CN110427032B - Agricultural data acquisition method and system based on flow type data acquisition points - Google Patents
Agricultural data acquisition method and system based on flow type data acquisition points Download PDFInfo
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Abstract
The invention discloses an agricultural data acquisition method and system based on mobile data acquisition points, and relates to the technical field of agricultural data acquisition. According to the agricultural robot platform-based farmland data acquisition method, efficient and accurate farmland data acquisition based on the agricultural robot platform is realized from two aspects of agricultural robot system configuration and mobile data acquisition point determination, so that the reliability and accuracy of agricultural data acquisition are improved.
Description
Technical Field
The invention relates to the technical field of agricultural data acquisition, in particular to an agricultural data acquisition method and system based on flow type data acquisition points.
Background
The robot is an automatic device integrating multiple discipline advanced technologies such as machinery, electronics, control, sensing, artificial intelligence and the like. Since the birth of the robot industry in 1956, through the development of nearly 60 years, robots have been widely used in high and new industries such as equipment manufacturing, new materials, biomedicine, smart new energy, and the like. The fusion development of the robot, an artificial intelligence technology, an advanced manufacturing technology and a mobile internet technology promotes the change of the life style of the human society. An agricultural robot is an application of robot in agricultural production, and is a new generation of unmanned automatic operation machine which can be controlled by different program software to adapt to various operations, can sense and adapt to the variety of crops or environmental change, and has artificial intelligence such as detection (such as vision, etc.) and calculation, etc. Agricultural robots are one of the development trends nowadays, and with the development of scientific technology, the application of new technology in the agricultural production nowadays is more and more extensive. The development of agricultural mechanization has become a national development level mark, and the agricultural robot technology is more practical in science and technology of a country.
Data analysis has applications in many fields, but the application in the agricultural field is not extensive, but the application of agricultural data is of great benefit and has many potential benefits. The planting activities of agricultural practitioners are generally based on experience and feeling. But experience does not have stability and can not well guide agricultural production activities. At present, agricultural data collection depends on professional sensor equipment, such as hardware of humidity and temperature probes, wind speed and direction sensors, soil moisture sensors, plant growth measuring instruments and the like, collects and monitors various data of soil humidity, air temperature, air humidity, carbon dioxide concentration and the like in a farmland in real time, sends the data to a central controller, and completes operations of farmland temperature elevation or sprinkling irrigation and the like by means of a wireless greenhouse automatic control system, a drip irrigation system and the like. And the professional data analysis provides accurate support for pest and disease prevention, and the yield and income increase are realized. There are two drawbacks in laying all kinds of hardware sensors in farmland on a large scale: firstly, the cost of laying the sensors in a large area and the equipment loss are serious; secondly, the farmland data collected by the fixed point cannot reflect the real state of the target farmland.
Disclosure of Invention
The invention aims to provide a feasible solution for modern agricultural data acquisition, and provides an agricultural data acquisition method and system based on a flow type data acquisition point so as to improve the reliability and accuracy of agricultural data acquisition.
In order to achieve the purpose, the invention provides the following scheme:
a flow type data acquisition point-based agricultural data acquisition method comprises the following steps:
acquiring target farmland information; the target farmland information comprises size information, planting area distribution information and farmland advancing road distribution information of a target farmland; the size information comprises a length value, a width value and an area value of a target farmland;
determining the distribution information of each data acquisition point according to the target farmland information and the acquisition range of a single data acquisition point; the difference between the acquisition area of each data acquisition point and the overlapping acquisition area of each data acquisition point is not smaller than a preset area, and the determined number of the data acquisition points is minimum;
determining initial position information of the agricultural robot based on a laser positioning navigation technology;
determining the shortest walking path of the agricultural robot by adopting a depth-first traversal algorithm according to the target farmland information, the distribution information of each data acquisition point and the initial position information of the agricultural robot;
and controlling the agricultural robot to traverse each data acquisition point according to the determined shortest walking path so as to acquire agricultural data of the target farmland.
