CN108271493B - Tea garden spraying system and spraying method based on unmanned aerial vehicle - Google Patents
Tea garden spraying system and spraying method based on unmanned aerial vehicle Download PDFInfo
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- 238000005507 spraying Methods 0.000 title claims abstract description 92
- 235000009024 Ceanothus sanguineus Nutrition 0.000 claims abstract description 108
- 240000003553 Leptospermum scoparium Species 0.000 claims abstract description 108
- 235000015459 Lycium barbarum Nutrition 0.000 claims abstract description 108
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 23
- 241001122767 Theaceae Species 0.000 claims description 76
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- 238000000034 method Methods 0.000 claims description 4
- 239000000284 extract Substances 0.000 claims description 3
- 239000003337 fertilizer Substances 0.000 abstract description 15
- 239000000126 substance Substances 0.000 abstract description 2
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- 230000005540 biological transmission Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
- A01C23/04—Distributing under pressure; Distributing mud; Adaptation of watering systems for fertilising-liquids
- A01C23/047—Spraying of liquid fertilisers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
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- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
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Abstract
The invention discloses a tea garden spraying system and a spraying method based on an unmanned aerial vehicle. The spraying system can utilize an unmanned aerial vehicle to carry a hyperspectral remote sensing camera to detect leaf area indexes of tea trees in a tea garden, judge the growth condition of the tea trees according to the leaf area indexes, and adjust the water and fertilizer spraying quantity. The unmanned aerial vehicle carrying the system can monitor the growth condition of tea trees in real time and dynamically regulate and control the water and fertilizer spraying amount, so that the system can reasonably control the water and fertilizer spraying amount according to the leaf area index of the tea trees, and has important significance for improving the resource utilization rate and reducing the pollution of chemical fertilizers to the environment.
Description
Technical Field
The invention relates to the technical field of tea garden spray fertilization, in particular to a tea garden spray system and a spray method based on an unmanned aerial vehicle.
Background
China is the hometown of tea. Tea is planted in China, has a long history, and is a favorite life habit of Chinese people. Along with the improvement of living standard, the requirements of people on high-quality tea are higher and higher. High quality tea leaves require good cultivation management, however, the increase of town causes shortage of labor for tea garden management, and the cost of tea garden management increases. Tea garden production mechanization is a general trend in the tea industry. In recent years, tea garden harvesting machines, tea garden farming machines, and tea garden fertilizing machines are increasingly being used in tea garden management. Because tea trees are wet-loving plants, most tea trees are planted on mountains, and many tea garden working machines are difficult to work on mountains with excessive gradients.
The unmanned aerial vehicle is suitable for the high-altitude water fertilizer spraying operation of the tea garden in hilly mountain areas by virtue of the advantages of less drift, capability of hovering in the air and the like. However, the capacity of a water tank carried by a traditional spraying unmanned aerial vehicle is limited, and after the fertilizer of the water tank is consumed each time, the unmanned aerial vehicle must return to the original place to be refilled with the fertilizer, which wastes a certain amount of energy of the unmanned aerial vehicle and shortens the endurance mileage. In addition, the traditional spraying mode can not automatically adjust the spraying amount according to the growth condition of the tea trees, so that the spraying amount of the areas with small growth amount of the tea trees is excessive, and certain fertilizer is wasted and environmental pollution is caused.
Disclosure of Invention
The first aim of the invention is to overcome the defects and shortcomings of the prior art, and provide a tea garden spraying system based on an unmanned aerial vehicle, which can reasonably control the water and fertilizer spraying amount according to the leaf area index of tea trees, and has great significance in improving the resource utilization rate and reducing the pollution of chemical fertilizers to the environment.
A second object of the present invention is to provide a spraying method implemented by the spraying system.
