Intelligent precision water and fertilizer irrigation method and system for corn planting

Abstract

The present invention is applicable to the field of water and fertilizer irrigation technology, and provides an intelligent precision water and fertilizer irrigation method and system for corn planting. The present invention obtains soil detection data and irrigation planning data of the target irrigation area to calculate the total amount of water and fertilizer irrigation; performs machine irrigation control and irrigation tracking monitoring to obtain tracking monitoring data; determines multiple irrigation abnormal sub-areas and detects the remaining amount of machine irrigation; selects multiple irrigation drones and plans multiple supplementary irrigation routes; controls multiple irrigation drones for supplementary irrigation. It is capable of calculating the total amount of water and fertilizer irrigation, performing machine irrigation control and tracking monitoring, identifying multiple irrigation abnormal sub-areas, detecting the remaining amount of machine irrigation, selecting multiple irrigation drones, planning multiple supplementary irrigation routes for supplementary irrigation control, thereby being able to automatically identify areas that are not covered by machine irrigation, perform precise supplementary irrigation, effectively improve the accuracy of water and fertilizer irrigation for corn planting, and ensure the healthy growth of planted corn.

Description

Technical Field

[0001] The present invention belongs to the technical field of water and fertilizer irrigation, and in particular relates to an intelligent and precise water and fertilizer irrigation method and system for corn planting. Background Art

[0002] Fertilizer irrigation is an agricultural technology that combines irrigation and fertilization. It is also called integrated water-fertilizer technology or fertigation. It involves mixing fertilizer and irrigation water into a fertilizer solution according to the soil nutrient content and the fertilizer requirements and characteristics of the crops, and then irrigating the crops.

[0003] Water and fertilizer irrigation for corn cultivation is generally carried out by machine irrigation. However, this method usually faces some challenges during implementation.

[0004] Specifically, due to the complex and diverse topography of farmland, it is often difficult for machine irrigation to achieve full coverage; machine irrigation itself can also cause uneven irrigation due to pipe blockage, water pump failure and other failures, so that some areas do not get enough water and fertilizer. Therefore, the current machine irrigation has the problem of low accuracy, which also directly affects the growth of corn. Summary of the invention

[0005] The purpose of the embodiments of the present invention is to provide an intelligent precision water and fertilizer irrigation method and system for corn planting, aiming to solve the technical problems existing in the prior art mentioned in the background technology.

[0006] The embodiment of the present invention is implemented as follows:

[0007] An intelligent precision water and fertilizer irrigation method for corn planting, the method specifically comprising the following steps:

[0008] Determine the target irrigation area for corn planting, obtain soil testing data and irrigation planning data for the target irrigation area, and calculate the total amount of water and fertilizer irrigation;

[0009] According to the total amount of water and fertilizer irrigation, the machine irrigation is controlled, and during the machine irrigation process, the irrigation tracking and monitoring are performed to obtain the tracking and monitoring data;

[0010] Identifying the tracking monitoring data, determining a plurality of abnormal irrigation sub-areas, and detecting the remaining amount of machine irrigation after completing machine irrigation;

[0011] According to the remaining amount of machine irrigation, multiple irrigation drones are selected, and multiple supplementary irrigation routes are planned according to the multiple irrigation abnormality sub-areas;

[0012] According to the multiple supplementary irrigation routes, the multiple irrigation drones are controlled to perform supplementary irrigation on the multiple irrigation abnormality sub-areas.

[0013] As a further limitation of the technical solution of the embodiment of the present invention, the determination of the target irrigation area for corn planting, obtaining the soil detection data and irrigation planning data of the target irrigation area, and calculating the total amount of water and fertilizer irrigation specifically include the following steps:

[0014] Identify target irrigation areas for corn planting;

[0015] Selecting a plurality of soil testing points from the target irrigation area;

[0016] Acquiring soil detection data of a plurality of soil detection points;

[0017] Acquiring irrigation planning data for the target irrigation area;

[0018] The total amount of water and fertilizer irrigation in the target irrigation area is calculated based on the soil detection data, the irrigation planning data and the preset irrigation coefficient data.

[0019] As a further limitation of the technical solution of the embodiment of the present invention, the calculation formula of the total amount of water and fertilizer irrigation is:

[0020] ;

[0021] in, is the total amount of water and fertilizer irrigation, The water-fertilizer mixing ratio is: is the plant coefficient, is the soil capacity, is the wetting depth, is the wetting ratio, is the upper limit of water content, is the lower limit of water content, is the regional irrigation area of ​​the target irrigation area, is the irrigation utilization coefficient.

[0022] As a further limitation of the technical solution of the embodiment of the present invention, the machine irrigation control is performed according to the total amount of water and fertilizer irrigation, and the irrigation tracking and monitoring is performed during the machine irrigation process, and the acquisition of tracking and monitoring data specifically includes the following steps:

[0023] Obtaining a regional planting map of the target irrigation area;

[0024] Based on the regional planting map, machine irrigation route planning is carried out to generate machine irrigation routes;

[0025] According to the total amount of water and fertilizer irrigation and the machine irrigation route, the scope and flow rate of irrigation spray control are planned to generate irrigation control data;

[0026] Performing machine irrigation control according to the machine irrigation route and the irrigation control data;

[0027] Choose to track the drone;

[0028] Planning a tracking and monitoring route according to the machine irrigation route and the preset tracking height;

[0029] By using the tracking drone, irrigation tracking monitoring is performed according to the tracking monitoring route during the machine irrigation process to obtain tracking monitoring data.

