CN111543413B - Method for accurately applying pesticide by agricultural robot in cooperation with air and ground - Google Patents
Method for accurately applying pesticide by agricultural robot in cooperation with air and ground Download PDFInfo
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- CN111543413B CN111543413B CN202010465814.8A CN202010465814A CN111543413B CN 111543413 B CN111543413 B CN 111543413B CN 202010465814 A CN202010465814 A CN 202010465814A CN 111543413 B CN111543413 B CN 111543413B
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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
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
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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
Abstract
The invention relates to an air-ground cooperative agricultural robot accurate pesticide application method and system. According to the method, the unmanned aerial vehicle is adopted for traversal detection, the image processing technology is used for identifying the disease, pest and weed conditions of crops, and the whole farmland disease, pest and weed area is identified and positioned; the ground robot automatically plans the best advancing path according to the positions of the diseases, the pests and the weeds identified by the unmanned aerial vehicle, reduces the movement stroke of the ground robot, and has high pesticide application efficiency. According to the invention, the position of the disease, pest and weed is subjected to secondary fine detection, when the ground robot moves to the position of the disease, pest and weed identified by the unmanned aerial vehicle, the robot identifies crops with the vision camera, performs secondary detection on the crops, and specifically judges the specific type of the disease, pest and weed suffered by the crops, for example, the crops at the position suffer from a certain disease, so that the problem of accurately identifying the disease, pest and weed of the crops is solved, and the accurate pesticide application of the disease, pest and weed of the crops is realized.
Description
Technical Field
The invention belongs to the technical field of agricultural machinery, and particularly relates to an air-ground cooperative agricultural robot accurate pesticide application method and system, which can realize cooperative operation of a field unmanned aerial vehicle and a ground robot.
Background
At present, precision agriculture becomes a new trend of the development of agriculture in the world today. At present, the agricultural mechanization level of China is relatively low, the working area of agricultural aviation in China only occupies about 2.6 percent of the total area of cultivated land, and the aviation working area occupies 30 to 50 percent in agricultural aviation developed countries such as Europe and America. The agricultural pesticide input level in China is high, and the traditional pesticide spraying has a hazard effect on crops without diseases, pests and weeds, so that pesticide residues are caused, the quality of the crops is reduced, and the harm is caused to the health of human bodies. And the traditional pesticide application mode causes the pesticide to be extremely unevenly distributed on crops, most of the pesticide is sprayed on the crops without diseases and insect pests, so that the pesticide residue of the agricultural products is increased, the quality of the agricultural products is reduced, and the health and the environment of people are threatened. Agricultural operations such as pesticide spraying and detection of diseases, pests and weeds are very complicated, and particularly, when the pesticide is sprayed, too many preventive measures such as wearing appropriate clothes, wearing masks and gloves can be taken, so that the damage of the pesticide to the agricultural operations can be avoided to a great extent, but the damage cannot be completely avoided. Therefore, in such cases, the use of a precision dispensing robot gives the best solution. The precise pesticide application is realized by various modern technologies and methods such as an image processing technology, a remote sensing technology, a sensor detection technology, a mechatronic technology, a navigation technology and the like, the precise pesticide spraying can effectively improve the pesticide utilization rate and reduce pesticide residue, and the method has important significance for human health and environmental protection. At present, a high-efficiency and accurate full-automatic pesticide applying method is not formed, so that the design of a method for spraying pesticides efficiently and accurately is of great significance.
Disclosure of Invention
Aiming at the technical problems, the invention aims to provide an air-ground cooperative agricultural robot accurate pesticide application method and system, which can improve the pesticide application precision, increase the pesticide use efficiency and effectively reduce pesticide residues.
