CN112514874A - Correction method and system for sprayed material - Google Patents
Correction method and system for sprayed material Download PDFInfo
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- CN112514874A CN112514874A CN202011326374.4A CN202011326374A CN112514874A CN 112514874 A CN112514874 A CN 112514874A CN 202011326374 A CN202011326374 A CN 202011326374A CN 112514874 A CN112514874 A CN 112514874A
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 239000000463 material Substances 0.000 title claims abstract description 25
- 238000012937 correction Methods 0.000 title abstract description 12
- 238000005507 spraying Methods 0.000 claims abstract description 113
- 239000003337 fertilizer Substances 0.000 claims abstract description 9
- 239000004009 herbicide Substances 0.000 claims abstract description 9
- 230000002363 herbicidal effect Effects 0.000 claims abstract description 8
- 239000000575 pesticide Substances 0.000 claims abstract description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 8
- 239000007921 spray Substances 0.000 claims description 17
- 238000004590 computer program Methods 0.000 claims description 3
- 239000000126 substance Substances 0.000 abstract description 8
- 241000196324 Embryophyta Species 0.000 description 58
- 239000002689 soil Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 239000003905 agrochemical Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Pest Control & Pesticides (AREA)
- Environmental Sciences (AREA)
- Insects & Arthropods (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Water Supply & Treatment (AREA)
- Soil Sciences (AREA)
- Catching Or Destruction (AREA)
Abstract
The present invention provides a correction method for spraying a substance material, wherein the substance material is a herbicide, a fertilizer, a pesticide or water, characterized in that the method comprises: s1: the spraying airplane flies for the first time along a plant strip area with a preset width K and a preset length L, a camera shoots continuous images of the plant strip area, and spraying is not executed during the first-time flying; s2: according to the continuous images, obtaining the plant green leaf coverage area percentage M corresponding to each unit length dL of the spraying path, and generating a plant green leaf coverage area percentage change curve M (dL) along the spraying path; s3: correcting the variation curve M (dL) by using a historical experience curve of the variation of the percentage of the coverage area of the green leaves of the plant to obtain a corrected variation curve M (dL) x; s4: and acquiring the adjusted spraying amount N corresponding to each unit length dL of the spraying path based on the spraying amount empirical curve according to the corrected change curve M (dL) x.
Description
Technical Field
The invention relates to the technical field of agricultural spraying, in particular to a correction method and a correction system for spraying material by a spraying airplane.
Background
In modern agriculture, spraying airplanes are often used to spray agricultural chemicals, fertilizers, herbicides and other materials according to the growth situation of crops or weeds. Generally, the spraying aircraft flies at a constant speed in the spraying path, spraying a constant amount of material uniformly, regardless of whether the growth of the ground crop or weed is uniform. However, in fact, the growth situation of the ground crops or weeds may be that some places grow well, the leaves of the crops or weeds are dense, some places grow poorly, and the leaves of the crops or weeds are sparse, which also indicates that the harvest of the crops or the removal of the weeds in the future is not the same. If a constant amount of material is sprayed for such crop or weed growth conditions, it may result in insufficient spraying for good growing areas and excessive spraying for poor growing areas, which is wasteful.
There is therefore an urgent need for a spraying method and system that can dynamically adjust the amount of sprayed material according to the growth situation of the ground crops or weeds so that the spraying amount perfectly matches the growth situation.
Disclosure of Invention
The invention aims to provide a correction method and a correction system for sprayed material, which can well solve the technical problems. Since the soil foundation, the content of various elements in the soil, the moisture content and the like of each cultivated land can basically keep continuously and slowly changing for many years, when spraying operation is carried out, in addition to the current soil measurement data of the land, historical data of the soil of the land are used for further correction in order to optimize the spraying process.
One object of the invention is achieved by a correction method for spraying a material of a substance, wherein the material of a substance is a herbicide, a fertilizer, a pesticide or water, characterized in that the method comprises:
s1: the spraying airplane flies for the first time along a plant strip area with a preset width K and a preset length L, a camera shoots continuous images of the plant strip area, and spraying is not executed during the first-time flying;
s2: according to the continuous images, obtaining the plant green leaf coverage area percentage M corresponding to each unit length dL of the spraying path, and generating a plant green leaf coverage area percentage change curve M (dL) along the spraying path;
s3: correcting the variation curve M (dL) by using a historical experience curve of the variation of the percentage of the coverage area of the green leaves of the plant to obtain a corrected variation curve M (dL) x;
s4: obtaining an adjusted spraying amount N corresponding to each unit length dL of the spraying path based on the spraying amount empirical curve according to the corrected change curve M (dL) x, and generating an adjusted spraying amount change curve N (dL) along the spraying path; and
s5: the spraying aircraft flies along the plant banded region for a second time, spraying is carried out according to a variation curve N (dL), and no image pickup is carried out during the second flight.
