CN107728641A - Agricultural rotor craft spraying control method thereof, device and agricultural rotor craft - Google Patents
Agricultural rotor craft spraying control method thereof, device and agricultural rotor craft Download PDFInfo
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Abstract
The embodiment of the invention discloses a kind of agricultural rotor craft spraying control method thereof, device and agricultural rotor craft to comprise the steps：Obtain the plantation image of the crops in region to be sprayed；The planting density of crops in the plantation image is identified, and the demarcation flying height of the agricultural rotor craft is obtained according to the planting density；Sprayed after adjusting flying height to the demarcation flying height of the agricultural rotor craft, so that the sprinkle density of the agricultural rotor craft reaches default sprinkler discharge density requirement.By the plantation image that region to be sprayed is obtained before sprinkling, the flying height of rotor craft is adjusted according to planting density according to the planting density of kind plant in plantation image, agricultural rotor craft sprinkling liquid can be made more uniform, the requirement of different spray concentrations can be directed to simultaneously, regulation sprinkling liquid is stained with liquid-tight degree, the spraying efficiency of rotor craft is improved, has saved the energy.
Description
Technical field
The present embodiments relate to agricultural mechanical field, especially a kind of agricultural rotor craft spraying control method thereof, dress
Put and agricultural rotor craft.
Background technology
Rotor craft in recent years progressively turn into aviation academia research focus, it have VTOL, hovering,
The features such as strong environmental adaptability, have a extensive future.Along with the development of national new agricultural plan, plantation system turns into existing
The new developing direction of generation agricultural, turn into the most important thing of new agriculture field in order to facilitate the farm machinery of Cultivate administration modernization,
And rotor craft is due to flight stability, it is handling it is good with for environmental requirement of taking off it is low the characteristics of, turn into a brand-new skill
Art focus.
In the prior art, rotor craft carries flusher, and crops are carried out with pesticide spraying or fountain is irrigated.Tool
The lower section that flusher is suspended on to rotor craft of body, rotor craft carry flusher and arrive in crops overhead by plane, lead to
Cross shake control or default opening program control flusher is sprayed, by the agricultural chemicals in flusher, liquid fertilizer or water
Deng liquid, it is sprayed on crops.
The inventor of the invention has found under study for action, when rotor craft carrying flusher is sprayed, can go out
Now spray uneven, and uncontrollable sprinkling liquid falls and is stained with liquid-tight degree on crops, causes spraying efficiency low, wastes tight
The problem of weight.
The content of the invention
The embodiment of the present invention provides a kind of agricultural rotor craft that can control rotor craft sprinkler discharge density and sprays control
Method, apparatus processed and agricultural rotor craft.
In order to solve the above technical problems, the technical scheme that the embodiment of the invention uses is：A kind of agriculture is provided
With rotor craft spraying control method thereof, comprise the steps：
Obtain the plantation image of the crops in region to be sprayed；
The planting density of crops in the plantation image is identified, and the agricultural rotor is obtained according to the planting density
The demarcation flying height of aircraft；
Sprayed after adjusting flying height to the demarcation flying height of the agricultural rotor craft, so that described
The sprinkle density of agricultural rotor craft reaches default sprinkler discharge density requirement.
Specifically, the identification planting density for planting crops in image, and obtained according to the planting density
The step of demarcation flying height of the agricultural rotor craft, specifically include following step：
Identify the planting density of crops in the plantation image；
The planting density is compared with default spraying altitude adjustment corresponding table；
Demarcation flying height corresponding to the planting density is obtained according to comparison result.
Specifically, the identification planting density for planting crops in image, and obtained according to the planting density
The step of demarcation flying height of the agricultural rotor craft, specifically include following step：
The plantation image is subjected to binary conversion treatment, the crop map picture is formed maximum pixel with background image
Difference；
The target pixel value for characterizing the crop map picture is obtained, the target pixel value is planted into the total of image with described
Pixel value obtains the planting density of the crops after being divided by.
Specifically, it is described that the plantation image is subjected to binary conversion treatment, make the crop map picture and background image shape
Into after the step of maximum pixel difference, also comprise the steps：
Gray processing processing is carried out to the plantation image after binary conversion treatment, included with reducing the plantation image
Information content.