[0030] As a further limitation of the technical solution of the embodiment of the present invention, the identifying of the tracking monitoring data, determining multiple abnormal irrigation sub-areas, and detecting the remaining amount of machine irrigation after completing the machine irrigation specifically includes the following steps:

[0031] Performing frame-by-frame image conversion and preprocessing on the tracking monitoring data to obtain a plurality of standard monitoring images;

[0032] In the regional planting map, the irrigation coverage is identified and marked for a plurality of the standard monitoring images to generate an irrigation coverage map;

[0033] Determining a plurality of irrigation abnormality sub-areas according to the irrigation coverage map;

[0034] After the machine irrigation is completed, the remaining amount of machine irrigation is detected.

[0035] As a further limitation of the technical solution of the embodiment of the present invention, the selecting of multiple irrigation drones according to the remaining amount of machine irrigation, and planning of multiple supplementary irrigation routes according to the multiple irrigation abnormality sub-areas specifically include the following steps:

[0036] Extract irrigation capacity and irrigation scale from preset drone basic data;

[0037] Based on the irrigation scale, performing coverage optimization on the plurality of irrigation abnormal sub-areas to generate a plurality of optimized sub-areas;

[0038] According to the plurality of optimization sub-areas, the remaining amount of the machine irrigation is optimized synchronously, and the optimized remaining amount is calculated;

[0039] selecting a plurality of irrigation drones based on the irrigation capacity and the optimized remaining amount;

[0040] Based on the irrigation scale and the plurality of optimized sub-areas, a plurality of supplementary irrigation routes are planned.

[0041] As a further limitation of the technical solution of the embodiment of the present invention, the calculation formula of the optimized remainder is:

[0042] ;

[0043] in, To optimize the remaining amount, Irrigate the machine with the remaining amount, is the total area of ​​multiple optimized sub-regions, is the total area of ​​multiple irrigation abnormal sub-areas.

[0044] As a further limitation of the technical solution of the embodiment of the present invention, the controlling of the plurality of irrigation drones according to the plurality of supplementary irrigation routes to supplementary irrigate the plurality of irrigation abnormal sub-areas specifically comprises the following steps:

[0045] Matching the plurality of supplementary irrigation routes with the plurality of irrigation drones, and recording irrigation matching relationship data;

[0046] According to the irrigation matching relationship data, the plurality of irrigation drones are controlled to follow corresponding supplementary irrigation routes, and supplementary irrigation is performed on the plurality of irrigation abnormality sub-areas.

[0047] An intelligent precision water and fertilizer irrigation system for corn planting, the system comprises an irrigation total amount calculation module, an irrigation tracking and monitoring module, an irrigation abnormality analysis module, a supplementary route planning module and a supplementary irrigation control module, wherein:

[0048] The total irrigation amount calculation module is used to determine the target irrigation area for corn planting, obtain soil testing data and irrigation planning data of the target irrigation area, and calculate the total amount of water and fertilizer irrigation;

[0049] An irrigation tracking and monitoring module is used to control the machine irrigation according to the total amount of water and fertilizer irrigation, and to perform irrigation tracking and monitoring during the machine irrigation process to obtain tracking and monitoring data;

[0050] An irrigation anomaly analysis module is used to identify the tracking monitoring data, determine multiple irrigation anomaly sub-areas, and detect the remaining amount of machine irrigation after the machine irrigation is completed;

[0051] A supplementary route planning module, used to select a plurality of irrigation drones according to the remaining irrigation amount of the machine, and plan a plurality of supplementary irrigation routes according to the plurality of abnormal irrigation sub-areas;

[0052] The supplementary irrigation control module is used to control the multiple irrigation drones according to the multiple supplementary irrigation routes to perform supplementary irrigation on the multiple irrigation abnormality sub-areas.

[0053] As a further limitation of the technical solution of the embodiment of the present invention, the irrigation total amount calculation module specifically includes:

[0054] an area determination unit to determine target irrigation areas for corn planting;

[0055] A detection point selection unit, used for selecting a plurality of soil detection points from the target irrigation area;

[0056] A detection data acquisition unit, used to acquire soil detection data of a plurality of soil detection points;

[0057] A planning data acquisition unit, used to acquire irrigation planning data of the target irrigation area;

[0058] The total irrigation amount calculation unit is used to calculate the total amount of water and fertilizer irrigation in the target irrigation area according to the soil detection data, the irrigation planning data and the preset irrigation coefficient data.

