Precise fruit tree fertilization method based on vehicle-mounted hole fertilization all-in-one machine

Abstract

The invention provides a precise fruit tree fertilization method based on a vehicle-mounted hole fertilization all-in-one machine, and the method comprises the steps: obtaining the position information and three-dimensional image of each fruit tree in an orchard through a positioning navigation module and a fruit tree information collection module, and obtaining the trunk diameter and crown diameter information of each fruit tree through an image processing module; the punching position, the punching number and the fertilizing amount of scientific fertilization of each fruit tree are calculated according to the information, the purpose of quantitative and accurate fertilization is achieved, the problem of environmental pollution caused by excessive fertilization is reduced, and the fertilizing efficiency is improved. The navigation system is matched with the hole fertilization all-in-one machine, so that automatic positioning and punching fertilization can be realized, and the manual labor is effectively reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of fruit tree cultivation, and in particular relates to a method for precise fertilization of fruit trees based on a vehicle-mounted hole-fertilizing integrated machine. Background Art

[0002] Fruit trees are perennial plants with large nutrient requirements, long continuous nutrient consumption time, and different fertilizer requirements in different growth cycles. Fertilization needs to be done well. When applying fertilizer, the most suitable fertilization method, fertilization location and fertilization depth for fruit trees should be flexibly selected according to the tree species, tree age, root characteristics, etc. In order to fertilize fruit trees to ensure growth effects, fertilization is usually carried out by digging holes, fertilizing and covering with soil. At present, most orchard fertilization work is done by manual digging holes, and then fertilizers are put in or poured in. The amount of fertilizer and the location of the holes need to be determined according to the experience of fruit farmers. Therefore, traditional fertilization operations require a lot of manual labor, and also face the problem of uneven and inconsistent fertilization. If excessive fertilization is applied, it will not only cause fertilizer waste, but also cause environmental pollution, which will have an adverse effect on economic and ecological benefits. Summary of the invention

[0003] In view of the technical problem in the prior art that the amount of fertilizer and the location of the holes are determined based on the experience of fruit farmers, the present invention proposes a method for precise fertilization of fruit trees based on a vehicle-mounted hole-fertilizing integrated machine, which formulates a scientific fertilization strategy according to the actual production situation of each fruit tree.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is:

[0005] A method for precise fertilization of fruit trees based on a vehicle-mounted hole-fertilizer integrated machine, the vehicle-mounted hole-fertilizer integrated machine comprising a positioning and navigation module, an image acquisition module, an image data analysis module, a database module and a hole-fertilizer mechanism, the positioning and navigation module comprising a visual navigation module and a Beidou navigation module, for acquiring the position of each fruit tree and planning a driving path; the image acquisition module comprising a binocular stereoscopic vision depth camera, for acquiring fruit tree image information; the image data analysis module for processing fruit tree images and calculating information on the trunk diameter and crown diameter of the fruit tree;

[0006] The method for precise fertilization of fruit trees comprises the following steps:

[0007] (1) The vehicle-mounted integrated hole-fertilizer machine obtains the location information and three-dimensional image of each fruit tree in the orchard through the positioning navigation module and the image acquisition module and transmits them to the database module;

[0008] (2) The image data analysis module processes the fruit tree images, including reading digital images, grayscale processing, image denoising and feature extraction, and obtains the trunk diameter and crown diameter information of each fruit tree and stores them in the database;

[0009] The image denoising step is based on the bounded mean oscillation (BMO) edge detection optimization algorithm. The BMO algorithm is introduced into the PDE model to construct an image edge gradient detection optimization operator suitable for three-dimensional images. Specifically,

[0010]

[0011] Where ZQ(u,x,r) is the BMO form of the cube area Q(x,r,t); y,z is a function on the cube; Q(x,r,t) is the position information of the cube area;

[0012] (3) Calculate the number of holes N based on the canopy diameter, where:

[0013] N = [0.75πD],

[0014] D is the crown diameter, in cm;

[0015] (4) Determine the hole location based on the canopy diameter, where the hole location is r cm away from the trunk, where:

