CN116229300B - Irrigation energy-saving management system and method for high-standard farmland - Google Patents

Irrigation energy-saving management system and method for high-standard farmland Download PDF

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CN116229300B
CN116229300B CN202310363887.XA CN202310363887A CN116229300B CN 116229300 B CN116229300 B CN 116229300B CN 202310363887 A CN202310363887 A CN 202310363887A CN 116229300 B CN116229300 B CN 116229300B
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water leakage
water
area
image
irrigation
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CN116229300A (en
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吕名礼
朱登平
吴小李
李银华
白永娟
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Shanghai Huawei Controllable Agricultural Technology Group Co ltd
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Shanghai Huawei Controllable Agricultural Technology Group Co ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G06V20/17—Terrestrial scenes taken from planes or by drones
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G25/00—Watering gardens, fields, sports grounds or the like
    • A01G25/16—Control of watering
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
    • G06Q50/02—Agriculture; Fishing; Mining
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
    • G06Q50/10—Services
    • G06Q50/26—Government or public services
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/136—Segmentation; Edge detection involving thresholding
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/28—Quantising the image, e.g. histogram thresholding for discrimination between background and foreground patterns
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/40—Scenes; Scene-specific elements in video content
    • G06V20/46—Extracting features or characteristics from the video content, e.g. video fingerprints, representative shots or key frames
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10024—Color image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10048—Infrared image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30181—Earth observation
    • G06T2207/30188—Vegetation; Agriculture

Abstract

The invention discloses an irrigation energy-saving management system and method for a high-standard farmland, and belongs to the technical field of agricultural energy conservation. According to the method, whether water leakage exists or not is judged by observing whether the reading of the total water meter is changed in non-irrigation time, when the water leakage occurs, solenoid valves at all channels are respectively switched on and off to find out specific water leakage pipelines, rectangular water leakage areas are divided according to the distribution position conditions of the water leakage pipelines, after water in the water leakage pipelines is pressurized and heated independently, the rectangular water leakage areas are photographed one by using an unmanned plane, photographed image information is analyzed and calculated, suspected water leakage points are found out, and water leakage flow, suspected water leakage point image information and position information are processed by related personnel. The invention judges the approximate range of the water leakage area by controlling the switch of the electromagnetic valve, and the unmanned aerial vehicle is used for gradually checking out suspected water leakage points, so that the waste of water resources is reduced, and the workload of related personnel is reduced.

Description

Irrigation energy-saving management system and method for high-standard farmland
Technical Field
The invention relates to the technical field of agricultural energy conservation, in particular to an irrigation energy conservation management system and method for high-standard farmlands.
Background
The high-standard farmland irrigation technology is a modern agricultural production technology for realizing the economic and efficient utilization of water resources by carrying out fine management on farmlands by utilizing a modern technical means. High standard farm irrigation techniques include a variety of irrigation modes such as drip irrigation, sprinkler irrigation, micro irrigation, etc. Through scientific water resource management and reasonable irrigation technology, the waste and pollution of water resources can be reduced to the greatest extent, and meanwhile, the water utilization efficiency and crop yield of farmlands are improved, so that the grain safety and the sustainable development of ecological environment are guaranteed.
Underground pipeline that uses in the high standard field irrigation wisdom irrigation system often can take place damaged problem, because ageing, the difference in temperature between day and night or the improper scheduling cause of pipeline itself, lead to the pipeline damaged, inside moisture loss or seepage are in earth, not only influence irrigation system's normal operating, have still greatly wasted the water resource. This problem can lead to the following effects: water leakage can cause water resource waste in an irrigation system, affect irrigation efficiency and increase water resource consumption; after the underground pipeline leaks water, the water can infiltrate into the soil, so that the soil becomes soft, and the problems of soil settlement and the like are easy to occur; the water leakage of the pipeline can reduce the irrigation water quantity, influence the irrigation effect and further influence the growth and development of crops; the water leakage problem needs to be maintained in time, otherwise, the problem is more serious, and the maintenance cost and the maintenance difficulty are increased.
The problem of underground pipeline damage water leakage is solved, firstly, the concrete position of a water leakage point needs to be found out, the simplest method is to conduct manual investigation, but in modern agricultural production, the area of a high-standard farmland can reach hundreds of mu or even thousands of mu, the workload faced by manual investigation is too large, almost the task which can not be completed is almost the task, and most pipelines are buried underground deeply, the water leakage phenomenon is difficult to find out without careful observation and identification, so that a method capable of quickly finding the water leakage condition and accurately positioning the position of the concrete water leakage point is needed at the present stage to solve the above-mentioned problems, and therefore, the waste of water resources is avoided.
Disclosure of Invention
The invention aims to provide an irrigation energy-saving management system and method for high-standard farmland, which are used for solving the problems in the background technology.
In order to solve the technical problems, the invention provides the following technical scheme: the irrigation energy-saving management system comprises a data acquisition module, a data processing module, an equipment control module and an intelligent early warning module.
The data acquisition module is used for acquiring the reading of the integrated water meter, acquiring image information of the ground through the unmanned aerial vehicle camera and transmitting the data to the data processing module; the data processing module is used for judging whether a water leakage phenomenon exists or not, judging a water leakage area through the on-off information of each electromagnetic valve switch when the water leakage phenomenon occurs, analyzing image information acquired by the unmanned aerial vehicle camera, and calculating position information of suspected water leakage points; the equipment control module is used for controlling the electromagnetic valve to be switched on and off and controlling the flight area and the flight path of the unmanned aerial vehicle; the intelligent early warning module is used for editing the water leakage flow, the suspected water leakage point image information and the position information into early warning information to remind related personnel.
Through the technical scheme, firstly, the system collects related information through various devices; secondly, judging whether the acquired information has a water leakage phenomenon, judging a specific water leakage area through switching on and off the electromagnetic valve if the acquired information has the water leakage phenomenon, and finding out suspected water leakage points by gradually checking all the water leakage areas through an unmanned aerial vehicle high-altitude shooting technology; and finally, the system automatically transmits the water leakage flow, the suspected water leakage point image information and the position information to relevant personnel for processing.
