A method and system for intelligent planting and management of vineyards

Abstract

The present invention provides a method and system for intelligent planting management of a vineyard, wherein the method includes: controlling a mobile quality inspection terminal to enter a vineyard to conduct a grape quality inspection; when the mobile quality inspection terminal detects an abnormal grape quality event, analyzing the abnormal degree value of the abnormal grape quality event; when the abnormal degree value is less than or equal to the degree threshold, autonomously processing the abnormal grape quality event; otherwise, assisting management personnel to manually process the abnormal grape quality event based on the mobile quality inspection terminal. The present invention gives the system the ability to process autonomously, avoiding notifying management personnel of all abnormal grape quality events and improving user experience; in addition, when a blind area appears, a supplementary inspection task is generated, and the supplementary inspection task is assigned to other mobile quality inspection terminals that are suitable for accepting the supplementary inspection task, so as to realize the supplementary inspection of the blind area, and improve the comprehensiveness of the grape quality inspection of the vineyard using the mobile quality inspection terminal.

Description

Technical Field

[0001] The present invention relates to the technical field of planting management, and in particular to a method and system for intelligent planting management of a vineyard. Background Art

[0002] At present, the general planting area of ​​vineyards is often large. In order to reduce the labor cost of manual grape quality inspections in vineyards and improve inspection efficiency, mobile quality inspection terminals are often used to enter vineyards for grape quality inspections. The mobile quality inspection terminal can be a robot car equipped with a camera. During its movement, the camera captures images of the grape plants and analyzes whether the grape plants have abnormal growth problems such as diseases and pests based on the images.

[0003] However, there are two prominent problems in this implementation: first, whenever the mobile quality inspection terminal finds abnormal growth of grape plants during inspection, it notifies the vineyard managers, and lacks the ability to handle the problem independently. Some abnormal growth problems that are easier to handle (for example, lack of water) are also notified to the managers, which reduces the user experience; second, there are blind spots when the mobile quality inspection terminal inspects (for example, the area above the grape plant that is beyond the camera's shooting range), and there is no corresponding solution, which reduces the comprehensiveness of the grape quality inspection of the vineyard using the mobile quality inspection terminal.

[0004] Therefore, a solution is urgently needed. Summary of the invention

[0005] One of the purposes of the present invention is to provide a smart planting management method for a vineyard. When a mobile quality inspection terminal detects an abnormal grape quality event, its abnormality degree value is analyzed. When the abnormality degree value is less than or equal to the degree threshold, the abnormal grape quality event is autonomously processed. Otherwise, the auxiliary management personnel manually process the abnormal grape quality event based on the mobile quality inspection terminal, giving the system the ability to autonomously process, avoiding notifying the management personnel of all abnormal grape quality events, and improving the user experience; in addition, when a blind spot area appears, a supplementary inspection task is generated, and the supplementary inspection task is assigned to other mobile quality inspection terminals that are suitable for accepting the supplementary inspection task, so as to realize the supplementary inspection of the blind spot area and improve the comprehensiveness of the grape quality inspection of the vineyard using the mobile quality inspection terminal.

[0006] An embodiment of the present invention provides a method for intelligent planting and management of a vineyard, comprising:

[0007] Control the mobile quality inspection terminal to enter the vineyard to conduct grape quality inspection;

[0008] When the mobile quality inspection terminal detects an abnormal grape quality event, it analyzes the abnormality level of the abnormal grape quality event;

[0009] When the abnormality value is less than or equal to the degree threshold, the grape quality abnormality event is handled autonomously; otherwise, the auxiliary management personnel manually handle the grape quality abnormality event based on the mobile quality inspection terminal;

[0010] Also includes:

[0011] When the mobile quality inspection terminal continuously reports the same blind area in the first time period, the grape quality abnormality area inspected by the mobile quality inspection terminal in the second time period is obtained; the second time period is before the first time period and adjacent to the first time period;

[0012] Generate supplementary inspection tasks based on multimodal information of blind spots that meet regional conditions;

[0013] Based on the future inspection trajectories of other mobile quality inspection terminals in the vineyard, determine other mobile quality inspection terminals that are suitable for receiving supplementary inspection tasks;

[0014] Allocate supplementary inspection tasks to other mobile quality inspection terminals that are suitable for receiving supplementary inspection tasks;

[0015] The regional conditions include: the blind area is adjacent to the local abnormal boundary area within the grape quality abnormal area.

[0016] Preferably, controlling the mobile quality inspection terminal to enter the vineyard to conduct grape quality inspection includes:

[0017] Get the current location of the mobile quality inspection terminal;

[0018] Plan the inspection route based on the current location of the mobile quality inspection terminal and the vineyard map;

[0019] Based on the inspection trajectory, the mobile quality inspection terminal is controlled to enter the vineyard to conduct grape quality inspection.

[0020] Preferably, analyzing the abnormality degree value of the grape quality abnormality event includes:

[0021] Based on a first feature extraction template of the event type of the grape quality abnormality event, feature extraction is performed on the grape quality abnormality event to obtain a plurality of first feature values;

[0022] Based on the multiple first eigenvalues, construct a first feature description vector of the grape quality abnormality event;

[0023] The abnormality degree value corresponding to the first feature description vector is determined from the abnormality degree value library.

