CN113366956A - Control method for simultaneous application of pesticide and fertilizer and device for simultaneous application of pesticide and fertilizer - Google Patents
Control method for simultaneous application of pesticide and fertilizer and device for simultaneous application of pesticide and fertilizer Download PDFInfo
- Publication number
- CN113366956A CN113366956A CN202110665578.9A CN202110665578A CN113366956A CN 113366956 A CN113366956 A CN 113366956A CN 202110665578 A CN202110665578 A CN 202110665578A CN 113366956 A CN113366956 A CN 113366956A
- Authority
- CN
- China
- Prior art keywords
- pesticide
- fertilizer
- spraying
- simultaneous application
- crops
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000003337 fertilizer Substances 0.000 title claims abstract description 102
- 239000000575 pesticide Substances 0.000 title claims abstract description 51
- 238000000034 method Methods 0.000 title claims abstract description 42
- 238000005507 spraying Methods 0.000 claims abstract description 90
- 241000196324 Embryophyta Species 0.000 claims abstract description 69
- 239000004009 herbicide Substances 0.000 claims abstract description 47
- 230000002363 herbicidal effect Effects 0.000 claims abstract description 46
- 230000003595 spectral effect Effects 0.000 claims abstract description 33
- 230000004720 fertilization Effects 0.000 claims abstract description 26
- 238000009333 weeding Methods 0.000 claims abstract description 11
- 238000003709 image segmentation Methods 0.000 claims abstract description 9
- 230000012010 growth Effects 0.000 claims description 49
- 230000007246 mechanism Effects 0.000 claims description 41
- 239000007788 liquid Substances 0.000 claims description 27
- 238000001228 spectrum Methods 0.000 claims description 23
- 239000007921 spray Substances 0.000 claims description 18
- 238000003705 background correction Methods 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 2
- 239000002689 soil Substances 0.000 abstract description 13
- 238000005070 sampling Methods 0.000 description 9
- 239000003086 colorant Substances 0.000 description 6
- 238000012937 correction Methods 0.000 description 6
- 238000002310 reflectometry Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 5
- 230000035764 nutrition Effects 0.000 description 5
- 235000016709 nutrition Nutrition 0.000 description 5
- 230000005855 radiation Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 239000011159 matrix material Substances 0.000 description 4
- 230000007797 corrosion Effects 0.000 description 3
- 238000005260 corrosion Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 230000011218 segmentation Effects 0.000 description 3
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 description 2
- 229930002875 chlorophyll Natural products 0.000 description 2
- 235000019804 chlorophyll Nutrition 0.000 description 2
- ATNHDLDRLWWWCB-AENOIHSZSA-M chlorophyll a Chemical compound C1([C@@H](C(=O)OC)C(=O)C2=C3C)=C2N2C3=CC(C(CC)=C3C)=[N+]4C3=CC3=C(C=C)C(C)=C5N3[Mg-2]42[N+]2=C1[C@@H](CCC(=O)OC\C=C(/C)CCC[C@H](C)CCC[C@H](C)CCCC(C)C)[C@H](C)C2=C5 ATNHDLDRLWWWCB-AENOIHSZSA-M 0.000 description 2
- 238000003745 diagnosis Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 230000000877 morphologic effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000013589 supplement Substances 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 244000038559 crop plants Species 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000011229 interlayer Substances 0.000 description 1
- 239000010410 layer Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229910052757 nitrogen Inorganic materials 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000008635 plant growth Effects 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 238000011002 quantification Methods 0.000 description 1
- 238000013139 quantization Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 230000003313 weakening effect Effects 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C21/00—Methods of fertilising, sowing or planting
- A01C21/007—Determining fertilization requirements
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
- A01C23/04—Distributing under pressure; Distributing mud; Adaptation of watering systems for fertilising-liquids
- A01C23/047—Spraying of liquid fertilisers
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M21/00—Apparatus for the destruction of unwanted vegetation, e.g. weeds
- A01M21/04—Apparatus for destruction by steam, chemicals, burning, or electricity
- A01M21/043—Apparatus for destruction by steam, chemicals, burning, or electricity by chemicals
-
- 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
-
- 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
Abstract
The invention provides a control method for simultaneous application of pesticide and fertilizer and a device for simultaneous application of pesticide and fertilizer. The invention provides a control method for simultaneous application of pesticide and fertilizer, which comprises the following steps: acquiring spectral information and image information of crops, and performing image segmentation; establishing a fertilization model decision based on the spectral information and the image information; identifying weeds in the area and establishing a weeding model decision; the spraying position is corrected, and variable spraying is carried out on crops and weeds. The control method for applying the pesticide and the fertilizer simultaneously aims at the common characteristics of leaf surface topdressing and herbicide spraying in the intertillage stage, and simultaneously realizes variable spraying of the leaf fertilizer and the herbicide, so that the working efficiency is improved, and the influence on the soil texture and crops caused by repeated walking of a spraying vehicle is avoided.
Description
Technical Field
The invention relates to the technical field of simultaneous application of pesticide and fertilizer, in particular to a control method and a device for simultaneous application of pesticide and fertilizer.
