indivedual orchard pesticide applicators to detect the presence or absence of apple tree by mounting ultrasonic sensor to beat
Nozzle is closed in open and close, to achieve the purpose that reduce formulation rate, but when opening nozzle dispenser, still by the way of quantitatively spraying.
Practical orchard situation is that the apple tree pest and disease damage degree of Different Individual is different, it is therefore desirable to which the apple tree of Different Individual is sprayed
Different doses is spilt, so as to improve the utilization ratio of pesticide, reduces the usage amount of pesticide.
Invention content
In order to solve the above technical problem, the present invention provides a kind of short accurate variables in anvil apple orchard based on unmanned aerial vehicle remote sensing
Dispenser system.
The in order to solve the above-mentioned technical problem used technical solution of the present invention is：A kind of short anvil based on unmanned aerial vehicle remote sensing
The accurate variable farm chemical applying system in apple orchard, including unmanned plane spectral remote sensing module, Remote Sensing Data Processing module and accurate variable farm chemical applying
Module.
The unmanned plane spectral remote sensing module mainly includes unmanned plane, Big Dipper positioning device, multispectral camera and data
Transmission device acquires short anvil in real time by being mounted on the multispectral camera of uav bottom and the Big Dipper positioning device mounted on top
The spectrum picture and location information in apple orchard obtain visible ray to the data of the spectral response wave band of each wave band of near-infrared, and
The spectrum picture of acquisition and location information are sent to Remote Sensing Data Processing module.
The Remote Sensing Data Processing module mainly includes data link, computer and data sink, calculates
Machine receives the spectrum picture and location information of unmanned aerial vehicle remote sensing module transmission by data sink, and meter is stored in by comparison
The spectroscopic data in short anvil apple tree pest and disease damage database in calculation machine, obtains the distribution situation of pest and disease damage in orchard, and combines
Location information generates the prescription map of the apple orchard pest and disease damage.
The accurate variable farm chemical applying module mainly includes data sink, Big Dipper positioning device, ultrasonic wave and target is passed
Sensor, dispenser Decision Control device and pesticide applicator, dispenser Decision Control device are received by data sink at remotely-sensed data
The orchard pest and disease damage prescription map of module transmission and the location information of Big Dipper positioning device are managed, after decision is carried out, controls pesticide applicator
The unlatching size of independent navigation and the fruit tree diseases and pests severity control nozzle in prescription map is carried out, realizes that variable is applied
Medicine, while dispenser Decision Control device combination ultrasonic wave controls nozzle to open the data of target sensor when having detected apple tree
It opens, control nozzle is closed when apple tree is not detected, and realizes accuracy pesticide applying.
Beneficial effects of the present invention are：
According to the present invention it is possible to according to pest and disease damage situation real-time in short anvil apple orchard, for the pest and disease damage of different fruit trees individual
Degree, different doses is sprayed, and realize to target dispenser, so as to achieve the purpose that reduce Pesticide use.
Description of the drawings
The invention will be further described with reference to the accompanying drawings and detailed description：
Fig. 1 is the accurate variable farm chemical applying system schema schematic diagram in short anvil apple orchard the present invention is based on unmanned aerial vehicle remote sensing.
Fig. 2 is that the present invention is based on the accurate variable farm chemical applying system navigation Decision Control flows in the short anvil apple orchard of unmanned aerial vehicle remote sensing
Figure.
Fig. 3 is the accurate variable farm chemical applying decision of the accurate variable farm chemical applying system in short anvil apple orchard the present invention is based on unmanned aerial vehicle remote sensing
Control flow chart.
Specific embodiment
Explanation is further explained to the present invention below in conjunction with the drawings and specific embodiments：
As shown in Figure 1, a kind of accurate variable farm chemical applying system in short anvil apple orchard based on unmanned aerial vehicle remote sensing, including unmanned aerial vehicle remote sensing mould
Block, Remote Sensing Data Processing module and accurate variable farm chemical applying module.
The unmanned plane spectral remote sensing module mainly includes unmanned plane, Big Dipper positioning device, multispectral camera and data
Transmission device acquires short anvil in real time by being mounted on the multispectral camera of uav bottom and the Big Dipper positioning device mounted on top
The spectrum picture and location information in apple orchard obtain visible ray to the data of the spectral response wave band of each wave band of near-infrared, and
The spectrum picture of acquisition and location information are sent to Remote Sensing Data Processing module.
