CN112166911B - Rapid accurate pest and disease damage detection pesticide application system and method - Google Patents
Rapid accurate pest and disease damage detection pesticide application system and method Download PDFInfo
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Abstract
The invention provides a system and a method for rapid detection and accurate pesticide application of plant diseases and insect pests, which comprises a ground data processing center, an image acquisition unmanned aerial vehicle and a pesticide application operation unmanned aerial vehicle; the ground data processing center calculates data, divides grids and plans an operation scheme; collecting images in a aerial view mode or a fine stepping mode by an image collecting unmanned aerial vehicle; pesticide application operation unmanned aerial vehicle pest and disease damage pesticide application prevention and control; the system analyzes and marks the grid abnormity according to the aerial view data, plans a conventional pesticide application operation scheme and a fine stepping mode acquisition scheme, and respectively executes the pesticide application operation unmanned aerial vehicle and the image acquisition unmanned aerial vehicle; if the pest and disease damage can not be determined, the next mode of acquisition is stepped in the fine stepping mode; if the fine stepping mode can not determine the plant diseases and insect pests, manual judgment is carried out; the ground data processing center integrates the pesticide application operation scheme in real time, and the pesticide application operation unmanned aerial vehicle executes the scheme to completion. The system and the method are suitable for rapid detection and timely prevention and control of plant diseases and insect pests, improve the accurate agricultural operation effect and provide reliable data for intelligent agriculture.
Description
Technical Field
The invention relates to the technical field of pest detection and control in precision agriculture, in particular to a rapid pest and disease precise detection pesticide application system and a rapid pest and disease precise detection pesticide application method.
Background
China is a traditional big agricultural country, mainly takes farming for a long time, and is not a strong agricultural country in terms of agricultural technology. At present, agricultural production in China still mainly adopts a traditional production mode, and most of agricultural management is carried out by experience, such as fertilization, irrigation, insect killing, pest killing and the like, so that huge waste of manpower and financial resources is caused; in the aspect of environmental protection, the environmental impact of fertilizer application, pesticide spraying and the like is increasingly serious, the environment and water and soil conservation are seriously threatened, the serious challenge is brought to the sustainability of agricultural development, and the requirements of ecological civilization are seriously not met. The advanced agricultural production in foreign countries basically implements accurate agricultural production, greatly improves the agricultural production benefit, and further enhances the disaster resistance and harm resistance of crops. Compared with the precision agriculture, the method has obvious gap in China.
Aiming at the problems, the agricultural production is detected and controlled by the sensor and the software of the precision agriculture through a mobile platform or a computer platform, and the big data technology is applied to the traditional agriculture, so that the traditional agriculture is more flexible and accurate. In the aspect of detection and prevention and cure of farmland pest, prior art is through plant protection unmanned aerial vehicle detection crop pest, generally through the image acquisition system of unmanned aerial vehicle's carrying on, whole regional data acquisition back, data input handles to ground data processing center, adopt technologies such as image identification reunion data of gathering, the database of pest carries out the analysis, judge the pest and disease damage and the pertinence solves the prescription picture, plan the operation scheme of giving medicine to the poor free of charge, send to the operation unmanned aerial vehicle of giving medicine to the poor free of charge and implement, thereby accomplish the detection and the application of medicine of whole pest and disease damage. Although the precision of the traditional agriculture is improved in the prior art, the traditional agriculture adopts line type operation, no operation core is emphasized, a large amount of operation time is wasted in areas without plant diseases and insect pests, particularly, the environment is seriously affected by ineffective pesticide application, the data transmission and processing difficulty is increased by adding mass data caused by ineffective acquisition, a prescription cannot be analyzed and resolved quickly, the real-time performance of accurate operation is seriously affected, and the operation effect of the accurate agriculture is seriously affected.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the rapid accurate pest and disease damage detection and pesticide application system and method overcome the defects of low efficiency and poor real-time performance in the prior art.
