CN107976921A - A kind of fertilizer apparatus and method - Google Patents

A kind of fertilizer apparatus and method Download PDF

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Publication number
CN107976921A
CN107976921A CN201711059675.3A CN201711059675A CN107976921A CN 107976921 A CN107976921 A CN 107976921A CN 201711059675 A CN201711059675 A CN 201711059675A CN 107976921 A CN107976921 A CN 107976921A
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crop
vegetation index
fertilizer
dose
information
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CN107976921B (en
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孙红
刘豪杰
孙梓淳
张俊逸
王旭
李民赞
郑立华
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China Agricultural University
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China Agricultural University
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers

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  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Investigating Or Analysing Materials By Optical Means (AREA)
  • Fertilizing (AREA)

Abstract

The present invention, which provides a kind of fertilizer apparatus and method, fertilizer apparatus, to be included：Crop spectral information harvester, dose Decision Control device and fertilizer output device；Crop spectral information harvester, including face battle array spectrum sensor and two dot matrix spectrum sensors at left and right sides of the spectrum sensor of the face that is arranged on gust；Face battle array spectrum sensor and dot matrix spectrum sensor, for the spectral image information for gathering crop canopies and multigroup reflected light signal；Dose Decision Control device, for according to spectral image information and multigroup reflected light signal, obtaining the nitrogen nutrition status information of crop；And according to the nitrogen nutrition status information of crop, decision-making dose information；And corresponding dose is exported according to dose information, control fertilizer output device.The present invention can be achieved to obtain the reflected light signal of high-precision crop canopies, and providing more reliable data for Fertilization Decision supports.Also, the data processing speed of the device is fast, real-time is good and signal-to-noise ratio is high.

Description

A kind of fertilizer apparatus and method
Technical field
The present invention relates to variable fertilization technical field, more particularly, to a kind of fertilizer apparatus and method.
Background technology
Since the 1970s, the consumption figure of chemical fertilizer increases sharply in China, is played very to improving crop yield Big effect, but the chemical fertilizer input outstanding problem in China is unreasonable structure, and utilization rate is low.1978-2005 years grain yields are only Volume increase 50%, but fertilizer consumption increases more than 300%.China applies the level that chemical fertilizer rests on empiric fertilization more at present On, chemical fertilizer utilization ratio is only 30%~40%, and the effect of increasing production of chemical fertilizer is not not fully exerted, and causes surprising waste, There is the problems such as water pollution in some areas.According to statistics, the applying quantity of chemical fertilizer in China has had reached average 434.3kg/ Hm2, is the upper safety limit for preventing chemical fertilizer from polluting set 225kg/hm2 to water body far beyond developed country, is state 1.93 times of border standard.The increase of rate of fertilizer and the decline of utilization ratio, not only cause massive losses economically, and And cause serious environmental pollution.Chemical fertilizer especially nitrogenous fertilizer becomes one of main environomental pollution source, carries out the change of science Amount fertilising is the requisite measure and urgent problem to be solved of agricultural sustainable development.
Variable fertilization technology is the important component of precision agriculture, has obtained significant economic and society's effect abroad Benefit.Variable-rate fertilization is more deep in developed country's research, its correlation technique has become better and approaching perfection day by day and commercialization.The U.S. is early in 20 generation Recording, it is also successive just to have carried out the country such as the application of Formula fertilization by soil testing, Britain, Germany, Canada, Australia the nineties Research and application are carried out.The RDS companies in Europe, Hrdro Agri companies etc. at present, the Agtron companies in America, Agleader There have been the launch with versatility in company, Micro-Trak companies, Mid-Tech companies, Trimble companies etc., it connects Mouth is adapted to the control of the several work such as liquid fertilizer, granulated fertilizer machinery.The U.S. has formd the technology of information agriculture and accurate agricultural There are the variable fertilization equipment of maturation in support system, many companies, and main controller to be used is vehicular computer or PDA, root Variable fertilization operation is realized according to the GIS map data mining platforms of soil nutrient or fertilizer, the variable produced such as John Deere companies of the U.S. Fertilizer distributor, Case companies utilize the Flexi Soil Variable Rate Seeding Machines of GPS productions.Existing online variable external at present is applied Fertile system, as Crane Homer state university of Russia of the U.S. and NT companies cooperate to be proposed the light sensing reality that trade mark is GreenSeeker Variations per hour fertilizer applicator, German AMAZONE companies develop a kind of variable-rate fertilization of view-based access control model sensor etc..
But the hardware device that variable fertilizer applicator of the prior art needs to use is more and involves great expense, and is applied using variable The method that fertile device carries out variable fertilization is also extremely complex.
The content of the invention
A kind of hardware device for overcoming variable fertilizer applicator of the prior art to need to use of present invention offer is more and makes High price is expensive, using variable fertilizer applicator carry out variable fertilization method it is also extremely complex the problem of a kind of fertilizer apparatus and side Method.
According to an aspect of the present invention, there is provided a kind of fertilizer apparatus, the fertilizer apparatus include：Crop spectral information is adopted Acquisition means, dose Decision Control device and fertilizer output device；
The crop spectral information harvester, including face battle array spectrum sensor and it is arranged on face battle array spectrum sensor Two dot matrix spectrum sensors of the left and right sides；The face battle array spectrum sensor, for gathering in the planar region below itself Crop canopies spectral image information；The dot matrix spectrum sensor, for gathering multiple dotted regions immediately below itself Multigroup reflected light signal of interior crop canopies；Wherein, each dotted region has one group of reflected light signal；The multiple point Shape region is located in the planar region；
The dose Decision Control device, for according to the spectral image information and multigroup reflected light signal, Obtain the nitrogen nutrition status information of crop；And according to the nitrogen nutrition status information of the crop, decision-making dose information；And According to the dose information, the fertilizer output device is controlled to export corresponding dose；
The fertilizer output device, for applying fertilizer to crop.
Preferably, the dot matrix spectrum sensor has multiple optical channels, the multiple optical channel with it is the multiple Dotted region corresponds；Wherein, each optical channel, for gathering the crop canopies in corresponding dotted region at one The reflected light signal of certain wave strong point.
Preferably, the multiple optical channel is at least three；Wherein, three optical channels gather corresponding point-like respectively Crop canopies in region is at any wavelength in visible light wave range, at any wavelength in red side wave section and in near-infrared The reflected light signal at any wavelength in optical band.