[0024] Preferably, autonomous handling of abnormal grape quality events includes:

[0025] Based on the second feature extraction template, feature extraction is performed on the grape quality abnormality event to obtain multiple second feature values;

[0026] Based on the multiple second eigenvalues, construct a second feature description vector of the grape quality abnormality event;

[0027] Determine a first processing strategy corresponding to the second feature description vector from an autonomous processing strategy library;

[0028] A first processing strategy is executed.

[0029] Preferably, the assistant manager manually handles the abnormal grape quality events based on the mobile quality inspection terminal, including:

[0030] Obtain the historical inspection view sequence of abnormal grape quality events detected by the mobile quality inspection terminal and display it to the management personnel;

[0031] When the manager pre-selects a historical inspection perspective from the historical inspection perspective sequence, the historical inspection perspective pre-selected by the manager is mapped into the vineyard park map to obtain a perspective schematic range, and is displayed to the manager;

[0032] When the manager selects a historical inspection perspective from the historical inspection perspective sequence, the first perspective image of the historical inspection perspective selected by the manager is obtained and displayed to the manager;

[0033] When the manager continuously zooms in and views the local boundary screen in the first perspective screen for a time period greater than or equal to the time threshold within the third time period, and drags the perspective screen in the opposite direction of the local boundary screen relative to the center of the perspective screen for a number of times greater than or equal to the number threshold, an extended inspection perspective that meets the first perspective conditions is created;

[0034] Try to determine the historical inspection perspective that meets the second perspective conditions from the historical inspection perspective sequence;

[0035] When the attempt is successful, the second-perspective image of the historical inspection perspective that meets the second-perspective condition is obtained and displayed to the management personnel; otherwise, the mobile quality inspection terminal is controlled to shoot the third-perspective image in the vineyard with the expanded inspection perspective and displayed to the management personnel;

[0036] When the manager inputs the second processing strategy for the grape quality abnormality event, the second processing strategy is executed;

[0037] The first viewing angle condition includes: the ratio of the local viewing angle of the visible local boundary picture in the historical inspection viewing angle selected by the manager to the overlapping viewing angle of the expanded inspection viewing angle and the historical inspection viewing angle selected by the manager is greater than or equal to a first ratio threshold;

[0038] The second perspective condition includes: the ratio of the overlapping perspective of the historical inspection perspective and the extended inspection perspective to the extended inspection perspective is greater than or equal to a second ratio threshold.

[0039] An embodiment of the present invention provides a vineyard intelligent planting management system, comprising:

[0040] The first control module is used to control the mobile quality inspection terminal to enter the vineyard to conduct grape quality inspection;

[0041] The parsing module is used to parse the abnormality value of the grape quality abnormality event when the mobile quality inspection terminal detects the grape quality abnormality event;

[0042] A processing module is used to autonomously process the grape quality abnormality event when the abnormality degree value is less than or equal to the degree threshold; otherwise, the auxiliary management personnel manually process the grape quality abnormality event based on the mobile quality inspection terminal;

[0043] Also includes:

[0044] The second control module is configured to include:

[0045] When the mobile quality inspection terminal continuously reports the same blind area in the first time period, the grape quality abnormality area inspected by the mobile quality inspection terminal in the second time period is obtained; the second time period is before the first time period and adjacent to the first time period;

[0046] Generate supplementary inspection tasks based on multimodal information of blind spots that meet regional conditions;

[0047] Based on the future inspection trajectories of other mobile quality inspection terminals in the vineyard, determine other mobile quality inspection terminals that are suitable for receiving supplementary inspection tasks;

[0048] Allocate supplementary inspection tasks to other mobile quality inspection terminals that are suitable for receiving supplementary inspection tasks;

[0049] The regional conditions include: the blind area is adjacent to the local abnormal boundary area within the grape quality abnormal area.

[0050] Preferably, the first control module controls the mobile quality inspection terminal to enter the vineyard to conduct grape quality inspection, including:

[0051] Get the current location of the mobile quality inspection terminal;

[0052] Plan the inspection route based on the current location of the mobile quality inspection terminal and the vineyard map;

[0053] Based on the inspection trajectory, the mobile quality inspection terminal is controlled to enter the vineyard to conduct grape quality inspection.

[0054] Preferably, the analysis module analyzes the abnormality degree value of the grape quality abnormality event, including:

[0055] Based on a first feature extraction template of the event type of the grape quality abnormality event, feature extraction is performed on the grape quality abnormality event to obtain a plurality of first feature values;

[0056] Based on the multiple first eigenvalues, construct a first feature description vector of the grape quality abnormality event;

[0057] The abnormality degree value corresponding to the first feature description vector is determined from the abnormality degree value library.

[0058] Preferably, the processing module autonomously processes the grape quality abnormality event, including:

[0059] Based on the second feature extraction template, feature extraction is performed on the grape quality abnormality event to obtain multiple second feature values;

[0060] Based on the multiple second eigenvalues, construct a second feature description vector of the grape quality abnormality event;

[0061] Determine a first processing strategy corresponding to the second feature description vector from an autonomous processing strategy library;

[0062] A first processing strategy is executed.