[0059] Compared with the prior art, the present invention has the following beneficial effects:

[0060] The embodiment of the present invention obtains soil detection data and irrigation planning data of the target irrigation area to calculate the total amount of water and fertilizer irrigation; performs machine irrigation control and irrigation tracking monitoring to obtain tracking monitoring data; determines multiple irrigation abnormal sub-areas and detects the remaining amount of machine irrigation; selects multiple irrigation drones and plans multiple supplementary irrigation routes; and controls multiple irrigation drones to perform supplementary irrigation. The total amount of water and fertilizer irrigation can be calculated, machine irrigation control and tracking monitoring can be performed, multiple irrigation abnormal sub-areas can be controlled and tracked, multiple machine irrigation remaining amounts can be detected, multiple irrigation drones can be selected, multiple supplementary irrigation routes can be planned for supplementary irrigation control, and thus the areas that are not covered by machine irrigation can be automatically identified, and accurate supplementary irrigation can be performed, effectively improving the accuracy of water and fertilizer irrigation for corn planting and ensuring the healthy growth of planted corn. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 A flow chart of an intelligent precision water and fertilizer irrigation method for corn planting provided by an embodiment of the present invention is shown;

[0062] Figure 2 A flow chart showing the total amount of water and fertilizer irrigation in the method provided by an embodiment of the present invention is shown;

[0063] Figure 3 A flow chart of obtaining tracking and monitoring data in a method provided in an embodiment of the present invention is shown;

[0064] Figure 4 A flow chart of identifying abnormal irrigation sub-areas in the method provided by an embodiment of the present invention is shown;

[0065] Figure 5 A flow chart showing supplementary irrigation route planning in the method provided by an embodiment of the present invention is shown;

[0066] Figure 6A flow chart showing supplementary irrigation control in the method provided by an embodiment of the present invention is shown;

[0067] Figure 7 An application architecture diagram of an intelligent precision water and fertilizer irrigation system for corn planting provided by an embodiment of the present invention is shown;

[0068] Figure 8 The structure block diagram of the irrigation total amount calculation module in the system provided by the embodiment of the present invention is shown. DETAILED DESCRIPTION

[0069] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0070] It is understandable that, at present, water and fertilizer irrigation for corn planting is generally carried out by machine irrigation. However, this method usually faces some challenges in its implementation. Specifically, due to the complex and diverse terrain of farmland, machine irrigation is often difficult to achieve full coverage; machine irrigation itself can also cause uneven irrigation due to pipe blockage, water pump failure and other failures, so that some areas do not get enough water and fertilizer. Therefore, the current machine irrigation has the problem of low accuracy, which also directly affects the growth of corn.

[0071] In order to solve the above problems, an intelligent precise water and fertilizer irrigation method and system for corn planting disclosed in an embodiment of the present invention determines the target irrigation area for corn planting, obtains soil detection data and irrigation planning data of the target irrigation area, and calculates the total amount of water and fertilizer irrigation; according to the total amount of water and fertilizer irrigation, performs machine irrigation control, and during the machine irrigation process, performs irrigation tracking monitoring and obtains tracking monitoring data; identifies the tracking monitoring data, determines multiple abnormal irrigation sub-areas, and detects the remaining amount of machine irrigation after completing the machine irrigation; selects multiple irrigation drones according to the remaining amount of machine irrigation, and plans multiple supplementary irrigation routes according to the multiple abnormal irrigation sub-areas; controls multiple irrigation drones according to the multiple supplementary irrigation routes, and performs supplementary irrigation on multiple abnormal irrigation sub-areas. The total amount of water and fertilizer irrigation can be calculated, machine irrigation control and tracking monitoring can be performed, multiple abnormal irrigation sub-areas can be identified, the remaining amount of machine irrigation can be detected, multiple irrigation drones can be selected, and multiple supplementary irrigation routes can be planned for supplementary irrigation control, so that the area that machine irrigation fails to cover can be automatically identified, and accurate supplementary irrigation can be performed, effectively improving the accuracy of water and fertilizer irrigation for corn planting, and ensuring the healthy growth of planted corn.

[0072] Specifically, Figure 1 A flow chart of an intelligent precision water and fertilizer irrigation method for corn planting provided by an embodiment of the present invention is shown.

[0073] In a preferred embodiment of the present invention, an intelligent precision water and fertilizer irrigation method for corn planting comprises the following steps:

[0074] Step S101, determine the target irrigation area for corn planting, obtain soil testing data and irrigation planning data for the target irrigation area, and calculate the total amount of water and fertilizer irrigation.

[0075] In an embodiment of the present invention, a target irrigation area for corn planting is determined, and multiple soil detection points are selected from the target irrigation area according to the diagonal point distribution method or the serpentine point distribution method. After sampling and detection of the multiple soil detection points, soil detection data of the multiple soil detection points are obtained, and then the irrigation planning data of the target irrigation area is obtained. Then, through the soil detection data, the irrigation planning data and the preset irrigation coefficient data, a comprehensive analysis of water and fertilizer irrigation is performed on the target irrigation area, and the total amount of water and fertilizer irrigation in the target irrigation area is calculated. Specifically, the calculation formula of the total amount of water and fertilizer irrigation is:

[0076] ;

[0077] in, is the total amount of water and fertilizer irrigation, The water-fertilizer mixing ratio is: is the plant coefficient, is the soil capacity, is the wetting depth, is the wetting ratio, is the upper limit of water content, is the lower limit of water content, is the regional irrigation area of ​​the target irrigation area, is the irrigation utilization coefficient.

