CN110622949B - Weeding method and device - Google Patents
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- CN110622949B CN110622949B CN201911007493.0A CN201911007493A CN110622949B CN 110622949 B CN110622949 B CN 110622949B CN 201911007493 A CN201911007493 A CN 201911007493A CN 110622949 B CN110622949 B CN 110622949B
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- 238000009333 weeding Methods 0.000 title claims abstract description 485
- 238000000034 method Methods 0.000 title claims abstract description 61
- 244000025254 Cannabis sativa Species 0.000 claims abstract description 146
- 241000196324 Embryophyta Species 0.000 claims abstract description 98
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 44
- 239000002689 soil Substances 0.000 claims abstract description 41
- 241000607479 Yersinia pestis Species 0.000 claims description 11
- 230000002363 herbicidal effect Effects 0.000 claims description 10
- 238000003860 storage Methods 0.000 claims description 10
- 230000036961 partial effect Effects 0.000 claims description 8
- 230000008030 elimination Effects 0.000 claims description 2
- 238000003379 elimination reaction Methods 0.000 claims description 2
- 238000004162 soil erosion Methods 0.000 description 12
- 238000013507 mapping Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 230000002265 prevention Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 238000009331 sowing Methods 0.000 description 4
- 239000000126 substance Substances 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
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- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 229940079593 drug Drugs 0.000 description 2
- 239000004009 herbicide Substances 0.000 description 2
- 230000002401 inhibitory effect Effects 0.000 description 2
- 230000002147 killing effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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- 230000008447 perception Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000003628 erosive effect Effects 0.000 description 1
- 244000144972 livestock Species 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- 231100000614 poison Toxicity 0.000 description 1
- 230000007096 poisonous effect Effects 0.000 description 1
- 241000894007 species Species 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G20/00—Cultivation of turf, lawn or the like; Apparatus or methods therefor
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M21/00—Apparatus for the destruction of unwanted vegetation, e.g. weeds
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M21/00—Apparatus for the destruction of unwanted vegetation, e.g. weeds
- A01M21/02—Apparatus for mechanical destruction
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M21/00—Apparatus for the destruction of unwanted vegetation, e.g. weeds
- A01M21/04—Apparatus for destruction by steam, chemicals, burning, or electricity
- A01M21/043—Apparatus for destruction by steam, chemicals, burning, or electricity by chemicals
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- Engineering & Computer Science (AREA)
- Environmental Sciences (AREA)
- Zoology (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Insects & Arthropods (AREA)
- Mechanical Engineering (AREA)
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Abstract
The application discloses a weeding method and a weeding device. Wherein, the method comprises the following steps: acquiring operation planning information of a target operation area, wherein the operation planning information comprises a first weeding area and a second weeding area which are distributed at intervals in space; carrying out weeding operation on the first weeding area, and determining the state of the weeds to be removed in the first weeding area after the weeding operation is finished; when the state of the weeds to be removed is a designated state, controlling the unmanned operation equipment to carry out grass planting operation of grass seeds to be sown on the first weeding area, and recording the first operation time of the grass planting operation; and after the first time after the first operation time reaches a first preset threshold value, controlling the unmanned operation equipment to carry out weeding operation on the weeds to be removed in the second weeding area. The invention solves the technical problem of water and soil loss caused by the fact that no attention is paid to protecting vegetation in the weeding process in the related art.
Description
Technical Field
The application relates to the field of plant protection, in particular to a weeding method and a weeding device.
Background
For a long time, the harm of grassland and harmful grass does not draw enough attention, and an effective treatment technology and a complete set of matching measures are lacked. The harm of the harmful grass is increasingly serious, and besides the poisonous dead livestock, the ecological environment of the natural grassland is further deteriorated, so that the sustainable development of the grassland pastoral and the production and income increase of the farmers and the herdsmen are influenced. In mountain grassland areas, part of mountain areas are spread with harmful grass, and living spaces of original biological species are squeezed. In the prior art, all harmful grass is removed at one time by adopting methods of manual excavation, mechanical control, chemical drug killing, ecological control and the like. However, the prevention and control of harmful grass in a wide range may cause disasters such as bare ground surface, landslide, water and soil loss, and the like, because the harmful grass is a main power for protecting soil.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the application provides a weeding method and a weeding device, which at least solve the technical problem of water and soil loss caused by the fact that no attention is paid to protecting vegetation in the weeding process in the related art.
According to an aspect of the embodiments of the present application, there is provided a weeding method and device, including: acquiring operation planning information of a target operation area, wherein the operation planning information comprises a first weeding area and a second weeding area which are distributed at intervals in space; carrying out weeding operation on the first weeding area, and determining the state of the weeds to be removed in the first weeding area after the weeding operation is finished; when the state of the weeds to be removed is a designated state, controlling the unmanned operation equipment to carry out grass planting operation of grass seeds to be sown on the first weeding area, and recording the first operation time of the grass planting operation; and after the first time after the first operation time reaches a first preset threshold value, controlling the unmanned operation equipment to carry out weeding operation on the weeds to be removed in the second weeding area.
Optionally, after controlling the unmanned aerial vehicle to perform the weeding operation on the weeds to be removed in the second weeding area, the method further comprises: detecting the state of the harmful grass to be removed in the second weeding area; and when the state of the harmful grass to be removed in the second weeding area is a designated state, controlling the unmanned operation equipment to perform grass planting operation of grass seeds to be sown on the second weeding area.
