Litchi growth balance control method and system based on intelligent water and fertilizer integration

Abstract

The present invention relates to the field of data processing technology, and more specifically to a method and system for balancing the growth of litchi based on intelligent water and fertilizer integration. The method comprises: step S1: shooting a first depth image in a target area and multiple side second depth images of a sub-area; step S2: mapping a target object in the target area to a three-dimensional space based on the first depth image and multiple second depth images, calculating feature data of each target object, and clustering the target objects in two adjacent rows based on the reproductive data in the feature data; step S3: generating target fertilization data based on the first fertilization data and the second fertilization data; step S4: generating watering data of the target object, and generating a water and fertilizer map of the target area based on the watering data and fertilization data of each target object; step S5: watering and fertilizing the target area according to the water and fertilizer map. The present invention solves the problem of precise fertilization and watering, and improves the accuracy of fertilization and watering.

Description

Technical Field

[0001] The present invention relates to the technical field of data processing, and more specifically to a litchi growth balance control method and system based on intelligent water-fertilizer integration. Background Art

[0002] Water-fertilizer integration is to mix water-soluble fertilizers in a specific ratio, apply water and fertilizer together, and directly apply them in the form of water and fertilizer, which can reduce the total amount of fertilizer and improve the utilization rate of water and fertilizer. With the development of electronic technology, through the combination of electronic technology and water-fertilizer integration, it is possible to more accurately irrigate crops, especially fruit trees, to meet the growth needs of crops. For example: Chinese patent CN111886997A, the invention relates to a wheat crop sprinkler irrigation water-fertilizer integration control system and control method, including a water storage bucket, a water inlet, a water pump, a water outlet, a pressure gauge, a venturi tube, a flow meter, a fertilizer outlet, a check valve, a voltage regulator, a power line, a relay, a controller, a communication cable, a computer, a peristaltic pump, a fertilizer mixing tank, a fertilizer barrel, and a solenoid valve. The method includes the selection of specific fertilizers in different wheat growth periods, the setting of fertilizer demand quality, solubility and fertilizer mixing capacity, the calculation of the spraying flow rate required for each fertilizer liquid, the calculation of the total fertilizer injection flow rate, the calculation of the fertilizer injection pump voltage, the calculation of the time for various fertilizers to be sent to the fertilizer mixing tank, and the calculation of the fertilizer injection time. The present invention can meet the fertilization requirements of wheat in different growth processes. For example: U.S. Patent US8721759B1, an agricultural fertilization method, including continuous in-situ production of one or more nitrogen fertilizers in an upstream irrigation system of a farmland to be irrigated. The raw materials (i.e., nitric acid, urea, ammonium hydroxide, calcium nitrate and / or magnesium nitrate) are mixed with each other and / or with a flowing irrigation water flow. The flowing irrigation water flow weakens the dissolution heat generated. The system that effectively and continuously supplies the raw materials to the irrigation system trunk or side arm reactor effectively implements the method. Both of the above patents solve the problem of tax day integration, but neither takes into account that the development and growth conditions of different crop individuals in the same area are not exactly the same, and the demand time for water and fertilizer is also different. Therefore, the above technical solutions cannot solve the problem of precise watering and fertilization. Summary of the invention

[0003] In order to better solve the above problems, the present invention provides a litchi growth balance control method based on intelligent water-fertilizer integration, wherein the target area includes multiple rows of target objects, a watering pipe is provided between two adjacent rows, and a water outlet is provided at each target object, and the water outlet is controlled by a solenoid valve. The method comprises the following steps:

[0004] Step S1: photographing a first depth image of a target area at a first height above the center of the target area by a camera device, dividing the target area into N sub-areas, and photographing a plurality of side second depth images of the sub-areas at a second height above the center position of each sub-area;

[0005] Step S2: mapping the first depth image and the plurality of the second depth images to a three-dimensional space to obtain a three-dimensional image of each target object, and obtaining feature data and reproductive data of each target object based on the three-dimensional image, and clustering all the target objects based on the reproductive data of each target object to obtain a cluster cluster;

[0006] Step S3: acquiring target fertilization data of the target object according to the reproductive data of the target object in each of the clusters and the first growth index and the second growth index of the target object;

[0007] Step S4: generating target watering data for the target object according to the first growth index and the second growth index of the target object, the predicted precipitation, and the water shortage state of the target object, and generating a water and fertilizer map of the target area based on the target watering data and the target fertilization data of each target object;

[0008] Step S5: watering and fertilizing each of the target objects in the target area according to the water and fertilizer map.

[0009] As a preferred technical solution of the present invention, step S1 includes:

[0010] Step S11: acquiring the center position of the target area, and photographing the first depth image of the target area by the camera device at the first height above the center position, wherein the camera device is an aerial camera;

[0011] Step S12: Divide the target area into N sub-areas, wherein each sub-area includes two adjacent rows of a plurality of target objects;

[0012] Step S13: adjusting the camera of the camera device toward the sub-area at the second height above the center position of each sub-area and rotating it once to acquire a plurality of the second depth images, wherein the first height is higher than the second height.