[0078] It can be understood that the soil testing data contains soil capacity; the irrigation planning data contains the water-fertilizer mixture ratio, wetting depth, wetting ratio, upper limit of moisture content and lower limit of moisture content, among which the wetting depth, wetting ratio, upper limit of moisture content and lower limit of moisture content are related to the growth stage of corn; the irrigation coefficient data contains the plant coefficient and irrigation utilization coefficient.

[0079] It is understandable that since the target irrigation area for corn planting is usually large, the soil testing points can be selected according to the diagonal point distribution method or the serpentine point distribution method. Specifically, the diagonal point distribution method is to divide the diagonal of the target irrigation area into several equal parts, and set soil testing points at each equal point; the serpentine point distribution method is a serpentine path distribution, and multiple soil testing points are selected to ensure that all parts of the target irrigation area can be covered.

[0080] Specifically, Figure 2A flow chart for calculating the total amount of water and fertilizer irrigation in the method provided by an embodiment of the present invention is shown.

[0081] Among them, in the preferred embodiment provided by the present invention, the determination of the target irrigation area for corn planting, the acquisition of soil detection data and irrigation planning data of the target irrigation area, and the calculation of the total amount of water and fertilizer irrigation specifically include the following steps:

[0082] Step S1011, determining the target irrigation area for corn planting;

[0083] Step S1012: selecting a plurality of soil testing points from the target irrigation area;

[0084] Step S1013, obtaining soil detection data of a plurality of soil detection points;

[0085] Step S1014, obtaining irrigation planning data of the target irrigation area;

[0086] Step S1015: Calculate the total amount of water and fertilizer irrigation in the target irrigation area according to the soil detection data, the irrigation planning data and the preset irrigation coefficient data.

[0087] Furthermore, the intelligent precision water and fertilizer irrigation method for corn planting also includes the following steps:

[0088] Step S102: According to the total amount of water and fertilizer irrigation, the machine irrigation is controlled, and during the machine irrigation process, the irrigation tracking and monitoring is performed to obtain the tracking and monitoring data.

[0089] In an embodiment of the present invention, by obtaining a regional planting map of the target irrigation area, the route of machine irrigation is planned according to the machine driving area in the regional planting map, and a machine irrigation route is generated. Then, according to the total amount of water and fertilizer irrigation and the machine irrigation route, the range and flow of irrigation spray control are planned to generate irrigation control data. Then, according to the machine irrigation route and the irrigation control data, machine irrigation control is performed in the target irrigation area, and a tracking drone is selected. According to the machine irrigation route and the preset tracking height, a tracking monitoring route of the tracking drone is planned. Then, during the process of machine irrigation, irrigation tracking monitoring is performed by tracking the drone according to the tracking monitoring route to obtain tracking monitoring data.

[0090] It can be understood that the irrigation control data is the planned lateral spraying range (the lateral spraying range of machine irrigation is variable, and the spraying pressure, spraying angle, etc. can be adjusted to achieve the adjustment of the lateral spraying range) and spraying flow rate that are synchronized with the machine irrigation route, so that when machine irrigation is carried out according to the machine irrigation route and irrigation control data, the target irrigation area can be irrigated with water and fertilizer evenly.

[0091] It can be understood that irrigation tracking monitoring is to monitor, shoot and locate the process of machine irrigation along the tracking monitoring route; tracking monitoring data is comprehensive data including video data and positioning data.

[0092] Specifically, Figure 3 A flow chart of obtaining tracking and monitoring data in the method provided in an embodiment of the present invention is shown.

[0093] Among them, in the preferred embodiment provided by the present invention, the machine irrigation control is performed according to the total amount of water and fertilizer irrigation, and during the machine irrigation process, irrigation tracking monitoring is performed, and obtaining tracking monitoring data specifically includes the following steps:

[0094] Step S1021, obtaining a regional planting map of the target irrigation area;

[0095] Step S1022: Based on the regional planting map, the machine irrigation route is planned to generate the machine irrigation route;

[0096] Step S1023, planning the range and flow rate of irrigation spraying control according to the total amount of water and fertilizer irrigation and the machine irrigation route, and generating irrigation control data;

[0097] Step S1024, performing machine irrigation control according to the machine irrigation route and the irrigation control data;

[0098] Step S1025, selecting a tracking drone;

[0099] Step S1026: planning a tracking and monitoring route according to the machine irrigation route and the preset tracking height;

[0100] Step S1027: using the tracking drone to follow the tracking monitoring route, during the machine irrigation process, perform irrigation tracking monitoring to obtain tracking monitoring data.

[0101] Furthermore, the intelligent precision water and fertilizer irrigation method for corn planting also includes the following steps:

[0102] Step S103: Identify the tracking monitoring data, determine multiple abnormal irrigation sub-areas, and detect the remaining amount of machine irrigation after completing the machine irrigation.