The invention relates to a quick and accurate pest and disease damage detection pesticide application system and a method, wherein the quick and accurate pest and disease damage detection pesticide application system comprises a sub-mode stepping mode of grid abnormity analysis and fine operation and real-time implementation of an integrated pesticide application scheme aiming at a grid disease and pest disease prescription diagram, and a main component schematic diagram of the system is shown in figure 1; the ground data processing center comprises a vehicle-mounted platform, an image analysis processing unit, a judgment planning control unit and a high-speed information transceiving unit a; the image acquisition unmanned aerial vehicle comprises an unmanned aerial vehicle carrying platform, a flight control unit b, an image acquisition unit, a high-speed information transceiving unit b and the like, and an airborne preliminary analysis system is selectively carried; the unmanned aerial vehicle for pesticide application operation consists of an unmanned aerial vehicle pesticide application platform, a flight control unit c, an information transceiving unit and a pesticide application operation unit;
The ground data processing center is communicated with the image acquisition unmanned aerial vehicle through the high-speed information transceiving unit, and the ground data processing center is communicated with the pesticide application unmanned aerial vehicle through the information transceiving unit;
the ground data processing center carries out image data analysis, grid division and longitude and latitude calibration, planning and integrating operation schemes, real-time control of operation processes and the like,
the division grid is shown in a grid division schematic diagram 5;
the image acquisition unmanned aerial vehicle acquires high-altitude aerial view images or images in a fine stepping mode;
the aerial view type image acquisition is that the image acquisition unmanned aerial vehicle works aloft, and the whole area is scanned to acquire global image information, which is shown in figure 6;
the fine stepping mode mainly comprises the following steps: the method comprises the following steps of constant acquisition, low-speed acquisition, hovering acquisition, near acquisition, key acquisition, high-definition acquisition, multi-dimensional acquisition and dynamic acquisition;
the general sequence of the fine stepping mode stepping direction is constant acquisition, low-speed acquisition, hovering acquisition, approaching acquisition, high-definition acquisition, multi-dimensional acquisition and dynamic acquisition, and the sequence can be adjusted in advance when the diseases and insect pests are different from those in the conventional mode so as to be beneficial to quickly judging the diseases and insect pests;
The constant acquisition is to acquire image data at constant flying speed and constant flying height;
the low-speed acquisition speed is 1/5-2/3 of the constant acquisition speed;
the approach acquisition is half or less of the stationary acquisition distance;
the hovering acquisition fixed point gaze acquisition;
the high-definition acquisition is to improve the pixels of the image;
the multi-dimensional acquisition acquires image data of the abnormal grid from different angles;
the dynamic acquisition is multi-point multi-angle continuous video acquisition at an abnormal position;
the unmanned aerial vehicle for pesticide application operation implements pest and disease pesticide application control, and is shown in a schematic diagram 7;
the system analyzes the abnormity of the grid according to the aerial view data and marks the abnormal network, so as to plan a conventional operation scheme and a fine stepping mode acquisition scheme, and the conventional operation scheme and the fine stepping mode acquisition scheme are sent to the pesticide application operation unmanned aerial vehicle and the image acquisition unmanned aerial vehicle to be respectively executed;
the image acquisition unmanned aerial vehicle acquires images according to a fine mode acquisition scheme and sends back acquired data in real time;
the ground data processing center returns data in real time and combines with a disease and pest related database to judge disease and pest; and if the plant diseases and insect pests cannot be judged, the next step mode in the fine step mode of the image acquisition unmanned aerial vehicle continues image acquisition of the grid.
The system is suitable for quick discovery and timely prevention and control of plant diseases and insect pests, and provides reliable data support for precision agriculture, intelligent agriculture and the like.
The invention relates to a quick accurate pest and disease damage detection pesticide application method which is implemented according to the following steps:
the method comprises the following steps that I, a ground data processing center integrates factors such as operation tasks, areas, plant characteristics, plant disease and insect pest historical conditions, plant growth periods and the like, grid division is carried out on the operation areas, and an aerial view type image data acquisition scheme is planned;
transmitting the further data to the image acquisition unmanned aerial vehicle for high-altitude aerial view type image acquisition;
III, carrying out abnormity analysis on the grid by a further system, and calibrating an abnormal grid;
IV, further abnormal analysis comprises the steps of carrying out full-field homogenization treatment on the aerial view image to obtain a background mean value and carrying out grid homogenization treatment on the aerial view image to obtain each grid mean value;
v, further homogenizing, namely carrying out intra-domain averaging on the brightness, hue or saturation of the image to obtain a corresponding average value;
VI the difference between the grid mean value and the background mean value is less than a set value M, namely a formula
If the network mark is abnormal, the set value M is generally 15-35%, which is related to the image resolution, the plant identification difficulty and the like, the resolution is high, and the plant is easy to identify and takes a small value;
VII, further acquiring an image by an unmanned aerial vehicle, and carrying out spot check on the normal grid normality;
VIII, judging the plant diseases and insect pests by the ground data processing center according to spot check data of the normal grid, a plant disease and insect pest database and the like;
IX further ground data processing center according to the determined plant diseases and insect pests and combining with the relevant factors of plant disease and pest control and operation conditions, planning a conventional operation scheme for a normal grid and sending a pesticide application operation to the unmanned aerial vehicle for execution;