Background
With the attention of people on environmental protection, the quality safety of agricultural products and the serious shortage of labor resources, the mechanized application level of the pesticide fertilizer and the feeding amount of the pesticide fertilizer are required to be improved as much as possible, but the reduction of the feeding amount of the pesticide fertilizer cannot be achieved at the cost of sacrificing the plant protection and control effect and the nutrition supplement of crops, but the aim of improving the yield and the quality of grains is finally achieved on the basis of improving the effective utilization rate of the sprayed pesticide fertilizer.
Aiming at the problems that in the current field weed removing and intertillage topdressing operation, the weed removing and the crop fertilizing are required to be carried out separately, so that the operation machinery enters the field for multiple times to cause great damage to crops and soil. Based on the control method, pesticide and foliar fertilizer are sprayed respectively according to requirements, so that the frequency of the operation machine entering the field is reduced, and the control method has important significance for the maintenance of crops and soil.
Disclosure of Invention
The invention provides a control method for simultaneous application of pesticide and fertilizer and a device for simultaneous application of pesticide and fertilizer, which are used for solving the defect that pesticide and fertilizer cannot be sprayed simultaneously in the prior art.
The invention provides a control method for simultaneous application of pesticide and fertilizer, which comprises the following steps: acquiring spectral information and image information of crops, and performing image segmentation; establishing a fertilization model decision based on the spectral information and the image information; identifying weeds in the area and establishing a weeding model decision; the spraying position is corrected, and variable spraying is carried out on crops and weeds.
According to the control method for simultaneous application of pesticide and fertilizer provided by the invention, the step of establishing a fertilizer application model decision based on the spectrum information and the image information further comprises the following steps: and performing background correction on the spectral information.
According to the control method for simultaneous application of pesticide and fertilizer provided by the invention, the step of establishing a fertilizer application model decision based on the spectrum information and the image information further comprises the following steps: and fusing the growth state parameters of the crops.
According to the control method for simultaneous application of pesticide and fertilizer provided by the invention, the step of establishing a fertilizer application model decision based on the spectrum information and the image information further comprises the following steps: determining the flow of the foliar fertilizer required by the growth of crops, acquiring the position information of the crops, and mixing the foliar fertilizer in real time according to the proportion.
According to the control method for simultaneous application of pesticide and fertilizer provided by the invention, the step of establishing a fertilizer application model decision based on the spectrum information and the image information further comprises the following steps: and acquiring the duty ratio and the pulse frequency of the electromagnetic valve of the foliar fertilizer.
According to the control method for applying pesticide and fertilizer simultaneously provided by the invention, the steps of identifying weeds in the area and establishing a weeding model decision further comprise: and acquiring the position information, the coverage area and the density degree information of the weeds.
According to the control method for applying pesticide and fertilizer simultaneously provided by the invention, the steps of identifying weeds in the area and establishing a weeding model decision further comprise: estimating the spraying position of the herbicide, and proportionally mixing the herbicide.
According to the control method for applying pesticide and fertilizer simultaneously provided by the invention, the steps of identifying weeds in the area and establishing a weeding model decision further comprise: and acquiring the duty ratio and pulse frequency of the solenoid valve of the herbicide.
According to the control method for simultaneous application of the pesticide and the fertilizer, provided by the invention, the method further comprises the following steps: the electromagnetic valve for controlling the foliar fertilizer and the electromagnetic valve for controlling the herbicide are opened alternately.
The invention also provides a device for executing the control method for simultaneously applying the pesticide and the fertilizer, which comprises the following steps: the system comprises a spraying vehicle, a GPS positioning system, a spectrum sensor and an RGB sensor, wherein the spraying vehicle is provided with the GPS positioning system, the spectrum sensor and the RGB sensor; the liquid mixing tank is arranged on the spraying vehicle; the spray rod mechanism is connected with the liquid mixing tank; the valve body mechanism is connected with the liquid mixing box; the variable rate fertilization control mechanism is in communication connection with the spectrum sensor and the RGB sensor, and is connected with the liquid mixing box and the valve body mechanism.
The control method for applying the pesticide and the fertilizer simultaneously aims at the common characteristics of leaf surface topdressing and herbicide spraying in the intertillage stage, and simultaneously realizes variable spraying of the leaf fertilizer and the herbicide, so that the working efficiency is improved, and the influence on the soil texture and crops caused by repeated walking of a spraying vehicle is avoided.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a flow chart of a control method for simultaneous application of pesticide and fertilizer provided by the invention;
FIG. 2 is a second flowchart of the control method for simultaneous application of pesticide and fertilizer provided by the present invention;
FIG. 3 is a schematic diagram of the installation positions of the spectrum sensor and the RGB sensor provided by the invention;
FIG. 4 is a schematic structural diagram of a device for simultaneous application of pesticide and fertilizer provided by the present invention;
reference numerals:
10: a liquid mixing tank; 20: a spray rod mechanism; 30: a valve body mechanism;
40: a variable rate fertilization control mechanism; 50: a GPS positioning system; 60: a spectral sensor;
70: a lifting mechanism; 80: an RGB sensor; 100: a spraying vehicle.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The control method for simultaneous application of pesticide and fertilizer and the device for simultaneous application of pesticide and fertilizer according to the present invention are described below with reference to fig. 1 to 4.