Optionally, the determining, according to the target farmland information and the collection range of a single data collection point, the distribution information of each data collection point specifically includes:
determining the distribution information of each data acquisition point according to the target farmland information, the acquisition range of a single data acquisition point and a constraint condition; wherein the constraint condition is
Represents the sum of the acquisition areas of n data acquisition points, SiRepresenting the collection area of the ith data collection point; s' represents the sum of the overlapping acquisition areas of n data acquisition points; 95% S represents the preset area, and S represents the area value of the target farmland.
Optionally, the determining of the initial position information of the agricultural robot based on the laser positioning navigation technology specifically includes:
the method comprises the steps of building a laser receiving device on the agricultural robot, respectively installing laser transmitters on two fixed points of a target farmland, and then determining initial position information of the agricultural robot according to a laser positioning triangulation distance measuring principle.
Optionally, the determining a shortest walking path of the agricultural robot by using a depth-first traversal algorithm according to the target farmland information, the distribution information of each data acquisition point and the initial position information of the agricultural robot specifically includes:
based on the target farmland information, performing rasterization processing on the target farmland to determine a grid matrix of the target farmland;
numbering each grid in the grid matrix by adopting a decimal coding mode to obtain a coding matrix; the grid codes of the planting areas of the target farmland are set to be zero;
and determining the shortest walking path of the agricultural robot by adopting a depth-first traversal algorithm according to the coding matrix, the distribution information of each data acquisition point and the initial position information of the agricultural robot.
Optionally, before controlling the agricultural robot to traverse each data acquisition point according to the determined shortest walking path to acquire agricultural data of the target farmland, the method further includes: and adjusting the forward orientation of the agricultural robot based on an image segmentation technology.
Optionally, the adjusting the forward direction orientation of the agricultural robot based on the image segmentation technology specifically includes:
acquiring a farmland image of the agricultural robot in forward running;
extracting edge characteristics of the farmland image, and dividing a planting area with green plants and a brown farmland advancing road;
and adjusting the forward direction of the agricultural robot according to the farmland advancing road.
An agricultural data collection system based on a flow-type data collection point, comprising:
the target farmland information acquisition module is used for acquiring target farmland information; the target farmland information comprises size information, planting area distribution information and farmland advancing road distribution information of a target farmland; the size information comprises a length value, a width value and an area value of a target farmland;
the data acquisition point distribution information determining module is used for determining the distribution information of each data acquisition point according to the target farmland information and the acquisition range of the single data acquisition point; the difference between the acquisition area of each data acquisition point and the overlapping acquisition area of each data acquisition point is not smaller than a preset area, and the determined number of the data acquisition points is minimum;
the agricultural robot initial position information determining module is used for determining the initial position information of the agricultural robot based on a laser positioning navigation technology;
the shortest walking path determining module is used for determining the shortest walking path of the agricultural robot by adopting a depth-first traversal algorithm according to the target farmland information, the distribution information of each data acquisition point and the initial position information of the agricultural robot;
and the target farmland agricultural data acquisition module is used for controlling the agricultural robot to traverse each data acquisition point according to the determined shortest walking path so as to acquire agricultural data of the target farmland.
Optionally, the module for determining distribution information of data acquisition points specifically includes:
a data acquisition point distribution information determining unit for determining the target farmland information, the acquisition range of a single data acquisition point and the constraint conditionsDistribution information of each data acquisition point; wherein the constraint condition is
Represents the sum of the acquisition areas of n data acquisition points, SiRepresenting the collection area of the ith data collection point; s' represents the sum of the overlapped acquisition areas of n data acquisition points; 95% S represents a preset area, and S represents an area value of a target farmland.
Optionally, the shortest walking path determining module specifically includes:
the grid matrix calculation unit is used for carrying out rasterization processing on the target farmland based on the target farmland information and determining a grid matrix of the target farmland;
the coding matrix calculation unit is used for numbering each grid in the grid matrix by adopting a decimal coding mode to obtain a coding matrix; the grid codes of the planting areas of the target farmland are set to be zero;
and the shortest walking path determining unit is used for determining the shortest walking path of the agricultural robot by adopting a depth-first traversal algorithm according to the coding matrix, the distribution information of each data acquisition point and the initial position information of the agricultural robot.
