CN115061168A - Mobile inspection type crop growth monitoring system and method - Google Patents
Mobile inspection type crop growth monitoring system and method Download PDFInfo
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- CN115061168A CN115061168A CN202210743996.XA CN202210743996A CN115061168A CN 115061168 A CN115061168 A CN 115061168A CN 202210743996 A CN202210743996 A CN 202210743996A CN 115061168 A CN115061168 A CN 115061168A
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
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- G06T3/4038—Scaling the whole image or part thereof for image mosaicing, i.e. plane images composed of plane sub-images
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- G06T2207/10—Image acquisition modality
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Abstract
The invention relates to the technical field of crop monitoring, and discloses a mobile inspection type crop growth monitoring system, which comprises: a mobile robot platform; the sampling module is arranged on the mobile robot platform and used for moving according to the indication of the sampling control signal to obtain a sampling image; the cloud server is used for analyzing the target crops in the sampling image and storing the analysis result; the terminal controller is used for sending the sampling image to the cloud server and sending a sampling control signal to the sampling module, the mobile robot platform can be controlled to move in a crop area, the sampling module is driven to rapidly acquire the sampling image of the target crop through the terminal controller, then the sampling image shot by the sampling module is received by the cloud server, the growth condition analysis of the target crop is automatically completed, the level and the efficiency of agricultural monitoring are improved, the management cost of all crops in the large-area crop area is reduced, and the modern agricultural monitoring is realized.
Description
Technical Field
The invention relates to the technical field of crop monitoring, in particular to a mobile inspection type crop growth monitoring method and system.
Background
China has a large population base and a large demand for grains, and in recent years, crop planting develops towards large-scale and intensive directions and the planting area is wide. With the change of global warming and farming system, the crop diseases and insect pests have frequent threats, and meanwhile, the crop growth is a main information source for estimating and predicting the grain yield.
Traditional crop monitoring mainly depends on manual regular inspection or fixed monitoring instruments for monitoring. The method not only wastes manpower, but also has poor monitoring effect, can not effectively and accurately monitor a large crop area in a large scale, can not find the growth vigor and the plant diseases and insect pests in time, can not solve the possible problems in the crop growth process, and finally can cause crop yield reduction.
If the problem cannot be solved fundamentally only by increasing the manual periodical inspection force or increasing the number of fixed monitoring instruments, the investment is large, the height and the form of crops are likely to change as the crops grow all the time, and the regions of the crops are increased to increase the planting of other crops, so the workload of the manual periodical inspection is heavy, each crop is difficult to monitor in an all-round way, the fixed monitoring instruments are adopted for monitoring, the increase in the number or the posture adjustment is needed, and the problem is urgently solved when the later massive maintenance cost is increased suddenly.
Disclosure of Invention
The invention aims to provide a mobile inspection type crop growth monitoring method and system, which solve the following technical problems:
how to improve the level and the efficiency of agricultural monitoring and reduce the management cost of all crops in a large-area crop area.
The purpose of the invention can be realized by the following technical scheme:
a remove and patrol and examine formula crops growth monitoring system includes:
a mobile robotic platform for controlled movement within a crop area;
the sampling module is arranged on the mobile robot platform and used for moving according to the instruction of the sampling control signal to obtain a sampling image;
the cloud server is used for analyzing the target crops in the sampling image and storing the analysis result;
and the terminal controller is used for sending the sampling image to the cloud server and sending a sampling control signal to the sampling module.
Through the technical scheme, the mobile robot platform can be controlled to move in the crop area, the terminal controller drives the sampling module to rapidly acquire the sampling image of the target crop, the cloud server receives the sampling image shot by the sampling module, and the growth condition analysis of the target crop is automatically completed, so that the level and the efficiency of agricultural monitoring are improved, the management cost of all crops in the large-area crop area is reduced, the manpower is greatly saved, and the modern agricultural monitoring is realized.