As shown in fig. 1, in an embodiment of the present invention, a method for controlling simultaneous application of pesticide and fertilizer comprises:
step 01: and acquiring spectral information and image information of the crops, and performing image segmentation.
Specifically, the spectral information and the image information of the crops comprise the shapes, the positions and the colors of the crops, the shapes, the positions and the colors of weeds and the colors of soil, and then the images are segmented into the crops, the weeds and the soil according to the shapes, the positions, the colors of the crops and the weeds and the colors of the soil so as to facilitate later identification and analysis.
Step 02: and establishing a fertilization model decision based on the spectral information and the image information.
Specifically, background correction is carried out on spectral information of crops, so that interference of a soil background is weakened, inversion accuracy of crop growth information is enhanced, then crop growth state parameters are fused, the spectral sensor and the RGB sensor can acquire characteristic parameters of relative positions, forms, colors and the like of the crops, reflection spectral information of crop canopies can be effectively acquired, state parameters representing the growth of the crops are acquired in real time, the growth state parameters are in inverse proportion to leaf fertilizer flow, and crops with large growth state parameters can spray a small amount of leaf fertilizer. The GPS positioning system can acquire the position of the crop in real time, the variable fertilizing control mechanism mixes the liquid of the foliar fertilizer according to the growth state parameters of the crop in the area, and then the duty ratio and the pulse frequency of the electromagnetic valve of the foliar fertilizer are acquired.
Step 03: and identifying weeds in the area and establishing a weeding model decision.
Specifically, image information in an area is acquired in real time through an RGB sensor, and through image segmentation, corrosion, connected domain detection, morphological parameter identification, weed information segmentation in the image area, a GPS positioning system is fused, position information, coverage area and density degree of weeds in the area are acquired in real time, then the spraying position and flow of herbicide are estimated, the position of weeds between adjacent rows is acquired, and the spraying area is cooperated. Mixing the herbicide in proportion in real time to obtain the duty ratio and pulse frequency of the electromagnetic valve of the herbicide.
Step 04: the spraying position is corrected, and variable spraying is carried out on crops and weeds.
Specifically, the positioning of the spraying machine in the field is mainly carried out by a GPS positioning system, the phase center of an antenna of a GPS receiver is taken as an origin coordinate, theta is a driving course angle, W is the transverse deviation of the installation of the sensor, and L is1For longitudinal mounting deviations, H1Height of the antenna phase center from the ground, H2And for the installation height of the sensor, establishing a transition matrix to realize the positioning of a sensor area and a spraying area, and realizing the correction of an actual spraying position and a theoretical spraying position through the hysteresis correction of a liquid loop system. The correction matrix of the actual spraying position and the theoretical spraying position is as follows:
wherein, PsampleTo the actual spraying position, PGPSIs the theoretical spraying position.
Let MssmpleTransition matrix, M, from image sampling area to GPS location pointsprayerAnd the transition matrix from the sampling area to the spraying area realizes the geometric position transmission of the sampling area and the spraying area through the geometric relationship among the coordinate points.
The self-adaptive grid algorithm is coupled with the area variation coefficient, and the calculation formula is as follows:
wherein CV is the coefficient of variation of the output variable, CVgrassCoefficient of variation, CV, identified for weed diagnosiscropF (x, y, w, h) is a constraint function of the area grid for the variation coefficient of the crop growth diagnosis, wherein (x, y) is the coordinate position of the lower left corner position in the WGS84 coordinate system, (w, h) is the positioning coordinate of the relative operation sampling area, and beta1For crop coverage, beta2The coverage of the field weeds is achieved.
According to the parameters of the growth vigor and the weed area of the crop field, the area with small growth variation is larger in management grid, the sampling frequency is lower, the spraying area is small, and the real-time performance of the system is higher; the area with larger growth variation coefficient has smaller management grid and higher sampling frequency, balances the relation between the sampling precision and the response time, reduces the response time of the system and improves the sampling precision.
Furthermore, variable spraying can be carried out on the crops in each area according to the growth state parameters of the crops in each area in the same field, for example, the crops in the area with larger growth state parameters have better growth and can spray less foliar fertilizer, while the crops in the area with smaller growth state parameters have poorer growth and can spray more foliar fertilizer. Furthermore, a spraying rod mechanism is arranged on the spraying machine, the spraying rod mechanism judges the actual spraying amount according to the output parameters of a sensor system in the same spraying strip area, two spray heads are arranged at two ends of the spraying rod mechanism in the same spraying strip area, one liquid loop realizes the spraying of herbicide, the other liquid loop realizes the spraying of foliar fertilizer, and the intertillage topdressing and weed removal are carried out simultaneously.
The control method for simultaneous application of the pesticide and the fertilizer, provided by the embodiment of the invention, aims at the common characteristics of foliar topdressing and herbicide spraying in an intertillage stage, and simultaneously realizes variable spraying of the foliar fertilizer and the herbicide, so that the working efficiency is improved, and the influence on the soil texture and crops caused by repeated walking of operation machinery is avoided. Meanwhile, the self-adaptive grid method division of the operation area is realized by coupling the variation coefficients of decision variables such as crop growth decision variables and weed growth position areas with grids of the operation area, so that the sampling precision of a control system is improved, and the response time of spraying operation is also reduced.
