CN112862272A - Accurate agricultural management and analysis system, positioning method, terminal and storage medium - Google Patents
Accurate agricultural management and analysis system, positioning method, terminal and storage medium Download PDFInfo
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Abstract
The invention belongs to the technical field of agricultural management analysis, and discloses an accurate agricultural management and analysis system, a positioning method, a terminal and a storage medium, wherein the accurate agricultural management and analysis system based on high-precision positioning comprises a data acquisition node device, a patrol robot and a computer terminal information management platform which are sequentially connected and communicated through a wireless network; the data acquisition node devices are respectively arranged in front of each target crop and used for acquiring farmland environment data in real time; the inspection robot automatically navigates to inspect the farmland at regular intervals; the computer terminal information management platform stores data in a classified mode, analyzes the growth state of crops based on image recognition results, and analyzes and predicts the growth environment information of the crops based on farmland environment data. The inspection robot can automatically navigate and inspect farmlands, so that the construction cost of an agricultural monitoring system is reduced; the computer terminal information management platform can visually observe the growth state of crops.
Description
Technical Field
The invention belongs to the technical field of agricultural management analysis, and particularly relates to an accurate agricultural management and analysis system, a positioning method, a terminal and a storage medium.
Background
At present, the traditional agriculture generally takes manpower as the main part, and farmers grow crops according to experience and feeling. The problems of artificial fuzzy treatment in the past are how to keep soil humidity and illumination in a shed without watering, fertilizing and pesticide spraying of fruits and vegetables, and supply according to needs cannot be realized for each crop. Moreover, the crops are patrolled in a large farmland range, so that the labor cost is high, the time spent is long, and the condition that each crop is cared cannot be guaranteed.
The accurate agriculture is a new direction of future agricultural development, and is characterized in that on the basis of positioning and navigation, each growth process of crops and the putting of agricultural materials (such as fertilizers, pesticides, seeds and the like) are managed according to the soil characteristics of a management unit and the growth and development requirements of the crops, the potential of the soil and the crops is furthest exerted, the growth and development requirements of the crops are met, the waste of the agricultural materials is reduced, the ecological environment quality is protected, and the agricultural sustainable development is realized.
According to the demand of precision agriculture, an agricultural management analysis system combined with modern information technology is gradually applied to farmlands. The existing agricultural management and analysis system adopts an inspection robot to replace manpower for inspection, but most of the existing agricultural management and analysis systems adopt a method of laying a guide rail to stipulate the traveling route of the inspection robot, so that the cost of the whole system is high; secondly, the existing agricultural management analysis system mainly has the functions of monitoring the environment or detecting plant diseases and insect pests, is complex and not visual enough, and the analysis of the growth state of crops based on image recognition results is a visual mode, and the mode is rarely adopted by the existing systems; most importantly, the action object of most of the existing agricultural management and analysis systems is crops in the same farmland area, and the fine supervision of each crop is not really realized.
Through the above analysis, the problems and defects of the prior art are as follows:
(1) the existing agricultural management and analysis system adopts an inspection robot to replace manpower for inspection, but most of the existing agricultural management and analysis systems adopt a method of laying a guide rail to stipulate the traveling route of the inspection robot, so that the cost of the whole system is high;
(2) the existing agricultural management analysis system has the main functions of monitoring the environment or detecting plant diseases and insect pests, is complex and not visual enough, and is an intuitive mode for analyzing the growth state of crops based on image recognition results, and few systems adopt the mode at present;
(3) most of the existing agricultural management analysis systems act on crops in the same farmland area, and do not really realize the fine supervision of each crop.
The difficulty in solving the above problems and defects is:
the functions of automatic navigation and high-precision positioning need to be designed for the inspection robot, and the requirement on the precision of positioning is very high for realizing the fine supervision of each crop, which has high difficulty in hardware configuration and programming.
For the image recognition growth analysis of crops, as the photographed image usually contains a plurality of crops, the division of the object to be monitored is difficult.