Optionally, the method further includes: and the agricultural robot forward orientation adjusting module is used for adjusting the forward orientation of the agricultural robot based on an image segmentation technology.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides an agricultural data acquisition method and system based on flow type data acquisition points. Through the systematic arrangement of the agricultural robot and the determination of farmland flowing type data acquisition points, the farmland data acquisition based on the agricultural robot platform is high-efficient, accurate and reliable from two aspects.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic flow chart of an agricultural data collection method based on a flow type data collection point according to an embodiment of the invention;
fig. 2 is a schematic diagram of determining a flow-type data collection point and a work route diagram according to an embodiment of the present invention;
fig. 3 is a diagram of position acquisition and adjustment of an agricultural robot according to an embodiment of the present invention;
FIG. 4 is a diagram of a target farmland grid area according to an embodiment of the present invention;
FIG. 5 is a diagram of a grid planting area of a target farmland according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an agricultural data acquisition system based on a flow type data acquisition point according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide an agricultural data acquisition method and system based on a flow type data acquisition point so as to improve the reliability and accuracy of agricultural data acquisition.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1, the agricultural data collection method based on the flow-type data collection point provided in this embodiment includes:
step 101: acquiring target farmland information; the target farmland information comprises size information, planting area distribution information and farmland advancing road distribution information of a target farmland; the size information includes a length value, a width value and an area value of the target farmland. As shown in fig. 2, the target farmland is X meters long and Y meters wide, and is M along the long-side roads and N along the wide-side roads; the area value of the target farmland is marked as S.
Step 102: determining the distribution information of each data acquisition point according to the target farmland information and the acquisition range of the single data acquisition point; and the difference between the acquisition area of each data acquisition point and the overlapping acquisition area of each data acquisition point is not less than a preset area, and the determined number of the data acquisition points is the minimum.
Step 103: and determining initial position information of the agricultural robot based on a laser positioning navigation technology.
Step 104: and determining the shortest walking path of the agricultural robot by adopting a depth-first traversal algorithm according to the target farmland information, the distribution information of each data acquisition point and the initial position information of the agricultural robot.
Step 105: and controlling the agricultural robot to traverse each data acquisition point according to the determined shortest walking path so as to acquire agricultural data of the target farmland.
Wherein, step 102 specifically comprises:
and determining the distribution information of each data acquisition point according to the target farmland information, the acquisition range of the single data acquisition point and the satisfied constraint condition.
Wherein, the collection of the data acquisition points is marked as A; data acquisition Point is marked as A1、A2、A3......An(ii) a The effective collection area of the data collection point is recorded as S1、S2、S3......Sn(ii) a The sum of the overlapping acquisition areas of the data acquisition points is marked as S'. According to investigation and experiments, the farmland information effective range of a single data acquisition point is a circular area with the diameter of 4M; data acquisition point of target farmland areaThe following constraints need to be satisfied:
Different farmland sizes and roads obtain different data acquisition point sets; a plurality of groups of different data acquisition point sets can be obtained in the same farmland, and the data acquisition point set with the least data acquisition points needs to be selected to improve the working efficiency of the agricultural robot.
Step 103 specifically includes:
as shown in fig. 3, a laser receiving device is built on the agricultural robot, laser transmitters are respectively installed on two fixed points of a target farmland, and then initial position information of the agricultural robot is determined according to a laser positioning triangulation distance measuring principle.
Step 104 specifically includes:
in order to store the information of the target farmland environment region, the target farmland is firstly subjected to rasterization, the length of the target farmland is X meters, the width of the target farmland is Y meters, M roads along long sides and N roads along wide sides are formed, and the diameter of the agricultural robot body is 0.5 meter, so that the rectangular target farmland region can be rasterized into a grid matrix of [ (X/0.5+1) (Y/0.5+1) ] as shown in fig. 4. In the process, the position states of the agricultural robot and the data acquisition point in the grid area of the target farmland are also determined.
