A seedling theoretical position area acquisition method based on a rice transplanter navigation data

Abstract

The application discloses a seedling theoretical position area acquisition method based on a rice transplanter navigation data, which comprises the following steps: collecting low-altitude images of a target field by taking pictures with a UAV, and combining a plurality of collected local images of the target field into a target field panoramic image; creating a blank large image with the same size as the obtained target field panoramic image; obtaining the latitude and longitude coordinate range of the target field by using a coordinate transformation method according to the obtained target field panoramic image; exporting the navigation data stored in the navigation controller of the rice transplanter, and screening out the operation record points corresponding to the target field by using the latitude and longitude coordinate range of the target field; drawing the screened operation record points of the target field on the blank large image in time sequence to obtain a transplanter trajectory line; deducing other transplanter trajectory lines under the same driving path of the transplanter according to the obtained transplanter trajectory line; and determining the seedling theoretical position area on each transplanter trajectory line according to the transplanter spacing.

Description

Technical Field

[0001] This invention relates to the field of seedling shortage detection technology, and in particular to a method for obtaining the theoretical location area of ​​seedlings based on rice transplanter navigation data. Background Technology

[0002] In mechanized rice cultivation, issues such as missed planting by transplanters, seedling drift, and dead seedlings after transplanting can lead to seedling shortages, reducing land utilization and grain yield. Therefore, conducting seedling shortage detection and timely replanting as needed is crucial for reducing waste of land, water, and fertilizer resources and increasing grain production. Currently, common seedling shortage detection methods include photoelectric sensor detection and machine vision detection. Photoelectric sensor detection is mainly used during the seedling stage or transplanting process. It involves setting up laser, fiber optic, or other photoelectric sensors at appropriate detection locations to detect seedling trays, stems, and tubes. The method analyzes the different photoelectric signals under the conditions of present and absent seedlings to determine the shortage. Machine vision detection first captures images of seedlings using a CCD or CMOS image acquisition device, then transmits the captured images to a digital processing unit for processing. Image features are extracted, and seedling shortages are detected based on information such as image color and pixel distribution. However, neither of these methods can directly and accurately obtain the geographical coordinates of the missing seedling locations, which is detrimental to subsequent precise replanting operations. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings and deficiencies of the existing technology and provide a method for obtaining the theoretical location area of ​​seedlings based on the navigation data of a rice transplanter. The method for obtaining the theoretical location area of ​​seedlings can quickly determine the theoretical location area of ​​seedlings by using the navigation data of the rice transplanter during the transplanting operation and combining parameters such as row spacing and plant spacing, so as to provide data support for replanting missing seedlings in the later stage.

[0004] The objective of this invention is achieved through the following technical solution:

[0005] A method for obtaining the theoretical location area of ​​rice seedlings based on rice transplanter navigation data includes the following steps:

[0006] S1. Take low-altitude images of the target field by taking pictures with a drone, and combine multiple partial images of the target field into a panoramic image of the target field;

[0007] S2. Create a large blank image with the same dimensions as the obtained panoramic image of the target field.

[0008] S3. Based on the obtained panoramic image of the target field, use coordinate transformation to determine the latitude and longitude coordinate range of the target field.

[0009] S4. Export the navigation data stored in the rice transplanter navigation controller, and use the latitude and longitude coordinate range of the target field to filter out the corresponding operation record points of the target field.

[0010] S5. Draw the operation record points of the selected target fields on a blank large map in chronological order to obtain a rice planting trajectory line;

[0011] S6. Derive other rice transplanting trajectories under the same travel path of the rice transplanter based on the obtained rice transplanting trajectory lines;

[0012] S7. Determine the theoretical position area of ​​the seedlings on each transplanting trajectory line based on the spacing between transplanting plants.

[0013] Preferably, step S1 includes the following steps:

[0014] S11. Use a drone equipped with real-time dynamic measurement equipment to collect images of the target field at a fixed altitude.

[0015] S12. During the image acquisition process, the UAV needs to maintain a fixed flight altitude and a flight path that covers the entire target field, so as to acquire multiple local images of the target field covering all areas of the target field.