Specifically, the described pair of plantation image after binary conversion treatment carries out gray processing processing, to reduce the plantation
After the step of information content that image includes, also comprise the steps：
Histogram equalization processing is carried out to the plantation image after gray processing is handled, to increase described kind of plant image
Contrast between background image.
Specifically, the identification planting density for planting crops in image, and obtained according to the planting density
After the step of demarcation flying height of the agricultural rotor craft, also comprise the steps：
The line space of the crops is calculated according to the planting density；
The line space of the crops and the agricultural rotor craft are carried out in the spray width of demarcation flying height
Compare；
When the spray width is less than the line space of the crops, the agricultural rotor craft is moved to single file agriculture
The top of crop.
In order to solve the above technical problems, the embodiment of the present invention also provides a kind of agricultural rotor craft spray control device,
Including：
Acquisition module, the plantation image of the crops for obtaining region to be sprayed；
Height computing module, for identifying the planting density of crops in the plantation image, and it is close according to the plantation
Degree obtains the demarcation flying height of the agricultural rotor craft；
Processing module, for being carried out after adjusting the flying height of the agricultural rotor craft to the demarcation flying height
Sprinkling, so that the sprinkle density of the agricultural rotor craft reaches default sprinkler discharge density requirement.
Specifically, the agricultural rotor craft spray control device also includes：
First identification submodule, for identifying the planting density of crops in the plantation image；
First compares submodule, for the planting density to be compared with default spraying altitude adjustment corresponding table；
First implementation sub-module, for obtaining the demarcation flying height corresponding to the planting density according to comparison result.
Specifically, the agricultural rotor craft spray control device also includes：
First image procossing submodule, for the plantation image to be carried out into binary conversion treatment, make the crop map picture
It is poor that maximum pixel is formed with background image；
First calculating sub module, the target pixel value of the crop map picture is characterized for obtaining, by the object pixel
Total pixel value of value and the plantation image obtains the planting density of the crops after being divided by.
Specifically, the agricultural rotor craft spray control device also includes：
Second image procossing submodule, for carrying out gray processing processing to the plantation image after binary conversion treatment, with
Reduce the information content that the plantation image includes.
Specifically, the agricultural rotor craft spray control device also includes：
3rd image procossing submodule, for being carried out to the plantation image after gray processing is handled at histogram equalization
Reason, to increase the described kind of contrast between plant image and background image.
Specifically, the agricultural rotor craft spray control device also includes：
Second calculating sub module, for calculating the line space of the crops according to the planting density；
Second compares submodule, for the line space of the crops and the agricultural rotor craft to be flown in demarcation
The spray width of height is compared；
Second implementation sub-module, for when the spray width be less than the crops line space when, the agricultural rotation
Rotor aircraft is moved to the top of single file crops.
In order to solve the above technical problems, the embodiment of the present invention also provides a kind of agricultural rotor craft, including：
One or more processors；
Memory；
One or more application programs, wherein one or more of application programs are stored in the memory and quilt
It is configured to by one or more of computing devices, one or more of programs are configured to carry out described above agricultural
Rotor craft spraying control method thereof.
The beneficial effect of the embodiment of the present invention is：By obtaining the plantation image in region to be sprayed before sprinkling, according to
The planting density that plant is planted in image is planted, the demarcation flying height corresponding with the planting density is obtained, is stained with when to kind of a plant
In the case that liquid density conditions are certain, flying height corresponding to the larger crops of planting density is higher, and planting density is less
Rotary-wing flight is highly relatively low corresponding to crops, and the flying height of rotor craft is adjusted according to planting density, can
Make agricultural rotor craft sprinkling liquid more uniform, while the requirement of different spray concentrations can be directed to, adjust flushing liquor
The spraying efficiency be stained with liquid-tight degree, improve rotor craft of body, has saved the energy.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, make required in being described below to embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those skilled in the art, on the premise of not paying creative work, it can also be obtained according to these accompanying drawings other attached
Figure.