The data acquisition module comprises a water meter reading acquisition unit and a ground image acquisition unit. The water meter reading acquisition unit acquires the accumulated flow value through a water meter arranged at the irrigation water main, acquires the accumulated flow value of the irrigation water main every other fixed time in a non-irrigation period, and sends the information to the data processing module. The ground image acquisition unit adopts unmanned aerial vehicle high altitude shooting technique to make a round trip to patrol and shoot every area that leaks, and the camera that unmanned aerial vehicle carried has infrared function, reachs after appointed shooting position, flies to a take altitude, and the camera is opened, records ground image information while transversely flying, and image information includes live-action picture and thermal imaging picture, and the system is handled these image information and corresponding positional information transfer to data processing module, wherein:
In the transverse flight process of the unmanned aerial vehicle, the speed is controlled to be moderate, the flight speed is too fast, the recorded picture is possibly blurred, the flight speed is too slow, the investigation time is too long, the efficiency is low, and in the actual use process, the speed is controlled to be a reasonable value, so that the follow-up data processing operation is convenient.
Through the technical scheme, the required information can be collected through various devices, and data support is provided for the subsequent data processing module.
The data processing module comprises a water leakage area judging unit and a water leakage position predicting unit. The water leakage area judging unit judges the water leakage area by switching on and off the solenoid valve switch. Firstly, powering on a solenoid valve switch at a main pipe, powering off solenoid valve switches at all branch pipes, sending the solenoid valve switches to an equipment control module in a command form, judging whether the accumulated flow value collected by a water meter arranged at an irrigation main pipe is changed, if not, indicating that the main pipe has no water leakage phenomenon, and if so, indicating that the main pipe has the water leakage phenomenon, and dividing a rectangular water leakage area capable of containing the main pipe according to the distribution position condition of the main pipe by the system; secondly, sequentially powering on the solenoid valve switch at each branch pipe, sending the solenoid valve switch to the equipment control module in a command form, judging whether the variation amplitude of the accumulated flow value acquired by the water meter installed at the irrigation water main is changed relative to the last time, if not, indicating that the branch pipe has no water leakage phenomenon, and continuing powering on the solenoid valve switch at the next branch pipe for re-judgment; when the change occurs, the water leakage phenomenon of the branch pipe is indicated, the system divides a rectangular water leakage area capable of containing the branch pipe according to the distribution position condition of the corresponding branch pipe, and the solenoid valve switch at the next branch pipe is continuously electrified to judge again; and finally, after all the solenoid valve switches at the branch pipes are powered on, the solenoid valve switches at the branch pipes without water leakage are powered off, heating and pressurizing are carried out on water in the pipeline, the water is sent to the equipment control module in a command form, and meanwhile, the position information of all the water leakage areas is transmitted to the equipment control module.
The water leakage position prediction unit is used for decomposing thermal imaging video information in the water leakage area image information into single-frame images, screening all the single-frame images, and removing repeated and blurred images by adopting an image similarity recognition and edge detection method; and then analyzing the residual single-frame image, judging whether each thermal imaging picture has a high-temperature area, if so, indicating that the area possibly has water leakage phenomenon, substituting the position information of the high-temperature area and the position information of the nearby pipelines into a formula for calculation, calculating the water leakage suspicion degree of the high-temperature area, and transmitting the position information and the suspicion degree of the high-temperature area with the suspicion degree not being zero to an intelligent early warning module.
One thermal imaging picture may comprise a plurality of high-heat areas, and firstly, the pixel percentage of the number of pixels of each high-heat area in the whole picture is calculated; secondly, judging whether the percentage is larger than the error duty ratio, wherein the error duty ratio is smaller than or equal to the error duty ratio, which indicates that the high heat area does not conform to local high heat caused by water leakage, and the error is possibly generated by heating other equipment or circuits, and only if the percentage is larger than the error duty ratio, the error duty ratio is possibly generated by local high heat caused by water leakage and needs to be set according to actual conditions; and finally, calculating the geographic coordinate information corresponding to the pixel points of each high-heat area with the error ratio, putting the geographic coordinate information into a set, calculating an intersection with the pipeline geographic position coordinate set in the water leakage area, and calculating the suspicious degree of each high-heat area according to the ratio of the number of elements of the intersection to the number of elements of the high-heat area position coordinate set.
According to the technical scheme, the water leakage area is judged by heating and pressurizing the water in the pipeline and switching on and off of the electromagnetic valve, and the shooting picture of the water leakage area by the unmanned aerial vehicle camera is analyzed to confirm the position information of the suspected water leakage point.
The equipment control module comprises an irrigation adjusting unit, an electromagnetic valve control unit and a patrol path planning unit. The irrigation regulating unit can control water temperature and water pressure according to the instruction information transmitted by the data processing module. After confirming the water leakage area, powering on all water leakage pipelines, heating water in the pressurizing main pipe to a certain temperature and pressure, opening a main valve, and enabling high-pressure hot water to flow into each water leakage pipeline. Because the water temperature in the pipeline is higher, the suspicious water leakage point can be determined as long as the heat at a certain place is not tubular but in a bulk or irregular state and is overlapped with the pipeline position, and the suspicious water leakage point can be calculated by substituting the suspicious water leakage point into a formula. The water pressure is increased to allow water to flow out quickly, so that a more obvious high-heat area is displayed on the infrared image. Meanwhile, when controlling water temperature and pressure, the limitation of bearing temperature and pressure of the pipeline and whether crops around the pipeline are affected are comprehensively considered.
The electromagnetic valve control unit can receive instruction information transmitted by the data processing module and realize on-off adjustment of electromagnetic valve switches at the main pipe and electromagnetic valve switches at all branch pipes; when the corresponding electromagnetic valve switch is electrified, the electromagnetic coil generates electromagnetic force to lift the closing member from the valve seat, the valve is opened, and water flows into the pipeline through the electromagnetic valve; when the corresponding electromagnetic valve is powered off, electromagnetic force disappears, the spring presses the closing member on the valve seat, the valve is closed, and water cannot enter the pipeline through the electromagnetic valve.
The inspection path planning unit can receive instruction information transmitted by the data processing module and plan the unmanned aerial vehicle flight path for each water leakage area; determining the furthest shooting distance of the unmanned aerial vehicle according to the principle that the definition is unchanged, wherein the distance is the flight height of the unmanned aerial vehicle, and substituting the width of a shooting picture of the unmanned aerial vehicle under the height into a formula to calculate the moving distance of the unmanned aerial vehicle back and forth each time; and the unmanned aerial vehicle realizes inspection shooting of each water leakage area according to the parameter information and the water leakage area position information.
Through the technical scheme, corresponding equipment receives corresponding instruction information, automatically completes heating water in the pressurizing pipeline, controls on-off of a corresponding electromagnetic valve switch and plans the flight path of the unmanned aerial vehicle.