[0016] r=D / 2+20,

[0017] r is the distance between the hole location and the trunk, and D is the crown diameter, both in cm;

[0018] (5) Calculate the tree age by the trunk diameter of the fruit tree, and obtain the corresponding fertilizer amount based on the tree age, where:

[0019] m=d×a,

[0020] m is the tree age, d is the trunk diameter of the fruit tree, and a is the average growth factor of each fruit tree;

[0021] (6) Retrieving the corresponding fertilizer amount from the database according to the fruit tree variety and age. If there is no corresponding data in the database, manually input the value and store it in the database;

[0022] (7) The vehicle-mounted hole-fertilizer machine makes quantitative holes at corresponding positions of fruit trees in the orchard according to the path recorded by the positioning navigation system and the results of the above calculations, and evenly applies fertilizer into the hole-fertilizer holes according to the corresponding fertilizer application amount, and then covers the holes with soil.

[0023] Preferably, the positioning and navigation system includes a visual navigation module and a Beidou navigation module.

[0024] Preferably, the diameter of the hole is 30-40 cm and the depth is 35-45 cm.

[0025] Compared with the prior art, the advantages and positive effects of the present invention are:

[0026] The method for precise fertilization of fruit trees of the present invention obtains the position information and image of each fruit tree in the orchard through a positioning navigation system and a fruit tree information collection system, obtains the trunk diameter and crown diameter information of each fruit tree through image processing, and obtains the scientific fertilization punching position, punching number and fertilization amount of each fruit tree according to the above information, so as to achieve the purpose of quantitative and precise fertilization, reduce the environmental pollution caused by excessive fertilization, and improve fertilization efficiency. The navigation system can realize automatic positioning and punching fertilization with the hole-fertilizing integrated machine, effectively reducing manual labor. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 The present invention is a process flow chart of the method for precise fertilization of fruit trees. DETAILED DESCRIPTION

[0028] In order to better understand the present invention, the following is a detailed description with reference to the embodiments.

[0029] Example:

[0030] A method for precise fertilization of fruit trees based on a vehicle-mounted hole-fertilizer integrated machine, the vehicle-mounted hole-fertilizer integrated machine includes a positioning and navigation module, an image acquisition module, an image data analysis module, a database module and a hole-fertilizer mechanism. The positioning and navigation module includes a visual navigation module and a Beidou navigation module, which are used to collect the position of each fruit tree and plan the driving path; the image acquisition module includes a binocular stereoscopic vision depth camera, which is used to collect fruit tree image information; the image data analysis module is used to process fruit tree images and calculate the trunk diameter and crown diameter information of the fruit trees; the database module is used to store the scientific fertilizer amount of fruit trees of different varieties and different ages, as well as the data information collected or calculated by the positioning and navigation module, the image acquisition module, and the image data analysis module. The hole-fertilizer mechanism includes a hole-fertilizer module and a fertilization and soil covering module, wherein the hole-fertilizer module and the fertilization and soil covering module are existing technologies, and their specific structures are not repeated here. The image data analysis module and the database module can be directly mounted on the vehicle-mounted hole-fertilizer integrated machine, or they can be independently set up and communicated with the vehicle-mounted hole-fertilizer integrated machine.

[0031] like Figure 1 As shown, the method for precise fertilization of fruit trees comprises the following steps:

[0032] 1. The vehicle-mounted hole-fertilizer machine obtains the location information and image of each fruit tree in the orchard through the positioning and navigation module and the image acquisition module. The specific hole-fertilizer machine moves in the orchard according to the preset travel path in the orchard in the positioning and navigation module. During the travel, the image acquisition module turns on the binocular stereo vision depth camera, and uses the binocular stereo vision depth camera to perform panoramic image acquisition of a single fruit tree and transmit the image information to the database module for storage. At the same time, the positioning and navigation module records the specific location of each fruit tree and transmits it to the database module for storage, so as to facilitate subsequent drilling and fertilization operations. In order to improve the positioning and navigation accuracy of the positioning and navigation system, it includes a visual navigation module and a Beidou navigation module. The combination of the two ensures that the vehicle-mounted hole-fertilizer machine moves along the planned path.