step X, the ground data processing center plans a fine stepping mode acquisition scheme for the abnormal grid, and performs more fine image data acquisition on the abnormal grid;
the image acquisition unmanned aerial vehicle further adopts the XI to acquire image data of the abnormal grid according to a fine stepping scheme and transmit the data to the ground data processing center in real time;
the XII further ground data processing center judges the plant diseases and insect pests according to the received fine operation image acquisition information, if the plant diseases and insect pests can be determined, the abnormal grid prescription is solved and timely integrated into a pesticide application operation scheme to prevent and treat the plant diseases and insect pests by pesticide application in real time, so that the aim of parallel processing and cooperative operation is fulfilled;
if the further ground data processing center of XIII can not definitely determine the plant diseases and insect pests and each fine stepping mode can not be determined, the grid is manually judged, if the plant diseases and insect pests can not definitely be determined but the fine stepping mode is not implemented, the next fine stepping mode continues to collect according to the stepping direction and the plant diseases and insect pests are determined according to the previous process;
After further abnormal grids of XIV are manually judged, if the acquisition scheme is not completed, the fine stepping mode of the next abnormal grid is carried out to acquire image data, and if the acquisition scheme is completed, the acquisition work is completed;
the unmanned aerial vehicle for further pesticide application operation executes an integration operation scheme to carry out pesticide application to accurately prevent and control the plant diseases and insect pests until the operation scheme is completed, the work of quickly and accurately detecting and controlling the plant diseases and insect pests in the whole operation area is integrally completed, and relevant data are collated by a ground data processing center;
XVI further refines the relevant databases to support precision agriculture, intelligent agriculture applications.
The rapid accurate pest and disease damage detection pesticide application method can be further simplified, the grids are simplified into point positions, and the specific implementation is carried out according to the following steps:
firstly, a ground data processing center marks a GPS or longitude and latitude positioning mark of a to-be-detected field in advance, and plans an unmanned aerial vehicle high-altitude acquisition scheme;
II, the ground data processing center transmits the high-altitude acquisition scheme, the partition and the parcel longitude and latitude mark information to the image acquisition unmanned aerial vehicle;
III, positioning the flight control system of the image acquisition unmanned aerial vehicle according to a high-altitude acquisition scheme to acquire high-altitude overlooking ultra-clear static images;
IV, carrying out full-field averaging analysis on the brightness of the high-altitude overlooking ultra-clear static image by an airborne primary analysis system of the image acquisition unmanned aerial vehicle to obtain a full-field brightness uniformity value;
v, the onboard analysis system analyzes the abnormal brightness point positions, the difference between the brightness value of the point position and the brightness uniformity value of the whole field accounts for 15-50% of the brightness uniformity value of the whole field and is used as the abnormal point position, more than 50% of the abnormal point position is used as noise, and the noise is eliminated;
VI, performing longitude and latitude calibration on the abnormal point position and the noise point; the image acquisition unmanned aerial vehicle randomly extracts 3-10% of normal point positions to perform steady image collection so as to determine the pest and disease damage condition of a normal area;
VII, judging the plant diseases and insect pests by the ground data processing center according to spot check data of the normal grid, a plant disease and insect pest database and the like;
VIII, further combining the determined plant diseases and insect pests with relevant factors of plant disease and insect pest control and operation conditions by the ground data processing center;
IX a further ground data processing center plans a conventional operation scheme for a normal area and sends a pesticide application operation to be executed by the unmanned aerial vehicle;
step X, the ground data processing center plans a fine stepping mode acquisition scheme for the abnormal point location, and performs more fine image data acquisition on the abnormal point location;
the image acquisition unmanned aerial vehicle further adopts the XI to acquire image data of the abnormal point according to a fine stepping scheme and transmit the data to the ground data processing center in real time;
The XII further ground data processing center judges the plant diseases and insect pests according to the received fine operation image acquisition information, if the plant diseases and insect pests can be determined, the abnormal point location area prescription is calculated and timely integrated into the pesticide application operation scheme to prevent and treat the plant diseases and insect pests by real-time pesticide application, so that the aim of parallel processing cooperative operation is fulfilled, if the plant diseases and insect pests cannot be determined definitely and all fine stepping modes cannot be determined, the point location is manually judged, if the plant diseases and insect pests cannot be determined definitely but the fine stepping modes are not implemented, the next fine stepping mode continues to acquire in the stepping direction and the plant diseases and insect pests are determined according to the previous process;
after the area of the further abnormal point location of XIII is manually judged, if the acquisition scheme is not completed, the fine stepping mode of the next abnormal point location is carried out to acquire image data, and if the acquisition scheme is completed, the acquisition work is completed;
and (4) carrying out an integrated operation scheme by the unmanned aerial vehicle for the further pesticide application operation of XIV for pesticide application to accurately prevent and control the plant diseases and insect pests until the operation scheme is completed, and integrally completing the work of quickly detecting and accurately preventing and controlling the plant diseases and insect pests in the whole operation area.