[0013] As a preferred technical solution of the present invention, step S2 includes:

[0014] Step S21: performing coordinate conversion on the first depth image and the plurality of second depth images according to a coordinate position relationship and mapping them to the same three-dimensional space to obtain the three-dimensional image of each target object;

[0015] Step S22: calculating the characteristic data and the reproductive data of each target object according to the three-dimensional image of each target object, wherein the characteristic data includes the plant height, leaf coverage area and leaf overlap rate of the target object, wherein the reproductive data includes at least one of the number of flower buds, flower blooms and fruits;

[0016] Step S23: clustering the target objects in two adjacent rows with a set window based on the reproductive data of the target objects, and obtaining M clusters;

[0017] The width of the setting window is the spacing between N target objects, the value of N is 1 / 5 of the total number of target objects in each row, and the value of M is a positive integer greater than or equal to 3.

[0018] As a preferred technical solution of the present invention, step S3 includes:

[0019] Step S31: when the reproductive data of the target object in the cluster are all less than a preset threshold, weighted calculation is performed on the first growth index of the target object according to the leaf coverage area, plant height, and branch density in the characteristic data of the target object, and the growth index is compared with the standard growth index to obtain a comparison result, and when the comparison result is that the first growth index is greater than or equal to the standard growth index, normal first fertilization data is obtained, and when the comparison result is that the first growth index is less than the standard growth index, second fertilization data is generated based on the comparison result and the first fertilization data;

[0020] Step S32: when any item of the reproductive data of the target object in the cluster is greater than or equal to the preset threshold, calculating the second growth index of the target object based on the reproductive data, and acquiring third fertilization data according to the second growth index of the target object;

[0021] Step S33: using the first fertilization data, the second fertilization data or the third fertilization data corresponding to the target object as the target fertilization data of the target object.

[0022] As a preferred technical solution of the present invention, step S4 includes:

[0023] Step S41: calculating a first watering amount according to the first growth index of the target object, obtaining a second watering amount according to the second growth index based on the first watering amount, obtaining a water shortage state of each target object according to the second depth image, and adjusting the second watering amount to a third watering amount based on the water shortage state, and taking the difference between the third watering amount and the precipitation as a target watering amount according to the precipitation in the target area within a preset time, and taking the target watering amount and the target watering time obtained through the water shortage state as the target watering data;

[0024] Step S42: Calculate the time intersection of the target watering time in the target watering data and the target fertilization time in the target fertilization data, and use the time intersection as the water-fertilization time of the target object, and mark the water-fertilization time, the target watering amount, the target fertilization type and the target fertilization amount at each location of the target object in the three-dimensional space to generate the water-fertilization map.

[0025] As a preferred technical solution of the present invention, step S5 includes:

[0026] Step S51: obtaining all the target objects in the clusters with the same target fertilization type in two adjacent rows as water-fertilizer objects, and calculating the total amount of fertilizer corresponding to the target fertilization type of the water-fertilizer objects, when watering starts, the first water pump discharges water into the watering pipe at a first speed, and the second water pump discharges the fertilizer liquid corresponding to the target fertilization type into the outlet pipe at a second speed, wherein the ratio of the weight of the fertilizer liquid discharged by the second water pump per unit time to the sum of the weight of the water discharged by the first water pump per unit time plus the weight of the fertilizer liquid is equal to the fertilizer concentration, and the fertilizer concentration is the maximum value of the ratio of the target fertilization amount in the water-fertilizer object to the sum of the target fertilization amount plus the target watering amount;

[0027] Step S52: when the product of the fertilization concentration and the first water output of the water outlet corresponding to the water and fertilizer object is greater than or equal to the target fertilization amount of the water and fertilizer object, the electromagnetic valve switch corresponding to the water and fertilizer object is closed, and when the discharge amount of the second water pump is equal to the total fertilization amount and the electromagnetic valve switches of the water and fertilizer object are all closed, the second water pump stops discharging; the water and fertilizer object whose first water output is greater than or equal to the sum of the target watering amount and the target fertilization amount is taken as the first object, the electromagnetic valve switch of the first object is opened, the first water pump drains water at a third speed, and when the total water output of the water outlet corresponding to the first object is greater than or equal to the sum of the target watering amount and the target fertilization amount, the electromagnetic valve corresponding to the first object is closed, wherein the first speed is less than the third speed;

[0028] Step S53: repeating the steps S51 and S52 until the watering and fertilizing of each target object is completed, and then turning off the first water pump.

[0029] As a preferred technical solution of the present invention, the target fertilization data includes a target fertilization type, a target fertilization amount and a target fertilization time.

[0030] As a preferred technical solution of the present invention, the second growth index is a weighted sum of the number of flower buds, the number of blooms and the number of fruits in the reproductive data, wherein the number of fruits has the largest weight, followed by the number of flower buds and the number of blooms.

[0031] As a preferred technical solution of the present invention, the clusters include clusters of litchi trees in their infancy and clusters of litchi trees at different developmental stages.