The significance of solving the problems and the defects is as follows: an accurate agricultural management and analysis system is designed, automatic navigation and centimeter-level accurate positioning are realized through a shared inspection robot mobile terminal, the cost of the system is greatly reduced, and the flexibility, adaptability and expansibility of the system are improved; the image recognition algorithm of the computer terminal can accurately recognize and divide the crop object monitored, growth analysis is carried out on the crop object, and fine watching of each crop can be really realized.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an accurate agricultural management and analysis system, a positioning method, a terminal and a storage medium.
The invention is realized in such a way that the accurate agricultural management and analysis system based on high-precision positioning comprises a data acquisition node device, a patrol robot and a computer terminal information management platform which are sequentially connected and communicated through a wireless network;
the data acquisition node devices are respectively placed in front of each target crop, and farmland environment data are acquired in real time through a high-precision positioning method integrating multiple sensors;
the inspection robot automatically navigates to inspect the farmland at regular intervals; the inspection robot is precisely stopped before the target crops by a high-precision positioning method fusing multiple sensors and matching with a data acquisition node device;
the inspection robot receives farmland environment data of a target node and photographs a target crop, and the node data and the image are packaged and then wirelessly transmitted to a computer terminal information management platform in real time; the computer terminal information management platform stores data in a classified mode, analyzes the growth state of crops based on image recognition results, and analyzes and predicts the growth environment information of the crops based on farmland environment data.
Further, the data acquisition node device comprises a sensor module for acquiring farmland environment information and an auxiliary positioning module for assisting the inspection robot in accurately parking; the auxiliary positioning module consists of a distance measuring sensor and a WIFI wireless communication module; the data acquisition node device internally distinguishes each node through number management.
Further, the robot of patrolling and examining divides into three layer construction from top to bottom according to the function:
the top layer is an information receiving layer, a camera and a positioning module for automatic navigation and accurate parking are placed on the information receiving layer, the positioning module comprises a GPS module, an IMU module, a ranging sensor and a WIFI wireless communication module, and a GPS antenna is erected by a pole frame, so that signal shielding caused by shielding is reduced;
the middle layer is a control layer for placing a main control system board;
the lowest layer is a power layer for placing a battery, a motor and a driving module.
Furthermore, the computer terminal information management platform is divided into four functions of a data management module, an image recognition module, a growth data analysis module and a weather forecast module.
Further, the computer terminal information management platform performs filing storage according to the node number, the collection date and the crop type.
Further, the computer terminal information management platform automatically identifies the received images at the background, and identifies the category, height, area and fruit number of crops.
Furthermore, descriptive statistical analysis is carried out on the image recognition results of any crop in different periods, and a growth curve is drawn.
Further, the computer terminal information management platform predicts the future weather by adopting a decision tree classification algorithm according to the received farmland environment data.
The invention also aims to provide a high-precision positioning method fusing multiple sensors, which comprises the following steps: and fusing the four sensors of the GPS module, the IMU module, the ranging sensor and the WIFI wireless communication module.
Further, the high-precision positioning method for the fusion multisensor comprises the following steps:
step one, placing a data acquisition node device in front of each target crop to be monitored; after the system is started, a distance measuring sensor of the data acquisition node device monitors whether the inspection robot arrives in real time, and the WIFI wireless communication module is in a standby state.
Secondly, the inspection robot acquires positioning information through a GPS module and an IMU module and automatically navigates along a preset inspection route; the inspection robot firstly enters a preset inspection route before working, collects the current coordinates every two seconds in real time in the advancing process, compares the current coordinates with the coordinates in the preset route, and controls the inspection robot to move forward, turn left and turn right along the route.
Step three, in the advancing process, a distance measuring sensor at the inspection robot end monitors whether the distance measuring sensor reaches the position before the crops are monitored in real time; when patrolling and examining robot and data acquisition node device and detecting each other through range finding sensor, WIFI wireless communication module starts, and both begin to communicate through wireless network, match after successful, patrolling and examining the robot and can accurately stop before crops.
It is a further object of the invention to provide a computer device comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the method of high precision positioning of a fused multisensor.
It is another object of the present invention to provide a computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to execute the method for high-precision positioning of a fused multisensor.