The Remote Sensing Data Processing module mainly includes data link, computer and data sink, calculates
Machine receives the spectrum picture and location information of unmanned aerial vehicle remote sensing module transmission by data sink, and meter is stored in by comparison
The spectroscopic data in short anvil apple tree pest and disease damage database in calculation machine, obtains the distribution situation of pest and disease damage in orchard, and combines
Location information generates the prescription map of the apple orchard pest and disease damage, and prescription map is sent to accurate variable farm chemical applying module.
The accurate variable farm chemical applying module mainly includes data sink, Big Dipper positioning device, ultrasonic wave and target is passed
Sensor, dispenser Decision Control device and pesticide applicator, dispenser Decision Control device are received by data sink at remotely-sensed data
The orchard pest and disease damage prescription map of module transmission and the location information of Big Dipper positioning device are managed, after decision is carried out, controls pesticide applicator
The unlatching size of independent navigation and the fruit tree diseases and pests severity control nozzle in prescription map is carried out, realizes that variable is applied
Medicine, while dispenser Decision Control device combination ultrasonic wave controls nozzle to open the data of target sensor when having detected apple tree
It opens, control nozzle is closed when apple tree is not detected, and realizes accuracy pesticide applying.
First, the spectral information in the orchard of dispenser is treated using the multispectral camera on unmanned plane and the acquisition of Big Dipper positioning device
And location information, Remote Sensing Data Processing module is sent to by information is acquired by data sending device, computer is connect by data
Receiving apparatus receives spectral information and location information, by comparing the spectroscopic data in short anvil apple tree pest and disease damage database, obtains
Then in conjunction with the prescription map of location information generation orchard pest and disease damage, prescription map is sent to for the distribution situation of pest and disease damage in orchard
Accurate variable farm chemical applying module, dispenser Decision Control device receive prescription map using data sink, on the one hand, such as Fig. 2 institutes
Show, off-track is judged whether according to the location information of the Big Dipper positioning device on pesticide applicator, if without departing from continuing straight
Row in case of deviateing, then controls pesticide applicator to turn to adjustment, so as to fulfill the independent navigation of pesticide applicator；On the other hand, such as Fig. 3
It is shown, target sensing data is judged whether to detect apple tree according to ultrasonic wave, is closed if apple tree is not detected
Nozzle continues to detect, if detecting apple tree, reads BEI-DOU position system location information, and compares the apple orchard pest and disease damage
Prescription map, control opens suitable nozzle size, then proceedes to read Ultrasonic Sensor Data, if apple is not detected
Tree, then close nozzle, continue to detect next apple tree.
The structure and working principle of the present invention is explained with specific embodiment above, the invention is not limited in above realities
Example is applied, according to above-mentioned description, any modification, replacement and the improvement made all within the spirits and principles of the present invention
Deng should all be included in the protection scope of the present invention.
Claims (1)
1. a kind of accurate variable farm chemical applying system in short anvil apple orchard based on unmanned aerial vehicle remote sensing, including unmanned plane spectral remote sensing module,
Remote Sensing Data Processing module and accurate variable farm chemical applying module, it is characterised in that：
The unmanned plane spectral remote sensing module mainly includes unmanned plane, Big Dipper positioning device, multispectral camera and data transmission
Device acquires short anvil apple in real time by being mounted on the multispectral camera of uav bottom and the Big Dipper positioning device mounted on top
The spectrum picture and location information in garden obtain visible ray to the data of the spectral response wave band of each wave band of near-infrared, and will adopt
The spectrum picture and location information of collection are sent to Remote Sensing Data Processing module；
The Remote Sensing Data Processing module mainly includes data link, computer and data sink, and computer leads to
It crosses data sink and receives spectrum picture and location information that unmanned aerial vehicle remote sensing module is sent, computer is stored in by comparison
In short anvil apple tree pest and disease damage database in spectroscopic data, obtain the distribution situation of pest and disease damage in orchard, and binding site
Information generates the prescription map of the apple orchard pest and disease damage；
The accurate variable farm chemical applying module mainly include data sink, Big Dipper positioning device, ultrasonic wave to target sensor,
Dispenser Decision Control device and pesticide applicator, dispenser Decision Control device receive Remote Sensing Data Processing module by data sink
The orchard pest and disease damage prescription map of transmission and the location information of Big Dipper positioning device, after decision is carried out, control pesticide applicator carries out certainly
The unlatching size of leading boat and the fruit tree diseases and pests severity control nozzle in prescription map, realizes variable farm chemical applying, simultaneously
Dispenser Decision Control device combination ultrasonic wave to the data of target sensor, open when having detected apple tree, does not examine by control nozzle
Control nozzle is closed when measuring apple tree, realizes accuracy pesticide applying.