Preferably, the dose Decision Control device includes：The dose Decision Control device includes：Host computer, Geographical location information acquisition module, velocity sensor, flow sensor and pressure sensor；
The host computer, for according to the spectral image information and multigroup reflected light signal, obtaining the nitrogen of crop Plain nutritional status information；And obtained according to the nitrogen nutrition status information of the crop, the geographical location information acquisition module The position signal of the fertilizer apparatus, the velocity sensor speed signal, the flow of the fertilizer apparatus that obtain The fertilizer output device that the flow signal and the pressure sensor for the fertilizer output device that sensor obtains obtain Pressure signal, decision-making dose information；And according to the dose information, control the fertilizer output device output corresponding Dose.
Preferably, the fertilizer output device includes：Controller, the flow-rate adjustment valve group being electrically connected with the controller, The fertilizer box being connected with the flow-rate adjustment valve group and the spray bar mechanism being connected with the fertilizer box；
The controller, the dose information sent for receiving the dose Decision Control device；And according to described Dose information, adjusts the flow-rate adjustment valve group, so that the spraying mechanism exports corresponding dose；
The fertilizer box, for loading fertilizer.
According to another aspect of the present invention, there is provided a kind of fertilizing method, the described method includes：
S1, the spectral image information and two points of the crop canopies in planar region below collection surface battle array spectrum sensor Multigroup reflected light signal of the crop canopies in multiple dotted regions immediately below battle array spectrum sensor；
S2, according to the spectral image information and multigroup reflected light signal, the nitrogen nutrition state for obtaining crop is believed Breath；And according to the nitrogen nutrition status information of the crop, decision-making dose information；And according to the dose information, control The fertilizer output device exports corresponding dose；
S3, applies fertilizer to crop.
Preferably, step S2 is specifically included：
S21, according to the multigroup of the crop canopies in multiple dotted regions immediately below described two dot matrix spectrum sensors Reflected light signal, obtains reflectivity of each group of reflected light signal in a corresponding certain wave strong point；
S22, according to multigroup reflected light signal in the reflectivity of corresponding multiple certain wave strong points, using interpolation algorithm, is obtained The crop canopies immediately below the face battle array spectrum sensor in region is taken in the reflectivity of the multiple certain wave strong point；
S23, is three cells by the planar region division；For each cell, it is preced with according to the crop in each cell The reflected light signal of layer obtains the first actual vegetation index and the second actual vegetation and refers in the reflectivity of corresponding certain wave strong point Number；
S24, for each cell, by the spectral image information in each cell, the crop obtained in each cell is covered Lid rate parameter；And according to the vegetation rate parameter, to the described first actual vegetation index and the second actual vegetation index into Row is corrected, and vegetation index and the second amendment vegetation index are corrected to obtain first；
S25, corrects vegetation index and second according to the first of each cell and corrects vegetation index, obtain in planar region First vegetation index and the second vegetation index；
S26, according to the first vegetation index and the second vegetation index, the nitrogen for obtaining the crop in the planar region is sought Support status information；And according to the nitrogen nutrition status information, decision-making dose information；And according to the dose information, control Make the fertilizer output device and export corresponding dose.
Preferably, the first actual vegetation index NDVI in step S23It is realWith the second actual vegetation index NDREIt is real, by with Lower formula obtains：
Wherein, RnirIt is near infrared light in the reflectivity of corresponding certain wave strong point, RreIt is red side in corresponding specific wavelength The reflectivity at place, RrFor visible ray corresponding certain wave strong point reflectivity；
Vegetation rate parameter C in step S24, is obtained by the following formula：
Wherein, LPFor canopy leaves pixel number in any cell, ApFor total pixel number in any cell；
Described first corrects vegetation index NDVIRepairVegetation index NDRE is corrected with secondRepair, obtained by the following formula：
Wherein, NDVIIt is realFor the first actual vegetation index, NDREIt is realFor the second actual vegetation index, NDVIsFor exposed soil area First vegetation index, NDREsFor second vegetation index in exposed soil area, C is vegetation rate parameter.
Preferably, the first vegetation index NDVI and the second vegetation index NDRE described in step S25 in planar region, leads to Cross the following formula acquisition：
NDVI=KA·NDVIA+KB·NDVIB+KC·NDVIC；
NDRE=KA·NDREA+KB·NDREB+KC·NDREC；
Wherein, NDVIAFirst for first community corrects vegetation index, NDVIBRefer to for the first amendment vegetation of second community Number, NDVICFirst for the 3rd cell corrects vegetation index, NDREASecond for first community corrects vegetation index, NDREBFor The second of second community corrects vegetation index, NDRECSecond for the 3rd cell corrects vegetation index, KA、KB、KCIt is weighting Coefficient.
Preferably, step S26 is specifically included：
S261, according to the first vegetation index in the planar region, obtains the biomass in the planar region；
S262, according to nitrogen dilution curve and the biomass, obtains standard nitrogen concentration；According to first vegetation index and The biomass, obtains standard amount of nitrogen sucking；
S263, according to the second vegetation index in the planar region, obtains actual amount of nitrogen sucking；
S264, according to the standard amount of nitrogen sucking and the actual amount of nitrogen sucking, obtains amount of nitrogen sucking difference；
S265, according to optimization of region amount of nitrogen, nitrogen application during early growth stage amount, the Fertilizer recovery of ear manuer and the amount of nitrogen sucking difference, Dose is calculated, and controls the fertilizer output device to export corresponding dose.
A kind of fertilizer apparatus provided by the invention and method, by by dot matrix spectrum sensor knead dough battle array spectrum sensor group Close and use so that the fertilizer apparatus had both maintained that dot matrix sensing data form is simple, processing speed is fast, real-time is good and noise Than it is high the advantages of；Ground products coverage is conveniently calculated using the spectral image information of area array sensor collection again, with Spectra1 interfer- influences caused by correcting field soil reflectance spectrum and plant growth form, so as to obtain high-precision crop hat The reflected light signal of layer, provides more reliable data for Fertilization Decision and supports.
Brief description of the drawings
Fig. 1 is according to a kind of structure diagram of fertilizer apparatus provided in an embodiment of the present invention；
Fig. 2 is according to a kind of structure diagram of crop spectral information harvester provided in an embodiment of the present invention；
Fig. 3 is according to a kind of hardware architecture diagram of dot matrix spectrum sensor provided in an embodiment of the present invention；
Fig. 4 is according to a kind of hardware architecture diagram of face battle array spectrum sensor provided in an embodiment of the present invention；
Fig. 5 is according to a kind of light sensitivity principles schematic diagram of dot matrix spectrum sensor provided in an embodiment of the present invention；
Fig. 6 is according to a kind of light sensitivity principles schematic diagram of face battle array spectrum sensor provided in an embodiment of the present invention；
Fig. 7 is according to a kind of structure diagram for the dragger that applies fertilizer provided in an embodiment of the present invention；
Fig. 8 is according to a kind of flow chart of fertilizing method provided in an embodiment of the present invention；
Fig. 9 is according to a kind of subregion schematic diagram in planar region provided in an embodiment of the present invention；
Figure 10 is according to a kind of nitrogen dilution curve CNDC model schematics provided in an embodiment of the present invention.