In order to achieve the purpose, the invention provides the following technical scheme:
an air-ground cooperative agricultural robot accurate pesticide application method utilizes an air-ground cooperative agricultural robot accurate pesticide application system, and the system comprises an unmanned aerial vehicle 1 and a ground robot 6; the unmanned aerial vehicle 1 is provided with an aerial visual camera 2 for acquiring crop image information below the unmanned aerial vehicle 1; the front end of the ground robot 6 is provided with a ground vision camera 3 through a vertically arranged vision camera bracket 4; the rear end of the ground robot 6 is provided with a pesticide application actuator 7; a microprocessor is carried on the unmanned aerial vehicle 1, and an industrial personal computer 5 is carried on the ground robot 6; the pesticide application actuator 7 is loaded with various pesticides for diseases, pests and weeds; the aerial vision camera 2 includes a multispectral camera and a thermal infrared sensor.
The method comprises the following steps:
s1 unmanned aerial vehicle identification detection
The unmanned aerial vehicle 1 traverses and flies above a field, in the flying process, field crop image information is collected in real time through the aerial vision camera 2, and the multispectral camera of the aerial vision camera 2 collects spectral images of crops under different wave bands and transmits the spectral images to the microprocessor; meanwhile, the thermal infrared sensor acquires the temperature information of the surface of the crop and transmits the temperature information to the microprocessor;
the microprocessor extracts spectral features of spectral images acquired by the multispectral camera, converts temperature distribution images of crops into video images through photoelectric conversion and electric signal processing means according to temperature information acquired by the thermal infrared sensor, extracts the temperature features, then compares the extracted spectral features and temperature features with normal crop features, establishes a local pest and weed information base, reversely deduces the pest and weed conditions of the crops through information change, and when the crops are found to have the pests and the weeds, the unmanned aerial vehicle microprocessor communicates with the industrial personal computer 5 of the ground robot 6 to send position information of the crops with the pests and the weeds to the industrial personal computer 5;
s2, planning route by ground robot
The industrial personal computer 5 of the ground robot 6 plans the shortest path from the ground robot 6 to the positions of the crops with the diseases, the pests and the weeds according to the position information of the crops with the diseases, the pests and the weeds, which is sent by the microprocessor of the unmanned aerial vehicle 1;
s3, performing operation decision by secondary fine detection of ground robot
The ground robot 6 advances according to the path planned by the industrial personal computer 5, when the ground robot 6 reaches the position of a crop with diseases, pests and weeds, the ground vision camera 3 is started to carry out secondary detection on the field crop at the position, the ground vision camera 3 sends the acquired crop image information to the industrial personal computer 5, the industrial personal computer 5 processes the crop image information, the processed image information is compared with the information characteristics of a disease, pest and weed library in the system, the image information comprises color information, form information and other multi-characteristic comparison analysis, so that the type information of the diseases, pests and weeds suffered by the field crop at the position is judged, whether pesticide application operation is needed or not is determined, and if the field crop at the position does not need pesticide application operation, the ground robot 6 advances to the position of the next crop with diseases, pests and weeds; if the field crops at the position need pesticide application operation, the type information of the diseases, pests and weeds of the crops is judged, and the pesticide application actuator 7 of the ground robot 6 sprays corresponding pesticides according to the types of the diseases, pests and weeds of the crops, so that the pesticide is accurately applied to the diseases, pests and weeds of the crops.
In step S1, after the unmanned aerial vehicle 1 traverses the entire field, the microprocessor digitally splices the images that are traversed and photographed by the multispectral camera, thereby forming a field remote sensing map.
In step S2, when the industrial personal computer 5 receives the position information of the new crop with pest and plant diseases sent by the microprocessor of the unmanned aerial vehicle 1, the shortest path from the ground robot 6 to the position of the crop with pest and plant diseases is re-planned.
An air-ground cooperative agricultural robot accurate pesticide application system comprises an unmanned aerial vehicle 1 and a ground robot 6; the unmanned aerial vehicle 1 is provided with an aerial visual camera 2 for acquiring crop image information below the unmanned aerial vehicle 1; the front end of the ground robot 6 is provided with a ground vision camera 3 through a vertically arranged vision camera bracket 4; the rear end of the ground robot 6 is provided with a pesticide application actuator 7; a microprocessor is carried on the unmanned aerial vehicle 1, and an industrial personal computer 5 is carried on the ground robot 6; the pesticide application actuator 7 is loaded with various pesticides for diseases, pests and weeds; the aerial vision camera 2 includes a multispectral camera and a thermal infrared sensor.