[0063] Preferably, the processing module assists the management personnel in manually processing the abnormal grape quality events based on the mobile quality inspection terminal, including:

[0064] Obtain the historical inspection view sequence of abnormal grape quality events detected by the mobile quality inspection terminal and display it to the management personnel;

[0065] When the manager pre-selects a historical inspection perspective from the historical inspection perspective sequence, the historical inspection perspective pre-selected by the manager is mapped into the vineyard park map to obtain a perspective schematic range, and is displayed to the manager;

[0066] When the manager selects a historical inspection perspective from the historical inspection perspective sequence, the first perspective image of the historical inspection perspective selected by the manager is obtained and displayed to the manager;

[0067] When the manager continuously zooms in and views the local boundary screen in the first perspective screen for a time period greater than or equal to the time threshold within the third time period, and drags the perspective screen in the opposite direction of the local boundary screen relative to the center of the perspective screen for a number of times greater than or equal to the number threshold, an extended inspection perspective that meets the first perspective conditions is created;

[0068] Try to determine the historical inspection perspective that meets the second perspective conditions from the historical inspection perspective sequence;

[0069] When the attempt is successful, the second-perspective image of the historical inspection perspective that meets the second-perspective condition is obtained and displayed to the management personnel; otherwise, the mobile quality inspection terminal is controlled to shoot the third-perspective image in the vineyard with the expanded inspection perspective and displayed to the management personnel;

[0070] When the manager inputs the second processing strategy for the grape quality abnormality event, the second processing strategy is executed;

[0071] The first viewing angle condition includes: the ratio of the local viewing angle of the visible local boundary picture in the historical inspection viewing angle selected by the manager to the overlapping viewing angle of the expanded inspection viewing angle and the historical inspection viewing angle selected by the manager is greater than or equal to a first ratio threshold;

[0072] The second perspective condition includes: the ratio of the overlapping perspective of the historical inspection perspective and the extended inspection perspective to the extended inspection perspective is greater than or equal to a second ratio threshold.

[0073] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings.

[0074] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0075] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0076] Figure 1 A schematic diagram of a vineyard intelligent planting management method according to an embodiment of the present invention;

[0077] Figure 2 It is a schematic diagram of a vineyard intelligent planting management system in an embodiment of the present invention. DETAILED DESCRIPTION

[0078] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0079] The embodiment of the present invention provides a method for intelligent planting and management of a vineyard. Figure 1 As shown, including:

[0080] S1, control the mobile quality inspection terminal to enter the vineyard to inspect the quality of grapes;

[0081] S2. When the mobile quality inspection terminal detects an abnormal grape quality event, the abnormality degree value of the abnormal grape quality event is analyzed;

[0082] S3. When the abnormality degree value is less than or equal to the degree threshold, the grape quality abnormality event is handled autonomously; otherwise, the auxiliary management personnel manually handle the grape quality abnormality event based on the mobile quality inspection terminal;

[0083] Also includes:

[0084] When the mobile quality inspection terminal continuously reports the same blind area in the first time period, the grape quality abnormality area inspected by the mobile quality inspection terminal in the second time period is obtained; the second time period is before the first time period and adjacent to the first time period;

[0085] Generate supplementary inspection tasks based on multimodal information of blind spots that meet regional conditions;

[0086] Based on the future inspection trajectories of other mobile quality inspection terminals in the vineyard, determine other mobile quality inspection terminals that are suitable for receiving supplementary inspection tasks;

[0087] Allocate supplementary inspection tasks to other mobile quality inspection terminals that are suitable for receiving supplementary inspection tasks;

[0088] The regional conditions include: the blind area is adjacent to the local abnormal boundary area within the grape quality abnormal area.

[0089] The working principle and beneficial effects of the above technical solution are:

[0090] Mobile quality inspection terminals include: robot cars, drones, etc.; grape quality abnormal events are events in which grape plants in the vineyard grow abnormally, and the events include abnormal type, the number of abnormal grape plants, etc.; the abnormality degree value of the grape quality abnormal event represents the degree of grape quality abnormality reflected by the grape quality abnormal event. The larger the abnormality degree value, the greater the degree of grape quality abnormality reflected, and the greater the difficulty of handling the grape quality abnormal event; the degree threshold can be, for example, 10; when the abnormality degree value is less than the degree threshold, it means that the grape quality abnormal event is less difficult to handle, and the grape quality abnormal event is handled autonomously. otherwise (i.e. when the abnormality degree value is greater than the degree threshold), it indicates that the handling of the grape quality abnormality event is difficult and the vineyard manager needs to intervene to assist the manager in manually handling the grape quality abnormality event based on the mobile quality inspection terminal; the first time period is any time period of 10 seconds when the mobile quality inspection terminal conducts grape quality inspection in the vineyard; when the camera of the mobile quality inspection terminal shoots the grape plants in the vineyard, it will detect and report the blind area. When the camera detects the blind area, it will try to shoot the blind area by adjusting the posture of the mobile quality inspection terminal. However, when the mobile quality inspection terminal is in the first time period, If the same blind spot area is continuously reported within a certain period of time, it means that the mobile quality inspection terminal cannot capture the blind spot area at all; the second time period can be 20 seconds long, which is before and adjacent to the first time period; the grape quality abnormal area is the area with abnormal growth in the grape plants in the vineyard inspected by the mobile quality inspection terminal during the second time period; the local abnormal boundary area is the area with abnormal growth in the grape plants at the regional boundary within the grape quality abnormal area. If the blind spot area is adjacent to the local abnormal boundary area, it means that there may also be areas with abnormal growth in the grape plants in the blind spot area, and additional inspection is required, so Therefore, based on the multimodal information of the blind spot area that meets the regional conditions, a supplementary inspection task is generated, and the multimodal information includes: the geographical location of the blind spot area, the area of ​​the area, etc.; the mobile quality inspection terminal cannot photograph the blind spot area, and other mobile quality inspection terminals are used for supplementary inspection. The future inspection trajectory is the trajectory of other mobile quality inspection terminals for grape quality inspection in the future. Based on the future inspection trajectory, an other mobile quality inspection terminal that will pass through / is currently closest to the blind spot area in the future can be determined as the other mobile quality inspection terminal suitable for accepting the supplementary inspection task, and the supplementary inspection task is assigned to it, so that the supplementary inspection of the blind spot area can be realized.

