CN115589820A - Water and fertilizer spraying method and system based on image recognition - Google Patents
Water and fertilizer spraying method and system based on image recognition Download PDFInfo
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- 239000003337 fertilizer Substances 0.000 title claims abstract description 44
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- A—HUMAN NECESSITIES
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- A01C—PLANTING; SOWING; FERTILISING
- A01C21/00—Methods of fertilising, sowing or planting
- A01C21/007—Determining fertilization requirements
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C21/00—Methods of fertilising, sowing or planting
- A01C21/005—Following a specific plan, e.g. pattern
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- 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
- A01C23/007—Metering or regulating systems
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Abstract
The invention provides a water and fertilizer spraying method and system based on image recognition; wherein the method comprises the following steps: acquiring image data of a spraying site; extracting crop attribute data according to the image data, and determining a spraying operation scheme according to the crop attribute data; and controlling the mobile spraying equipment to implement water and fertilizer spraying operation according to the spraying operation scheme. According to the scheme, the mobile spraying equipment is combined with the image recognition technology, and compared with the traditional fixed spraying mode mentioned in the background technology, the method can implement more targeted and more detailed water and fertilizer spraying operation, so that the crop yield is favorably improved.
Description
Technical Field
The invention relates to the technical field of intelligent agriculture, in particular to a water and fertilizer spraying method and system based on image recognition, electronic equipment and a computer storage medium.
Background
Intelligent agriculture (or industrial agriculture) refers to a modern advanced agricultural production mode which realizes intensive, efficient and sustainable development by adopting industrial production under relatively controllable environmental conditions, namely a production mode of intensive scale operation with high technical specification and high benefit, wherein agricultural advanced facilities are matched with land.
Liquid manure sprays is the important link in the intelligent agriculture production process, and traditional mode of spraying all is according to the fixed facility that sprays that sets up of control and implements the operation of spraying according to the dynamics of spraying that predetermines, and inhomogeneous spraying appears in this operation mode easily, also can't adapt to the complicated actual conditions in the intelligent agriculture production environment in addition.
Disclosure of Invention
In order to solve at least the technical problems in the background art, the invention provides a liquid manure spraying method and system based on image recognition, electronic equipment and a computer storage medium.
The invention provides a water and fertilizer spraying method based on image recognition, which comprises the following steps:
acquiring image data of a spraying site;
extracting crop attribute data according to the image data, and determining a spraying operation scheme according to the crop attribute data;
and controlling the mobile spraying equipment to implement water and fertilizer spraying operation according to the spraying operation scheme.
Optionally, the mobile spraying equipment is arranged in the hanging track or on the intelligent spraying robot.
Optionally, the camera for acquiring the image data is a single camera or a distributed camera arranged at the spraying site, or at least one camera mounted on the mobile spraying device.
Optionally, the extracting crop attribute data from the image data includes:
dividing the image data into a plurality of first sub-block regions, and extracting first features of the first sub-block regions;
according to the first characteristic, carrying out aggregation processing on each first sub-block area to obtain a plurality of second sub-block areas;
and extracting second characteristics of each second sub-block area, and taking the boundary data and the second characteristics of each second sub-block area as the crop attribute data.
Optionally, before the dividing of the image data into the first sub-block regions, the image data is further preprocessed.
Optionally, the determining a spraying operation scheme according to the crop attribute data includes:
determining the water and fertilizer attribute data of the water and fertilizer to be sprayed according to the second characteristics;
determining spraying point location data according to the boundary data of each second sub-block region, wherein the spraying point location data comprises a plurality of spraying position data, corresponding spraying heights and corresponding spraying serial numbers;
and obtaining the spraying operation scheme according to the water and fertilizer attribute data and the spraying point position data.