The first object of the invention is achieved by the following technical scheme: a tea garden spraying system based on an unmanned aerial vehicle comprises a hyperspectral remote sensing camera, a microcontroller, a driving amplifying circuit, a frequency converter, an electric centrifugal spray head and a water tank which are all arranged on the unmanned aerial vehicle;
the hyperspectral remote sensing camera is connected with the microcontroller, the collected hyperspectral image of the canopy of the tea tree is transmitted to the microcontroller, and the microcontroller calculates the leaf area index of the tea tree according to the hyperspectral image of the canopy of the tea tree;
the microcontroller is connected with the frequency converter through the driving amplifying circuit, the frequency converter is connected with the electric centrifugal spray head, and the microcontroller controls the amplification factor of the driving amplifying circuit according to the leaf area index of the tea tree, so that the rotating speed of the electric centrifugal spray head is controlled;
the electric centrifugal spray head is communicated to the water tank through a pipeline.
Preferably, the automatic spraying device further comprises a flow sensor, wherein the flow sensor is connected with the microcontroller, and the flow sensor is arranged on a pipeline, connected with the water tank, of the electric centrifugal spray head and is used for detecting the spraying quantity of the electric centrifugal spray head and transmitting the detected spraying quantity information of the electric centrifugal spray head to the microcontroller.
Preferably, the system further comprises an upper computer, wherein the microcontroller is in communication connection with the upper computer through a wireless communication module, and the calculated tea leaf area index is transmitted to the upper computer.
Preferably, eight rotors are arranged at the top end of the unmanned aerial vehicle in a balanced manner, the lower end of each rotor is respectively connected with a motor for controlling the rotation of the rotor, and each motor is respectively connected with a microcontroller; the hyperspectral remote sensing camera is erected at the lower end of the unmanned aerial vehicle body.
The second object of the invention is achieved by the following technical scheme: a tea garden spraying method based on unmanned aerial vehicle, which is realized by a tea garden spraying system based on unmanned aerial vehicle, comprises the following steps:
s1, a hyperspectral remote sensing camera collects hyperspectral images of tea tree canopies, and the collected hyperspectral images of the tea tree canopies are transmitted to a microcontroller;
s2, after the microcontroller receives the hyperspectral image of the tea tree canopy, calculating the area index of the tea tree according to the hyperspectral image of the tea tree canopy;
and S3, calculating the current required spraying amount of the tea tree by the microcontroller according to the functional relation between the leaf area index of the tea tree and the spraying amount, and then adjusting the amplification factor of the driving amplifying circuit according to the current required spraying amount of the tea tree so as to adjust the rotating speed of the electric centrifugal spray head through the frequency converter, so that the electric centrifugal spray head sprays according to the current required spraying amount of the tea tree.
Preferably, the method further comprises the step of establishing a tea leaf area index calculation model, and specifically comprises the following steps:
firstly, selecting a plurality of tea trees to form a training sample set, wherein one tea tree corresponds to one training sample in the training sample set, measuring the leaf area index of each training sample, and collecting a canopy hyperspectral image of each training sample through a hyperspectral remote sensing camera;
then, for each training sample, carrying out image processing on the canopy hyperspectral image of the training sample, extracting gray average values of four channels of RGB and NIR, and carrying out mathematical change on the gray average values of the four channels of RGB and NIR to obtain a normalized vegetation index of the training sample;
and finally, after obtaining the normalized vegetation index of each training sample in the training sample set, carrying out correlation analysis on the normalized vegetation index of the training sample and the leaf area index of the training sample to obtain a functional relation between the normalized vegetation index of the tea tree and the leaf area index of the tea tree, thereby obtaining a tea leaf area index calculation model.
Further, the leaf area index of the training samples was determined as follows: and obtaining the occupied area of the tea tree serving as a training sample, measuring the total area of all the leaves of the tea tree, and dividing the total area of all the leaves of the tea tree by the occupied area of the tea tree to obtain the leaf area index of the tea tree.