[0091] When the mobile quality inspection terminal detects an abnormal grape quality event, the application analyzes the abnormality degree value. When the abnormality degree value is less than or equal to the degree threshold, the grape quality abnormal event is autonomously processed. Otherwise, the auxiliary management personnel manually process the grape quality abnormal event based on the mobile quality inspection terminal, giving the system the ability to handle autonomously, avoiding notifying the management personnel of all grape quality abnormal events, and improving the user experience; in addition, when a blind spot area appears, a supplementary inspection task is generated, and the supplementary inspection task is assigned to other mobile quality inspection terminals that are suitable for accepting the supplementary inspection task, so as to realize the supplementary inspection of the blind spot area and improve the comprehensiveness of the grape quality inspection of the vineyard using the mobile quality inspection terminal.

[0092] In one embodiment, controlling a mobile quality inspection terminal to enter a vineyard to inspect grape quality includes:

[0093] Get the current location of the mobile quality inspection terminal;

[0094] Plan the inspection route based on the current location of the mobile quality inspection terminal and the vineyard map;

[0095] Based on the inspection trajectory, the mobile quality inspection terminal is controlled to enter the vineyard to conduct grape quality inspection.

[0096] The working principle and beneficial effects of the above technical solution are:

[0097] The park map of the vineyard is a three-dimensional map of the vineyard. Based on the current location of the mobile quality inspection terminal and the park map of the vineyard, a trajectory can be planned for the mobile quality inspection terminal to enter the vineyard for grape quality inspection. When multiple mobile quality inspection terminals are planning inspection trajectories, it is ensured that the inspection trajectories of different mobile quality inspection terminals do not overlap.

[0098] The embodiment of the present invention introduces a park map of the vineyard, plans an inspection trajectory based on the current position of the mobile quality inspection terminal and the park map of the vineyard, and controls the mobile quality inspection terminal to enter the vineyard to inspect the quality of grapes based on the inspection trajectory, thereby improving the control efficiency and orderliness of the mobile quality inspection terminal entering the vineyard to inspect the quality of grapes.

[0099] In one embodiment, analyzing the abnormality degree value of the grape quality abnormality event includes:

[0100] Based on a first feature extraction template of the event type of the grape quality abnormality event, feature extraction is performed on the grape quality abnormality event to obtain a plurality of first feature values;

[0101] Based on the multiple first eigenvalues, construct a first feature description vector of the grape quality abnormality event;

[0102] The abnormality degree value corresponding to the first feature description vector is determined from the abnormality degree value library.

[0103] The working principle and beneficial effects of the above technical solution are:

[0104] The first feature extraction template is a template for the system to extract the first feature value of the grape quality abnormality degree reflecting the grape quality abnormality event of the corresponding event type. For example, if the event type is downy mildew on the grape plants, the first feature value is the number of grape plants with downy mildew in the vineyard, the type of leaf spots on the grape plants with downy mildew (oily spots, multi-angle spots, etc.), the farthest distance between two grape plants with downy mildew in the vineyard, etc.; based on multiple first feature values, the first feature description vector of the grape quality abnormality event is constructed in the form of a vector; the degree of abnormality The value library has preset abnormality degree values ​​corresponding to different first feature description vectors. For example, the multiple first feature values ​​constituting the first feature description vector are: the number of grape plants with downy mildew in the vineyard is 20; the leaf spot types of the grape plants with downy mildew are all polygonal spots (polygonal spots will only appear in the later stage of downy mildew); the farthest distance between two grape plants with downy mildew in the vineyard is 30 meters (the larger the distance, the more dispersed the grape plants with downy mildew are in the vineyard, and the more serious the situation is), indicating that the grape quality is highly abnormal, and the corresponding abnormality degree value is 30.

[0105] The embodiment of the present invention introduces a first feature extraction template of the event type of the grape quality abnormal event, extracts multiple first feature values ​​of the grape quality abnormal event, constructs a first feature description vector, introduces an abnormality degree value library, and searches the library to determine the abnormality degree value corresponding to the first feature description vector, thereby improving the analysis efficiency and analysis accuracy of the abnormality degree value of the grape quality abnormal event.

[0106] In one embodiment, autonomous processing of abnormal grape quality events includes:

[0107] Based on the second feature extraction template, feature extraction is performed on the grape quality abnormality event to obtain multiple second feature values;

[0108] Based on the multiple second eigenvalues, construct a second feature description vector of the grape quality abnormality event;

[0109] Determine a first processing strategy corresponding to the second feature description vector from an autonomous processing strategy library;

[0110] A first processing strategy is executed.