Optionally, controlling the unmanned aerial vehicle to perform weeding operation on the weeds to be removed in the second weeding area comprises: controlling the unmanned operation equipment to carry out weeding operation on the second weeding area according to a second route corresponding to the second weeding area; in the process of controlling the unmanned operation equipment to carry out weeding operation on the weeds to be removed in the second weeding area, the method further comprises the following steps: acquiring image information of a target operation area; determining a state of the first weeding area in which the harmful grass is to be removed based on the image information; adjusting the second route based on the state of the to-be-removed harmful grass in the first weeding area to obtain a target route; and controlling the unmanned operation equipment to carry out grass planting operation of grass seeds to be sown according to the target route.
Optionally, adjusting the second route based on the state of the to-be-removed harmful grass in the first weeding area to obtain the target route, including: determining that the state of the harmful grass to be removed in the first weeding area is not the area of the designated state, and obtaining a target area; and adding the target area into the second route to obtain the target route.
Optionally, when the unmanned aerial vehicle is controlled to perform weeding operation on the weeds to be removed in the second weeding area, the method further comprises the following steps: recording a second operation time for performing a weeding operation on the weeds to be removed in the second weeding area.
Optionally, after controlling the unmanned aerial vehicle to perform weeding operation on the weeds to be removed in the second weeding area, the method further comprises the following steps: and after a second time length after the second operation time reaches a second preset threshold value, controlling the unmanned operation equipment to carry out grass planting operation of grass seeds to be sown on the second weeding area.
Optionally, the first duration is the same as the second duration, and the first preset threshold is the same as the second preset threshold.
Optionally, the weeding operation is performed on the first weeding area, and comprises the following steps: carrying out weeding operation on the first weeding area according to a first air route corresponding to the first weeding area; carrying out grass planting operation of grass seeds to be sown on the second weeding area, comprising the following steps: and carrying out weeding operation on the second weeding area according to the second flight line.
Optionally, the weeding operation is performed on the first weeding area, and comprises the following steps: carrying out weeding operation on each subarea of the first weeding area at different time intervals by adopting a preset time interval for each subarea of the first weeding area; determining a water and soil loss state when weeding operation is carried out on each subarea in the first weeding area; when the water and soil loss state meets the preset conditions, the weeding operation on the remaining subareas in all subareas of the first weeding area is stopped;
optionally, controlling the unmanned aerial vehicle to perform weeding operation on the weeds to be removed in the second weeding area comprises: carrying out weeding operation on each subarea of the second weeding area at different time intervals by adopting a preset time interval for each subarea of the second weeding area; determining the water and soil loss state when weeding operation is carried out on each subarea in the second weeding area; and when the water and soil loss state meets the preset conditions, stopping weeding operation on the remaining subareas in all subareas of the second weeding area.
According to another aspect of embodiments of the present application, there is provided a weeding method including: acquiring operation planning information of a target operation area, wherein the operation planning information comprises a first weeding area, and the first weeding area is a partial area of the target operation area; carrying out weeding operation on the first weeding area, and determining the state of the weeds to be removed in the first weeding area after the weeding operation is finished; when the state of the weeds to be removed is a designated state, controlling the unmanned operation equipment to carry out grass planting operation of grass seeds to be sown on the first weeding area, and recording the first operation time of the grass planting operation; after a first time after the first working time reaches a first preset threshold value, determining a second weeding area in the partial area based on the first weeding area, wherein the first weeding area and the second weeding area are distributed at intervals; and controlling the unmanned operation equipment to carry out weeding operation on the weeds to be removed in the second weeding area.
According to another aspect of embodiments of the present application, there is provided a weeding apparatus including: the system comprises an acquisition module, a control module and a display module, wherein the acquisition module is used for acquiring operation planning information of a target operation area, the operation planning information comprises a first weeding area and a second weeding area, and the first weeding area and the second weeding area are distributed at intervals in space; the first weeding operation module is used for carrying out weeding operation on the first weeding area and determining the state of the weeds to be removed in the first weeding area after the weeding operation is finished; the grass planting module is used for controlling the unmanned operation equipment to carry out grass planting operation of grass seeds to be sown on the first weeding area and recording first operation time of the grass planting operation when the state of the weeds to be removed is an appointed state; and the second weeding operation module is used for controlling the unmanned operation equipment to carry out weeding operation on the weeds to be removed in the second weeding area after the first time after the first operation time reaches a first preset threshold value.
According to another aspect of the embodiments of the present application, there is provided a nonvolatile storage medium for storing a program, wherein the program controls an apparatus in which the nonvolatile storage medium is located when running to execute the above weeding method.
According to another aspect of the embodiments of the present application, there is provided a processor for executing a program, wherein the program executes the above weeding method.
According to another aspect of the embodiments of the present application, there is provided a drone, including: the system comprises a first processor, a second processor and a control module, wherein the first processor is used for acquiring operation planning information of a target operation area, the operation planning information comprises a first weeding area and a second weeding area, and the first weeding area and the second weeding area are distributed at intervals in space; carrying out weeding operation on the first weeding area; the image acquisition device is used for acquiring a state image of the weeds to be removed in the first weeding area after the weeding operation is finished; the image recognition module is used for determining the state of the weeds to be removed in the first weeding area based on the state image; the second processor is used for controlling the unmanned operation equipment to carry out grass planting operation of grass seeds to be sowed on the first weeding area and recording the first operation time of the grass planting operation when the state of the weeds to be removed is a designated state; and after the first time after the first operation time reaches a first preset threshold value, controlling the unmanned operation equipment to carry out weeding operation on the weeds to be removed in the second weeding area.
