CN116420710A - Crop positioning and double-precision gridding precise spraying weeding device and method - Google Patents
Crop positioning and double-precision gridding precise spraying weeding device and method Download PDFInfo
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- 238000009333 weeding Methods 0.000 title claims abstract description 48
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- 235000013311 vegetables Nutrition 0.000 claims abstract description 17
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Abstract
The invention provides a crop positioning and double-precision gridding precise spraying weeding device and method. The invention marks vegetable plants by using specific plant labels in transplanting so as to enable the vegetable plants to have machine-readable signal characteristics, and crops and weeds are distinguished in real time by using the device developed by the invention so as to map the weeds and divide the weeds into a pesticide spraying unit and a counting unit in a double-precision grid mode. When the double-precision grid dividing is carried out, the first precision is the spraying precision of the spray heads, the grids divided by the precision correspond to the spray heads of the integrated spray module respectively, and the spray units are used for spraying the medicines; the second precision is the moving precision of the independent spraying module, and is specially used for treating weeds which cannot be sprayed under the first precision, and the grids divided under the first precision are required to be combined into a new spraying unit by a specific algorithm, so that the new spraying unit is called a counting unit. Based on the double-precision weed dividing method provided by the invention, by combining two modes of integrated spraying and independent spraying, the higher weed removal rate can be realized without reducing the operation speed of the device on the premise of not improving the resolution of the spray head.
Description
Technical Field
The invention relates to the technical field of intelligent agriculture, in particular to a crop positioning and double-precision gridding precise spraying weeding device and method.
Background
Weeds compete with crops for resources such as sunlight, nutrients and the like, and the normal growth of the crops is affected. The growth cycle of vegetable crops is shorter, and if weeds in vegetable fields cannot be effectively controlled in time after transplanting, the yield of the vegetable crops can be seriously affected.
Mechanical intertillage is a weeding scheme which has been used for years, not only can loosen soil, but also can remove weeds among lines, but mechanical intertillage cannot remove weed among plants. Artificial weeding is widely used as a traditional weeding method in removing weed among vegetable plants. However, according to the statistics of researchers, manual weeding is low in efficiency and easy to make mistakes, and only 65 to 85 percent of weeds can be removed on average. In addition, manual weeding is expensive, which is about 5 times the cost of traditional farming. Thus, manual weeding is not sustainable in the long term. Spraying herbicides is currently an effective means of weed control, but the negative impact of large-scale spraying herbicides on the environment is not negligible. Meanwhile, the quality of the residual herbicide on crops can be influenced, and researches show that food with residual herbicide is harmful to human and animal health.
In contrast, the accurate application of the herbicide can not only realize economical and efficient weeding, but also effectively reduce the negative influence brought by the herbicide. Researches prove that 30-70% of herbicide can be saved by using the accurate pesticide spraying technology for weeding. In recent years, the national policy is also continuously emphasizing the promotion of green development of agriculture, reducing the use amount of pesticides, promoting the green development of agriculture rural areas, strengthening the comprehensive treatment of agricultural non-point source pollution and deeply promoting the reduction of agricultural input products, wherein the reduction of the use of chemical pesticides is included.
In summary, it is necessary to develop a weeding robot between plants with stable performance and powerful functions, which is used for detecting the weed between vegetable plants and performing precise pesticide spraying weeding.
For the task of identifying weeds, researchers have proposed methods of classifying crops and weeds using different characteristics (e.g., color, size, spectral reflectance, etc.). But are limited by complex natural environments, and these techniques are difficult to apply to practical situations. In recent years, deep learning is increasingly applied to computer vision, and weed identification devices established based on a deep vision method achieve higher precision. However, such recognition schemes built based on deep learning all require acquisition of a sample set in advance, and consume a long time when training the model, which brings much inconvenience to practical application.
For the task of weed removal, researchers have proposed the use of movable weed cutters that can avoid seedlings to remove weeds in rows. However, the weeding cutter can damage ground facilities when operating, cannot be used for farmlands where electric pipelines or lines are laid, and consumes additional energy when operating. In contrast, the herbicide can be precisely sprayed, so that the economic and efficient weeding can be realized, and the herbicide has stronger adaptability. However, due to limitation of the resolution of the spray head, the single-precision weeding device based on the fixed spray head cannot effectively remove weeds too close to crops, and the weeding effect is required to be improved.
For the problems of the related art, no effective solution has been proposed at present.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a crop positioning and double-precision gridding precise spraying weeding device and method.