Numbering each grid in the grid matrix by adopting a decimal coding mode to obtain a coding matrix; as shown in fig. 5, if the planting area is a grid area, the grid code of the area is set to zero, and the coding method is not changed.
And determining the shortest walking path of the agricultural robot by adopting a depth-first traversal algorithm according to the coding matrix, the distribution information of each data acquisition point and the initial position information of the agricultural robot. The method comprises the following specific steps: based on the position states of the agricultural robot and the data acquisition points in the grid area of the target farmland, a depth-first traversal algorithm is applied to traverse each data acquisition point from the initial position of the agricultural robot, and a global Open and Closed list is established for storing information of each data acquisition point and the acquired data acquisition points.
And (3) obtaining the moving cost between adjacent data acquisition points by using the Manhadegree distance:
D＝|xi-xj|+|yi-yjl, |; wherein (x)i,yi),(xj,yj) And respectively obtaining the position coordinates of the agricultural robot and the position coordinates of the data acquisition point to obtain the shortest walking path for the agricultural robot to carry out data acquisition operation.
Before performing step 105, the method further comprises: and adjusting the forward orientation of the agricultural robot based on an image segmentation technology. The method specifically comprises the following steps: obtaining a farmland image of the agricultural robot running in the forward direction; extracting edge characteristics of the farmland image, and dividing a planting area with green plants and a brown farmland advancing road; according to the farmland advancing road to this orientation gesture of confirming agricultural robot, and then the forward orientation of adjusting agricultural robot, through controlling agricultural robot motion track base adjustment agricultural robot's forward orientation promptly.
Step 105 specifically includes:
based on initial position information and the shortest walking path of the agricultural robot, firstly, controlling a motion base of the agricultural robot to move forwards according to the planned shortest walking path; when the road is at an inflection point, differential control is carried out on the moving track base of the agricultural robot to finish steering action, and then the agricultural robot continues to advance. After the agricultural robot reaches the data acquisition point, the moving track base stops, the stepping motor controller sends a control signal to control the stepping motor of the mechanical arm of the agricultural robot, and the data acquisition and receiving device moves to a target position to complete data acquisition of the farmland data acquisition point.
Secondly, the operation state of the agricultural robot is updated; the agricultural robot determines the position information of the agricultural robot through laser positioning. And establishing a global Open and Closed list for storing information of each data acquisition point and the acquired data acquisition points, updating the global Open and Closed list after one data acquisition point is acquired, determining the state space of the agricultural robot, and performing farmland data acquisition operation of the next data acquisition point.
In this embodiment, the agricultural robot not only builds the laser receiving device, but also carries the data collecting and transmitting device; the data acquisition and transceiving device is used for acquiring target farmland data, sending the target farmland data and receiving a central console instruction; the target farmland data comprises various data of farmland such as soil humidity, nitrogen content, phosphorus content, potassium content, permeability, filling power, air temperature, air humidity, carbon dioxide concentration and the like.
Example two
As shown in fig. 6, the present embodiment provides an agricultural data collection system based on a flow-type data collection point, including:
a target farmland information obtaining module 100, configured to obtain target farmland information; the target farmland information comprises size information of a target farmland, planting area distribution information and farmland advancing road distribution information; the size information includes a length value, a width value, and an area value of the target farmland.
The data acquisition point distribution information determining module 200 is used for determining the distribution information of each data acquisition point according to the target farmland information and the acquisition range of a single data acquisition point; and the difference between the collection area of each data collection point and the overlapped collection area of each data collection point is not less than a preset area, and the determined number of the data collection points is the minimum.
The agricultural robot initial position information determining module 300 is configured to determine initial position information of an agricultural robot based on a laser positioning navigation technology.
And a shortest walking path determining module 400, configured to determine a shortest walking path of the agricultural robot by using a depth-first traversal algorithm according to the target farmland information, the distribution information of each data acquisition point, and the initial position information of the agricultural robot.
And the target farmland agricultural data acquisition module 500 is used for controlling the agricultural robot to traverse each data acquisition point according to the determined shortest walking path so as to acquire agricultural data of the target farmland.