[0103] In an embodiment of the present invention, the video data in the tracking and monitoring data is processed frame by frame to obtain a plurality of tracking and monitoring images, and the plurality of tracking and monitoring images are pre-processed by denoising, contrast enhancement, etc. to obtain a plurality of standard monitoring images, and then the irrigation spraying is identified for the plurality of standard monitoring images according to the preset irrigation water flow characteristics, and the irrigation spraying distance is determined, and the coverage range of the machine irrigation is marked in the regional planting map in combination with the positioning data in the tracking and monitoring data to generate an irrigation coverage map, and then according to the irrigation coverage map, the areas not covered by the machine irrigation in the target irrigation area can be identified, and the continuous set of areas not covered by the machine irrigation is the irrigation abnormality sub-area, so that the plurality of irrigation abnormality sub-areas in the target irrigation area can be determined, and after the machine irrigation is completed, the remaining detection of the machine irrigation is performed to obtain the remaining amount of the machine irrigation.

[0104] Specifically, Figure 4 A flow chart of identifying abnormal irrigation sub-areas in the method provided by an embodiment of the present invention is shown.

[0105] Among them, in the preferred embodiment provided by the present invention, the identifying of the tracking monitoring data, determining multiple irrigation abnormality sub-areas, and detecting the remaining amount of machine irrigation after completing the machine irrigation specifically includes the following steps:

[0106] Step S1031, performing frame-by-frame image conversion and preprocessing on the tracking monitoring data to obtain a plurality of standard monitoring images;

[0107] Step S1032: in the regional planting map, identify and mark the irrigation coverage of the plurality of standard monitoring images to generate an irrigation coverage map;

[0108] Step S1033, determining a plurality of abnormal irrigation sub-areas according to the irrigation coverage map;

[0109] Step S1034: After the machine irrigation is completed, the remaining amount of the machine irrigation is detected.

[0110] Furthermore, the intelligent precision water and fertilizer irrigation method for corn planting also includes the following steps:

[0111] Step S104: selecting a plurality of irrigation drones according to the remaining amount of machine irrigation, and planning a plurality of supplementary irrigation routes according to the plurality of abnormal irrigation sub-areas.

[0112] In an embodiment of the present invention, preset drone basic data is identified, the irrigation capacity and irrigation scale of the drone are extracted, and then the border widths of the abnormal irrigation sub-areas are compared based on the irrigation scale. If the border width is smaller than the irrigation scale, the border is expanded at the border width to ensure that all border widths are not smaller than the irrigation scale, thereby achieving coverage optimization of multiple abnormal irrigation sub-areas, generating multiple optimized sub-areas, and then according to the multiple optimized sub-areas, the machine irrigation surplus is synchronously optimized, the optimized surplus is calculated, and then based on the irrigation capacity and the optimized surplus, multiple irrigation drones are selected, and based on the irrigation scale and the multiple optimized sub-areas, multiple supplementary irrigation routes are planned. Specifically, the calculation formula for the optimized surplus is:

[0113] ;

[0114] in, To optimize the remaining amount, Irrigate the remaining amount for the machine, is the total area of ​​multiple optimized sub-regions, is the total area of ​​multiple irrigation abnormal sub-areas.

[0115] Understandably, irrigation scale, which is the lateral spraying range of an irrigation drone, is immutable.

[0116] Specifically, Figure 5 A flow chart of supplementary irrigation route planning in the method provided by an embodiment of the present invention is shown.

[0117] Among them, in the preferred embodiment provided by the present invention, the selecting of multiple irrigation drones according to the remaining amount of machine irrigation, and planning of multiple supplementary irrigation routes according to the multiple irrigation abnormality sub-areas specifically include the following steps:

[0118] Step S1041: extracting irrigation capacity and irrigation scale from preset drone basic data;

[0119] Step S1042: Based on the irrigation scale, performing coverage optimization on the plurality of abnormal irrigation sub-areas to generate a plurality of optimized sub-areas;

[0120] Step S1043, according to the plurality of optimization sub-areas, synchronously optimizing the machine irrigation remaining amount, and calculating the optimized remaining amount;

[0121] Step S1044: selecting a plurality of irrigation drones based on the irrigation capacity and the optimized remaining amount;

[0122] Step S1045: planning a plurality of supplementary irrigation routes based on the irrigation scale and the plurality of optimized sub-areas.

[0123] Furthermore, the intelligent precision water and fertilizer irrigation method for corn planting also includes the following steps:

[0124] Step S105: Control the plurality of irrigation drones according to the plurality of supplementary irrigation routes to perform supplementary irrigation on the plurality of irrigation abnormality sub-areas.

[0125] In an embodiment of the present invention, multiple supplementary irrigation routes are matched with multiple irrigation drones, irrigation matching relationship data is recorded, and then the corresponding supplementary irrigation routes are controlled for the multiple irrigation drones according to the irrigation matching relationship data, so that the multiple irrigation drones can fly and irrigate according to the corresponding supplementary irrigation routes, thereby realizing supplementary irrigation of multiple irrigation abnormality sub-areas.

[0126] Specifically, Figure 6 A flow chart of supplementary irrigation control in the method provided by an embodiment of the present invention is shown.