The intelligent early warning module can receive the high-temperature area position information and the suspicious degree which are transmitted by the data processing module and have the suspicious degree of not being zero, and send the water leakage flow, the suspicious water leakage point image information and the position information to relevant personnel for processing after the suspicious degree is arranged in a positive sequence according to the suspicious degree.
Through the technical scheme, the early warning of the water leakage condition is realized, and the picture shot on site and the position information of the suspected water leakage point are sent to related personnel, so that the phenomenon of wasting water resources is avoided.
An irrigation energy-saving management method for high-standard farmland, comprising the following steps:
s1, judging whether the reading of a total water meter is abnormal;
s2, under abnormal conditions, a water leakage pipeline is found out by switching on/off the electromagnetic valve switch, and water leakage areas are divided;
s3, finding out the specific position of each water leakage point by arranging the water leakage areas one by one;
s4, notifying related personnel of water leakage.
In S1, judging whether the total water meter reading is abnormal or not means that whether the water meter collection accumulated flow value installed at the irrigation water main changes or not after all solenoid valve switches are electrified and opened in a non-irrigation period. If the change does not occur, the situation is normal; if the change occurs, the abnormal situation is generated.
By the technical scheme, the required information can be collected through various methods, and data support is provided for the subsequent data processing module.
In S2, the water leakage pipeline and the water leakage area are found out in a step-by-step manner by switching on and off the electromagnetic valve switch, and the specific steps are as follows:
s201, powering on the solenoid valve switch at the main pipe, powering off the solenoid valve switches at all branch pipes, enabling water flow to enter the main pipe through the valve, judging whether the accumulated flow value collected by the water meter installed at the irrigation main pipe is changed or not after the water flow is stabilized, indicating that the main pipe is free from water leakage when the accumulated flow value is unchanged, indicating that the main pipe is free from water leakage when the accumulated flow value is changed, and dividing a rectangular water leakage area capable of containing the main pipe according to the distribution position condition of the main pipe.
S202, maintaining the solenoid valve switch at the electrified main pipe, sequentially electrifying the solenoid valve switch at each branch pipe, enabling water flow in the main pipe to enter the branch pipe through the valve, judging whether the change amplitude of the accumulated flow value acquired by the water meter arranged at the irrigation main pipe is changed relative to the last time after the water flow is stabilized, indicating that the branch pipe has no water leakage phenomenon, and continuously electrifying the solenoid valve switch at the next branch pipe to continue the judgment. When the change occurs, the water leakage phenomenon of the branch pipe is indicated, the system divides a rectangular water leakage area capable of containing the branch pipe according to the distribution position condition of the corresponding branch pipe, and the electromagnetic valve switch at the next branch pipe is continuously electrified to continue judgment. And (5) until all solenoid valve switches at the branch pipes are completely electrified, judging to be over, and collecting all water leakage area information.
S203, maintaining the electromagnetic valve switch at the electrified main pipe, and powering off the electromagnetic valve switch at the branch pipe without water leakage phenomenon to heat and pressurize the water flow in the pipeline.
Through the technical scheme, the judgment of the water leakage condition is realized, the corresponding water leakage area is divided according to the specific water leakage pipeline, and the working efficiency of later-stage investigation is improved.
In S3 and S4, the task is executed by using unmanned aerial vehicles to check the water leakage areas one by one, the unmanned aerial vehicles shoot and record images of the ground through the infrared cameras, and suspected water leakage points are checked out according to image information. The method comprises the following specific steps:
s301, under the condition that the definition is kept unchanged, determining the furthest shooting distance according to the parameter information of an infrared camera carried by the unmanned aerial vehicle, taking the distance as the flying height of the unmanned aerial vehicle, and adopting a calculation formula as follows:；
wherein C is the flying height of the unmanned aerial vehicle, j is the fixed focal length of the lens, W is the width of the shot picture of the lens, and h is the target surface size height of the lens.
S302, after the unmanned aerial vehicle flies to a corresponding height C, a camera is started, and recording of ground image information is started. Taking any vertex of the rectangular water leakage area as a starting point, transversely flying towards the adjacent vertex, longitudinally shifting for a distance S after reaching the adjacent vertex, and continuously transversely flying towards the opposite direction of the previous flying direction after shifting is completed, so that the process is repeated until all positions in the water leakage area are inspected. The longitudinal displacement distance S is calculated according to the ratio of the shooting picture of the unmanned aerial vehicle to the actual area under the height, and is calculated according to the following formula:
；
In the method, in the process of the invention,the distance of the longitudinal displacement of the unmanned aerial vehicle is W, the width of a shot picture is W, and the ratio of the shot picture to the actual area is B.
S303, after the unmanned aerial vehicle patrols all the water leakage areas, all the image information is disassembled into two parts: live-action video information and thermal imaging video information; the two parts of video information are respectively decomposed into single-frame images by using the existing OpenCV, all the single-frame images are screened, repeated and blurred images are removed by adopting an image similarity recognition and edge detection method, then the thermal imaging images in the remaining single-frame images are analyzed, a high-heat area in the thermal imaging images is found out, the suspicious degree is calculated by combining the pipeline position information analysis, and after the suspicious degree is arranged in positive sequence, the water leakage flow, the suspicious water leakage point image information and the position information are sent to related personnel for processing.
Analyzing the thermal imaging image in the remaining single frame image and calculating the suspicious degree of the high heat region comprises the following steps:
s304, converting the infrared image into a gray image by using an OpenCV library of Python, and performing Gaussian filtering on the gray image to remove noise and smooth the image.
S305, performing threshold segmentation on the filtered gray level image, and binarizing the gray level image to obtain a binarized image, so as to highlight the outline of the high heat region. The image binarization is performed by substituting the gray value of each pixel point in the gray image and the set gray threshold value into a formula, wherein the formula is as follows:
；
In the method, in the process of the invention,gray value calculated for the pixel, for>For the pixel gray values, x, y represent the abscissa of the pixel, T is the gray threshold, else represents the other cases, the pixel with gray scale mark 1 corresponds to the object of interest, and the pixel with mark 0 corresponds to the background.
