CN1628513A - Method for employing agricultural chemicals to target accurately - Google Patents
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Abstract
The invention relates to a method for employing agricultural chemicals to target accurately which includes tree image acquisition, image processing, characteristic identification and spraying control system, the method consists of utilizing CCD image acquisition card to trap the tree shape video stream, acquiring inter-tree and tree shape feature through image processing program, recovering tree real information from tree image information by combining real time sensing information and video camera parameters, forming real time spraying control strategy, thus realizing accurate target ing spray of pesticide by controlling blow head through A/D, D/A transformation circuit.
Description
Technical field the present invention relates to a kind of accurate method to the target applying pesticides, it can gather the trees target video image in real time based on computer vision technique, handle and feature identification by target trees image, extract the trees target signature, identification trees target area and distribution thereof realize the target applying pesticides by spraying Decision Control shower nozzle then.
The background technology chemical pesticide provides strong assurance for the green revolution of global range, and in the long duration, chemical pesticide still is strong and the most reliable weapon in the pest population management, can control rampant pest population quickly and effectively.According to statistics, the agricultural chemicals role reaches 70～80% in extermination of disease and insect pest work, and the loss of selecting for use disease-resistant worm kind, biological control, physical control etc. to be retrieved only accounts for 20～30%.Therefore the agricultural chemicals sales volume in the whole world increases rapidly, from nineteen sixty to nineteen ninety-five, insecticide has increased by 26 times, bactericide has increased by 17 times, and weed killer herbicide has increased by 74 times, and the agricultural chemicals of other kinds (as plant growth regulator) has increased by 113 times, (Liu Shun Yao .1996) is at present also in further increase.
From ecological viewpoint, conventional agricultural chemicals using method, using the agricultural chemicals that sprays away has only few part can reach on the target that will prevent and treat, most of agricultural chemicals all is invalid, very serious (Yuan Huizhu etc. run off, 1998), Metcalf has done individual estimation, adopt the commonsense method spraying pesticide, have only the agricultural chemicals of 25-50% to be deposited on the plant target, directly drop to pesticide volume on the target pest only in 1%, have only the medicament of less than 0.03% can play insecticidal action, the agricultural chemicals of remaining 50-70% is then with forms such as volatilization, drifts and scatter and disappear.Obviously using the pollution that agricultural chemicals caused is smoke abatement and another outer important pollution source of waste water, and agricultural chemicals uses and is accompanied by series of malpractice such as ecological balance destruction, residue of pesticide, pest pesticide resistance, person poultry poisoning and poor efficiency use.
Thereby numerous scholars think: " chemical pesticide is efficiently, but the use means are inefficient ".Britain scholar Brown warns the agricultural chemicals user especially: " use the agricultural chemicals will be as the sharp sword in warrior's hand, and should be as the sickle that cannot tell the good from the bad in farmer's hand ".But owing to there is problem such as operation technique, people only pay attention to its favourable one side in the process of using agricultural chemicals in addition, and ignore its harmful one side, excessive use agricultural chemicals, having caused " 3R " inevitably (is residual residue, even influence the whole agricultural ecosystem pesticide resistance resistance of rampant again resurgence of pest and pest).Incomplete statistics according to the World Health Organization and United Nations Environment Programme in 1987,3,000,000 pesticide poisoning accidents of the annual generation in the whole world.Estimate that annual pesticide poisoning number reaches 5,000,000 according to International Labour Organization in its 1994 " world's work report ", death toll 40,000 wherein 99% occurs in developing country (Long Huizhen, Lu Yi leads to .1997).According to " Pesticide Action Network " (Pesticide Action Network) in August, 1998, a state of Nigeria is subjected to the danger of agricultural chemicals because of the agricultural chemicals improper use causes 600,000 families.In decades; China's agricultural chemicals uses very extensive, and general Artificial Control agricultural chemicals uses, thereby residue of pesticide, drinking water pollution and pesticide droplet drift having caused the public's common concern; environmental protection is the fundamental state policy of China, also is the 21 century hot issue paid close attention to the most of the whole world.