The large area is further simplified into point locations, the data volume is further reduced, the analysis processing speed is accelerated, interference caused by the fact that the representativeness of the point locations is weaker than that of grids is considered, a noise point elimination mechanism is introduced, and reliability of the point location direction is improved.
The beneficial technical effects of the invention are as follows:
1. according to the system and the method for rapid detection and accurate pesticide application of the plant diseases and insect pests, the problems that the plant diseases and insect pests are low in data quantity and efficiency in the prior art are solved, more importantly, the real-time effectiveness of accurate pesticide application is improved through cooperative operation, and the operation efficiency of accurate agriculture is greatly improved; 2. the system and the method coordinate image acquisition operation and pesticide application operation by dividing a grid planning operation scheme, and the image acquisition utilizes aerial view type acquisition to carry out grid abnormity analysis; 3. the plant condition is rapidly judged by spot check on the normal grid, and then a conventional operation scheme of the normal grid is planned and implemented by a pesticide application operation unmanned aerial vehicle; 4. for the abnormal grid, the image acquisition unmanned aerial vehicle acquires image data according to a fine stepping mode scheme, and steps the next fine stepping mode according to the pest and disease damage determination condition, so that unnecessary acquisition processes are avoided, time is saved, data volume is reduced, and acquisition operation efficiency is remarkably improved; 5. the image acquisition operation and the pesticide application operation are processed simultaneously, and the ground data processing center integrates the operation scheme in real time according to the acquired operation data, so that the operation is more cooperative and efficient 6. the layered and step-by-step operation of the acquisition operation reduces the acquisition operation amount and the data amount, and reduces the requirement on data processing; 7. the integrated scheme is executed in real time in the pesticide application operation, the pertinence and the real-time performance are high, the pesticide application is more accurate and efficient, and the accuracy and the economy of the whole system are highlighted.
The invention relates to a system and a method for rapid detection and accurate control of plant diseases and insect pests, which are suitable for modern agriculture and accurate agriculture, and can meet the requirements of development of modern agriculture such as intelligent agriculture and the like so as to improve the agricultural modernization level of China.
Drawings
FIG. 1 is a schematic representation of the system of the present invention.
Fig. 2 is a schematic diagram of a ground data processing center.
Fig. 3 is a schematic diagram of the image acquisition unmanned aerial vehicle.
Fig. 4 is a schematic view of the unmanned aerial vehicle for pesticide application.
Fig. 5 is a schematic diagram of grid division longitude and latitude calibration of the ground data processing center.
Fig. 6 is a schematic diagram of high-altitude aerial view type image data acquisition of the image acquisition unmanned aerial vehicle.
Fig. 7 is a schematic diagram of image data acquisition in the fine stepping mode of the image acquisition unmanned aerial vehicle.
Fig. 8 is an illustration of unmanned aerial vehicle operation for application.
FIG. 9 is a schematic of grid color differences, where two abnormal grids are shallower than the background uniform value and three abnormal grids are deeper than the background uniform value.
Fig. 10 shows a prior art operation mode.
FIG. 11 is a flowchart illustrating the operation of the present invention.
Fig. 12 is a schematic diagram of abnormal point location determination.
In the figure, 1, a ground data processing center, 11, a vehicle-mounted platform, 12, an image analysis processing unit, 13, a judgment planning control unit, 14, a high-speed information transceiving unit; 2. the system comprises an image acquisition unmanned aerial vehicle, 21. an unmanned aerial vehicle carrying platform, 22. flight control units b and 23. an image acquisition unit, 24. a high-speed information transceiving unit and 25. an airborne preliminary analysis system; 3. the pesticide application operation unmanned aerial vehicle 31, the pesticide application unmanned aerial vehicle 32, the flight control units c and 33, the information transceiving unit 34 and the pesticide application operation unit.
Detailed Description
The present invention will be described in detail with reference to specific embodiments. The following examples are presented to assist those skilled in the art in further understanding the utility model, but are not intended to limit the utility model in any manner.