The ground vision camera 3 is arranged on the vision camera bracket 4 through a camera mounting cover 33, a fixed connecting piece 32 and a fastening screw in a shooting angle adjustable manner; the fixed connecting piece 32 is fixedly connected on the vision camera support 4 in a height-adjustable manner, the ground vision camera 3 is fixedly connected in the camera mounting cover 33, and the connecting part of the camera mounting cover 33 and the fixed connecting piece 32 is provided with an arc-shaped adjusting groove 31 with a quarter of circumference.
The shooting angle of the camera is adjusted by adjusting the fastening screw within a ninety-degree range.
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention has high automation degree and greatly reduces the manual work intensity.
(2) According to the invention, by accurate pesticide application, the use efficiency of the pesticide is increased, and the pesticide residue is effectively reduced.
(3) According to the method, the unmanned aerial vehicle is adopted for traversal detection, the image processing technology is used for identifying the disease, pest and weed conditions of crops, and the whole farmland disease, pest and weed area is identified and positioned; the ground robot automatically plans the best advancing path according to the positions of the diseases, the pests and the weeds identified by the unmanned aerial vehicle, reduces the movement stroke of the ground robot, and has high pesticide application efficiency.
(4) According to the invention, the position of the disease, pest and weed is subjected to secondary fine detection, when the ground robot moves to the position of the disease, pest and weed identified by the unmanned aerial vehicle, the robot identifies crops with the vision camera, performs secondary detection on the crops, and specifically judges the specific type of the disease, pest and weed suffered by the crops, for example, the crops at the position suffer from a certain disease, so that the problem of accurately identifying the disease, pest and weed of the crops is solved, and the accurate pesticide application of the disease, pest and weed of the crops is realized.
(5) The invention can generate a remote sensing map of the field in real time, and is beneficial to statistics and management of information of crop yield, diseases, pests, weeds and the like of the field.
Drawings
FIG. 1 is a schematic diagram of the composition of an air-to-ground cooperative precision dispensing system according to the present invention;
FIG. 2 is a schematic view of the installation of the ground vision camera 3 of the present invention;
fig. 3 is a schematic diagram of the movement path of the unmanned aerial vehicle 1 and the ground robot 6 according to the present invention;
fig. 4 is a flow chart of the method for accurately applying pesticide by the space cooperative agricultural robot of the invention.
Wherein the reference numerals are:
1 unmanned plane
2 aerial vision camera
3 ground vision camera
4 visual camera support
5 industrial control machine
6 ground robot
7 medicine-applying executor
31 arc-shaped adjusting groove
32 fixed connecting piece
33 Camera mounting cover
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
As shown in fig. 1, in order to realize rapid and accurate identification of diseases, pests and weeds of crops and to accurately apply pesticide to an area to be treated, an air-ground cooperative accurate pesticide application system composed of an unmanned aerial vehicle 1 and a ground robot 6 is adopted, wherein an aerial vision camera 2 is arranged on the unmanned aerial vehicle 1 and is used for acquiring image information of crops below the unmanned aerial vehicle 1; the front end of the ground robot 6 is provided with a ground vision camera 3 through a vertically arranged vision camera bracket 4; the rear end of the ground robot 6 is provided with a pesticide application actuator 7; the unmanned aerial vehicle 1 is provided with a microprocessor, and the ground robot 6 is provided with an industrial personal computer 5. The pesticide application actuator 7 is loaded with a plurality of pesticides for diseases, insect pests and weeds. The aerial vision camera 2 includes a multispectral camera and a thermal infrared sensor.
As shown in fig. 2, the ground vision camera 3 is mounted on the vision camera support 4 with adjustable shooting angle through a camera mounting cover 33, a fixed connecting piece 32 and a fastening screw. Fixed connection piece 32 height-adjustable ground rigid coupling is on vision camera support 4, and 3 rigid couplings of ground vision camera are in camera installation cover 33, camera installation cover 33 is opened with fixed connection piece 32's connecting portion has the arc adjustment tank 31 of quarter circumference, can carry out the adjustment of ninety degrees scope to the shooting angle of camera through adjusting fastening screw.