Further, in the step S2, after receiving the hyperspectral image of the tea tree canopy, the microcontroller firstly performs image processing on the hyperspectral image of the tea tree canopy, extracts a gray average value of four channels of RGB and NIR, and performs mathematical change on the gray average value of the four channels of RGB and NIR to obtain a normalized vegetation index; and substituting the normalized vegetation index into a tea leaf area index calculation model, and calculating to obtain the leaf area index of the corresponding tea by the tea leaf area index calculation model.
Preferably, the function relationship between the area index of tea leaves and the spraying amount used in the step S3 is:
Y＝2.456X+5.971；
wherein Y is the spraying amount, and X is the area index of tea leaves.
Preferably, a flow sensor arranged on a pipeline connected with the water tank of the electric centrifugal spray head detects the current spraying amount of the electric centrifugal spray head in real time, and transmits the detected current spraying amount information of the electric centrifugal spray head to the microcontroller, the microcontroller compares the current spraying amount required by the tea tree with the current spraying amount of the electric centrifugal spray head, and adjusts the amplification factor of the driving amplifying circuit according to the comparison result so as to adjust the rotating speed of the electric centrifugal spray head through the frequency converter, so that the electric centrifugal spray head sprays according to the current spraying amount required by the tea tree.
Compared with the prior art, the invention has the following advantages and effects:
(1) The invention relates to a tea garden spraying system and a spraying method based on an unmanned aerial vehicle, wherein the tea garden spraying system and the spraying method comprise a hyperspectral remote sensing camera, a microcontroller, a driving amplifying circuit, a frequency converter, an electric centrifugal spray head and a water tank which are arranged on the unmanned aerial vehicle; the hyperspectral remote sensing camera is connected with the microcontroller, the collected hyperspectral image of the canopy of the tea tree is transmitted to the microcontroller, and the microcontroller calculates the leaf area index of the tea tree according to the hyperspectral image of the canopy of the tea tree; the microcontroller is connected with the driving amplifying circuit and the frequency converter and then is connected with the electric centrifugal spray head, and the microcontroller controls the amplification factor of the driving amplifying circuit according to leaf area indexes of tea trees, so that the rotating speed of the electric centrifugal spray head is controlled, and the electric centrifugal spray head sprays according to a certain spraying amount. Therefore, the spraying system can utilize the unmanned aerial vehicle to carry the hyperspectral remote sensing camera to detect the leaf area index of the tea garden tea tree, judge the growth condition of the tea garden tea tree according to the leaf area index, and dynamically adjust the water and fertilizer spraying quantity according to the growth condition of the tea garden tea tree; therefore, the invention can reasonably control the water and fertilizer spraying amount according to the leaf area index of the tea tree, and has important significance for improving the resource utilization rate and reducing the pollution of the fertilizer to the environment.
(2) According to the tea garden spraying system and method based on the unmanned aerial vehicle, the flow sensor is arranged on the pipeline connected with the electric centrifugal spray head and the water tank, the spraying amount of the electric centrifugal spray head can be detected in real time through the flow sensor, the detected spraying amount information of the electric centrifugal spray head is transmitted to the microcontroller, and the microcontroller can compare the current spraying amount of the tea tree with the current spraying amount information of the electric centrifugal spray head and then adjust the amplification factor of the driving amplifying circuit according to the comparison result so as to adjust the rotating speed of the electric centrifugal spray head through the frequency converter, so that the electric centrifugal spray head sprays according to the current spraying amount of the tea tree; according to the invention, the spraying quantity of the electric centrifugal spray head is fed back to the microcontroller in real time through the flow sensor, so that the microcontroller can more accurately adjust the spraying quantity of the electric centrifugal spray head. In addition, the spraying quantity of the electric centrifugal spray head is detected in real time through the flow sensor, so that the spraying quantity of the spray head can be prevented from exceeding a set range.
(3) According to the tea garden spraying method based on the unmanned aerial vehicle, the functional relation between the normalized vegetation index and the tea leaf area index of the tea trees is obtained through the correlation analysis of the normalized vegetation index and the leaf area index of each tea tree serving as a training sample in the training sample set, so that a tea leaf area index calculation model is obtained, and a microcontroller calculates the leaf area index of the tea trees to be sprayed according to the model.