As shown in fig. 2, in an embodiment of the present invention, the step of establishing a fertilization model decision based on the spectral information further includes: and carrying out background correction on the spectral information.
Specifically, parameters such as row spacing and plant spacing of prior planting are utilized to assist image segmentation to obtain a crop coverage area, so that point spectrum information of a co-located area is corrected in real time through coverage area information, interference of a soil background is weakened, and inversion accuracy of crop growth information is enhanced.
In one embodiment of the present invention, the step of establishing a fertilization model decision based on the spectral information further comprises: and fusing the growth state parameters of the crops.
In particular, when the spectral sensor is measuring over a crop canopy, let the spectral sensor measure an initial calibration phase t1The electrical signal of the solar incident light at the characteristic wavelength point is
Wherein
Initial stage of operation t1When the white board is corrected at the moment, the electrical signal of the reflected light of the vegetation with the wavelength in the operation stage is
The electrical signal of the incident light of the vegetation with the wavelength of the working stage is
The spectral reflectance at a particular wavelength point is a function of time:
the method is simplified as follows:
wherein R isλIs the reflectivity of the lambda band, A is the initial correction time t1When the white board is corrected at the moment, the incident light radiation intensity of the sun collected by the upper sensor is t1The white board reflected light radiation intensity collected by the downward sensor at any moment, the C is the time series of the light radiation intensity values of the crop reflected light collected downward, the D is the time series of the solar incident light radiation intensity values collected by the upward sensor, and the k is the ambient light perception coefficient, so that when the illumination changes, the ambient light correction coefficient can inhibit the influence of the illumination change on the crop canopy reflectivity detection to a certain extent.
As shown in fig. 3, the single-point spectrum sensor 60 can measure the reflectivities of the red light region 610nm, the red valley region 680nm, the red edge regions 730 and 760nm, and the near infrared regions 810 and 860nm, and calculate the index of the two vegetation indexes NDVI and NDRE as the input parameters of the nitrogen nutrition diagnostic model according to different combinations of visible light, red edge and near infrared light.
Wherein NDVI is a normalized vegetation index; NDRE is a normalized difference red-edge normalized vegetation index; rnirThe reflectivity at the characteristic wavelength of near infrared light of 860 nm; rreReflectance at the red edge characteristic wavelength 730; rrThe reflectance at the characteristic wavelength 730 of visible light.
The RGB sensor 80 is used for detecting the growth information of the crops among rows and obtaining the coverage of the area TCoverageThe green channel specific value of the color characteristic is 2G-R-B, and the growth information of the crops is based on the chlorophyll content Q of canopy inversion:
Q(x,y)＝k1*NDVI+k2*NDRE+k3*TCoverage+k4*(2G-R-B)
the k1, k2, k3 and k4 are regression coefficients of chlorophyll as reference variables and weight systems of all parameters in output decision variables, and correction parameters of vegetation indexes and laboratory light splitting breadth measurement values are established by collecting passive light sources and spectral sensor canopy reflectivity through pre-experiments.
Further, in an embodiment of the present invention, the step of establishing a fertilization model decision based on the spectral information further includes: determining the flow of the foliar fertilizer required by the growth of crops, acquiring the position information of the crops, and mixing the foliar fertilizer in real time according to the proportion.
Specifically, the flow rate of the foliar fertilizer required by the growth of the crops is determined according to the growth vigor of the crops, a small amount of foliar fertilizer can be sprayed in a crop area with large growth state parameters of the crops, and more foliar fertilizer can be sprayed in a crop area with small growth state parameters. Furthermore, the position information of the crops can be acquired by using a GPS positioning system, and then the foliar fertilizer is mixed in real time to prepare for variable spraying.
Further, in an embodiment of the present invention, the step of establishing a fertilization model decision based on the spectral information further includes: and acquiring the duty ratio and the pulse frequency of the electromagnetic valve of the foliar fertilizer.
Specifically, the variable fertilization control mechanism mainly controls the on-off time of the high-speed electromagnetic valve by adjusting the pulse frequency and the duty ratio of the electromagnetic valve to realize the adjustment of the target spraying amount, thereby realizing the fixed-point application of the foliar fertilizer as required. In the variable spraying execution link, a target control sequence of the electromagnetic valve duty ratio and the pulse switching frequency is combined with a fuzzy control theory on the basis of variable spraying and a transfer function to construct a variable fertilization control mechanism, formulate a fuzzy control rule, debug and optimize control performance, set initial control parameters and realize variable spraying of the foliar fertilizer.
In one embodiment of the present invention, the step of identifying weeds within the area and establishing a weed model decision further comprises: acquiring position information, coverage area and density degree information of weeds; estimating the spraying position of the herbicide, and proportionally mixing the herbicide.