As a further scheme of the invention: the sampling module comprises a camera shooting unit and a telescopic driving unit;
and the telescopic driving unit is connected with the terminal controller and is used for adjusting the position of the camera shooting unit according to the sampling control signal.
According to the technical scheme, if the target crops are in the growth and juvenile stage and the plants are not very large, the position of the camera unit can be higher when the camera unit shoots and records the target crops, a sampling control signal for lowering the camera unit can be sent out through the terminal controller, and after the telescopic driving unit receives the sampling control signal, the height of the camera unit is adjusted through rotation of the motor inside the telescopic driving unit; if the position of the camera shooting unit is low, a sampling control signal for increasing the camera shooting unit can be sent out through the terminal controller, so that a sampling picture which can contain the complete appearance of the target crop is obtained;
as a further scheme of the invention: the terminal controller is further used for splicing the plurality of sampling images of the target crops into a complete image and uploading the complete image to the cloud server.
Through the technical scheme, if the target crop is in the middle and later growth stages, the height of the plant is high, the shooting range of the camera unit is limited, the target crop cannot be completely recorded by one picture at the moment, the telescopic driving unit can be driven to adjust the height of the camera unit for multiple times at the moment, two or more pictures are recorded, the pictures are spliced during uploading, and a complete image of the plant from bottom to top is presented; additionally, if can carry out the sampling when shooing to a plurality of target crops in a certain position, rotatable camera unit's shooting direction makes its camera 360 internal rotations stop until discerning the crop position, carries out image acquisition.
As a further scheme of the invention: the Beidou positioning module is arranged on the mobile robot platform and used for acquiring real-time position information of the mobile robot platform;
the terminal controller is connected with the Beidou positioning module, and when the real-time position information conforms to the preset position information, the terminal controller sends the sampling control signal.
Through above-mentioned technical scheme, can acquire the real-time position information of mobile robot platform by big dipper orientation module, predetermine position information and can store in cloud ware or terminal control ware, when mobile robot platform reachs the position that predetermines position information and represent, alright stop mobile robot platform's motion, then start sampling module and shoot target crops.
As a further scheme of the invention: the Beidou positioning module further comprises a path planning module;
the path planning module is used for counting the positions of all target crops in the target crop area and setting a plurality of monitoring points;
the preset position information is the position information of the monitoring point;
and taking one monitoring point as a base point as a starting point of the mobile robot platform.
According to the technical scheme, the number of the monitoring points can be set in advance according to the area of the crop area, one monitoring point is used as a base point, the mobile robot platform can start from the base point at a set time every day through the Beidou positioning module, and after the target crops are sampled, shot, analyzed and stored at the base point, the Beidou positioning module can guide the mobile robot platform to move to other monitoring points for shooting and recording data; in the process, according to the moving speed of the mobile robot platform and the distance between adjacent monitoring points, the time points monitored at each monitoring point every day can be obtained; if a plurality of crop state records are needed to be carried out on a certain target crop in one day, the Beidou positioning module can be used for calculating the time needed by reaching the monitoring point from the starting point by taking the base point as the starting point, and then the recording time point of the target crop is set, so that the mobile robot platform can be started in advance to act, and the image acquisition is carried out when the target crop reaches the designated time point.
As a further scheme of the invention: the path planning module is used for planning a shortest inspection path according to the positions of the monitoring points and driving the mobile robot platform to sample and shoot the target crops along the shortest inspection path.
Through the technical scheme, when the mobile robot platform is started for the first time for inspecting and monitoring crops in the crop area, the position information of all target crops in the crop area can be counted and recorded, and then shooting angle coverage of all target crops is completed under the condition of selecting the minimum monitoring points, so that a large amount of target crops can be sampled, the sampling efficiency is greatly improved, and the sampling time is saved.
As a further scheme of the invention: the sampling module further comprises a crop identification module;
the crop identification module is used for receiving the sampling image and automatically screening the sampling image containing the target crop;
the cloud server comprises a decision model;
and the decision model is used for receiving the sampling image and acquiring the crop phenotype information of the target crop according to the sampling image.