As shown in fig. 3, a thick solid line in the figure is a flight trajectory of the unmanned aerial vehicle 1, a dotted line in the figure is a trajectory of the ground robot 6 traveling according to a required operation site, and a square frame in the figure indicates a position where a disease or an insect pest is identified in a traversal flight process of the unmanned aerial vehicle 1.
As shown in fig. 4, the method for accurately applying pesticide by an open-space cooperative agricultural robot of the invention comprises the following steps:
s1 unmanned aerial vehicle identification detection
The unmanned aerial vehicle 1 traverses and flies above a field, and in the flying process, the aerial vision camera 2 collects field crop image information in real time, and different crops have different absorption, reflection and radiation spectral properties, so that the conditions reflected by various objects in the same spectral region are different, and the same object has obvious difference on the reflection of different spectrums. And judging the disease condition of the crops by identifying different spectra. The multispectral camera of the aerial vision camera 2 collects spectral images of crops under different wave bands and transmits the spectral images to the microprocessor; the vegetation can cause the change of leaf pigment after being stressed by diseases, pests and weeds, particularly the chlorophyll content of the leaves can change obviously, and the water content of crops can also change; meanwhile, the thermal infrared sensor reflects the temperature information of the surface of the target through infrared radiation of a detectable target and transmits the temperature information to the microprocessor; because the stomatal conductance, the photosynthetic property and the transpiration rate are closely related to the temperature of the vegetation canopy, the surface temperature of crops after suffering from diseases, pests and weeds is different from that of normal crops, and the animal body temperature is different from the crop temperature;
the microprocessor extracts spectral features of spectral images collected by the multispectral camera, converts temperature distribution images of target physics into video images through means of photoelectric conversion, electric signal processing and the like according to temperature information collected by the thermal infrared sensor, extracts temperature features, then compares the extracted spectral features and temperature features with normal crop features, establishes a local pest and weed information base, reversely deduces the pest and weed conditions of crops through information change, and when the pests and the weeds of the crops are found, the unmanned aerial vehicle microprocessor communicates with the industrial personal computer 5 of the ground robot 6 to send position information of the crops with the pest and weed to the industrial personal computer 5.
Further, after the unmanned aerial vehicle 1 traverses the whole field, the microprocessor digitally splices the images which are traversed and shot by the multispectral camera, so that a field remote sensing map is formed.
S2, planning route by ground robot
The industrial personal computer 5 of the ground robot 6 plans the shortest path from the ground robot 6 to the positions of the crops with the diseases, the pests and the weeds according to the position information of the crops with the diseases, the pests and the weeds, which is sent by the microprocessor of the unmanned aerial vehicle 1;
when the industrial personal computer 5 receives the position information of the new crops with the diseases, the pests and the weeds, which is sent by the microprocessor of the unmanned aerial vehicle 1, the shortest path from the ground robot 6 to the positions of the crops with the diseases, the pests and the weeds is planned again.
S3, performing operation decision by secondary fine detection of ground robot
The ground robot 6 advances according to the path planned by the industrial personal computer 5, when the ground robot 6 reaches the position of a crop with diseases, pests and weeds, the ground vision camera 3 is started to carry out secondary detection on the field crop at the position, the ground vision camera 3 sends the acquired crop image information to the industrial personal computer 5, the industrial personal computer 5 processes the crop image information, the processed image information is compared with the information characteristics of a disease, pest and weed library in the system, the image information comprises color information, form information and other multi-characteristic comparison analysis, so that the type information of the diseases, pests and weeds suffered by the field crop at the position is judged, whether pesticide application operation is needed or not is determined, and if the field crop at the position does not need pesticide application operation, the ground robot 6 advances to the position of the next crop with diseases, pests and weeds; if the field crops at the position need pesticide application operation, the type information of the diseases, pests and weeds of the crops is judged, and the pesticide application actuator 7 of the ground robot 6 sprays corresponding pesticides according to the types of the diseases, pests and weeds of the crops, so that the pesticide is accurately applied to the diseases, pests and weeds of the crops.