Wherein step S1 includes:
s11: the spraying airplane flies at a speed V, and the camera continuously shoots at a time interval t1 to obtain a series of images of the plant strip area; and
s12: and (4) splicing and de-duplicating the series of images to obtain continuous images of the plant banded regions.
Wherein step S2 includes:
s21: dividing the predetermined length L by each unit length dL;
s22: calculating the corresponding per unit area PdL per unit length dL, wherein PdL is dL and K;
s23: dividing the continuous images by dL per unit length to obtain a unit image area, and obtaining plant green leaf coverage area Pzw in the unit image area by a gray scale binary method;
s24: calculating the percentage M of the green leaf coverage area of the plant in each unit area PdL according to PdL and Pzw, wherein M is Pzw/PdL; and
s25: a plant green leaf coverage percentage change curve m (dl) along the spray path is generated.
Wherein step S3 includes:
s31: acquiring a historical experience curve of the percentage change of the green leaf coverage area of the plant since the past year;
s32: and carrying out weighted average on the historical experience curve and the change curve, wherein the weight is distributed to the historical experience curve with the weight of 0.1-0.2, and the change curve with the weight of 0.8-0.9.
Wherein step S4 includes:
s41: dividing the standard spraying amount curve by each unit length dL to obtain a standard spraying amount R corresponding to each unit length dL;
s42: obtaining the percentage Mx of the coverage area of the green leaves of the plants corresponding to each unit length dL by dividing and correcting a change curve M (dL) x per unit length dL;
s43: calculating an adjusted spray rate Rx per unit length dL based on a reference spray rate R and a plant green leaf coverage area percentage Mx per unit length dL, wherein Rx R Mx; and
s44: an adjusted spray volume profile n (dl) along the spray path is generated.
Another object of the invention is achieved by a correction system for spraying a material of a substance, wherein the material of a substance is a herbicide, a fertilizer, a pesticide or water, characterized in that it comprises:
the device comprises an image acquisition module, a data acquisition module and a data acquisition module, wherein the image acquisition module is used for shooting continuous images of a plant strip area through a camera when a spraying airplane flies for the first time along the plant strip area with the preset width K and the preset length L, and spraying is not executed during the first flying time;
the plant green leaf coverage area percentage curve generating module is used for acquiring the plant green leaf coverage area percentage M corresponding to each unit length dL of the spraying path according to the continuous images and generating a plant green leaf coverage area percentage change curve M (dL) along the spraying path;
a modified change curve generation module, which modifies the change curve M (dL) by using a historical experience curve of plant green leaf coverage area percentage change to obtain a modified change curve M (dL) x;
the adjusting spraying amount curve generating module is used for acquiring the adjusting spraying amount N corresponding to each unit length dL of the spraying path based on the spraying amount empirical curve according to the correcting change curve M (dL) x and generating an adjusting spraying amount change curve N (dL) along the spraying path; and
and a spraying execution module for flying along the plant banded region for a second time by using a spraying airplane, and executing spraying according to a variation curve N (dL), wherein during the second time, the shooting is not executed. Further, the system includes a processor, and each of the modules is implemented in the processor.
It is yet another object of the invention to provide a storage medium on which a computer program is stored which, when executed by a processor of the above-mentioned system, implements the method as described above.
The invention has the technical effects that the amount of the sprayed material is dynamically adjusted according to the growth situation of the crops or weeds on the ground, so that the spraying amount is perfectly matched with the growth situation, the crops or weeds can obtain the corresponding required spraying amount, and the waste of the material is not caused.
Drawings
FIG. 1 is a schematic diagram of the method of the present invention;
FIG. 2 is an overall flow chart of the method of the present invention;
FIG. 3 is a flow chart of a first method step of the present invention;
FIG. 4 is a flow chart of method step two of the present invention;
FIG. 5 is a flow chart of method step three of the present invention;
FIG. 6 is a flow chart of method step four of the present invention;
fig. 7 is a schematic diagram of the system of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
As shown in fig. 1, for a plant strip area with a predetermined width K and a predetermined length L, the coverage area of the green leaves of plants planted or grown thereon may be different from the whole area of the plant strip area, i.e. the plant strip area is good, the coverage area is small, and the plant strip area is not good. Therefore, when spraying material such as herbicide, fertilizer, pesticide or water by airplane, a method of adjusting the amount of spraying according to the percentage of the covered area can be adopted. Meanwhile, the spraying amount is corrected according to historical empirical data of the plant strip area. Airplane spraying is typically low-altitude and is performed under conditions where wind speed and air humidity are both small and negligible.