[0033] 2. The image data analysis module retrieves image information from the database module and processes the fruit tree image to obtain the trunk diameter and crown diameter information of each fruit tree and store them in the database module.

[0034] 3. Determine the number of holes for hole application N according to the crown diameter information obtained in step 2. First, obtain the calculated value n of the number of holes for hole application. The number of holes for hole application N takes the integer value of n, where

[0035] n=π(D / 2) 2 / (D / 3)=0.75πD,

[0036] Therefore, N = [n] = [0.75πD],

[0037] D is the crown diameter in cm.

[0038] 4. Determine the hole location based on the canopy diameter value. The hole location is the point r centimeters away from the trunk, where:

[0039] r=D / 2+20,

[0040] r is the distance between the hole location and the trunk, and D is the crown diameter, both in cm. The hole location is on a circle with the trunk as the center and r as the radius, and the holes are arranged as equidistantly as possible, that is, evenly divide the circumference. The preferred hole diameter is 30-40 cm and the depth is 35-45 cm.

[0041] 5. Calculate the age of the fruit tree based on the trunk diameter value obtained in step 2, and obtain the corresponding amount of fertilizer based on the age of the fruit tree. The calculation formula for the tree age m is as follows:

[0042] m=d×a,

[0043] Among them, d is the trunk diameter of the fruit tree, and a is the average growth factor of each fruit tree; the average growth factor value of each fruit tree can be retrieved from the database, which is usually the annual growth width of the annual ring of each fruit tree.

[0044] 6. According to the variety and age of the fruit tree, the amount of fertilizer suitable for a single fruit tree is retrieved from the database. When there is no corresponding data in the database, the value is manually entered based on experience and stored in the database module.

[0045] 7. The vehicle-mounted hole-fertilizer machine drills quantitative holes at the corresponding positions for each fruit tree in the orchard according to the path recorded by the positioning navigation system and the results calculated in the above steps, and evenly applies fertilizer into each hole according to the corresponding fertilizer amount, and covers the soil to complete the fertilization work.

[0046] 8. The database module establishes a fruit tree fertilization and growth status database for each orchard, recording the fertilization status and growth data of each fruit tree for easy comparison and adjustment.

[0047] The image data analysis module in step 2 can use the image processing method in the prior art to process the fruit tree image. In this embodiment, in order to improve the image processing efficiency, the image analysis system software is used for image processing and analysis, which includes reading digital images, grayscale processing, image denoising and feature extraction. The image denoising step is based on the edge detection optimization algorithm of bounded mean oscillation space (BMO). The BMO algorithm is introduced into the PDE model to construct an image edge gradient detection optimization operator suitable for three-dimensional images. Specifically:

[0048] BMO is the bounded mean vibration model, which detects boundary features by determining a new derivative format and uses the idea of ​​integral averaging to eliminate the influence of noise. Q Compared with the method of directly using the gradient modulus, the gradient operator is less affected by noise; and compared with the gradient operator with the Gaussiam smoothing kernel, its algorithm structure is simpler.

[0049] Assume f(x) is a 1-D function, and we integrate it in the interval [xh,x+h] with x as the midpoint and h as the radius. If f(x) is Lebesgue integrable in the neighborhood of point x, then the following phenomenon occurs:

[0050]

[0051] Writing the right side of the equation into the integral gives the following form:

[0052]

[0053] In the f(x) function, points with such properties are called Lebesgue points. The BMO algorithm is introduced into the PDE model, and based on the structure of the 1-D Lebesgue point, its 3-D structure is obtained. Assume that Q(x,r,t) is a cube neighborhood with x as the midpoint and a side length of 2r, |Q(x,r,t)| represents the area of ​​this cube neighborhood, and u(x) is a function on the plane, so the 3-D Lebesgue point structure is:

[0054]

[0055] At this time, an integral average is introduced into the integrand, which is the 3-D BMO format:

[0056]

[0057] In the relationship between the BMO format and the gradient, if the cube neighborhood Q(x,r,t) is replaced by the ball B(x,r,t), the following equation can be proved:

[0058]

[0059] The above formula is applicable to the BMO form of the 3-D cube region Q(x,r,t), which is Z Q Gradient operator:

[0060]

[0061] Z Q The gradient operator counteracts the interference of noise by performing two integral average calculations, and can detect more subtle boundary features with less calculation amount and calculation steps. Therefore, BMO filtering can achieve denoising effect and better preserve the detailed features in the image.