Claims (3)
1. An air-ground cooperative agricultural robot accurate pesticide application method is characterized in that:
the method utilizes an air-ground cooperative agricultural robot accurate pesticide application system, and the system comprises an unmanned aerial vehicle (1) and a ground robot (6); the unmanned aerial vehicle (1) is provided with an aerial visual camera (2) for acquiring crop image information below the unmanned aerial vehicle (1); the front end of the ground robot (6) is provided with a ground vision camera (3) through a vertically arranged vision camera bracket (4); the rear end of the ground robot (6) is provided with a pesticide application actuator (7); a microprocessor is carried on the unmanned aerial vehicle (1), and an industrial personal computer (5) is carried on the ground robot (6); the pesticide application actuator (7) is loaded with a plurality of pesticides for diseases, pests and weeds; the aerial vision camera (2) comprises a multispectral camera and a thermal infrared sensor;
the method comprises the following steps:
s1 unmanned aerial vehicle identification detection
The unmanned aerial vehicle (1) traverses and flies above a field, in the flying process, field crop image information is collected in real time through the aerial vision camera (2), and the multispectral camera of the aerial vision camera (2) collects spectral images of crops under different wave bands and transmits the spectral images to the microprocessor; meanwhile, the thermal infrared sensor acquires the temperature information of the surface of the crop and transmits the temperature information to the microprocessor;
the microprocessor extracts spectral features of spectral images acquired by the multispectral camera, converts temperature distribution images of crops into video images through photoelectric conversion and electric signal processing means according to temperature information acquired by the thermal infrared sensor, extracts the temperature features, then compares the extracted spectral features and the temperature features with normal crop features, establishes a local pest and weed information base, reversely deduces the pest and weed conditions of the crops through information change, and when the crops are found to have the pests and the weeds, the unmanned aerial vehicle microprocessor communicates with an industrial personal computer (5) of a ground robot (6) and sends position information of the crops with the pests and the weeds to the industrial personal computer (5);
s2, planning route by ground robot
An industrial personal computer (5) of the ground robot (6) plans the shortest path from the ground robot (6) to the positions of the crops with the diseases, the pests and the weeds according to the position information of the crops with the diseases, the pests and the weeds, which is sent by a microprocessor of the unmanned aerial vehicle (1);
s3, performing operation decision by secondary fine detection of ground robot
The ground robot (6) advances according to the path planned by the industrial personal computer (5), when the ground robot (6) reaches the position of crops with diseases, pests and weeds, the ground vision camera (3) is started, carrying out secondary detection on field crops at the position, sending obtained crop image information to an industrial personal computer (5) by a ground vision camera (3), processing the crop image information by the industrial personal computer (5), comparing the processed image information with information characteristics of a pest and weed library in the system, wherein the method comprises multi-feature comparison and analysis of color information and morphological information, thereby judging the type information of diseases, pests and weeds suffered by the field crops at the position and deciding whether pesticide application operation is needed or not, if the field crops at the position do not need pesticide application operation, the ground robot (6) moves to the position of the next crop with diseases, pests and weeds; if the field crops at the position need pesticide application operation, the type information of the diseases, the pests and the weeds of the crops is judged, and the pesticide application actuator (7) of the ground robot (6) sprays corresponding pesticides according to the types of the diseases, the pests and the weeds of the crops, so that the pesticide application is accurate to the diseases, the pests and the weeds of the crops.
2. The space-area cooperative agricultural robot precise pesticide application method according to claim 1, characterized in that: in step S1, after the unmanned aerial vehicle (1) traverses the entire field, the microprocessor digitally splices the images that are traversed and photographed by the multispectral camera, thereby forming a field remote sensing map.
3. The space-area cooperative agricultural robot precise pesticide application method according to claim 1, characterized in that: in the step S2, when the industrial personal computer (5) receives the position information of the new crops with the diseases, the pests and the weeds, which is sent by the microprocessor of the unmanned aerial vehicle (1), the shortest path from the ground robot (6) to the positions of the crops with the diseases, the pests and the weeds is planned again.
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