In the embodiment of the application, the first weeding area and the second weeding area are distributed at intervals in the operation planning information; carrying out weeding operation on the first weeding area, and determining the state of the weeds to be removed in the first weeding area after the weeding operation is finished; when the state of the weeds to be removed is a designated state, controlling the unmanned operation equipment to carry out grass planting operation of grass seeds to be sown on the first weeding area, and recording the first operation time of the grass planting operation; and after the first time after the first operation time reaches a first preset threshold value, controlling the unmanned operation equipment to carry out weeding operation on the weeds to be removed in the second weeding area. Through the process, because first weeding regional and the regional mutual interval distribution in space of second weeding to, before carrying out the secondary weeding operation to the second region, the grass planting operation has been carried out to the first region that has already had weeds, consequently, can alleviate the influence of weeding to soil erosion to a certain extent, thereby realize preventing and removing the harmful grass simultaneously, prevented soil erosion's technological effect, and then solved the technical problem that the relative art does not pay attention to protection vegetation and cause soil erosion at the weeding in-process.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic flow chart of a weeding method according to the present embodiment of the invention;
FIG. 2 is a schematic diagram of alternative target area planning information according to an embodiment of the present application;
FIG. 3 is a schematic flow diagram of another weeding method according to an embodiment of the present application;
FIG. 4 is a schematic structural view of a weeding apparatus according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the related technology, when weeding operation is carried out, all harmful grass is removed at one time by adopting methods of manual excavation, mechanical control, chemical drug killing, ecological control and the like. However, if all the harmful grass is removed at one time, if the area of the harmful grass is large, disasters such as bare ground surface, landslide, water and soil loss and the like may occur. Based on the above problems, the embodiments of the present application adopt a scheme of weeding at intervals in time and space, and are described in detail below with reference to specific embodiments.
Example 1
In accordance with an embodiment of the present application, there is provided an weeding method embodiment, it should be noted that the steps illustrated in the flowcharts of the figures may be executed in a computer system such as a set of computer-executable instructions, and that although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be executed in an order different from that described herein.
Fig. 1 is a flow chart of a weeding method according to an embodiment of the present application, which includes the steps of, as shown in fig. 1:
step S102, obtaining operation planning information of a target operation area, wherein the operation planning information comprises a first weeding area and a second weeding area which are distributed at intervals in space;
specifically, the target working area may be determined by measuring information such as 3D terrain, boundaries, etc. of the target area, for example, by image acquisition using an acquisition device or by digital photogrammetry, telemetry, etc. The collecting device may comprise a camera, a video camera, a scanner, a video collecting card, etc. The first weeding areas and the second weeding areas are spatially distributed at intervals, and the first weeding areas and the second weeding areas obtained by dividing the target operation area are spatially distributed in an interpenetration manner. For example: as shown in fig. 2, a target area to be operated (i.e., a target operation area) of a certain mountain land is obtained by remote sensing mapping, operation planning information of the target operation area is arranged, the determined target area is divided into a plurality of plots from south to north or from east to west, and the plots are marked with numerical labels. The target working area plots numbered odd (e.g., 1, 3, 5) are set as first weeding areas, the target working area plots numbered even (e.g., 2, 4, 6) are set as second weeding areas, and the first weeding areas and the second weeding areas are alternately distributed.
S104, carrying out weeding operation on the first weeding area, and determining the state of the harmful grass to be removed in the first weeding area after the weeding operation is finished;
in some embodiments of the present application, before performing the weeding job on the first weeding area, the job task may be obtained from the task planning log, for example, when performing the weeding job by using the unmanned aerial vehicle, the job task information is extracted from the task planning log in the server or local, and the job task information includes but is not limited to: working hours, instructions for determining a status of the first herbicidal area from which weeds are to be removed. The above-mentioned herbicidal operation can be expressed in various forms, for example: weeding with grass: sowing some beneficial grass with very fast growth speed, inhibiting the growth of harmful grass and replacing the harmful grass; covering and weeding: covering the lawn with some heavy machinery to make the harmful grass grow; chemical weeding: the weeds are withered by spraying the herbicide.
Optionally, while the weeding operation is performed on the first weeding area, in order to facilitate the completion of the subsequent related work, the course information and the GPS coordinates of the first weeding area may be recorded to adjust the course during the secondary operation. .
S106, when the state of the to-be-removed weeds is a designated state, controlling the unmanned operation equipment to carry out grass planting operation of the to-be-sown grass seeds on the first weeding area, and recording the first operation time of the grass planting operation;
specifically, the state of the pest grass to be removed here being the designated state means that the state of the pest grass to be removed becomes a completely withered state. The specified state may be determined by image recognition, for example, by capturing an image of the first weeding area by a capturing device such as a camera, a video camera, or the like, and acquiring state information of the target area based on the image. The first operation time is the grass planting operation time for sowing grass seeds after the harmful grass is in a withered state.
And S108, after the first time after the first working time reaches a first preset threshold value, controlling the unmanned working equipment to carry out weeding operation on the weeds to be removed in the second weeding area.
Specifically, the preset principle of the first preset threshold is to perform seeding and grass planting operation on the first weeding area according to the unmanned operation equipment, and the time for most of the grassland in the first weeding area to recover is determined, wherein the time is based on the recovery time corresponding to different grassland types. In order to allow a restoration of the grass surface to as large an area as possible, i.e. the grass seeds have grown, the first preset threshold value is generally set to a longer growth requirement time. For example: the growth requirement time of the grass seeds of the A type is 8 to 10 days, and then a first preset threshold value is set to 10 days; the time required for growth of the B grass seeds is 12 to 15 days, and then the first preset threshold is set to 15 days.
