CN111990388A - Selective spraying system, cooperative pesticide application system and cooperative method - Google Patents
Selective spraying system, cooperative pesticide application system and cooperative method Download PDFInfo
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- CN111990388A CN111990388A CN202010460846.9A CN202010460846A CN111990388A CN 111990388 A CN111990388 A CN 111990388A CN 202010460846 A CN202010460846 A CN 202010460846A CN 111990388 A CN111990388 A CN 111990388A
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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
- A01M21/00—Apparatus for the destruction of unwanted vegetation, e.g. weeds
- A01M21/04—Apparatus for destruction by steam, chemicals, burning, or electricity
- A01M21/043—Apparatus for destruction by steam, chemicals, burning, or electricity by chemicals
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
- A01C23/001—Sludge spreaders, e.g. liquid manure spreaders
- A01C23/003—Distributing devices, e.g. for rotating, throwing
- A01C23/005—Nozzles, valves, splash plates
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
- A01C23/007—Metering or regulating systems
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
- A01C23/04—Distributing under pressure; Distributing mud; Adaptation of watering systems for fertilising-liquids
- A01C23/047—Spraying of liquid fertilisers
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- 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
- A01M7/0003—Atomisers or mist blowers
- A01M7/0014—Field atomisers, e.g. orchard atomisers, 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
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
- A01M7/0071—Construction of the spray booms
- A01M7/0075—Construction of the spray booms including folding means
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Abstract
The selective spraying system applicable to the ground spraying machine can apply pesticide to weed parts in a targeted manner through the flexible spray rod which can be rolled and stretched, can save the pesticide consumption, avoid polluting the surrounding environment or damaging the crop health, effectively prevent the pesticide from dripping and leaking, reduce the pesticide waste and improve the operation quality. The cooperative pesticide application system and the cooperative method provided by the invention have the advantages that the aerial measurement capability of the unmanned aerial vehicle is utilized to sample farmland information, the crop space-time spectrum data is established, the airborne industrial personal computer is used for reflecting the crop health condition, the position coordinates of the health abnormal area, the disease types, the grades and other information are sent to the ground spraying machine, the unmanned aerial vehicle and the ground spraying machine can collect and share information in a unified environment model, and the advantages of wide spraying range, long endurance time and high operation efficiency of the ground spraying machine are utilized, so that the unmanned aerial vehicle and the ground spraying machine can simultaneously carry out operation, the operation efficiency is greatly improved, and the use amount of pesticides/chemical fertilizers is reduced.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to a selective spraying system, a cooperative pesticide application system and a cooperative method suitable for a ground spraying machine.
Background
In recent years, small unmanned aircrafts are widely used in agricultural production activities such as chemical pesticide spraying, liquid fertilizer spraying and the like due to the characteristics of mobility, flexibility and high control precision, but have the problems of small load, poor spraying uniformity, serious fogdrop drift, short endurance time and the like. For example, CN201811031041.1 patent application document discloses an intelligent spraying system and method for unmanned aerial vehicle based on prescription chart, which includes an unmanned aerial vehicle flight decision system, an unmanned aerial vehicle accurate operation system, an operation prescription system and an unmanned aerial vehicle survey system, and can realize accurate operation of unmanned aerial vehicle, but still has the problems of small load, serious fogdrop drift, short endurance time and the like. Conventional ground pesticide application machinery, for example boom sprayer, has the advantages of wide spray width, long endurance time, high operating efficiency, large effective load, even spraying and less spray droplet drift, but the 'carpet' spraying mode adopted by the conventional ground pesticide application machinery gives quantitative pesticide application to each mu of land, uniformly sprays, causes a large amount of pesticide waste and also has great threat to ecological environment safety.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a novel selective spraying system suitable for a ground spraying machine, a cooperative pesticide application system based on the ground spraying machine and an unmanned aerial vehicle and a cooperative method. Ground unmanned aerial vehicle with selectivity sprinkling system, with unmanned aerial vehicle complex collaborative operation in-process, utilize unmanned aerial vehicle to explore fast and the advantage of accurate positioning, can develop some slice mode of operation fast, show the work efficiency and the operation quality that have improved the plant protection operation.
The technical scheme provided by the invention comprises the following steps:
scheme one
A selective spraying system applicable to a ground spraying machine is characterized in that a flexible curling hanging spraying mechanism is arranged;
the flexible curling hanging and spraying mechanism comprises a plurality of pesticide application modules which are arranged along the extension direction of a spray rod support of the sprayer, and each pesticide application module comprises a micro air pump and a flexible suspension rod;
the flexible suspender is provided with a coil spring and is provided with a tubular spraying cavity and an air bag, the extending directions of the spraying cavity and the air bag are consistent with the extension of the coil spring, the top end of the flexible suspender is connected to the spray rod support, the tail end of the flexible suspender is a free end, and the flexible suspender is coiled into a disc shape under the control of the coil spring in a natural state;
the inlet of the spraying cavity is arranged at the top end of the flexible suspender and is connected with the medicine box through a medicine conveying pipeline provided with a liquid pump, and the outlet of the spraying cavity, namely a nozzle, is arranged at the free end of the tip of the flexible suspender;
the air inlet/outlet of the air bag is connected with the micro air pump, the micro air pump controls the air inflation or air exhaust of the air bag, when the air bag is inflated and expanded, the elasticity of the coil spring is overcome, and the flexible suspender is in an overall extension state and is vertical to the ground; when the air bag is exhausted and compressed, the flexible suspender is restored to a curling state under the control of the coil spring;
the micro air pump and the liquid pump are connected with the pesticide application controller, and the start and stop of the micro air pump and the liquid pump are controlled by the pesticide application controller.