Embodiment
With reference to the accompanying drawings and examples, the embodiment of the present invention is described in further detail.Implement below Example is used to illustrate the present invention, but is not limited to the scope of the present invention.
The increase of rate of fertilizer and the decline of utilization ratio, not only cause massive losses economically, but also cause Serious environmental pollution.Nitrogenous fertilizer in chemical fertilizer becomes one of main environomental pollution source, and carrying out the variable fertilization of science is The requisite measure and urgent problem to be solved of agricultural sustainable development.
A kind of fertilizer apparatus provided by the invention and method, can realize the variable fertilization of science, not only economically save About substantial amounts of resource, and for environmental protection, it may have huge favorable attributes.
Below with reference to attached drawing, the structure and function of such a fertilizer apparatus is discussed in detail.
Fig. 1 is according to a kind of structure diagram of fertilizer apparatus provided in an embodiment of the present invention, as shown in Figure 1, described apply Fertile device includes：Crop spectral information harvester, dose Decision Control device and fertilizer output device.
The crop spectral information harvester, including face battle array spectrum sensor and it is arranged on face battle array spectrum sensor Two dot matrix spectrum sensors of the left and right sides；The face battle array spectrum sensor, for gathering in the planar region below itself Crop canopies spectral image information；The dot matrix spectrum sensor, for gathering multiple dotted regions immediately below itself Multigroup reflected light signal of interior crop canopies；Wherein, each dotted region has one group of reflected light signal；The multiple point Shape region is located in the planar region.
Specifically, Fig. 2 is according to a kind of structural representation of crop spectral information harvester provided in an embodiment of the present invention Figure, as shown in Fig. 2, face battle array spectrum sensor and two dot matrix spectrum being arranged at left and right sides of the face battle array spectrum sensor pass Sensor.That is, which is made of a face battle array spectrum sensor and two dot matrix spectrum sensors.Its In, face battle array spectrum sensor is in an intermediate position, and two dot matrix spectrum sensors are respectively positioned at the left side of face battle array spectrum sensor And right side.
The face battle array spectrum sensor, the spectrum picture for gathering the crop canopies in the planar region below itself are believed Breath.Wherein, the camera lens of face battle array spectrum sensor has specific field angle.Between face battle array spectrum sensor and tested surface The timing of distance one, the size in planar region change with the change of field angle.When the timing of field angle one, the size in planar region with The change of face battle array spectrum sensor and the distance between tested surface and change.
The dot matrix spectrum sensor, for gathering the multigroup of the crop canopies in multiple dotted regions immediately below itself Reflected light signal；Wherein, each dotted region has one group of reflected light signal；The multiple dotted region is located at the planar In region.
It should be noted that the implication of " underface " with " lower section " implication it is different." underface " refers to dot matrix spectrum Sensor is in the vertical projection region of tested surface, and " lower section " refers to what face battle array spectrum sensor can detect on tested surface A sheet of region, the size in the region is variable, its changing rule has hereinbefore been described, and details are not described herein again." spot Domain " from " planar region " implication it is also different." dotted region " refers in particular to the minimum region of area, and " planar region " refers in particular to area Larger region.In the present embodiment, multiple dotted regions are located in planar region.
Although dot matrix spectrum sensor can effectively obtain the reflected light signal of crop canopies, and data format it is simple, Processing speed is fast, real-time is good, and spectrum caused by cannot but effectively eliminating field soil reflectance spectrum and plant growth form is done Disturb.
Although face battle array spectrum sensor can eliminate field soil reflectance spectrum and plant growth shape by image Segmentation Technology Spectra1 interfer- caused by state, but image data amount is larger, particularly with the algorithm used in the reflected light signal of inverting crop compared with For complexity, processing time is longer, higher to processor requirement, and real-time is poor.Crop is detected in real time using face battle array spectrum sensor For growing way to instruct Fertilization Decision, technical difficulty is big, and cost is higher.
The dose Decision Control device, for according to the spectral image information and multigroup reflected light signal, Obtain the nitrogen nutrition status information of crop；And according to the nitrogen nutrition status information of the crop, decision-making dose information；And According to the dose information, the fertilizer output device is controlled to export corresponding dose.
The fertilizer output device, for applying fertilizer to crop.
A kind of fertilizer apparatus provided in this embodiment, by the way that the combination of dot matrix spectrum sensor knead dough battle array spectrum sensor is made Both maintained that dot matrix sensing data form is simple, processing speed is fast, real-time is good and signal-to-noise ratio is high with so that the fertilizer apparatus The advantages of；Ground products coverage is conveniently calculated using the spectral image information of area array sensor collection again, to correct Spectra1 interfer- caused by field soil reflectance spectrum and plant growth form influences, so as to obtain high-precision crop canopies Reflected light signal, provides more reliable data for Fertilization Decision and supports.
Based on above-described embodiment, the dot matrix spectrum sensor in above-described embodiment is described in detail in the present embodiment：
The dot matrix spectrum sensor has multiple optical channels, the multiple optical channel and the multiple dotted region Correspond；Wherein, each optical channel, for gathering the crop canopies in corresponding dotted region in a specific wavelength The reflected light signal at place.
It should be noted that in the present embodiment, the 26S Proteasome Structure and Function of two dot matrix spectrum sensors is completely the same.Two Each dot matrix spectrum sensor in dot matrix spectrum sensor, has multiple optical channels.Wherein, each optical channel is used In gathering reflected light signal of the crop canopies in corresponding with optical channel dotted region in a certain wave strong point.Its In, specific wavelength is related to the characteristic of the optical channel, and the optical channel of different qualities gathers the reflection of different certain wave strong points Optical signal, an optical channel can only gather the reflected light signal of a certain wave strong point.
Based on above-described embodiment, multiple optical channels in the present embodiment are at least three；Wherein, three optical channels point The crop canopies in corresponding dotted region at any wavelength in visible light wave range, any in red side wave section are not gathered The reflected light signal at any wavelength at wavelength and near infrared light wave band.
Specifically, the number of optical channel is preferably at least three by the present embodiment.In the present embodiment, if optical channel Number be only three, in order to show difference, these three optical channels are named as the first optical channel respectively, the second optics leads to Road and the 3rd optical channel.