Specifically, by means of prior parameters such as the growth period of row spacing and plant spacing of crop cultivation, the position of weeds among crop rows is identified, the density degree and morphological parameters are identified, and spraying decision parameters are quantized, the segmentation among a soil background, crops and weeds is realized by adopting image texture, morphology and color characteristics, the identification and quantization of the weeds are realized, and the targeted variable spraying of the herbicide is further guided.
Specifically, the spectral sensor 60 is a sensor capable of obtaining a reflected light radiation intensity value at a Near Infrared (NIR) wavelength of crop canopy 610, 680, 730, 760, 810 and 860nm and an RGB color image, and is capable of detecting crop growth nutrition information and weed growth information in a field angle region in real time. The spectral sensor 60 is used for realizing the identification of the growth vigor of row crops and weeds in the strip area between rows, the RGB sensor 80 and the spectral sensor 60 are used for detecting the growth vigor information of the row crops in real time, the image segmentation is used for weakening the interference of the soil background in the spectral reflectivity of the canopy layer of the homotopic crops, and in addition, the position, the coverage area, the density and other information of the weeds between rows are obtained in real time through the shape parameters, the color characteristics and the position identification of the crops and the weeds, so that a variable fertilization control mechanism is guided to realize the quantitative and fixed-point application of the foliar fertilizer and the herbicide as required.
Obtaining image information of weeds through the RGB sensor 80, outputting weed position P through image segmentation, corrosion, maximum connected domain detection, and fusion of GPS information and visual informationgrassWeed density TdensityIn-field weed coverage TcorverageThe parameters are equal, the spraying of the rear end spray rod is controlled to carry out variable spraying on the target through weed detection, the concentration of the mixed liquid of the herbicide is q, the growth position of the weeds is P (x, y), k5Normalized parameter, k, of reciprocal distance between centroid of bounding box of maximum boundary outside weeds and center of crop plant6Ratio of weed growth density to crop plant growth density, k7The ratio of the coverage of weeds to the coverage of plants in the area
F(q,P(x,y))∝k5*Pgrass+k6*Tdensity+k7*Tcoverage
Weed identification and decision parameter quantification can realize targeted variable spraying of the herbicide, so that the utilization efficiency of the herbicide is improved to the maximum extent, and the problems of waste and environmental pollution caused by extensive spraying are reduced.
The control method for simultaneous application of pesticide and fertilizer provided by the embodiment of the invention fully utilizes the single-point spectrum sensor and the RGB sensor, can effectively obtain the reflection spectrum information of the crop canopy and obtain the state parameters representing the growth vigor of the crops in real time by obtaining the characteristic parameters of the relative position, the form color and the like of the crops, obtains the image information in the operation area in real time by the RGB sensor, and realizes the acquisition of the weed growth information by image segmentation, corrosion, connected domain detection, form parameter identification, weed information segmentation in the image area, RTK-DGPS positioning information fusion and real-time acquisition of the position, the coverage area, the weed growth density and other decision parameters of the weeds in the operation area.
Further, in one embodiment of the present invention, the step of identifying weeds in the area and establishing a weed model decision further comprises: and acquiring the duty ratio and pulse frequency of the solenoid valve of the herbicide.
Specifically, the variable fertilization control mechanism mainly controls the on-off time of the high-speed electromagnetic valve by adjusting the pulse frequency and the duty ratio of the electromagnetic valve to realize the adjustment of the target spraying amount, thereby realizing the fixed-point application of the herbicide as required. On the basis of variable spraying and transfer functions, a target control sequence of the duty ratio and the pulse switching frequency of the electromagnetic valve in an execution link of variable spraying is combined with a fuzzy control theory and a PID control technology to construct a variable fertilization control mechanism, a fuzzy control rule is formulated, the control performance is debugged and optimized, initial control parameters are set, and variable spraying of the herbicide is realized.
In one embodiment of the invention, the control method for simultaneous application of the pesticide and the fertilizer further comprises the following steps: the electromagnetic valve for controlling the foliar fertilizer and the electromagnetic valve for controlling the herbicide are opened alternately.
Specifically, when the herbicide and the foliar fertilizer need to be applied to the same operation management area at the same time, the herbicide and the foliar fertilizer collide and condense to influence the deposition characteristic of fog drops, so that the crop nutrition supplement and weed removal performance are further influenced, therefore, the spraying time reference between the herbicide and the foliar fertilizer is established to realize staggered application between the herbicide and the foliar fertilizer, namely when the electromagnetic valve of the foliar fertilizer is opened, the electromagnetic valve of the herbicide is closed; when the electromagnetic valve of the foliar fertilizer is closed, the electromagnetic valve of the herbicide is opened, and in the staggered application process, the opening frequency of the electromagnetic valve is higher, so that the relative displacement in the same pulse period can be subjected to fault tolerance, the problem of fog drop spraying interference is avoided, and the foliar fertilizer and the herbicide in the same operation area are relatively synchronously sprayed.
As shown in fig. 4, an embodiment of the present invention further provides a device for simultaneously applying a pesticide and a fertilizer, including: the spraying vehicle 100, the liquid mixing tank 10, the spray rod mechanism 20, the valve body mechanism 30, the variable rate fertilization control mechanism 40, the GPS positioning system 50 and the spectrum sensor 60.