On the basis of the above scheme, a further improved or preferred scheme further comprises:
furthermore, the spraying cavity is positioned in the middle of the flexible spraying rod, the left side and the right side of the spraying cavity are respectively provided with an air bag, and the outer side ends of the tube walls of the two air bags are respectively provided with a coil spring.
Furthermore, the selective spraying system is provided with an image sensing module and a control module, wherein the control module comprises the pesticide application controller and an industrial personal computer with GPU (graphics processing Unit) graphic processing capacity;
the image sensing module comprises a camera and a binocular vision inertia module, and signal output ends of the camera and the binocular vision inertia module are respectively connected with the control module; the camera is arranged in front and is arranged on the vehicle body for tracking weeds; the binocular vision inertia module is arranged at the rear, is arranged on the spray rod, corresponds to the pesticide application module one by one and is used for identifying and verifying weeds; the control module controls the corresponding pesticide applying module on the spray rod to work according to the tracked weed position, the flexible suspension rod of the pesticide applying module is controlled to extend before reaching the weed position, and when the flexible suspension rod reaches the weed position, the electromagnetic switch valve is controlled to open the nozzle to realize target spraying of herbicide.
Scheme two
A cooperative pesticide application system for farmland management comprises an unmanned aerial vehicle and a first sprayer cooperating with the unmanned aerial vehicle, wherein the selective spraying system is a first selective spraying system, and the first sprayer is a ground sprayer provided with the first selective spraying system;
the unmanned aircraft is provided with an airborne industrial personal computer, a multispectral camera, a binocular vision inertia module, an inertia measurement unit, a GPS sensor and a laser height sensor which is vertically installed downwards;
the system comprises a multispectral camera, a binocular vision inertial module, an inertial measurement unit, a GPS sensor and a laser height sensor, wherein the multispectral camera is used for collecting spectral information images of a farmland, the binocular vision inertial module is used for collecting earth surface images for constructing a three-dimensional model of a farmland map, the inertial measurement unit is used for collecting attitude data of the unmanned aircraft, the GPS sensor is used for acquiring longitude and latitude coordinates of the unmanned aircraft, and the laser height sensor is used for measuring the flying height of;
the signal output ends of the binocular vision inertia module, the inertia measuring unit, the GPS sensor and the laser height sensor are respectively connected with the signal input end of an onboard industrial personal computer, the onboard industrial personal computer fuses images and posture data measured by the binocular vision inertia module and the inertia measuring unit, online pose estimation is carried out, a farmland map is created, vegetation indexes are calculated according to the obtained spectral information images, the health condition of crops and the position coordinates of abnormal areas are obtained through an inversion method, and the position coordinates are sent to a remote control center or a ground sprayer; if the data are sent to the remote control center, the data are sent to the ground spraying machine by means of the mobile internet after being processed remotely;
and after receiving the information sent by the remote control center or the unmanned aircraft, the first spraying machine drives to a target area according to the position coordinates of the abnormal area to perform spraying operation.
On the basis of the second scheme, the further improved or preferred scheme further comprises the following steps:
the cooperative pesticide application system further comprises a second sprayer which is a ground sprayer provided with a second selective spraying system and is cooperatively operated with the unmanned aerial vehicle;
the second selective spraying system consists of a pesticide application controller, electromagnetic switch valves, a proportional overflow valve, a flow sensor, a pressure sensor, a rotating speed sensor, a motor, a liquid pump, a liquid conveying pipeline and a plurality of nozzles, wherein the nozzles are uniformly arranged on a spray rod of the second spraying machine, the electromagnetic switch valves correspond to the nozzles one to one, the pesticide application controller outputs a plurality of pulse width modulation signal instructions with the same or different duty ratios according to the health conditions of crops, the electromagnetic switch valve of each nozzle is independently controlled by one pulse width modulation signal, and the opening degree of each electromagnetic switch valve is changed through the duty ratio of the pulse width modulation signal;
the flow sensor is arranged on a medicine conveying pipeline connected with the nozzle, the medicine box is connected with the pipeline position where the flow sensor is located through two parallel branches, the first branch is connected with a medicine box backflow water inlet, the second branch is connected with a medicine box water outlet, the proportional overflow valve is arranged on the first branch, the liquid pump and a driving motor thereof are arranged on the second branch, the pressure sensor is arranged at the downstream of the liquid pump on the second branch and used for detecting the medicine application pressure of the spray rod, and the rotating speed sensor is used for monitoring the rotating speed of the motor;
and after receiving the information sent by the remote control center or the unmanned aerial vehicle, the second spraying machine drives to a target area according to the position coordinates of the abnormal area, independently controls the flow of each nozzle according to the crop health indexes (the types and the grades of diseases, pests and weeds), and performs variable-flow spraying operation.
