CN114277717B - Method, system and device for controlling sprinkling of sprinkling truck and storage medium - Google Patents
Method, system and device for controlling sprinkling of sprinkling truck and storage medium Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 241001464837 Viridiplantae Species 0.000 claims abstract description 59
- 238000003973 irrigation Methods 0.000 claims abstract description 22
- 230000002262 irrigation Effects 0.000 claims abstract description 22
- 230000009471 action Effects 0.000 claims abstract description 10
- 238000010191 image analysis Methods 0.000 claims abstract description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 68
- 238000005507 spraying Methods 0.000 claims description 59
- 239000007788 liquid Substances 0.000 claims description 27
- 238000001514 detection method Methods 0.000 claims description 26
- 238000004590 computer program Methods 0.000 claims description 10
- 239000007921 spray Substances 0.000 claims description 10
- 239000002689 soil Substances 0.000 claims description 8
- 230000000694 effects Effects 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 230000003111 delayed effect Effects 0.000 description 4
- 239000002699 waste material 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
- 230000006870 function Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 235000006506 Brasenia schreberi Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000004544 sputter deposition Methods 0.000 description 1
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Abstract
The application relates to the field of watering carts, in particular to a watering cart watering control method, a watering cart watering control system, a watering cart watering control device and a watering cart watering control storage medium, which comprise the following steps: and (3) image acquisition: receiving a real-time image in a current sprinkler running area; the real-time image comprises a green plant image; image analysis: identifying a green plant image according to the received real-time image; setting the position of the green plant image as a target area to be poured; irrigation green planting: and executing irrigation action in the target area to be irrigated. The application has the effect of improving the overall safety of the sprinkler driver when driving the sprinkler.
Description
Technical Field
The application relates to the field of watering carts, in particular to a watering cart watering control method, a watering cart watering control system, a watering cart watering control device and a watering cart watering control storage medium.
Background
At present, the watering lorry is mainly used for road maintenance, and the main working contents comprise watering green plants, spraying water mist and the like. The sprinkler includes automobile body and jar body, is connected with the spray pipe on the jar body, and the play water end of spray pipe is generally installed in the front end of automobile body and two shower nozzles are installed to the symmetry, and two shower nozzles can be used for spraying the green planting of road both sides.
In view of the above-mentioned related art, the inventor believes that, because the green planting directions of the planting on different roads are different, if the road on which the green planting is planted on only one side is still subjected to bidirectional spraying, unnecessary water resource waste is caused, so that the driver usually controls the opening and closing of the two spray heads manually, and the safety of the driver in driving the water spraying is not reduced.
Disclosure of Invention
The application provides a sprinkler control method, a sprinkler control system, a sprinkler control device and a storage medium for improving the overall safety of a sprinkler driver when driving a sprinkler.
In a first aspect, the present application provides a method for controlling sprinkling of a sprinkler, which adopts the following technical scheme:
a sprinkling control method of a sprinkling truck comprises the following steps:
and (3) image acquisition: receiving a real-time image in a current sprinkler running area; the real-time image comprises a green plant image;
Image analysis: identifying a green plant image according to the received real-time image; setting the position of the green plant image as a target area to be poured;
Irrigation green planting: and executing irrigation action in the target area to be irrigated.
Through adopting above-mentioned technical scheme, after discernment green plant the image, set up the region that green plant the image place promptly as waiting to water the target area to wait to water the target area and water, thereby reduce the watering truck driver and manually operate the probability of watering action, thereby improve the overall security of watering truck driver when driving the watering truck.
Optionally, the target area to be poured comprises a first spraying side and a second spraying side; the irrigation action specifically further comprises the following steps:
And (3) sending an instruction: according to the obtained target area to be poured, a water spraying instruction is sent to a water spraying module; the water spraying module is pre-started and starts to delay according to a water spraying instruction;
and (3) starting in a time delay mode: and irrigating the first spraying side and/or the second spraying side after the time delay is completed.
By adopting the technical scheme, as the conditions of single-side planting and double-side planting possibly exist at the two sides of the road, the first spraying side and/or the second spraying side are irrigated according to the conditions of green planting in the target area to be irrigated; thereby improving the intelligent water spraying efficiency of the water spraying module; meanwhile, after the water spraying instruction is received, the water spraying module is started in a delayed mode, and as a certain time interval is reserved when the image is obtained that the vehicle actually runs beside the green plant, the water spraying module is set to be started in a delayed mode after the water spraying instruction is received, and unnecessary water resource waste generated by the water spraying module is reduced.