Wherein, the first optical channel, for gathering the crop canopies in its corresponding dotted region in visible light wave range Any wavelength at reflected light signal；Second optical channel, exists for gathering the crop canopies in its corresponding dotted region The reflected light signal at any wavelength in red side wave section；3rd optical channel, for gathering in its corresponding dotted region Reflected light signal of the crop canopies at any wavelength near infrared light wave band.
It should be noted that the wave-length coverage of visible light wave range is 400~700nm, the wave-length coverage of red side wave section is 700 ~760nm, the wave-length coverage of near infrared light wave band is 760~1000nm.
As a preferred embodiment, the present embodiment combination attached drawing, and by specifically illustrating to provided by the invention one Kind crop spectral information harvester illustrates.
The hardware configuration of dot matrix spectrum sensor knead dough battle array spectrum sensor is illustrated below：
In the present embodiment, dot matrix spectrum sensor uses four wave band self-calibration formula spectrum sensors.Fig. 3 is according to this hair The hardware architecture diagram for a kind of dot matrix spectrum sensor that bright embodiment provides, as shown in figure 3, dot matrix spectrum sensor master To be made of optical channel, signal conditioning circuit, microcontroller and respective peripheral circuit.
The dot matrix spectrum sensor has four optical channels, and the characteristic of four optical channels is different, therefore, four light Learn the reflected light signal that passage gathers different certain wave strong points.In the present embodiment, since the characteristic of four optical channels is solid Fixed, the photodetector of four optical channels is each responsible for collection crop canopies at 550nm, 650nm, 766nm and 850nm Reflected light signal, and reflected light signal is converted into faint analog electrical signal and is exported.Faint analog electrical signal passes through signal condition After IU modular converters and filter and amplification module in circuit, analog electrical signal is converted into.Analog electrical signal is again by microcontroller A/D conversion is carried out, and then is converted to digital signal.The digital signal is exported to upper by the communication module in respective peripheral circuit Machine.
Wherein, it is a variety of to reserve CAN interface, WIFI module interface and ZigBee interfaces etc. for the communication mode of communication module Communication mode, can select suitable communication mode according to concrete scene.
In the present embodiment, battle array spectrum sensor in face uses multispectral camera.Fig. 4 is according to provided in an embodiment of the present invention A kind of hardware architecture diagram of face battle array spectrum sensor, as shown in figure 4, face battle array spectrum sensor is mainly by camera lens, signal Conditioning module, RGB and NIR image output modules composition.
Face battle array spectrum sensor can synchronously obtain visible ray RGB image and NIR picture signals by prismatic decomposition technology. The spectral image information collected is transferred to host computer by face battle array spectrum sensor, by host computer by image processing algorithm, Coverage rate is calculated.
The function of dot matrix spectrum sensor knead dough battle array spectrum sensor is illustrated below：
Fig. 5 is according to a kind of light sensitivity principles schematic diagram of dot matrix spectrum sensor provided in an embodiment of the present invention, such as Fig. 5 institutes Show, dot matrix spectrum sensor has four optical channels.In order to be distinguished to show, four optical channels are named as the first light respectively Learn passage, the second optical channel, the 3rd optical channel and the 4th optical channel.
Wherein, since the photosurface of the photodetector in each optical channel is smaller, only 3.2 × 3.2mm, because This, is known as dotted region by the search coverage of optical channel.
Wherein, the first optical channel is used to gather reflected light letter of the crop canopies at 550nm in corresponding dotted region Number, the second optical channel is used to gather reflected light signal of the crop canopies at 650nm in corresponding dotted region, the 3rd optics Passage is used to gather reflected light signal of the crop canopies at 766nm in corresponding dotted region, and the 4th optical channel is used to adopt Reflected light signal of the crop canopies at 850nm in the corresponding dotted region of collection.
Fig. 6 is according to a kind of light sensitivity principles schematic diagram of face battle array spectrum sensor provided in an embodiment of the present invention, such as Fig. 6 institutes Show, face battle array spectrum sensor has a camera lens.The camera lens has 25 ° of field angles, its investigative range is a circular planar region. The size in the circle planar region is determined by the distance of distance of camera lens tested surface.Consider when gathering crop canopies spectral image information To the strength problem of reflected light signal, the experience distance of setting face battle array spectrum sensor to tested surface, that is, crop canopies is 50cm, The size in circular planar region at this time is about 386cm2。
It should be noted that the investigative range of face battle array spectrum sensor is a circular planar region, but the spectrum of its preservation Image is one piece of rectangle planar region in circular planar region.
The combination to dot matrix spectrum sensor knead dough battle array spectrum sensor illustrates below：
Fig. 2 is according to a kind of crop spectral information harvester provided in an embodiment of the present invention, as shown in Fig. 2, the crop Spectral information harvester is made of a face battle array spectrum sensor and two dot matrix spectrum sensors.Wherein, battle array spectrum in face passes Sensor is in an intermediate position, and two dot matrix spectrum sensors are respectively positioned at the left side and right side of face battle array spectrum sensor.
With reference to the physical size relation of two kinds of spectrum sensors, what can be calculated obtains two kinds of spectrum sensor investigative ranges Position relationship.It is obtained by calculation, when the distance of height distance tested surface, that is, crop canopies of two kinds of spectrum sensors is During 50cm (50cm is also the suitable distance of the spectral image information of face battle array spectrum sensor collection crop canopies), dot matrix spectrum passes Two side areas of the sensing point of sensor in the test surface of face battle array spectrum sensor.
It should be noted that sensing point refers to dotted region, test surface refers to planar region.
A kind of crop spectral information harvester provided in this embodiment, by by dot matrix spectrum sensor knead dough battle array spectrum Sensor combinations use so that the harvester had both maintained that dot matrix sensing data form is simple, processing speed is fast, real-time The advantages of good and signal-to-noise ratio is high；Conveniently calculate ground products using the spectral image information of area array sensor collection again and cover Cover degree, the spectra1 interfer- caused by correcting in the form of field soil reflectance spectrum and plant growth influences, so as to obtain high accuracy Crop canopies reflected light signal, for Fertilization Decision provide more reliable data support.
Based on above-described embodiment, the present embodiment illustrates a kind of dose Decision Control device of fertilizer apparatus, institute Stating dose Decision Control device includes：Host computer, geographical location information acquisition module, velocity sensor, flow sensor and Pressure sensor.