Scheme three
The cooperative method based on the cooperative application system is characterized by comprising the following steps:
1) controlling the unmanned aerial vehicle to take off to shoot a farmland, acquiring farmland reflection spectrum spatial field information, calculating a vegetation index in real time by an onboard industrial personal computer according to the acquired reflection spectrum spatial field information, acquiring the health condition of farmland crops by an inversion method, and marking the position coordinates of an abnormal area;
2) the unmanned aerial vehicle sends the detected crop health condition and the position coordinate of the abnormal area to a remote control center, the remote control center or the unmanned aerial vehicle judges the type of the ground sprayer to be dispatched according to the crop health condition, and sends the crop health condition and the position coordinate of the abnormal area to the ground sprayer for executing operation;
3) and the ground spraying machine which receives the information of the remote control center or the unmanned aerial vehicle drives to the target area according to the position coordinates of the abnormal area, and starts spraying operation according to the crop health indexes (types and grades of diseases, pests and weeds).
After receiving information sent by a remote control center or an unmanned aircraft, the second spraying machine judges whether to spray pesticides or liquid fertilizers, and after supplementing corresponding medicaments in a pesticide box, starts planning a route, runs to a target area and starts to perform pesticide application operation;
the pesticide application controller judges spraying areas corresponding to the nozzles according to the position coordinates of the abnormal areas, the current position coordinates of the second spraying machine and the structural parameters of the second spraying machine, determines the nozzles needing to be opened by combining the health conditions of crops in the spraying areas of the nozzles and preset crop health indexes, calculates the pesticide spraying flow of the corresponding nozzles by combining the running speed of the second spraying machine, and then adjusts the opening degree of the corresponding electromagnetic switch valve according to the pesticide spraying flow, so that selective spraying is realized according to different grades of disease conditions of the crops;
in the operation process, the second sprayer pesticide application controller adjusts the opening of the proportional overflow valve according to the feedback of the pressure sensor so as to keep the stable state of the pressure of the fluid loop of the second selective spraying system.
Advantageous effects
1) The selective spraying system disclosed by the invention can be used for applying pesticide to weed parts in a targeted manner through the flexible spray rod which can be rolled and stretched, so that the pesticide consumption can be remarkably saved, the surrounding environment is prevented from being polluted or the crop health is prevented from being damaged, the dripping leakage can be effectively prevented, the pesticide waste is reduced, and the operation quality is improved. Meanwhile, the selective spraying system has the advantages of novel design, reasonable planning and easy implementation, can be modified on the existing machines, reduces the manufacturing cost and is suitable for popularization and use;
2) the cooperative pesticide application system and the cooperative method provided by the invention have the advantages that the aerial measurement capability of the unmanned aerial vehicle is utilized to sample farmland information, the crop space-time spectrum data is established, the airborne industrial personal computer is used for reflecting the crop health condition, and the position coordinates of the health abnormal area, the disease types, the grades and other information are sent to the ground spraying machine, so that the small unmanned aerial vehicle and the ground spraying machine can collect and share information in a unified environment model, and the advantages of wide spraying range, long endurance time and high operation efficiency of the ground spraying machine are utilized, so that the unmanned aerial vehicle and the ground spraying machine can simultaneously carry out operation, the operation efficiency is greatly improved, and the use amount of pesticides/chemical fertilizers is reduced.
Drawings
FIG. 1 is a flow chart of the operation of the synergistic dispensing system of the present invention;
FIG. 2 is a data processing flow chart of an onboard industrial personal computer of the unmanned aircraft;
FIG. 3 is a block diagram of a process for acquiring spatiotemporal spectral data by an unmanned aerial vehicle;
FIG. 4 is a schematic view of the overall structure of the first sprayer in a curled state of the flexible boom;
FIG. 5 is an enlarged view of a portion of the structure of FIG. 4;
FIG. 6 is a schematic view of the overall structure of the first sprayer in an extended state of the flexible boom;
FIG. 7 is a schematic view of the flexible boom in an extended position;
FIG. 8 is a schematic diagram comparing a coiled state and an extended state of the flexible boom;
FIG. 9 is a schematic cross-sectional comparison of a flexible boom in a rolled state and an extended state;
FIG. 10 is a schematic overall structure diagram of a second sprayer carrying an unmanned aerial vehicle;
FIG. 11 is a control flow diagram of a second selective spray system.
Detailed Description
In order to clarify the technical solution and the working principle of the present invention, the present invention is further described with reference to the accompanying drawings and specific embodiments.
Example 1:
the first sprayer shown in fig. 4 and 6 comprises a vehicle body, a spray rod support, a pesticide box and a first selective spraying system, wherein the pesticide box is mounted on the vehicle body and used for storing weeding pesticides, and the spray rod support is mounted behind the vehicle body and is of a bilaterally symmetrical cantilever structure.
The first selective spraying system comprises a control module, an image sensing module and a flexible curling and hanging spraying mechanism, wherein the control module comprises a pesticide application controller and an industrial personal computer with an accelerated computing Graphics Processing Unit (GPU).
The flexible curling suspended spraying mechanism is composed of a plurality of pesticide application modules and is distributed at equal intervals along the extending direction of the two arms of the spray rod support.
The pesticide application module comprises a micro air pump 14 and a flexible suspender 3. The flexible boom 3 is provided with a coil spring and is provided with a tubular spray cavity and an air bag, as shown in fig. 9, the spray cavity 3-3 is positioned in the middle of the flexible boom, the air bag 3-2 and the air bag 3-4 are symmetrically arranged on the left side and the right side of the spray cavity, and the coil spring 3-1 and the coil spring 3-5 are fixed at the outer side ends of the tube walls of the two air bags. The extending directions of the spraying cavity and the air bag are consistent with the coil spring. The top end of the flexible boom is connected to the boom support, the tail end of the flexible boom is a free end, and the flexible boom is driven by a coil spring to curl into a disc shape in a natural state, as shown in fig. 8.