Therefore China is after nineteen eighty-two promulgation " provisions for pesticide registration " and " good agricultural regulation ", issued again on May 8th, 1997 " People's Republic of China's agricultural chemicals management rules ", registration to agricultural chemicals, produce, manage, use and supervision and management, clearly regulation has all been done in punishment, particularly along with the expansion of expanding economy and urbanization, agricultural and forestry production labour's proportion must with obviously descend (proportion that nineteen ninety world agriculture labour accounts for collective labor society's power by 1970 55% drop to 46.6%, drop to 2.3% as the U.S. by 4.3%, China drops to 60.2% by 80.8%).Therefore the method for using by the Artificial Control agricultural chemicals exists that labour intensity is big, cost is high and problem such as contaminated environment, high efficiency accurate agricultural chemicals using method is the certainty that development in science and technology and people live and improve, and also is the main target of global technique in using agriculture chemical research and development.
The fixed point weeds management is based on a kind of new weeds control technology (Lindquist of IPM (Integrated Pest Management), et al, 1998), realize the weeds management of fixing a point, need exploitation to be used to detect and estimate the automated system that weeds in field distributes.This has two kinds of methods, and one is based on the variable or the step weed killer herbicide using system of real time sensor, and two are based on the variable weed killer herbicide using system of geographic information system (GIS:Geographic Information Systems).Method based on geographic information system is historical method, need comprise the generation of weeds size and location database.Processing figure (MAP) be managed and be generated to this database will and control selectivity sprayer by GIS.This method hypothesis weeds size is static rather than dynamic.The advantage of the method is the convenience that allows identification weeds method, resembles the formation that remote sensing or airborne sensor all can be used for this database.The shortcoming of this method has: at first sprayer can only just can accurately be located in the field in the accurate scope of global positioning system (Global PositioningSystem) receiver; The second, the cost that forms weeds figure increases, and comprises specially for gathering image carrying out remote sensing etc. and form weeds scheming necessary data and handling; The 3rd, because sensor application is asynchronous operating process, this method supposition weeds size and position are stable, and in fact some weeds is stable really on different year, but size of some weeds and density are all changing (Mortensen et al, 1998) every year.Therefore U.S. Illinois according to department of agricultural engineering of university (University of Illinois at Urbana-Champaign) at control of weeds, proposition is based on the smart spraying machine notion of real time sensor, but still among exploring (Tian, Reid, Hummel, 1999 and Gopalapillai, Tian, Zheng, 1999).The weeds feature is gathered and calculated to smart spraying machine applied for machines vision system, carries out the application quantity decision-making according to these features, utilizes these to make a strategic decision then and make each spraying nozzle carry out the action of opening or closing, or make each shower nozzle change application quantity.A large amount of researchers have carried out and have utilized Vision Builder for Automated Inspection plant Study of recognition (Zhang and Chaisattapagon under the controllable light condition, 1995 and Guyer, et al, 1993 or the like), but few for the research of carrying out real time machine vision system identification weeds, the more unmanned real-time system of utilizing is carried out the collection of trees characteristic image and processing and feature extraction.Calculating in real time must produce correct result in the regular hour.Correct calculating not only depends on the correctness of computational logic, also depends on the correctness of the time that bears results simultaneously, needs to solve trees IMAQ and processing under the natural daylight condition in addition, promptly needs to set up the image segmentation algorithm that a cover conforms and changes.
In trees extermination of disease and insect pest process, suppose that the zone of pesticide using system process does not have individual difference, at present no matter have or not the dispenser target all to adopt even comprehensive spraying pesticide.And actual conditions are trees with tree between have certain spacing in the rows and different seeds have different tree crown forms, if adopt constant usage amount dispenser will cause non-target to deposit.This is different from control of agricultural pest, and the row of crops is fairly regular, and the spacing in the rows on most of agricultural is little of thinking continuous row.Therefore in control of weeds; can utilize image to handle and simply crop row is set at non-spraying target; but for forest chemoproection simple process like this then, and should take into full account tree interbody spacer and tree crown form, because the tree interbody spacer is big and tree crown individual difference each tree is bigger.