[0016] S13. Import all the collected local images of the target fields into the mapping software for synthesis to obtain a panoramic image of the target fields.

[0017] Preferably, step S2 includes the following steps:

[0018] S21. Obtain the size of the panoramic image of the target field;

[0019] S22. Create a large blank map with the same dimensions as the panoramic image of the target field using mapping software.

[0020] Preferably, step S3 includes the following steps:

[0021] S31. Draw the smallest rectangle that completely contains the panoramic image of the target field, and ensure that the rectangle is oriented due north.

[0022] S32. Obtain the pixel coordinates of the top left and bottom right vertices of the drawn rectangle;

[0023] S33. Based on the conversion formula between pixel coordinates and geographic coordinates, convert the pixel coordinates of the two vertices into geographic coordinates to obtain the latitude and longitude range of the target field.

[0024] Preferably, step S4 includes the following steps:

[0025] S41. Export the navigation data stored in the rice transplanter navigation controller into a data table, and obtain the total number of rows in the data table;

[0026] S42. Create a new blank data table;

[0027] S43. Using a for loop function, check the longitude and latitude range of the data in the data table row by row. If the longitude and latitude of the current row of data are within the longitude and latitude range of the target field, write the data of the current row into a blank data table; if the longitude and latitude of the current row of data are not within the longitude and latitude range of the target field, discard the data of the current row, that is, do not write it into a blank data table.

[0028] Preferably, in step S43, the number of iterations of the for loop function is set to the total number of rows in the data table obtained in step S41.

[0029] Preferably, step S5 includes the following steps:

[0030] S51. Using mapping software, draw the operation record points of the target field obtained in step S43 one by one on a blank large map, wherein the width of the operation record point is set to 1 pixel.

[0031] S52. Connect the drawn operation record points with straight lines according to the chronological order of navigation record time to form a rice planting trajectory line, wherein the width of the rice planting trajectory line is set to 1 pixel.

[0032] S53. Fill all the job record points drawn in step S51 with hexadecimal "#00FF00" green;

[0033] S54. Fill all the rice planting trajectory lines drawn in step S52 with hexadecimal "#FF0000" in red.

[0034] Preferably, step S6 includes the following steps:

[0035] S61. Based on the known operation record points of the rice transplanter, deduce the latitude and longitude coordinates of the operation record points on other rice transplanting trajectory lines under the same travel path of the rice transplanter;

[0036] S62. Using drawing software, draw the operation record points on other rice transplanting trajectory lines under the same driving path of the rice transplanter one by one on a blank large map, wherein the width of the operation record point is set to 1 pixel value;

[0037] S63. Connect the drawn operation record points with straight lines in the same order as the known rice transplanter navigation data points to form a rice transplanting trajectory line, wherein the width of the rice transplanting trajectory line is set to 1 pixel.

[0038] S64. Fill all the job record points drawn in step S62 with hexadecimal "#00FF00" green;

[0039] S65. Fill all the rice planting trajectory lines drawn in step S63 with hexadecimal "#FF0000" red.

[0040] Preferably, in step S61, the specific derivation process is as follows:

[0041] (1) Find the radius r of the latitude plane where the known rice transplanter operation record point is located;

[0042] r = Rcos(w) M );

[0043] In the formula, R is the average radius of the Earth, and w M The latitude of the known rice transplanter operation record points;

[0044] (2) Find the longitude difference Δj between the known rice transplanter operation record point and the rice transplanter operation record point to be found;

[0045]

[0046] In the formula, l is the distance between the known rice transplanter operation record point and the rice transplanter operation record point to be determined, and α is the azimuth angle of the rice transplanter, that is, the angle between the direction of the rice transplanter's movement and due north.

[0047] (3) Convert the obtained radian Δj into angle Δj1;

[0048]

[0049] In the formula, π is the ratio of pi to circumference.

[0050] (4) Obtain the longitude j of the rice transplanter operation record point to be determined. M1 ;

[0051] j M1 =j M -Δj1;

[0052] In the formula, j M The longitude of the known rice transplanter operation record point;

[0053] (5) Find the latitude difference Δw between the known rice transplanter operation record point and the rice transplanter operation record point to be found;

[0054]

[0055] (6) Convert the obtained radian Δw into angle Δw1;

[0056]

[0057] (7) Determine the latitude w of the rice transplanter operation record point to be determined. M1 ;

[0058] w M1 =w M +Δw1;

[0059] In the formula, w M The latitude of the known rice transplanter operation record point.