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| CN201810280635.XA CN108157343A (en) | 2018-04-02 | 2018-04-02 | A kind of accurate variable farm chemical applying system in short anvil apple orchard based on unmanned aerial vehicle remote sensing |
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| CN201810280635.XA CN108157343A (en) | 2018-04-02 | 2018-04-02 | A kind of accurate variable farm chemical applying system in short anvil apple orchard based on unmanned aerial vehicle remote sensing |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108801350A (en) * | 2018-06-22 | 2018-11-13 | 江苏省农业科学院 | A kind of fruit tree growth monitoring system based on unmanned plane Technology of low altitude remote sensing |
| CN108880660A (en) * | 2018-06-30 | 2018-11-23 | 潍坊友容实业有限公司 | Salt-soda soil orchard management system and its control method |
| CN109964905A (en) * | 2019-03-19 | 2019-07-05 | 安徽农业大学 | Robot and its control method are administered to target based on walking certainly for fruit tree identification positioning |
| CN111582055A (en) * | 2020-04-17 | 2020-08-25 | 清远市智慧农业研究院 | Aerial pesticide application route generation method and system for unmanned aerial vehicle |
| WO2020177506A1 (en) * | 2019-03-06 | 2020-09-10 | 广州极飞科技有限公司 | Pesticide spraying control method, apparatus, and device, and storage medium |
| CN111753615A (en) * | 2019-11-06 | 2020-10-09 | 广州极飞科技有限公司 | Variable spraying method and device, electronic equipment and storage medium |
| CN112219816A (en) * | 2020-10-21 | 2021-01-15 | 北京嘉景生物科技有限责任公司 | Positioning device for agriculture and forestry pest automatic monitoring and unmanned aerial vehicle flying prevention and application thereof |
| CN113693049A (en) * | 2021-08-18 | 2021-11-26 | 贵州省农业科技信息研究所（贵州省农业科技信息中心） | Hot pepper aphid machine carries spectral detector |
| CN114486763A (en) * | 2022-01-26 | 2022-05-13 | 河北润田节水设备有限公司 | Crop disease and insect pest detection system and application method thereof |
| CN114831097A (en) * | 2022-03-10 | 2022-08-02 | 上海亿为科技有限公司 | Intelligent pesticide application method and system based on Beidou navigation |
-
2018
- 2018-04-02 CN CN201810280635.XA patent/CN108157343A/en active Pending
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108801350A (en) * | 2018-06-22 | 2018-11-13 | 江苏省农业科学院 | A kind of fruit tree growth monitoring system based on unmanned plane Technology of low altitude remote sensing |
| CN108880660A (en) * | 2018-06-30 | 2018-11-23 | 潍坊友容实业有限公司 | Salt-soda soil orchard management system and its control method |
| WO2020177506A1 (en) * | 2019-03-06 | 2020-09-10 | 广州极飞科技有限公司 | Pesticide spraying control method, apparatus, and device, and storage medium |
| CN109964905A (en) * | 2019-03-19 | 2019-07-05 | 安徽农业大学 | Robot and its control method are administered to target based on walking certainly for fruit tree identification positioning |
| CN109964905B (en) * | 2019-03-19 | 2024-05-10 | 安徽农业大学 | Self-propelled targeting pesticide application robot based on fruit tree identification and positioning and control method thereof |
| CN111753615A (en) * | 2019-11-06 | 2020-10-09 | 广州极飞科技有限公司 | Variable spraying method and device, electronic equipment and storage medium |
| CN111582055A (en) * | 2020-04-17 | 2020-08-25 | 清远市智慧农业研究院 | Aerial pesticide application route generation method and system for unmanned aerial vehicle |
| CN112219816A (en) * | 2020-10-21 | 2021-01-15 | 北京嘉景生物科技有限责任公司 | Positioning device for agriculture and forestry pest automatic monitoring and unmanned aerial vehicle flying prevention and application thereof |
| CN113693049A (en) * | 2021-08-18 | 2021-11-26 | 贵州省农业科技信息研究所（贵州省农业科技信息中心） | Hot pepper aphid machine carries spectral detector |
| CN114486763A (en) * | 2022-01-26 | 2022-05-13 | 河北润田节水设备有限公司 | Crop disease and insect pest detection system and application method thereof |
| CN114831097A (en) * | 2022-03-10 | 2022-08-02 | 上海亿为科技有限公司 | Intelligent pesticide application method and system based on Beidou navigation |
| CN114831097B (en) * | 2022-03-10 | 2023-03-03 | 上海亿为科技有限公司 | Intelligent pesticide application method and system based on Beidou navigation |
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Application publication date: 20180615 |