The present invention is for catching up with and surpassing developed country's advanced technology; use agricultural chemicals to have very positive effect from constant the turning to of static state to the target selectivity to the techniques of pest control to the dynamic variable development, from comprehensive single even use; be expected to reduce agricultural chemicals usage amount (especially for as expensive agricultural chemicals and biopesticides such as microcapsule formulations), improve the agricultural chemicals result of use and alleviate the agricultural chemicals environmental pollution, promote the production of forestry modernization and realize the sustainable development of the forest resources.The purpose of this invention is to provide a kind of agricultural chemicals accurately to the target application process.
Summary of the invention the present invention be in natural environment based on the agricultural chemicals of real-time vision sensing technology accurately to the target application process, set up a cover algorithm and be used for target trees IMAQ, processing and feature identification, and the control spraying that makes a policy on this basis realizes accurately target being used of agricultural chemicals.This method contains the target trees IMAQ in the dispenser process; image is cut apart with feature and is discerned; main technical points such as spraying control; the accurate target spraying of agricultural chemicals system with the method design can be applicable to city and tree along roads; shelter forest; the landscape gardens; ornamental plants; the orchard fruit tree; industrialized agriculture and the work of aviation forest pest control; improve the agricultural chemicals service efficiency; thereby improve pesticide application technology and spraying equipment in China's agricultural extermination of disease and insect pest; realize the modernization and the automation of the technique in using agriculture chemical of China's agricultural extermination of disease and insect pest, promote ecological environmental protection and agricultural sustainable development.
An object of the present invention is to provide a kind of agricultural chemicals accurately to continuous trees target image collecting method in the target application process, promptly from video flowing, extract the method that specific key frame is finished the collection of single image or consecutive image.
Second purpose of the present invention is that single-frame images or the image sequence that will be provided handled, through the method for image segmentation algorithm identification trees target signature.
The 3rd purpose of the present invention is the trees target area of just identifying, and determines the formulation rate threshold range, instructs the method that forms the spraying control strategy.
The 4th purpose of the present invention is to realize the method for agricultural chemicals target spraying according to control shower nozzles such as spraying control strategy and spraying facility operational factors.
To achieve these goals, the present invention accurately is divided into three subsystems to the target administration system with whole agricultural chemicals, each system comprises several modules again, each module realizes specific function or task, again these modules are coupled together by specific hardware and software interface at last, form the system of a complete coordination.The present invention includes computer-controlled real-time target image collecting method, target signature image processing method, pesticide spray control method etc.
To achieve these goals, computer-controlled real-time target image acquisition system of the present invention utilizes CCD camera, image pick-up card to obtain the crown attitude image of goal tree, realization is to the real-time dynamic acquisition and the transmission of target trees image, and the target trees image that collects is stored with video flowing (image sequence) or single frames form through image pick-up card.
To achieve these goals, the present invention passes through between tree and tree-like feature extraction, with the geometric properties information of the image processing program acquisition target trees of designing, finishes the feature recognition function of image.
To achieve these goals, the present invention is according to growth characteristics and planting density and the tree crown form processing result image of different target seeds, and design spraying decision making algorithm generates the spraying control strategy.
To achieve these goals, the present invention realizes information exchange by specific interface circuit, and the result who handles with image sends computer instruction as parameter, changes by A/D and controls accurately target being used of shower nozzle realization smart spraying and agricultural chemicals.
Description of drawings other advantages of the present invention, purpose and feature will become more obvious in the following description.The present invention may be better understood by following detailed description and accompanying drawing, and accompanying drawing just is used for the illustrative purpose, does not limit the scope of the invention.
Fig. 1 is that evenly spraying and agricultural chemicals accurately contrast situation to the effect that target uses comprehensively.No matter Fig. 1 (a) is the distribution situation of target trees and non-target, adopt evenly constant formulation rate, at this moment the high sick worm in the left side is endangered the zone that distributes, then sick worm can not get effective control, and low on the right sick worm harm distributed areas, then the agricultural chemicals of being used may cause potential non-target damage and environmental pollution, finally causes low-level forest output.For with Fig. 1 (a) in same sick worm harm distribute, if according to the harm distribution characteristics, adopt the target spraying technology, promptly strengthen formulation rate in height harm distributed areas, and reduce formulation rate in low harm distributed areas, shown in Fig. 1 (b),, readjust the usage policy of agricultural chemicals promptly according to variable dispenser curve.Compare with even constant dispenser, accurately target is used agricultural chemicals, can effectively control damage by disease and insect, save the agricultural chemicals usage amount, reduce even stop potential non-target damage, thereby alleviate environmental pollution and improve the forest output level.