The module 200 for determining distribution information of data collection points specifically includes:
the data acquisition point distribution information determining unit is used for determining the distribution information of each data acquisition point according to the target farmland information, the acquisition range of a single data acquisition point and a constraint condition; wherein the constraint condition is
Represents the sum, S, of the acquisition areas of n data acquisition pointsiRepresenting the collection area of the ith data collection point; s' represents the sum of the overlapping acquisition areas of n data acquisition points; 95% S represents a preset area, and S represents an area value of a target farmland.
The shortest walking path determining module 400 specifically includes:
and the grid matrix calculation unit is used for carrying out rasterization processing on the target farmland based on the target farmland information and determining the grid matrix of the target farmland.
The coding matrix calculation unit is used for numbering each grid in the grid matrix by adopting a decimal coding mode to obtain a coding matrix; and zeroing the grid codes of the planting areas of the target farmland.
And the shortest walking path determining unit is used for determining the shortest walking path of the agricultural robot by adopting a depth-first traversal algorithm according to the coding matrix, the distribution information of each data acquisition point and the initial position information of the agricultural robot.
In addition, the system further comprises: and the agricultural robot forward orientation adjusting module is used for adjusting the forward orientation of the agricultural robot based on an image segmentation technology. The method comprises the following specific steps: the method specifically comprises the following steps: acquiring a farmland image of the agricultural robot in forward running; extracting edge characteristics of the farmland image, and dividing a planting area with green plants and a brown farmland advancing road; according to the farmland advancing road to this orientation gesture of confirming agricultural robot, and then the forward orientation of adjusting agricultural robot, through controlling agricultural robot motion track base adjustment agricultural robot's forward orientation promptly.
Firstly, taking size data and structure data of a target farmland as an analysis basis to obtain farmland data acquisition points; the effective data range of the farmland data acquisition points is more than or equal to 95% of the farmland area, and the number of the data acquisition points is minimum so as to improve the operation efficiency; acquiring the relative position and orientation of the agricultural robot and the farmland through laser positioning and image segmentation, and performing corresponding adjustment; planning an agricultural robot running path according to the data acquisition points and the target farmland information, and acquiring a shortest running path by adopting a depth-first traversal algorithm; the agricultural robot goes to each farmland data acquisition point according to shortest walking route, reachs target data acquisition point, and agricultural robot's data acquisition device carries out farmland data acquisition operation, and farmland data sends to central control console through agricultural robot's data transceiver, accomplishes the data acquisition flow. Therefore, according to the agricultural data acquisition method and system based on the flow type data acquisition points, the agricultural robot platform is used for collecting the non-immobilized data acquisition points of the farmland multi-item data, so that the reliability and the effectiveness of the farmland data are improved, and the practicability and the value of the agricultural data analysis result on agricultural activities are ensured.
In the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principle and the embodiment of the present invention are explained by applying specific examples, and the above description of the embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the foregoing, the description is not to be taken in a limiting sense.