S306, judging whether the percentage of the pixel points with the gray value of 1 to the total pixel points is larger than an error threshold value, and if the percentage of the pixel points is smaller than or equal to the error threshold value, indicating that the infrared image does not contain a high-temperature area caused by a water leakage phenomenon, ending the analysis of the infrared image, and carrying out the analysis of the next infrared image; and when the threshold value is larger than the threshold value, indicating that the infrared image contains a high-heat area caused by water leakage phenomenon, collecting all coordinates of the high-heat area, and adding the coordinates into a coordinate set. The judgment formula is as follows:
；
in the method, in the process of the invention,for judging the result, ->Ending the analysis of the infrared image for failure, and carrying out the analysis of the next infrared image; />For success, the next step is performed; GR is the number of pixels with gray level value of 1, K is the number of all pixels of the infrared image, and V is the error threshold.
S307, calculating a geographic position coordinate set X of the high-heat region on the ground according to the pixel position of the high-heat region in the infrared image and the internal and external parameters of the camera, wherein the high-heat coordinate set X comprises Wherein, the method comprises the steps of, wherein,data of the 1 st, 2 nd, and z th pieces of high-heat coordinate set are respectively shown, and each piece of data contains transverse position information and longitudinal position information of the element relative to the farmland. Substituting the high heat coordinate set and the pipeline geographical position coordinate set in the water leakage area reserved in the system into a formula to calculate, so as to obtain the water leakage suspicion degree of the infrared image, wherein the high heat area of the infrared image is a suspected water leakage point under the condition that the suspicion degree is not zero. The calculation formula is as follows:
；
wherein KYD is the suspicious degree of the high-heat region, X is the high-heat coordinate set, and M is the pipeline geographic position coordinate set in the water leakage region.
Through the technical scheme, the suspected water leakage points are found, the corresponding suspicious degree is calculated by calculating the intersection degree of the high-heat area and the pipeline, and the working efficiency of later investigation is improved.
Compared with the prior art, the invention has the following beneficial effects:
according to the method, the water leakage pipelines are found out through on-off of the electromagnetic valves, the water leakage areas are divided according to the water leakage pipelines, the high-heat areas are found out by using the unmanned aerial vehicle infrared shooting technology, the water leakage suspicion degree is calculated independently according to each high-heat area, and the suspected water leakage point position information and related image information with the suspicion degree not being zero are sent to related personnel for screening.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a schematic diagram of a system and method for energy-efficient irrigation management in a high-standard farm;
FIG. 2 is a schematic flow chart of an irrigation energy-saving management system and method for high-standard farmland according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-2, the present invention provides the following technical solutions: the irrigation energy-saving management system comprises a data acquisition module, a data processing module, an equipment control module and an intelligent early warning module.
The data acquisition module is used for acquiring the reading of the integrated water meter, acquiring image information of the ground through the unmanned aerial vehicle camera and transmitting the data to the data processing module; the data processing module is used for judging whether a water leakage phenomenon exists or not, judging a water leakage area through the on-off information of each electromagnetic valve switch when the water leakage phenomenon occurs, analyzing image information acquired by the unmanned aerial vehicle camera, and calculating position information of suspected water leakage points; the equipment control module is used for controlling the solenoid valve to be switched on and off and controlling the unmanned aerial vehicle flight area and flight path; the intelligent early warning module is used for editing the water leakage flow, the suspected water leakage point image information and the position information into early warning information to remind related personnel.
Firstly, the system collects related information through various devices; secondly, judging whether the acquired information has a water leakage phenomenon, judging a specific water leakage area through switching on and off the electromagnetic valve if the acquired information has the water leakage phenomenon, and finding out suspected water leakage points by gradually checking all the water leakage areas through an unmanned aerial vehicle high-altitude shooting technology; and finally, the system automatically transmits the water leakage flow, the suspected water leakage point image information and the position information to relevant personnel for processing.
The data acquisition module comprises a water meter reading acquisition unit and a ground image acquisition unit. The water meter reading acquisition unit acquires the accumulated flow value through a water meter arranged at the irrigation water main, acquires the accumulated flow value of the irrigation water main every other fixed time in a non-irrigation period, and sends the information to the data processing module. The ground image acquisition unit adopts unmanned aerial vehicle high altitude shooting technique to make a round trip to patrol and shoot every area that leaks, and the camera that unmanned aerial vehicle carried has infrared function, reachs after appointed shooting position, flies to a take the altitude, and the camera is opened, records ground image information while transversely flying, and image information includes outdoor scene picture and thermal imaging picture, and the system is handled these image information and corresponding positional information transfer to data processing module, wherein:
In the transverse flight process of the unmanned aerial vehicle, the speed is controlled to be moderate, the flight speed is too fast, the recorded picture is possibly blurred, the flight speed is too slow, the investigation time is too long, the efficiency is low, and in the actual use process, the speed is controlled to be a reasonable value, so that the follow-up data processing operation is convenient.
The data processing module comprises a water leakage area judging unit and a water leakage position predicting unit. The water leakage area judging unit judges the water leakage area by switching on/off the solenoid valve switch. Firstly, powering on a solenoid valve switch at a main pipe, powering off solenoid valve switches at all branch pipes, sending the solenoid valve switches to an equipment control module in a command form, judging whether the accumulated flow value collected by a water meter arranged at an irrigation main pipe is changed, if not, indicating that the main pipe has no water leakage phenomenon, and if so, indicating that the main pipe has the water leakage phenomenon, and dividing a rectangular water leakage area capable of containing the main pipe according to the distribution position condition of the main pipe by the system; secondly, sequentially powering on the solenoid valve switch at each branch pipe, sending the solenoid valve switch to the equipment control module in a command form, judging whether the variation amplitude of the accumulated flow value acquired by the water meter installed at the irrigation water main is changed relative to the last time, if not, indicating that the branch pipe has no water leakage phenomenon, and continuing powering on the solenoid valve switch at the next branch pipe for re-judgment; when the change occurs, the water leakage phenomenon of the branch pipe is indicated, the system divides a rectangular water leakage area capable of containing the branch pipe according to the distribution position condition of the corresponding branch pipe, and the solenoid valve switch at the next branch pipe is continuously electrified to judge again; and finally, after all the solenoid valve switches at the branch pipes are powered on, the solenoid valve switches at the branch pipes without water leakage are powered off, heating and pressurizing are carried out on water in the pipeline, the water is sent to the equipment control module in a command form, and meanwhile, the position information of all the water leakage areas is transmitted to the equipment control module.