Optionally, the determining the data of the spraying point location according to the boundary data of each second sub-block region includes:
determining first spraying point location data according to the area size of each second sub-block region, wherein the first spraying point location data comprises a plurality of first spraying position data, corresponding first spraying heights and first spraying serial numbers;
acquiring the second characteristics of a plurality of other adjacent second sub-block regions, and determining a plurality of first spraying position data in each adjacent region;
determining the difference value of the two second sub-block regions according to the second characteristics of the second sub-block region and the adjacent second sub-block region, and correcting the first spraying point location data related to each adjacent region according to the difference value to obtain second spraying point location data;
and taking the second spraying point location data as the spraying point location data.
The invention provides a water and fertilizer spraying system based on image recognition, which comprises a processing module, a storage module, a camera and a movable spraying device, wherein the processing module is connected with the storage module, the camera and the movable spraying device; wherein the content of the first and second substances,
the storage module is used for storing executable computer program codes;
the camera is used for acquiring image data of a spraying site and transmitting the image data to the processing module;
the processing module is used for executing the method according to any one of the preceding items by calling the executable computer program codes in the storage module so as to control the mobile spraying equipment to implement water and fertilizer spraying operation.
A third aspect of the present invention provides an electronic device comprising: a memory storing executable program code; a processor coupled with the memory; the processor calls the executable program code stored in the memory to perform the method of any of the preceding claims.
A fourth aspect of the invention provides a computer storage medium having stored thereon a computer program which, when executed by a processor, performs a method as set forth in any one of the preceding claims.
According to the scheme, the mobile spraying equipment is combined with the image recognition technology, and compared with the traditional fixed spraying mode mentioned in the background technology, the method can implement more targeted and more detailed water and fertilizer spraying operation, so that the crop yield is favorably improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic flow chart of a water and fertilizer spraying method based on image recognition, which is disclosed by the embodiment of the invention;
FIG. 2 is a schematic structural diagram of a water and fertilizer spraying system based on image recognition, disclosed by an embodiment of the invention;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
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 some, not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that, if the terms "upper", "lower", "inner", "outer", etc. are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which the product of the present invention is used to usually place, it is only for convenience of description and simplification of the description, but it is not intended to indicate or imply that the system or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
The terms "first," "second," "third," and "fourth," etc. in the description and in the claims of the present invention are used for distinguishing between different objects and not for describing a particular order of the objects. For example, the first input, the second input, the third input, the fourth input, etc. are used to distinguish between the different inputs, rather than to describe a particular order of inputs.
In the embodiments of the present invention, words such as "exemplary" or "for example" are used to mean serving as examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "e.g.," an embodiment of the present invention is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present relevant concepts in a concrete fashion.
In the description of the embodiments of the present invention, unless otherwise specified, "a plurality" means two or more, for example, a plurality of processing units means two or more processing units; plural means two or more elements, and the like.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
Example one
Referring to fig. 1, fig. 1 is a schematic flow chart of a water and fertilizer spraying method based on image recognition according to an embodiment of the present invention. As shown in fig. 1, a water and fertilizer spraying method based on image recognition in the embodiment of the present invention includes the following steps:
acquiring image data of a spraying site;
extracting crop attribute data according to the image data, and determining a spraying operation scheme according to the crop attribute data;
and controlling the mobile spraying equipment to implement water and fertilizer spraying operation according to the spraying operation scheme.
In the embodiment of the invention, the spraying system mainly comprises a camera and the mobile spraying equipment, wherein the camera is used for acquiring image data of a spraying field (such as an agricultural greenhouse), so that operation attribute data can be extracted from the image data, and a reasonable spraying operation scheme is further determined for the mobile spraying equipment to execute. Therefore, the scheme of the invention combines the mobile spraying equipment with the image recognition technology, and compared with the traditional fixed spraying mode mentioned in the background technology, the invention can implement more targeted and more detailed liquid manure spraying operation, thereby being beneficial to improving the crop yield.