(4) According to the tea garden spraying system based on the unmanned aerial vehicle, eight rotary wings are arranged at the top end of the unmanned aerial vehicle in a balanced mode, a motor for controlling the rotary wings to rotate is arranged at the lower end of each rotary wing, and the motors are connected with a microcontroller. The invention can monitor the motor of each rotor wing through the microcontroller to ensure that the rotation speeds of all rotor wings are kept consistent, thereby realizing the air pressure balance below the rotor wings and maintaining the flight stability of the unmanned aerial vehicle.
Drawings
Fig. 1 is a block diagram of a tea garden spray system based on an unmanned aerial vehicle.
Fig. 2 is a schematic structural diagram of the unmanned aerial vehicle-based tea garden spraying system.
Fig. 3 is a flow chart of the unmanned aerial vehicle-based tea garden spraying method of the invention.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but embodiments of the present invention are not limited thereto.
Examples
The tea garden spraying system based on the unmanned aerial vehicle comprises a hyperspectral remote sensing camera 2, a microcontroller 3, a driving amplifying circuit 31, a frequency converter 32, an electric centrifugal spray head 5, a water tank 4, a flow sensor 9 and an upper computer 10 which are all arranged on the unmanned aerial vehicle as shown in fig. 1 and 2; the hyperspectral remote sensing camera 2 is connected with the microcontroller 3, the collected hyperspectral image of the canopy of the tea tree is transmitted to the microcontroller, and the microcontroller 3 calculates the leaf area index of the tea tree according to the hyperspectral image of the canopy of the tea tree; the microcontroller 3 is connected with a frequency converter through a driving amplifying circuit, the frequency converter is connected with an electric centrifugal spray head, and the microcontroller 4 controls the amplification factor of the driving amplifying circuit according to leaf area indexes of tea trees, so that the rotating speed of the electric centrifugal spray head 5 is controlled; the electric centrifugal spray head 5 is connected to the water tank 4 through a pipe 6.
In this embodiment, the flow sensor 9 is connected to the microcontroller 3, and the flow sensor 9 is disposed on the pipe 6 where the electric centrifugal nozzle 5 is connected to the water tank 4, for detecting the spraying amount of the electric centrifugal nozzle 5, and transmitting the detected spraying amount information of the electric centrifugal nozzle to the microcontroller 3.
In this embodiment, the microcontroller 3 is in communication connection with the upper computer 10 through a wireless communication module, and transmits the calculated tea leaf area index to the upper computer 10. The wireless communication module can be a Bluetooth communication module or a wifi communication module.
As shown in fig. 2, eight rotors 1 are arranged at the top of the unmanned aerial vehicle in a balanced manner, and each rotor has a radius of 30cm. The microcontroller 3 monitors the rotation speed of each motor, ensures that the rotation speeds of all the rotors are consistent, thereby realizing the air pressure balance below the rotors and maintaining the flight stability of the unmanned aerial vehicle. The lower end of each rotor wing 1 is respectively connected with a motor 7 for controlling the rotation of the rotor wing, and each motor 7 is connected with the microcontroller 3; the microcontroller receives a control signal transmitted by the unmanned aerial vehicle in a remote control manner, and realizes flight control of the unmanned aerial vehicle. The remote control emission frequency band of the unmanned aerial vehicle is 2400-2483.5 MHz, and the flight height of the unmanned aerial vehicle can be adjusted within the range of 500 m.
In this embodiment, hyperspectral remote sensing camera 2 erects in unmanned aerial vehicle fuselage lower extreme, and hyperspectral remote sensing camera 2 upper end passes through support and unmanned aerial vehicle fuselage fixed hinge to can adjust shooting angle as required. The electric centrifugal spray head is arranged on the side edge of the unmanned aerial vehicle body, the nozzle type of the electric centrifugal spray head can be changed, and the nozzles with different spray hole diameters are specifically selected according to the requirement of actual spray quantity.
