CN111707783A - Crop growth monitoring method and device and storage medium - Google Patents
Crop growth monitoring method and device and storage medium Download PDFInfo
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- CN111707783A CN111707783A CN202010397069.8A CN202010397069A CN111707783A CN 111707783 A CN111707783 A CN 111707783A CN 202010397069 A CN202010397069 A CN 202010397069A CN 111707783 A CN111707783 A CN 111707783A
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/026—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring distance between sensor and object
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- G—PHYSICS
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- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
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- G—PHYSICS
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- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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Abstract
The invention discloses a crop growth monitoring method, a crop growth monitoring device and a storage medium, wherein the method comprises the following steps: acquiring a group of vertical distance data which are measured by a distance measuring sensor group and are related to the height of the crop; moving the distance measuring sensor group for a set distance; repeating the steps until the distance measuring sensor group finishes measuring the crop field; constructing a crop height data matrix by using all the vertical distance data; and judging the crop growth condition according to the crop height data matrix. The intelligent crop growth condition judgment system has the characteristics of automation and intelligence, can realize accurate judgment of the growth condition of large-area crops, and is trouble-saving and labor-saving.
Description
Technical Field
The invention relates to the field of agriculture, in particular to a crop growth monitoring method, a crop growth monitoring device and a storage medium.
Background
In the aspect of agricultural production, the trend is to grow in large scale, automation and intellectualization. Due to large-scale planting, the number of planted crops is huge, and the crops with abnormal growth are difficult to find only by observing with the naked eyes of farmers, so that the workload is huge. The abnormal growth of crops includes dysplasia, death, necrosis and the like. If the finding is not timely, the reseeding opportunity is missed, the land resource is wasted, and the direct economic loss is brought.
Disclosure of Invention
The present invention is directed to at least one of the technical problems of the prior art, and provides a method, an apparatus and a storage medium for monitoring crop growth.
The technical scheme adopted by the invention for solving the problems is as follows:
in a first aspect of the invention, a method for monitoring crop growth comprises the steps of:
acquiring a group of vertical distance data which are measured by a distance measuring sensor group and are related to the height of the crop;
moving the ranging sensor group by a set distance;
repeating the steps until the distance measuring sensor group finishes measuring the crop field;
constructing a crop height data matrix by using all the vertical distance data;
judging the crop growth condition according to the crop height data matrix;
the ranging sensor group comprises a plurality of ranging sensors which are arranged in parallel.
According to the first aspect of the present invention, the constructing of the crop height data matrix using all of the vertical distance data specifically comprises the steps of:
calculating crop height data according to H2-H1, wherein a set of vertical distance data corresponds to a set of crop height data, H2 is the crop height data, H1 is the vertical distance data, and H is the distance between the distance measuring sensor and the ground;
and constructing the crop height data matrix by taking each group of the crop height data as a row.
According to a first aspect of the present invention, a method for monitoring crop growth, further comprises the steps of: and if the crop growth condition of the crop is abnormal, obtaining the position information of the crop according to the position of the crop height data corresponding to the crop in the crop height data matrix.
According to the first aspect of the present invention, the step of determining the growth condition of the crop according to the crop height data matrix specifically comprises the following steps:
planning a crop matrix area corresponding to each crop according to the crop height data matrix;
and judging the growth condition of the crops by comparing the characteristic indexes of the crop matrix areas corresponding to the crops.
According to the first aspect of the present invention, the step of planning the crop matrix area corresponding to each crop according to the crop height data matrix specifically includes: determining an element with a median value of 0 in the crop height data matrix; determining the circle area of a circle consisting of continuous elements with the value of 0; and determining each circled area as a crop matrix area corresponding to each crop.
According to a first aspect of the invention, the characteristic index comprises a crop maximum height, a crop minimum height, a crop width, a crop length, and a crop area; the maximum height of the crop is the maximum element value in a crop matrix area corresponding to the crop, the minimum height of the crop is the minimum element value in the crop matrix area corresponding to the crop, the width of the crop is the difference between the maximum value of the column number and the minimum value of the column number of the element in the crop matrix area corresponding to the crop, the length of the crop is the difference between the maximum value of the row number and the minimum value of the row number of the element in the crop matrix area corresponding to the crop, and the area of the crop is the product of the width of the crop and the length of the crop.