[0127] Among them, in the preferred embodiment provided by the present invention, the controlling of the plurality of irrigation drones according to the plurality of supplementary irrigation routes to supplementary irrigate the plurality of irrigation abnormal sub-areas specifically comprises the following steps:

[0128] Step S1051, matching the plurality of supplementary irrigation routes with the plurality of irrigation drones, and recording irrigation matching relationship data;

[0129] Step S1052: According to the irrigation matching relationship data, the plurality of irrigation drones are controlled to perform corresponding supplementary irrigation routes, and supplementary irrigation is performed on the plurality of irrigation abnormality sub-areas.

[0130] Furthermore, Figure 7 The application architecture diagram of the intelligent precision water and fertilizer irrigation system for corn planting provided by an embodiment of the present invention is shown.

[0131] Among them, in another preferred embodiment provided by the present invention, an intelligent precision water and fertilizer irrigation system for corn planting includes:

[0132] The total irrigation amount calculation module 101 is used to determine the target irrigation area for corn planting, obtain soil detection data and irrigation planning data of the target irrigation area, and calculate the total amount of water and fertilizer irrigation.

[0133] In the embodiment of the present invention, the total irrigation amount calculation module 101 determines the target irrigation area for corn planting, selects multiple soil detection points from the target irrigation area according to the diagonal point distribution method or the serpentine point distribution method, and then obtains soil detection data of the multiple soil detection points after completing the sampling and detection of the multiple soil detection points, and then obtains the irrigation planning data of the target irrigation area, and then performs a comprehensive analysis of water and fertilizer irrigation on the target irrigation area through the soil detection data, irrigation planning data and preset irrigation coefficient data, and calculates the total amount of water and fertilizer irrigation in the target irrigation area. Specifically, the calculation formula of the total amount of water and fertilizer irrigation is:

[0134] ;

[0135] in, is the total amount of water and fertilizer irrigation, The water-fertilizer mixing ratio is: is the plant coefficient, is the soil capacity, is the wetting depth, is the wetting ratio, is the upper limit of water content, is the lower limit of water content, is the regional irrigation area of ​​the target irrigation area, is the irrigation utilization coefficient.

[0136] Specifically, Figure 8 It shows a structural block diagram of the irrigation total amount calculation module 101 in the system provided by the embodiment of the present invention.

[0137] Among them, in the preferred embodiment provided by the present invention, the irrigation total amount calculation module 101 specifically includes:

[0138] An area determination unit 1011 is used to determine a target irrigation area for corn planting;

[0139] A detection point selection unit 1012 is used to select a plurality of soil detection points from the target irrigation area;

[0140] A detection data acquisition unit 1013 is used to acquire soil detection data of a plurality of soil detection points;

[0141] A planning data acquisition unit 1014 is used to acquire irrigation planning data of the target irrigation area;

[0142] The total irrigation amount calculation unit 1015 is used to calculate the total amount of water and fertilizer irrigation in the target irrigation area according to the soil detection data, the irrigation planning data and the preset irrigation coefficient data.

[0143] Furthermore, the intelligent precision water and fertilizer irrigation system for corn planting also includes:

[0144] The irrigation tracking and monitoring module 102 is used to control the machine irrigation according to the total amount of water and fertilizer irrigation, and to perform irrigation tracking and monitoring during the machine irrigation process to obtain tracking and monitoring data.

[0145] In an embodiment of the present invention, the irrigation tracking and monitoring module 102 obtains a regional planting map of the target irrigation area, plans the route of machine irrigation according to the machine driving area in the regional planting map, generates a machine irrigation route, and then plans the range and flow of irrigation spray control according to the total amount of water and fertilizer irrigation and the machine irrigation route, generates irrigation control data, and then performs machine irrigation control in the target irrigation area according to the machine irrigation route and irrigation control data, selects a tracking drone, and plans the tracking and monitoring route of the tracking drone according to the machine irrigation route and the preset tracking height, and then in the process of machine irrigation, performs irrigation tracking and monitoring according to the tracking and monitoring route by tracking the drone to obtain tracking and monitoring data.

[0146] The irrigation anomaly analysis module 103 is used to identify the tracking monitoring data, determine multiple irrigation anomaly sub-areas, and detect the remaining amount of machine irrigation after the machine irrigation is completed.

[0147] In an embodiment of the present invention, the irrigation anomaly analysis module 103 obtains a plurality of tracking monitoring images by performing frame-by-frame processing on the video data in the tracking monitoring data, and performs preprocessing such as denoising and contrast enhancement on the plurality of tracking monitoring images to obtain a plurality of standard monitoring images, and then performs irrigation spray identification on the plurality of standard monitoring images according to preset irrigation water flow characteristics to determine the irrigation spray distance, and marks the coverage range of machine irrigation in the regional planting map in combination with the positioning data in the tracking monitoring data to generate an irrigation coverage map, and then, based on the irrigation coverage map, it is possible to identify areas in the target irrigation area that are not covered by machine irrigation, and a continuous set of areas that are not covered by machine irrigation is an irrigation anomaly sub-area, thereby determining a plurality of irrigation anomaly sub-areas in the target irrigation area, and after completing the machine irrigation, perform a remaining detection of the machine irrigation to obtain the remaining amount of machine irrigation.