In order to achieve the above object, the present invention provides the following solutions:
crop positioning and double-precision gridding precise spraying weeding device is used for transplanted vegetable fields, plant labels are arranged at roots of crops in the vegetable fields, the device is arranged on a movable chassis, and the device comprises: imaging room, color code sensor, industrial camera, medicine box, medicine spraying room, integrated medicine spraying module, cover plate, main control box, independent medicine spraying module, SCM development module and microcomputer;
A plurality of color code sensors are arranged at the bottom of the imaging chamber; the color code sensor is connected with the microcomputer through the singlechip development module; the color code sensor is used for detecting the plant label and generating a detection signal; the industrial camera is arranged at the top end of the interior of the imaging chamber; the industrial camera is connected with the microcomputer; the medicine chest is arranged at the top end of the outer part of the imaging chamber; the medicine chest is respectively connected with the integrated medicine spraying module and the independent medicine spraying module; a medicine spraying chamber is arranged on one side of the imaging chamber; the integrated medicine spraying module is arranged in the medicine spraying chamber; the integrated pesticide spraying module and the independent pesticide spraying module are connected with the singlechip development module; the top of the medicine spraying chamber is provided with the cover plate; the cover plate is provided with the master control box and the independent medicine spraying module; the inside of the master control box is provided with the singlechip development module and the microcomputer which are connected with each other; the singlechip development module is used for receiving the detection signal and marking the detection signal according to the number of the corresponding color code sensor to obtain a marking signal; the microcomputer is used for controlling the industrial camera to acquire crop plants and photographed images of weeds according to the marking signals, performing image processing according to the photographed images to obtain processed images, and recognizing the processed images to obtain pixel point position information of the weeds and the crops; the microcomputer is further used for dividing the processing image into a plurality of medicine spraying units according to the resolution ratio of the integrated medicine spraying module based on the processing image and the pixel point position information, dividing the medicine spraying units into a plurality of counting units according to the movement precision of the independent medicine spraying module, defining medicine spraying mark positions for each counting unit, carrying out medicine spraying distribution according to the medicine spraying mark positions and the medicine spraying units to obtain integrated medicine spraying information, and carrying out medicine spraying distribution according to the medicine spraying mark positions and the counting units to obtain independent medicine spraying information; the microcomputer is also used for accurately spraying the medicine to the medicine spraying unit according to the integrated medicine spraying information and the independent medicine spraying information.
Preferably, the method further comprises: the LED lamp comprises a black light absorption curtain, a transformer module, a battery and a plurality of white LED lamps; the black light absorption curtain covers the periphery of the imaging chamber; the white LED lamp is arranged in the imaging chamber; the white LED lamp is connected with the battery through the transformer module; the transformer module is arranged in the master control box; the transformer module is used for adjusting the brightness of the white LED lamp.
Preferably, the relay module is further included; the relay module is arranged in the master control box;
the single-chip microcomputer development module comprises a first single-chip microcomputer development board, a second single-chip microcomputer development board and a third single-chip microcomputer development board; the first single-chip microcomputer development board, the second single-chip microcomputer development board and the third single-chip microcomputer development board are all connected with the microcomputer; the first singlechip development board is connected with the color code sensor; the second singlechip development board is connected with the input end of the integrated spraying module through the relay module; and the signal output end of the integrated pesticide spraying module and the signal output end of the independent pesticide spraying module are connected with the third singlechip development board.
Preferably, the integrated spraying module comprises a medicine supply pipeline, a first mounting frame and a plurality of first intelligent spray heads; one end of the medicine supply pipeline is connected with the medicine chest; the other end of the medicine supply pipeline is connected with each intelligent spray head; the first mounting frame is arranged in the medicine spraying chamber; the intelligent spray head is arranged on the first installation frame.
Preferably, the independent spraying module comprises a second mounting frame, a mechanical arm, a bearing, a servo motor and a second intelligent spray head;
the second mounting frame is connected with one end of the mechanical arm through the bearing, and the servo motor is arranged on the mechanical arm; the other end of the mechanical arm is connected with the second intelligent spray head; the servo motor is connected with the third singlechip development board; the servo motor is used for controlling the injection angle of the second intelligent nozzle.
Preferably, any one of the first intelligent spray head and the second intelligent spray head comprises an electromagnetic valve, a right-angle adapter and an adjustable spray head;
the electromagnetic valve is connected with the adjustable spray head through the right-angle adapter; the electromagnetic valve is connected with the relay module; the relay module is used for controlling the opening and closing states of the electromagnetic valve so as to realize the opening and closing states of the adjustable spray head.
Preferably, a liquid medicine pump is arranged in the medicine box; the liquid medicine pump is used for ensuring that the medicine box supplies medicine to the integrated medicine spraying module and the independent medicine spraying module under constant pressure.