[0032] The present invention also provides a litchi growth balance control system based on intelligent water-fertilizer integration, the system is used to implement the above method, and the system includes:

[0033] A camera device, used to capture a first depth image of the target area at a first height above the center of the target area, divide the target area into N sub-areas, and capture multiple side second depth images of the sub-areas at a second height above the center position of each sub-area;

[0034] a mapping unit, configured to map the first depth image and the plurality of the second depth images to a three-dimensional space to obtain a three-dimensional image of each of the target objects, and to obtain feature data and reproductive data of each of the target objects based on the three-dimensional image,

[0035] A clustering unit, configured to cluster all the target objects based on the reproductive data of each of the target objects to obtain clusters;

[0036] The calculation unit is configured to: obtain the target fertilization data of the target object according to the reproductive data of the target object in each of the clusters and the first growth index and the second growth index of the target object; generate the target watering data of the target object according to the first growth index and the second growth index of the target object, the predicted precipitation and the water shortage state of the target object, and generate the water and fertilizer map of the target area based on the target watering data and the target fertilization data of each of the target objects;

[0037] A control unit is used to water and fertilize each of the target objects in the target area according to the water and fertilizer map.

[0038] Compared with the prior art, the beneficial effects of the present invention are at least as follows:

[0039] The present invention lays a foundation for obtaining a three-dimensional image of each target object in a three-dimensional space by obtaining a first depth image of the target area and multiple side second depth images of the sub-area, and obtains the leaf coverage area of ​​the target object from the three-dimensional image, and uses the plant height, branch density, leaf overlap rate and leaf coverage area of ​​the target object as the characteristic data of the target object, and uses at least one of the number of flower buds, flower clusters and fruit clusters of the target object as the reproductive data of the target object, and clusters the target objects in adjacent rows with a set window based on the reproductive data, and obtains the target fertilization data of the juvenile litchi tree by calculating the first growth index of the target object; when any one of the reproductive data of the target object in the cluster is greater than or equal to the preset threshold, that is, the target object is in the adult period, the second growth index of the target object is calculated, and the target fertilization data of each target object in the cluster is obtained based on the second growth index of the target object in the cluster, thereby realizing precise fertilization of each target object in each cluster, because the juvenile litchi tree only needs to calculate the first watering amount according to the first growth index of the litchi tree, that is, the degree of growth luxuriance. However, for the litchi trees in the development stage during the adult period, in addition to meeting the water needs for their own growth, the second growth index of the litchi trees, i.e., the number of fruits or flower buds, i.e., the number of flowers, must be met. On the basis of the above-mentioned first watering amount, additional water must be added to the second precipitation amount to meet the flowering and fruiting of the flower buds or the expansion and maturity of the fruits. At the same time, the watering amount of the above-mentioned target objects is also affected by the water shortage state of each target object and the precipitation within a preset time, and the above-mentioned second watering amount is adjusted to the target watering amount based on the influence. The accurate watering amount of each of the above-mentioned target objects is obtained through the above-mentioned technical solution, thereby Promote the balanced growth of the above-mentioned target objects; also use the intersection of the target watering time and the target fertilization time of the above-mentioned target objects as the water and fertilizer time of the target objects, mark the above-mentioned water and fertilizer time, target watering amount, target fertilization type, and target fertilization amount of each of the above-mentioned target objects in the above-mentioned three-dimensional space to generate the above-mentioned water and fertilizer map, so as to accurately obtain the target watering data and target fertilization data of each of the above-mentioned target objects. When watering and fertilizing the above-mentioned target area, the above-mentioned target objects with the same target fertilization type are fertilized and watered at the same time, thereby improving the efficiency of watering and fertilizing. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a flow chart of the litchi growth balance control method based on intelligent water-fertilizer integration of the present invention;

[0041] Figure 2 It is a structural diagram of the litchi growth balance control system based on intelligent water-fertilizer integration of the present invention. DETAILED DESCRIPTION

[0042] 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.

[0043] The present invention provides a litchi growth balance control method based on intelligent water-fertilizer integration, wherein the target area includes multiple rows of target objects, a watering pipe is arranged between two adjacent rows, and a water outlet is arranged at each target object, and the water outlet is controlled by a solenoid valve, such as Figure 1 As shown, the method comprises the following steps:

[0044] Step S1: photographing a first depth image of a target area at a first height above the center of the target area by a camera device, dividing the target area into N sub-areas, and photographing a plurality of side second depth images of the sub-areas at a second height above the center position of each sub-area;

[0045] Specifically, a first depth image of the target area is captured by a camera device at a first height above the target area, wherein the camera device is an aerial camera. The leaf coverage area of ​​each target object, i.e., the lychee tree, can be obtained through the first depth image. Multiple target objects in two adjacent rows in the target area are also regarded as a sub-area, and the angle of the aerial camera device is rotated at a second height above the center position of the sub-area to obtain multiple side second depth images of the multiple sub-areas. Through the above technical solution, the overall first depth image of the target area and the side second depth images of the multiple sub-areas are obtained, thereby laying a foundation for further mapping each of the target objects in the target area to the same three-dimensional space.