The inlet of the spraying cavity 3-3 is arranged at the top end of the flexible suspender 3 and is connected with the medicine box through a medicine conveying pipeline 11 provided with a liquid pump, and the outlet of the spraying cavity, namely a nozzle, is arranged at the tip of the flexible suspender 3.
The air inlet/outlet of the two air bags are connected with a micro air pump 14 through an air pipe 12, and the output end of the micro air pump 14 is provided with a two-position four-way reversing valve 13. The two-position four-way reversing valve 13 is connected with the pesticide application controller, and controls the micro air pump 14 to inflate or exhaust the air bag through switching of the position of the valve core. When the air bag is inflated and expanded, the elasticity of the coil spring can be overcome, so that the whole flexible suspender 3 is in a stretching state and is vertical to the ground; when the air bag is exhausted and compressed, the flexible suspender is restored to a curling state under the control of the coil spring.
The micro air pump 14 and the liquid pump are connected with the pesticide application controller, and the micro air pump and the liquid pump are controlled to be started and stopped by the micro air pump and the liquid pump according to an analysis result of the industrial personal computer. The image sensing module comprises a video camera 1 and a binocular vision inertia module 2 (a binocular camera and a binocular camera), and signal output ends of the video camera and the binocular vision inertia module are respectively connected with the industrial personal computer.
The camera 1 is arranged in front and is arranged on the vehicle body and used for tracking weeds; the binocular vision inertia module 2 is arranged at the rear part and is arranged on the spray rod, and the binocular vision inertia module corresponds to the pesticide application module 3 one by one and is used for identifying and verifying weeds. The pesticide application controller controls the corresponding pesticide application modules 3 on the spray rod to work according to the tracked weed positions, the flexible suspension rod of the pesticide application modules 3 is controlled to extend before reaching the weed positions, and when the flexible suspension rod reaches the weed positions, the high-speed electromagnetic valve is controlled to open the spray nozzle, so that targeted spraying of the weeds among rows is realized.
The industrial personal computer is preloaded with a plant classification software program, the camera 1 preferably adopts an RGB/NIR 4 channel high-dynamic camera, the left side and the right side of the vehicle body are symmetrically provided with cantilevers extending outwards, the camera 1 is installed at the tail end of each cantilever (namely, the two sides of the vehicle body are respectively provided with the camera 1), and a lens is vertically downward to collect farmland images in front of the spray rod. The camera 1 can simultaneously realize distributed imaging of red, green, blue light and near infrared data.
The method for tracking weeds comprises the following steps:
firstly, segmenting vegetation and soil in an image based on RGB and a Normalized Difference Vegetation Index (NDVI) method;
step two, comprehensively extracting a plurality of characteristic parameters describing vegetation shapes through an RGB image and an NIR image;
thirdly, preferentially adopting a target detection deep learning algorithm (fast-RCNN or YOLO algorithm) to carry out online classification on the plants in the shot images and determine the position information of the plants according to the characteristics extracted in the previous step; calculating the probability that a certain area within the field of view belongs to a certain class of plants (crop or weed a or weed b, depending on the training data input) taking into account all the calculated characteristic parameters;
in the fourth step, a markov random field program is applied to smooth the classification results and finally determine whether the vegetation is crop or weed, for example, crop and weed are displayed in different colors in a color-coded map, crop is coded in green, different weed species are represented by red, blue, yellow, etc., respectively, and target (weed) images and position coordinates are given.
In this embodiment, the operating principle of the first spraying machine is as follows:
1) the image processing capacity of the industrial personal computer is utilized to classify the plants (images and positions of weeds) in the images collected by the camera 1, and after the information of the weeds is tracked, the flexible suspender 3 closest to the weeds is controlled by the pesticide application controller to be in an extending state after ts seconds delay;
the delay calculation method comprises the following steps: dividing the vertical distance L1 (distance in the driving direction) between the flexible suspender 3 and the target weeds by the driving speed V1 of the first spraying machine to obtain time t1 seconds, setting the time required by the suspender to extend as t2 seconds, and setting the total time of control delay and medicine delivery delay as t3 seconds, wherein the actual delay ts = t1-t2-t3 seconds of the extending action of the flexible suspender 3;
2) directly estimating the attitude of the camera 1 and a 3D scene graph of vegetation (crops/weeds) below the camera by using a binocular vision inertia module arranged on a spray rod;
3) when the target weeds enter the sight line of the binocular vision inertia module corresponding to the flexible suspender 3, the classification result before the industrial personal computer is verified again by using a classification algorithm (naive Bayes classifier) in the machine learning algorithm, so that the wrong classification is prevented, and the wrong spraying to crops is prevented;
4) when the target weeds finally approach the nozzle at the tail end of the flexible suspender 3, the industrial personal computer calculates the actual vertical distance L2 between the target weeds and the nozzle at the tail end of the flexible suspender 3 by combining image data fed back by the binocular vision inertia module, the distance L2 is divided by the driving speed V1 of the spraying machine to obtain time t4 seconds, and after the short time delay tp = t4-t3, the pesticide application controller triggers the nozzle to spray the herbicide.