Claims (8)
1. An agricultural data collection method based on a mobile data collection point, the agricultural data collection method comprising:
acquiring target farmland information; the target farmland information comprises size information of a target farmland, planting area distribution information and farmland advancing road distribution information; the size information comprises a length value, a width value and an area value of the target farmland;
determining the distribution information of each data acquisition point according to the target farmland information and the acquisition range of the single data acquisition point; the difference between the acquisition area of each data acquisition point and the overlapping acquisition area of each data acquisition point is not smaller than a preset area, and the determined number of the data acquisition points is minimum;
determining initial position information of the agricultural robot based on a laser positioning navigation technology;
determining the shortest walking path of the agricultural robot by adopting a depth-first traversal algorithm according to the target farmland information, the distribution information of each data acquisition point and the initial position information of the agricultural robot;
controlling the agricultural robot to traverse each data acquisition point according to the determined shortest walking path so as to acquire agricultural data of a target farmland;
the determining the distribution information of each data acquisition point according to the target farmland information and the acquisition range of a single data acquisition point specifically comprises:
determining the distribution information of each data acquisition point according to the target farmland information, the acquisition range of a single data acquisition point and the satisfied constraint condition;
wherein, the collection of data acquisition points is marked as A; data acquisition Point is marked as A1、A2、A3......An(ii) a The effective collection area of the data collection point is recorded as S1、S2、S3......Sn(ii) a The sum of the overlapped acquisition areas of all the data acquisition points is marked as S';
according to investigation and experiments, the farmland information effective range of a single data acquisition point is a circular area with the diameter of 4M; the data acquisition points of the target farmland area need to meet the following constraint conditions:
different data acquisition point sets are obtained by different farmland sizes and roads; a plurality of groups of different data acquisition point sets are obtained in the same farmland, and the data acquisition point set with the least data acquisition points needs to be selected to improve the working efficiency of the agricultural robot;
the agricultural data of control agricultural robot in order to gather the target farmland is traversed every data acquisition point according to the shortest walking route of confirming specifically includes:
based on initial position information and the shortest walking path of the agricultural robot, firstly controlling a motion base of the agricultural robot to move forwards according to the planned shortest walking path; when the curve is at the inflection point of the road, the motion crawler base of the agricultural robot is subjected to differential control to complete steering action, and then the agricultural robot continues to move forwards; after the agricultural robot reaches the data acquisition point, the moving track base stops, the stepping motor controller sends a control signal to control the stepping motor of the mechanical arm of the agricultural robot, so that the data acquisition and receiving and transmitting device moves to a target position to complete data acquisition of the data acquisition point of the farmland;
secondly, updating the operation state of the agricultural robot; the agricultural robot determines the position information of the agricultural robot through laser positioning; establishing a global Open and Closed list for storing information of each data acquisition point and acquired data acquisition points, updating the global Open and Closed list after one data acquisition point is acquired, determining the state space of the agricultural robot, and performing farmland data acquisition operation of the next data acquisition point;
the agricultural robot not only builds a laser receiving device, but also carries a data acquisition and receiving and transmitting device; the data acquisition and transceiving device is used for acquiring target farmland data, sending the target farmland data and receiving a central console instruction; the target farmland data comprises soil humidity, nitrogen content, phosphorus content, potassium content, permeability, filling power, air temperature, air humidity and carbon dioxide concentration of the farmland.
2. The agricultural data acquisition method according to claim 1, wherein the determining of the initial position information of the agricultural robot based on the laser positioning navigation technology specifically comprises:
the method comprises the steps of building a laser receiving device on the agricultural robot, respectively installing laser transmitters on two fixed points of a target farmland, and then determining initial position information of the agricultural robot according to a laser positioning triangulation distance measuring principle.
3. The agricultural data acquisition method according to claim 1, wherein the determining the shortest walking path of the agricultural robot by using a depth-first traversal algorithm according to the target farmland information, the distribution information of each data acquisition point and the initial position information of the agricultural robot specifically comprises:
based on the target farmland information, performing rasterization processing on the target farmland to determine a grid matrix of the target farmland;
numbering each grid in the grid matrix by adopting a decimal coding mode to obtain a coding matrix; the grid codes of the planting areas of the target farmland are set to be zero;
and determining the shortest walking path of the agricultural robot by adopting a depth-first traversal algorithm according to the coding matrix, the distribution information of each data acquisition point and the initial position information of the agricultural robot.
4. The agricultural data collection method of claim 1, further comprising, before controlling the agricultural robot to traverse each of the data collection points according to the determined shortest travel path to collect agricultural data for the target agricultural field: and adjusting the forward orientation of the agricultural robot based on an image segmentation technology.
5. The agricultural data collection method of claim 4, wherein the adjusting of the forward orientation of the agricultural robot based on the image segmentation technique specifically comprises:
obtaining a farmland image of the agricultural robot running in the forward direction;
extracting edge characteristics of the farmland image, and dividing a planting area with green plants and a brown farmland advancing road;
and adjusting the forward direction of the agricultural robot according to the farmland advancing road.