It should be noted that the method of the present invention may be implemented by a dedicated processing device disposed at the spraying site, or may be implemented by a server located at a remote end, where the server implemented scheme may support centralized management and control of multiple spraying sites. The special processing equipment can be a device provided with a CPU, a DSP, a singlechip and other processors, such as a computer, a mobile terminal, wearable equipment and the like; the server may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing basic cloud computing services such as cloud service, a cloud database, cloud computing, a cloud function, cloud storage, network service, cloud communication, middleware service, domain name service, security service, content Delivery Network (CDN), big data and an artificial intelligence platform. The special processing device and the server may be directly or indirectly connected through wired or wireless communication, and the application is not limited herein.
Optionally, the mobile spraying equipment is arranged in the hanging track or on the intelligent spraying robot.
In the embodiment of the invention, the movement of the spraying equipment can be realized by adopting the two modes, namely, the arrangement of the suspension track or the intelligent spraying robot, wherein the suspension track scheme is particularly suitable for closed planting scenes such as greenhouses, and the intelligent spraying robot is more suitable for open planting scenes. However, the specific scheme is not limited to the planting scene, and can be selected according to the design requirement.
It should be noted that the intelligent spraying robot refers to an intelligent vehicle capable of moving on the ground, which is generally provided with a liquid storage tank or connected with a liquid transport tube, and can be provided with a retractable mechanical arm, so that spraying in a larger area can be realized, and details are not repeated.
Optionally, the camera for acquiring the image data is a single camera or a distributed camera arranged at the spraying site, or at least one camera mounted on the mobile spraying equipment.
In the embodiment of the invention, the image data of the spraying field can be acquired through the various camera arrangement modes, and the arrangement positions and the number of the cameras are not limited.
Optionally, the extracting crop attribute data from the image data includes:
dividing the image data into a plurality of first sub-block regions, and extracting first features of the first sub-block regions;
according to the first characteristic, carrying out aggregation processing on each first sub-block area to obtain a plurality of second sub-block areas;
and extracting second characteristics of each second sub-block area, and taking the boundary data and the second characteristics of each second sub-block area as the crop attribute data.
In the embodiment of the invention, image data is divided into a plurality of first sub-block areas, the first sub-block areas and adjacent first sub-block areas are integrated based on first characteristics, and then second sub-block areas where different crops are located are determined; and then, extracting second characteristics of the crops planted in each second sub-block area, wherein the boundary data and the second characteristics of each second sub-block area are crop attribute data. The embodiment is suitable for the situation that various crops are planted in a mixed mode on a spraying site.
Optionally, before the dividing of the image data into the first sub-block regions, the image data is also preprocessed.
In the embodiment of the present invention, before processing and using the image data, preprocessing, such as noise reduction, light compensation, tilt correction, binarization, and the like, is further performed, so that the image data meets the subsequent processing requirements, and the possibility of false identification is reduced. In addition, for the distributed video camera, image stitching processing can be further included, namely, local images shot by a plurality of cameras are stitched into a whole image; and, in the case of a plurality of cameras mounted on the mobile shower device, the preference of the images taken by each camera, that is, the selection of the image with the best image coverage area, shooting angle and image definition, may also be included.
Optionally, the determining a spraying operation scheme according to the crop attribute data includes:
determining the water and fertilizer attribute data of the water and fertilizer to be sprayed according to the second characteristics;
determining spraying point location data according to the boundary data of each second sub-block region, wherein the spraying point location data comprises a plurality of spraying position data, corresponding spraying heights and corresponding spraying serial numbers;
and obtaining the spraying operation scheme according to the water and fertilizer attribute data and the spraying point position data.
In the embodiment of the invention, the spraying operation scheme mainly comprises two aspects, namely water and fertilizer attribute data and spraying point position data of spraying water and fertilizer. The water and fertilizer attribute data of the sprayed water and fertilizer can be determined according to the second characteristics of the crops, for example, the categories and the growth stages of the crops can be determined according to the second characteristics, and the corresponding fertilizer and the reasonable water and fertilizer ratio can be determined by inquiring a preset spraying scheme table; the spraying point data comprises spraying positions, heights and spraying sequences of all the positions. The regional spraying on the spraying site can be automatically, finely and gradually completed according to the spraying operation scheme. Wherein, the spraying position and the spraying height can influence the size of the unit spraying area.