Specifically, the spraying vehicle 100 is provided with a GPS positioning system 50, and the GPS positioning system 50 is used for acquiring the positions of crops and weeds. The spectrum sensor 60 and the RGB sensor 80 are arranged in front of the spraying vehicle 100, and the spectrum sensor 60 and the RGB sensor 80 are used for detecting crop growth nutrition information and weed growth information in a view field angle area in real time, and can be used for distinguishing the growth of row crops and identifying weeds in a strip area between rows. The liquid mixing box 10 is arranged on the spraying vehicle 100, an interlayer is arranged in the liquid mixing box 10 and used for containing foliar fertilizer and herbicide, and the liquid mixing box 10 can also realize the mixing of clear water and spraying medium through the on-off of the valve body mechanism 30. The spray rod mechanism 20 is connected with the liquid mixing tank 10 and forms two liquid loops, wherein one liquid loop is used for spraying foliar fertilizer, and the other liquid loop is used for spraying herbicide. The spray rod mechanism 20 judges the actual spraying amount according to the output parameters of the spectrum sensor 60 in the same spraying strip area, two spray heads are installed at two ends of the spray rod mechanism 20 in the same spraying strip area, one liquid loop realizes the spraying of herbicide, the other liquid loop realizes the spraying of foliar fertilizer, and the intertillage topdressing and weed removal are carried out simultaneously. The valve body mechanism 30 is connected with the liquid mixing box 10 and used for controlling the on-off between the liquid mixing box 10 and the spray rod mechanism 20, and the variable fertilizing control mechanism 40 is connected with the liquid mixing box 10 and used for variable spraying according to crop growth parameters and weed growth states collected by the spectral sensor 60.
Specifically, the working principle of the device for simultaneously applying the pesticide and the fertilizer provided by the embodiment of the invention is as follows:
the lifting mechanism 70 is arranged in front of the spraying vehicle 100, the plurality of spectrum sensors 60 and the plurality of RGB sensors 80 are arranged at the lower part of the lifting mechanism 70, and the lifting mechanism 70 can adjust the heights of the spectrum sensors 60 and the RGB sensors 80. The GPS positioning system 50 can acquire the actual positions of crops and weeds to correct the actual spraying position and the theoretical spraying position, thereby realizing accurate spraying of fertilization and weeding and improving the effective utilization rate of foliar fertilizers and herbicides.
In the process of the spraying vehicle 100, the spectrum sensor 60 and the RGB sensor 80 acquire the growth information and the image information of crops and weeds and transmit the growth information to the variable fertilization control mechanism 40, and the valve body mechanism 30 comprises a plurality of electromagnetic valves, and each electromagnetic valve is used for controlling the on-off of foliar fertilizer and herbicide. When the GPS positioning system 50 obtains the position of the crop, the variable rate fertilization control mechanism 40 controls the conduction of the electromagnetic valve corresponding to the foliar fertilizer, and the spray rod mechanism 20 sprays the foliar fertilizer; when the GPS positioning system 50 obtains the position of the weeds, the variable rate fertilization control mechanism 40 controls the conduction of the solenoid valve corresponding to the herbicide, and the spray rod mechanism 20 sprays the herbicide.
Further, the variable rate fertilization control mechanism 40 can control the on-off of the electromagnetic valve according to the growth vigor of the crops and the weeds output by the spectrum sensor 60, mix the foliar fertilizer and the herbicide in a corresponding proportion, control the spraying flow rate of the foliar fertilizer and the herbicide according to the growth vigor of the crops and the weeds, and realize variable rate spraying.
The device for simultaneously applying the pesticide and the fertilizer combines the spraying of the foliar fertilizer and the herbicide into a whole, realizes the simultaneous variable spraying of the foliar fertilizer and the herbicide, improves the working efficiency, and simultaneously avoids the damage to soil texture and crops caused by the repeated walking of a spraying vehicle in a field.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A control method for simultaneous application of pesticide and fertilizer is characterized by comprising the following steps:
acquiring spectral information and image information of crops, and performing image segmentation;
establishing a fertilization model decision based on the spectral information and the image information;
identifying weeds in the area and establishing a weeding model decision;
the spraying position is corrected, and variable spraying is carried out on crops and weeds.
2. The method for controlling simultaneous application of pesticide and fertilizer according to claim 1, wherein the step of establishing a fertilization model decision based on the spectral information and the image information further comprises:
and performing background correction on the spectral information.
3. The method for controlling simultaneous application of pesticide and fertilizer according to claim 2, wherein the step of establishing a fertilization model decision based on the spectral information and the image information further comprises:
and fusing the growth state parameters of the crops.
4. The method for controlling simultaneous application of pesticide and fertilizer according to claim 3, wherein the step of establishing a fertilization model decision based on the spectral information and the image information further comprises:
determining the flow of the foliar fertilizer required by the growth of crops, acquiring the position information of the crops, and mixing the foliar fertilizer in real time according to the proportion.