The water leakage position prediction unit is used for decomposing thermal imaging video information in the water leakage area image information into single-frame images, screening all the single-frame images, and removing repeated and blurred images by adopting an image similarity recognition and edge detection method; and then analyzing the residual single-frame image, judging whether each thermal imaging picture has a high-temperature area, if so, indicating that the area possibly has water leakage phenomenon, substituting the position information of the high-temperature area and the position information of the nearby pipelines into a formula for calculation, calculating the water leakage suspicion degree of the high-temperature area, and transmitting the position information and the suspicion degree of the high-temperature area with the suspicion degree not being zero to an intelligent early warning module.
One thermal imaging picture may comprise a plurality of high-heat areas, and firstly, the pixel percentage of the number of pixels of each high-heat area in the whole picture is calculated; secondly, judging whether the percentage is larger than the error duty ratio, wherein the error duty ratio is smaller than or equal to the error duty ratio, which indicates that the high heat area does not conform to local high heat caused by water leakage, and the error is possibly generated by heating other equipment or circuits, and only if the percentage is larger than the error duty ratio, the error duty ratio is possibly generated by local high heat caused by water leakage and needs to be set according to actual conditions; and finally, calculating the geographic coordinate information corresponding to the pixel points of each high-heat area with the error ratio, putting the geographic coordinate information into a set, calculating an intersection with the pipeline geographic position coordinate set in the water leakage area, and calculating the suspicious degree of each high-heat area according to the ratio of the number of elements of the intersection to the number of elements of the high-heat area position coordinate set.
The equipment control module comprises an irrigation adjusting unit, an electromagnetic valve control unit and a patrol path planning unit. The irrigation regulating unit can control the water temperature and the water pressure according to the instruction information transmitted by the data processing module. After confirming the water leakage area, powering on all water leakage pipelines, heating water in the pressurizing main pipe to a certain temperature and pressure, opening a main valve, and enabling high-pressure hot water to flow into each water leakage pipeline. Because the water temperature in the pipeline is higher, the suspicious water leakage point can be determined as long as the heat at a certain place is not tubular but in a bulk or irregular state and is overlapped with the pipeline position, and the suspicious water leakage point can be calculated by substituting the suspicious water leakage point into a formula. The water pressure is increased to allow water to flow out quickly, so that a more obvious high-heat area is displayed on the infrared image. Meanwhile, when controlling water temperature and pressure, the limitation of bearing temperature and pressure of the pipeline and whether crops around the pipeline are affected are comprehensively considered.
The electromagnetic valve control unit can receive instruction information transmitted by the data processing module, and realizes on-off adjustment of electromagnetic valve switches at the main pipe and electromagnetic valve switches at all branch pipes; when the corresponding electromagnetic valve switch is electrified, the electromagnetic coil generates electromagnetic force to lift the closing member from the valve seat, the valve is opened, and water flows into the pipeline through the electromagnetic valve; when the corresponding electromagnetic valve is powered off, electromagnetic force disappears, the spring presses the closing member on the valve seat, the valve is closed, and water cannot enter the pipeline through the electromagnetic valve.
The inspection path planning unit can receive the instruction information transmitted by the data processing module and plan the unmanned aerial vehicle flight path for each water leakage area; determining the furthest shooting distance of the unmanned aerial vehicle according to the principle that the definition is unchanged, wherein the distance is the flight height of the unmanned aerial vehicle, and substituting the width of a shooting picture of the unmanned aerial vehicle under the height into a formula to calculate the moving distance of the unmanned aerial vehicle back and forth each time; and the unmanned aerial vehicle realizes inspection shooting of each water leakage area according to the parameter information and the water leakage area position information.
The intelligent early warning module can receive the high-temperature area position information and the suspicious degree which are transmitted by the data processing module and have the suspicious degree of not being zero, and send the water leakage flow, the suspicious water leakage point image information and the position information to relevant personnel for processing after the suspicious degree of the suspicious degree is arranged in a positive sequence.
An irrigation energy-saving management method for high-standard farmland, comprising the following steps:
s1, judging whether the reading of a total water meter is abnormal;
s2, under abnormal conditions, a water leakage pipeline is found out by switching on/off the electromagnetic valve switch, and water leakage areas are divided;
s3, finding out the specific position of each water leakage point by arranging the water leakage areas one by one;
s4, notifying related personnel of water leakage.
In S1, judging whether the total water meter reading is abnormal or not means that whether the water meter collection accumulated flow value installed at the irrigation water main changes or not after all solenoid valve switches are electrified and opened in a non-irrigation period. If the change does not occur, the situation is normal; if the change occurs, the abnormal situation is generated.
In S2, the water leakage pipeline and the water leakage area are found out in a step-by-step manner by switching on and off the electromagnetic valve switch, and the specific steps are as follows:
s201, powering on the solenoid valve switch at the main pipe, powering off the solenoid valve switches at all branch pipes, enabling water flow to enter the main pipe through the valve, judging whether the accumulated flow value collected by the water meter installed at the irrigation main pipe is changed or not after the water flow is stabilized, indicating that the main pipe is free from water leakage when the accumulated flow value is unchanged, indicating that the main pipe is free from water leakage when the accumulated flow value is changed, and dividing a rectangular water leakage area capable of containing the main pipe according to the distribution position condition of the main pipe.
S202, maintaining the solenoid valve switch at the electrified main pipe, sequentially electrifying the solenoid valve switch at each branch pipe, enabling water flow in the main pipe to enter the branch pipe through the valve, judging whether the change amplitude of the accumulated flow value acquired by the water meter arranged at the irrigation main pipe is changed relative to the last time after the water flow is stabilized, indicating that the branch pipe has no water leakage phenomenon, and continuously electrifying the solenoid valve switch at the next branch pipe to continue the judgment. When the change occurs, the water leakage phenomenon of the branch pipe is indicated, the system divides a rectangular water leakage area capable of containing the branch pipe according to the distribution position condition of the corresponding branch pipe, and the electromagnetic valve switch at the next branch pipe is continuously electrified to continue judgment. And (5) until all solenoid valve switches at the branch pipes are completely electrified, judging to be over, and collecting all water leakage area information.
S203, maintaining the electromagnetic valve switch at the electrified main pipe, and powering off the electromagnetic valve switch at the branch pipe without water leakage phenomenon to heat and pressurize the water flow in the pipeline.
In S3 and S4, the task is executed by using unmanned aerial vehicles to check the water leakage areas one by one, the unmanned aerial vehicles shoot and record images of the ground through the infrared cameras, and suspected water leakage points are checked out according to image information. The method comprises the following specific steps:
s301, under the condition that the definition is kept unchanged, determining the furthest shooting distance according to the parameter information of an infrared camera carried by the unmanned aerial vehicle, taking the distance as the flying height of the unmanned aerial vehicle, and adopting a calculation formula as follows:；
wherein C is the flying height of the unmanned aerial vehicle, j is the fixed focal length of the lens, W is the width of the shot picture of the lens, and h is the target surface size height of the lens.