Example one
As shown in the figure, the system for rapidly and accurately detecting and applying the pesticide comprises a grid abnormity analysis, a sub-mode stepping mode of fine operation and a real-time implementation of a pesticide application scheme integrated aiming at a grid disease and pest prescription map, and mainly comprises a ground data processing center 1 (for simple control), an image acquisition unmanned aerial vehicle 2 (for simple acquisition machine), and a pesticide application unmanned aerial vehicle 3 (for simple pesticide application machine); the ground data processing center comprises a vehicle-mounted platform 11, an image analysis processing unit 12, a judgment planning control unit 13 and a high-speed information transceiving unit a 14; the image acquisition unmanned aerial vehicle 2 comprises an unmanned aerial vehicle carrying platform 21, a flight control unit b22, an image acquisition unit 23, a high-speed information transceiving unit b24 and the like, and is selectively carried with an onboard preliminary analysis system 25; the unmanned aerial vehicle 3 for pesticide application operation consists of an unmanned aerial vehicle pesticide application platform 31, a flight control unit c32, an information transceiving unit 33 and a pesticide application operation unit 34;
The ground data processing center 1 and the image acquisition unmanned aerial vehicle 2 are communicated with each other through the high-speed information receiving and transmitting unit 14, and the ground data processing center 1 is communicated with the pesticide application unmanned aerial vehicle 3 through the information receiving and transmitting unit 33;
the ground data processing center 1 carries out image data analysis, grid division and longitude and latitude calibration, planning and integrating operation schemes, real-time control of operation processes and the like,
the division grid is shown in a grid division schematic diagram 5;
the image acquisition unmanned aerial vehicle 2 performs high-altitude aerial view type image acquisition or fine stepping mode image acquisition;
the aerial view type image acquisition is that the image acquisition unmanned aerial vehicle 2 performs aerial work, the whole area is scanned to acquire global image information, and the aerial view type image acquisition is shown in figure 6;
the fine stepping mode mainly comprises the following steps: the method comprises the following steps of constant acquisition, low-speed acquisition, hovering acquisition, near acquisition, key acquisition, high-definition acquisition, multi-dimensional acquisition and dynamic acquisition;
the general sequence of the fine stepping mode stepping direction is constant acquisition, low-speed acquisition, hovering acquisition, approaching acquisition, high-definition acquisition, multi-dimensional acquisition and dynamic acquisition, and the sequence can be adjusted in advance when the diseases and insect pests are different from those in the conventional mode so as to be beneficial to quickly judging the diseases and insect pests;
The constant acquisition is to acquire image data at constant flying speed and constant flying height;
the low-speed acquisition speed is 1/5-2/3 of the constant acquisition speed, and the image acquisition unmanned aerial vehicle 2 reduces the flying speed and acquires images more finely;
the approaching acquisition is half or closer to the constant acquisition distance, so that the tensioning distance is reduced, and the definition is improved;
the hovering acquisition fixed point staring acquisition is carried out, and the image acquisition unmanned aerial vehicle 2 carries out uninterrupted image acquisition at the same position;
the high-definition acquisition is to improve the pixels of the image, improve the definition of the image and facilitate the identification of the image;
the multi-dimensional acquisition acquires image data of the abnormal grid from different angles, and plays a role in reflecting the condition of abnormal points in an all-round way;
the dynamic acquisition is multi-point multi-angle continuous video acquisition at an abnormal position;
the unmanned aerial vehicle 3 for pesticide application operation implements pest and disease pesticide application control, and is shown in a schematic diagram 7;
the system analyzes the abnormity of the grid according to the aerial view data, marks the abnormal network, plans a conventional operation scheme and a fine stepping mode acquisition scheme, and sends the conventional operation scheme and the fine stepping mode acquisition scheme to the pesticide application operation unmanned aerial vehicle 3 and the image acquisition unmanned aerial vehicle 2 for execution respectively;
The image acquisition unmanned aerial vehicle 2 acquires images according to a fine mode acquisition scheme and sends back acquired data in real time;
the ground data processing center 1 judges the plant diseases and insect pests according to the real-time returned data and by combining with a plant disease and insect pest related database; if the pest and disease damage can not be judged, the image acquisition unmanned aerial vehicle 2 continues image acquisition of the grid in the next step mode in the fine step mode.