[0046] Step S2: mapping the first depth image and the plurality of the second depth images to a three-dimensional space to obtain a three-dimensional image of each of the target objects, and obtaining feature data and reproductive data of each of the target objects based on the three-dimensional image, and clustering all of the target objects based on the reproductive data of each of the target objects to obtain a cluster cluster;

[0047] Specifically, the coordinates of the first depth image and the multiple second depth images are transformed and mapped to the three-dimensional space to obtain a three-dimensional image of each of the target objects. The leaf coverage area of ​​the target object is calculated based on the three-dimensional image, that is, the leaf coverage area of ​​each of the target objects viewed from the first height downward. The plant height, branch density, leaf overlap rate and leaf coverage area of ​​the target object are obtained from the multiple second depth images. The plant height, branch density, leaf overlap rate and leaf coverage area of ​​the target object are used as feature data of the target object. At least one of the number of flower buds, flower clusters and fruit clusters of the target object is used as reproductive data of the target object. Due to different planting times, target objects in the juvenile period and target objects in the adult period may exist at the same time in the target area. The target objects in the early stage are lychee trees that have never borne fruit, and the target objects in the adult stage are lychee trees that have begun to bear fruit. Due to different light, watering amount and soil nutrition for juvenile lychee trees, and because the growth size of each lychee tree is different, there may be a phenomenon of unbalanced growth. Similarly, there are also different development problems for adult lychee trees, such as different flowering or fruiting times. Therefore, the above-mentioned target objects in adjacent rows are clustered based on the above-mentioned reproductive data with a set window, and multiple clustering clusters at different growth stages and development stages are obtained, so that timely fertilization and watering according to the different growth and development stages of the above-mentioned target objects can promote the growth of lychee trees and maximize the growth and fruiting rate of lychee trees, thereby achieving balanced growth of lychee trees at the same growth stage and development stage.

[0048] Step S3: acquiring target fertilization data of the target object according to the reproductive data of the target object in each of the clusters and the first growth index and the second growth index of the target object;

[0049] Specifically, the above-mentioned clustering clusters include clustering clusters of litchi trees in their infancy and clustering clusters of litchi trees in different developmental stages. When the reproductive data of the target objects in the clustering clusters are all less than a preset threshold, that is, when the number of flower buds, flower clusters and fruit clusters in the reproductive data are all small, it is considered that the target objects in the above-mentioned clustering clusters are in their infancy, and the first growth index of the above-mentioned target objects is obtained by averaging and weighting the characteristic data of the above-mentioned target objects, and the target fertilization data of the above-mentioned litchi trees in the infancy is obtained according to the difference between the above-mentioned first growth index and the standard growth index; when any item of the reproductive data of the target object in the clustering cluster is greater than or equal to the above-mentioned preset threshold, that is, any item of the three numbers of flower buds, flower clusters and fruit clusters in the reproductive data, the second growth index of the above-mentioned target object is calculated, and based on the second growth index of the target object in the above-mentioned clustering cluster, the target fertilization data of each target object in the clustering cluster is obtained, thereby realizing precise fertilization of each target object in each clustering cluster.

[0050] Step S4: generating watering data for the target object according to the first growth index and the second growth index of the target object, the predicted precipitation, and the water shortage state of the target object, and generating a water and fertilizer map for the target area based on the watering data of each target object and the first fertilization data or the second fertilization data;

[0051] Specifically, since the first watering amount for young litchi trees only needs to be calculated based on the first growth index of the litchi trees, that is, the degree of growth luxuriance, but for adult litchi trees in the development stage, in addition to the water required for their own growth, the second growth index of the litchi trees, that is, the number of fruits or flower buds, that is, the number of flowers, is required to be calculated based on the first watering amount. In addition, water is added to the second precipitation amount on the basis of the first watering amount to meet the flowering and fruiting of the flower buds or the expansion and maturity of the fruits. At the same time, the watering amount of the above-mentioned target objects is also affected by the water shortage state of each target object and the precipitation within a preset time, and the second watering amount is adjusted to the target watering amount based on the influence, and each of the above-mentioned technical solutions is obtained. The accurate amount of water for the target object is determined, thereby promoting the balanced growth of the target object; wherein, the water shortage state of the target object is obtained through the extension state of the leaves in the three-dimensional image of the target object, and the recent precipitation is obtained according to the weather forecast. The watering data includes watering time and watering amount. The intersection of the target watering time and the target fertilization time of the target object is used as the water and fertilizer time of the target object. The water and fertilizer time, target watering amount, target fertilization type, and target fertilization amount of each target object are marked in the three-dimensional space to generate the water and fertilizer map, so that the target watering data and target fertilization data of each target object can be accurately obtained.

[0052] Step S5: watering and fertilizing the target object in the target area according to the water and fertilizer map.

[0053] Specifically, when watering and fertilizing the target area, two adjacent rows can be carried out at the same time. Different clusters may correspond to different target fertilization types, that is, different fertilizer types. Therefore, all target objects in the clusters with the same target fertilization type in two adjacent rows are obtained as water-fertilizer objects, and the target objects with the same target fertilization type are fertilized and watered at the same time to improve the efficiency of watering and fertilizing. Since the ratio of the target fertilization amount and the target watering amount of the water-fertilizer objects is not exactly the same, if fertilization is performed during the watering process, the ratio of water to fertilizer is also different. Therefore, the target fertilization amount in each of the water-fertilizer objects is taken as the first value, the sum of the target fertilization amount and the target fertilization amount of the water-fertilizer object and the target watering amount is taken as the second value, and the maximum value of the ratio of the first value to the second value in all the water-fertilizer objects is taken as the fertilization concentration. The above-mentioned fertilizer concentration ratio is achieved by adjusting the water output per unit time of the first water pump and the liquid discharge per unit time of the second water pump, so as to improve the fertilization speed while meeting the fertilization accuracy, and when the fertilization of the above-mentioned water and fertilizer objects is completed, the solenoid valve switch of the above-mentioned water and fertilizer objects is closed, when the liquid discharge of the above-mentioned second water pump is equal to the above-mentioned total fertilization amount and the solenoid valve switches of the water and fertilizer objects are all closed, that is, the fertilization of each of the above-mentioned water and fertilizer objects is completed, at this time, the second water pump is closed to stop the discharge of fertilizer liquid; because the watering of the water and fertilizer objects is not necessarily completed when the fertilization of each of the above-mentioned water and fertilizer objects is completed, therefore, the solenoid valve switch of the water and fertilizer objects that have not completed watering is opened, and the first water pump waters the first object at a third speed until the watering of the above-mentioned water and fertilizer objects that have not completed watering is completed. Through the above-mentioned technical solution, the watering accuracy of the above-mentioned target objects is improved, that is, the water demand for the growth of the above-mentioned target objects can be met and water can be saved to the maximum extent.