5. The method for controlling simultaneous application of pesticide and fertilizer according to claim 4, wherein the step of establishing a fertilization model decision based on the spectral information and the image information further comprises:
and acquiring the duty ratio and the pulse frequency of the electromagnetic valve of the foliar fertilizer.
6. The method for controlling simultaneous application of pesticide and fertilizer according to claim 5, wherein the step of identifying weeds in the area and establishing a weeding model decision further comprises the steps of:
and acquiring the position information, the coverage area and the density degree information of the weeds.
7. The method for controlling simultaneous application of pesticide and fertilizer according to claim 6, wherein the step of identifying weeds in the area and establishing a weeding model decision further comprises the steps of:
estimating the spraying position of the herbicide, and proportionally mixing the herbicide.
8. The method for controlling simultaneous application of pesticide and fertilizer according to claim 7, wherein the step of identifying weeds in the area and establishing a weeding model decision further comprises the steps of:
and acquiring the duty ratio and pulse frequency of the solenoid valve of the herbicide.
9. The method for controlling simultaneous application of pesticide and fertilizer according to claim 8, further comprising:
the electromagnetic valve for controlling the foliar fertilizer and the electromagnetic valve for controlling the herbicide are opened alternately.
10. A device for executing the control method for simultaneous application of pesticide and fertilizer according to any one of claims 1-9, which is characterized by comprising the following steps:
the system comprises a spraying vehicle, a GPS positioning system, a spectrum sensor and an RGB sensor, wherein the spraying vehicle is provided with the GPS positioning system, the spectrum sensor and the RGB sensor;
the liquid mixing tank is arranged on the spraying vehicle;
the spray rod mechanism is connected with the liquid mixing tank;
the valve body mechanism is connected with the liquid mixing box;
the variable rate fertilization control mechanism is in communication connection with the spectrum sensor and the RGB sensor, and is connected with the liquid mixing box and the valve body mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110665578.9A CN113366956A (en) | 2021-06-16 | 2021-06-16 | Control method for simultaneous application of pesticide and fertilizer and device for simultaneous application of pesticide and fertilizer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110665578.9A CN113366956A (en) | 2021-06-16 | 2021-06-16 | Control method for simultaneous application of pesticide and fertilizer and device for simultaneous application of pesticide and fertilizer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113366956A true CN113366956A (en) | 2021-09-10 |
Family
ID=77574550
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110665578.9A Pending CN113366956A (en) | 2021-06-16 | 2021-06-16 | Control method for simultaneous application of pesticide and fertilizer and device for simultaneous application of pesticide and fertilizer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113366956A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4245137A1 (en) * | 2022-03-18 | 2023-09-20 | Agco Corporation | Systems and methods for applying herbicide to agricultural fields |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102172233A (en) * | 2011-03-04 | 2011-09-07 | 江苏大学 | Method for carrying out real-time identification and targeted spraying on cotton field weeds |
| CN102982486A (en) * | 2012-11-14 | 2013-03-20 | 北京农业信息技术研究中心 | Fertilization decision method based on crop growth remote sensing monitoring information |
| CN103988826A (en) * | 2014-05-20 | 2014-08-20 | 江苏大学 | Toward-target pesticide spraying machine based on spectrum recognizing |
| CN104678928A (en) * | 2013-11-30 | 2015-06-03 | 中国科学院沈阳自动化研究所 | Universal variable operation controller and control method thereof |
| CN206547527U (en) * | 2017-03-14 | 2017-10-13 | 漳浦县桥辉农林专业合作社 | A kind of forest intelligent maintaining system |
| CN107991245A (en) * | 2017-11-01 | 2018-05-04 | 中国农业大学 | A kind of crop spectral information harvester and crop vegetation index acquisition methods |
| CN108009542A (en) * | 2017-11-01 | 2018-05-08 | 华中农业大学 | Weed images dividing method under rape field environment |
| CN108171721A (en) * | 2017-12-04 | 2018-06-15 | 北京农业智能装备技术研究中心 | The target object image extraction method and device of a kind of large scale image |
| CN109459405A (en) * | 2018-10-23 | 2019-03-12 | 南京农业大学 | Spectral index measurement method based on the removal Soil Background interference of narrowband image procossing |
| CN109492619A (en) * | 2018-12-17 | 2019-03-19 | 北京精禾大数据科技有限公司 | Integrate the variable pesticide grown method and system of remote sensing, model, algorithm |
| CN109661979A (en) * | 2017-10-13 | 2019-04-23 | 中国农业机械化科学研究院 | It is a kind of based on the information-based implantation methods for being precisely controlled crop location |
| CN109711272A (en) * | 2018-12-04 | 2019-05-03 | 量子云未来（北京）信息科技有限公司 | Crops intelligent management method, system, electronic equipment and storage medium |
| CN110771591A (en) * | 2019-11-13 | 2020-02-11 | 吉林省农业机械研究院 | Medicine device is spouted to automatic variable based on image recognition |