Another object of the present invention is to provide an information data processing terminal for implementing the high-precision positioning method of the integrated multi-sensor.
By combining all the technical schemes, the invention has the advantages and positive effects that: the invention relates to an accurate agricultural management and analysis system which realizes high-precision positioning, automatic navigation, farmland environment data acquisition, real-time wireless transmission to a computer terminal and management and analysis aiming at the growth process of each crop based on an image recognition result.
In the high-precision positioning-based accurate agricultural management and analysis system provided by the invention, the inspection robot can automatically navigate and inspect farmlands without independently laying guide rails, so that the construction cost of an agricultural monitoring system is reduced; the computer terminal information management platform can automatically identify the crop type, height, area and fruit number based on the target crop image, draw the growth curve of each crop and visually observe the growth state of the crop; the data acquisition node device is arranged in front of each crop, and fine supervision on the growth process of each crop can be realized.
The high-precision positioning method fusing the multiple sensors provided by the invention realizes accurate positioning parking and has higher positioning precision.
The technical effect or experimental effect of comparison includes:
setting a target coordinate point in an outdoor open zone, starting from a distance to approach the target coordinate point, setting that the distance between a coordinate acquired by a positioning end in real time and the target coordinate is within 1cm, namely the target point is considered to be reached, recording the linear distance between the actual position and the target position at the moment as positioning accuracy, respectively testing for ten times, and combining positioning accuracy comparison of three methods of multi-sensor high-accuracy positioning, GPS satellite positioning and LBS base station positioning as follows:
the high-precision positioning method fusing multiple sensors provided by the invention has the advantages that the positioning precision reaches the centimeter level, and the precision is higher compared with the common positioning method.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained from the drawings without creative efforts.
Fig. 1 is a flowchart of a high-precision positioning method for a fusion multisensor according to an embodiment of the present invention.
FIG. 2 is a flowchart of the operation of the precision agriculture management and analysis system based on high precision positioning according to the embodiment of the present invention;
in the figure: 1. a patrol robot; 2. a data collection node device; 3. a computer terminal information management platform; 4. and (4) presetting a routing inspection route.
Fig. 3 is a schematic working diagram of a precision agricultural management and analysis system based on high-precision positioning according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of an image recognition function of the information management platform of the computer terminal according to the embodiment of the present invention.
Fig. 5 is a schematic diagram of a growth data analysis function of the computer terminal information management platform according to the embodiment of the present invention.
Fig. 6 is a schematic diagram of a weather prediction function of the computer terminal information management platform according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In view of the problems in the prior art, the present invention provides an accurate agricultural management and analysis system, a positioning method, a terminal and a storage medium, and the present invention is described in detail below with reference to the accompanying drawings.
The precise agricultural management and analysis system based on high-precision positioning provided by the embodiment of the invention comprises a data acquisition node device, a patrol robot and a computer terminal information management platform which are sequentially connected and communicated through a wireless network;
the data acquisition node devices are respectively placed in front of each target crop, and farmland environment data are acquired in real time through a high-precision positioning method integrating multiple sensors;
the inspection robot automatically navigates to inspect the farmland at regular intervals; the inspection robot is precisely stopped before the target crops by a high-precision positioning method fusing multiple sensors and matching with a data acquisition node device;
the inspection robot receives farmland environment data of a target node and photographs a target crop, and the node data and the image are packaged and then wirelessly transmitted to a computer terminal information management platform in real time; the computer terminal information management platform stores data in a classified mode, analyzes the growth state of crops based on the image recognition result, and analyzes and predicts the growth environment information of the crops based on farmland environment data.
The data acquisition node device provided by the embodiment of the invention comprises a sensor module for acquiring farmland environment information and an auxiliary positioning module for assisting an inspection robot to accurately park; the auxiliary positioning module consists of a distance measuring sensor and a WIFI wireless communication module; the data acquisition node device internally distinguishes each node through number management.