In a second aspect of the present invention, a crop growth monitoring apparatus to which the crop growth monitoring method according to the first aspect of the present invention is applied, includes:
the device comprises a rack, a driving device and a control device, wherein the rack is provided with a moving mechanism;
the distance measuring sensor group comprises a plurality of distance measuring sensors which are arranged in parallel, the distance measuring sensor group is installed on the moving mechanism, and the moving mechanism drives the distance measuring sensor group to move; the distance measuring sensor group is used for measuring a plurality of groups of vertical distance data;
a controller configured to: constructing a crop height data matrix by using the plurality of groups of vertical distance data; and judging the crop growth condition according to the crop height data matrix.
According to a second aspect of the invention, the controller is further configured to: if the crop growth condition of the crop is abnormal, obtaining the position information of the crop according to the position of the crop height data corresponding to the crop in the crop height data matrix; wherein the crop height data is the difference between the distance from the ranging sensor to the ground and the vertical distance data.
According to a second aspect of the invention, the distance measuring sensor is a laser distance measuring sensor, and the laser emitted by the laser distance measuring sensor is perpendicular to the ground.
In a third aspect of the present invention, the storage medium stores executable instructions that are executable by a computer to cause the computer to perform the method for monitoring crop growth according to the first aspect of the present invention.
The scheme at least has the following beneficial effects: scanning the whole crop field through the distance measuring sensor group to obtain vertical distance data of the whole crop field, and constructing a crop height data matrix by using all the vertical distance data. And automatically and intelligently analyzing the crop growth condition of each crop according to the crop height data matrix, namely integrating the growth data of all crops, and judging that the crop is abnormal in growth when the growth data of one crop is smaller than the growth data of other crops. The intelligent crop growth condition judgment system has the characteristics of automation and intelligence, can realize accurate judgment of the growth condition of large-area crops, and is trouble-saving and labor-saving.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a block diagram of a crop growth monitoring apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the ranging sensor group of FIG. 1 measuring vertical range data;
FIG. 3 is a schematic diagram of a crop height data matrix;
FIG. 4 is a flow chart of a method for monitoring crop growth in accordance with an embodiment of the present invention;
FIG. 5 is another flow chart of a method for monitoring crop growth in accordance with an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Referring to fig. 4, certain embodiments of the present invention provide a method of crop growth monitoring, comprising the steps of:
s100, acquiring a group of vertical distance data which are measured by a distance measuring sensor group 200 and are related to the height of a crop;
step S200, enabling the distance measurement sensor group 200 to move for a set distance;
step S300, repeating the step S100 and the step S200 until the distance measuring sensor group 200 finishes measuring the crop field;
s400, constructing a crop height data matrix by using all the vertical distance data;
s500, judging the growth condition of crops according to the crop height data matrix;
the ranging sensor group 200 includes a plurality of ranging sensors 210 arranged in parallel.
In this embodiment, the entire crop field is scanned by the range sensor group 200 to obtain vertical distance data for the entire crop field, and a crop height data matrix is constructed using all of the vertical distance data. The crop growth condition of each crop is automatically and intelligently analyzed according to the crop height data matrix, that is, the growth data of all crops can be integrated, and when the growth data of one crop is smaller than the growth data of other crops, the abnormal growth of the crop is judged. The intelligent crop growth condition judgment system has the characteristics of automation and intelligence, can realize accurate judgment of the growth condition of large-area crops, and is trouble-saving and labor-saving.
The set distance is a distance that the distance sensor group 200 is moved each time, which is set manually, and may be determined according to the measurement accuracy and the type of the crop.
Further, for step S400, the step of constructing the crop height data matrix by using all the vertical distance data specifically includes the following steps:
calculating crop height data according to H2-H1, wherein a group of vertical distance data corresponds to a group of crop height data, H2 is a group of crop height data, H1 is a group of vertical distance data, and H is the distance between the distance measuring sensor 210 and the ground;
and constructing a crop height data matrix by taking each group of crop height data as rows.
Referring to fig. 2, it should be noted that the distance measuring sensor 210 is a laser sensor, which is vertically projected to the ground. H is the distance from the ground without planted crop measured by ranging sensor 210. h1 is the vertical distance data from the crop measured by a distance measuring sensor 210 when it is directed vertically toward the crop. h2 is the distance between the ground and the position of the crop corresponding to one of the ranging sensors 210. The crop height data matrix is actually a numerical representation of the crop height and can reflect the overall growth condition of the crop.