[0148] The supplementary route planning module 104 is used to select multiple irrigation drones according to the remaining irrigation amount of the machine, and plan multiple supplementary irrigation routes according to the multiple irrigation abnormality sub-areas.

[0149] In the embodiment of the present invention, the supplementary route planning module 104 identifies the preset drone basic data, extracts the irrigation capacity and irrigation scale of the drone, and then compares the border width of the abnormal irrigation sub-area based on the irrigation scale. If the border width is less than the irrigation scale, the border is expanded at the border width to ensure that all border widths are not less than the irrigation scale, thereby achieving coverage optimization of multiple abnormal irrigation sub-areas, generating multiple optimized sub-areas, and then according to the multiple optimized sub-areas, synchronously optimizing the machine irrigation surplus, calculating the optimized surplus, and then selecting multiple irrigation drones based on the irrigation capacity and the optimized surplus, and planning multiple supplementary irrigation routes based on the irrigation scale and the multiple optimized sub-areas. Specifically, the calculation formula for the optimized surplus is:

[0150] ;

[0151] in, To optimize the remaining amount, Irrigate the machine with the remaining amount, is the total area of ​​multiple optimized sub-regions, is the total area of ​​multiple irrigation abnormal sub-areas.

[0152] The supplementary irrigation control module 105 is used to control the plurality of irrigation drones according to the plurality of supplementary irrigation routes to perform supplementary irrigation on the plurality of irrigation abnormality sub-areas.

[0153] In an embodiment of the present invention, the supplementary irrigation control module 105 matches multiple supplementary irrigation routes with multiple irrigation drones, records irrigation matching relationship data, and then controls the corresponding supplementary irrigation routes of the multiple irrigation drones according to the irrigation matching relationship data, so that the multiple irrigation drones can fly and irrigate according to the corresponding supplementary irrigation routes, thereby achieving supplementary irrigation of multiple irrigation abnormality sub-areas.

[0154] It should be understood that, although each step in the flow chart of each embodiment of the present invention is shown in sequence according to the indication of the arrow, these steps are not necessarily performed in sequence according to the order indicated by the arrow. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be performed in other orders. Moreover, at least a portion of the steps in each embodiment may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and the execution order of these sub-steps or stages is not necessarily performed in sequence, but can be performed in turn or alternately with at least a portion of other steps or sub-steps or stages of other steps.

[0155] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0156] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An intelligent precision water and fertilizer irrigation method for corn planting, characterized in that: The method specifically comprises the following steps: Determine the target irrigation area for corn planting, obtain soil testing data and irrigation planning data for the target irrigation area, and calculate the total amount of water and fertilizer irrigation; According to the total amount of water and fertilizer irrigation, the machine irrigation is controlled, and during the machine irrigation process, the irrigation tracking and monitoring are performed to obtain the tracking and monitoring data; Identifying the tracking monitoring data, determining a plurality of abnormal irrigation sub-areas, and detecting the remaining amount of machine irrigation after completing machine irrigation; According to the remaining amount of machine irrigation, multiple irrigation drones are selected, and multiple supplementary irrigation routes are planned according to the multiple irrigation abnormality sub-areas; According to the plurality of supplementary irrigation routes, the plurality of irrigation drones are controlled to perform supplementary irrigation on the plurality of irrigation abnormality sub-areas; The method of selecting a plurality of irrigation drones according to the remaining amount of irrigation by the machine, and planning a plurality of supplementary irrigation routes according to the plurality of abnormal irrigation sub-areas specifically comprises the following steps: Extract irrigation capacity and irrigation scale from preset drone basic data; Based on the irrigation scale, performing coverage optimization on the plurality of irrigation abnormal sub-areas to generate a plurality of optimized sub-areas; According to the plurality of optimization sub-areas, the remaining amount of the machine irrigation is optimized synchronously, and the optimized remaining amount is calculated; selecting a plurality of irrigation drones based on the irrigation capacity and the optimized remaining amount; Based on the irrigation scale and the plurality of optimized sub-areas, a plurality of supplementary irrigation routes are planned.

2. The intelligent precision water and fertilizer irrigation method for corn planting according to claim 1, characterized in that: Determining the target irrigation area for corn planting, obtaining soil detection data and irrigation planning data for the target irrigation area, and calculating the total amount of water and fertilizer irrigation specifically include the following steps: Identify target irrigation areas for corn planting; Selecting a plurality of soil testing points from the target irrigation area; Acquiring soil detection data of a plurality of soil detection points; Acquiring irrigation planning data for the target irrigation area; The total amount of water and fertilizer irrigation in the target irrigation area is calculated based on the soil detection data, the irrigation planning data and the preset irrigation coefficient data.

3. The intelligent precision water and fertilizer irrigation method for corn planting according to claim 2 is characterized in that: The calculation formula for the total amount of water and fertilizer irrigation is: ； in, is the total amount of water and fertilizer irrigation, The water-fertilizer mixing ratio is: is the plant coefficient, is the soil capacity, is the wetting depth, is the wetting ratio, is the upper limit of water content, is the lower limit of water content, is the regional irrigation area of ​​the target irrigation area, is the irrigation utilization coefficient.