Through the technical scheme, the crop recognition module is used for judging whether the sampling image contains the target crop or not, the photo can be automatically deleted at the moment because the situation that the target crop is not shot in the sampling image possibly exists, if a plurality of target crops exist in the sampling image, the sampling image can be subjected to screenshot and the geographical position information of the target crop in the screenshot can be marked, so that the decision-making model can be conveniently aligned for analyzing and confirming the attribution of the analysis result.
The crop recognition module and the decision model can adopt related technologies of a neural network model, intelligent recognition is carried out according to the sampling picture or the screenshot of the sampling picture containing the single target crop, and only corresponding training samples are needed to be adopted for training the sampling picture and the screenshot in the early stage.
As a further scheme of the invention: the cloud server comprises a database for storing the growth state of crops in each growth stage in advance;
the decision model is also used for judging the growth stage of the target crop according to the crop phenotype information, comparing the growth state of the crop at the growth stage in the database, and recording and generating a decision result;
the mobile terminal is used for receiving the decision result.
By the technical scheme, after the growth stage of the target crop is confirmed, the corresponding decision result is called from the database and can be directly pushed to the worker, the decision result comprises the treatment method and the specific position of the target crop, and the worker can quickly arrive at the site to finish efficient treatment.
As a further scheme of the invention: the crop phenotype information includes:
the growth vigor of the crops in different growth stages, the color and the size of leaves of the crops in different growth stages, buds or buds of the crops in a propagation period and fruits of the crops.
The invention has the beneficial effects that:
(1) through the technical scheme, the mobile robot platform can be controlled to move in the crop area, the terminal controller drives the sampling module to quickly acquire the sampling image of the target crop, the cloud server receives the sampling image shot by the sampling module, and the growth condition analysis of the target crop is automatically completed, so that the level and the efficiency of agricultural monitoring are improved, the management cost of all crops in the large-area crop area is reduced, and the modern agricultural monitoring is realized;
(2) if the target crops are in the growth and young stage and the plants are not very large, the position of the camera unit can be higher when the camera unit shoots and records the target crops, a sampling control signal for lowering the camera unit can be sent out through the terminal controller, and after the telescopic driving unit receives the sampling control signal, the height of the camera unit is adjusted by rotating an internal motor of the telescopic driving unit; if the position of the camera shooting unit is low, a sampling control signal for increasing the camera shooting unit can be sent out through the terminal controller, so that a sampling picture which can contain the complete appearance of the target crop is obtained;
(3) if the target crop is in the middle and later growth stages, the height of the plant is high, the shooting range of the camera shooting unit is limited, the target crop cannot be completely recorded by one picture, the telescopic driving unit can be driven to adjust the height of the camera shooting unit for multiple times at the moment, two or more pictures are recorded, and the pictures are spliced during uploading to present a complete image of the plant from bottom to top; additionally, if a plurality of target crops can be sampled and shot at a certain position, the shooting direction of the camera unit can be rotated, so that the camera can rotate for 360 degrees until the crop position is identified and stopped, and image acquisition is carried out; the Beidou positioning module can be used for acquiring real-time position information of the mobile robot platform, preset position information can be stored in the cloud server or the terminal controller, when the mobile robot platform reaches a position represented by the preset position information, the movement of the mobile robot platform can be stopped, and then the sampling module is started to shoot target crops;
(4) the number of the monitoring points can be set in advance according to the area of the crop area, one monitoring point is used as a base point, the mobile robot platform can start from the base point at a set time every day through the Beidou positioning module, and after the target crops are sampled, shot, analyzed and stored at the base point, the Beidou positioning module can guide the mobile robot platform to move to other monitoring points to take pictures and record data; in the process, according to the moving speed of the mobile robot platform and the distance between adjacent monitoring points, the time points monitored at each monitoring point every day can be obtained; if a plurality of crop state records are needed to be carried out on a certain target crop in one day, the Beidou positioning module can be used for calculating the time needed by reaching the monitoring point from the starting point by taking the base point as the starting point, and then the recording time point of the target crop is set, so that the mobile robot platform can be started in advance to act, and the image acquisition is carried out when the target crop reaches the designated time point.