Optionally, the determining the data of the spraying point location according to the boundary data of each second sub-block region includes:
determining first spraying point location data according to the area size of each second sub-block region, wherein the first spraying point location data comprises a plurality of first spraying position data, corresponding first spraying heights and first spraying sequence numbers;
acquiring the second characteristics of a plurality of other adjacent second sub-block regions, and determining a plurality of first spraying position data in each adjacent region;
determining the difference value of the two second sub-block regions according to the second characteristics of the second sub-block region and the adjacent second sub-block region, and correcting the first spraying point location data related to each adjacent region according to the difference value to obtain second spraying point location data;
and taking the second spraying point location data as the spraying point location data.
In the embodiment of the invention, the situation that different types of crops are mixed in a spraying field is common, the spraying operation schemes of different crops have great difference, and improper spraying can affect the yield of certain crops and even can cause the death of the crops. Aiming at the situation, the invention firstly determines a plurality of spraying positions and corresponding spraying heights and serial numbers according to the area of each second sub-block region, then calculates the difference value of crops of the second sub-block region and other adjacent second sub-block regions, and adjusts the spraying point position data of the adjacent region according to the difference value, thus obtaining more optimal second spraying point position data, namely final spraying point position data. The difference value can be determined according to the suitability of different crops for different water and fertilizer in different growth stages, and can be specifically calculated through a pre-established comparison table and a difference calculation formula, and the specific calculation formula is not limited in the invention.
Specifically, the first spraying point location data related to each adjacent area is corrected according to the difference value, and a specific correction manner may be as follows: the number of the first spray position data of each adjoining area is positively correlated with the difference value, and the first spray height is negatively correlated with the difference value.
That is, the larger the difference between crops in the adjacent areas, the more spray positions are arranged in the adjacent areas, and the lower the spray height adjustment corresponding to each spray position is. In other words, the spraying is more refined in the adjacent area with lower spraying height and more dense spraying positions, so that the spraying of inappropriate water and fertilizer to crops in the adjacent area is reduced as much as possible.
Example two
Referring to fig. 2, fig. 2 is a schematic structural diagram of a water and fertilizer spraying system based on image recognition according to an embodiment of the present invention. As shown in fig. 2, the liquid manure spraying system (100) based on image recognition in the embodiment of the present invention includes a processing module (101), a storage module (102), a camera (103), and a mobile spraying device (104), where the processing module (101) is connected to the storage module (102), the camera (103), and the mobile spraying device (104); wherein the content of the first and second substances,
the storage module (102) for storing executable computer program code;
the camera (103) is used for acquiring image data of a spraying site and transmitting the image data to the processing module (101);
the processing module (101) is configured to execute the method according to the first embodiment by calling the executable computer program code in the storage module (102) to control the mobile spraying device (104) to perform a liquid manure spraying operation.
For the specific functions of the water and fertilizer spraying system based on image recognition in this embodiment, reference is made to the first embodiment, and since the system in this embodiment adopts all the technical solutions of the above embodiments, at least all the beneficial effects brought by the technical solutions of the above embodiments are achieved, and no further description is given here.
EXAMPLE III
Referring to fig. 3, fig. 3 is an electronic device according to an embodiment of the present invention, including: a memory storing executable program code; a processor coupled with the memory; the processor calls the executable program code stored in the memory to execute the method according to the first embodiment.
Example four
The embodiment of the invention also discloses a computer storage medium, wherein a computer program is stored on the storage medium, and the computer program executes the method in the first embodiment when being executed by a processor.
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application specific integrated circuits (AS ics), application Specific Standard Products (ASSPs), system On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input system, and at least one output system.
Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing system, such that the program codes, when executed by the processor or controller, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display system (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing system (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of systems may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the Internet.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server combining a blockchain.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, and the present disclosure is not limited herein.
The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.