Referring to fig. 5, further, the crop growth monitoring method further includes the following steps:
and S600, if the crop growth condition of the crop is abnormal, obtaining the position information of the crop according to the position of the crop height data corresponding to the crop in the crop height data matrix.
It should be noted that, since the distance between each ranging sensor 210 is the same, the set distance for each moving of the ranging sensor group 200 is also the same. According to the position of the crop height data corresponding to the crop in the crop height data matrix, the line number and the column number corresponding to the crop height data corresponding to the crop are obtained, and then the position of the crop with abnormal growth can be obtained according to the actual distance between the ranging sensors 210 and the set distance for moving the ranging sensor group 200, so that the farmer can conveniently manage or reseed, and the method is time-saving, labor-saving, convenient and fast.
Further, as for step S600, the step of judging the growth condition of the crop according to the crop height data matrix specifically includes the following steps:
planning a crop matrix area corresponding to each crop according to the crop height data matrix;
and judging the growth condition of the crops by comparing the characteristic indexes of the crop matrix areas corresponding to the crops.
It should be noted that, for comparing the characteristic indexes of the crop matrix areas corresponding to the crops, the step of judging the crop growth condition specifically comprises: and calculating the average value of each characteristic index of all crops, and judging that the crop growth condition is abnormal if a plurality of characteristic indexes of one plant are smaller than the allowable range of the average value of the corresponding characteristic index.
Referring to fig. 3, further, the specific steps of planning the crop matrix area corresponding to each crop according to the crop height data matrix are as follows: determining an element with a median value of 0 in a crop height data matrix; determining the circle area of a circle consisting of continuous elements with the value of 0; and determining each circled area as a crop matrix area corresponding to each crop.
Since the monitored crops are planted at intervals, planting spaces are reserved among the crops, the crop height data corresponding to the planting spaces is 0, and the crop height data is represented in a crop height data matrix as follows: an element with a value of 0. No planting space surrounds a crop, represented in the crop height data matrix as: a circle and an area within the circle, wherein the continuous elements with the value of 0 form the circle, and the area within the circle is the elements with the value of non-0. The area within the circle is the crop matrix area corresponding to each crop.
The ground on which the crop is planted is uneven due to the soil. Therefore, h2 with values in the range of [0- α,0+ α ] are all represented as 0, where α is the soil height error.
Specifically, the characteristic index includes a crop maximum height, a crop minimum height, a crop width, a crop length, and a crop area; the maximum height of the crop is the maximum element value in the crop matrix area corresponding to the crop, and the minimum height of the crop is the minimum element value in the crop matrix area corresponding to the crop. The crop width is the difference between the maximum value of the column number and the minimum value of the column number of the elements in the crop matrix area corresponding to the crop, and of course, the actual approximate value of the crop width can be obtained by multiplying the distance between the ranging sensors 210. The length of the crop is the difference between the maximum value of the row number and the minimum value of the row number of the elements in the crop matrix area corresponding to the crop, and of course, the length of the crop can also be obtained by multiplying the set distance moved by the ranging sensor group 200. The crop area is the product of the crop width and the crop length, and the actual approximate value of the crop area can be obtained by calculating the actual approximate value of the crop width and the actual approximate value of the crop length.
Referring to fig. 1, certain embodiments of the present invention provide a crop growth monitoring apparatus comprising:
the device comprises a machine frame 100, wherein the machine frame 100 is provided with a moving mechanism 110;
the distance measuring sensor group 200 comprises a plurality of distance measuring sensors 210 which are arranged in parallel, the distance measuring sensor group 200 is arranged on the moving mechanism 110, and the moving mechanism 110 drives the distance measuring sensor group 200 to move; the distance measuring sensor group 200 is used for measuring multiple groups of vertical distance data;
a controller 300, the controller 300 configured to: constructing a crop height data matrix by using the plurality of groups of vertical distance data; and judging the crop growth condition according to the crop height data matrix.
Further, the controller 300 is further configured to: if the crop growth condition of the crop is abnormal, obtaining the position information of the crop according to the position of the crop height data corresponding to the crop in the crop height data matrix; the crop height data is the difference between the distance from the distance measuring sensor 210 to the ground and the vertical distance data.
Specifically, the distance measuring sensor 210 is a laser distance measuring sensor 210, and the laser emitted by the laser distance measuring sensor 210 is perpendicular to the ground. The moving mechanism 110 is an electric rail, but may be a linear motion mechanism such as a screw.