[0054] Furthermore, the step S1 comprises:

[0055] Step S11: acquiring the center position of the target area, and photographing the first depth image of the target area by the camera device at the first height above the center position, wherein the camera device is an aerial camera;

[0056] Specifically, a first depth image of the target area is captured by a camera at a first height above the target area. The leaf coverage area of ​​each target object, i.e., the litchi tree, can be obtained through the first depth image. The leaf coverage area is an important indicator of the size of the litchi tree.

[0057] Step S12: Divide the target area into N sub-areas, wherein each sub-area includes two adjacent rows of a plurality of target objects;

[0058] Step S13: adjusting the camera of the camera device toward the sub-area at the second height above the center position of each sub-area and rotating it once to acquire a plurality of the second depth images, wherein the first height is higher than the second height.

[0059] Specifically, by dividing the target area into N sub-areas, for example, the first five trees in the first row and the second row are divided into the first sub-area, and the first five trees in the second row and the third row are divided into the second sub-area, and the angle of the aerial photography device is rotated at a second height above the center position of the sub-area to obtain multiple side second depth images of the first sub-area and the second sub-area, the depth images of each target object in the second row at various angles can be obtained. Similarly, the depth images of each target object in the target area at various angles can be obtained, thereby laying a foundation for accurately obtaining three-dimensional images of the target objects.

[0060] Furthermore, the step S2 comprises:

[0061] Step S21: performing coordinate conversion on the first depth image and the plurality of second depth images according to a coordinate position relationship and mapping them to the same three-dimensional space to obtain the three-dimensional image of each target object;

[0062] Specifically, the coordinates of the first depth image and the multiple second depth images are transformed and mapped to the three-dimensional space to obtain an accurate three-dimensional image of each of the target objects, thereby facilitating accurate acquisition of characteristic data and reproductive data of the target objects, thereby obtaining more accurate target fertilization data and target watering data.

[0063] Step S22: calculating the characteristic data and the reproductive data of each target object according to the three-dimensional image of each target object, wherein the characteristic data includes the plant height, branch density, leaf overlap rate and leaf coverage area of ​​the target object, wherein the reproductive data includes at least one of the number of flower buds, flower blooms and fruits;

[0064] Specifically, the leaf coverage area of ​​the target object is calculated based on the three-dimensional image of the target object, that is, the leaf coverage area of ​​each target object viewed from the first height downward, and the leaf overlap rate and height of the target object are obtained from the sides of the multiple three-dimensional images. The leaf overlap rate is the number of overlapping leaves per unit leaf coverage area, and the more leaves there are, the higher the leaf overlap rate is, and vice versa. The reproductive data of the target object is obtained through the three-dimensional image of the target object, and the reproductive data includes at least one of the number of flower buds, flowers and fruits. For the same target area, due to the small differences in growth environment, the development stages of adult lychee trees are not exactly the same, but the differences are small.

[0065] Step S23: clustering the target objects in two adjacent rows with a set window based on the reproductive data of the target objects, and obtaining M clusters;

[0066] The width of the setting window is the spacing between N target objects, the value of N is 1 / 5 of the total number of target objects in each row, and the value of M is a positive integer greater than or equal to 3.

[0067] Specifically, since the planting time of the above-mentioned target objects in the same target area is different and the ages of the above-mentioned target objects are different, the growth stage of each target object is different, and the above-mentioned growth stage includes a childhood and an adult period, wherein the above-mentioned reproductive data of the above-mentioned target objects in the childhood period are all less than or equal to a preset threshold, and at least one of the above-mentioned reproductive data of the above-mentioned target objects in the adult period is greater than the above-mentioned preset threshold. Even if the growth stage is the same, due to the differences in light, watering amount and soil nutrition of the target objects, different developmental stages may occur, for example: different flowering or fruiting times. In addition, due to timely fertilization according to the growth stage and development stage of the above-mentioned target objects, the growth of litchi trees is promoted and the growth and fruiting rate of litchi trees are maximized. Therefore, the above-mentioned target objects in adjacent rows are clustered with a set window based on the above-mentioned reproductive data, and clustering clusters of the childhood period and clustering clusters of different developmental stages of the adult period are obtained, so as to accurately determine the type of fertilizer for each of the above-mentioned target objects.