Optionally, the real-time image further includes a soil image, and the step of delaying the start further includes the following steps:
judging planting intensity: acquiring a first area S1 occupied by a soil image in a real-time image;
Acquiring a second area S2 occupied by the green plant image in the real-time image;
Judging whether the first area S1 is larger than the second area S2; if the first area S1 is larger than/equal to the second area S2, the water spraying pressure of the water spraying module is reduced; otherwise, executing the delay starting step.
By adopting the technical scheme, if the first area S1 is larger than the second area S2, the currently identified green plant image is considered to be the green plant which is just planted, so that the water pressure needs to be reduced for irrigation, and the possibility that the soil covering the green plant is washed away due to high-pressure irrigation is reduced.
Optionally, an initial area S0 occupied by the green plant image in the real-time image is preset, and the step of image analysis specifically further includes the following steps:
Judging effective green planting: comparing the second area S2 with the initial area S0;
If the second area S2 is smaller than/equal to the initial area S0, repeating the step of image acquisition, and setting the position of the green plant image as a target area to be poured; otherwise, the position of the green plant image is set as a target area to be poured.
By adopting the technical scheme, the initial area S0 is preset, and the next step can be carried out without being excessively long, so that misjudgment operation of the green plant image in the real-time image is reduced, and unnecessary water resource waste is reduced.
Optionally, the step of image acquisition further includes the following steps:
and (3) water storage self-checking: acquiring the current liquid level height in the tank body of the sprinkler;
Comparing the current liquid level height with a threshold liquid level height;
If the current liquid level height is greater than/equal to the threshold liquid level height, executing an image acquisition step, and repeatedly executing water storage self-checking; otherwise, stopping executing the image acquisition step.
By adopting the technical scheme, when the liquid level in the tank body of the sprinkler is lower than the threshold liquid level, the image acquisition is stopped, so that the water spraying module is prevented from performing ineffective operation; if the liquid level in the tank body of the sprinkler is still higher than the threshold liquid level; the step of storing water and checking is repeated to execute the steps for the sprinkler to execute the image acquisition step in the driving process.
Optionally, the step of irrigating the green plants is performed simultaneously with the step of:
pedestrian detection: acquiring whether pedestrians exist in a target area to be poured or not;
If pedestrians exist in the target area to be poured, the first detection result is determined; if no pedestrian exists in the target area to be poured, the second detection result is considered;
Stopping the step of irrigating the green plants according to the first detection result;
And continuing to perform the step of irrigating the green plants according to the second detection result.
Through adopting above-mentioned technical scheme, reduce to waiting to water stain sputtering's of pedestrian in the target area of watering by mistake possibility to improve the holistic practicality of watering lorry.
Optionally, according to the first detection result, performing irrigation prompt on pedestrians in the target area to be irrigated, where the step of irrigation prompt specifically further includes the following steps:
Playing prompt information;
The step of pedestrian detection is repeatedly performed.
Through adopting above-mentioned technical scheme, through broadcast prompt message, reduce the possibility that the passerby of the watering lorry is by mistake to go into waiting to water target area to avoid watering green when planting water stain splash to the possibility on the pedestrian.
In a second aspect, the application provides a sprinkler control system of a sprinkler, which adopts the following technical scheme:
a sprinkler control system of a sprinkler comprises an acquisition module, a processing module and a water spraying module; wherein:
and the acquisition module is used for: the real-time image processing module is used for acquiring the real-time image and forwarding the real-time image to the processing module;
the processing module is used for: executing the sprinkler control method of the sprinkler;
And a water spraying module: and the irrigation device is used for performing irrigation action on the green plants in the target area to be irrigated.
By adopting the technical scheme, in the running process of the sprinkler, the acquisition module acquires the real-time image and sends the real-time image to the processing module, the processing module executes corresponding steps on the received real-time image, so that a to-be-poured target area with green plants is acquired, and then the water spraying module is controlled to pour in the corresponding to-be-poured target area, so that the overall safety of a sprinkler driver when driving the sprinkler is improved.