As shown in fig. 2, a correction method of spraying a substance material, wherein the substance material is herbicide, fertilizer, pesticide or water, according to the present invention, comprises:
s1: the spraying airplane flies for the first time along a plant strip area with a preset width K and a preset length L, a camera shoots continuous images of the plant strip area, and spraying is not executed during the first-time flying;
s2: according to the continuous images, obtaining the plant green leaf coverage area percentage M corresponding to each unit length dL of the spraying path, and generating a plant green leaf coverage area percentage change curve M (dL) along the spraying path;
s3: correcting the variation curve M (dL) by using a historical experience curve of the variation of the percentage of the coverage area of the green leaves of the plant to obtain a corrected variation curve M (dL) x;
s4: obtaining an adjusted spraying amount N corresponding to each unit length dL of the spraying path based on the spraying amount empirical curve according to the corrected change curve M (dL) x, and generating an adjusted spraying amount change curve N (dL) along the spraying path; and
s5: the spraying aircraft flies along the plant banded region for a second time, spraying is carried out according to a variation curve N (dL), and no image pickup is carried out during the second flight.
As shown in fig. 3, wherein step S1 includes:
s11: the spraying airplane flies at a speed V, and the camera continuously shoots at a time interval t1 to obtain a series of images of the plant strip area; and
s12: and (4) splicing and de-duplicating the series of images to obtain continuous images of the plant banded regions.
As shown in fig. 4, wherein step S2 includes:
s21: dividing the predetermined length L by each unit length dL;
s22: calculating the corresponding per unit area PdL per unit length dL, wherein PdL is dL and K;
s23: dividing the continuous images by dL per unit length to obtain a unit image area, and obtaining plant green leaf coverage area Pzw in the unit image area by a gray scale binary method;
s24: calculating the percentage M of the green leaf coverage area of the plant in each unit area PdL according to PdL and Pzw, wherein M is Pzw/PdL; and
s25: a plant green leaf coverage percentage change curve m (dl) along the spray path is generated.
As shown in fig. 5, step S3 includes:
s31: acquiring a historical experience curve of the percentage change of the green leaf coverage area of the plant since the past year;
s32: and carrying out weighted average on the historical experience curve and the change curve, wherein the weight is distributed to the historical experience curve with the weight of 0.1-0.2, and the change curve with the weight of 0.8-0.9.
As shown in fig. 6, wherein step S4 includes:
s41: dividing the standard spraying amount curve by each unit length dL to obtain a standard spraying amount R corresponding to each unit length dL;
s42: obtaining the percentage Mx of the coverage area of the green leaves of the plants corresponding to each unit length dL by dividing and correcting a change curve M (dL) x per unit length dL;
s43: calculating an adjusted spray rate Rx per unit length dL based on a reference spray rate R and a plant green leaf coverage area percentage Mx per unit length dL, wherein Rx R Mx; and
s44: an adjusted spray volume profile n (dl) along the spray path is generated.
As shown in fig. 7, a correction system for spraying a material, wherein the material is herbicide, fertilizer, pesticide or water, according to the present invention, comprises:
the device comprises an image acquisition module, a data acquisition module and a data acquisition module, wherein the image acquisition module is used for shooting continuous images of a plant strip area through a camera when a spraying airplane flies for the first time along the plant strip area with the preset width K and the preset length L, and spraying is not executed during the first flying time;
the plant green leaf coverage area percentage curve generating module is used for acquiring the plant green leaf coverage area percentage M corresponding to each unit length dL of the spraying path according to the continuous images and generating a plant green leaf coverage area percentage change curve M (dL) along the spraying path;
a modified change curve generation module, which modifies the change curve M (dL) by using a historical experience curve of plant green leaf coverage area percentage change to obtain a modified change curve M (dL) x;
the adjusting spraying amount curve generating module is used for acquiring the adjusting spraying amount N corresponding to each unit length dL of the spraying path based on the spraying amount empirical curve according to the correcting change curve M (dL) x and generating an adjusting spraying amount change curve N (dL) along the spraying path; and
and a spraying execution module for flying along the plant banded region for a second time by using a spraying airplane, and executing spraying according to a variation curve N (dL), wherein during the second time, the shooting is not executed. Further, the system includes a processor, and each of the modules is implemented in the processor.
Another aspect of the present invention is to provide a storage medium, on which a computer program is stored, which when executed by a processor of the above system, implements the method as described above.