[0062] The method for precise fertilization of fruit trees described in this embodiment obtains the location information and image of each fruit tree in the orchard through the positioning navigation module and the fruit tree information collection module, obtains the trunk diameter and crown diameter information of each fruit tree through the image processing module, and obtains the scientific fertilization drilling position, drilling number and fertilizer amount of each fruit tree based on the above information, so as to achieve the purpose of quantitative and precise fertilization, reduce the environmental pollution caused by excessive fertilization, and improve fertilization efficiency. The navigation system can realize automatic positioning and drilling fertilization with the hole-fertilizing integrated machine, effectively reducing manual labor.

[0063] The above description is only a preferred embodiment of the present invention and does not limit the present invention in other forms. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes and apply it to other fields. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. A method for precise fertilization of fruit trees based on a vehicle-mounted hole-fertilizing integrated machine, characterized in that: The vehicle-mounted hole-fertilizing integrated machine includes a positioning and navigation module, an image acquisition module, an image data analysis module, a database module and a hole-fertilizing mechanism. The positioning and navigation module includes a visual navigation module and a Beidou navigation module, which are used to collect the position of each fruit tree and plan the driving path; the image acquisition module includes a binocular stereoscopic vision depth camera, which is used to collect fruit tree image information; the image data analysis module is used to process the fruit tree image and calculate the trunk diameter and crown diameter information of the fruit tree; The method for precise fertilization of fruit trees comprises the following steps: (1) The vehicle-mounted integrated hole-fertilizer machine obtains the location information and three-dimensional image of each fruit tree in the orchard through the positioning navigation module and the image acquisition module and transmits them to the database module; (2) The image data analysis module processes the fruit tree images, including reading digital images, grayscale processing, image denoising and feature extraction, and obtains the trunk diameter and crown diameter information of each fruit tree and stores them in the database; The image denoising step is based on the bounded mean oscillation (BMO) edge detection optimization algorithm. The BMO algorithm is introduced into the PDE model to construct an image edge gradient detection optimization operator suitable for three-dimensional images. Specifically, Where Z Q (u,x,r) is the BMO form of the cube area Q(x,r,t); y,z is a function on the cube; Q(x,r,t) is the position information of the cube area; (3) Calculate the number of holes N based on the canopy diameter, where: N = [0.75πD], D is the crown diameter, in cm; (4) Determine the hole location based on the canopy diameter, where the hole location is r cm away from the trunk, r＝D / 2+20， r is the distance between the hole location and the trunk, and D is the crown diameter, both in cm; (5) Calculate the tree age by the trunk diameter of the fruit tree, and obtain the corresponding fertilizer amount based on the tree age, where: m=d×a, m is the tree age, d is the trunk diameter of the fruit tree, and a is the average growth factor of each fruit tree; (6) Retrieving the corresponding fertilizer amount from the database according to the fruit tree variety and age. If there is no corresponding data in the database, manually input the value and store it in the database; (7) The vehicle-mounted hole-fertilizer machine makes quantitative holes at corresponding positions of fruit trees in the orchard according to the path recorded by the positioning navigation system and the results of the above calculations, and evenly applies fertilizer into the hole-fertilizer holes according to the corresponding fertilizer application amount, and then covers the holes with soil.

2. The method for precise fertilization of fruit trees based on a vehicle-mounted hole-fertilizing integrated machine according to claim 1, characterized in that: The diameter of the hole is 30-40cm and the depth is 35-45cm.

Images