The inspection robot provided by the embodiment of the invention is divided into three layers from top to bottom according to functions:
the top layer is an information receiving layer, a camera and a positioning module for automatic navigation and accurate parking are placed on the information receiving layer, the positioning module comprises a GPS module, an IMU module, a ranging sensor and a WIFI wireless communication module, and a GPS antenna is erected by a pole frame, so that signal shielding caused by shielding is reduced;
the middle layer is a control layer for placing a main control system board;
the lowest layer is a power layer for placing a battery, a motor and a driving module.
The high-precision positioning method for the fusion multi-sensor provided by the embodiment of the invention comprises the following steps: and fusing the four sensors of the GPS module, the IMU module, the ranging sensor and the WIFI wireless communication module.
As shown in fig. 1, the high-precision positioning method for a fusion multisensor provided by the embodiments of the present invention includes the following steps:
s101, placing a data acquisition node device in front of each target crop to be monitored;
s102, the inspection robot acquires positioning information through a GPS module and an IMU module and automatically navigates along a preset inspection route;
s103, in the advancing process, when the inspection robot and the data acquisition node device mutually detect each other through the ranging sensor, the inspection robot and the data acquisition node device start to communicate through the WIFI wireless communication module, and after the matching is successful, the inspection robot can accurately stop before crops.
The computer terminal information management platform provided by the embodiment of the invention performs filing storage according to the node number, the collection date and the crop category.
The computer terminal information management platform provided by the embodiment of the invention automatically identifies the received images at the background, and identifies the category, height, area and fruit number of crops.
The image recognition results of any crop in different periods are subjected to descriptive statistical analysis, and a growth curve is drawn.
The computer terminal information management platform provided by the embodiment of the invention adopts a decision tree classification algorithm to predict the future weather according to the received farmland environment data.
The present invention will be further described with reference to the following examples.
Example 1
The working schematic diagram of the precision agriculture management and analysis system based on high-precision positioning is shown in fig. 2 and 3.
A data acquisition node device is arranged in front of each crop, and each data acquisition node device has a unique serial number. And the inspection robot starts automatic navigation along a preset route to inspect according to the real-time coordinates acquired by the GPS module and the real-time position acquired by the IMU module.
When the distance measuring sensors of the inspection robot and the data acquisition node device detect each other, the inspection robot and the data acquisition node device communicate through the WIFI wireless communication module, and the inspection robot can accurately stop before crops after successful matching.
After the system is stopped, the inspection robot starts to receive farmland environment information sent by the data acquisition node device, wherein the farmland environment information comprises air temperature and humidity, illumination intensity, wind speed, soil humidity, soil pH value and the like, and photographs crops; and then the inspection robot packs the data and the images and transmits the data and the images to a computer terminal information management platform in real time through the WIFI wireless communication module.
The computer terminal information management platform stores and manages the received data according to the acquisition date, the node number and the crop type; the background automatically identifies the received images, and identifies the category, height, area size and fruit number of crops (figure 4); the operator can also select any crop to draw a growth curve, visually observe the growth state of the crop and realize the fine supervision of the growth process of each crop (figure 5); according to the received farmland environment data, the background predicts the future weather by adopting a decision tree classification algorithm so as to take protective measures for crops in advance in extreme weather (figure 6).
Example 2
A high-precision positioning method which integrates four sensors including a GPS module, an IMU module, a ranging sensor and a WIFI wireless communication module is disclosed, and the positioning precision is shown in the following table.
In the walking test of the inspection robot, the walking test is divided into two groups of test groups, one group adopts a high-precision GPS module and an IMU module for positioning, and the other group fuses four sensors of the GPS module, the IMU module, a ranging sensor and a WIFI wireless communication module for positioning; and marking the points needing to be stopped on the ground by using a large label, measuring the deviation distance between the center of the inspection robot and the marked points when the inspection robot actually stops, and testing ten times by each method.
From the average deviation value, the high-precision positioning method of the GPS module, the IMU module, the ranging sensor and the WIFI wireless communication module is integrated, and the precision of fixed-point parking can be remarkably improved.