Claims (10)
1. A water and fertilizer spraying method based on image recognition is characterized by comprising the following steps:
acquiring image data of a spraying site;
extracting crop attribute data according to the image data, and determining a spraying operation scheme according to the crop attribute data;
and controlling the mobile spraying equipment to implement water and fertilizer spraying operation according to the spraying operation scheme.
2. The water and fertilizer spraying method based on image recognition is characterized by comprising the following steps of: the movable spraying equipment is arranged in the suspension track or on the intelligent spraying robot.
3. The water and fertilizer spraying method based on image recognition is characterized by comprising the following steps of: the camera for acquiring the image data is a single camera or a distributed camera arranged on the spraying site, or at least one camera arranged on the mobile spraying equipment.
4. The water and fertilizer spraying method based on image recognition is characterized by comprising the following steps of: the extracting of the crop attribute data according to the image data comprises:
dividing the image data into a plurality of first sub-block regions, and extracting first features of the first sub-block regions;
according to the first characteristic, each first sub-block area is subjected to aggregation processing to obtain a plurality of second sub-block areas;
and extracting second characteristics of each second sub-block area, and taking the boundary data and the second characteristics of each second sub-block area as the crop attribute data.
5. The water and fertilizer spraying method based on image recognition is characterized by comprising the following steps of: the image data is also preprocessed before the dividing of the image data into the first sub-block regions.
6. The water and fertilizer spraying method based on image recognition is characterized by comprising the following steps of: the determining of the spraying operation scheme according to the crop attribute data comprises:
determining water and fertilizer attribute data of the water and fertilizer to be sprayed according to the second characteristic;
determining spraying point location data according to the boundary data of each second sub-block region, wherein the spraying point location data comprises a plurality of spraying position data, corresponding spraying heights and corresponding spraying serial numbers;
and obtaining the spraying operation scheme according to the water and fertilizer attribute data and the spraying point position data.
7. The water and fertilizer spraying method based on image recognition is characterized by comprising the following steps of: determining the data of the spraying point according to the boundary data of each second sub-block region, wherein the determining comprises the following steps:
determining first spraying point location data according to the area size of each second sub-block region, wherein the first spraying point location data comprises a plurality of first spraying position data, corresponding first spraying heights and first spraying sequence numbers;
acquiring the second characteristics of a plurality of other adjacent second sub-block regions, and determining a plurality of first spraying position data in each adjacent region;
determining the difference value of the two second sub-block regions according to the second characteristics of the second sub-block region and the adjacent second sub-block region, and correcting the first spraying point location data related to each adjacent region according to the difference value to obtain second spraying point location data;
and taking the second spraying point location data as the spraying point location data.
8. A liquid manure spraying system based on image recognition comprises a processing module, a storage module, a camera and movable spraying equipment, wherein the processing module is connected with the storage module, the camera and the movable spraying equipment; wherein the content of the first and second substances,
the storage module is used for storing executable computer program codes;
the camera is used for acquiring image data of a spraying site and transmitting the image data to the processing module;
the processing module is used for executing the method according to any one of claims 1 to 7 by calling the executable computer program codes in the storage module so as to control the mobile spraying equipment to implement water and fertilizer spraying operation.
9. An electronic device, comprising: a memory storing executable program code; a processor coupled with the memory; the method is characterized in that: the processor calls the executable program code stored in the memory to perform the method of any of claims 1-7.
10. A computer storage medium having a computer program stored thereon, characterized in that: the computer program, when executed by a processor, performs the method of any one of claims 1-7.
Priority Applications (1)
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| CN112020975A (en) * | 2020-09-10 | 2020-12-04 | 和县德生农业发展有限公司 | Water and fertilizer integrated system based on Internet of things and implementation method thereof |
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| CN114431124A (en) * | 2022-03-03 | 2022-05-06 | 郑州麦佳农业科技有限公司 | Intelligent spraying control method for agricultural planting |
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| CN113396753A (en) * | 2020-03-16 | 2021-09-17 | 上海原初农业发展有限公司 | Big data analysis-based intelligent agricultural planting management and control system |
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