[0068] Furthermore, the step S3 comprises:

[0069] Step S31: when the reproductive data of the target object in the cluster are all less than a preset threshold, weighted calculation is performed on the first growth index of the target object according to the plant height, branch density, leaf overlap rate and leaf coverage area in the characteristic data of the target object, and the growth index is compared with the standard growth index to obtain a comparison result, and when the comparison result is that the first growth index is greater than or equal to the standard growth index, normal first fertilization data is obtained, and when the comparison result is that the first growth index is less than the standard growth index, second fertilization data is generated based on the comparison result and the first fertilization data;

[0070] Specifically, when the reproductive data of the target object in the cluster are all less than a preset threshold, wherein the preset threshold is a positive integer less than or equal to 10, at this time, it can be considered that the target object is in its infancy and has not yet begun to bear fruit. The entire growth status of the target object is obtained by calculating the first growth index of the target object, and the first growth index is compared with the standard growth index of the target object of the same age. Whether the growth status of the target object meets the standard is judged by the comparison result. When the comparison result is that the first growth index is greater than or equal to the standard growth index, normal fertilization is performed according to the fertilization season. When the growth index of the target object is less than the standard growth index, normal fertilization, i.e., the standard growth index of the first fertilization data, is performed. On the basis of the growth of the target object, the amount of fertilizer is appropriately increased to promote the growth of the target object, wherein the first fertilization data includes a first fertilization type, a first fertilization amount and a first fertilization time. On the basis of the first fertilization amount, the first fertilization amount is increased according to the difference between the first growth index and the standard growth index to obtain the second fertilization amount. The larger the difference is, the larger the difference is between the second fertilization amount and the first fertilization amount, and the second fertilization amount is less than the upper limit of the fertilization amount for the corresponding target object. The second fertilization data includes a second fertilization type, a second fertilization amount and a second fertilization time, wherein the second fertilization type is the same as the first fertilization type, and the second fertilization time is also the same as the first fertilization time. Through the above technical solution, the fertilization data of the above target object in its infancy can be accurately obtained.

[0071] Step S32: when any item of the reproductive data of the target object in the cluster is greater than or equal to the preset threshold, calculating the second growth index of the target object based on the reproductive data, and acquiring third fertilization data according to the second growth index of the target object;

[0072] Specifically, when any item of the above reproductive data of the above target object in the above cluster is greater than or equal to the above preset threshold, that is, the above target object is in adulthood and the developmental stage is at least one of bud, blossom or fruit. Since different developmental stages require different types of fertilizers, and the amount of fertilizer varies with the number of flower buds, blossoms or fruits in the same developmental stage, the second growth index is obtained by weighting the number of flower buds, the number of blossoms and the number of fruits in the above reproductive data, wherein the weight of the number of fruits is the largest, and the third fertilization data is obtained based on the above second growth index, so as to accurately obtain the fertilization data required for the above target object in the corresponding developmental stage in adulthood.

[0073] Step S33: using the first fertilization data, the second fertilization data or the third fertilization data corresponding to the target object as the target fertilization data of the target object.

[0074] Specifically, through the above technical solution, the target fertilization type, target fertilization amount and target fertilization time of each of the above target objects can be accurately obtained according to the growth stage and development stage of each of the above target objects, thereby improving the fertilization accuracy.

[0075] Furthermore, the step S4 comprises:

[0076] Step S41: calculating a first watering amount according to the first growth index of the target object, obtaining a second watering amount according to the second growth index based on the first watering amount, obtaining a water shortage state of each target object according to the second depth image, and adjusting the second watering amount to a third watering amount based on the water shortage state, and taking the difference between the third watering amount and the precipitation as a target watering amount according to the precipitation in the target area within a preset time, and taking the target watering amount and the target watering time obtained through the water shortage state as the target watering data;

[0077] Specifically, the first growth index can reflect the growth height and density of the branches and leaves of the entire litchi tree and the entire tree. The taller and denser the litchi tree is, the higher the growth index is, the more watering is required, and vice versa. The second growth index can reflect the number of flower buds, flowers or fruits on the fruit tree. During the fruiting process, especially the fruit expansion process, the fruit needs to meet not only the growth needs of the fruit tree itself but also the needs of the fruit in the ripening process. Therefore, it is necessary to increase the watering amount to the second watering amount based on the first watering amount according to the second growth index. The second watering amount is The watering amount is the watering amount required for the above-mentioned target object under normal growth conditions. The water shortage state of the above-mentioned target object is obtained through the leaf state of the above-mentioned target object in the above-mentioned second depth image. When the leaves of the above-mentioned target object show that there is no water shortage, the above-mentioned watering time is postponed. When the leaves of the above-mentioned target object show that there is water shortage, the above-mentioned second watering amount is further fine-tuned to the above-mentioned third watering amount according to the water shortage state, for example: increase the second watering amount by 10%, and set the above-mentioned watering time to within the last three days. Through the above-mentioned technical solution, the target watering time and target watering amount of each of the above-mentioned target objects can be accurately obtained.

[0078] Step S42: Calculate the time intersection of the target watering time in the target watering data and the target fertilization time in the target fertilization data, and use the time intersection as the water-fertilization time of the target object, and mark the water-fertilization time, the target watering amount, the target fertilization type and the target fertilization amount at each location of the target object in the three-dimensional space to generate the water-fertilization map.