Example 2:
a cooperative pesticide application system for farmland management comprises at least a ground spraying unit and a small unmanned aircraft.
The ground spraying assembly comprises at least one first spraying machine as described in embodiment 1. The unmanned aerial vehicle is provided with an airborne industrial personal computer, a multispectral camera, a binocular vision inertia module, an inertia measurement unit, a GPS sensor and a laser height sensor which is vertically installed downwards. The system comprises a multispectral camera, a binocular vision inertial module, an inertial measurement unit, a GPS sensor and a laser height sensor, wherein the multispectral camera is used for collecting spectral images of a farmland, the binocular vision inertial module is used for collecting earth surface images for constructing a three-dimensional model of a farmland map, the inertial measurement unit is used for collecting attitude data of the unmanned aerial vehicle, the GPS sensor is used for acquiring longitude and latitude coordinates of the unmanned aerial vehicle, and the laser height sensor vertically installed downwards is used for measuring the flying height of the. The signal output ends of the binocular vision inertial module, the inertial measurement unit, the GPS sensor and the laser altitude sensor are respectively connected with the signal input end of an airborne industrial personal computer, the airborne industrial personal computer utilizes a software program to convert a longitude coordinate system, a latitude coordinate system and an altitude coordinate system (LLA coordinate system) into an northeast coordinate system (ENU coordinate system), an extended Kalman filter is used for fusing images and attitude data measured by the binocular vision inertial module and the inertial measurement unit, online pose estimation is carried out (position and attitude of 6 degrees of freedom are obtained), a farmland map is created, and the farmland map is stored in a magnetic disc of the industrial personal computer in real time; then map optimization is carried out, and open-loop maps are combined to generate a compact positioning map; and then, performing online positioning by using the generated map. Namely, the unmanned aircraft has two functions: 1) estimating and accurately positioning the flight state in the field; 2) multi-resolution (including spectral resolution, spatial resolution, temporal resolution) multi-spectral aerial maps based on indicators required to assess plant health are acquired.
An accurate high-resolution field map model is a key premise for enabling a manually-driven sprayer or an autonomous navigation robot sprayer to selectively operate in precision agricultural application.
The airborne industrial personal computer uses attitude estimation values (positions and attitudes) of the unmanned aerial vehicle and image information acquired in multiple flights to model the pesticide application environment and establish a farmland reflection spectrum spatial field model, and the method specifically comprises the following steps:
the method comprises the steps of taking a color (RGB) image collected by a binocular vision inertial module and a multispectral image collected by a multispectral camera as the basis, taking the position and the attitude of the unmanned aerial vehicle, the RGB image and the spectral image as input, correcting imaging spectral data by combining position and attitude data and adopting a radiometric calibration method, and finally creating a farmland reflection spectrum space field model in a dense point cloud mode.
The point cloud contains longitude and latitude coordinates, spectral information and time information for each point of the farmland. The unmanned aerial vehicle is used for carrying out measurement operation at different periods of crops, farmland reflection spectrum spatial field information of each stage of the crops is collected, and a space-time spectrum database is established. After the unmanned aerial vehicle finishes information acquisition every time, the obtained farmland reflection spectrum space field information is stored in an onboard computer and uploaded to a remote cloud server through a mobile communication network, and transportability among client computers is ensured. A user uses a browser-based visualization module on a remote computer to call data in a spatio-temporal spectral database, and based on a layered image generated by the data, the user can select to view growth conditions of field crops in different periods, select spectral layers to view reflection images of the field crops corresponding to different wavelength bands, view color (RGB) orthoimages and use a time line to switch between all measurements.
After the unmanned aerial vehicle obtains the spectral information image, the vegetation index is calculated, the health condition of crops is obtained through a data inversion software and inversion method, the position coordinate of the abnormal area is marked, and the position coordinate, the health type and the grade information of the abnormal area are sent to a ground spraying machine or a remote control center in real time. If the data are sent to the remote control center, the data are sent to the ground spraying machine by means of the mobile internet after being processed remotely.
In order to recover the geometry of the field of view with high resolution, the binocular vision inertial module preferably employs a high quality RGB camera to estimate the spectral reflectance of the field in the RGB image by the relative position and orientation between the binocular vision inertial module and the multispectral camera.
In the cooperative pesticide application system, the ground spraying machine can adopt a manned spraying machine or an autonomous navigation robot spraying machine, but the ground spraying machine is required to be provided with a navigation system and communication equipment.
The piloted ground sprayer control module can receive task execution information sent by an unmanned plane or a remote control center through a WIFI (wireless fidelity) (data transmission radio station), the task execution information comprises the position of an abnormal area of the health condition of crops in a farmland, a navigation system displays the position information of the abnormal area, the position information of a sprayer and the course on a touch screen, a driver manually drives the sprayer to run to the target area according to the deviation between the position of the driver and the target area, the target area is reached, and a spraying device is started and starts to spray the crops in the area.
The navigation system of the autonomous navigation robot sprayer comprises a control module, satellite positioning equipment, an Inertial Measurement Unit (IMU), a laser radar or a vision sensor and the like, wherein the satellite positioning equipment and the inertial measurement unit are used for positioning and attitude estimation of geographic positions, and the laser radar or the vision sensor is used for detecting crop rows in front of the sprayer. The spraying machine receives task execution information sent by the unmanned plane or the remote control center through a WIFI (wireless fidelity) station, and is automatically driven to run to a target area to carry out operation according to the position of the abnormal area of the health condition of crops.