A crop positioning and double-precision gridding precise spraying weeding method which is applied to the crop positioning and double-precision gridding precise spraying weeding device,
the device is arranged on a movable chassis, the movable chassis is controlled to move forward at a constant speed in vegetable fields, crop rows are positioned between the imaging chamber and the pesticide spraying chamber, a color code sensor is used for continuously detecting passing objects, when the color code sensor detects plant labels, a high-level detection signal is output based on the color code sensor, and the detection signal is transmitted to a singlechip development module;
after receiving the detection signal, the singlechip development module sends the serial number of the color code sensor generating the signal to a microcomputer through serial port communication; when the microcomputer receives serial data of the singlechip development module, controlling an industrial camera to capture crop plants and photographed images of weeds around the crop plants, cutting the photographed images into squares to enable the ground width in a picture to be 12cm, and calculating coordinates of plant labels in the images according to the cut photographed images and signal information of the color code sensor;
Converting the RGB channels of the shot image into HSV channels, and setting a threshold value of each HSV channel according to illumination conditions so as to divide a binary image of green plants in the image;
carrying out one-time opening operation on the binary image by adopting preset structural elements, removing noise connected domains with smaller pixel areas in the image, and simultaneously keeping the sizes of crops and weed connected domains in the image stable to obtain a removed image;
traversing all pixel points in the clearing image based on the clearing image, finding out the pixel point with the value of 1 and a connected domain formed by the pixel points, and recording the position information of the pixel point and the connected domain to obtain a recorded image;
drawing a circular tolerance zone with the radius of 7.5mm in the image based on the coordinates of the plant label in the image and the recorded image by taking the coordinates of the plant label as the center of a circle, determining a connected domain intersected with the circular tolerance zone as a connected domain of crops, marking all pixel points in the connected domain of the crops as crop pixel points and recording position information of the pixel points, determining the rest connected domains outside the connected domain of the crops as connected domains of weeds, marking all pixel points of the connected domain of the weeds as weed pixel points and recording position information of the weed pixel points to obtain pixel point position information of the weeds and the crops;
Based on the cleaning image, uniformly dividing the cleaning image into a plurality of areas by taking the resolution of the integrated medicine spraying module as a first precision, taking the cleaning image as a medicine spraying unit, and uniformly dividing the medicine spraying unit into a plurality of counting units by taking the movement precision of the independent medicine spraying module as a second precision;
defining a spraying mark position for each counting unit, establishing a two-dimensional array according to the spraying mark position, and initializing the two-dimensional array to be-1 for all elements; the value of the spraying mark represents the spraying priority of the counting unit; the two-dimensional array is used for storing the value of the spraying mark position of the counting unit;
traversing each unit to be sprayed, and carrying out first distribution on the unit to be sprayed: if the unit to be sprayed contains weeds and does not contain crops, the unit is a unit which needs weeding and does not affect the crops when spraying the pesticide, the position information of the unit is recorded, and the pesticide spraying mark positions of the counting units in the unit are all assigned to be 1, and the unit is distributed as the unit needing pesticide spraying when the pesticide spraying unit is distributed for the first time; if the unit to be sprayed contains weeds and crops, the unit to be sprayed is a unit which needs weeding but affects the crops when spraying, the unit to be sprayed needs to be divided again with higher precision, the position information of the unit to be sprayed is recorded, the value of the spraying mark position of the counting unit in the unit to be sprayed is kept unchanged at-1, and the unit to be sprayed is not distributed when the spraying unit is distributed for the first time; if the unit to be sprayed does not contain weeds and does not contain crops, the unit does not need weeding and does not influence crops when spraying the pesticide, the position information of the unit is recorded, and the pesticide spraying mark position of the counting unit in the unit is assigned to 0, which represents the unit which is distributed to be not needed to spray the pesticide when the pesticide spraying unit is distributed for the first time; if the pesticide spraying unit does not contain weeds and contains crops, the pesticide spraying unit is a unit which does not need weeding but affects the crops when spraying the pesticide, the pesticide spraying unit needs to be divided again with higher precision, the position information of the pesticide spraying unit is recorded, the value of the pesticide spraying mark position of the counting unit in the pesticide spraying unit is kept unchanged at-1, and the pesticide spraying mark position represents a unit which is not distributed when the pesticide spraying unit is distributed for the first time; generating integrated spraying information according to the result of the first spraying unit distribution;
Traversing each undefined counting unit and defining: if the counting unit contains weeds and does not contain crops, the spraying mark position is assigned to be 2, which represents that the counting unit needs to be distributed for the second time; if the counting unit contains weeds and crops, the spraying mark bit of the counting unit is assigned to be-3, which represents that the counting unit is forbidden to be distributed for the second time; if the counting unit does not contain weeds and contains crops, the spraying mark bit of the counting unit is assigned to be-2, which represents that the counting unit is forbidden to be distributed for the second time; if the counting unit does not contain weeds and crops, the spraying mark bit is assigned to 0, which means that the counting unit is not needed but is allowed to be distributed for the second time;
according to the result of traversing each undefined counting unit and defining, performing second distribution on the counting units needing to be redistributed with the medicine spraying units according to the sequence from top to bottom and from left to right, generating new medicine spraying units with the same grid size as the grid size divided with the first precision, and generating independent medicine spraying information according to the new medicine spraying units;
compiling the integrated spraying information into spraying command codes line by line according to the integrated spraying information and transmitting the spraying command codes to the singlechip development module through serial communication; after the integrated spraying module receives the spraying command code, the starting and closing time of each spray head in the integrated spraying module is calculated by combining the travelling speed of the device so as to control the spray heads to be opened and closed, and the spraying unit distributed for the first time is subjected to accurate spraying;
Compiling the independent spraying information into spraying command codes line by line according to the independent spraying information, and transmitting the spraying command codes to the singlechip development module through serial port communication; the singlechip development module calculates the position and the spraying time information of the spraying unit distributed for the second time according to a preset program and the received spraying command code; and outputting a specific PWM waveform according to the calculated position and the spraying time information of the spraying unit distributed for the second time so as to control the spray heads of the independent spraying modules to point to the spraying unit and control the opening and closing of the spray heads so as to accurately spray the spraying unit distributed for the second time.