| CN112699729A (en) * | 2020-12-01 | 2021-04-23 | 北京麦飞科技有限公司 | Unmanned aerial vehicle investigation and attack integrated weeding method |
-
2021
- 2021-06-16 CN CN202110665578.9A patent/CN113366956A/en active Pending
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102172233A (en) * | 2011-03-04 | 2011-09-07 | 江苏大学 | Method for carrying out real-time identification and targeted spraying on cotton field weeds |
| CN102982486A (en) * | 2012-11-14 | 2013-03-20 | 北京农业信息技术研究中心 | Fertilization decision method based on crop growth remote sensing monitoring information |
| CN104678928A (en) * | 2013-11-30 | 2015-06-03 | 中国科学院沈阳自动化研究所 | Universal variable operation controller and control method thereof |
| CN103988826A (en) * | 2014-05-20 | 2014-08-20 | 江苏大学 | Toward-target pesticide spraying machine based on spectrum recognizing |
| CN206547527U (en) * | 2017-03-14 | 2017-10-13 | 漳浦县桥辉农林专业合作社 | A kind of forest intelligent maintaining system |
| CN109661979A (en) * | 2017-10-13 | 2019-04-23 | 中国农业机械化科学研究院 | It is a kind of based on the information-based implantation methods for being precisely controlled crop location |
| CN108009542A (en) * | 2017-11-01 | 2018-05-08 | 华中农业大学 | Weed images dividing method under rape field environment |
| CN107991245A (en) * | 2017-11-01 | 2018-05-04 | 中国农业大学 | A kind of crop spectral information harvester and crop vegetation index acquisition methods |
| CN108171721A (en) * | 2017-12-04 | 2018-06-15 | 北京农业智能装备技术研究中心 | The target object image extraction method and device of a kind of large scale image |
| CN109459405A (en) * | 2018-10-23 | 2019-03-12 | 南京农业大学 | Spectral index measurement method based on the removal Soil Background interference of narrowband image procossing |
| CN109711272A (en) * | 2018-12-04 | 2019-05-03 | 量子云未来（北京）信息科技有限公司 | Crops intelligent management method, system, electronic equipment and storage medium |
| CN109492619A (en) * | 2018-12-17 | 2019-03-19 | 北京精禾大数据科技有限公司 | Integrate the variable pesticide grown method and system of remote sensing, model, algorithm |
| CN110771591A (en) * | 2019-11-13 | 2020-02-11 | 吉林省农业机械研究院 | Medicine device is spouted to automatic variable based on image recognition |
| CN112699729A (en) * | 2020-12-01 | 2021-04-23 | 北京麦飞科技有限公司 | Unmanned aerial vehicle investigation and attack integrated weeding method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4245137A1 (en) * | 2022-03-18 | 2023-09-20 | Agco Corporation | Systems and methods for applying herbicide to agricultural fields |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111399508B (en) | Intelligent agriculture system and intelligent agriculture method | |
| Tian et al. | Development of a precision sprayer for site-specific weed management | |
| Pallottino et al. | Optoelectronic proximal sensing vehicle-mounted technologies in precision agriculture: A review | |
| Lamb | The use of qualitative airborne multispectral imaging for managing agricultural crops-a case study in south-eastern Australia | |
| Fountas et al. | Precision agriculture: Crop management for improved productivity and reduced environmental impact or improved sustainability | |
| CN108693119A (en) | Pest and disease damage based on unmanned plane high-spectrum remote-sensing intelligently examines the system of beating | |
| CN111066442B (en) | Targeted variable fertilization method and device for corn and application | |
| Kang et al. | An automated trailer sprayer system for targeted control of cutworm in vineyards | |
| Ozdemir et al. | Precision Viticulture tools to production of high quality grapes. | |
| Al-Arab et al. | Use of high-resolution multispectral imagery from an unmanned aerial vehicle in precision agriculture | |
| CN113366956A (en) | Control method for simultaneous application of pesticide and fertilizer and device for simultaneous application of pesticide and fertilizer | |
| Moradi et al. | UAV-based smart agriculture: A review of UAV sensing and applications | |
| De Baerdemaeker et al. | Mechatronic systems, communication, and control in precision agriculture | |
| Pisman et al. | Spatial distribution of NDVI seeds of cereal crops with different levels of weediness according to PlanetScope satellite data | |
| Barela et al. | Applications of proximal remote sensing in agriculture: A review | |
| Hong et al. | Adaptive target spray system based on machine vision for plant protection UAV | |
| Auernhammer et al. | 10 State of the Art and Future Requirements | |
| Volterrani et al. | Effects of nitrogen nutrition on bermudagrass spectral reflectance | |
| Hallik et al. | Proximal sensing sensors for monitoring crop growth | |
| Taylor et al. | Applications of optical sensing of crop health and vigour | |
| Ibiev et al. | Unmanned aerial vehicles (UAVs)-One of the digitalization and effective development segments of agricultural production in modern conditions | |
| de la Fuente et al. | Potentiality of World-View 2 data for precision agriculture | |
| Maitra et al. | Application of Remote Sensing & Geographic Information Systems for Agriculture-A Review | |
| Divya et al. | Newfangled Immaculate IoT-Based Smart Farming and Irrigation System | |
| Arkun et al. | Hyperspectral remote sensing for vineyard management |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210910 |
|
| RJ01 | Rejection of invention patent application after publication |