The host computer, for according to the spectral image information and multigroup reflected light signal, obtaining the nitrogen of crop Plain nutritional status information；And obtained according to the nitrogen nutrition status information of the crop, the geographical location information acquisition module The position signal of the fertilizer apparatus, the velocity sensor speed signal, the flow of the fertilizer apparatus that obtain The fertilizer output device that the flow signal and the pressure sensor for the fertilizer output device that sensor obtains obtain Pressure signal, decision-making dose information；And according to the dose information, control the fertilizer output device output corresponding Dose.
Specifically, dose Decision Control device, is obtained for sending spectroscopic data according to crop spectral information harvester It is taken as the nitrogen nutrition status information of thing.And according to the nitrogen nutrition status information of crop, GPS module gather position signal, The pressure signal of the speed signal of velocity sensor collection, the flow signal of flow sensor collection and pressure sensor collection, Decision-making exports the corresponding dose information of crop.And according to dose information, the corresponding fertilising of control fertilizer output device output Amount.Wherein, spectroscopic data refer to the crop canopies in planar region spectral image information and two dot matrix spectrum sensors just Multigroup reflected light signal of crop canopies in multiple dotted regions of lower section.The fertilizer output device, for being applied to crop Add fertilizer.
A kind of fertilizer apparatus provided in this embodiment, passes through crop spectral information harvester, collection surface battle array spectrum sensing Multiple points immediately below the spectral image information and two dot matrix spectrum sensors of the crop canopies in planar region below device Multigroup reflected light signal of crop canopies in shape region, so as to obtain the reflected light signal of high-precision crop canopies, is Fertilization Decision provides more reliable data and supports.
Based on above-described embodiment, the fertilizer output device in above-described embodiment is specifically described in the present embodiment.
The fertilizer output device includes：
Controller, the flow-rate adjustment valve group being electrically connected with the controller, the fertilizer being connected with the flow-rate adjustment valve group Case and the spray bar mechanism being connected with the fertilizer box.
The controller, the dose information sent for receiving the dose Decision Control device；And according to described Dose information, adjusts the flow-rate adjustment valve group, so that the spraying mechanism exports corresponding dose.
The fertilizer box, for loading fertilizer.
As a preferred embodiment, the present embodiment combination attached drawing, and by specifically illustrate to a kind of fertilizer apparatus into Row illustrates.
Fig. 7 is according to a kind of structure diagram for the dragger that applies fertilizer provided in an embodiment of the present invention, as shown in fig. 7, this is applied Fertile dragger includes：
It is fixed on the crop spectral information harvester 1, traction machine body 2, applying in traction machine body of traction machine body front end Fertilizer amount Decision Control device 3, the GPS device 4 being fixed at the top of traction machine body, the controller 5 in traction machine body, flow-rate adjustment Valve group 6, the fertilizer box 7 in traction machine body rear end and the spray bar mechanism 8 that connects together with fertilizer box 7.
Wherein, crop spectral information harvester 1 is responsible for the reflected spectrum data of collection crop canopies, and the data are sent out Give dose Decision Control device 3；Dose Decision Control device 3 handles analysis by upper computer software and obtains the nitrogen of crop After plain nutritional status information, believe in conjunction with the position of GPS device, velocity sensor, flow sensor and pressure sensor collection Number, speed signal, flow signal and pressure signal, calculating exports the corresponding dose information of crop to controller 5, the control Device 5 controls flow-rate adjustment valve group 6, so that spraying mechanism 8 exports corresponding dose.
A kind of fertilizer apparatus provided in this embodiment, realizes the nitrogen nutrition demand real-time variable spray fertilizer according to crop, The usage amount of fertilizer is reduced, improves the utilization rate of fertilizer.
Based on above-described embodiment, Fig. 8 is according to a kind of flow chart of fertilizing method provided in an embodiment of the present invention, such as Fig. 8 It is shown, the described method includes：
S1, the spectral image information and two points of the crop canopies in planar region below collection surface battle array spectrum sensor Multigroup reflected light signal of the crop canopies in multiple dotted regions immediately below battle array spectrum sensor.
S2, according to the spectral image information and multigroup reflected light signal, the nitrogen nutrition state for obtaining crop is believed Breath；And according to the nitrogen nutrition status information of the crop, decision-making dose information；And according to the dose information, control The fertilizer output device exports corresponding dose.
S3, applies fertilizer to crop.
It should be noted that the method for the step S1 in the present embodiment can pass through a kind of crop spectrum in above-described embodiment Information collecting device is realized.
Based on above-described embodiment, the present embodiment carries out specific explanations explanation to the step S2 in above-described embodiment.Step S2 Specifically include：
S21, according to the multigroup of the crop canopies in multiple dotted regions immediately below described two dot matrix spectrum sensors Reflected light signal, obtains reflectivity of each group of reflected light signal in a corresponding certain wave strong point；
S22, according to multigroup reflected light signal in the reflectivity of corresponding multiple certain wave strong points, using interpolation algorithm, is obtained The crop canopies immediately below the face battle array spectrum sensor in region is taken in the reflectivity of the multiple certain wave strong point；
S23, is three cells by the planar region division；For each cell, it is preced with according to the crop in each cell The reflected light signal of layer obtains the first actual vegetation index and the second actual vegetation and refers in the reflectivity of corresponding certain wave strong point Number；
S24, for each cell, by the spectral image information in each cell, the crop obtained in each cell is covered Lid rate parameter；And according to the vegetation rate parameter, to the described first actual vegetation index and the second actual vegetation index into Row is corrected, and vegetation index and the second amendment vegetation index are corrected to obtain first；
S25, corrects vegetation index and second according to the first of each cell and corrects vegetation index, obtain in planar region First vegetation index and the second vegetation index；
S26, according to the first vegetation index and the second vegetation index, the nitrogen for obtaining the crop in the planar region is sought Support status information；And according to the nitrogen nutrition status information, decision-making dose information；And according to the dose information, control Make the fertilizer output device and export corresponding dose.
Specifically, it is following for the calculating process of the reflectivity in step S21, it is necessary to explanation, in herein below with Single dot matrix spectrum sensor illustrates：
When dot matrix spectrum sensor measures above crop canopies, gust spectrum sensor that sets up an office measures Visible Light Characteristics ripple The electric signal of strong point sun incident light is Ers, corresponding wavelength vegetation reflected light electric signal be Erp；The red side characteristic wave strong point sun The electric signal of incident light is Eres, corresponding wavelength vegetation reflected light electric signal be Erep；The near infrared light characteristic wave strong point sun enters The electric signal for penetrating light is Enirs, corresponding wavelength vegetation reflected light electric signal be Enirp, then the reflection of near infrared light characteristic wave strong point Rate Rnir, red side characteristic wave strong point reflectivity RreWith the reflectivity R at Visible Light Characteristics wavelengthrRespectively：
Wherein knir、kreAnd krFor equal proportionality constant, by the optical system of device, photodetector and its matching amplifier Characterisitic parameter determine.