S302, after the unmanned aerial vehicle flies to a corresponding height C, a camera is started, and recording of ground image information is started. Taking any vertex of the rectangular water leakage area as a starting point, transversely flying towards the adjacent vertex, longitudinally shifting for a distance S after reaching the adjacent vertex, and continuously transversely flying towards the opposite direction of the previous flying direction after shifting is completed, so that the process is repeated until all positions in the water leakage area are inspected. The longitudinal displacement distance S is calculated according to the ratio of the shooting picture of the unmanned aerial vehicle to the actual area under the height, and is calculated according to the following formula:
；
In the method, in the process of the invention,the distance of the longitudinal displacement of the unmanned aerial vehicle is W, the width of a shot picture is W, and the ratio of the shot picture to the actual area is B.
S303, after the unmanned aerial vehicle patrols all the water leakage areas, all the image information is disassembled into two parts: live-action video information and thermal imaging video information; the two parts of video information are respectively decomposed into single-frame images by using the existing OpenCV, all the single-frame images are screened, repeated and blurred images are removed by adopting an image similarity recognition and edge detection method, then the thermal imaging images in the remaining single-frame images are analyzed, a high-heat area in the thermal imaging images is found out, the suspicious degree is calculated by combining the pipeline position information analysis, and after the suspicious degree is arranged in positive sequence, the water leakage flow, the suspicious water leakage point image information and the position information are sent to related personnel for processing.
Analyzing the thermal imaging image in the remaining single frame image and calculating the suspicious degree of the high heat region comprises the following steps:
s304, converting the infrared image into a gray image by using an OpenCV library of Python, and performing Gaussian filtering on the gray image to remove noise and smooth the image.
S305, performing threshold segmentation on the filtered gray level image, and binarizing the gray level image to obtain a binarized image, so as to highlight the outline of the high heat region. The image binarization is performed by substituting the gray value of each pixel point in the gray image and the set gray threshold value into a formula, wherein the formula is as follows:
；
In the method, in the process of the invention,gray value calculated for the pixel, for>For the pixel gray values, x, y represent the abscissa of the pixel, T is the gray threshold, else represents the other cases, the pixel with gray scale mark 1 corresponds to the object of interest, and the pixel with mark 0 corresponds to the background.
S306, judging whether the percentage of the pixel points with the gray value of 1 to the total pixel points is larger than an error threshold value, and if the percentage of the pixel points is smaller than or equal to the error threshold value, indicating that the infrared image does not contain a high-temperature area caused by a water leakage phenomenon, ending the analysis of the infrared image, and carrying out the analysis of the next infrared image; and when the threshold value is larger than the threshold value, indicating that the infrared image contains a high-heat area caused by water leakage phenomenon, collecting all coordinates of the high-heat area, and adding the coordinates into a coordinate set. The judgment formula is as follows:
；
in the method, in the process of the invention,for judging the result, ->Ending the analysis of the infrared image for failure, and carrying out the analysis of the next infrared image; />For success, the next step is performed; GR is the number of pixels with gray level value of 1, K is the number of all pixels of the infrared image, and V is the error threshold.
S307, calculating a geographic position coordinate set X of the high-heat region on the ground according to the pixel position of the high-heat region in the infrared image and the internal and external parameters of the camera, wherein the high-heat coordinate set X comprises Wherein, the method comprises the steps of, wherein,data of the 1 st, 2 nd, and z th pieces of high-heat coordinate set are respectively shown, and each piece of data contains transverse position information and longitudinal position information of the element relative to the farmland. Substituting the high heat coordinate set and the pipeline geographical position coordinate set in the water leakage area reserved in the system into a formula to calculate, so as to obtain the water leakage suspicion degree of the infrared image, wherein the high heat area of the infrared image is a suspected water leakage point under the condition that the suspicion degree is not zero. The calculation formula is as follows:
；
wherein KYD is the suspicious degree of the high-heat region, X is the high-heat coordinate set, and M is the pipeline geographic position coordinate set in the water leakage region.
Embodiment one:
assume that the fixed focal length of a lens of a camera carried by the unmanned aerial vehicle is 4.1mm, the width of a shot picture is 1m, the target surface size of the lens is 2.7mm, and the ratio of the shot picture to the actual area is 1:10, in the case of:
substituting the formula to calculate and obtain the flying height of the unmanned aerial vehicle:
substituting formula to calculate and obtain longitudinal displacement distance:
therefore, the camera is required to record clear ground pictures and needs to achieveThe height of the flight is meter, and the longitudinal displacement distance is 0.1 meter after each transverse flight reaches the target position.
Example two
Assuming that a certain Shan Zhengong external image pixel is 640 x 512, setting an error threshold value to be 0.05; converting the infrared image into a gray image, performing Gaussian filtering on the gray image, and then performing threshold segmentation to obtain a binarized image, wherein 3 high-heat areas are displayed, and the number of pixels with gray values of 1 in the high-heat areas A, B, C is respectively as follows: 2560, 19660 and 36500, respectively substituting the formula to judge whether the percentage of the pixel point with the gray value of 1 to the total pixel point is larger than an error threshold value;
；
；
；
judging that the A area is smaller than the error threshold value and the B area and the C area are larger than the error threshold value is successful; calculating the pixel positions of the area B and the area C and the internal and external parameters of the camera, and respectively calculating geographic position coordinate sets of the area A and the area B on the ground;
assuming that the number of intersecting elements of the pipeline geographic position coordinate set in the water leakage area and the geographic position coordinate set of the B area is 8649, and the number of intersecting elements of the pipeline geographic position coordinate set of the C area and the geographic position coordinate set of the C area is 12032; substituting the water leakage suspicious degree into a formula to calculate to obtain the water leakage suspicious degree of the infrared image;
；
；
and the calculation shows that the suspicious degree of the B high heat area is 43.99 percent, and the suspicious degree of the C high heat area is 32.96 percent.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (9)

1. An irrigation energy-saving management system for high-standard farmland, which is characterized in that: the management system comprises a data acquisition module, a data processing module, an equipment control module and an intelligent early warning module;
the data acquisition module is used for acquiring the reading of the integrated water meter, acquiring image information of the ground through the unmanned aerial vehicle camera and transmitting the data to the data processing module; the data processing module is used for judging whether a water leakage phenomenon exists or not, judging a water leakage area through the on-off information of each electromagnetic valve switch when the water leakage phenomenon occurs, analyzing image information acquired by the unmanned aerial vehicle camera, and calculating position information of suspected water leakage points; the equipment control module is used for controlling the electromagnetic valve to be switched on and off and controlling the flight area and the flight path of the unmanned aerial vehicle; the intelligent early warning module is used for editing the water leakage flow, the suspected water leakage point image information and the position information into early warning information to remind related personnel;
The water leakage phenomenon is that the reading of the total water meter is abnormal, and whether the reading of the total water meter changes is observed after all solenoid valve switches are powered on in a non-irrigation period; if the change does not occur, the situation is normal; the occurrence of the change is an abnormal condition.