Fig. 2 is an expression overall system scheme of the present invention, system utilizes the CCD camera, image pick-up card carries out Video Capture, obtain tree crown form image, realization is to the real-time dynamic acquisition and the transmission of trees image, the trees image that collects stores computer hosting through image pick-up card into video flowing (image sequence) or single frames form and handles usefulness for successive image, through image processing program, by the tree between and tree-like feature extraction, the geometric properties that obtains trees is (as the edge, center of gravity, girth, aspect ratio, the degree of depth etc.) information, finish the feature recognition function of trees image, in conjunction with from the image information of target trees, recovering the real information of trees, and form spraying control strategy in real time about in real time heat transfer agent and camera parameters.The designed pesticide spray control system of the present invention realizes control information transmission and information exchanges such as receiver module, control information explanation module and spraying instruction sending module by specific interface circuit, quoting its result of decision controls in real time to spraying system, the result who handles with image sends computer instruction as parameter, controls the accurate target spraying that shower nozzle is realized agricultural chemicals by A/D, D/A change-over circuit.
Fig. 3 is that expression is according to trees IMAQ of the present invention and feature identification process figure, design key frame abstraction function of the present invention is finished the collection of single image or consecutive image, and extracts the single-frame images data in real time and carry out preliminary treatment in gatherer process from continuous videos.Again green (G) channel separation in the processed images is come out to carry out that image is cut apart, behind the edge extracting, feature identification, in conjunction with the camera calibration parameter, reduction trees target real information, and then form spraying decision-making output information.
(1) image preliminary treatment.Because under the natural daylight condition, light illumination is undesirable sometimes, carries out pretreated purpose and be making clear picture.Preliminary treatment comprises carries out brightness, contrast adjustment and smothing filtering to image.Brightness and contrast's adjustment can be easy to identification so that characteristics of image is obvious.Adopting smoothing algorithm is at random under the independent distribution condition at the supposition additive noise, and each pixel of original image is all replaced by the mean value of its 3 * 3 adjacent pixels, removes sharp-pointed discontinuous noise.
(2) RGB represents to be converted to chrominance representation.The colour information of the original image that collects is represented by rgb color space.R, G, three components of B have comprised the colourity and the lightness composition of image jointly in the RGB color system, the present invention separates with colourity and lightness in the following formula realization RGB image, obtain the chromatic diagram picture, can remove like this because brightness changes the influence that color analysis is caused.
R in the formula, g, b represents colourity.
(3) extract green (G) channel image.Because the colors of trees mostly is green keynote greatly, the G component is relatively large, and R, B component are less relatively.The present invention analyzes the histogram of finding through its green channel image in the image of above-mentioned processing, has tangible double-hump characteristics, can carry out image effectively and cut apart.Therefore we only extract the image of green channel, for post-processed.
(4) image is cut apart.In order to get rid of the interference of random noise, the image through above-mentioned processing is carried out medium filtering, soon the pixel in 3 * 3 neighborhoods is by the gray level ordering in the image, and getting its median is output pixel, does not make edge blurry when suppressing random noise.The present invention adopts a kind of iteration to ask the algorithm of image optimum segmentation threshold, and trees and background separation are come becomes the bianry image in two class zones.Its algorithm steps is as follows:
1) obtains minimum and maximum gradation value Z in the trees image
1And Z
K, make the threshold value initial value be
2) according to threshold value T
KImage is divided into trees target and background two parts, obtains two-part average gray value Z
OAnd Z
B:
Z in the formula (i, j) be on the image (i, gray value j), N (i, j) be (i, weight coefficient j), usually N (i, j)=1.
3) obtain new threshold value:
4) if T
K=T
K+1, finishing iteration then, otherwise K ← K+1 forwards step 2 to).