Fig. 1 is the basic procedure schematic diagram of the agricultural rotor craft spraying control method thereof of the embodiment of the present invention；
Fig. 2 is the idiographic flow schematic diagram that the embodiment of the present invention obtains demarcation flying height；
Fig. 3 is the idiographic flow schematic diagram that the embodiment of the present invention obtains proportion of crop planting density；
Fig. 4 is the agricultural rotary-wing flight routing method particular flow sheet of the embodiment of the present invention；
Fig. 5 is the agricultural rotor craft spray control device basic structure schematic diagram of the embodiment of the present invention；
Fig. 6 is the agricultural rotor craft control structure schematic diagram of the embodiment of the present invention.
Embodiment
In order that those skilled in the art more fully understand the present invention program, below in conjunction with the embodiment of the present invention
Accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described.
In some flows of description in description and claims of this specification and above-mentioned accompanying drawing, contain according to
Particular order occur multiple operations, but it should be clearly understood that these operation can not occur herein according to it is suitable
Sequence is performed or performed parallel, the sequence number such as 101,102 etc. of operation, is only used for distinguishing each different operation, sequence number
Any execution sequence is not represented for itself.In addition, these flows can include more or less operations, and these operations can
To perform or perform parallel in order.It should be noted that the description such as " first " herein, " second ", is to be used to distinguish not
Message together, equipment, module etc., do not represent sequencing, it is different types also not limit " first " and " second ".
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, the every other implementation that those skilled in the art are obtained under the premise of creative work is not made
Example, belongs to the scope of protection of the invention.
Embodiment
The agricultural rotor craft of the embodiment of the present invention, using quadrotor.Quadrotor is using four rotations
Direct driving force source of the wing as flight, rotor are symmetrically distributed in the four direction around of body, and four rotors are in same
Elevation plane, and the structure of four rotors and radius are all identical, rotor 1 and the rotate counterclockwise of rotor 3, rotor 2 and the up time of rotor 4
Pin rotates, and four motors are symmetrically installed on the bracket end of aircraft, and support intermediate space lays flight-control computer and outer
Portion's equipment.
But not limited to this, according to the difference of concrete application scene, in some selective embodiments, agricultural rotor flying
Device can also be the multi-rotor aerocraft of (being not limited to) 6,8,10 or more rotors.
Agricultural rotor craft can also carry the height sensor for measuring rotary-wing flight height, such as (no
It is limited to) atmospheric pressure intensity sensor and laser range sensor etc..Also the camera used for captured in real-time can be carried.
Flusher is suspended on agricultural rotor craft belly, and theme includes a closed container for being used to hold liquid,
And the sprinkler head on closed container is arranged on, sprinkler head can be started and be closed by electric signal.In some embodiments,
To increase the liquid outlet quantity of sprinkler head, air compression plant is set on closed container, to adjust the pressure size in closed container,
To control the liquid outlet quantity of sprinkler head.
Specifically referring to Fig. 1, the basic procedure that Fig. 1 is the agricultural rotor craft spraying control method thereof of the present embodiment is illustrated
Figure.
As shown in figure 1, a kind of agricultural rotor craft spraying control method thereof, comprises the steps：
S1000, obtain region to be sprayed crops plantation image；
Obtain the plantation image in region to be sprayed in real time by the camera being arranged on agricultural rotor craft.
The plantation image in region to be sprayed can be downloaded by way of wirelessly or non-wirelessly data transfer.
The planting density of crops in S2000, the identification plantation image, and the agriculture is obtained according to the planting density
With the demarcation flying height of rotor craft；
By image processing techniques, the accounting of crops in image is planted in identification, it becomes possible to learns farming in plantation image
The planting density of thing.
According to the cultivated area for the crops being calculated, the demarcation for obtaining agricultural rotor craft under the planting density flies
Row height.In the case that the liquid outlet quantity of flusher is stable, the flying height of rotor craft is higher, then spraying range is more extensively stained with
Liquid-tight degree is lower, and the flying height of rotor craft is lower, and spraying range is smaller, and to be stained with liquid-tight degree higher.
The bigger crops of planting density can receive sprinkling effective area it is bigger, agricultural rotor craft can compared with
Sprayed under high height, to increase spray area, improve spraying efficiency.And the smaller crops of cultivated area can receive
The effective area of sprinkling is smaller, and being sprayed under higher height can cause flushing liquor effectively can not be received by crops, make
Into unnecessary waste, it is therefore desirable to sprayed in relatively low height.