[0111] The working principle and beneficial effects of the above technical solution are:

[0112] The second feature extraction template is a template for the system to use as a reference to extract the second feature value that reflects the processing basis of the grape quality abnormality event. For example, the second feature value is the growth abnormality type (lack of water, pests and diseases, etc.), the location of the abnormally growing grape plant, etc.; based on multiple second feature values, a second feature description vector of the grape quality abnormality event is constructed in the form of a vector; the autonomous processing strategy library has preset first processing strategies corresponding to different second feature description vectors, for example, multiple second feature values ​​constructed into the second feature description vector are respectively the growth abnormality type is lack of water, the location of the abnormally growing grape plant is location A, then the corresponding first processing strategy is to dispatch the watering robot to irrigate the ordinary plants at location A.

[0113] The embodiment of the present invention introduces a second feature extraction template, extracts multiple second feature values ​​of grape quality abnormality events, constructs a second feature description vector, introduces an autonomous processing strategy library, searches the library to determine the first processing strategy corresponding to the second feature description vector, and executes the strategy, thereby improving the efficiency of the system in autonomously processing grape quality abnormality events.

[0114] In one embodiment, the assistant manager manually handles the abnormal grape quality events based on the mobile quality inspection terminal, including:

[0115] Obtain the historical inspection view sequence of abnormal grape quality events detected by the mobile quality inspection terminal and display it to the management personnel;

[0116] When the manager pre-selects a historical inspection perspective from the historical inspection perspective sequence, the historical inspection perspective pre-selected by the manager is mapped into the vineyard park map to obtain a perspective schematic range, and is displayed to the manager;

[0117] When the manager selects a historical inspection perspective from the historical inspection perspective sequence, the first perspective image of the historical inspection perspective selected by the manager is obtained and displayed to the manager;

[0118] When the manager continuously zooms in and views the local boundary screen in the first perspective screen for a time period greater than or equal to the time threshold within the third time period, and drags the perspective screen in the opposite direction of the local boundary screen relative to the center of the perspective screen for a number of times greater than or equal to the number threshold, an extended inspection perspective that meets the first perspective condition is created; wherein the first perspective condition includes: the ratio of the local perspective of the visible local boundary screen in the historical inspection perspective selected by the manager to the overlapping perspective of the extended inspection perspective and the historical inspection perspective selected by the manager is greater than or equal to the first ratio threshold;

[0119] Try to determine a historical inspection perspective that meets the second perspective condition from the historical inspection perspective sequence; the second perspective condition includes: the ratio of the overlapping perspective of the historical inspection perspective and the extended inspection perspective to the extended inspection perspective is greater than or equal to a second ratio threshold;

[0120] When the attempt is successful, the second-perspective image of the historical inspection perspective that meets the second-perspective condition is obtained and displayed to the management personnel; otherwise, the mobile quality inspection terminal is controlled to shoot the third-perspective image in the vineyard with the expanded inspection perspective and displayed to the management personnel;

[0121] When the manager inputs the second processing strategy for the grape quality abnormality event, the second processing strategy is executed.

[0122] The working principle and beneficial effects of the above technical solution are:

[0123] The historical inspection perspective sequence includes historical inspection perspectives sorted in chronological order of generation time. The historical inspection perspective is the perspective of the grape plant image captured by the camera on the mobile quality inspection terminal for determining grape quality abnormality events. For example, if the camera of the mobile quality inspection terminal captures images of the same grape plant showing signs of downy mildew from multiple angles, then the perspective of the image captured by the camera from different angles is the historical inspection perspective. The historical inspection perspective sequence is displayed to the management personnel for pre-selection. Pre-selection means that the management personnel want to make a selection. For example, when the historical inspection perspective sequence is displayed on the computer, the management personnel uses the mouse to operate and the pointer stays on a historical inspection perspective option but does not click. When the management personnel pre-selects a historical inspection perspective, When inspecting the perspective, the historical inspection perspective pre-selected by the manager is mapped into the park map of the vineyard to obtain the perspective schematic range, which is the visible area range of the historical inspection perspective pre-selected by the manager marked in the park map, and is displayed to the manager. The manager can view the perspective schematic range to determine which range in the ordinary park the pre-selected historical inspection perspective is shooting, and determine whether to select the pre-selected historical inspection perspective based on their own needs (for example, the importance of different grape planting areas in the ordinary park); when the manager selects the historical inspection perspective, it means that the manager wants to view the first-person perspective image of the historical inspection perspective, which is obtained and displayed to the manager; the third time period is for the manager to view the first-person perspective image The time period is any time period of 20 seconds when viewing the surface; the time threshold can be, for example, 10 seconds; the number threshold can be, for example, 3 times; the local boundary picture is the local picture located at the boundary in the first perspective picture; continuously zooming in to view the local boundary picture means that the manager zooms in on the first perspective picture in the display frame displaying the first perspective picture, so that the display frame only zooms in to display the local boundary picture; when the manager continuously zooms in to view the local boundary picture in the first perspective picture for a time period greater than or equal to the time threshold within the third time period and drags the perspective picture in the opposite direction of the local boundary picture relative to the center of the perspective picture for a number of times greater than or equal to the number threshold, it means that the manager wants to view the visible local boundary picture in the historical inspection perspective selected by him The viewing angle picture outside the local viewing angle, and the viewing angle picture does not overlap with the first viewing angle picture, therefore, the first viewing angle condition is introduced to create an extended inspection viewing angle that meets the first viewing angle condition. Under the constraint of the first viewing angle condition, the third viewing angle picture of the extended inspection viewing angle created can meet the needs of the management personnel; the first ratio threshold value can be, for example, 90%; however, the extended inspection viewing angle requires the mobile quality inspection terminal to re-adjust the shooting posture, and the second viewing angle condition is first introduced to determine whether there is a historical inspection viewing angle that can meet the needs of the management personnel, and the second ratio threshold value can be, for example, 80%; when there is a historical inspection viewing angle that meets the second viewing angle condition, the second viewing angle picture of the historical inspection viewing angle that meets the second viewing angle condition is displayed to the management personnel;Otherwise (i.e., when there is no historical inspection perspective that meets the second perspective condition), the mobile quality inspection terminal is controlled to shoot the third perspective image in the vineyard with the expanded inspection perspective, and displayed to the management personnel; the management personnel can view the content that the system continuously displays to them, make comprehensive processing decisions on the grape quality abnormality events, and finally input the second processing strategy for execution by the system. ;