Drawings
The invention will be further described with reference to the accompanying drawings.
Fig. 1 is a connection diagram of basic modules of the mobile inspection type crop growth monitoring system.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
Referring to fig. 1, the present invention is a mobile inspection type crop growth monitoring system, including:
a mobile robotic platform for controlled movement within a crop area;
the sampling module is arranged on the mobile robot platform and used for moving according to the indication of the sampling control signal to obtain a sampling image;
the cloud server is used for analyzing the target crops in the sampling image and storing the analysis result;
and the terminal controller is used for sending the sampling image to the cloud server and sending a sampling control signal to the sampling module.
Through the technical scheme, the mobile robot platform can be controlled to move in the crop area, the terminal controller drives the sampling module to rapidly acquire the sampling image of the target crop, the cloud server receives the sampling image shot by the sampling module, and the growth condition analysis of the target crop is automatically completed, so that the level and the efficiency of agricultural monitoring are improved, the management cost of all crops in the large-area crop area is reduced, and the modern agricultural monitoring is realized.
As a further scheme of the invention: the sampling module comprises a camera shooting unit and a telescopic driving unit;
the telescopic driving unit is connected with the terminal controller and used for adjusting the position of the camera unit according to the sampling control signal.
According to the technical scheme, if the target crops are in the growth and juvenile stage and the plants are not very large, the position of the camera unit can be higher when the camera unit shoots and records the target crops, a sampling control signal for lowering the camera unit can be sent out through the terminal controller, and after the telescopic driving unit receives the sampling control signal, the height of the camera unit is adjusted through rotation of the motor inside the telescopic driving unit; if the position of the camera shooting unit is low, a sampling control signal for increasing the camera shooting unit can be sent out through the terminal controller, so that a sampling picture which can contain the complete appearance of the target crop is obtained;
as a further scheme of the invention: and the terminal controller is also used for splicing a plurality of sampling images of the target crops into a complete image and uploading the complete image to the cloud server.
Through the technical scheme, if the target crop is in the middle and later growth stages, the height of the plant is high, the shooting range of the camera unit is limited, the target crop cannot be completely recorded by one picture at the moment, the telescopic driving unit can be driven to adjust the height of the camera unit for multiple times at the moment, two or more pictures are recorded, the pictures are spliced during uploading, and a complete image of the plant from bottom to top is presented; additionally, if can carry out the sampling when shooing to a plurality of target crops in a certain position, rotatable camera unit's shooting direction makes its camera 360 internal rotations stop until discerning the crop position, carries out image acquisition.
As a further scheme of the invention: the Beidou positioning module is arranged on the mobile robot platform and used for acquiring real-time position information of the mobile robot platform;
the terminal controller is connected with the Beidou positioning module, and when the real-time position information conforms to the preset position information, the terminal controller sends a sampling control signal.
Through above-mentioned technical scheme, can acquire the real-time position information of mobile robot platform by big dipper orientation module, predetermine position information and can store in cloud ware or terminal control ware, when mobile robot platform reachs the position that predetermines position information and represent, alright stop mobile robot platform's motion, then start sampling module and shoot target crops.