In some embodiments of the present application, in order to prevent a situation of soil erosion after the weeding operation is performed on the second weeding area, it is also necessary to perform a grass planting operation on the second weeding area, specifically: after step S108, that is, after the unmanned aerial vehicle is controlled to perform the weeding operation on the weeds to be removed in the second weeding area, the following steps may be further performed:
step S110, detecting the state of the harmful grass to be removed in the second weeding area;
specifically, the state can be classified into a completely died state, an incompletely died state, and an incompletely died state.
And step S112, when the state of the to-be-removed weeds in the second weeding area is a designated state, controlling the unmanned operation equipment to perform grass planting operation of the to-be-sowed weeds in the second weeding area.
Specifically, the above-mentioned specified state is a completely died state of the pest grass. And when the state of the weeds to be removed in the second weeding area is a complete withering state, controlling the unmanned operation equipment to perform grass planting operation of the grass seeds to be sown on the second weeding area.
Optionally, in some embodiments of the present application, to ensure the herbicidal effect, the second route may be adjusted according to the herbicidal effect of the first herbicidal area, specifically: after step S108, that is, after the unmanned aerial vehicle is controlled to perform the weeding operation on the weeds to be removed in the second weeding area, the following processing steps may be further performed:
step S114, controlling the unmanned operation equipment to carry out weeding operation on a second weeding area according to a second route corresponding to the second weeding area;
specifically, the second route refers to a route for performing weeding operation on weeds to be removed in the second weeding area by controlling the unmanned aerial vehicle, and is a route which is set in advance.
Step S116, controlling unmanned operation equipment to obtain image information of a target operation area in the process of carrying out weeding operation on the weeds to be removed in the second weeding area;
specifically, the image information of the target working area refers to the entire target working area image information, not the individual first or second weeding areas. And determining the harmful grass condition of the whole target operation area, namely the weed control target area needing to be controlled by acquiring the image information.
Step S118, determining the state of the weeds to be removed in the first weeding area based on the image information; adjusting the second route based on the state of the to-be-removed harmful grass in the first weeding area to obtain a target route; and controlling the unmanned operation equipment to carry out grass planting operation of grass seeds to be sown according to the target route.
Specifically, the second route is adjusted based on the state of the first weeding area to be subjected to pest control, and the adjustment of the second route is equivalent to the adjustment of the second weeding area. In addition, when the second airline is adjusted based on the status of the first weeding area to be pest-removed, the job plan can be dynamically adjusted according to the real-time perception of the first weeding area, such as: identifying the unharmed harmful grass area in real time through a stereo camera, a laser radar, remote sensing mapping and the like, adjusting the planning path of the second route in real time by using related technologies such as GPS (Global Positioning System)/RTK (real time kinematic) and the like.
Alternatively, in the above-mentioned embodiment of the present application, in step S118, the target route may be determined by:
step S120, determining that the state of the to-be-removed weeds in the first weeding area is not the area of the designated state, and obtaining a target area;
specifically, it is determined that the state of the weeds to be removed in the first weeding area is not an area of the designated state, that is, it is determined that the state of the weeds to be removed in the first weeding area is an unburnt state or an incompletely withered state. At this time, the region needs to be added to the target work region, for example: when a certain laser radar detects that part of the area in the first weeding area is not withered and dead through image recognition in the process of identifying the first weeding area in real time and needs to be further prevented and removed, the area is confirmed to be added to the area in the second air route, namely the target area of the second target operation area.
And S122, adding the target area to a second route to obtain a target route.
In some embodiments of the present application, in the step S108, when the unmanned aerial vehicle is controlled to perform weeding operation on weeds to be removed in the second weeding area, the timing for planting the weeds may be determined by:
and step S124, recording a second operation time for carrying out weeding operation on the weeds to be removed in the second weeding area.
And step S126, after the unmanned operation equipment is controlled to carry out weeding operation on the weeds to be removed in the second weeding area, and after a second time length after the second operation time reaches a second preset threshold value, the unmanned operation equipment is controlled to carry out grass planting operation on the weeds to be sown in the second weeding area.
Alternatively, in the above-described embodiment of the present application, in step S124, a second operation time for performing a weeding operation on weeds to be removed in the second weeding area is recorded, and the method further includes:
the first duration and the second duration may be set to the same value, and the first preset threshold and the second preset threshold may also be the same.
Alternatively, in the above-described embodiment of the present application, in step S104, the weeding operation may be performed on the first weeding area by: carrying out weeding operation on the first weeding area according to a first air route corresponding to the first weeding area;
alternatively, in the above embodiments of the present application, in step S108, the grass planting operation of the grass to be planted in the second weeding area may be performed in the following manner: and carrying out weeding operation on the second weeding area according to the second flight line.
Alternatively, in the above-described embodiment of the present application, in step S102, the weeding operation may be performed on the first weeding area by:
carrying out weeding operation on each subarea of the first weeding area by adopting a preset time interval for each subarea of the first weeding area; specifically, the sub-area is a plurality of small areas divided by the first weeding area, and the plurality of small areas may be distributed randomly. Determining a water and soil loss state when weeding operation is carried out on each subarea in the first weeding area; and when the water and soil loss state meets the preset conditions, stopping weeding operation on the remaining subareas in all subareas of the first weeding area.