In this embodiment of the apparatus, the crop growth monitoring apparatus can perform the steps of the crop growth monitoring method by applying the crop growth monitoring method according to the embodiment of the method, and has the same technical effect as the crop growth monitoring method, and the detailed description thereof is omitted.
In some embodiments of the present invention, a storage medium stores executable instructions that are executable by a computer to cause the computer to perform a method for crop growth monitoring as described in method embodiments.
Examples of storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.
The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiment, and the present invention shall fall within the protection scope of the present invention as long as the technical effects of the present invention are achieved by the same means.
Claims (10)
1. The crop growth monitoring method is characterized by comprising the following steps:
acquiring a group of vertical distance data which are measured by a distance measuring sensor group and are related to the height of the crop;
moving the ranging sensor group by a set distance;
repeating the steps until the distance measuring sensor group finishes measuring the crop field;
constructing a crop height data matrix by using all the vertical distance data;
judging the crop growth condition according to the crop height data matrix;
the ranging sensor group comprises a plurality of ranging sensors which are arranged in parallel.
2. The method for monitoring crop growth as claimed in claim 1, wherein the step of constructing a crop height data matrix using all of the vertical distance data comprises the steps of:
calculating crop height data according to H2-H1, wherein a set of vertical distance data corresponds to a set of crop height data, H2 is the crop height data, H1 is the vertical distance data, and H is the distance between the distance measuring sensor and the ground;
and constructing the crop height data matrix by taking each group of the crop height data as a row.
3. The crop growth monitoring method of claim 2, further comprising the steps of: and if the crop growth condition of the crop is abnormal, obtaining the position information of the crop according to the position of the crop height data corresponding to the crop in the crop height data matrix.
4. The crop growth monitoring method according to claim 2, wherein the step of determining the crop growth condition according to the crop height data matrix specifically comprises the steps of:
planning a crop matrix area corresponding to each crop according to the crop height data matrix;
and judging the growth condition of the crops by comparing the characteristic indexes of the crop matrix areas corresponding to the crops.
5. The crop growth monitoring method according to claim 4, wherein the planning of the crop matrix area corresponding to each crop according to the crop height data matrix specifically comprises: determining an element with a median value of 0 in the crop height data matrix; determining the circle area of a circle consisting of continuous elements with the value of 0; and determining each circled area as a crop matrix area corresponding to each crop.
6. The crop growth monitoring method of claim 5, wherein the characteristic index includes a crop maximum height, a crop minimum height, a crop width, a crop length, and a crop area; the maximum height of the crop is the maximum element value in a crop matrix area corresponding to the crop, the minimum height of the crop is the minimum element value in the crop matrix area corresponding to the crop, the width of the crop is the difference between the maximum value of the column number and the minimum value of the column number of the element in the crop matrix area corresponding to the crop, the length of the crop is the difference between the maximum value of the row number and the minimum value of the row number of the element in the crop matrix area corresponding to the crop, and the area of the crop is the product of the width of the crop and the length of the crop.
7. A crop growth monitoring apparatus to which the crop growth monitoring method according to any one of claims 1 to 6 is applied, comprising:
the device comprises a rack, a driving device and a control device, wherein the rack is provided with a moving mechanism;
the distance measuring sensor group comprises a plurality of distance measuring sensors which are arranged in parallel, the distance measuring sensor group is installed on the moving mechanism, and the moving mechanism drives the distance measuring sensor group to move; the distance measuring sensor group is used for measuring a plurality of groups of vertical distance data;
a controller configured to: constructing a crop height data matrix by using the plurality of groups of vertical distance data; and judging the crop growth condition according to the crop height data matrix.
8. The crop growth monitoring apparatus of claim 7, wherein the controller is further configured to: if the crop growth condition of the crop is abnormal, obtaining the position information of the crop according to the position of the crop height data corresponding to the crop in the crop height data matrix; wherein the crop height data is the difference between the distance from the ranging sensor to the ground and the vertical distance data.
9. The crop growth monitoring device of claim 8, wherein the ranging sensor is a laser ranging sensor that emits laser light perpendicular to the ground.
10. A storage medium having stored thereon executable instructions executable by a computer to cause the computer to perform a method of crop growth monitoring as claimed in any one of claims 1 to 6.
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Application publication date: 20200925 |