Specifically, the camera unit can adopt 360 pivoted high definition cameras of shooing, flexible drive unit adopts by the flexible electric telescopic handle of driving motor drive, electric telescopic handle passes through U type anchor clamps and fixes with the crossbeam on the mobile robot platform, the high definition camera of shooing is installed in electric telescopic handle's upper end, the terminal control ware is laid in the left side box of mobile robot platform, big dipper orientation module is laid on the whippletree of mobile robot platform front and back. The Beidou positioning module can be connected with the high-definition camera through a data line, the data line of the high-definition camera is communicated with the terminal controller, and a sampling image containing crop phenotype information in the camera register can be transmitted to the terminal controller. The power cord of the driving motor in the electric telescopic rod is communicated with the electric control module on the aluminum rods below the left side and the right side of the frame of the mobile robot platform, and the driving motor can be driven to rotate, so that the height of the rod can be adjusted. The data line of the controller in the electric telescopic rod is communicated with the high-definition camera, after the height of the plant is identified, data are transmitted to the terminal controller, and the terminal controller guides the driving motor to adjust the height of the rod to a proper position, so that the phenotype information of the target crop is completely recorded. As a further scheme of the invention: the Beidou positioning module also comprises a path planning module;
the path planning module is used for counting the positions of all target crops in the target crop area and setting a plurality of monitoring points;
presetting position information as position information of a monitoring point;
and taking one monitoring point as a base point as a starting point of the mobile robot platform.
According to the technical scheme, the number of the monitoring points can be set in advance according to the area of the crop area, one of the monitoring points is used as a base point, the mobile robot platform can start from the base point at a set time every day through the Beidou positioning module, and after the target crops are sampled, shot, analyzed and stored at the base point, the Beidou positioning module can guide the mobile robot platform to move to other monitoring points for shooting and recording data; in the process, according to the moving speed of the mobile robot platform and the distance between adjacent monitoring points, the time points monitored at each monitoring point every day can be obtained; if a plurality of crop state records are needed to be carried out on a certain target crop in one day, the Beidou positioning module can be used for calculating the time needed by reaching the monitoring point from the starting point by taking the base point as the starting point, and then the recording time point of the target crop is set, so that the mobile robot platform can be started in advance to act, and the image acquisition is carried out when the target crop reaches the designated time point.
As a further scheme of the invention: the path planning module is used for planning a shortest routing inspection path according to the positions of the monitoring points and driving the mobile robot platform to sample and shoot the target crops along the shortest routing inspection path.
Through the technical scheme, when the mobile robot platform is started for the first time for monitoring the crop patrol aiming at the crop area, the position information of all target crops in the crop area can be counted and recorded, and then the shooting angle coverage of all target crops is completed under the condition of selecting the minimum monitoring points, for example, a plurality of target crops are contained in one sampling picture, so that the sampling of a large number of target crops can be greatly improved, the sampling efficiency is greatly improved, and the sampling time is saved.
As a further scheme of the invention: the sampling module also comprises a crop identification module;
the crop identification module is used for receiving the sampling image and automatically screening the sampling image containing the target crop;
the cloud server comprises a decision model;
and the decision model is used for receiving the sampling image and acquiring the crop phenotype information of the target crop according to the sampling image.
Through the technical scheme, the crop recognition module is used for judging whether the sampling image contains the target crop or not, the photo can be automatically deleted at the moment because the situation that the target crop is not shot in the sampling image possibly exists, if a plurality of target crops exist in the sampling image, the sampling image can be subjected to screenshot and the geographical position information of the target crop in the screenshot can be marked, so that the decision-making model can be conveniently aligned for analyzing and confirming the attribution of the analysis result.
The crop recognition module and the decision model can adopt related technologies of a neural network model, intelligent recognition is carried out according to the sampling picture or the screenshot of the sampling picture containing the single target crop, and only corresponding training samples are needed to be adopted for training the sampling picture and the screenshot in the early stage.
As a further scheme of the invention: the cloud server comprises a database for storing the growth state of crops in each growth stage in advance;
the decision-making model is also used for judging the growth stage of the target crop according to the crop phenotype information, comparing the growth state of the crop in the growth stage in the database, and recording and generating a decision-making result;
the mobile terminal is used for receiving the decision result.