In a third aspect, the present application provides a computer readable storage medium, which adopts the following technical scheme:
An apparatus comprising a processor, a memory and a computer program stored in the memory and executable on the processor, the processor implementing a sprinkler control method as described above when executing the computer program.
By adopting the technical scheme, a carrier of a computer program of a sprinkler control method of a sprinkler is provided.
In a fourth aspect, the present application provides a sprinkler, which adopts the following technical scheme:
A computer-readable storage medium storing a computer program; the computer program when executed by the processor implements the sprinkler control method as described above.
By adopting the technical scheme, the device capable of implementing the sprinkling control method of the sprinkling truck is provided.
In summary, the present application includes at least one of the following beneficial technical effects:
when the green plant image is identified, setting the area where the green plant image is located as a target area to be irrigated, and irrigating the target area to be irrigated, so that the probability of manual operation and irrigation action of a sprinkler driver is reduced;
In the running process of the sprinkler, the acquisition module acquires real-time images and sends the real-time images to the processing module, the processing module executes corresponding steps on the received real-time images, so that a to-be-poured target area with green plants is acquired, and then the water spraying module is controlled to pour the corresponding to-be-poured target area, so that the overall safety of a sprinkler driver when driving the sprinkler is improved.
Drawings
FIG. 1 is a control schematic block diagram of a sprinkler control system according to the present application;
Fig. 2 is a flow chart of the steps of the sprinkler control method of the present application.
Reference numerals illustrate: 1. an acquisition module; 2. a processing module; 3. a water spraying module; 4. and a detection module.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings 1-2 and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
The embodiment of the application discloses a sprinkler control system of a sprinkler.
Referring to fig. 1, the sprinkler control system of the sprinkler comprises an acquisition module 1, a processing module 2 and a water spraying module 3; wherein the acquisition module 1 and the water spraying module 3 are both in communication connection with the processing module 2; the processing module 2 is also connected with a detection module 4 in a communication way; wherein:
The acquisition module 1 is arranged at the front end of the sprinkler and is used for acquiring real-time images of two sides of a road on which the sprinkler is driven, wherein the real-time images comprise green plant images and soil images;
The processing module 2 is arranged in the sprinkler and is used for processing real-time images and the like;
The water spraying module 3 is arranged at the running front end of the sprinkler, and the water spraying direction of the water spraying module faces to two sides of the sprinkler;
The detection module 4 is installed on the side edge of the running front end of the sprinkler and is used for detecting whether pedestrians are close to each other in a certain range.
Based on the same conception, the embodiment of the application also discloses a sprinkling control method of the sprinkling truck.
Referring to fig. 1 and 2, the sprinkler control method of the sprinkler includes the steps of:
S100: initial preparation.
Specifically, the step S100 specifically includes the steps of:
s110: presetting a threshold liquid level height H0;
In particular, according to the different water storage volumes of the tank body of the sprinkler, a corresponding threshold liquid level height is set in the processing module 2.
S120: presetting an initial area S0 occupied by a green plant image in a real-time image;
Specifically, according to the minimum volume of the conventional green plants in the green belt, the initial area S0 is calculated;
For example, if the area occupied by the green plant image in the real-time image photographed by the sprinkler is Sn in the conventional green plant in the current city; sn is considered to be the initial area S0.
Sn is automatically corrected by green plant images acquired by the acquisition module 1 for a plurality of times, and the minimum Sn is adopted for storage each time.
S200: and (5) water storage and self-checking.
Specifically, the step S200 specifically includes the steps of:
s210: acquiring the current liquid level height H1 of the interior of the sprinkler tank;
for example, an apparatus having a liquid level detection function, such as an electronic element, such as a liquid level sensor, may be installed in the tank of the sprinkler, where a signal output end of the liquid level sensor is communicatively connected to the processing module 2, and sends the current liquid level H1 to the processing module 2 in real time.
S220: comparing the current liquid level height with a threshold liquid level height;
If the current liquid level H1 is greater than/equal to the threshold liquid level H0, step S221 is performed; if the current liquid level H1 is smaller than the threshold liquid level H0, step S222 is performed;
S221: step S300 is performed and step S210 is repeatedly performed.
S222: the execution of step S300 is stopped.
Specifically, when the sprinkler starts to operate, step S200 starts to operate, and when the sprinkler stops operating, step S200 stops operating.
S300: and (5) image acquisition.