Preferably, the calculation formula of the plant tag is:
where x is the lateral resolution of the image, y is the longitudinal resolution of the image, ser_1 represents the number of the first color patch sensor detecting the plant label, ser_2 represents the number of the second color patch sensor detecting the plant label, dt represents the time difference between the two color patch sensors detecting the crop label, v represents the forward speed of the device, and point_signal represents the coordinates of the plant label in the image.
Preferably, the calculation formula of the binary image for segmenting the green plants in the image is:
Wherein O is hsv (x, y) represents the original image captured in HSV channel, [ O ] hsv (x,y)] h,s,v Representing the hue, saturation and brightness, respectively, of the original image, T h ，T s And T v The threshold value defined for each channel is divided into a maximum value and a minimum value, the size of the threshold value is determined according to the condition of illumination condition, soil color and the like of the field, R t (x, y) represents the passing colorAnd (5) a segmented binary image.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a crop positioning and double-precision gridding precise spraying weeding device and a method, wherein the method for marking crop plants by using plant labels can simplify crop and weed classification algorithms, and improve weed identification accuracy and operation speed of the device. And utilize the condition that the color code sensor can effectually be covered by weeds to the plant label, improve the stability of device. The invention combines the signal transmission technology and the computer vision technology for identifying weeds, and reduces the cost of the device while realizing rapid and accurate identification of weeds. And by utilizing the accurate pesticide spraying scheme, the coverage area of each spray head is small, the pesticide spraying is more accurate, and the pollution to the environment is reduced while pesticide is saved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic overall structure of an embodiment of the present invention;
FIG. 2 is a schematic front view of an embodiment of the present invention;
FIG. 3 is a right side schematic view of an embodiment of the present invention;
FIG. 4 is an enlarged schematic view of a local control structure of an embodiment of the present invention;
FIG. 5 is an enlarged schematic view of a first smart spray head mounting structure in accordance with an embodiment of the present invention;
FIG. 6 is an enlarged schematic view of a second smart spray head mounting structure in accordance with an embodiment of the present invention;
FIG. 7 is an enlarged schematic view of a servo motor structure according to an embodiment of the present invention;
FIG. 8 is an enlarged schematic view of an adjustable spray head structure according to an embodiment of the present invention;
FIG. 9 is an enlarged schematic view of a plant tag structure according to an embodiment of the present invention;
FIG. 10 is a flow chart of a method of an embodiment of the present invention;
FIG. 11 is a schematic diagram showing the results of a first dispensing spray unit according to an embodiment of the present invention;
FIG. 12 is a diagram showing the result of a pending area partition count unit according to an embodiment of the present invention;
FIG. 13 is a schematic diagram showing the results of a second dispensing spray unit according to an embodiment of the present invention;
FIG. 14 is a schematic diagram illustrating operation of an integrated spray module according to an embodiment of the present invention;
reference numerals illustrate:
1-an imaging chamber; 2-a black light absorbing curtain; a 3-color scale sensor; 4-an industrial camera; 5-white LED lamps; 6-a medicine box; 7-a medicine spraying chamber; 8-an integrated spraying module; 9-cover plate; 10, a master control box; 11-an independent spraying module; 12-cell; 13-a relay module; 14-a transformer module; 15-a first singlechip development board; 16-a second singlechip development board; 17-a third singlechip development board; 18-a microcomputer; 19-a drug supply pipeline; 20-a first intelligent spray head; 21-a first mounting frame; 22 a second mount; 23-a mechanical arm; 24-bearing; 25-servo motor; 26-an electromagnetic valve; 27-right angle adapter; 28-spray head; 29-plant tags; 30-crop plants; 31-weeds.
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.
The invention aims to provide a crop positioning and double-precision gridding precise spraying weeding device and method, which can improve weed identification accuracy and weeding speed.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
As shown in fig. 1 to 9, the invention provides a weed identification and accurate removal device based on a signal transmission technology, which is used for transplanted vegetable fields, and comprises an imaging chamber 1 constructed by aluminum alloy sections, wherein the periphery of the imaging chamber 1 is covered by a black light absorption curtain 2, six color code sensors 3 are arranged at the inner bottom end of the imaging chamber 1, the color code sensors 3 are connected with a microcomputer 18 through a first singlechip development board 15, an industrial camera 4 is fixed at the inner top end of the imaging chamber 1, the industrial camera 4 is connected with a microcomputer 8, four white LED lamps 5 are arranged in the imaging chamber 1, the white LED lamps 5 are connected with a battery 12 through a transformer module 14, a medicine box 6 with a liquid pump is arranged at the outer top end of the imaging chamber 1, the medicine box 6 is connected with an integrated medicine spraying module 8 and an independent medicine spraying module 11 through a medicine supply pipeline, the medicine spraying chamber 7 is formed by the aluminum alloy sections, the imaging chamber 7 is connected with the microcomputer 8, and the integrated medicine spraying module 8 is arranged in the rear of the imaging chamber 1, and the integrated medicine spraying module is connected with a second singlechip 8 through a microcomputer integrated medicine spraying module 16; the signal output end of the integrated spraying module 8 is connected with a microcomputer 18 through a third singlechip development board 16; the integrated medicine spraying module 8 consists of a medicine supply pipeline 19, a first intelligent spray head 20 and a first mounting frame 21, an aluminum alloy cover plate 9 is arranged at the top of the medicine spraying chamber 7, a main control box 10 is arranged on the aluminum alloy cover plate 9, a relay module 13, a transformer module 14, a first singlechip development board 15, a second singlechip development board 16, a third singlechip development board 17 and a microcomputer 18 are arranged in the main control box 10, an independent medicine spraying module 11 is arranged on the cover plate 9, and the circuit input end of the independent medicine spraying module 11 is connected with the microcomputer 18 through the third singlechip development board 16; the independent medicine spraying module 11 consists of a second mounting frame 22, a mechanical arm 23, a bearing 24, a servo motor 25 and a second intelligent spray head, wherein the second intelligent spray head consists of an electromagnetic valve 26, a right-angle adapter 27 and an adjustable spray head 28; the plant tag 29 is located near the root of the crop plant 30; the weeds 31 are randomly distributed around the crop plants 30.