By the technical scheme, after the growth stage of the target crop is confirmed, the corresponding decision result is called from the database and can be directly pushed to the worker, the decision result comprises the treatment method and the specific position of the target crop, and the worker can quickly arrive at the site to finish efficient treatment.
As a further scheme of the invention: the crop phenotype information includes:
the growth vigor of the crops in different growth stages, the color and the size of leaves of the crops in different growth stages, buds or buds of the crops in a propagation period and fruits of the crops.
While one embodiment of the present invention has been described in detail, the description is only a preferred embodiment of the present invention and should not be taken as limiting the scope of the invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.
Claims (9)
1. The utility model provides a remove and patrol and examine formula crops growth monitoring system which characterized in that includes:
a mobile robotic platform for controlled movement within a crop area;
the sampling module is arranged on the mobile robot platform and used for moving according to the instruction of the sampling control signal to obtain a sampling image;
the cloud server is used for analyzing the target crops in the sampling images and storing the analysis results;
and the terminal controller is used for sending the sampling image to the cloud server and sending a sampling control signal to the sampling module.
2. The mobile inspection type crop growth monitoring system according to claim 1, wherein the sampling module includes a camera unit and a telescopic driving unit;
and the telescopic driving unit is connected with the terminal controller and is used for adjusting the position of the camera shooting unit according to the sampling control signal.
3. The mobile inspection type crop growth monitoring system according to claim 2, wherein the terminal controller is further configured to stitch the plurality of sampled images of the target crop into a complete image, and upload the complete image to the cloud server.
4. The mobile inspection type crop growth monitoring system according to claim 1, further comprising:
the Beidou positioning module is arranged on the mobile robot platform and used for acquiring real-time position information of the mobile robot platform;
the terminal controller is connected with the Beidou positioning module, and when the real-time position information conforms to the preset position information, the terminal controller sends the sampling control signal.
5. The mobile inspection type crop growth monitoring system of claim 4, wherein the Beidou positioning module further includes a path planning module;
the path planning module is used for counting the positions of all target crops in the target crop area and setting a plurality of monitoring points;
the preset position information is the position information of the monitoring point.
And taking one monitoring point as a base point as a starting point of the mobile robot platform.
6. The mobile inspection type crop growth monitoring system according to claim 4, wherein the path planning module is configured to plan a shortest inspection path according to the positions of the monitoring points, and drive the mobile robot platform to sample and shoot the target crop along the shortest inspection path.
7. The mobile inspection type crop growth monitoring system according to claim 4, wherein the sampling module further includes a crop identification module;
the crop identification module is used for receiving the sampling image and automatically screening the sampling image containing the target crop;
the cloud server comprises a decision model;
and the decision model is used for receiving the sampling image and acquiring the crop phenotype information of the target crop according to the sampling image.
8. The mobile inspection type crop growth monitoring system according to claim 7, wherein the cloud server includes a database for pre-storing growth states of crops at various growth stages;
the decision model is also used for judging the growth stage of the target crop according to the crop phenotype information, comparing the growth state of the crop at the growth stage in the database, and recording and generating a decision result;
the mobile terminal is used for receiving the decision result.
9. The mobile inspection crop growth monitoring system according to claim 7, wherein the crop phenotype information includes:
the growth vigor of the crops in different growth stages, the color and the size of leaves of the crops in different growth stages, buds or buds of the crops in a propagation period and fruits of the crops.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115225870A (en) * | 2022-09-21 | 2022-10-21 | 北京瞭望神州科技有限公司 | Data processing-based intelligent protection remote monitoring method and system for cultivated land |
| CN116295662A (en) * | 2023-05-23 | 2023-06-23 | 北京易同云网科技有限公司 | Crop growth state monitoring method and device, electronic equipment and medium |
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| CN116295662B (en) * | 2023-05-23 | 2023-08-29 | 北京易同云网科技有限公司 | Crop growth state monitoring method and device, electronic equipment and medium |
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