Specifically, the soil and water loss state is classified into a serious soil and water loss state, a non-serious soil and water loss state, or a non-serious soil and water loss state. The preset condition means that the soil erosion state is a serious state. The state discrimination mode of the water and soil loss can adopt image acquisition, a camera, remote sensing mapping and the like, and whether the water and soil loss state occurs or not and whether the state is serious or not are confirmed according to the acquired image. For example: after a first weeding area of a to-be-operated pest target area of a certain mountain land is executed in a first sub-area, heavy rain is suddenly generated, landslide is found to be caused through image recognition, the water and soil loss state is serious, the continuous prevention and control operation on the first weeding area needs to be stopped in time at the moment, and after heavy rain, the water and soil loss state is stopped, and the prevention and control operation on the first weeding area is continued. By the method, the soil can be protected more efficiently on the basis of originally dividing the target operation area into the first weeding area and the second weeding area, and the phenomena of bare earth surface, landslide, water and soil loss and the like can be prevented.
Optionally, in the above embodiment of the present application, in step S108, the unmanned aerial vehicle is controlled to perform weeding operation on the weeds to be removed in the second weeding area, and for each sub-area in the second weeding area, the weeding operation is performed on each sub-area in the second weeding area at different time intervals with a preset time interval; determining the water and soil loss state when weeding operation is carried out on each subarea in the second weeding area; and when the water and soil loss state meets the preset conditions, stopping weeding operation on the remaining subareas in all subareas of the second weeding area.
Specifically, the above method is similar to the treatment process of each sub-area in the first weeding area, and is not described here again.
According to the above technical scheme provided by the embodiment, because first weeding region and second weeding region are in interval distribution in space, and, before carrying out the secondary weeding operation to the second region, the grass planting operation has been carried out to the first region that has already had weeds, consequently, can alleviate the influence of weeding to soil erosion and water to a certain extent, thereby realize when preventing and removing harmful grass, prevented soil erosion and water loss's technical effect, and then solved the technical problem that the relative art does not pay attention to protection vegetation and cause soil erosion and water erosion in weeding process.
Example 2
In accordance with an embodiment of the present application, another weeding method embodiment is provided, it should be noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system, such as a set of computer-executable instructions, and that, although a logical order is illustrated in the flowchart, in some cases, the steps illustrated or described may be performed in an order different than here.
Fig. 3 is a flow chart of another weeding method according to an embodiment of the present application, which includes the steps of, as shown in fig. 3:
step S302, obtaining operation planning information of a target operation area, wherein the operation planning information comprises a first weeding area, and the first weeding area is a partial area of the target operation area;
step S304, carrying out weeding operation on the first weeding area, and determining the state of the harmful grass to be removed in the first weeding area after the weeding operation is finished;
step S306, when the state of the to-be-removed weeds is a designated state, controlling the unmanned operation equipment to carry out grass planting operation of the to-be-sown grass seeds on the first weeding area, and recording the first operation time of the grass planting operation;
step S308, after a first time after the first working time reaches a first preset threshold, determining a second weeding area in the partial area based on the first weeding area, wherein the first weeding area and the second weeding area are distributed at intervals in space;
and S310, controlling the unmanned operation equipment to carry out weeding operation on the weeds to be removed in the second weeding area.
Note that this embodiment is different from embodiment 1 in that: the second target working area is determined based on a second weeding area determined by the first weeding area in a partial area, wherein the first weeding area and the second weeding area are spatially distributed at intervals without presetting the second target working area, and then the second course adjustment, that is, the adjustment of the second target working area is carried out. The remaining preferred embodiments of this example can be seen in the relevant description shown in example 1 and will not be described here.
Through the above-mentioned scheme that this embodiment provided, because first weeding regional and the regional mutual interval distribution in space of second weeding to, before carrying out the secondary weeding operation to the second region, the grass planting operation has been carried out to the first region that has already had weeds, consequently, can alleviate the influence of weeding to soil erosion and water to a certain extent, thereby realize preventing and removing the harmful grass simultaneously, prevented soil erosion and water loss's technological effect, and then solved the related art and did not pay attention to the protection vegetation and cause soil erosion and water loss's technical problem in weeding process.
Example 3
According to an embodiment of the present application, a weeding apparatus embodiment is provided.
Fig. 4 is a schematic view of a weeding apparatus according to an embodiment of the present application, as shown in fig. 4, the apparatus including:
an obtaining module 41, configured to obtain operation planning information of a target operation area, where the operation planning information includes a first weeding area and a second weeding area, and the first weeding area and the second weeding area are spatially distributed at an interval;
specifically, the target working area may be determined by measuring information such as 3D terrain, boundaries, etc. of the target area, for example, by image acquisition using an acquisition device or by digital photogrammetry, telemetry, etc. The collecting device may comprise a camera, a video camera, a scanner, a video collecting card, etc. The first weeding areas and the second weeding areas are spatially distributed at intervals, and the first weeding areas and the second weeding areas obtained by dividing the target operation area are spatially distributed in an interpenetration manner. For example: as shown in fig. 2, a target area to be operated (i.e., a target operation area) of a certain mountain land is obtained by remote sensing mapping, operation planning information of the target operation area is arranged, the determined target area is divided into a plurality of plots from south to north or from east to west, and the plots are marked with numerical labels. The target working area plots numbered odd (e.g., 1, 3, 5) are set as first weeding areas, the target working area plots numbered even (e.g., 2, 4, 6) are set as second weeding areas, and the first weeding areas and the second weeding areas are alternately distributed.