Specifically, the imaging chamber 1 is built by aluminum alloy sections, and the periphery of the imaging chamber is covered by a black light absorbing curtain 2 so as to ensure that the imaging chamber is not interfered by external environment light; six color code sensors 3 are arranged at the bottom end of the interior of the imaging chamber 1, and the color code sensors 3 are connected with a microcomputer 18 through a singlechip development board 15; four white LED lamps 5 are installed in the imaging chamber 1, and the white LED lamps 5 are connected with a battery 12 through a transformer module 14.
Further, 6 color code sensors 3 are uniformly distributed on the cross beam at the bottom of the imaging chamber 1, 3 color code sensors are respectively arranged at two sides of the travelling direction, and the installation height of the color code sensors 3 can be flexibly adjusted.
Further, the scanning light rays generated by the 6 color scale sensors 3 are deflected downwards by a proper angle relative to the bottom surface of the imaging chamber 1, so as to avoid mutual interference between the sensors.
Further, the focal length of the lens of the industrial camera 4 is determined according to the height of the camera from the ground, so as to clearly and comprehensively shoot crops and weeds around the crops.
Further, the brightness of the white LED lamp 5 is adjusted by the transformer module 14, so as to ensure that the imaging room has proper illumination conditions.
Further, the liquid medicine pump in the medicine box 6 has an automatic pressure relief function, so that the medicine box can supply medicine to each medicine spraying module under constant pressure;
furthermore, 12 first intelligent spray heads 20 are staggered in the integrated spray module 8, and when the liquid medicine passes through the first intelligent spray heads 20 and is vertically sprayed to the ground, the sprayed liquid medicine can form a circle with the diameter of 10mm on the ground. The first intelligent sprayers 20 cooperate to spray and weed the area with the width of 120mm at the same time without overlapping.
Further, the master control box 10 is a control center of the device of the present invention, and is used for processing images and sensor data to control the modules to work cooperatively.
Furthermore, the independent spraying module 11 is provided with a second intelligent spray head which is the same as that in the integrated spraying module 8, and the postures of the two joints of the intelligent spray head are controlled by the servo motor 25, so that the spraying of the spraying leakage unit can be supplemented.
Furthermore, 13 relays are shared in the relay module 13, and 13 electromagnetic valves in the medicine spraying module are respectively corresponding to the relays, and the opening and closing of each spray head are controlled by controlling the opening and closing of the electromagnetic valves, so that selective and accurate medicine spraying is realized.
Further, the rotation angle of the servo motor 25 is controlled by the PWM waveform output by the single-chip microcomputer development board 17, so as to adjust the posture of the independent spraying module 11 according to the actual situation, and accurately supplement the spraying for the spraying leakage area.
Furthermore, the invention divides the plants and the background in the image according to the color difference of the plants and the soil, and the threshold value selected in the process of color division is related to the colors of the plants and the soil, so before the device is used, the threshold value of color division is adjusted according to the actual situation so as to ensure that green plants can be accurately divided.
Through the device, can be with the accurate discernment of weeds in the vegetables field and fixed point clear away, reduce the quantity of herbicide use, reduce the pollution of abuse herbicide to the environment and the influence of herbicide residue to animal health. Meanwhile, the weed identification and control scheme provided by the invention has stronger economy and adaptability, and advances the development of intelligent agriculture.
By the scheme of the invention, vegetable seedlings grow in the field, weeds can be distributed at the peripheral positions of the vegetable seedlings, the device is arranged on a chassis capable of autonomous walking, the device walks along a crop line, and the crop line is positioned at the middle position of the device. The brightness of the white LED lamp 5 is adjusted to a proper range by adjusting the voltage value of the transformer module 14 in advance, so that stable illumination conditions in the imaging room are maintained. By teaching the color code sensor 3, the plant label can be detected rapidly and accurately without generating false positives on weeds and the like. The imaging of the industrial camera 4 is made clear by adjusting its exposure. Based on the conditions of illumination conditions, soil colors and the like of the field, the green plants can be completely segmented without being mixed with a plurality of noise points by adjusting the threshold value of color segmentation.