6. An agricultural data collection system based on a mobile-type data collection point, the agricultural data collection system comprising:
the target farmland information acquisition module is used for acquiring target farmland information; the target farmland information comprises size information of a target farmland, planting area distribution information and farmland advancing road distribution information; the size information comprises a length value, a width value and an area value of the target farmland;
the data acquisition point distribution information determining module is used for determining the distribution information of each data acquisition point according to the target farmland information and the acquisition range of a single data acquisition point; the difference between the acquisition area of each data acquisition point and the overlapping acquisition area of each data acquisition point is not smaller than a preset area, and the determined number of the data acquisition points is minimum;
the agricultural robot initial position information determining module is used for determining the initial position information of the agricultural robot based on the laser positioning navigation technology;
the shortest walking path determining module is used for determining the shortest walking path of the agricultural robot by adopting a depth-first traversal algorithm according to the target farmland information, the distribution information of each data acquisition point and the initial position information of the agricultural robot;
the target farmland agricultural data acquisition module is used for controlling the agricultural robot to traverse each data acquisition point according to the determined shortest walking path so as to acquire agricultural data of a target farmland;
the data acquisition point distribution information determining module specifically includes:
determining the distribution information of each data acquisition point according to the target farmland information, the acquisition range of a single data acquisition point and the satisfied constraint condition;
wherein, the collection of data acquisition points is marked as A; data acquisition Point is marked as A1、A2、A3......An(ii) a The effective collection area of the data collection point is recorded as S1、S2、S3......Sn(ii) a The sum of the overlapped acquisition areas of all the data acquisition points is marked as S';
according to investigation and experiments, the farmland information effective range of a single data acquisition point is a circular area with the diameter of 4M; the data acquisition points of the target farmland area need to meet the following constraint conditions:
different farmland sizes and roads obtain different data acquisition point sets; a plurality of groups of different data acquisition point sets are obtained in the same farmland, and the data acquisition point set with the least data acquisition points needs to be selected to improve the working efficiency of the agricultural robot;
the target farmland agricultural data acquisition module specifically comprises:
based on initial position information and the shortest walking path of the agricultural robot, firstly controlling a motion base of the agricultural robot to move forwards according to the planned shortest walking path; when the road is at an inflection point, performing differential control on the moving track base of the agricultural robot to finish steering action, and then continuing to move forward; after the agricultural robot reaches the data acquisition point, the moving track base stops, the stepping motor controller sends a control signal to control the stepping motor of the mechanical arm of the agricultural robot, so that the data acquisition and receiving and transmitting device moves to a target position to complete data acquisition of the farmland data acquisition point;
secondly, updating the operation state of the agricultural robot; the agricultural robot determines the position information of the agricultural robot through laser positioning; establishing a global Open and Closed list for storing information of each data acquisition point and acquired data acquisition points, updating the global Open and Closed list after one data acquisition point is acquired, determining the state space of the agricultural robot, and performing farmland data acquisition operation of the next data acquisition point;
the agricultural robot not only builds a laser receiving device, but also carries a data acquisition and receiving and transmitting device; the data acquisition and transceiving device is used for acquiring target farmland data, sending the target farmland data and receiving a central console instruction; the target farmland data comprises soil humidity, nitrogen content, phosphorus content, potassium content, permeability, filling power, air temperature, air humidity and carbon dioxide concentration of the farmland.
7. The agricultural data collection system of claim 6, wherein the shortest walking path determination module specifically comprises:
the grid matrix calculation unit is used for carrying out rasterization processing on the target farmland based on the target farmland information and determining a grid matrix of the target farmland;
the coding matrix calculation unit is used for numbering each grid in the grid matrix by adopting a decimal coding mode to obtain a coding matrix; the grid codes of the planting areas of the target farmland are set to be zero;
and the shortest walking path determining unit is used for determining the shortest walking path of the agricultural robot by adopting a depth-first traversal algorithm according to the coding matrix, the distribution information of each data acquisition point and the initial position information of the agricultural robot.
8. The agricultural data collection system of claim 6, further comprising: and the agricultural robot forward orientation adjusting module is used for adjusting the forward orientation of the agricultural robot based on an image segmentation technology.
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