2. An irrigation energy conservation management system for use under high standard farmlands according to claim 1, wherein: the data acquisition module comprises a water meter reading acquisition unit and a ground image acquisition unit;
the water meter reading acquisition unit acquires the accumulated flow value through a water meter arranged at the irrigation water main, acquires the accumulated flow value of the irrigation water main once every other fixed time in the non-irrigation period, and sends the information to the data processing module; the ground image acquisition unit adopts unmanned aerial vehicle high-altitude shooting technology to carry out round-trip inspection shooting on each water leakage area, and the unmanned aerial vehicle camera has an infrared function, can shoot out live-action pictures and thermal imaging pictures simultaneously, and the system transmits the image information and corresponding position information to the data processing module.
3. An irrigation energy conservation management system for use under high standard farmlands according to claim 1, wherein: the data processing module comprises a water leakage area judging unit and a water leakage position predicting unit;
The water leakage area judging unit judges the water leakage area by switching on/off the electromagnetic valve switch; firstly, powering on a solenoid valve switch at a main pipe, powering off solenoid valve switches at all branch pipes, sending the solenoid valve switches to an equipment control module in a command form, judging whether the accumulated flow value collected by a water meter arranged at an irrigation main pipe is changed, if not, indicating that the main pipe has no water leakage phenomenon, and if so, indicating that the main pipe has the water leakage phenomenon, and dividing a rectangular water leakage area capable of containing the main pipe according to the distribution position condition of the main pipe by the system; secondly, sequentially powering on the solenoid valve switch at each branch pipe, sending the solenoid valve switch to the equipment control module in a command form, judging whether the variation amplitude of the accumulated flow value acquired by the water meter installed at the irrigation water main is changed relative to the last time, if not, indicating that the branch pipe has no water leakage phenomenon, and continuing powering on the solenoid valve switch at the next branch pipe for re-judgment; when the change occurs, the water leakage phenomenon of the branch pipe is indicated, the system divides a rectangular water leakage area capable of containing the branch pipe according to the distribution position condition of the corresponding branch pipe, and the solenoid valve switch at the next branch pipe is continuously electrified to judge again; finally, after all the solenoid valve switches at the branch pipes are powered on, all the solenoid valve switches at the branch pipes without water leakage are powered off, heating and pressurizing are carried out on water in the pipeline, the water is sent to the equipment control module in a command form, and meanwhile, the position information of all the water leakage areas is transmitted to the equipment control module;
The water leakage position prediction unit is used for decomposing thermal imaging video information in the water leakage area image information into single-frame images, screening all the single-frame images, and removing repeated and blurred images by adopting an image similarity recognition and edge detection method; and then analyzing the residual single-frame image, judging whether each thermal imaging picture has a high-temperature area, if so, indicating that the area possibly has water leakage phenomenon, substituting the position information of the high-temperature area and the position information of the nearby pipelines into a formula for calculation, calculating the water leakage suspicion degree of the high-temperature area, and transmitting the position information and the suspicion degree of the high-temperature area with the suspicion degree not being zero to an intelligent early warning module.
4. An irrigation energy conservation management system for use under high standard farmlands according to claim 1, wherein: the equipment control module comprises an irrigation adjusting unit, an electromagnetic valve control unit and a patrol path planning unit;
the irrigation regulating unit can control water temperature and water pressure according to the instruction information transmitted by the data processing module; the electromagnetic valve control unit can receive instruction information transmitted by the data processing module and realize on-off adjustment of electromagnetic valve switches at the main pipe and electromagnetic valve switches at all branch pipes; when the corresponding electromagnetic valve switch is electrified, the electromagnetic coil generates electromagnetic force to lift the closing member from the valve seat, the valve is opened, and water flows into the pipeline through the electromagnetic valve; when the corresponding electromagnetic valve is powered off, electromagnetic force disappears, the spring presses the closing member to the valve seat, the valve is closed, and water cannot enter the pipeline through the electromagnetic valve; the inspection path planning unit can receive instruction information transmitted by the data processing module and plan the unmanned aerial vehicle flight path for each water leakage area; determining the furthest shooting distance of the unmanned aerial vehicle according to the principle that the definition is unchanged, wherein the distance is the flight height of the unmanned aerial vehicle, and substituting the width of a shooting picture of the unmanned aerial vehicle under the height into a formula to calculate the moving distance of the unmanned aerial vehicle back and forth each time; and the unmanned aerial vehicle realizes inspection shooting of each water leakage area according to the parameter information and the water leakage area position information.
5. An irrigation energy conservation management system for use under high standard farmlands according to claim 1, wherein: the intelligent early warning module can receive the high-temperature area position information and the suspicious degree which are transmitted by the data processing module and have the suspicious degree of not being zero, and send the water leakage flow, the suspicious water leakage point image information and the position information to relevant personnel for processing after the suspicious degree is arranged in a positive sequence according to the suspicious degree.