[0060] Preferably, step S7 includes the following steps:

[0061] S71. Determine the first rice planting operation point on each rice planting trajectory line;

[0062] S72. Taking the first transplanting point as the starting point, take a point at every fixed interval S on the transplanting trajectory line as the theoretical position of the seedling, where the size of the interval S is equal to the theoretical plant spacing.

[0063] S73. The circular area with the theoretical position of each seedling as the center and a certain distance as the radius is the theoretical position area of ​​each seedling.

[0064] Compared with the prior art, the present invention has the following advantages:

[0065] 1. The method for obtaining the theoretical location area of ​​seedlings based on the navigation data of rice transplanters of the present invention can quickly and accurately obtain the theoretical location of seedlings, providing data support for obtaining the geographical coordinates of the location of missing seedlings.

[0066] 2. The method for obtaining the theoretical location area of ​​seedlings based on the navigation data of the rice transplanter of the present invention can quickly determine the theoretical location area of ​​seedlings by using the navigation data of the rice transplanter during the rice transplanting operation and combining parameters such as row spacing and plant spacing. Attached Figure Description

[0067] Figure 1 This is a flowchart illustrating the method for obtaining the theoretical location area of ​​rice seedlings based on rice transplanter navigation data according to the present invention.

[0068] Figure 2 A panoramic image of the target field.

[0069] Figure 3 This is a schematic diagram of the minimum rectangular frame for the panoramic image of the target field.

[0070] Figure 4 To draw a schematic diagram of known rice transplanter operation record points and rice transplanting trajectory lines on a blank large map.

[0071] Figure 5This is a schematic diagram for deriving the rice transplanter operation record points and transplanting trajectory lines on a blank large image.

[0072] Figure 6 This is a diagram showing the theoretical position area of ​​each seedling along the rice transplanter's trajectory. Detailed Implementation

[0073] The present invention will be further described below with reference to embodiments and accompanying drawings, but the implementation of the present invention is not limited thereto.

[0074] See Figures 1-6 The present invention provides a method for obtaining the theoretical location area of ​​rice seedlings based on rice transplanter navigation data, which is used to quickly and accurately obtain the theoretical location area of ​​each rice seedling in the paddy field after transplanting. The method includes the following steps:

[0075] S1. Collect low-altitude images of the target field using drones, and then combine multiple partial images of the target field into a panoramic image of the entire target field; specifically:

[0076] S11. Use a drone equipped with real-time dynamic measurement equipment to collect images of the target field at a fixed height (e.g., 15 meters);

[0077] S12. During the image acquisition process, the UAV flies at a fixed altitude, and its flight path covers the entire target field, acquiring multiple images covering all areas of the target field.

[0078] S13. Import all the local images of the target field collected in step S12 into mapping software for synthesis to obtain a panoramic image of the entire target field (e.g., Figure 2 (As shown).

[0079] S2. Create a large blank image with the same dimensions as the panoramic image of the target field obtained in step S1; specifically:

[0080] S21. Obtain the size of the panoramic image of the target field obtained in step S13;

[0081] S22. Create a large blank map with the same dimensions as the panoramic image of the target field using mapping software.

[0082] S3. Based on the panoramic image of the target field obtained in step S1, calculate the latitude and longitude coordinate range of the target field using coordinate transformation; specifically:

[0083] S31. Draw the smallest rectangular frame that completely contains the panoramic image of the target field obtained in step S13, ensuring that the rectangular frame is oriented due north. Figure 3 As shown;

[0084] S32. Obtain the pixel coordinates of the top-left and bottom-right vertices of the rectangle drawn in step S31, for example... Figure 3 The pixel coordinates of points A and B in the middle;

[0085] S33. Based on the conversion formula between pixel coordinates and geographic coordinates, convert the pixel coordinates of the two vertices obtained in step S32 into geographic coordinates, thereby obtaining the latitude and longitude range of the target field. For example, after coordinate conversion, the geographic coordinates of point A are (j A ,w A The geographical coordinates of point B are (j B ,w B If ), then the longitude and latitude ranges of the target field are [j A ,j B ]、[w B ,w A ].