It should be noted that characteristic wavelength refers to the corresponding specific wavelength of reflected light signal.For example, the first optics leads to Road is used to gather reflected light signal of the crop canopies at 550nm in corresponding dotted region, then, 550nm is the reflected light Corresponding specific wavelength, is also the characteristic wavelength of the reflected light.
Specifically, step S22 refers to, multigroup reflected light signal that two dot matrix spectrum sensors of acquisition collect is respective The reflectivity of corresponding certain wave strong point.And according to these reflectivity, by interpolation algorithm, under obtaining face battle array spectrum sensor just The reflectivity of crop canopies in square region (below as region to be measured) in above-mentioned multiple certain wave strong points.
Wherein, in the present embodiment, it is preferably common Kriging technique (OrdinaryKriging abbreviations OK by interpolation algorithm Method), illustrate how by the reflectivity of each certain wave strong point in interpolating estimation region to be measured.OK methods are commonly referred to as local optimum line Property unbiased esti-mator, so-called linearly to refer to that estimate is the linear combination of sample value, i.e. weighted linear is averaged, and unbiased refers in theory The average value of estimate is equal to the average value of real sample values, that is, the mean error estimated is 0, the optimal error side for referring to estimation It is poor minimum.
The method in step S22 is made below by way of citing and being illustrated：
Assuming that the first optical channel of the first dot matrix spectrum sensor and the second dot matrix spectrum sensor is used to collection pair Answer reflected light signal of the crop canopies in dotted region at 550nm.Also, the first dot matrix spectrum sensor collects anti- It is R to penetrate reflectivity of the optical signal at 550nm1, the reflected light signal that the second dot matrix spectrum sensor collects is at 550nm Reflectivity is R2.So, reflectivity R of the reflected light signal of the crop canopies in region to be measured at 550nm is：
R=K1·R1+K2·R2；
Wherein, K1And K2For weighting coefficient, can need to be adjusted according to scene.
Region to be measured is consistent with above-mentioned calculating process in the calculating process of the reflectivity of other certain wave strong points, herein no longer Repeat.
Specifically, for step S23, the step is illustrated here in connection with attached drawing.Fig. 9 is according to the embodiment of the present invention The subregion schematic diagram in a kind of planar region provided, as shown in figure 9, the investigative range of face battle array spectrum sensor is a rounded face Shape region, but its spectrum picture preserved is a rectangle planar region in the circle planar region.Rectangle planar in Fig. 9 One width spectrum picture of Regional Representative, is divided into three cells by the rectangle planar zone level, is identified respectively with A, B, C.
Wherein, A cells and C cells are respectively the view field of the underface of two dot matrix spectrum sensors, circle therein Circle is the dotted region of its detection.B cells are the view field immediately below the battle array spectrum sensor of face, and circle therein represents a little Shape region.It should be noted that the dotted region of B cells is actually what is be not present, the dotted region internal reflection optical signal Reflectivity by the reflected light signal in the dotted region of A cells and C cells its corresponding certain wave strong point reflectivity, lead to Cross what interpolation algorithm was calculated.
By taking A cells as an example, the first actual vegetation index NDVI in the region is calculatedIt is realWith the second actual vegetation index NDREIt is real：
Wherein, RnirIt is near infrared light in the reflectivity of corresponding certain wave strong point, RreIt is red side in corresponding specific wavelength The reflectivity at place, RrFor visible ray corresponding certain wave strong point reflectivity.
The reflectivity of each reflected light signal is understood by above-described embodiment asks for formula, by the anti-of above-mentioned each reflected light signal The rate formula of penetrating brings the first actual vegetation index NDVI intoIt is realWith the second actual vegetation index NDREIt is realFormula in, can obtain：
Wherein,Other specification is introduced in the above-described embodiments, no longer superfluous herein State.
To eliminate as much as the optical system of optical sensor, photodetector and its matching amplifier systematic error and too Influence of the positive illumination variation to measurement result, have studied the scaling method of system.
When dot matrix spectrum sensor measures above blank, gust spectrum sensor that sets up an office is measured at Visible Light Characteristics wavelength The electric signal of sun incident light is Es0, corresponding wavelength vegetation reflected light electric signal be Ep0；The red side characteristic wave strong point sun is incident The electric signal of light is Eres0, corresponding wavelength vegetation reflected light electric signal be Erep0；Near infrared light characteristic wave strong point sun incident light Electric signal be Enirs0, corresponding wavelength vegetation reflected light electric signal be Enirp0.It is since standard white plate reflectivity is 1, i.e., near red The reflectivity R of outer smooth characteristic wave strong pointnir0, red side characteristic wave strong point reflectivity Rre0With the reflection at Visible Light Characteristics wavelength Rate Rr0It is 1, so：
The coefficient that can determine that device normalization is：
The first actual vegetation index and the second actual vegetation index in B cells and C cells and the computational methods in A cells Unanimously, details are not described herein again.
The reflected light signal measured due to dot matrix spectrum sensor, it is impossible to remove the influence of the backgrounds such as soil, it is therefore desirable to From the spectral image information of area array sensor collection, crop canopies information is extracted, eliminates the interference of the background informations such as soil.Cause This, proposes the first actual vegetation index and second being calculated using crop cover degree amendment by dot matrix spectrum sensor data Actual vegetation index, the then input parameter using revised vegetation index as Nitrogen Nutrition Diagnosis model, so that inverting is made Thing nitrogen nutrition demand.
Based on above-described embodiment, the process of asking for of the crop cover degree in step S24 is specifically described in the present embodiment：
It due to the influence of the factors such as weather condition, shooting environmental, can believe the spectrum picture of face battle array spectrum sensor collection Breath is mixed with different degrees of noise.To reduce noise, randomness and locality noise spot therein is eliminated, first to spectrum picture Information is filtered smoothing processing.Then, in order to realize the segmentation of the canopy leaves of crop and Soil Background, crop canopies is utilized The characteristics of blade is different from Soil Background color, it is colored based on HIS according to the spectral image information after filtered smoothing processing The H components of spatial model, are partitioned into the canopy leaves image information of crop.Then, according to the canopy leaves of crop in near-infrared The reflection gray level of reflected light in optical band is higher than the feature of the reflection gray level of the reflected light of Soil Background, to canopy leaves Image information carries out secondary splitting, and binary conversion treatment is carried out to the canopy leaves image information Jing Guo secondary splitting, so as to will make Thing canopy leaves are separated with Soil Background.