The first weeding operation module 43 is used for carrying out weeding operation on the first weeding area and determining the state of the weeds to be removed in the first weeding area after the weeding operation is finished;
in some embodiments of the present application, before performing the weeding job on the first weeding area, the job task may be obtained from the task planning log, for example, when performing the weeding job by using the unmanned aerial vehicle, the job task information is extracted from the task planning log in the server or local, and the job task information includes but is not limited to: working hours, instructions for determining a status of the first herbicidal area from which weeds are to be removed. The above-mentioned herbicidal operation can be expressed in various forms, for example: weeding with grass: sowing some beneficial grass with very fast growth speed, inhibiting the growth of harmful grass and replacing the harmful grass; covering and weeding: covering the lawn with some heavy machinery to make the harmful grass grow; chemical weeding: the weeds are withered by spraying the herbicide. Optionally, while the weeding operation is performed on the first weeding area, the course information and the GPS coordinates of the first weeding area may be recorded in order to facilitate the completion of the subsequent related work.
The grass planting module 45 is used for controlling the unmanned operation equipment to carry out grass planting operation of grass seeds to be sown on the first weeding area and recording the first operation time of the grass planting operation when the state of the weeds to be removed is a designated state;
specifically, the state of the pest grass to be removed here being the designated state means that the state of the pest grass to be removed becomes a completely withered state. The specified state may be determined by image recognition, for example, by capturing an image of the first weeding area by a capturing device such as a camera, a video camera, or the like, and acquiring state information of the target area based on the image. The first operation time is the grass planting operation time for sowing grass seeds after the harmful grass is removed and the grass seeds are in a withered state.
And the second weeding operation module 47 is used for controlling the unmanned operation equipment to weed the weeds in the second weeding area after the first time after the first operation time reaches a first preset threshold value.
Specifically, the preset principle of the first preset threshold is to perform seeding and grass planting operation on the first weeding area according to the unmanned operation equipment, and the time for most of the grassland in the first weeding area to recover is determined, wherein the time is based on the recovery time corresponding to different grassland types. In order to allow a restoration of the grass surface to as large an area as possible, i.e. the grass seeds have grown, the first preset threshold value is generally set to a longer growth requirement time. For example: the growth requirement time of the grass seeds of the A type is 8 to 10 days, and then a first preset threshold value is set to 10 days; the time required for growth of the B grass seeds is 12 to 15 days, and then the first preset threshold is set to 15 days.
Optionally, in the foregoing embodiment of the present application, the apparatus may further include: the first detection module is used for detecting the state of the weeds to be removed in the second weeding area; and the first control module is used for controlling the unmanned operation equipment to carry out grass planting operation of grass seeds to be sowed on the second area when the state of the to-be-removed harmful grass in the second weeding area is a designated state.
Specifically, the state can be classified into a completely died state, an incompletely died state, and an incompletely died state. The above specified state is a completely withered state of the weeds. And when the state of the weeds to be removed in the second weeding area is a complete withering state, controlling the unmanned operation equipment to perform grass planting operation of the grass seeds to be sown on the second weeding area.
Optionally, in the embodiment of the present application, the apparatus may further include a second control module, configured to control the unmanned aerial vehicle to perform weeding operation on the second weeding area according to a second route corresponding to the second weeding area; specifically, the second control module, namely in the process of controlling the unmanned operation equipment to carry out weeding operation on the weeds to be removed in the second weeding area, can be used for obtaining image information of the target operation area, determining the state of the weeds to be removed in the first weeding area based on the image information, adjusting the second route based on the state of the weeds to be removed in the first weeding area to obtain the target route, and controlling the unmanned operation equipment to carry out grass planting operation of the grass seeds to be sowed according to the target route.
Specifically, the second weeding operation module 47 is further configured to adjust the second route based on the state of the first weeding area to be subjected to pest control, where the adjustment of the second route is equivalent to the adjustment of the second weeding area. In addition, when the second airline is adjusted based on the status of the first weeding area to be pest-removed, the job plan can be dynamically adjusted according to the real-time perception of the first weeding area, such as: identifying the unharmed harmful grass area in real time through a stereo camera, a laser radar, remote sensing mapping and the like, adjusting the planning path of the second route in real time by using related technologies such as GPS (Global Positioning System)/RTK (real time kinematic) and the like.
Optionally, in the above embodiments of the present application, the second weeding operation module 47 is further configured to record a second operation time for performing weeding operation on the weeds to be removed in the second weeding area; specifically, after the unmanned aerial vehicle is controlled to perform weeding operation on the weeds to be removed in the second weeding area, the second weeding operation module 47 may be further configured to control the unmanned aerial vehicle to perform grass planting operation on the weeds to be planted in the second weeding area after a second duration after the second operation time reaches a second preset threshold.
Specifically, the first duration and the second duration are the same, and the first preset threshold and the second preset threshold are the same.
Optionally, in an embodiment of the present application, the first weeding operation module is further configured to perform weeding operation on the first weeding area according to a first flight route corresponding to the first weeding area; and carrying out weeding operation on the second weeding area according to the second flight line.
Optionally, in an embodiment of the present application, the second weeding operation module 43 is further configured to divide each sub-area in the first weeding area, and perform weeding operation on each sub-area of the first weeding area at preset time intervals; determining a water and soil loss state when weeding operation is carried out on each subarea in the first weeding area; and when the water and soil loss state meets the preset conditions, stopping weeding operation on the remaining subareas in all subareas of the first weeding area.