Specifically, step S300 includes the steps of:
S310: the processing module 2 receives a real-time image in the current sprinkler running area;
Specifically, when the sprinkler starts to run, the acquisition module 1 starts to run synchronously, and the acquisition module 1 sends real-time images to the processing module 2 in real time; so that the processing module 2 performs step S400.
S400: and (5) image analysis.
Specifically, step S400 includes the steps of:
S410: the processing module 2 identifies a green plant image according to the received real-time image;
s411: and setting the position of the green plant image as a target area to be poured.
In particular, the target area to be poured comprises a first spray side and/or a second spray side located on both sides of the direction of travel of the sprinkler.
S420: judging the planting intensity;
specifically, step S420 includes the steps of:
s421: acquiring a first area S1 occupied by a soil image in a real-time image;
S422: acquiring a second area S2 occupied by the green plant image in the real-time image;
s423: judging whether the first area S1 is larger than/equal to the second area S2;
if the first area S1 is greater than/equal to the second area S2, step S424 is performed; if the first area S1 is smaller than the second area S2, step S425 is performed;
S424: the water spray pressure of the water spray module 3 is reduced;
s425: the water spray pressure of the original water spray module 3 is maintained and step S430 is performed.
For example, if the first area S1 is greater than the second area S2, then it is considered that the currently identified green plant image may be a green plant that has just been planted/a green plant that grows unstable, requiring reduced water pressure to irrigate it, thereby reducing the likelihood that high pressure irrigation will cause soil covering the green plant to be washed away.
S430: judging whether the green plants in the current green plant image are effective green plants or not;
specifically, step S430 includes the steps of:
S431: acquiring an initial area S0;
s432: the processing module 2 compares the second area S2 with the initial area S0;
If the second area S2 is smaller than/equal to the initial area S0, repeating the step S300; the position of the green plant image is not set as a target area to be poured;
If the second area S2 is greater than the initial area S0, the position of the green plant image is set as the target area to be poured, and step S500 is performed.
S500: and (5) irrigating green plants.
Specifically, step S500 includes the steps of:
S510: a water spraying instruction is sent;
Specifically, the processing module 2 sends a water spraying instruction to the water spraying module 3 according to the obtained target area to be poured; the water spraying instruction comprises a first spraying side and/or a second spraying side with green plant images;
s520: and executing irrigation action in the target area to be irrigated.
Specifically, step S520 includes the steps of:
S521: and (5) starting in a delayed manner.
Specifically, the water spraying module 3 is pre-started according to a water spraying instruction and starts to execute a delay program; the time length of the delay can be adjusted according to actual use requirements.
S522: and after the delay is finished, the water spraying module 3 irrigates the first spraying side and/or the second spraying side.
Specifically, because the image acquisition has a certain time interval when the vehicle actually runs beside the green plant, the water spraying module 3 is set to be started in a delayed manner after a water spraying instruction is received, and unnecessary water resource waste generated by the water spraying module 3 is reduced.
S600: and (5) detecting pedestrians.
Specifically, step S600 includes the steps of:
S610: acquiring whether pedestrians exist in a target area to be poured or not;
If there is a pedestrian in the target area to be poured, determining that the pedestrian is a first detection result and executing step S611; if no pedestrian is in the target area to be poured, the second detection result is considered and step S612 is executed.
For example, the detection module 4 may be implemented by using an electronic component such as an infrared detection sensor/a portrait identification camera, and the detection result is sent to the processing module 2 in real time through the detection module 4.
S611: stopping executing the step S500 according to the first detection result; step S620 is performed simultaneously;
S612: and continuing to perform the step of irrigating the green plants according to the second detection result.
Specifically, irrigation cues are performed on pedestrians within the target area to be irrigated to encourage the pedestrians to actively leave the target area to be irrigated.
S620: and (5) watering and prompting.
Specifically, step S620 includes the steps of:
s621: playing prompt information;
for example, the prompt information may be prompt music, prompt voice, buzzer, etc.
S622: step S600 is repeatedly performed.
Step S500 and step S600 run simultaneously.
The present application also provides a computer readable storage medium storing instructions capable of implementing the steps described above when loaded and executed by a processor.
The computer-readable storage medium includes, for example: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Based on the same inventive concept, an embodiment of the present application provides a computer apparatus including a memory and a processor, the memory storing a computer program capable of being loaded by the processor and executing the above control method.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to perform all or part of the functions described above. The specific working processes of the above-described systems, devices and units may refer to the corresponding processes in the foregoing method embodiments, which are not described herein.