[0124] The embodiment of the present invention introduces a sequence of historical inspection perspectives of abnormal grape quality events inspected by a mobile quality inspection terminal for management personnel to view and pre-select and select. When the management personnel pre-select a historical inspection perspective, a perspective schematic range is introduced to facilitate the management personnel to quickly and intuitively understand the actual shooting range of the pre-selected historical inspection perspective in the vineyard, thereby improving the efficiency of processing and decision-making, and further improving the experience of the management personnel. When the management personnel selects a historical inspection perspective, if they want to view an extended area, they do not need to move the mobile quality inspection terminal, but can express their needs by operating the first perspective screen, and the system will adaptively create an extended inspection perspective, further improving the management personnel's processing and decision-making efficiency, and at the same time, it is more humane. Finally, it is determined whether there is a historical inspection perspective that can meet the needs of the management personnel. If so, the corresponding second perspective screen is output, otherwise the mobile quality inspection terminal is controlled to re-shoot, thereby reducing the working power consumption and control resources of the mobile quality inspection terminal, and improving the applicability of the system.

[0125] The embodiment of the present invention provides a vineyard intelligent planting management system, such as Figure 2 As shown, including:

[0126] The first control module 1 is used to control the mobile quality inspection terminal to enter the vineyard to inspect the quality of grapes;

[0127] The analysis module 2 is used to analyze the abnormality degree value of the grape quality abnormality event when the mobile quality inspection terminal detects the grape quality abnormality event;

[0128] Processing module 3 is used to autonomously process the grape quality abnormality event when the abnormality degree value is less than or equal to the degree threshold; otherwise, the auxiliary management personnel manually processes the grape quality abnormality event based on the mobile quality inspection terminal;

[0129] Also includes:

[0130] The second control module is configured to include:

[0131] When the mobile quality inspection terminal continuously reports the same blind area in the first time period, the grape quality abnormality area inspected by the mobile quality inspection terminal in the second time period is obtained; the second time period is before the first time period and adjacent to the first time period;

[0132] Generate supplementary inspection tasks based on multimodal information of blind spots that meet regional conditions;

[0133] Based on the future inspection trajectories of other mobile quality inspection terminals in the vineyard, determine other mobile quality inspection terminals that are suitable for receiving supplementary inspection tasks;

[0134] Allocate supplementary inspection tasks to other mobile quality inspection terminals that are suitable for receiving supplementary inspection tasks;

[0135] The regional conditions include: the blind area is adjacent to the local abnormal boundary area within the grape quality abnormal area.

[0136] The first control module controls the mobile quality inspection terminal to enter the vineyard to inspect the quality of grapes, including:

[0137] Get the current location of the mobile quality inspection terminal;

[0138] Plan the inspection route based on the current location of the mobile quality inspection terminal and the vineyard map;

[0139] Based on the inspection trajectory, the mobile quality inspection terminal is controlled to enter the vineyard to conduct grape quality inspection.

[0140] The analysis module analyzes the abnormality degree value of the grape quality abnormality event, including:

[0141] Based on a first feature extraction template of the event type of the grape quality abnormality event, feature extraction is performed on the grape quality abnormality event to obtain a plurality of first feature values;

[0142] Based on the multiple first eigenvalues, construct a first feature description vector of the grape quality abnormality event;

[0143] The abnormality degree value corresponding to the first feature description vector is determined from the abnormality degree value library.

[0144] The processing module autonomously handles abnormal grape quality events, including:

[0145] Based on the second feature extraction template, feature extraction is performed on the grape quality abnormality event to obtain multiple second feature values;

[0146] Based on the multiple second eigenvalues, construct a second feature description vector of the grape quality abnormality event;

[0147] Determine a first processing strategy corresponding to the second feature description vector from an autonomous processing strategy library;

[0148] A first processing strategy is executed.