In this embodiment, a small motor is mounted in the electric centrifugal nozzle, and the motor is powered by an onboard battery. Because of the high-speed rotation of the motor, larger centrifugal force is generated in the spray head, and fertilizer impacts the fine holes on the spray head under the action of strong centrifugal force, so that fine fertilizer fogdrops are generated and float and sprinkle over the tea garden. Under the action of gravity, the fog drops drop and adhere to the plant surface, and are absorbed and utilized by tea trees.
In this embodiment, the microcontroller may use a single-chip microcomputer.
The embodiment also discloses a tea garden spraying method based on the unmanned aerial vehicle, which is realized by the tea garden spraying system based on the unmanned aerial vehicle, as shown in fig. 3, and comprises the following steps:
s1, a hyperspectral remote sensing camera collects hyperspectral images of tea tree canopies, and the collected hyperspectral images of the tea tree canopies are transmitted to a microcontroller;
s2, after the microcontroller receives the hyperspectral image of the tea tree canopy, calculating the area index of the tea tree according to the hyperspectral image of the tea tree canopy;
in this embodiment, the microcontroller calculates the tea leaf area index according to the hyperspectral image of the canopy of the tea tree through a tea leaf area index calculation model, wherein in this embodiment, the step of establishing the tea leaf area index calculation model is specifically as follows:
firstly, selecting a plurality of tea trees to form a training sample set, wherein one tea tree corresponds to one training sample in the training sample set, measuring the leaf area index of each training sample, and collecting a canopy hyperspectral image of each training sample through a hyperspectral remote sensing camera; in this embodiment, the leaf area index of the training sample is determined as follows: and obtaining the occupied area of the tea tree serving as a training sample, measuring the total area of all the leaves of the tea tree, and dividing the total area of all the leaves of the tea tree by the occupied area of the tea tree to obtain the leaf area index of the tea tree.
Then, for each training sample, carrying out image processing on the canopy hyperspectral image of the training sample, extracting gray average values of four channels of RGB and NIR, and carrying out mathematical change on the gray average values of the four channels of RGB and NIR to obtain a normalized vegetation index of the training sample; in this embodiment, after obtaining the canopy hyperspectral image of the training sample, the canopy hyperspectral image is input into a computer, and the gray average value of the four channels of RGB and NIR is extracted by a MATLAB program in the computer. Wherein the normalized vegetation index NDVI is:
NDVI＝(NIR-R)/(NIR+R)；
wherein NIR is near infrared band, R is red band.
And finally, after obtaining the normalized vegetation index of each training sample in the training sample set, carrying out correlation analysis on the normalized vegetation index of the training sample and the leaf area index of the training sample to obtain a functional relation between the normalized vegetation index of the tea tree and the leaf area index of the tea tree, thereby obtaining a tea leaf area index calculation model.
In the step, after receiving a hyperspectral image of a tea tree canopy, a microcontroller firstly carries out image processing on the hyperspectral image of the tea tree canopy, extracts gray average values of four channels of RGB and NIR, and carries out mathematical change on the gray average values of the four channels of RGB and NIR to obtain a normalized vegetation index; and substituting the normalized vegetation index into a tea leaf area index calculation model, and calculating to obtain the leaf area index of the corresponding tea by the tea leaf area index calculation model. In this embodiment, after the microcontroller acquires the canopy hyperspectral image of the tea tree, the gray average of the RGB and NIR channels is extracted by the MATLAB program embedded therein.