Optionally, in the foregoing embodiment of the present application, the second weeding operation module 47 is further configured to divide each sub-area in the second weeding area, and perform weeding operation on each sub-area in the second weeding area at different times by using a preset time interval; determining the water and soil loss state when weeding operation is carried out on each subarea in the second weeding area; and when the water and soil loss state meets the preset conditions, stopping weeding operation on the remaining subareas in all subareas of the second weeding area.
Specifically, the sub-area is a plurality of small areas divided by the first weeding area, and the plurality of small areas may be distributed randomly. The soil and water loss state is classified into a serious soil and water loss state, a non-serious soil and water loss state or a non-serious soil and water loss state. The preset condition means that the soil erosion state is a serious state. The distinguishing mode can adopt image acquisition, a camera, remote sensing mapping and the like, and whether the water and soil loss state occurs or not and whether the state is serious or not are confirmed according to the acquired image. For example: after a first weeding area of a to-be-operated pest target area of a certain mountain land is executed in a first sub-area, heavy rain is suddenly generated, landslide is found to be caused through image acquisition, the water and soil loss state is serious, the continuous prevention and control operation on the first weeding area needs to be stopped in time at the moment, and after heavy rain, the water and soil loss state is stopped, and the prevention and control operation on the first weeding area is continued. By the method, the soil can be protected more efficiently on the basis of originally dividing the target operation area into the first weeding area and the second weeding area, and the phenomena of bare earth surface, landslide, water and soil loss and the like can be prevented.
According to another aspect of the embodiments of the present application, there is provided a nonvolatile storage medium for storing a program, wherein the program controls an apparatus in which the nonvolatile storage medium is located when running to execute the above weeding method.
According to an embodiment of the application, a processor for running a program is provided, wherein the program is run to execute the weeding method.
According to an embodiment of the present application, there is provided a drone, as shown in fig. 5, including:
a first processor 51, configured to obtain job planning information of a target job area, where the job planning information includes a first weeding area and a second weeding area, and the first weeding area and the second weeding area are spatially distributed at an interval; carrying out weeding operation on the first weeding area;
the image acquisition device 53 is used for acquiring a state image of the weeds to be removed in the first weeding area after the weeding operation is finished;
an image recognition module 55 for determining a status of the first weeding area to be subjected to pest elimination based on the status image;
the second processor 57 is configured to control the unmanned operation device to perform grass planting operation on the first weeding area for grass planting when the state of the weeds to be removed is the designated state, and record the first operation time of the grass planting operation; and after the first time after the first operation time reaches a first preset threshold value, controlling the unmanned operation equipment to carry out weeding operation on the weeds to be removed in the second weeding area.
Specifically, the first processor and the second processor may be two identical processors, or may be two independent processors.
In the embodiment of the application, by acquiring the operation planning information of the target operation area, the operation planning information includes a first weeding area and a second weeding area, and the first weeding area and the second weeding area are spatially distributed at intervals; carrying out weeding operation on the first weeding area, and determining the state of the weeds to be removed in the first weeding area after the weeding operation is finished; when the state of the weeds to be removed is a designated state, controlling the unmanned operation equipment to carry out grass planting operation of grass seeds to be sown on the first weeding area, and recording the first operation time of the grass planting operation; after the first time after the first operation time reaches a first preset threshold value, the unmanned operation equipment is controlled to carry out weeding operation on the weeds to be removed in the second weeding area, so that the technical effect of preventing and removing the weeds is achieved, and the technical problem of water and soil loss caused by the fact that the protection of vegetation is not paid attention to in the weeding process in the related art is solved.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.
Claims (13)
1. A method of weeding, comprising:
acquiring operation planning information of a target operation area, wherein the operation planning information comprises a first weeding area and a second weeding area, and the first weeding area and the second weeding area are distributed at intervals in space;
carrying out weeding operation on the first weeding area, and determining the state of harmful grass to be removed in the first weeding area after the weeding operation is finished;
when the state of the weeds to be removed is a designated state, controlling unmanned operation equipment to carry out grass planting operation of grass seeds to be sown on the first weeding area, and recording first operation time of the grass planting operation;
and after a first time after the first operation time reaches a first preset threshold value, controlling the unmanned operation equipment to carry out weeding operation on the weeds to be removed in the second weeding area.
2. The method according to claim 1, wherein after controlling the unmanned aerial vehicle to perform the weeding operation on the weeds to be removed in the second weeding area, the method further comprises:
detecting the state of the harmful grass to be removed in the second weeding area;
and when the state of the to-be-removed harmful grass in the second weeding area is the designated state, controlling the unmanned operation equipment to perform grass planting operation of the to-be-sowed grass seeds on the second weeding area.
3. The method according to claim 1, wherein controlling unmanned working equipment to perform a weeding operation on weeds to be removed in the second weeding area comprises:
controlling the unmanned operation equipment to carry out weeding operation on the second weeding area according to a second route corresponding to the second weeding area;
in the process of controlling the unmanned operation equipment to carry out weeding operation on the weeds to be removed in the second weeding area, the method further comprises the following steps: acquiring image information of the target operation area;
determining a status of the weeds to be removed in the first weeding area based on the image information; adjusting the second route based on the state of the to-be-removed weeds in the first weeding area to obtain a target route; and controlling the unmanned operation equipment to carry out grass planting operation of the grass seeds to be sowed according to the target route.
4. The method of claim 3, wherein adjusting the second route based on the status of the weeds to be removed in the first herbicidal area to obtain a target route comprises:
determining that the state of the to-be-removed weeds in the first weeding area is not the area of the specified state, and obtaining a target area;
and adding the target area to the second route to obtain the target route.