Pixel-level operations are carried out to the spectral image information after Soil Background is separated.Fig. 8 is according to the embodiment of the present invention The subregion schematic diagram in a kind of planar region provided, as shown in figure 8, extracting the pixel in rectangle planar region first.Then will The area pixel in the horizontal direction, is equally divided into 3 cells, and for each cell, its vegetation rate parameter C is：
Wherein, LPFor canopy leaves pixel number in any cell, ApFor total pixel number in any cell；
Described first corrects vegetation index NDVIRepairVegetation index NDRE is corrected with secondRepair, obtained by the following formula：
Wherein, NDVIIt is realFor the first actual vegetation index, NDREIt is realFor the second actual vegetation index, NDVIsFor exposed soil area First vegetation index, NDREsFor second vegetation index in exposed soil area, C is vegetation rate parameter.
Therefore, the first vegetation index NDVI and the second vegetation index NDRE in planar region, is obtained by the following formula：
NDVI=KA·NDVIA+KB·NDVIB+KC·NDVIC；
NDRE=KA·NDREA+KB·NDREB+KC·NDREC；
Wherein, NDVIAFirst for A cells corrects vegetation index, NDVIBFirst for B cells corrects vegetation index, NDVICFirst for C cells corrects vegetation index；NDREASecond for A cells corrects vegetation index, NDREBFor the of B cells Two correct vegetation index, NDRECSecond for C cells corrects vegetation index；KA、KBAnd KCIt is weighting coefficient, weighting coefficient can It is adjusted according to concrete scene.
Based on above-described embodiment, the present embodiment in step S26 to, according to the first vegetation index and the second vegetation index, obtaining The nitrogen nutrition status information of crop in the planar region；And according to the nitrogen nutrition status information, decision-making fertilising Measure information；And according to the dose information, control the fertilizer output device to export corresponding dose, make specifically It is bright.
S261, according to the first vegetation index in the planar region, obtains in the planar region according to equation below Biomass.
Wherein, x represents the first vegetation index NDVI, y and represents biomass Biomass, a1、b1It is regulation coefficient.The coefficient Had differences between different agrotypes (such as wheat, rice).
S262, according to nitrogen dilution curve and the biomass, obtains standard nitrogen concentration；According to first vegetation index and The biomass, obtains standard amount of nitrogen sucking.
Specifically, Figure 10 is according to a kind of nitrogen dilution curve CNDC model schematics provided in an embodiment of the present invention, is such as schemed Shown in 10, the transverse and longitudinal coordinate of the model schematic is respectively biomass Biomass and standard nitrogen concentration Nc.Wherein, biomass Biomass and standard nitrogen concentration NcFunctional relation be：
Wherein, B (Biomass) represents biomass, NcStandard nitrogen concentration is represented, c is regulation coefficient.The coefficient is different Had differences between agrotype (such as wheat, rice).
Standard amount of nitrogen sucking NUcFor：
NUc=Nc×Biomass。
S263, according to the second vegetation index in the planar region, actual amount of nitrogen sucking is obtained according to equation below.
Wherein, x represents the second vegetation index NDRE, y and represents actual amount of nitrogen sucking NU, a2、b2It is regulation coefficient.The coefficient Had differences between different agrotypes (such as wheat, rice).
S264, according to the standard amount of nitrogen sucking and the actual amount of nitrogen sucking, obtains amount of nitrogen sucking difference.
Specifically, amount of nitrogen sucking difference NUdiffFor：
NUdiff=| NU-NUc|；
Wherein, NU is actual amount of nitrogen sucking, NUcFor standard amount of nitrogen sucking.
S265, according to optimization of region amount of nitrogen, nitrogen application during early growth stage amount, the Fertilizer recovery of ear manuer and the amount of nitrogen sucking difference, Dose is calculated, and controls the fertilizer output device to export corresponding dose.
Specifically, if amount of nitrogen needed for known crop, the dose of crop and then can be obtained, therefore, asks for crop Required amount of nitrogen is crucial.
The amount of nitrogen N of croprateFor：
Nrate=NRONM-Npre-(NUdiff/RE)(0kg/ha≤Nrate≤48kg/ha)；
Wherein, NUdiffFor amount of nitrogen sucking difference, NRONMFor optimization of region amount of nitrogen, NpreFor nitrogen application during early growth stage amount, RE is ear manuer Fertilizer recovery.NRONMAnd RE has differences between different time and region.
To sum up, a kind of fertilizer apparatus provided by the invention and method, by the way that dot matrix spectrum sensor knead dough battle array spectrum is passed Sensor is applied in combination so that the fertilizer apparatus had both maintained that dot matrix sensing data form is simple, processing speed is fast, real-time is good And signal-to-noise ratio it is high the advantages of；Again ground products covering is conveniently calculated using the spectral image information of area array sensor collection Degree, the spectra1 interfer- caused by correcting in the form of field soil reflectance spectrum and plant growth influences, high-precision so as to obtain The reflected light signal of crop canopies, provides more reliable data for Fertilization Decision and supports.
Finally, method of the invention is only preferable embodiment, is not intended to limit the scope of the present invention.It is all Within the spirit and principles in the present invention, any modification, equivalent replacement, improvement and so on, should be included in the protection of the present invention Within the scope of.

Claims (10)

  1. A kind of 1. fertilizer apparatus, it is characterised in that including：Crop spectral information harvester, dose Decision Control device and Fertilizer output device；
    The crop spectral information harvester, including face battle array spectrum sensor and it is arranged on face battle array spectrum sensor or so Two dot matrix spectrum sensors of both sides；The face battle array spectrum sensor, for gathering the work in the planar region below itself The spectral image information of thing canopy；The dot matrix spectrum sensor, for gathering in multiple dotted regions immediately below itself Multigroup reflected light signal of crop canopies；Wherein, each dotted region has one group of reflected light signal；The multiple spot Domain is located in the planar region；
    The dose Decision Control device, for according to the spectral image information and multigroup reflected light signal, obtaining The nitrogen nutrition status information of crop；And according to the nitrogen nutrition status information of the crop, decision-making dose information；And according to The dose information, controls the fertilizer output device to export corresponding dose；
    The fertilizer output device, for applying fertilizer to crop.