(5) edge extracting.The trees edge is the reflection of trees image local feature discontinuity, and it can delineate out the trees target, may indicate the beginning in another trees zone of end in one tree wood zone.Adopt edge detection operator, extract the edge of trees, to determine the position of trees.
(6) feature extraction.Characteristic parameter mainly reflects trees destination object feature, and the present invention uses the tree crown form as characteristic parameter, as girth, area, depth-width ratio, center of gravity, complex-shaped degree and the degree of depth etc.
(7) camera parameters is demarcated.Inner parameter is provided by video camera manufacturer, and makes a video recording by the known point of locational space, draws this some image coordinate in taking the photograph image, just obtains external parameter by imaging geometry then.
(8) reduction trees target real information.Trees target image and trees target are originally in similar in shape, and on the position, there is corresponding relation, the present invention utilizes trees target image information and target to arrive the distance of video camera, utilize imaging geometry reduction trees real information, as the projection girth of target, area, position of centre of gravity etc., these information are the foundation of spraying Decision Control.
Fig. 4 is shower nozzle control principle figure.After the result of decision of will spraying is construed to the shower nozzle control signal, control signal is sent by its I/O mouth.According to the level height, the corresponding magnetic valve of control changes mist flow, shower nozzle flow spraying on request.
Fig. 5 is one embodiment of the present of invention, specifies to see embodiment.
Embodiment agricultural chemicals according to the present invention accurately to the target administration system in, according to actual pesticide spray target, utilize method of the present invention to gather target image in real time and through handling, identification trees target control shower nozzle is realized target spraying.
One embodiment of the present of invention are the forest extermination of disease and insect pest agricultural chemicals auto spraying system's exemplifying embodiment (Fig. 5) based on computer vision technique.Growth characteristics and planting density and tree crown form processing result image according to different seeds are undertaken in real time accurately to the target dispenser by computer control.System comprises real-time trees characteristic image acquisition system, image processing and feature recognition system and pesticide spray control system.Be implemented in the collection and the processing of the trees image (during the pesticide using system actual job) under the natural daylight condition, employing conforms that the trees feature recognition algorithms that changes carries out that arborescence looks like to cut apart, formulation rate decission support system and agricultural chemicals shower nozzle spraying strategy, formulation rate to shower nozzle is controlled, and the realization agricultural chemicals is accurately used target in real time.Because the trees target image is handled the calculating process that needs certain hour, and because the difference of target, the length of operation time also can be distinguished to some extent.Therefore when utilizing the present invention to carry out system's design, by the coordinated operation time, come compensating images to handle the time that computing consumed, reach that image is handled and spraying is operated in integrated and collaborative in the system according to the sprayer ground speed.
An alternative embodiment of the invention is the aviation forest pest control, can pass through thermal camera, gathers the extensive forest image, handle by target image,, cut apart and be subjected to the damage by disease and insect zone according to the target signature difference that takes place behind the damage by disease and insect, form the spraying strategy then, implement accurate target spraying.
Although the preferred embodiments of the present invention have been described, those skilled in the art should understand that under not departing from the situation that proposes scope and spirit of the present invention in the claims to have various modifications to add and replacement for exemplary purpose.
Claims (14)
1. at city and tree along roads; shelter forest; the landscape gardens; ornamental plants; the orchard fruit tree; in industrialized agriculture and the work of aviation forest pest control; improve the agricultural chemicals service efficiency; promote the technique in using agriculture chemical modernization and the automation of the agricultural extermination of disease and insect pest; promote ecological environmental protection and agricultural sustainable development; the method that needs the accurate target spraying of design agricultural chemicals system; be exactly will be in natural environment; realization is based on the target trees IMAQ of real-time vision sensing technology; image is cut apart and characteristic recognition method, and makes the spraying control decision on this basis and realize the method that agricultural chemicals is accurately used target.
2. according to the process of claim 1 wherein that the overall plan of the accurate target spraying of agricultural chemicals system comprises computer-controlled real-time target image acquisition system, target signature image treatment system, pesticide spray control system.