[0149] The processing module assists management personnel to manually handle abnormal grape quality events based on the mobile quality inspection terminal, including:

[0150] Obtain the historical inspection view sequence of abnormal grape quality events detected by the mobile quality inspection terminal and display it to the management personnel;

[0151] When the manager pre-selects a historical inspection perspective from the historical inspection perspective sequence, the historical inspection perspective pre-selected by the manager is mapped into the vineyard park map to obtain a perspective schematic range, and is displayed to the manager;

[0152] When the manager selects a historical inspection perspective from the historical inspection perspective sequence, the first perspective image of the historical inspection perspective selected by the manager is obtained and displayed to the manager;

[0153] When the manager continuously zooms in and views the local boundary screen in the first perspective screen for a time period greater than or equal to the time threshold within the third time period, and drags the perspective screen in the opposite direction of the local boundary screen relative to the center of the perspective screen for a number of times greater than or equal to the number threshold, an extended inspection perspective that meets the first perspective conditions is created;

[0154] Try to determine the historical inspection perspective that meets the second perspective conditions from the historical inspection perspective sequence;

[0155] When the attempt is successful, the second-perspective image of the historical inspection perspective that meets the second-perspective condition is obtained and displayed to the management personnel; otherwise, the mobile quality inspection terminal is controlled to shoot the third-perspective image in the vineyard with the expanded inspection perspective and displayed to the management personnel;

[0156] When the manager inputs the second processing strategy for the grape quality abnormality event, the second processing strategy is executed;

[0157] The first viewing angle condition includes: the ratio of the local viewing angle of the visible local boundary picture in the historical inspection viewing angle selected by the manager to the overlapping viewing angle of the expanded inspection viewing angle and the historical inspection viewing angle selected by the manager is greater than or equal to a first ratio threshold;

[0158] The second perspective condition includes: the ratio of the overlapping perspective of the historical inspection perspective and the extended inspection perspective to the extended inspection perspective is greater than or equal to a second ratio threshold.

[0159] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A method for intelligent planting and management of vineyards, characterized in that: include: Control the mobile quality inspection terminal to enter the vineyard to conduct grape quality inspection; When the mobile quality inspection terminal detects an abnormal grape quality event, it analyzes the abnormality level of the abnormal grape quality event; When the abnormality value is less than or equal to the degree threshold, the grape quality abnormality event is handled autonomously; Otherwise, the assistant manager will manually handle the abnormal grape quality events based on the mobile quality inspection terminal; Also includes: When the mobile quality inspection terminal continuously reports the same blind area in the first time period, the grape quality abnormality area inspected by the mobile quality inspection terminal in the second time period is obtained; the second time period is before the first time period and adjacent to the first time period; Generate supplementary inspection tasks based on multimodal information of blind spots that meet regional conditions; Based on the future inspection trajectories of other mobile quality inspection terminals in the vineyard, determine other mobile quality inspection terminals that are suitable for receiving supplementary inspection tasks; Allocate supplementary inspection tasks to other mobile quality inspection terminals that are suitable for receiving supplementary inspection tasks; Among them, the regional conditions include: the blind area is adjacent to the local abnormal boundary area within the grape quality abnormal area; Assisted management personnel manually handle abnormal grape quality events based on mobile quality inspection terminals, including: Obtain the historical inspection view sequence of abnormal grape quality events detected by the mobile quality inspection terminal and display it to the management personnel; When the manager pre-selects a historical inspection perspective from the historical inspection perspective sequence, the historical inspection perspective pre-selected by the manager is mapped into the vineyard park map to obtain a perspective schematic range, and is displayed to the manager; When the manager selects a historical inspection perspective from the historical inspection perspective sequence, the first perspective image of the historical inspection perspective selected by the manager is obtained and displayed to the manager; When the manager continuously zooms in and views the local boundary screen in the first perspective screen for a time period greater than or equal to the time threshold within the third time period, and drags the perspective screen in the opposite direction of the local boundary screen relative to the center of the perspective screen for a number of times greater than or equal to the number threshold, an extended inspection perspective that meets the first perspective conditions is created; Try to determine the historical inspection perspective that meets the second perspective conditions from the historical inspection perspective sequence; When the attempt is successful, the second-perspective image of the historical inspection perspective that meets the second-perspective condition is obtained and displayed to the management personnel; otherwise, the mobile quality inspection terminal is controlled to shoot the third-perspective image in the vineyard with the expanded inspection perspective and displayed to the management personnel; When the manager inputs the second processing strategy for the grape quality abnormality event, the second processing strategy is executed; The first viewing angle condition includes: the ratio of the local viewing angle of the visible local boundary picture in the historical inspection viewing angle selected by the manager to the overlapping viewing angle of the expanded inspection viewing angle and the historical inspection viewing angle selected by the manager is greater than or equal to a first ratio threshold; The second perspective condition includes: the ratio of the overlapping perspective of the historical inspection perspective and the extended inspection perspective to the extended inspection perspective is greater than or equal to a second ratio threshold.

2. The vineyard intelligent planting management method according to claim 1, characterized in that: Control the mobile quality inspection terminal to enter the vineyard to conduct grape quality inspection, including: Get the current location of the mobile quality inspection terminal; Plan the inspection route based on the current location of the mobile quality inspection terminal and the vineyard map; Based on the inspection trajectory, the mobile quality inspection terminal is controlled to enter the vineyard to conduct grape quality inspection.