[0086] S4. Export the navigation data stored in the rice transplanter's navigation controller, and filter the navigation data corresponding to the target field using the latitude and longitude coordinate range of the target field; specifically:

[0087] S41. Export the navigation data stored in the rice transplanter navigation controller into a data table, and obtain the total number of rows in the data table;

[0088] S42. Create a new blank data table;

[0089] S43. Using a for loop function, check the longitude and latitude range of the data in the data table obtained in step S41 row by row. If the longitude and latitude of the current row of data are within the longitude and latitude range of the target field determined in step S33, then write the data of the current row into the blank data table established in step S42; if the longitude and latitude of the current row of data are not within the longitude and latitude range of the target field determined in step S33, then discard the data and do not write it into the blank data table established in step S42.

[0090] S44. The number of iterations of the for loop function is set to the total number of rows in the data table obtained in step S41.

[0091] S5. Plot the navigation data points of the target fields selected in step S4 in chronological order on the blank map created in step S2 to obtain a rice planting trajectory line; specifically:

[0092] S51. Using mapping software, draw the operation record points of the target field obtained in step S43 one by one on the blank map created in step S22. Set the width of the operation record point to 1 pixel (e.g., Figure 4 (Points M and N in the diagram);

[0093] S52. Connect the drawn operation record points with straight lines according to the order of navigation record time to form a rice planting trajectory line, wherein the width of the rice planting trajectory line is set to 1 pixel.

[0094] S53. Fill all the job record points drawn in step S51 with hexadecimal "#00FF00" green;

[0095] S54. Fill all the rice planting trajectory lines drawn in step S52 with hexadecimal "#FF0000" in red.

[0096] S6. Derive other rice transplanting trajectories along the same travel path of the rice transplanter based on the transplanting trajectory line from step S5; specifically:

[0097] S61. Based on the known work record points of the rice transplanter, derive the latitude and longitude coordinates of the work record points on other rice transplanting trajectory lines along the same travel path of the rice transplanter through the following steps (e.g., Figure 5 In this process, based on the known coordinates of the rice transplanter operation record point M, the coordinates of the corresponding point M1 on the rice transplanting trajectory line to be determined are derived. The specific derivation process is as follows:

[0098] S61-1: First, use formula (1) to obtain the radius r of the latitude plane where the known rice transplanter operation record point is located. For example, use formula (1) to obtain... Figure 5 The radius r of the latitude plane where point M is located;

[0099] r = Rcos(w) M (1)

[0100] In the formula, R is the average radius of the Earth, and w M The latitude of the known rice transplanter operation record points (e.g.) Figure 5 (Latitude of point M);

[0101] S61-2: Use formula (2) to obtain the longitude difference Δj between the known rice transplanter operation record point and the rice transplanter operation record point to be determined;

[0102]

[0103] In the formula, l is the distance between the known rice transplanter operation record point and the rice transplanter operation record point to be determined (e.g., ...). Figure 5 In the equation l), α is the azimuth angle of the rice transplanter, that is, the angle between the direction of the rice transplanter's movement and due north (e.g., l). Figure 5 (α in the text);

[0104] S61-3: Use formula (3) to convert the radian Δj obtained by formula (2) into the angle Δj1;

[0105]

[0106] In the formula, π represents the value of a circle.

[0107] S61-4: Use formula (4) to obtain the longitude j of the rice transplanter operation record point. M1 ;

[0108] j M1 =j M -Δj1 (4)

[0109] In the formula, j M The longitude of the known rice transplanter operation record point (e.g.) Figure 5 (Longitude of point M);

[0110] S61-5: Use formula (5) to obtain the latitude difference Δw between the known rice transplanter operation record point and the rice transplanter operation record point to be determined;

[0111]

[0112] S61-6: Use formula (6) to convert the radian Δw obtained by formula (5) into angle Δw1;

[0113]

[0114] S61-7: Use formula (7) to obtain the latitude w of the rice transplanter operation record point. M1 ;

[0115] w M1 =w M +Δw1 (7)

[0116] In the formula, w M The latitude of the known rice transplanter operation record points (e.g.) Figure 5 (Latitude of point M).