6. An irrigation energy-saving management method for a high-standard farmland is characterized by comprising the following steps:
s1, judging whether the reading of a total water meter is abnormal;
s2, under abnormal conditions, a water leakage pipeline is found out by switching on/off the electromagnetic valve switch, and water leakage areas are divided;
s3, finding out the specific position of each water leakage point by arranging the water leakage areas one by one;
s4, notifying related personnel of water leakage;
in S2, the water leakage pipeline and the water leakage area are found out in a step-by-step manner by switching on and off the electromagnetic valve switch, and the specific steps are as follows:
s201, powering on solenoid valve switches at the main pipe, powering off solenoid valve switches at all branch pipes, enabling water flow to enter the main pipe through a valve, judging whether accumulated flow values collected by a water meter arranged at the irrigation main pipe are changed or not after the water flow is stabilized, indicating that the main pipe is free from water leakage when the accumulated flow values are not changed, indicating that the main pipe is free from water leakage when the accumulated flow values are changed, and dividing a rectangular water leakage area capable of containing the main pipe according to the distribution position condition of the main pipe;
S202, maintaining the solenoid valve switch at the electrified main pipe, sequentially electrifying the solenoid valve switch at each branch pipe, enabling water flow in the main pipe to enter a branch pipe through a valve, judging whether the change amplitude of the accumulated flow value acquired by a water meter arranged at the irrigation main pipe is changed relative to the last time after the water flow is stabilized, indicating that the branch pipe has no water leakage phenomenon, and continuously electrifying the solenoid valve switch at the next branch pipe to continue judgment; when the water leakage phenomenon of the branch pipe is indicated if the water leakage phenomenon is changed, the system divides a rectangular water leakage area capable of containing the branch pipe according to the distribution position condition of the corresponding branch pipe, and continues to electrify a solenoid valve switch at the next branch pipe to continue to judge; until all solenoid valve switches at all branch pipes are electrified, judging to be over, and collecting all water leakage area information;
s203, maintaining the electromagnetic valve switch at the electrified main pipe, and powering off the electromagnetic valve switch at the branch pipe without water leakage phenomenon to heat and pressurize the water flow in the pipeline.
7. The method for energy-saving irrigation management under a high-standard farmland according to claim 6, wherein: in S1, judging whether the reading of the total water meter is abnormal or not, namely, observing whether the collected accumulated flow value of the water meter arranged at the irrigation water main changes or not after all solenoid valve switches are electrified and opened in a non-irrigation period; if the change does not occur, the situation is normal; if the change occurs, the abnormal situation is generated.
8. The method for energy-saving irrigation management under a high-standard farmland according to claim 6, wherein: in S3 and S4, the task is executed by using unmanned aerial vehicles to check the water leakage areas one by one, the unmanned aerial vehicles shoot and record images of the ground through the infrared cameras, and suspected water leakage points are checked out according to the image information; the method comprises the following specific steps:
s301, under the condition that the definition is kept unchanged, determining the furthest shooting distance according to the parameter information of an infrared camera carried by the unmanned aerial vehicle, taking the distance as the flying height of the unmanned aerial vehicle, and adopting a calculation formula as follows:；
wherein C is the flying height of the unmanned aerial vehicle, j is the fixed focal length of the lens, W is the width of a shot picture of the lens, and h is the target surface size height of the lens;
s302, after the unmanned aerial vehicle flies to a corresponding height C, a camera is started to record ground image information; taking any vertex of the rectangular water leakage area as a starting point, transversely flying towards the adjacent vertex, longitudinally shifting a distance S after reaching the adjacent vertex, and continuously transversely flying towards the opposite direction of the previous flying direction after completing the shifting, so repeating until all positions in the water leakage area are inspected; the longitudinal displacement distance S is calculated according to the ratio of the shooting picture of the unmanned aerial vehicle to the actual area under the height, and is calculated according to the following formula: ；
In the method, in the process of the invention,the distance of longitudinal displacement of the unmanned aerial vehicle is W, the width of a shot picture is W, and the ratio of the shot picture to the actual area is B;
s303, after the unmanned aerial vehicle patrols all the water leakage areas, all the image information is disassembled into two parts: live-action video information and thermal imaging video information; the two parts of video information are respectively decomposed into single-frame images by using the existing OpenCV, all the single-frame images are screened, repeated and blurred images are removed by adopting an image similarity recognition and edge detection method, then the thermal imaging images in the remaining single-frame images are analyzed, a high-heat area in the thermal imaging images is found out, the suspicious degree is calculated by combining the pipeline position information analysis, and after the suspicious degree is arranged in positive sequence, the water leakage flow, the suspicious water leakage point image information and the position information are sent to related personnel for processing.
9. The irrigation energy-saving management method for high-standard farmland according to claim 8, wherein: analyzing the thermal imaging image in the remaining single frame image and calculating the suspicious degree of the high heat region comprises the following steps:
s304, converting the infrared image into a gray image by using an OpenCV library of Python, and performing Gaussian filtering on the gray image to remove noise and smooth the image;
S305, carrying out threshold segmentation on the filtered gray level image, and binarizing the gray level image to obtain a binarized image, so as to highlight the outline of the high heat area; the image binarization is performed by substituting the gray value of each pixel point in the gray image and the set gray threshold value into a formula, wherein the formula is as follows:；
in the method, in the process of the invention,gray value calculated for the pixel, for>For the pixel gray values, x, y represent the abscissa of the pixel, T is the gray threshold, else represents the other cases, the pixel with gray scale mark 1 corresponds to the object of interest, and the pixel with mark 0 corresponds to the background;
s306, judging whether the percentage of the pixel points with the gray value of 1 to the total pixel points is larger than an error threshold value, and if the percentage of the pixel points is smaller than or equal to the error threshold value, indicating that the infrared image does not contain a high-temperature area caused by a water leakage phenomenon, ending the analysis of the infrared image, and carrying out the analysis of the next infrared image; when the threshold value is larger than the threshold value, indicating that the infrared image contains a high-heat area caused by water leakage, collecting coordinates of all the high-heat areas, and adding the coordinates into a coordinate set; the judgment formula is as follows:；
in the method, in the process of the invention,for judging the result, ->Ending the analysis of the infrared image for failure, and carrying out the analysis of the next infrared image; / >For success, the next step is performed; GR is the number of pixels with gray level value of 1, K is the number of all pixels of the infrared image, and V is the error threshold;
s307, calculating a geographic position coordinate set X of the high-heat region on the ground according to the pixel position of the high-heat region in the infrared image and the internal and external parameters of the camera, wherein the high-heat coordinate set X comprisesWherein->Data of items 1, 2, z in the high heat coordinate set are respectively represented, and each item of data comprises transverse position information and longitudinal position information in a farmland; substituting the high heat coordinate set and the pipeline geographical position coordinate set in the water leakage area reserved in the system into a formula to calculate, so as to obtain the water leakage suspicion degree of the infrared image, wherein the high heat area of the infrared image is a suspected water leakage point under the condition that the suspicion degree is not zero, and the calculation formula is as follows:
；
wherein KYD is the suspicious degree of the high-heat region, X is the high-heat coordinate set, and M is the pipeline geographic position coordinate set in the water leakage region.
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