The above description is only for the purpose of illustrating the present invention and the appended claims are not to be construed as limiting the scope of the invention, which is intended to cover all modifications, equivalents and improvements that are within the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The accurate agricultural management and analysis system based on high-precision positioning is characterized by comprising a data acquisition node device, an inspection robot and a computer terminal information management platform which are sequentially connected and communicated through a wireless network;
the data acquisition node devices are respectively arranged in front of each target crop, and the farmland environment data are accurately acquired in real time by a high-precision positioning method integrating multiple sensors;
the inspection robot automatically navigates to inspect the farmland at regular intervals; the inspection robot is precisely stopped before the target crops by a high-precision positioning method fusing multiple sensors and matching with a data acquisition node device;
the inspection robot receives farmland environment data of a target node and photographs a target crop, and the node data and the image are packaged and then wirelessly transmitted to a computer terminal information management platform in real time; the computer terminal information management platform stores data in a classified mode, analyzes the growth state of crops based on image recognition results, and analyzes and predicts the growth environment information of the crops based on farmland environment data.
2. The precision agricultural management and analysis system based on high-precision positioning according to claim 1, wherein the data acquisition node device comprises a sensor module for acquiring farmland environment information and an auxiliary positioning module for assisting the inspection robot in precisely parking; the auxiliary positioning module consists of a distance measuring sensor and a WIFI wireless communication module; the data acquisition node device internally distinguishes each node through number management.
3. The precision agricultural management and analysis system based on high precision positioning of claim 1, characterized in that, the inspection robot is divided into three layers according to functions from top to bottom:
the top layer is an information receiving layer, a camera and a positioning module for automatic navigation and accurate parking are placed on the information receiving layer, the positioning module comprises a GPS module, an IMU module, a ranging sensor and a WIFI wireless communication module, and a GPS antenna is erected by a pole frame, so that signal shielding caused by shielding is reduced;
the middle layer is a control layer for placing a main control system board;
the lowest layer is a power layer for placing a battery, a motor and a driving module.
4. The precision agricultural management and analysis system based on high-precision positioning as claimed in claim 1, wherein the computer terminal information management platform performs filing storage according to node number, collection date and crop type;
and the computer terminal information management platform automatically identifies the received images at the background, and identifies the category, height, area and fruit number of crops.
5. The high-precision positioning-based precision agricultural management and analysis system as claimed in claim 1, wherein the descriptive statistical analysis is performed on the image recognition results of any crop at different periods, and a growth curve is drawn.
6. The precision agricultural management and analysis system based on high-precision positioning as claimed in claim 1, wherein the computer terminal information management platform predicts the future weather by adopting a decision tree classification algorithm according to the received farmland environment data.
7. A multi-sensor fused high-precision positioning method is characterized by comprising the following steps:
step one, placing a data acquisition node device in front of each target crop to be monitored;
secondly, the inspection robot acquires positioning information through a GPS module and an IMU module and automatically navigates along a preset inspection route;
and step three, in the advancing process, when the inspection robot and the data acquisition node device mutually detect each other through the ranging sensor, the inspection robot and the data acquisition node device start to communicate through the WIFI wireless communication module, and after the matching is successful, the inspection robot can accurately stop in front of crops.
8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, and the computer program, when executed by the processor, causes the processor to execute the method for high-precision positioning with the fusion multisensor as recited in any one of claims 4 to 7.
9. A computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to execute the method for high-precision positioning with the fusion of multiple sensors according to any one of claims 4 to 7.
10. An information data processing terminal, characterized in that the information data processing terminal is used for implementing the high-precision positioning method of the fusion multisensor of any one of claims 4-7.
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| CN110198352A (en) * | 2019-05-30 | 2019-09-03 | 中国农业科学院农业环境与可持续发展研究所 | A kind of Internet of Things management system of farmland robot |
| CN211786643U (en) * | 2020-02-28 | 2020-10-27 | 肇庆悦能科技有限公司 | Intelligent home control device based on Internet of things |
| CN111522339A (en) * | 2020-04-20 | 2020-08-11 | 北京农业信息技术研究中心 | Automatic path planning and positioning method and device for inspection robot of livestock and poultry house |
| CN112037525A (en) * | 2020-09-11 | 2020-12-04 | 江苏小白兔智造科技有限公司 | Intelligent parking method without parking hall based on camera device |
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