[0117] S62. Using mapping software, plot the work record points on other rice transplanting trajectory lines along the same travel path of the rice transplanter obtained in step S61 onto the blank map created in step S22. Set the width of each point to 1 pixel. For example... Figure 5 Points M1 and N1 in the diagram;

[0118] S63. Connect the work record points drawn in step S62 with straight lines in the same order as the known work record points of the rice transplanter, and set the width of the straight lines to 1 pixel.

[0119] S64. Fill all the job record points drawn in step S62 with hexadecimal "#00FF00" green;

[0120] S65. Fill all the trajectory lines drawn in step S63 with hexadecimal "#FF0000" in red.

[0121] S7. Determine the theoretical position area of ​​the seedlings on each transplanting trajectory line based on the plant spacing, specifically as follows:

[0122] S71. Determine the first rice planting operation point on each rice planting trajectory line;

[0123] S72. Taking the first transplanting point obtained in step S71 as the starting point, take a point at every fixed interval S on the transplanting trajectory line as the theoretical position of the seedling, where the size of the interval S is equal to the theoretical plant spacing.

[0124] S73. Taking the theoretical position of each seedling obtained in step S72 as the center, a circular area with a certain distance as the radius is the theoretical position area of ​​each seedling. Figure 6 As shown.

[0125] The above are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above content. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A method for obtaining the theoretical location area of ​​rice seedlings based on navigation data of a rice transplanter, characterized in that, Includes the following steps: S1. Take low-altitude images of the target field by taking pictures with a drone, and combine multiple partial images of the target field into a panoramic image of the target field; S2. Create a large blank image with the same dimensions as the obtained panoramic image of the target field. S3. Based on the obtained panoramic image of the target field, use coordinate transformation to determine the latitude and longitude coordinate range of the target field. S4. Export the navigation data stored in the rice transplanter navigation controller, and use the latitude and longitude coordinate range of the target field to filter out the corresponding operation record points of the target field. S5. Draw the operation record points of the selected target fields on a blank large map in chronological order to obtain a rice planting trajectory line; S6. Derive other rice transplanting trajectories under the same travel path of the rice transplanter based on the obtained rice transplanting trajectory lines; S7. Determine the theoretical position area of ​​the seedlings on each transplanting trajectory line based on the spacing between transplanting plants.

2. The method for obtaining the theoretical location area of ​​rice seedlings based on rice transplanter navigation data according to claim 1, characterized in that, Step S1 includes the following steps: S11. Use a drone equipped with real-time dynamic measurement equipment to collect images of the target field at a fixed altitude. S12. During the image acquisition process, the UAV needs to maintain a fixed flight altitude and a flight path that covers the entire target field, so as to acquire multiple local images of the target field covering all areas of the target field. S13. Import all the collected local images of the target fields into the mapping software for synthesis to obtain a panoramic image of the target fields.

3. The method for obtaining the theoretical location area of ​​rice seedlings based on rice transplanter navigation data according to claim 1, characterized in that, Step S2 includes the following steps: S21. Obtain the size of the panoramic image of the target field; S22. Create a large blank map with the same dimensions as the panoramic image of the target field using mapping software.

4. The method for obtaining the theoretical location area of ​​rice seedlings based on rice transplanter navigation data according to claim 1, characterized in that, Step S3 includes the following steps: S31. Draw the smallest rectangle that completely contains the panoramic image of the target field, and ensure that the rectangle is oriented due north. S32. Obtain the pixel coordinates of the top left and bottom right vertices of the drawn rectangle; S33. Based on the conversion formula between pixel coordinates and geographic coordinates, convert the pixel coordinates of the two vertices into geographic coordinates to obtain the latitude and longitude range of the target field.