It can be got and be directed under different planting densities by experiment, the sprinkling flight of agricultural rotor craft standard is high
Degree, i.e., each planting density is respectively provided with corresponding demarcation flying height.After getting the planting density of crops, according to
Default corresponding relation just can be derived that demarcation flying height of the agricultural rotor craft under the planting density.
S3000, the adjustment agricultural rotor craft flying height to the demarcation flying height after sprayed, with
The sprinkle density of the agricultural rotor craft is set to reach default sprinkler discharge density requirement.
After getting the demarcation flying height under current planting density, agricultural rotor craft is detected by height sensor
Current flight height, and current flight height is compared with demarcation flying height, current flight is highly more than demarcation flight
Height, agricultural rotor craft is moved downward to demarcation flying height；Current flight is highly less than demarcation flying height, agriculture
Demarcation flying height is risen to rotor craft.
After agricultural rotor craft reaches demarcation flying height, the sprinkler head for opening flusher carries out hydrojet, presses simultaneously
The heading and flying speed of preset rules are flown, and whole operating area is sprayed.
Above-mentioned embodiment is planted by obtaining the plantation image in region to be sprayed before sprinkling according in plantation image
The planting density of thing, the demarcation flying height corresponding with the planting density is obtained, it is certain when being stained with liquid density conditions to kind of a plant
In the case of, flying height corresponding to the larger crops of planting density is higher, is revolved corresponding to the less crops of planting density
Rotor aircraft flying height is relatively low, and the flying height of rotor craft is adjusted according to planting density, can make agricultural rotor flying
Device sprinkling liquid is more uniform, while can be directed to the requirement of different spray concentrations, and regulation sprinkling liquid is stained with liquid-tight degree, carries
The high spraying efficiency of rotor craft, has saved the energy.
Specifically referring to Fig. 2, Fig. 2 is the idiographic flow schematic diagram that the present embodiment obtains demarcation flying height.
As shown in Fig. 2 step S2000 comprises the steps：
The planting density of crops in S2110, the identification plantation image；
The planting density of crops in plantation image is obtained by image processing techniques.
S2120, the planting density and default spraying altitude adjustment corresponding table is compared；
The planting density is compared with default spraying altitude adjustment corresponding table, spraying altitude adjustment corresponding table is root
Drawn according to experimental data, in the case where desired sprinkler discharge density is consistent, demarcation flying height corresponding to different planting densities
It is organized to form spraying altitude adjustment corresponding table.Spraying altitude adjustment corresponding table in have planting density with demarcation flying height it
Between mapping relations, when such as planting density being 50 percent, the flying height of demarcation is 55 meters.
S2130, the demarcation flying height for corresponding to the planting density is obtained according to comparison result.
Control spraying altitude adjustment corresponding table can either be determined, corresponding to the demarcation flying height of current planting density.
By by planting density and demarcation flying height between mapping relations, be organized into spraying altitude adjustment corresponding table,
Agricultural rotor craft can be made quickly to determine to demarcate flying height, improve reaction speed.
Referring to Fig. 3, Fig. 3 is the idiographic flow schematic diagram that the present embodiment obtains proportion of crop planting density.
As shown in figure 3, step S2000 includes also following step：
S2210, the plantation image is subjected to binary conversion treatment, the crop map picture and background image is formed maximum
Pixel difference；
The binaryzation of image, the gray value of the pixel on image is exactly arranged to 0 or 255, that is, will entirely schemed
Significantly there was only black and white visual effect as showing, power transmission line is turned into white, other backgrounds are black, be power transmission line and
The pixel difference of maximum is formed between background colour.
S2220, gray processing processing is carried out to the plantation image after binary conversion treatment, to reduce in the plantation image
Including information content；
Gray processing, in RGB models, if during R=G=B, colour represents a kind of greyscale color, wherein R=G=B's
Value is gray value, and therefore, each pixel of gray level image only needs a byte storage gray value nonlinear images to believe for colour picture
Breath amount is big, only just much of that with the information in gray level image when being handled in the present embodiment the nonlinear images, is
Raising arithmetic speed uses gray-scale map.