It should be noted that, in the embodiment of the present application, the division of the module and the unit is schematic, and is only a logic function division, and there may be another division manner in actual implementation. Each functional module and unit in the embodiments of the present invention may be integrated into one processing module and unit, or each module and unit may exist alone physically, or two or more modules and units are integrated into one module and unit.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (8)
1. A method of modifying a spray of a material, wherein the material is a herbicide, fertilizer, pesticide or water, the method comprising:
s1: the spraying airplane flies for the first time along a plant strip area with a preset width K and a preset length L, a camera shoots continuous images of the plant strip area, and spraying is not executed during the first-time flying;
s2: according to the continuous images, obtaining the plant green leaf coverage area percentage M corresponding to each unit length dL of the spraying path, and generating a plant green leaf coverage area percentage change curve M (dL) along the spraying path;
s3: correcting the variation curve M (dL) by using a historical experience curve of the variation of the percentage of the coverage area of the green leaves of the plant to obtain a corrected variation curve M (dL) x;
s4: obtaining an adjusted spraying amount N corresponding to each unit length dL of the spraying path based on the spraying amount empirical curve according to the corrected change curve M (dL) x, and generating an adjusted spraying amount change curve N (dL) along the spraying path; and
s5: the spraying aircraft flies along the plant banded region for a second time, spraying is carried out according to a variation curve N (dL), and no image pickup is carried out during the second flight.
2. The method according to claim 1, wherein step S1 comprises:
s11: the spraying airplane flies at a speed V, and the camera continuously shoots at a time interval t1 to obtain a series of images of the plant strip area; and
s12: and (4) splicing and de-duplicating the series of images to obtain continuous images of the plant banded regions.
3. The method according to claim 2, wherein step S2 comprises:
s21: dividing the predetermined length L by each unit length dL;
s22: calculating the corresponding per unit area PdL per unit length dL, wherein PdL is dL and K;
s23: dividing the continuous images by dL per unit length to obtain a unit image area, and obtaining plant green leaf coverage area Pzw in the unit image area by a gray scale binary method;
s24: calculating the percentage M of the green leaf coverage area of the plant in each unit area PdL according to PdL and Pzw, wherein M is Pzw/PdL; and
s25: a plant green leaf coverage percentage change curve m (dl) along the spray path is generated.
4. The method according to claim 3, wherein step S3 comprises:
s31: acquiring a historical experience curve of the change of the percentage of the green leaf coverage area of the plant in the banded region over the years;
s32: and carrying out weighted average on the historical experience curve and the change curve, wherein the weight is distributed to the historical experience curve with the weight of 0.1-0.2, and the change curve with the weight of 0.8-0.9.
5. The method according to claim 4, wherein step S4 comprises:
s41: dividing a spraying amount empirical curve by each unit length dL to obtain a reference spraying amount R corresponding to each unit length dL;
s42: obtaining the percentage Mx of the coverage area of the green leaves of the plants corresponding to each unit length dL by dividing and correcting a change curve M (dL) x per unit length dL;
s43: calculating an adjusted spray rate Rx per unit length dL based on a reference spray rate R and a plant green leaf coverage area percentage Mx per unit length dL, wherein Rx R Mx; and
s44: an adjusted spray volume profile n (dl) along the spray path is generated.
6. A system for spraying a material, wherein the material is a herbicide, fertilizer, pesticide or water, the system comprising:
the device comprises an image acquisition module, a data acquisition module and a data acquisition module, wherein the image acquisition module is used for shooting continuous images of a plant strip area through a camera when a spraying airplane flies for the first time along the plant strip area with the preset width K and the preset length L, and spraying is not executed during the first flying time;
the plant green leaf coverage area percentage curve generating module is used for acquiring the plant green leaf coverage area percentage M corresponding to each unit length dL of the spraying path according to the continuous images and generating a plant green leaf coverage area percentage change curve M (dL) along the spraying path;
a modified change curve generation module, which modifies the change curve M (dL) by using a historical experience curve of plant green leaf coverage area percentage change to obtain a modified change curve M (dL) x;
the adjusting spraying amount curve generating module is used for acquiring the adjusting spraying amount N corresponding to each unit length dL of the spraying path based on the spraying amount empirical curve according to the correcting change curve M (dL) x and generating an adjusting spraying amount change curve N (dL) along the spraying path; and
and a spraying execution module for flying along the plant banded region for a second time by using a spraying airplane, and executing spraying according to a variation curve N (dL), wherein during the second time, the shooting is not executed.
7. The system of claim 6, comprising a processor, each of the modules being implemented in the processor.
8. A storage medium on which a computer program is stored which, when executed by a processor of a system according to any one of claims 6 to 7, carries out a method according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011326374.4A CN112514874A (en) | 2020-11-24 | 2020-11-24 | Correction method and system for sprayed material |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011326374.4A CN112514874A (en) | 2020-11-24 | 2020-11-24 | Correction method and system for sprayed material |
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| CN112514874A true CN112514874A (en) | 2021-03-19 |
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| CN202011326374.4A Pending CN112514874A (en) | 2020-11-24 | 2020-11-24 | Correction method and system for sprayed material |
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