5. The method of claim 1,
when the unmanned operation equipment is controlled to carry out weeding operation on the weeds to be removed in the second weeding area, the method further comprises the following steps: recording a second operation time for performing weeding operation on the weeds to be removed in the second weeding area;
after controlling the unmanned operation equipment to carry out weeding operation on the weeds to be removed in the second weeding area, the method further comprises the following steps: and after a second time length after the second operation time reaches a second preset threshold value, controlling unmanned operation equipment to perform grass planting operation of grass seeds to be sown on the second weeding area.
6. The method of claim 5, wherein the first duration and the second duration are the same, and wherein the first preset threshold and the second preset threshold are the same.
7. The method according to any one of claims 3 or 4,
performing a weeding operation on the first weeding area, comprising: carrying out weeding operation on the first weeding area according to a first route corresponding to the first weeding area;
carrying out grass planting operation of grass seeds to be sown on the second weeding area, comprising the following steps: and carrying out weeding operation on the second weeding area according to the second route.
8. The method of claim 1,
performing a weeding operation on the first weeding area, comprising: carrying out weeding operation on each subarea of the first weeding area at different time intervals by adopting a preset time interval for each subarea of the first weeding area; determining a water and soil loss state when weeding operation is carried out on each sub-area in the first weeding area; when the water and soil loss state meets a preset condition, stopping weeding operation on the remaining subareas in all subareas of the first weeding area;
controlling the unmanned aerial vehicle to carry out weeding operation on the weeds to be removed in the second weeding area, and the weeding operation comprises the following steps: carrying out weeding operation on each subarea of the second weeding area at different time intervals by adopting a preset time interval for each subarea of the second weeding area; determining a water and soil loss state when weeding operation is carried out on each sub-area in the second weeding area; and when the water and soil loss state meets a preset condition, stopping weeding operation on the remaining sub-areas in each sub-area of the second weeding area.
9. A method of weeding, comprising:
acquiring operation planning information of a target operation area, wherein the operation planning information comprises a first weeding area, and the first weeding area is a partial area of the target operation area;
carrying out weeding operation on the first weeding area, and determining the state of harmful grass to be removed in the first weeding area after the weeding operation is finished;
when the state of the weeds to be removed is a designated state, controlling unmanned operation equipment to carry out grass planting operation of grass seeds to be sown on the first weeding area, and recording first operation time of the grass planting operation;
determining a second weeding area in the partial area based on the first weeding area after a first time after the first working time reaches a first preset threshold, wherein the first weeding area and the second weeding area are distributed at intervals;
and controlling the unmanned operation equipment to carry out weeding operation on the weeds to be removed in the second weeding area.
10. A weeding apparatus, comprising:
the system comprises an acquisition module, a control module and a display module, wherein the acquisition module is used for acquiring operation planning information of a target operation area, the operation planning information comprises a first weeding area and a second weeding area, and the first weeding area and the second weeding area are distributed at intervals in space;
the first weeding operation module is used for carrying out weeding operation on the first weeding area and determining the state of harmful grass to be removed in the first weeding area after the weeding operation is finished;
the grass planting module is used for controlling unmanned operation equipment to carry out grass planting operation of grass seeds to be sowed on the first weeding area and recording first operation time of the grass planting operation when the state of the weeds to be removed is a designated state;
and the second weeding operation module is used for controlling the unmanned operation equipment to weed the weeds to be removed in the second weeding area after the first time after the first operation time reaches a first preset threshold value.
11. A non-volatile storage medium, characterized in that the non-volatile storage medium comprises a stored program, wherein the non-volatile storage medium is controlled on a device to execute the weeding method according to any one of claims 1 to 8 when the program is executed.
12. A processor for executing a program, wherein the program is executed to perform the weeding method according to any one of claims 1 to 8.
13. An unmanned aerial vehicle, comprising:
the system comprises a first processor, a second processor and a control module, wherein the first processor is used for acquiring operation planning information of a target operation area, the operation planning information comprises a first weeding area and a second weeding area, and the first weeding area and the second weeding area are distributed at intervals in space; carrying out weeding operation on the first weeding area;
the image acquisition device is used for acquiring a state image of the weeds to be removed in the first weeding area after the weeding operation is finished;
an image recognition module for determining a state of the first weeding area to be subjected to pest elimination based on the state image;
the second processor is used for controlling the unmanned operation equipment to carry out grass planting operation of grass seeds to be sowed on the first weeding area and recording the first operation time of the grass planting operation when the state of the weeds to be removed is a designated state; and after a first time after the first operation time reaches a first preset threshold value, controlling the unmanned operation equipment to carry out weeding operation on the weeds to be removed in the second weeding area.
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| EP3967118A1 (en) * | 2020-09-15 | 2022-03-16 | Kubota Corporation | A method for operating an agricultural machine having working tools configured for mechanical weeding and agricultural machine |
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| CN109661979B (en) * | 2017-10-13 | 2021-04-06 | 中国农业机械化科学研究院 | Informatization planting method based on accurate control of crop position |
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Address after: 510000 Block C, 115 Gaopu Road, Tianhe District, Guangzhou City, Guangdong Province Applicant after: XAG Co., Ltd. Address before: 510000 Block C, 115 Gaopu Road, Tianhe District, Guangzhou City, Guangdong Province Applicant before: Guangzhou Xaircraft Technology Co.,Ltd. |
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| GR01 | Patent grant | ||
| GR01 | Patent grant |