S2230, histogram equalization processing is carried out to the plantation image after gray processing is handled, to increase the plantation
Contrast between object image and background image；
The pixel of nonlinear images is occupied many gray levels and is evenly distributed, then such image often has high right
Than degree and changeable gray tone.Histogram equalization is exactly that only to lean on input picture histogram information to automatically achieve this for one kind
The transforming function transformation function of effect.Its basic thought is to enter line broadening to the gray level more than number of pixels in image, and to picture in image
The few gray scale of plain number is compressed, so as to extend the change for as the dynamic range of former value, improving contrast and gray tone
Change, become apparent from image.
S2240, the target pixel value for characterizing the crop map picture is obtained, the target pixel value and the plantation are schemed
Total pixel value of picture obtains the planting density of the crops after being divided by.
After carrying out histogram equalization processing to plantation image, according to the pixel value difference between crops and background, extraction
The image outline of crops.The target pixel points in crops image outline are counted, then the picture in the whole plantation image of statistics
Vegetarian refreshments, after the pixel of the pixel for characterizing crops and sign plantation image is divided by, the plantation of crops can be counted
Density.Such as intensive plantation crops for example：Wheat, corn and water etc., certain phase its planting density is arrived and has reached hundred
/ hundred.And for example：Between the proportion of crop planting such as grape, tomato and cucumber density 50% to 70%.For specific crops
Sprinkler discharge density requirement, different types of crops can according to experimental result set spraying altitude interval, such as wheat
Spraying altitude section be to be sprayed in 55-85m height section, pass through image comparison and identification technology identification kind of a plant first
For wheat, the spraying altitude section of wheat is then extracted, by the spray of the demarcation flying height determined according to planting density and wheat
Spill height section to be compared, if the demarcation flying height determined by planting density is not in interval, modulation is agricultural
Rotary-wing flight to interval border height critical value.When such as to demarcate flying height be 50m, spraying altitude is after correction
55m；When demarcation flying height is 100m, spraying altitude is adjusted to 85m after correction.It is high that demarcation flight can be corrected using this method
Degree, complies with sprinkling demand of the different cultivars kind plant in different growth phases.
In some embodiments, agricultural rotary-wing flight is to after demarcating flying height, the plantation spacing of crops
If greater than rotor craft flying height when, flown according to predetermined sprinkling route, if flight in two row kind plants
Between when, the agricultural chemicals of agricultural rotor craft sprinkling effectively can not be sprayed on crops, cause unnecessary waste.
In order to solve the above technical problems, the present embodiment also provides a kind of agricultural rotary-wing flight routing method.
Referring specifically to Fig. 4, Fig. 4 is the agricultural rotary-wing flight routing method particular flow sheet of the present embodiment.
As shown in figure 4, also comprise the steps after step S2000：
S2310, the line space according to the planting density calculating crops；
The camera shooting visual field that agricultural rotor craft carries be it is fixed, can according to flying height during shooting
The image span of shooting visual field, and the length and width distance of plantation image are calculated, then according to crops thing, then really in image
Density accounting, the line space of crops can be calculated.Length as planted image in shooting time is 100m, and planting density is
40%, and plant and only have five-element crops in image, then the width that can calculate every row crops is 8m, line space 15m.
It is S2320, the line space of the crops and the agricultural rotor craft is wide in the sprinkling of demarcation flying height
Degree is compared；
Agricultural rotor craft is relatively-stationary in the spray width of demarcation flying height, and such as agricultural rotor craft exists
The width of 50m aerial spraying is 3m, and it is that effective width on 0.5m crops is 10m that sprinkling, which also falls in height,.Due to spray
Spill that the pressure of head is stable, different spraying altitudes to crops obtain effective width, can be derived that by experiment.By crops
Line space and agricultural rotor craft be compared in the spray width of demarcation flying height.
S2330, when the spray width be less than the crops line space when, the agricultural rotor craft is moved to
The top of single file crops.
When comparison result spray width is less than the line space of crops, agricultural rotary-wing flight to single file crops
Top sprayed.Specific method is to be moved to the left or to the right, and the ratio for shooting the crops closed in visual field reaches in advance
If proportion threshold value when stop movement, this method utilize camera fisheye effect, the object positioned at picture center, in the picture
Not busy is bigger.When the width pixel of crops is 1.1 times of adjacent crops pixel among setting ratio threshold value, agricultural rotation
Rotor aircraft has moved to the top of single file crops.