And S3, calculating the current required spraying amount of the tea tree by the microcontroller according to the functional relation between the leaf area index of the tea tree and the spraying amount, and then adjusting the amplification factor of the driving amplifying circuit according to the current required spraying amount of the tea tree so as to adjust the rotating speed of the electric centrifugal spray head through the frequency converter, so that the electric centrifugal spray head sprays according to the current required spraying amount of the tea tree. In this embodiment, the flow sensor that sets up on the pipeline that electronic centrifugal nozzle and water tank are connected detects the current spraying volume of electronic centrifugal nozzle in real time to will detect the current spraying volume information transmission of electronic centrifugal nozzle and give microcontroller, microcontroller compares the current spraying volume of electronic centrifugal nozzle and the current spraying volume of current needs, and the amplification factor of drive amplifier circuit is adjusted according to the comparison result, in order to adjust the rotational speed of electronic centrifugal nozzle through the converter, makes electronic centrifugal nozzle spray according to the spraying volume of tea tree current needs.
Wherein the tea leaf area index used in this step as a function of spray level is:
Y＝2.456X+5.971；
wherein Y is the spraying amount, and X is the area index of tea leaves.
The above examples are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principle of the present invention should be made in the equivalent manner, and the embodiments are included in the protection scope of the present invention.
Claims (7)
1. The tea garden spraying system based on the unmanned aerial vehicle is characterized by comprising a hyperspectral remote sensing camera, a microcontroller, a driving amplifying circuit, a frequency converter, an electric centrifugal spray head and a water tank which are all arranged on the unmanned aerial vehicle;
the hyperspectral remote sensing camera is connected with the microcontroller, the collected hyperspectral image of the canopy of the tea tree is transmitted to the microcontroller, and the microcontroller calculates the leaf area index of the tea tree according to the hyperspectral image of the canopy of the tea tree;
the microcontroller is specifically used for firstly carrying out image processing on the hyperspectral image of the tea tree canopy after receiving the hyperspectral image of the tea tree canopy, extracting gray average values of four channels of RGB and NIR, and carrying out mathematical change on the gray average values of the four channels of RGB and NIR to obtain a normalized vegetation index; substituting the normalized vegetation index into a tea leaf area index calculation model, and calculating to obtain a leaf area index of the corresponding tea by the tea leaf area index calculation model;
the step of establishing the tea leaf area index calculation model is as follows:
firstly, selecting a plurality of tea trees to form a training sample set, wherein one tea tree corresponds to one training sample in the training sample set, measuring the leaf area index of each training sample, and collecting a canopy hyperspectral image of each training sample through a hyperspectral remote sensing camera;
then, for each training sample, carrying out image processing on the canopy hyperspectral image of the training sample, extracting gray average values of four channels of RGB and NIR, and carrying out mathematical change on the gray average values of the four channels of RGB and NIR to obtain a normalized vegetation index of the training sample;
finally, after the normalized vegetation index of each training sample in the training sample set is obtained, carrying out correlation analysis on the normalized vegetation index of the training sample and the leaf area index of the training sample to obtain a functional relation between the normalized vegetation index of the tea tree and the leaf area index of the tea tree, thereby obtaining a tea leaf area index calculation model;
the microcontroller is connected with the frequency converter through the driving amplifying circuit, the frequency converter is connected with the electric centrifugal spray head, and the microcontroller controls the amplification factor of the driving amplifying circuit according to the leaf area index of the tea tree, so that the rotating speed of the electric centrifugal spray head is controlled; the functional relation between the tea leaf area index and the spraying amount is as follows:
Y＝2.456X+5.971；
wherein Y is the spraying amount, and X is the area index of tea leaves;
the electric centrifugal spray head is communicated to the water tank through a pipeline.
2. The unmanned aerial vehicle-based tea garden spray system of claim 1, further comprising a flow sensor connected to the microcontroller, the flow sensor being disposed on a pipe of the electric centrifugal spray head connected to the water tank for detecting a spray amount of the electric centrifugal spray head and transmitting the detected spray amount information of the electric centrifugal spray head to the microcontroller.
3. The unmanned aerial vehicle-based tea garden spray system of claim 1, further comprising an upper computer, wherein the microcontroller is in communication connection with the upper computer through a wireless communication module, and transmits the calculated tea leaf area index to the upper computer.