4. The intelligent precision water and fertilizer irrigation method for corn planting according to claim 1, characterized in that: The method of controlling the irrigation machine according to the total amount of water and fertilizer irrigation, and performing irrigation tracking and monitoring during the irrigation process of the machine, and obtaining tracking and monitoring data specifically includes the following steps: Obtaining a regional planting map of the target irrigation area; Based on the regional planting map, machine irrigation route planning is carried out to generate machine irrigation routes; According to the total amount of water and fertilizer irrigation and the machine irrigation route, the scope and flow rate of irrigation spray control are planned to generate irrigation control data; Performing machine irrigation control according to the machine irrigation route and the irrigation control data; Choose to track the drone; Planning a tracking and monitoring route according to the machine irrigation route and the preset tracking height; By using the tracking drone, irrigation tracking monitoring is performed according to the tracking monitoring route during the machine irrigation process to obtain tracking monitoring data.

5. The intelligent precision water and fertilizer irrigation method for corn planting according to claim 4 is characterized in that: The step of identifying the tracking monitoring data, determining a plurality of abnormal irrigation sub-areas, and detecting the remaining amount of machine irrigation after completing machine irrigation specifically includes the following steps: Performing frame-by-frame image conversion and preprocessing on the tracking monitoring data to obtain a plurality of standard monitoring images; In the regional planting map, the irrigation coverage is identified and marked for a plurality of the standard monitoring images to generate an irrigation coverage map; Determining a plurality of irrigation abnormality sub-areas according to the irrigation coverage map; After the machine irrigation is completed, the remaining amount of machine irrigation is detected.

6. The intelligent precision water and fertilizer irrigation method for corn planting according to claim 1, characterized in that: The calculation formula of the optimized residual amount is: ； in, To optimize the remaining amount, Irrigate the machine with the remaining amount, is the total area of ​​multiple optimized sub-regions, is the total area of ​​multiple irrigation abnormal sub-areas.

7. The intelligent precision water and fertilizer irrigation method for corn planting according to claim 1, characterized in that: The controlling of the plurality of irrigation drones according to the plurality of supplementary irrigation routes to supplementary irrigate the plurality of irrigation abnormal sub-areas specifically comprises the following steps: Matching the plurality of supplementary irrigation routes with the plurality of irrigation drones, and recording irrigation matching relationship data; According to the irrigation matching relationship data, the plurality of irrigation drones are controlled to follow corresponding supplementary irrigation routes, and supplementary irrigation is performed on the plurality of irrigation abnormality sub-areas.

8. An intelligent precision water and fertilizer irrigation system for corn planting, characterized in that: The system includes an irrigation total amount calculation module, an irrigation tracking and monitoring module, an irrigation anomaly analysis module, a supplementary route planning module and a supplementary irrigation control module, wherein: The total irrigation amount calculation module is used to determine the target irrigation area for corn planting, obtain soil testing data and irrigation planning data of the target irrigation area, and calculate the total amount of water and fertilizer irrigation; An irrigation tracking and monitoring module is used to control the machine irrigation according to the total amount of water and fertilizer irrigation, and to perform irrigation tracking and monitoring during the machine irrigation process to obtain tracking and monitoring data; An irrigation anomaly analysis module is used to identify the tracking monitoring data, determine multiple irrigation anomaly sub-areas, and detect the remaining amount of machine irrigation after the machine irrigation is completed; A supplementary route planning module, used to select a plurality of irrigation drones according to the remaining irrigation amount of the machine, and plan a plurality of supplementary irrigation routes according to the plurality of abnormal irrigation sub-areas; A supplementary irrigation control module, used to control the plurality of irrigation drones according to the plurality of supplementary irrigation routes to perform supplementary irrigation on the plurality of irrigation abnormal sub-areas; The method of selecting a plurality of irrigation drones according to the remaining amount of irrigation by the machine and planning a plurality of supplementary irrigation routes according to the plurality of abnormal irrigation sub-areas is specifically as follows: Extract irrigation capacity and irrigation scale from preset drone basic data; Based on the irrigation scale, performing coverage optimization on the plurality of irrigation abnormal sub-areas to generate a plurality of optimized sub-areas; According to the plurality of optimization sub-areas, the remaining amount of the machine irrigation is optimized synchronously, and the optimized remaining amount is calculated; selecting a plurality of irrigation drones based on the irrigation capacity and the optimized remaining amount; Based on the irrigation scale and the plurality of optimized sub-areas, a plurality of supplementary irrigation routes are planned.

9. The intelligent precision water and fertilizer irrigation system for corn planting according to claim 8, characterized in that: The total irrigation amount calculation module specifically includes: an area determination unit to determine target irrigation areas for corn planting; A detection point selection unit, used for selecting a plurality of soil detection points from the target irrigation area; A detection data acquisition unit, used to acquire soil detection data of a plurality of soil detection points; A planning data acquisition unit, used to acquire irrigation planning data of the target irrigation area; The total irrigation amount calculation unit is used to calculate the total amount of water and fertilizer irrigation in the target irrigation area according to the soil detection data, the irrigation planning data and the preset irrigation coefficient data.

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