5. The method for obtaining the theoretical location area of ​​rice seedlings based on rice transplanter navigation data according to claim 1, characterized in that, Step S4 includes the following steps: S41. Export the navigation data stored in the rice transplanter navigation controller into a data table, and obtain the total number of rows in the data table; S42. Create a new blank data table; S43. Use a for loop function to check the longitude and latitude range of the data in the data table row by row. If the longitude and latitude of the current row of data are within the longitude and latitude range of the target field, write the data of that row into a blank data table. If the longitude and latitude of the current row of data are not within the longitude and latitude range of the target field, then the data in that row will be discarded and will not be written into the blank data table.

6. The method for obtaining the theoretical location area of ​​rice seedlings based on rice transplanter navigation data according to claim 5, characterized in that, In step S43, the number of iterations of the for loop function is set to the total number of rows in the data table obtained in step S41.

7. The method for obtaining the theoretical location area of ​​rice seedlings based on rice transplanter navigation data according to claim 5, characterized in that, Step S5 includes the following steps: S51. Using mapping software, draw the operation record points of the target field obtained in step S43 one by one on a blank large map, wherein the width of the operation record point is set to 1 pixel. S52. Connect the drawn operation record points with straight lines according to the chronological order of navigation record time to form a rice planting trajectory line, wherein the width of the rice planting trajectory line is set to 1 pixel. S53. Fill all the job record points drawn in step S51 with hexadecimal "#00FF00" green; S54. Fill all the rice planting trajectory lines drawn in step S52 with hexadecimal "#FF0000" red.

8. The method for obtaining the theoretical location area of ​​rice seedlings based on rice transplanter navigation data according to claim 1, characterized in that, Step S6 includes the following steps: S61. Based on the known operation record points of the rice transplanter, deduce the latitude and longitude coordinates of the operation record points on other rice transplanting trajectory lines under the same travel path of the rice transplanter; S62. Using drawing software, draw the operation record points on other rice transplanting trajectory lines under the same driving path of the rice transplanter one by one on a blank large map, wherein the width of the operation record point is set to 1 pixel value; S63. Connect the drawn operation record points with straight lines in the same order as the known rice transplanter navigation data points to form a rice transplanting trajectory line, wherein the width of the rice transplanting trajectory line is set to 1 pixel. S64. Fill all the job record points drawn in step S62 with hexadecimal "#00FF00" green; S65. Fill all the rice planting trajectory lines drawn in step S63 with hexadecimal "#FF0000" red.

9. The method for obtaining the theoretical location area of ​​rice seedlings based on rice transplanter navigation data according to claim 1, characterized in that, In step S61, the specific derivation process is as follows: (1) Find the radius r of the latitude plane where the known rice transplanter operation record point is located; r=Rcos(w M ); In the formula, R is the average radius of the Earth, and w M The latitude of the known rice transplanter operation record points; (2) Find the longitude difference Δj between the known rice transplanter operation record point and the rice transplanter operation record point to be found; In the formula, l is the distance between the known rice transplanter operation record point and the rice transplanter operation record point to be determined, and α is the azimuth angle of the rice transplanter, that is, the angle between the direction of the rice transplanter's movement and due north. (3) Convert the obtained radian Δj into angle Δj1; In the formula, π is the ratio of pi to circumference. (4) Obtain the longitude j of the rice transplanter operation record point to be determined. M1 ; j M1 =j M -Δj1; In the formula, j M The longitude of the known rice transplanter operation record point; (5) Find the latitude difference Δw between the known rice transplanter operation record point and the rice transplanter operation record point to be found; (6) Convert the obtained radian Δw into angle Δw1; (7) Determine the latitude w of the rice transplanter operation record point to be determined. M1 ; In M1 =in M +Δw1; In the formula, w M The latitude of the known rice transplanter operation record point.

10. The method for obtaining the theoretical location area of ​​rice seedlings based on rice transplanter navigation data according to claim 1, characterized in that, Step S7 includes the following steps: S71. Determine the first rice planting operation point on each rice planting trajectory line; S72. Taking the first transplanting point as the starting point, take a point at every fixed interval S on the transplanting trajectory line as the theoretical position of the seedling, where the size of the interval S is equal to the theoretical plant spacing. S73. The circular area with the theoretical position of each seedling as the center and a certain distance as the radius is the theoretical position area of ​​each seedling.

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