As shown in fig. 10, the present embodiment further provides a weed identification and precise removal method based on a signal transduction technique, including:
Where x is the lateral resolution of the image, y is the longitudinal resolution of the image, ser_1 represents the number of the first color patch sensor detecting the plant label, ser_2 represents the number of the second color patch sensor detecting the plant label, dt represents the time difference between the two color patch sensors detecting the crop label, v represents the forward speed of the device, and point_signal represents the coordinates of the plant label in the image.
Wherein O is hsv (x, y) represents the original image captured in the HSV channel. [ O hsv (x,y)] h,s,v Representing the hue, saturation and brightness of the original image, respectively. T (T) h ,T s ,T v The threshold value defined for each channel is divided into a maximum value and a minimum value, and the size of the threshold value depends on the condition of illumination conditions, soil colors and the like of the field. R is R t (x, y) represents a binary image after color segmentation.
The beneficial effects of the invention are as follows:
(1) The method for marking the crop plants by using the plant labels can simplify the crop and weed classification algorithm and improve the weed identification accuracy and the operation speed of the device.
(2) The arrangement scheme of the color code sensor can effectively cope with the situation that the plant label is shielded by weeds, and improves the stability of the device.
(3) The invention combines the signal transmission technology and the computer vision technology for identifying weeds, and reduces the cost of the device while realizing rapid and accurate identification of weeds.
(4) According to the precise spraying scheme, the coverage area of each spray head is small, the spraying is more precise, the pesticide is saved, and the pollution to the environment is reduced.
(5) The medicine spraying device divides the medicine spraying units with double precision, can realize higher grass removal rate under the same nozzle precision, and does not influence the speed of the device.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (10)
1. Crop location and two precision gridding precision spraying weeding device, its characterized in that is used for the vegetables field after transplanting, the root of the crop in vegetables field is provided with the plant label, the device sets up on movable chassis, the device includes: imaging room, color code sensor, industrial camera, medicine box, medicine spraying room, integrated medicine spraying module, cover plate, main control box, independent medicine spraying module, SCM development module and microcomputer;
a plurality of color code sensors are arranged at the bottom of the imaging chamber; the color code sensor is connected with the microcomputer through the singlechip development module; the color code sensor is used for detecting the plant label and generating a detection signal; the industrial camera is arranged at the top end of the interior of the imaging chamber; the industrial camera is connected with the microcomputer; the medicine chest is arranged at the top end of the outer part of the imaging chamber; the medicine chest is respectively connected with the integrated medicine spraying module and the independent medicine spraying module; a medicine spraying chamber is arranged on one side of the imaging chamber; the integrated medicine spraying module is arranged in the medicine spraying chamber; the integrated pesticide spraying module and the independent pesticide spraying module are connected with the singlechip development module; the top of the medicine spraying chamber is provided with the cover plate; the cover plate is provided with the master control box and the independent medicine spraying module; the inside of the master control box is provided with the singlechip development module and the microcomputer which are connected with each other; the singlechip development module is used for receiving the detection signal and marking the detection signal according to the number of the corresponding color code sensor to obtain a marking signal; the microcomputer is used for controlling the industrial camera to acquire crop plants and photographed images of weeds according to the marking signals, performing image processing according to the photographed images to obtain processed images, and recognizing the processed images to obtain pixel point position information of the weeds and the crops; the microcomputer is further used for dividing the processing image into a plurality of medicine spraying units according to the resolution ratio of the integrated medicine spraying module based on the processing image and the pixel point position information, dividing the medicine spraying units into a plurality of counting units according to the movement precision of the independent medicine spraying module, defining medicine spraying mark positions for each counting unit, carrying out medicine spraying distribution according to the medicine spraying mark positions and the medicine spraying units to obtain integrated medicine spraying information, and carrying out medicine spraying distribution according to the medicine spraying mark positions and the counting units to obtain independent medicine spraying information; the microcomputer is also used for accurately spraying the medicine to the medicine spraying unit according to the integrated medicine spraying information and the independent medicine spraying information.
2. The crop positioning and dual precision gridding precision spray weeding device according to claim 1, further comprising: the LED lamp comprises a black light absorption curtain, a transformer module, a battery and a plurality of white LED lamps; the black light absorption curtain covers the periphery of the imaging chamber; the white LED lamp is arranged in the imaging chamber; the white LED lamp is connected with the battery through the transformer module; the transformer module is arranged in the master control box; the transformer module is used for adjusting the brightness of the white LED lamp.
3. The crop positioning and dual precision gridding precision spray weeding device according to claim 1, further comprising a relay module; the relay module is arranged in the master control box;
the single-chip microcomputer development module comprises a first single-chip microcomputer development board, a second single-chip microcomputer development board and a third single-chip microcomputer development board; the first single-chip microcomputer development board, the second single-chip microcomputer development board and the third single-chip microcomputer development board are all connected with the microcomputer; the first singlechip development board is connected with the color code sensor; the second singlechip development board is connected with the input end of the integrated spraying module through the relay module; and the signal output end of the integrated pesticide spraying module and the signal output end of the independent pesticide spraying module are connected with the third singlechip development board.