Example two
The invention relates to a quick accurate pest and disease damage detection pesticide application method which is implemented according to the following steps:
i, a ground data processing center 1 integrates factors such as operation tasks, areas, plant characteristics, historical conditions of plant diseases and insect pests, plant growth period and the like, carries out grid division on the operation areas, and plans an aerial view type image data acquisition scheme;
transmitting the further data to the image acquisition unmanned aerial vehicle 2 for high-altitude aerial view type image acquisition;
III, carrying out abnormity analysis on the grid by a further system, and calibrating an abnormal grid;
IV, further abnormal analysis comprises the steps of carrying out full-field homogenization treatment on the aerial view image to obtain a background mean value and carrying out grid homogenization treatment on the aerial view image to obtain each grid mean value;
v, further homogenizing, namely carrying out intra-domain averaging on the brightness, hue or saturation of the image to obtain a corresponding average value;
VI the further grid mean differs from the background mean by less than a set value M, i.e. formula
If the network mark is abnormal, the set value M is generally 15-35%, which is related to the image resolution, the plant identification difficulty and the like, the resolution is high, and the plant is easy to identify and takes a small value;
VII, carrying out spot check on the normal grid normality by a further image acquisition unmanned aerial vehicle 2;
VIII, judging the plant diseases and insect pests by the ground data processing center 1 according to spot check data of the normal grid, a plant disease and insect pest database and the like;
IX a further ground data processing center 1, based on the determined plant diseases and insect pests, combines the factors related to plant disease and pest control and operation conditions, plans a conventional operation scheme for a normal grid and sends an unmanned aerial vehicle 3 for pesticide application operation to execute;
the ground data processing center 1 plans a fine stepping mode acquisition scheme for the abnormal grid, and performs more fine image data acquisition on the abnormal grid;
the image acquisition unmanned aerial vehicle 2 further acquires image data of the abnormal grid according to a fine stepping scheme and transmits the data to the ground data processing center in real time;
the XII further ground data processing center 1 judges the plant diseases and insect pests according to the received fine operation image acquisition information, if the plant diseases and insect pests can be determined, an abnormal grid prescription is solved and timely integrated into a pesticide application operation scheme to prevent and treat the plant diseases and insect pests by pesticide application in real time, so that the aim of parallel processing cooperative operation is fulfilled;
If the further ground data processing center 1 of XIII can not definitely determine the plant diseases and insect pests and each fine stepping mode can not be determined, the grid is manually judged, if the plant diseases and insect pests can not definitely be determined but the fine stepping mode is not implemented, the next fine stepping mode continues to collect according to the stepping direction and the plant diseases and insect pests are determined according to the previous process;
after further abnormal grids of XIV are manually judged, if the acquisition scheme is not completed, the fine stepping mode of the next abnormal grid is carried out to acquire image data, and if the acquisition scheme is completed, the acquisition work is completed;
the unmanned aerial vehicle 3 for further pesticide application operation executes an integrated operation scheme to apply pesticide to accurately prevent and control the plant diseases and insect pests until the operation scheme is completed, the work of quickly and accurately detecting and controlling the plant diseases and insect pests in the whole operation area is integrally completed, and relevant data is arranged by a ground data processing center;
XVI further refines the relevant databases to support precision agriculture, intelligent agriculture applications.
EXAMPLE III
The rapid accurate pest and disease damage detection pesticide application method can be further simplified, the grids are simplified into point positions, and the specific implementation is carried out according to the following steps:
firstly, a ground data processing center 1 marks a GPS or longitude and latitude positioning of a to-be-detected field in advance, and plans an overhead acquisition scheme of an image acquisition unmanned aerial vehicle 2;
II, the ground data processing center 1 transmits the high-altitude acquisition scheme, the division and the parcel longitude and latitude mark information to the image acquisition unmanned aerial vehicle 2;
III, positioning an image acquisition unmanned aerial vehicle flight 2 control system according to a high-altitude acquisition scheme to acquire high-altitude overlook super-clear static images;
IV, carrying out full-field averaging analysis on the brightness of the high-altitude overlooking ultra-clear static image by an airborne primary analysis system 25 of the image acquisition unmanned aerial vehicle 2 to obtain a full-field brightness uniform value;
v, the onboard analysis system 25 analyzes the abnormal brightness point positions, the difference between the brightness value of the point position and the brightness uniformity value of the whole field accounts for 15-50% of the brightness uniformity value of the whole field and is used as the abnormal point position, and more than 50% of the abnormal point position is used as noise which needs to be eliminated;
VI, longitude and latitude calibration is carried out on the abnormal point positions and the noise points; the image acquisition unmanned aerial vehicle 2 randomly extracts 3-10% of normal points to perform steady image collection so as to determine the pest and disease condition of a normal area;
VII, judging the plant diseases and insect pests by the ground data processing center 1 according to spot check data of the normal grid, a plant disease and insect pest database and the like;
VIII, further combining the determined plant diseases and insect pests with relevant factors of plant disease and insect pest control and operation conditions by the ground data processing center 1;
IX a further ground data processing center 1 plans a conventional operation scheme for a normal area and sends an unmanned aerial vehicle 3 for pesticide application operation to execute;
The ground data processing center 1 plans a fine stepping mode acquisition scheme for the abnormal point location, and performs more fine image data acquisition on the abnormal point location;
the image acquisition unmanned aerial vehicle 2 further acquires image data of the abnormal point according to a fine stepping scheme and transmits the data to the ground data processing center in real time;
the XII further ground data processing center 1 judges the plant diseases and insect pests according to the received fine operation image acquisition information, if the plant diseases and insect pests can be determined, an abnormal point location area formula is solved and timely integrated into a pesticide application operation scheme to control the plant diseases and insect pests by pesticide application in real time, so that the purpose of parallel processing cooperative operation is realized, if the plant diseases and insect pests cannot be determined definitely and each fine stepping mode cannot be determined, the point location is judged manually, if the plant diseases and insect pests cannot be determined definitely but the fine stepping mode is not implemented, the next fine stepping mode continues to acquire the plant diseases and insect pests according to the stepping direction and the plant diseases and insect pests are determined according to the preceding process;
after the area of the further abnormal point location of XIII is manually judged, if the acquisition scheme is not completed, the fine stepping mode of the next abnormal point location is carried out to acquire image data, and if the acquisition scheme is completed, the acquisition work is completed;
And the further pesticide application unmanned aerial vehicle 3 executes an integrated operation scheme to apply pesticide to accurately prevent and control the plant diseases and insect pests until the operation scheme is completed, and the work of quickly detecting and accurately preventing the plant diseases and insect pests in the whole operation area is integrally completed.