The control method of the autonomous navigation robot sprayer comprises the following steps:
firstly, detecting a front crop row cluster through a laser radar or a vision sensor, and extracting a central line of the front crop row cluster of the spraying machine according to data collected by the laser radar or the vision sensor;
secondly, estimating the position and the posture of the spraying machine relative to the crop row according to data fed back by the satellite positioning equipment and the inertial measurement unit;
step three, planning a driving path along the front crop row by combining the center line, the position and the posture information acquired in the step one and the step two;
fourthly, the control module generates a smooth speed command accurately following the planned path based on the planned path so as to ensure that the chassis stably walks;
and fifthly, the sprayer runs to a target area along the crop row to carry out operation, and spraying operation is carried out.
Example 3:
on the basis of embodiment 2, in the cooperative pesticide application system for farmland management in the embodiment, the ground spraying unit further comprises a second spraying machine. The second sprayer comprises a vehicle body, a spray rod support, a pesticide box and a second selective spraying system, wherein the pesticide box is installed on the vehicle body and stores pesticide or liquid fertilizer, and the spray rod support is installed at the rear of the vehicle body and is of a cantilever structure in bilateral symmetry.
As shown in fig. 10 and 11, a plurality of nozzles are distributed on a spray rod of the second spraying machine at equal intervals, and a second selective spraying system of the second spraying machine comprises a pesticide application controller, an electromagnetic switch valve 4, a proportional overflow valve 5, a flow sensor 6, a pressure sensor 7, a rotation speed sensor 8, a motor 9, a liquid pump 10, nozzles, pipelines and the like. All the nozzles can be controlled by a single electromagnetic switch valve 4, the opening degree of the electromagnetic switch valve 4 can be changed by the duty ratio of a pulse width modulation signal, the pesticide application controller uses a single chip microcomputer or an on-board computer, and the pesticide application controller is provided with a module for outputting the pulse width modulation signal.
The flow sensor 6 is arranged on a medicine conveying pipeline connected with the nozzle, the medicine box is connected with the pipeline position where the flow sensor is located through two parallel branches, wherein the first branch is connected with a medicine box backflow water inlet, the second branch is connected with a medicine box water outlet, the proportional overflow valve 5 is arranged on the first branch, the liquid pump 10 and the driving motor 9 thereof are arranged on the second branch, the pressure sensor 7 is arranged on the downstream of the liquid pump 10 on the second branch, and the rotation speed sensor is used for monitoring the rotation speed of the motor 9.
The signal output ends of the flow sensor 6, the pressure sensor 7 and the rotating speed sensor 8 are respectively connected with the signal input end of the pesticide application controller, and the control signal input ends of the proportional overflow valve 5, the motor 9 and the electromagnetic switch valve 4 are respectively connected with the signal output end of the controller. The pressure sensor 7 and the proportional overflow valve 5 are used for keeping the steady state of the pressure of the fluid loop of the pesticide application system, and the controller controls the opening of the electromagnetic switch valve 4 according to the duty ratio of the output pulse by combining the information such as the running speed of the sprayer, so that the accurate control of the flow of the nozzle is realized.
In this embodiment, the cooperative work flow of the unmanned aerial vehicle and the second spraying machine is as follows:
firstly, an onboard industrial personal computer of the unmanned aerial vehicle sends task execution information containing contents such as position coordinates of an abnormal area of the health condition of crops, the current health condition of the area, crop health indexes (types, grades of diseases, insect pests and weeds) and the like to a second spraying machine through WIFI (wireless fidelity) communication equipment;
secondly, after the second spraying machine receives the task execution information, judging whether to spray pesticides to prevent and control crop diseases and insect pests or to spray compensation nutrient elements such as foliar nitrogen fertilizer and the like, supplementing corresponding medicaments in the pesticide box, starting to plan a route, and driving to a target area;
thirdly, the pesticide application controller judges spraying areas corresponding to the nozzles according to the position coordinates of the abnormal areas, the current position coordinates (data come from satellite positioning equipment of a sprayer navigation system) of the second sprayer and the structural parameters of the second sprayer, determines the nozzles needing to be opened according to the health conditions of crops in the spraying areas of the nozzles and preset crop health indexes, calculates the pesticide spraying flow rate of the corresponding nozzles according to the driving speed of the second sprayer, calculates the duty ratio of control pulse signals sent to the corresponding electromagnetic switch valves 4 according to the pesticide spraying flow rate, and adjusts the opening of the electromagnetic switch valves according to the duty ratio of the control pulse signals, so that selective spraying is realized according to different levels of disease conditions of the crops;
fourthly, the pesticide application controller detects the pressure of the spray rod and the rotating speed of the motor 9 in real time, and adjusts the pressure of the spray rod in real time through the proportional overflow valve 5 according to the set pressure of the spray rod so as to realize the stable control of the pressure of the spray rod;
and fifthly, after the current operation area is processed, stopping spraying by the second spraying machine, driving the second spraying machine to the head of the field along the current crop row cluster, and waiting for next task execution information.