4. The crop positioning and dual-precision gridding precision spraying weeding device according to claim 3, wherein the integrated spraying module comprises a medicine supply pipeline, a first mounting frame and a plurality of first intelligent spray heads; one end of the medicine supply pipeline is connected with the medicine chest; the other end of the medicine supply pipeline is connected with each intelligent spray head; the first mounting frame is arranged in the medicine spraying chamber; the intelligent spray head is arranged on the first installation frame.
5. The crop positioning and double-precision gridding precision spraying weeding device according to claim 4, wherein the independent spraying module comprises a second mounting frame, a mechanical arm, a bearing, a servo motor and a second intelligent spray head;
the second mounting frame is connected with one end of the mechanical arm through the bearing, and the servo motor is arranged on the mechanical arm; the other end of the mechanical arm is connected with the second intelligent spray head; the servo motor is connected with the third singlechip development board; the servo motor is used for controlling the injection angle of the second intelligent nozzle.
6. The crop positioning and dual precision gridding precision spray weeding device according to claim 5, wherein any one of the first and second intelligent spray heads comprises a solenoid valve, a right angle adapter, and an adjustable spray head;
The electromagnetic valve is connected with the adjustable spray head through the right-angle adapter; the electromagnetic valve is connected with the relay module; the relay module is used for controlling the opening and closing states of the electromagnetic valve so as to realize the opening and closing states of the adjustable spray head.
7. The crop positioning and double-precision gridding precision spraying weeding device according to claim 5, wherein a liquid medicine pump is arranged in the medicine box; the liquid medicine pump is used for ensuring that the medicine box supplies medicine to the integrated medicine spraying module and the independent medicine spraying module under constant pressure.
8. A crop positioning and double-precision gridding precision spraying weeding method, which is characterized by being applied to the crop positioning and double-precision gridding precision spraying weeding device according to any one of claims 1 to 7,
the device is arranged on a movable chassis, the movable chassis is controlled to move forward at a constant speed in vegetable fields, crop rows are positioned between the imaging chamber and the pesticide spraying chamber, a color code sensor is used for continuously detecting passing objects, when the color code sensor detects plant labels, a high-level detection signal is output based on the color code sensor, and the detection signal is transmitted to a singlechip development module;
After receiving the detection signal, the singlechip development module sends the serial number of the color code sensor generating the signal to a microcomputer through serial port communication; when the microcomputer receives serial data of the singlechip development module, controlling an industrial camera to capture crop plants and photographed images of weeds around the crop plants, cutting the photographed images into squares to enable the ground width in a picture to be 12cm, and calculating coordinates of plant labels in the images according to the cut photographed images and signal information of the color code sensor;
converting the RGB channels of the shot image into HSV channels, and setting a threshold value of each HSV channel according to illumination conditions so as to divide a binary image of green plants in the image;
carrying out one-time opening operation on the binary image by adopting preset structural elements, removing noise connected domains with smaller pixel areas in the image, and simultaneously keeping the sizes of crops and weed connected domains in the image stable to obtain a removed image;
traversing all pixel points in the clearing image based on the clearing image, finding out the pixel point with the value of 1 and a connected domain formed by the pixel points, and recording the position information of the pixel point and the connected domain to obtain a recorded image;
Drawing a circular tolerance zone with the radius of 7.5mm in the image based on the coordinates of the plant label in the image and the recorded image by taking the coordinates of the plant label as the center of a circle, determining a connected domain intersected with the circular tolerance zone as a connected domain of crops, marking all pixel points in the connected domain of the crops as crop pixel points and recording position information of the pixel points, determining the rest connected domains outside the connected domain of the crops as connected domains of weeds, marking all pixel points of the connected domain of the weeds as weed pixel points and recording position information of the weed pixel points to obtain pixel point position information of the weeds and the crops;
based on the cleaning image, uniformly dividing the cleaning image into a plurality of areas by taking the resolution of the integrated medicine spraying module as a first precision, taking the cleaning image as a medicine spraying unit, and uniformly dividing the medicine spraying unit into a plurality of counting units by taking the movement precision of the independent medicine spraying module as a second precision;
defining a spraying mark position for each counting unit, establishing a two-dimensional array according to the spraying mark position, and initializing the two-dimensional array to be-1 for all elements; the value of the spraying mark represents the spraying priority of the counting unit; the two-dimensional array is used for storing the value of the spraying mark position of the counting unit;