The large area is further simplified into point locations, the data volume is further reduced, the analysis processing speed is accelerated, interference caused by the fact that the representativeness of the point locations is weaker than that of grids is considered, a noise point elimination mechanism is introduced, and reliability of the point location direction is improved.
Under the condition of not obviously increasing the complexity of an airborne system of the unmanned aerial vehicle, a micro processing system, namely an airborne primary analysis system, is loaded on the image acquisition unmanned aerial vehicle 2, so that the image acquisition unmanned aerial vehicle has basic analysis capability and can complete network anomaly analysis; the image acquisition unmanned aerial vehicle 2 with the airborne primary analysis system directly analyzes the aerial view type acquisition data, judges the grid condition and marks the grid, so that the transmission of the aerial view type acquisition data to a ground data processing center is avoided, and the efficiency of grid abnormity analysis is improved; the transmission is reduced correspondingly, the transmission errors are also reduced, the accuracy of grid analysis is improved, the accuracy of analysis is improved, and the rapid detection of plant diseases and insect pests is facilitated.
Pesticide application operation unmanned aerial vehicle 3 in this system can further promote to single rotor unmanned aerial vehicle and even fixed wing unmanned aerial vehicle, increases the machine and carries the ability, improves pesticide application operating efficiency.
The image acquisition unmanned aerial vehicle 2 in the system is lifted to a single-rotor unmanned aerial vehicle or a fixed-wing unmanned aerial vehicle, and can carry multispectral, infrared or hyperspectral cameras and the like, so that detection means are widened, detection precision and efficiency are improved, operation time and corresponding operation capacity are enlarged through lifting of carrier capacity, and rapidness is promoted.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (9)
1. The utility model provides a method of accurate application of pesticide of quick detection of plant diseases and insect pests, includes ground data processing center (1), image acquisition unmanned aerial vehicle (2), the operation unmanned aerial vehicle (3) of applying pesticide, its characterized in that: the ground data processing center (1) carries out data resolving, grid division and longitude and latitude calibration, operation plan planning and operation control; the image acquisition unmanned aerial vehicle (2) can perform sub-mode stepping mode acquisition of aerial view type or fine operation in a stepping direction; the unmanned aerial vehicle (3) for pesticide application operation can be used for real-time and accurate pesticide application prevention and control of plant diseases and insect pests; the system for rapidly detecting and accurately applying the pesticide comprises grid abnormity analysis, a sub-mode stepping mode of fine operation and real-time implementation of an integrated pesticide application scheme aiming at a grid disease and pest disease prescription chart; the ground data processing center (1) integrates operation tasks, areas, plant characteristics, historical pest and disease damage conditions and plant growth period factors, performs grid division on the operation areas, and plans an aerial view type image data acquisition scheme; further data are transmitted to the image acquisition unmanned aerial vehicle (2) for high-altitude aerial view type image acquisition;
The further system carries out abnormity analysis on the grids and calibrates the abnormal grids;
further, the ground data processing center (1) judges the plant diseases and insect pests according to the spot check data of the normal grids and a plant disease and insect pest database;
the ground data processing center (1) further plans a conventional operation scheme for the normal grid and sends an application operation unmanned aerial vehicle (3) to execute the application operation according to the determined plant diseases and insect pests and the relevant factors of plant disease and insect pest control and operation conditions;
further, a ground data processing center (1) plans a fine stepping mode acquisition scheme for the abnormal grid, and performs more fine image data acquisition on the abnormal grid;
further, the image acquisition unmanned aerial vehicle (2) acquires image data of the abnormal grid according to a fine stepping scheme and transmits the data to the ground data processing center (1) in real time;
the ground data processing center (1) judges the plant diseases and insect pests according to the received fine operation image acquisition information, if the plant diseases and insect pests can be determined, an abnormal grid formula is calculated and timely integrated into a pesticide application operation scheme to apply pesticides in real time to prevent and treat the plant diseases and insect pests, so that the aim of concurrent processing cooperative operation is fulfilled, if the plant diseases and insect pests cannot be determined clearly and all fine stepping modes cannot be determined, the grid is manually judged, if the plant diseases and insect pests cannot be determined clearly but the fine stepping modes are not implemented, the next fine stepping mode continues to acquire in the stepping direction and the plant diseases and insect pests are determined according to the previous process;
After further abnormal grids are manually judged, if the acquisition scheme is not completed, the fine stepping mode of the next abnormal grid is performed to acquire image data, and if the acquisition scheme is completed, the acquisition work is completed;
further application of pesticide operation unmanned aerial vehicle (3) carry out and integrate the operation scheme and carry out the application of pesticide and carry out accurate prevention and cure to the operation scheme and accomplish, and the work of the accurate prevention and cure of whole operation area plant diseases and insect pests short-term test is whole to be accomplished.