4. The unmanned aerial vehicle-based tea garden spraying system according to claim 1, wherein eight rotors are arranged at the top end of the unmanned aerial vehicle in a balanced manner, the lower end of each rotor is respectively connected with a motor for controlling the rotation of the rotor, and the motors are respectively connected with a microcontroller; the hyperspectral remote sensing camera is erected at the lower end of the unmanned aerial vehicle body.
5. A tea garden spraying method based on the unmanned aerial vehicle, which is realized based on the tea garden spraying system based on the unmanned aerial vehicle as claimed in claim 1, and is characterized by comprising the following steps:
s1, a hyperspectral remote sensing camera collects hyperspectral images of tea tree canopies, and the collected hyperspectral images of the tea tree canopies are transmitted to a microcontroller;
s2, after the microcontroller receives the hyperspectral image of the tea tree canopy, calculating the area index of the tea tree according to the hyperspectral image of the tea tree canopy; the method comprises the following steps:
after receiving the hyperspectral image of the tea tree canopy, the microcontroller firstly carries out image processing on the hyperspectral image of the tea tree canopy, extracts the gray average value of the four channels of RGB and NIR, and carries out mathematical change on the gray average value of the four channels of RGB and NIR to obtain a normalized vegetation index; substituting the normalized vegetation index into a tea leaf area index calculation model, and calculating to obtain a leaf area index of the corresponding tea by the tea leaf area index calculation model;
the step of establishing the tea leaf area index calculation model is as follows:
firstly, selecting a plurality of tea trees to form a training sample set, wherein one tea tree corresponds to one training sample in the training sample set, measuring the leaf area index of each training sample, and collecting a canopy hyperspectral image of each training sample through a hyperspectral remote sensing camera;
then, for each training sample, carrying out image processing on the canopy hyperspectral image of the training sample, extracting gray average values of four channels of RGB and NIR, and carrying out mathematical change on the gray average values of the four channels of RGB and NIR to obtain a normalized vegetation index of the training sample;
finally, after the normalized vegetation index of each training sample in the training sample set is obtained, carrying out correlation analysis on the normalized vegetation index of the training sample and the leaf area index of the training sample to obtain a functional relation between the normalized vegetation index of the tea tree and the leaf area index of the tea tree, thereby obtaining a tea leaf area index calculation model;
step S3, calculating the current required spraying amount of the tea tree by the microcontroller according to the function relation between the leaf area index of the tea tree and the spraying amount, and then adjusting the amplification factor of the driving amplifying circuit according to the current required spraying amount of the tea tree so as to adjust the rotating speed of the electric centrifugal spray head through the frequency converter, so that the electric centrifugal spray head sprays according to the current required spraying amount of the tea tree; the area index of tea leaves and the spraying amount have the following function relationship:
Y＝2.456X+5.971；
wherein Y is the spraying amount, and X is the area index of tea leaves.
6. The unmanned aerial vehicle-based tea garden spraying method as claimed in claim 5, wherein the leaf area index of the training sample is determined as follows: and obtaining the occupied area of the tea tree serving as a training sample, measuring the total area of all the leaves of the tea tree, and dividing the total area of all the leaves of the tea tree by the occupied area of the tea tree to obtain the leaf area index of the tea tree.
7. The unmanned aerial vehicle-based tea garden spraying method according to claim 5, wherein a flow sensor arranged on a pipeline of the electric centrifugal spray head connected with the water tank detects the current spraying amount of the electric centrifugal spray head in real time, and transmits the detected current spraying amount information of the electric centrifugal spray head to the microcontroller, the microcontroller compares the current spraying amount required by the tea tree with the current spraying amount of the electric centrifugal spray head, and adjusts the amplification factor of the driving amplifying circuit according to the comparison result so as to adjust the rotating speed of the electric centrifugal spray head through the frequency converter, so that the electric centrifugal spray head sprays according to the current spraying amount required by the tea tree.
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