In order to solve the above technical problems, the present embodiment also provides a kind of agricultural rotor craft spray control device.
Referring specifically to Fig. 5, Fig. 5 is the agricultural rotor craft spray control device basic structure schematic diagram of the present embodiment.
As shown in figure 5, a kind of agricultural rotor craft spray control device, including：Acquisition module 2100, height calculate mould
Block 2200 and processing module 2300.Wherein, acquisition module 2100 is used for the plantation image for obtaining the crops in region to be sprayed；It is high
The planting density that computing module 2200 is used to identify crops in plantation image is spent, and agricultural rotor is obtained according to planting density and flown
The demarcation flying height of row device；Processing module 2300 is used to adjusting the flying height of agricultural rotor craft to demarcating flying height
After sprayed so that the sprinkle density of agricultural rotor craft reaches default sprinkler discharge density requirement.
Agricultural rotor craft spray control device by obtaining the plantation image in region to be sprayed before sprinkling, according to
The planting density that plant is planted in image is planted, the demarcation flying height corresponding with the planting density is obtained, is stained with when to kind of a plant
In the case that liquid density conditions are certain, flying height corresponding to the larger crops of planting density is higher, and planting density is less
Rotary-wing flight is highly relatively low corresponding to crops, and the flying height of rotor craft is adjusted according to planting density, can
Make agricultural rotor craft sprinkling liquid more uniform, while the requirement of different spray concentrations can be directed to, adjust flushing liquor
The spraying efficiency be stained with liquid-tight degree, improve rotor craft of body, has saved the energy
In some embodiments, agricultural rotor craft spray control device also includes：First identification submodule, first
Compare submodule and the first implementation sub-module.Wherein, the first identification submodule is used for the plantation for identifying crops in plantation image
Density；First comparison submodule is used to planting density being compared with default spraying altitude adjustment corresponding table；First performs
Submodule is used to obtain the demarcation flying height corresponding to planting density according to comparison result.
In some embodiments, agricultural rotor craft spray control device also includes：First image procossing submodule
With the first calculating sub module.Wherein, the first image procossing submodule is used to plantation image carrying out binary conversion treatment, makes crops
Image and background image formation maximum pixel are poor；First calculating sub module is used to obtain the object pixel for characterizing crop map picture
Value, the planting density of crops is obtained after total pixel value of target pixel value and plantation image is divided by.
In some embodiments, agricultural rotor craft spray control device also includes：Second image procossing submodule,
For carrying out gray processing processing to the plantation image after binary conversion treatment, to reduce the information content that plantation image includes.
In some embodiments, agricultural rotor craft spray control device also includes：3rd image procossing submodule,
For carrying out histogram equalization processing to the plantation image after gray processing is handled, with increase kind plant image and Background
Contrast as between.
In some embodiments, agricultural rotor craft spray control device also includes：Second calculating sub module, second
Compare submodule and the second implementation sub-module.Wherein, the second calculating sub module is used for the row that crops are calculated according to planting density
Spacing；Second compares submodule for the line space of crops is wide in the sprinkling of demarcation flying height with agricultural rotor craft
Degree is compared；Second implementation sub-module is used for when spray width is less than the line space of crops, and agricultural rotor craft moves
Move to the top of single file crops.
In order to solve the above technical problems, the present embodiment also provides a kind of server.
Specifically, referring to Fig. 6, Fig. 6 is the agricultural rotor craft control structure schematic diagram of the present embodiment.
As shown in fig. 6, agricultural rotor craft includes：One or more processors 3110 and memory 3120；One or
Multiple application programs, wherein one or more application programs are stored in memory and are configured as being handled by one or more
Device is performed, and one or more programs are configured to：
Obtain the plantation image of the crops in region to be sprayed；
The planting density of crops in the plantation image is identified, and the agricultural rotor is obtained according to the planting density
The demarcation flying height of aircraft；
Sprayed after adjusting flying height to the demarcation flying height of the agricultural rotor craft, so that described
The sprinkle density of agricultural rotor craft reaches default sprinkler discharge density requirement.