Traversing each unit to be sprayed, and carrying out first distribution on the unit to be sprayed: if the unit to be sprayed contains weeds and does not contain crops, the unit is a unit which needs weeding and does not affect the crops when spraying the pesticide, the position information of the unit is recorded, and the pesticide spraying mark positions of the counting units in the unit are all assigned to be 1, and the unit is distributed as the unit needing pesticide spraying when the pesticide spraying unit is distributed for the first time; if the unit to be sprayed contains weeds and crops, the unit to be sprayed is a unit which needs weeding but affects the crops when spraying, the unit to be sprayed needs to be divided again with higher precision, the position information of the unit to be sprayed is recorded, the value of the spraying mark position of the counting unit in the unit to be sprayed is kept unchanged at-1, and the unit to be sprayed is not distributed when the spraying unit is distributed for the first time; if the unit to be sprayed does not contain weeds and does not contain crops, the unit does not need weeding and does not influence crops when spraying the pesticide, the position information of the unit is recorded, and the pesticide spraying mark position of the counting unit in the unit is assigned to 0, which represents the unit which is distributed to be not needed to spray the pesticide when the pesticide spraying unit is distributed for the first time; if the pesticide spraying unit does not contain weeds and contains crops, the pesticide spraying unit is a unit which does not need weeding but affects the crops when spraying the pesticide, the pesticide spraying unit needs to be divided again with higher precision, the position information of the pesticide spraying unit is recorded, the value of the pesticide spraying mark position of the counting unit in the pesticide spraying unit is kept unchanged at-1, and the pesticide spraying mark position represents a unit which is not distributed when the pesticide spraying unit is distributed for the first time; generating integrated spraying information according to the result of the first spraying unit distribution;
Traversing each undefined counting unit and defining: if the counting unit contains weeds and does not contain crops, the spraying mark position is assigned to be 2, which represents that the counting unit needs to be distributed for the second time; if the counting unit contains weeds and crops, the spraying mark bit of the counting unit is assigned to be-3, which represents that the counting unit is forbidden to be distributed for the second time; if the counting unit does not contain weeds and contains crops, the spraying mark bit of the counting unit is assigned to be-2, which represents that the counting unit is forbidden to be distributed for the second time; if the counting unit does not contain weeds and crops, the spraying mark bit is assigned to 0, which means that the counting unit is not needed but is allowed to be distributed for the second time;
according to the result of traversing each undefined counting unit and defining, performing second distribution on the counting units needing to be redistributed with the medicine spraying units according to the sequence from top to bottom and from left to right, generating new medicine spraying units with the same grid size as the grid size divided with the first precision, and generating independent medicine spraying information according to the new medicine spraying units;
compiling the integrated spraying information into spraying command codes line by line according to the integrated spraying information and transmitting the spraying command codes to the singlechip development module through serial communication; after the integrated spraying module receives the spraying command code, the starting and closing time of each spray head in the integrated spraying module is calculated by combining the travelling speed of the device so as to control the spray heads to be opened and closed, and the spraying unit distributed for the first time is subjected to accurate spraying;
Compiling the independent spraying information into spraying command codes line by line according to the independent spraying information, and transmitting the spraying command codes to the singlechip development module through serial port communication; the singlechip development module calculates the position and the spraying time information of the spraying unit distributed for the second time according to a preset program and the received spraying command code; and outputting a specific PWM waveform according to the calculated position and the spraying time information of the spraying unit distributed for the second time so as to control the spray heads of the independent spraying modules to point to the spraying unit and control the opening and closing of the spray heads so as to accurately spray the spraying unit distributed for the second time.
9. The crop positioning and double-precision gridding precision spraying weeding method according to claim 8, wherein the calculation formula of the plant label is as follows:
if(Ser_1＝＝1or Ser_1＝＝4)&(Ser_2＝＝2or Ser_2＝＝5):point_signal＝(round(x/2-dt*v),round(y/2-dt*v))
elif(Ser_1＝＝1or Ser_1＝＝4)&(Ser_2＝＝3or Ser_2＝＝6):point_signal＝(round(x/2-(dt*v)/2),round(y/2-(dt*v)/2))
elif(Ser_1＝＝2or Ser_1＝＝5)&(Ser_2＝＝1or Ser_2＝＝4):point_signal＝(x/2,round(y/2+dt*v))
elif(Ser_1＝＝2or Ser_1＝＝5)&(Ser_2＝＝3or Ser_2＝＝6):point_signal＝(x/2,round(y/2-dt*v))
elif(Ser_1＝＝3or Ser_1＝＝6)&(Ser_2＝＝1or Ser_2＝＝4):point_signal＝(round(x/2-(dt*v)/2),round(y/2+(dt*v)/2))
elif(Ser_1＝＝3or Ser_1＝＝6)&(Ser_2＝＝2or Ser_2＝＝5):point_signal＝(round(x/2-dt*v),round(y/2+dt*v))
where x is the lateral resolution of the image, y is the longitudinal resolution of the image, ser_1 represents the number of the first color patch sensor detecting the plant label, ser_2 represents the number of the second color patch sensor detecting the plant label, dt represents the time difference between the two color patch sensors detecting the crop label, v represents the forward speed of the device, and point_signal represents the coordinates of the plant label in the image.
10. The crop positioning and double-precision gridding precision spraying weeding method according to claim 8, wherein the calculation formula of the binary image of the green plants in the separated image is:
wherein O is hsv (x, y) represents the original image captured in HSV channel, [ O ] hsv (x,y)] h,s,v Representing the hue, saturation and brightness, respectively, of the original image, T h ，T s And T v The threshold value defined for each channel is divided into a maximum value and a minimum value, the size of the threshold value is determined according to the condition of illumination condition, soil color and the like of the field, R t (x, y) represents a binary image after color segmentation.
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