[0079] Specifically, by calculating the above-mentioned time intersection, namely the water-fertilizer time, the time when watering and fertilizing are carried out simultaneously can be accurately obtained, which can meet the watering needs and ensure timely fertilization to achieve balanced growth of the target object, and by marking the above-mentioned water-fertilizer time, target watering data, target fertilization type and target fertilization amount at the location of each of the above-mentioned target objects in the above-mentioned three-dimensional space to generate the above-mentioned water-fertilizer map, and accurate fertilization and watering can be achieved through the above-mentioned water-fertilizer map, thereby promoting the balanced growth of the target object.

[0080] Furthermore, the step S5 comprises:

[0081] Step S51: obtaining all the target objects in the clusters with the same target fertilization type in two adjacent rows as water-fertilizer objects, and calculating the total amount of fertilizer corresponding to the target fertilization type of the water-fertilizer objects, when watering starts, the first water pump discharges water into the watering pipe at a first speed, and the second water pump discharges the fertilizer liquid corresponding to the target fertilization type into the outlet pipe at a second speed, wherein the ratio of the weight of the fertilizer liquid discharged by the second water pump per unit time to the sum of the weight of the water discharged by the first water pump per unit time plus the weight of the fertilizer liquid is equal to the fertilizer concentration, and the fertilizer concentration is the maximum value of the ratio of the target fertilization amount in the water-fertilizer object to the sum of the target fertilization amount plus the target watering amount;

[0082] Specifically, since two adjacent rows can be watered and fertilized at the same time when watering the target object, the efficiency of watering and fertilizing is improved by obtaining the above-mentioned target objects with the same target fertilization type in two adjacent row clusters, and fertilizing and watering the above-mentioned target objects with the same target fertilization type at the same time. The ratio of the target fertilization amount and the target watering amount of the above-mentioned target objects is not exactly the same. Therefore, if fertilization is performed during the watering process, the ratio of water and fertilizer is also different. Therefore, the target fertilization amount in each of the above-mentioned water and fertilizer objects is taken as the first value, the sum of the above-mentioned target fertilization amount and the above-mentioned target fertilization amount and the above-mentioned target watering amount of the above-mentioned water and fertilizer objects is taken as the second value, and the maximum value of the ratio of the above-mentioned first value to the above-mentioned second value in all the above-mentioned water and fertilizer objects is taken as the above-mentioned fertilization concentration, thereby improving the fertilization speed while meeting the fertilization accuracy.

[0083] Step S52: when the product of the fertilization concentration and the first water output of the water outlet corresponding to the water and fertilizer object is greater than or equal to the target fertilization amount of the water and fertilizer object, the electromagnetic valve switch corresponding to the water and fertilizer object is closed, and when the discharge amount of the second water pump is equal to the total fertilization amount and the electromagnetic valve switches of the water and fertilizer object are all closed, the second water pump stops discharging; the water and fertilizer object whose first water output is greater than or equal to the sum of the target watering amount and the target fertilization amount is taken as the first object, the electromagnetic valve switch of the first object is opened, the first water pump drains water at a third speed, and when the total water output of the water outlet corresponding to the first object is greater than or equal to the sum of the target watering amount and the target fertilization amount, the electromagnetic valve corresponding to the first object is closed, wherein the first speed is less than the third speed;

[0084] Specifically, when the product of the above-mentioned fertilizer concentration and the first water output of the water outlet corresponding to the above-mentioned water and fertilizer object is greater than or equal to the target fertilization amount of the above-mentioned water and fertilizer object, the fertilization of the above-mentioned water and fertilizer object is completed at this time, therefore, the solenoid valve switch of the above-mentioned water and fertilizer object is closed, and when the discharge amount of the above-mentioned second water pump is equal to the above-mentioned total fertilization amount and the solenoid valve switches of the water and fertilizer object are all closed, that is, the fertilization amount of each of the above-mentioned water and fertilizer objects is equal to the corresponding target fertilization amount, that is, the fertilization is completed, at this time, the second water pump is closed to stop the discharge of fertilizer liquid; because when the fertilization of each of the above-mentioned water and fertilizer objects is completed, the watering of the water and fertilizer objects is not necessarily completed, therefore, the solenoid valve switch of the above-mentioned first object that has not completed watering is opened, and the first object is watered at the above-mentioned third speed until the watering of the above-mentioned first object is completed. Through the above-mentioned technical solution, the watering accuracy of the above-mentioned target object is improved, that is, the water demand for the growth of the above-mentioned target object can be met and water can be saved to the maximum extent.

[0085] Step S53: repeating the steps S51 and S52 until the watering and fertilizing of each target object is completed, and then turning off the first water pump.

[0086] Specifically, the fertilization and watering of all types of target objects are completed by repeating the above step S51 and the above step S52. Through the above technical solution, accurate watering and fertilization of the target objects are achieved, thereby promoting the balanced growth of the target objects.

[0087] Furthermore, the target fertilization data includes target fertilization type, target fertilization amount and target fertilization time.

[0088] Furthermore, the second growth index is weighted by the number of flower buds, the number of blooms and the number of fruits in the reproductive data, wherein the number of fruits has the largest weight, followed by the number of flower buds and the number of blooms.

[0089] Furthermore, the clusters include clusters of litchi trees in their infancy and clusters of litchi trees at different developmental stages.