  2. 2. fertilizer apparatus according to claim 1, it is characterised in that there are the dot matrix spectrum sensor multiple optics to lead to Road, the multiple optical channel are corresponded with the multiple dotted region；Wherein, each optical channel, for collection pair Reflected light signal of the crop canopies in dotted region answered in a certain wave strong point.
  3. 3. fertilizer apparatus according to claim 2, it is characterised in that the multiple optical channel is at least three；Wherein, Three optical channels gather crop canopies in corresponding dotted region at any wavelength in visible light wave range, red respectively The reflected light signal at any wavelength at any wavelength in side wave section and near infrared light wave band.
  4. 4. fertilizer apparatus according to claim 1, it is characterised in that the dose Decision Control device includes：It is upper Machine, geographical location information acquisition module, velocity sensor, flow sensor and pressure sensor；
    The host computer, for according to the spectral image information and multigroup reflected light signal, the nitrogen for obtaining crop to be sought Support status information；And the institute obtained according to the nitrogen nutrition status information of the crop, the geographical location information acquisition module State the position signal of fertilizer apparatus, speed signal, the flow sensing of the fertilizer apparatus that the velocity sensor obtains The pressure for the fertilizer output device that the flow signal and the pressure sensor for the fertilizer output device that device obtains obtain Force signal, decision-making dose information；And according to the dose information, control the corresponding fertilising of fertilizer output device output Amount.
  5. 5. fertilizer apparatus according to claim 1, it is characterised in that the fertilizer output device includes：Controller and institute The flow-rate adjustment valve group for stating controller electrical connection, the fertilizer box that is connected with the flow-rate adjustment valve group and it is connected with the fertilizer box Spray bar mechanism；
    The controller, the dose information sent for receiving the dose Decision Control device；And according to the fertilising Information is measured, adjusts the flow-rate adjustment valve group, so that the spraying mechanism exports corresponding dose；
    The fertilizer box, for loading fertilizer.
  6. A kind of 6. fertilizing method, it is characterised in that including：
    S1, the spectral image information and two array lights of the crop canopies in planar region below collection surface battle array spectrum sensor Multigroup reflected light signal of the crop canopies in multiple dotted regions immediately below spectrum sensor；
    S2, according to the spectral image information and multigroup reflected light signal, obtains the nitrogen nutrition status information of crop；And According to the nitrogen nutrition status information of the crop, decision-making dose information；And according to the dose information, control the fertilizer Expect that output device exports corresponding dose；
    S3, applies fertilizer to crop.
  7. 7. according to the method described in claim 6, it is characterized in that, step S2 is specifically included：
    S21, according to multigroup reflection of the crop canopies in multiple dotted regions immediately below described two dot matrix spectrum sensors Optical signal, obtains reflectivity of each group of reflected light signal in a corresponding certain wave strong point；
    S22, according to multigroup reflected light signal corresponding multiple certain wave strong points reflectivity, utilize interpolation algorithm, obtain institute State reflectivity of the crop canopies immediately below the battle array spectrum sensor of face in region in the multiple certain wave strong point；
    S23, is three cells by the planar region division；For each cell, according to the crop canopies in each cell Reflected light signal obtains the first actual vegetation index and the second actual vegetation index in the reflectivity of corresponding certain wave strong point；
    S24, for each cell, by the spectral image information in each cell, obtains the vegetation rate in each cell Parameter；And according to the vegetation rate parameter, the described first actual vegetation index and the second actual vegetation index are repaiied Just, vegetation index and the second amendment vegetation index are corrected to obtain first；
    S25, corrects vegetation index and second according to the first of each cell and corrects vegetation index, obtain first in planar region Vegetation index and the second vegetation index；
    S26, according to the first vegetation index and the second vegetation index, obtains the nitrogen nutrition shape of the crop in the planar region State information；And according to the nitrogen nutrition status information, decision-making dose information；And according to the dose information, control institute State fertilizer output device and export corresponding dose.
  8. 8. the method according to the description of claim 7 is characterized in that the first actual vegetation index NDVI in step S23It is realWith Two actual vegetation index NDREIt is real, obtained by the following formula：
    Wherein, RnirIt is near infrared light in the reflectivity of corresponding certain wave strong point, RreIt is red side in corresponding certain wave strong point Reflectivity, RrFor visible ray corresponding certain wave strong point reflectivity；
    Vegetation rate parameter C in step S24, is obtained by the following formula：
    <mrow> <mi>C</mi> <mo>=</mo> <mfrac> <mrow> <msub> <mi>&amp;Sigma;L</mi> <mi>P</mi> </msub> </mrow> <mrow> <msub> <mi>&amp;Sigma;A</mi> <mi>p</mi> </msub> </mrow> </mfrac> <mo>;</mo> </mrow>
    Wherein, LPFor canopy leaves pixel number in any cell, ApFor total pixel number in any cell；
    Described first corrects vegetation index NDVIRepairVegetation index NDRE is corrected with secondRepair, obtained by the following formula：
    Wherein, NDVIIt is realFor the first actual vegetation index, NDREIt is realFor the second actual vegetation index, NDVIsFirst for exposed soil area plants By index, NDREsFor second vegetation index in exposed soil area, C is vegetation rate parameter.
  9. 9. the method according to the description of claim 7 is characterized in that the first vegetation described in step S25 in planar region refers to Number NDVI and the second vegetation index NDRE, is obtained by the following formula：
    NDVI=KA·NDVIA+KB·NDVIB+KC·NDVIC；
    NDRE=KA·NDREA+KB·NDREB+KC·NDREC；
    Wherein, NDVIAFirst for first community corrects vegetation index, NDVIBFirst for second community corrects vegetation index, NDVICFirst for the 3rd cell corrects vegetation index, NDREASecond for first community corrects vegetation index, NDREBFor The second of two cells corrects vegetation index, NDRECSecond for the 3rd cell corrects vegetation index, KA、KB、KCIt is weighting system Number.
  10. 10. the method according to the description of claim 7 is characterized in that step S26 is specifically included：
    S261, according to the first vegetation index in the planar region, obtains the biomass in the planar region；
    S262, according to nitrogen dilution curve and the biomass, obtains standard nitrogen concentration；According to first vegetation index and described Biomass, obtains standard amount of nitrogen sucking；
    S263, according to the second vegetation index in the planar region, obtains actual amount of nitrogen sucking；
    S264, according to the standard amount of nitrogen sucking and the actual amount of nitrogen sucking, obtains amount of nitrogen sucking difference；
    S265, according to optimization of region amount of nitrogen, nitrogen application during early growth stage amount, the Fertilizer recovery of ear manuer and the amount of nitrogen sucking difference, calculates Dose, and control the fertilizer output device to export corresponding dose.
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