3. according to the system of claim 2, wherein the target image acquisition system comprises CCD camera, image pick-up card etc. in real time, design key frame abstraction function carries out Video Capture, obtain tree crown form image, realization is to the real-time dynamic acquisition and the transmission of trees image, and the trees image that collects stores computer hosting through image pick-up card into video flowing (image sequence) or single frames form and handles usefulness for successive image.
4. according to the system of claim 2, wherein trees target signature image is handled and is comprised following steps:
The image preliminary treatment;
RGB represents to be converted to chrominance representation;
Extract green (G) channel image;
Image is cut apart;
Edge extracting;
Feature extraction;
Camera parameters is demarcated;
Reduction trees target real information.
5. according to claim 4, under the natural daylight condition, the preliminary treatment of trees image comprises carries out brightness and contrast's adjustment so that characteristics of image is obvious to image, is easy to identification; Adopting smoothing algorithm is at random under the independent distribution condition at the supposition additive noise, and each pixel of original image is all replaced by the mean value of its 3 * 3 adjacent pixels, removes sharp-pointed discontinuous noise.
6. according to claim 4, utilize the G component of green target trees image relatively large, and R, B component are less relatively, and the double-hump characteristics of green channel image histogram in the trees image, the image of green channel are extracted, for post-processed.
7. according to claim 4, the image through above-mentioned processing is carried out medium filtering, soon the pixel in 3 * 3 neighborhoods is by the gray level ordering in the image, and getting its median is output pixel, does not make edge blurry when suppressing random noise.The present invention adopts a kind of iteration to ask the algorithm of image optimum segmentation threshold, and trees and background separation are come becomes the bianry image in two class zones.Its algorithm steps is as follows:
1) obtains minimum and maximum gradation value Z in the trees image
1And Z
K, make the threshold value initial value be
2) according to threshold value T
KImage is divided into trees target and background two parts, obtains two-part average gray value Z
OAnd Z
B:
Z in the formula (i, j) be on the image (i, gray value j), N (i, j) be (i, weight coefficient j), usually N (i, j)=1.
3) obtain new threshold value:
4) if T
K=T
K+1, finishing iteration then, otherwise K ← K+1 forwards step 2 to).
8. according to claim 4, adopt edge detection operator, extract the edge of trees, to determine the position of trees.
9. according to claim 4, the present invention reflects trees destination object feature with the tree crown form as characteristic parameter, as girth, area, depth-width ratio, center of gravity, complex-shaped degree and the degree of depth etc.
10. according to claim 4, make a video recording, draw this some image coordinate in taking the photograph image, just obtain external parameter by imaging geometry then, and inner parameter is provided by video camera manufacturer by the point that locational space is known.
11. according to claim 4, the present invention utilizes trees target image information and target to arrive the distance of video camera, utilize imaging geometry reduction trees real information, as the projection girth of target, area, position of centre of gravity etc., these information are the foundation of spraying Decision Control.
12.,, form spraying control strategy in real time in conjunction with the real information of relevant real time sensor information and trees according to the system of claim 2.
13. system according to claim 2, wherein the pesticide spray control system realizes control information transmission and information exchanges such as receiver module, control information explanation module and spraying instruction sending module by interface circuit, quoting its result of decision controls in real time to spraying system, the result who handles with the trees image sends instruction as parameter, realizes the accurate target spraying of agricultural chemicals by A/D, D/A change-over circuit control shower nozzle.
14. according to the system of claim 2, in when design, be according to the sprayer ground speed, by the coordinated operation time, compensating images is handled the time that computing consumed, and reaches that the trees image is handled and spraying is operated in integrated and collaborative in the system.
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| CN101927220A (en) * | 2010-07-05 | 2010-12-29 | 中国农业大学 | Accurate intelligent targeted spraying machine |
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| CN101961003A (en) * | 2010-08-10 | 2011-02-02 | 江苏大学 | Precise targeted spraying and weeding device |
| CN102405896A (en) * | 2011-08-18 | 2012-04-11 | 常州智能农业装备研究院有限公司 | Intelligent targeting chemical spray machine |
| CN102688823A (en) * | 2012-06-19 | 2012-09-26 | 中国农业大学 | Atomizing positioning device and method based on hand-eye atomizing mechanical arm |
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