If all ground spraying machines adopt robot spraying machines with autonomous navigation as an example, in order to realize that the unmanned aerial vehicle and a plurality of ground spraying machines cooperatively execute tasks, all ground spraying machines share information through WIFI (data transmission radio station), and the exchanged data comprises: the position of the unmanned plane, the position of the ground spraying machine and the coordinates and health conditions (types, severity levels and the like of diseases, insect pests and weeds) of the areas needing to be selectively processed in the farmland.
In this embodiment, the cooperative operation method of the unmanned aerial vehicle and the two ground sprayers in the cooperative pesticide application system is as follows (the task frameworks used on the two autonomous navigation robot sprayers are based on the ROS task manager):
1) a user starts a coordination task through a computer user interface, controls the unmanned plane to take off and shoot a farmland, obtains farmland reflection spectrum space field information, an airborne industrial personal computer reads the reflection spectrum space field information, calculates vegetation indexes in real time, obtains the health condition and abnormal areas of crops through an inversion method, and uploads data to a server of a remote control center, so that the user can conveniently check and analyze the data;
2) an onboard industrial personal computer of the unmanned aircraft sends task execution information containing the coordinates of the abnormal area of the crop health condition, the current health condition, crop health indexes (types, grades of diseases, pests and weeds) and other contents to a proper ground spraying machine through WIFI (wireless fidelity) communication equipment;
for example, when the crops need to be sprayed with pesticide and fertilized, the first sprayer and the second sprayer are informed to start simultaneously, and if only one operation needs to be carried out independently, one type of sprayer is informed to operate;
3) after receiving the task execution information, the corresponding ground spraying machine runs to a target area and starts spraying operation, and after the current operation area is processed, the spraying machine runs to the head of a field along the current crop row cluster to wait for the next task information;
4) after all the fields of the farmland are investigated, the unmanned plane can fly back to the landing point and land;
5) and when all the crop areas with abnormal health conditions are processed, the ground spraying machine returns to the gathering point, and the task is finished.
The unmanned aircraft can also be carried on a ground spraying machine, can simultaneously carry out operation, real-time communication and information sharing with the ground spraying machine, and can land on a shutdown platform of the ground spraying machine after the unmanned aircraft completes measurement operation.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the foregoing description only for the purpose of illustrating the principles of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims, specification, and equivalents thereof.
Claims (7)
1. A selective spraying system applicable to a ground spraying machine is characterized in that a flexible curling hanging spraying mechanism is arranged;
the flexible curling hanging and spraying mechanism comprises a plurality of pesticide application modules arranged along the extension direction of a spray rod support of the sprayer, and each pesticide application module comprises a micro air pump (14) and a flexible suspension rod (3);
the flexible suspender (3) is provided with a coil spring and is provided with a tubular spraying cavity and an air bag, the extending directions of the spraying cavity and the air bag are consistent with the extension of the coil spring, the top end of the flexible suspender (3) is connected to the spray rod support, the tail end of the flexible suspender is a free end, and the flexible suspender is controlled by the coil spring to curl into a disc shape in a natural state;
the inlet of the spraying cavity is arranged at the top end of the flexible suspender and is connected with the medicine box through a medicine conveying pipeline provided with a liquid pump, and the outlet of the spraying cavity, namely a nozzle, is arranged at the free end of the tip of the flexible suspender (3);
the air inlet/outlet of the air bag is connected with the micro air pump (14), the micro air pump (14) controls the air inflation or air exhaust of the air bag, when the air bag is inflated and expanded, the elasticity of the coil spring is overcome, and the flexible suspender is integrally in an extension state and is vertical to the ground; when the air bag is exhausted and compressed, the flexible suspender is restored to a curling state under the control of the coil spring;
the micro air pump (14) and the liquid pump are connected with the pesticide application controller, and the start and stop of the pesticide application controller are controlled.
2. The selective spraying system for the ground spraying machine is characterized in that the spraying cavity (3-3) is located in the middle of the flexible spraying rod, the left side and the right side of the spraying cavity are respectively provided with an air bag (3-2, 3-4), and the outer side ends of the pipe walls of the two air bags (3-2, 3-4) are respectively provided with a coil spring (3-1, 3-5).
3. A selective spraying system for a ground sprayer according to claim 1 or 2, characterized in that an image sensing module and a control module are provided;
the control module comprises the pesticide application controller and an industrial personal computer with GPU graphic processing capacity;
the image sensing module comprises a camera (1) and a binocular vision inertia module (2), and signal output ends of the camera and the binocular vision inertia module are respectively connected with the control module; the camera (1) is arranged in front and is arranged on the vehicle body and used for tracking weeds; the binocular vision inertia module (2) is arranged at the rear, is arranged on the spray rod, corresponds to the pesticide application module one by one and is used for identifying and verifying weeds; the control module controls the corresponding pesticide applying module on the spray rod to work according to the tracked weed position, the flexible suspension rod of the pesticide applying module is controlled to extend before reaching the weed position, and when the flexible suspension rod reaches the weed position, the electromagnetic switch valve is controlled to open the nozzle, so that the herbicide is sprayed on the target.