Agricultural rotor craft is planted by obtaining the plantation image in region to be sprayed before sprinkling according in plantation image
The planting density of plant, the demarcation flying height corresponding with the planting density is obtained, when being stained with liquid density conditions one to kind of a plant
In the case of fixed, flying height corresponding to the larger crops of planting density is higher, corresponding to the less crops of planting density
Rotary-wing flight is highly relatively low, and the flying height of rotor craft is adjusted according to planting density, can fly agricultural rotor
Row device sprinkling liquid is more uniform, while can be directed to the requirement of different spray concentrations, and regulation sprinkling liquid is stained with liquid-tight degree,
The spraying efficiency of rotor craft is improved, has saved the energy.
It is to be noted that in this implementation column, the memory memory storage of server is used to realize agricultural rotor in the present embodiment
All programs in aircraft spraying control method thereof, processor can call the program in the memory, perform above-mentioned agricultural rotation
Institute cited by rotor aircraft spraying control method thereof is functional.Due to agricultural rotor craft realize function in the present embodiment
Agricultural rotor craft spraying control method thereof have been described in detail, no longer repeated herein.
It should be noted that the preferred embodiment of the present invention is given in the specification and its accompanying drawing of the present invention, still,
The present invention can be realized by many different forms, however it is not limited to the embodiment described by this specification, these embodiments
Not as the extra limitation to present invention, there is provided the purpose of these embodiments is to make the understanding to the disclosure
More thorough and comprehensive.Also, above-mentioned each technical characteristic continues to be mutually combined, the various embodiments not being enumerated above are formed,
It is considered as the scope of description of the invention record；Further, for those of ordinary skills, can be according to the above description
Improved or converted, and all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (13)
1. a kind of agricultural rotor craft spraying control method thereof, it is characterised in that comprise the steps：
Obtain the plantation image of the crops in region to be sprayed；
The planting density of crops in the plantation image is identified, and the agricultural rotor flying is obtained according to the planting density
The demarcation flying height of device；
Sprayed after adjusting flying height to the demarcation flying height of the agricultural rotor craft, so that described agricultural
The sprinkle density of rotor craft reaches default sprinkler discharge density requirement.
2. agricultural rotor craft spraying control method thereof according to claim 1, it is characterised in that the identification kind
The planting density of crops in image is planted, and the demarcation flight height of the agricultural rotor craft is obtained according to the planting density
The step of spending, specifically include following step：
Identify the planting density of crops in the plantation image；
The planting density is compared with default spraying altitude adjustment corresponding table；
Demarcation flying height corresponding to the planting density is obtained according to comparison result.
3. agricultural rotor craft spraying control method thereof according to claim 1, it is characterised in that the identification kind
The planting density of crops in image is planted, and the demarcation flight height of the agricultural rotor craft is obtained according to the planting density
The step of spending, specifically include following step：
The plantation image is subjected to binary conversion treatment, makes the crop map picture and background image formation maximum pixel poor；
The target pixel value for characterizing the crop map picture is obtained, by total pixel of the target pixel value and the plantation image
Value obtains the planting density of the crops after being divided by.
4. agricultural rotor craft spraying control method thereof according to claim 3, it is characterised in that described by the plantation
Image carries out binary conversion treatment, the crop map picture is formed with background image after the step of maximum pixel difference, in addition to
Following step：
Gray processing processing is carried out to the plantation image after binary conversion treatment, to reduce the information that the plantation image includes
Amount.
5. agricultural rotor craft spraying control method thereof according to claim 4, it is characterised in that described pair is passed through two-value
Change processing after plantation image carry out gray processing processing, with reduce it is described plantation image include information content the step of after,
Also comprise the steps：
Histogram equalization processing is carried out to the plantation image after gray processing is handled, to increase described kind of plant image and the back of the body
Contrast between scape image.
6. agricultural rotor craft spraying control method thereof according to claim 1, it is characterised in that the identification kind
The planting density of crops in image is planted, and the demarcation flight height of the agricultural rotor craft is obtained according to the planting density
After the step of spending, also comprise the steps：
The line space of the crops is calculated according to the planting density；
The line space of the crops is compared with spray width of the agricultural rotor craft in demarcation flying height；
When the spray width is less than the line space of the crops, the agricultural rotor craft is moved to single file crops
Top.