3. The vineyard intelligent planting management method according to claim 1, characterized in that: Analyze the abnormality degree value of abnormal grape quality events, including: Based on a first feature extraction template of the event type of the grape quality abnormality event, feature extraction is performed on the grape quality abnormality event to obtain a plurality of first feature values; Based on the multiple first eigenvalues, construct a first feature description vector of the grape quality abnormality event; The abnormality degree value corresponding to the first feature description vector is determined from the abnormality degree value library.

4. The vineyard intelligent planting management method according to claim 1, characterized in that: Autonomous handling of abnormal grape quality events, including: Based on the second feature extraction template, feature extraction is performed on the grape quality abnormality event to obtain multiple second feature values; Based on the multiple second eigenvalues, construct a second feature description vector of the grape quality abnormality event; Determine a first processing strategy corresponding to the second feature description vector from an autonomous processing strategy library; A first processing strategy is executed.

5. A vineyard intelligent planting management system, characterized in that: include: The first control module is used to control the mobile quality inspection terminal to enter the vineyard to conduct grape quality inspection; The parsing module is used to parse the abnormality degree value of the grape quality abnormality event when the mobile quality inspection terminal detects the grape quality abnormality event; A processing module, used for autonomously processing the grape quality abnormality event when the abnormality degree value is less than or equal to the degree threshold; Otherwise, the assistant manager will manually handle the abnormal grape quality events based on the mobile quality inspection terminal; Also includes: The second control module is configured to include: When the mobile quality inspection terminal continuously reports the same blind area in the first time period, the grape quality abnormality area inspected by the mobile quality inspection terminal in the second time period is obtained; the second time period is before the first time period and adjacent to the first time period; Generate supplementary inspection tasks based on multimodal information of blind spots that meet regional conditions; Based on the future inspection trajectories of other mobile quality inspection terminals in the vineyard, determine other mobile quality inspection terminals that are suitable for receiving supplementary inspection tasks; Allocate supplementary inspection tasks to other mobile quality inspection terminals that are suitable for receiving supplementary inspection tasks; Among them, the regional conditions include: the blind area is adjacent to the local abnormal boundary area within the grape quality abnormal area; The processing module assists management personnel to manually handle abnormal grape quality events based on the mobile quality inspection terminal, including: Obtain the historical inspection view sequence of abnormal grape quality events detected by the mobile quality inspection terminal and display it to the management personnel; When the manager pre-selects a historical inspection perspective from the historical inspection perspective sequence, the historical inspection perspective pre-selected by the manager is mapped into the vineyard park map to obtain a perspective schematic range, and is displayed to the manager; When the manager selects a historical inspection perspective from the historical inspection perspective sequence, the first perspective image of the historical inspection perspective selected by the manager is obtained and displayed to the manager; When the manager continuously zooms in and views the local boundary screen in the first perspective screen for a time period greater than or equal to the time threshold within the third time period, and drags the perspective screen in the opposite direction of the local boundary screen relative to the center of the perspective screen for a number of times greater than or equal to the number threshold, an extended inspection perspective that meets the first perspective conditions is created; Try to determine the historical inspection perspective that meets the second perspective conditions from the historical inspection perspective sequence; When the attempt is successful, the second-perspective image of the historical inspection perspective that meets the second-perspective condition is obtained and displayed to the management personnel; otherwise, the mobile quality inspection terminal is controlled to shoot the third-perspective image in the vineyard with the expanded inspection perspective and displayed to the management personnel; When the manager inputs the second processing strategy for the grape quality abnormality event, the second processing strategy is executed; The first viewing angle condition includes: the ratio of the local viewing angle of the visible local boundary picture in the historical inspection viewing angle selected by the manager to the overlapping viewing angle of the expanded inspection viewing angle and the historical inspection viewing angle selected by the manager is greater than or equal to a first ratio threshold; The second perspective condition includes: the ratio of the overlapping perspective of the historical inspection perspective and the extended inspection perspective to the extended inspection perspective is greater than or equal to a second ratio threshold.

6. The vineyard intelligent planting management system according to claim 5, characterized in that: The first control module controls the mobile quality inspection terminal to enter the vineyard to inspect the quality of grapes, including: Get the current location of the mobile quality inspection terminal; Plan the inspection route based on the current location of the mobile quality inspection terminal and the vineyard map; Based on the inspection trajectory, the mobile quality inspection terminal is controlled to enter the vineyard to conduct grape quality inspection.

7. The vineyard intelligent planting management system according to claim 5, characterized in that: The analysis module analyzes the abnormality degree value of the grape quality abnormality event, including: Based on a first feature extraction template of the event type of the grape quality abnormality event, feature extraction is performed on the grape quality abnormality event to obtain a plurality of first feature values; Based on the multiple first eigenvalues, construct a first feature description vector of the grape quality abnormality event; The abnormality degree value corresponding to the first feature description vector is determined from the abnormality degree value library.

8. The vineyard intelligent planting management system according to claim 5, characterized in that: The processing module autonomously handles abnormal grape quality events, including: Based on the second feature extraction template, feature extraction is performed on the grape quality abnormality event to obtain multiple second feature values; Based on the multiple second eigenvalues, construct a second feature description vector of the grape quality abnormality event; Determine a first processing strategy corresponding to the second feature description vector from an autonomous processing strategy library; A first processing strategy is executed.

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