2. The method for rapidly detecting and accurately applying the pesticide according to claim 1, which is characterized in that: the ground data processing center (1) comprises a vehicle-mounted platform (11), an image analysis processing unit (12), a judgment planning control unit (13) and a high-speed information transceiving unit a (14); the image acquisition unmanned aerial vehicle (2) is composed of an unmanned aerial vehicle carrying platform (21), a flight control unit b (22), an image acquisition unit (23) and a high-speed information transceiving unit b (24); the pesticide application operation unmanned aerial vehicle (3) consists of an unmanned aerial vehicle pesticide application platform (31), a flight control unit c (32), an information receiving and transmitting unit (33) and a pesticide application operation unit (34).
3. The method for rapidly detecting and accurately applying the pesticide to the pests and diseases according to claim 2, is characterized in that: the image acquisition unmanned aerial vehicle (2) further comprises an airborne preliminary analysis system (25) for grid abnormity analysis.
4. A method for rapid detection and accurate application of pests and diseases according to any one of claims 1-3, wherein the method comprises the following steps: the image acquisition unmanned aerial vehicle (2) and the pesticide application unmanned aerial vehicle (3) are multi-rotor unmanned aerial vehicles, single-rotor unmanned aerial vehicles or fixed-wing unmanned aerial vehicles.
5. The method for rapidly detecting and accurately applying the pesticide according to claim 1, characterized in that: the aerial view type image acquisition is that the image acquisition unmanned aerial vehicle (2) works high above the ground, and scans the whole area to acquire global image information; the grid abnormity analysis is that the background mean value and the grid mean value of the aerial view type collected homogenization processing data are compared and analyzed, and abnormity is marked when the background mean value and the grid mean value exceed a set value; the grid anomaly comparison analysis comprises the following steps:
in the formula:
background mean value: obtaining background average value by full-field homogenization processing of aerial view image
Grid mean value: grid homogenization processing of aerial view type image to obtain average value of each grid
The value of the set value M is generally 15-35%, which is related to the image resolution and the plant identification difficulty, the resolution is high, and the plant is easy to identify and the value is small.
6. The method for rapidly detecting and accurately applying the pesticide according to claim 1, which is characterized in that: the grids are point locations; the grid abnormality analysis is to obtain a full-field uniform value by full-field averaging of the aerial view image, further compare and analyze abnormal point positions of brightness (or hue or saturation) in the aerial view image, wherein the difference between the point position brightness value and the full-field brightness uniform value accounts for 15-50% of the full-field brightness uniform value and is used as an abnormal point position, more than 50% is used as a noise point, and the noise point is removed and collected; and further carrying out longitude and latitude calibration on the abnormal point positions and the noise points.
7. A method for rapidly detecting and accurately applying pesticides according to claim 1 or 6, which is characterized in that: the fine stepping mode and the stepping direction are as follows: constant acquisition, low-speed acquisition, hovering acquisition, near acquisition, high-definition acquisition, multi-dimensional acquisition and dynamic acquisition; the fine stepping mode is used for stepping the next fine stepping mode according to the uncertainty of the plant diseases and insect pests.
8. The method for rapidly detecting and accurately applying the pesticide according to claim 7, which is characterized in that: the step direction of the fine step mode can be preset or adjusted according to the type of the plant diseases and insect pests and the operation conditions.
9. A method for rapidly detecting and accurately applying pesticides according to claim 1 or 6, which is characterized in that: the precise pesticide application is a prescription specially calculated for diseases and insect pests of abnormal grids, is integrated into a working scheme and is used for preventing and treating the diseases and insect pests in real time.
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