A kind of 7. agricultural rotor craft spray control device, it is characterised in that including：
Acquisition module, the plantation image of the crops for obtaining region to be sprayed；
Height computing module, for identifying the planting density of crops in the plantation image, and obtained according to the planting density
Take the demarcation flying height of the agricultural rotor craft；
Processing module, for being sprayed after adjusting the flying height of the agricultural rotor craft to the demarcation flying height
Spill, so that the sprinkle density of the agricultural rotor craft reaches default sprinkler discharge density requirement.
8. agricultural rotor craft spray control device according to claim 7, it is characterised in that the agricultural rotor flies
Row device spray control device also includes：
First identification submodule, for identifying the planting density of crops in the plantation image；
First compares submodule, for the planting density to be compared with default spraying altitude adjustment corresponding table；
First implementation sub-module, for obtaining the demarcation flying height corresponding to the planting density according to comparison result.
9. agricultural rotor craft spray control device according to claim 7, it is characterised in that the agricultural rotor flies
Row device spray control device also includes：
First image procossing submodule, for the plantation image to be carried out into binary conversion treatment, make the crop map picture and the back of the body
It is poor that scape image forms maximum pixel；
First calculating sub module, the target pixel value of the crop map picture is characterized for obtaining, by the target pixel value with
Total pixel value of the plantation image obtains the planting density of the crops after being divided by.
10. agricultural rotor craft spray control device according to claim 9, it is characterised in that the agricultural rotor
Aircraft spray control device also includes：
Second image procossing submodule, for carrying out gray processing processing to the plantation image after binary conversion treatment, to reduce
The information content that the plantation image includes.
11. agricultural rotor craft spray control device according to claim 10, it is characterised in that the agricultural rotor
Aircraft spray control device also includes：
3rd image procossing submodule, for carrying out histogram equalization processing to the plantation image after gray processing is handled,
To increase the described kind of contrast between plant image and background image.
12. agricultural rotor craft spray control device according to claim 7, it is characterised in that the agricultural rotor
Aircraft spray control device also includes：
Second calculating sub module, for calculating the line space of the crops according to the planting density；
Second compares submodule, for the line space of the crops and the agricultural rotor craft to be demarcated into flying height
Spray width be compared；
Second implementation sub-module, for when the spray width be less than the crops line space when, the agricultural rotor flies
Row device is moved to the top of single file crops.
A kind of 13. agricultural rotor craft, it is characterised in that including：
One or more processors；
Memory；
One or more application programs, wherein one or more of application programs are stored in the memory and are configured
For by one or more of computing devices, it is any one that one or more of programs are configured to carry out claim 1-6
Agricultural rotor craft spraying control method thereof described in.
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| CN201710992954.9A CN107728641A (en) | 2017-10-23 | 2017-10-23 | Agricultural rotor craft spraying control method thereof, device and agricultural rotor craft |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710992954.9A CN107728641A (en) | 2017-10-23 | 2017-10-23 | Agricultural rotor craft spraying control method thereof, device and agricultural rotor craft |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109329252A (en) * | 2018-11-27 | 2019-02-15 | 山东理工大学 | Both arms trellis type vineyard aerial pesticide operational method based on the fusion of agricultural machinery agronomy |
| CN109631834A (en) * | 2018-12-19 | 2019-04-16 | 北京农业智能装备技术研究中心 | A kind of aerial pesticide system and method |
| CN113613493A (en) * | 2019-03-29 | 2021-11-05 | 巴斯夫农化商标有限公司 | Targeted weed control using chemical and mechanical means |
-
2017
- 2017-10-23 CN CN201710992954.9A patent/CN107728641A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109329252A (en) * | 2018-11-27 | 2019-02-15 | 山东理工大学 | Both arms trellis type vineyard aerial pesticide operational method based on the fusion of agricultural machinery agronomy |
| CN109631834A (en) * | 2018-12-19 | 2019-04-16 | 北京农业智能装备技术研究中心 | A kind of aerial pesticide system and method |
| CN109631834B (en) * | 2018-12-19 | 2022-07-01 | 北京农业智能装备技术研究中心 | Aerial pesticide application system and method |
| CN113613493A (en) * | 2019-03-29 | 2021-11-05 | 巴斯夫农化商标有限公司 | Targeted weed control using chemical and mechanical means |
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Application publication date: 20180223 |