In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) 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: various media capable of storing program codes, such as a U disk, a mobile hard disk, a read-only memory, a random access memory, a magnetic disk or an optical disk.
The foregoing description of the preferred embodiments of the application is not intended to limit the scope of the application in any way, including the abstract and drawings, in which case any feature disclosed in this specification (including abstract and drawings) may be replaced by alternative features serving the same, equivalent purpose, unless expressly stated otherwise. That is, each feature is one example only of a generic series of equivalent or similar features, unless expressly stated otherwise.
Claims (7)
1. The sprinkling control method for the sprinkling truck is characterized by comprising the following steps of:
and (3) image acquisition: receiving a real-time image in a current sprinkler running area; the real-time image comprises a green plant image;
Image analysis: identifying a green plant image according to the received real-time image; setting the position of the green plant image as a target area to be poured; the target area to be poured comprises a first spraying side and a second spraying side;
irrigation green planting: executing irrigation action in the target area to be irrigated;
the irrigation action specifically further comprises the following steps:
And (3) sending an instruction: according to the obtained target area to be poured, a water spraying instruction is sent to a water spraying module (3); the water spraying module (3) is pre-started according to a water spraying instruction and starts to delay;
and (3) starting in a time delay mode: watering the first spraying side and/or the second spraying side after the time delay is completed;
The real-time image also comprises a soil image, and the step of delaying the starting also comprises the following steps:
judging planting intensity: acquiring a first area S1 occupied by a soil image in a real-time image;
Acquiring a second area S2 occupied by the green plant image in the real-time image;
Judging whether the first area S1 is larger than the second area S2; if the first area S1 is larger than/equal to the second area S2, the water spraying pressure of the water spraying module (3) is reduced; otherwise, executing a delay starting step;
The initial area S0 occupied by the green plant image in the real-time image is preset, and the image analysis step specifically further comprises the following steps:
Judging effective green planting: comparing the second area S2 with the initial area S0;
If the second area S2 is smaller than/equal to the initial area S0, repeating the step of image acquisition, and setting the position of the green plant image as a target area to be poured; otherwise, the position of the green plant image is set as a target area to be poured.
2. The method for controlling the sprinkling of a sprinkler according to claim 1, wherein the step of acquiring the image further comprises the steps of:
and (3) water storage self-checking: acquiring the current liquid level height in the tank body of the sprinkler;
Comparing the current liquid level height with a threshold liquid level height;
If the current liquid level height is greater than/equal to the threshold liquid level height, executing an image acquisition step, and repeatedly executing water storage self-checking; otherwise, stopping executing the image acquisition step.
3. The method of controlling sprinkler water according to claim 1, wherein the step of watering the green plants is performed while simultaneously performing the steps of:
pedestrian detection: acquiring whether pedestrians exist in a target area to be poured or not;
If pedestrians exist in the target area to be poured, the first detection result is determined; if no pedestrian exists in the target area to be poured, the second detection result is considered;
Stopping the step of irrigating the green plants according to the first detection result;
And continuing to perform the step of irrigating the green plants according to the second detection result.
4. A sprinkler control method according to claim 3, wherein the step of performing an irrigation cue for pedestrians in the target area to be irrigated according to the first detection result, the step of irrigation cue specifically further comprising the steps of:
Playing prompt information;
The step of pedestrian detection is repeatedly performed.
5. A watering control system for a watering cart, comprising: comprises an acquisition module (1), a processing module (2) and a water spraying module (3); wherein:
Acquisition module (1): the system is used for acquiring real-time images and forwarding the real-time images to the processing module (2);
Processing module (2): performing a sprinkler control method according to any one of claims 1-4;
water spray module (3): and the irrigation device is used for performing irrigation action on the green plants in the target area to be irrigated.
6. Computer device, characterized in that it comprises a processor, a memory and a computer program stored in the memory and executable on the processor, which processor, when executing the computer program, implements a method for controlling sprinkling of a sprinkling vehicle according to any one of claims 1-4.
7. A computer-readable storage medium, wherein the computer storage medium stores a computer program; the computer program, when executed by a processor, implements a method of controlling a sprinkler as defined in any one of claims 1-4.
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