4. A cooperative pesticide application system for farmland management, comprising an unmanned aerial vehicle and a first sprayer cooperating with the unmanned aerial vehicle, wherein the selective spraying system is a first selective spraying system according to any one of claims 1 to 3, and the first sprayer is a ground sprayer equipped with the first selective spraying system;
the unmanned aircraft is provided with an airborne industrial personal computer, a multispectral camera, a binocular vision inertia module, an inertia measurement unit, a GPS sensor and a laser height sensor which is vertically installed downwards;
the system comprises a multispectral camera, a binocular vision inertial module, an inertial measurement unit, a GPS sensor and a laser height sensor, wherein the multispectral camera is used for collecting spectral information images of a farmland, the binocular vision inertial module is used for collecting earth surface images for constructing a three-dimensional model of a farmland map, the inertial measurement unit is used for collecting attitude data of the unmanned aircraft, the GPS sensor is used for acquiring longitude and latitude coordinates of the unmanned aircraft, and the laser height sensor is used for measuring the flying height of;
the signal output ends of the binocular vision inertia module, the inertia measuring unit, the GPS sensor and the laser height sensor are respectively connected with the signal input end of an onboard industrial personal computer, the onboard industrial personal computer fuses images and posture data measured by the binocular vision inertia module and the inertia measuring unit, online pose estimation is carried out, a farmland map is created, vegetation indexes are calculated according to the obtained spectral information images, the health condition of crops and the position coordinates of abnormal areas are obtained through an inversion method, and the position coordinates are sent to a remote control center or a ground sprayer; if the data are sent to the remote control center, the data are sent to the ground spraying machine by means of the mobile internet after being processed remotely;
and after receiving the information sent by the remote control center or the unmanned aircraft, the first spraying machine drives to a target area according to the position coordinates of the abnormal area to perform spraying operation.
5. The cooperative application system for farmland management as claimed in claim 4, further comprising a second sprayer operating in cooperation with said unmanned aerial vehicle, said second sprayer being an earth sprayer equipped with a second selective spraying system;
the second selective spraying system consists of a pesticide application controller, an electromagnetic switch valve (4), a proportional overflow valve (5), a flow sensor (6), a pressure sensor (7), a rotating speed sensor (8), a motor (9), a liquid pump (10), a liquid conveying pipeline and a plurality of nozzles, wherein the nozzles are uniformly arranged on a spray rod of the second spraying machine, the electromagnetic switch valves (4) correspond to the nozzles one to one, the pesticide application controller outputs a plurality of pulse width modulation signal instructions with the same or different duty ratios according to the health condition of crops, the electromagnetic switch valve (4) of each nozzle is independently controlled by one pulse width modulation signal, and the opening degree of the electromagnetic switch valve (4) is changed through the duty ratio of the pulse width modulation signal;
the flow sensor (6) is arranged on a medicine conveying pipeline connected with the nozzle, the medicine box is connected with the pipeline position where the flow sensor (6) is located through two parallel branches, wherein the first branch is connected with a medicine box backflow water inlet, the second branch is connected with a medicine box water outlet, the proportional overflow valve (5) is arranged on the first branch, the liquid pump (10) and the driving motor (9) thereof are arranged on the second branch, the pressure sensor (7) is arranged on the downstream of the liquid pump (10) on the second branch and used for detecting the medicine application pressure of the spray boom, and the rotating speed sensor is used for monitoring the rotating speed of the motor (9);
and after receiving the information sent by the remote control center or the unmanned aerial vehicle, the second spraying machine drives to a target area according to the position coordinates of the abnormal area, independently controls the flow of each nozzle according to the crop health index, and performs variable-flow spraying operation.
6. The cooperative method based on the cooperative drug delivery system according to claim 5, comprising the steps of:
1) controlling the unmanned aerial vehicle to take off to shoot a farmland, acquiring farmland reflection spectrum spatial field information, calculating a vegetation index in real time by an onboard industrial personal computer according to the acquired reflection spectrum spatial field information, acquiring the health condition of farmland crops by an inversion method, and marking the position coordinates of an abnormal area;
2) the unmanned aerial vehicle sends the detected crop health condition and the position coordinate of the abnormal area to a remote control center, the remote control center or the unmanned aerial vehicle judges the type of the ground sprayer to be dispatched according to the crop health condition, and sends the crop health condition and the position coordinate of the abnormal area to the ground sprayer for executing operation;
3) and the ground spraying machine which receives the information of the remote control center or the unmanned aerial vehicle drives to the target area according to the position coordinates of the abnormal area, and starts spraying operation according to the crop health index.
7. The cooperative method of the cooperative dispensing system according to claim 6, wherein:
after receiving the information sent by the remote control center or the unmanned aircraft, the second spraying machine judges whether to spray pesticide or liquid fertilizer, and after supplementing corresponding medicament in the pesticide box, starts to plan a route, runs to a target area and starts to perform pesticide application operation;
the pesticide application controller judges spraying areas corresponding to the nozzles according to the position coordinates of the abnormal areas, the current position coordinates of the second spraying machine and the structural parameters of the second spraying machine, determines the nozzles needing to be opened by combining the health conditions of crops in the spraying areas of the nozzles and preset crop health indexes, calculates the pesticide spraying flow rate of the corresponding nozzles by combining the running speed of the second spraying machine, and then adjusts the opening degree of the corresponding electromagnetic switch valve (4) according to the pesticide spraying flow rate, so that selective spraying is carried out on different levels of disease conditions of the crops;
in the process of pesticide application operation, the pesticide application controller adjusts the opening degree of the proportional overflow valve (5) according to the feedback of the pressure sensor (7) so as to keep the stable state of the pressure of the fluid loop of the second selective spraying system.
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