[0090] The present invention also provides a litchi growth balance control system based on intelligent water-fertilizer integration, the system is used to implement the above method, such as Figure 2 As shown, the system comprises:

[0091] A camera device, used to capture a first depth image of the target area at a first height above the center of the target area, divide the target area into N sub-areas, and capture multiple side second depth images of the sub-areas at a second height above the center position of each sub-area;

[0092] a mapping unit, configured to map the first depth image and the plurality of the second depth images to a three-dimensional space to obtain a three-dimensional image of each of the target objects, and to obtain feature data and reproductive data of each of the target objects based on the three-dimensional image,

[0093] A clustering unit, configured to cluster all the target objects based on the reproductive data of each of the target objects to obtain clusters;

[0094] The calculation unit is configured to: obtain the target fertilization data of the target object according to the reproductive data of the target object in each of the clusters and the first growth index and the second growth index of the target object; generate the target watering data of the target object according to the first growth index and the second growth index of the target object, the predicted precipitation and the water shortage state of the target object, and generate the water and fertilizer map of the target area based on the target watering data and the target fertilization data of each of the target objects;

[0095] A control unit is used to water and fertilize each of the target objects in the target area according to the water and fertilizer map.

[0096] In summary, the present invention lays a foundation for obtaining a three-dimensional image of each target object in a three-dimensional space by obtaining a first depth image of the target area and multiple side second depth images of the sub-area, and obtains the leaf coverage area of ​​the target object from the three-dimensional image, and uses the plant height, branch density, leaf overlap rate and leaf coverage area of ​​the target object as the characteristic data of the target object, and uses at least one of the number of flower buds, flower clusters and fruit clusters of the target object as the reproductive data of the target object, and clusters the target objects in adjacent rows with a set window based on the reproductive data, and obtains the target fertilization data of the juvenile litchi tree by calculating the first growth index of the target object; when any one of the reproductive data of the target object in the cluster is greater than or equal to the preset threshold, that is, the target object is in the adult period, calculates the second growth index of the target object, and obtains the target fertilization data of each target object in the cluster based on the second growth index of the target object in the cluster, thereby realizing precise fertilization of each target object in each cluster, because the juvenile litchi tree only needs to calculate the first growth index according to the first growth index of the litchi tree, that is, the degree of growth luxuriance. However, for the litchi trees in the development stage during adulthood, in addition to meeting the water needs for their own growth, the second growth index of the litchi trees, i.e., the number of fruits or flower buds, i.e., the number of flowers, must be met. On the basis of the first watering amount, additional water must be added to the second precipitation amount to meet the flowering and fruiting of the flower buds or the expansion and maturity of the fruits. At the same time, the watering amount of the above-mentioned target objects is also affected by the water shortage state of each target object and the precipitation within a preset time, and the second watering amount is adjusted to the target watering amount based on the influence. The accurate watering amount of each of the above-mentioned target objects is obtained through the above-mentioned technical solution, And promote the balanced growth of the above-mentioned target objects; also according to the intersection of the target watering time and the target fertilization time of the above-mentioned target objects as the water and fertilizer time of the target objects, the above-mentioned water and fertilizer time, target watering amount, target fertilization type, and target fertilization amount of each of the above-mentioned target objects are marked in the above-mentioned three-dimensional space to generate the above-mentioned water and fertilizer map, so that the target watering data and target fertilization data of each of the above-mentioned target objects can be accurately obtained. When watering and fertilizing the above-mentioned target area, the above-mentioned target objects with the same target fertilization type are fertilized and watered at the same time, thereby improving the efficiency of watering and fertilizing.

[0097] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0098] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they 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, and these 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.

[0099] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A litchi growth balance control method based on intelligent water-fertilizer integration, wherein the target area includes multiple rows of target objects, a watering pipe is provided between two adjacent rows, and a water outlet is provided at each target object, and the water outlet is controlled by a solenoid valve, characterized in that: The method comprises the following steps: Step S1: photographing a first depth image of the target area at a first height above the center of the target area by a camera device, dividing the target area into N sub-areas, and photographing a plurality of side second depth images of the sub-areas at a second height above the center position of each sub-area; Step S2: mapping the first depth image and the plurality of the second depth images to a three-dimensional space to obtain a three-dimensional image of each target object, and obtaining feature data and reproductive data of each target object based on the three-dimensional image, and clustering all the target objects based on the reproductive data of each target object to obtain cluster clusters, wherein the feature data includes plant height, leaf coverage area and leaf overlap rate of the target object, and the reproductive data includes at least one of the number of flower buds, flower blooms and fruits; Step S3: acquiring target fertilization data of the target object according to the reproductive data of the target object in each of the clusters and the first growth index and the second growth index of the target object; Step S4: generating target watering data for the target object according to the first growth index and the second growth index of the target object, the predicted precipitation, and the water shortage state of the target object, and generating a water and fertilizer map of the target area based on the target watering data and the target fertilization data of each target object; Step S5: watering and fertilizing each of the target objects in the target area according to the water and fertilizer map; Wherein, the step S3 comprises: Step S31: when the reproductive data of the target object in the cluster are all less than a preset threshold, weighted calculation is performed on the first growth index of the target object according to the leaf coverage area, plant height, and branch density in the characteristic data of the target object, and the growth index is compared with the standard growth index to obtain a comparison result, and when the comparison result is that the first growth index is greater than or equal to the standard growth index, normal first fertilization data is obtained, and when the comparison result is that the first growth index is less than the standard growth index, second fertilization data is generated based on the comparison result and the first fertilization data; Step S32: when any item of the reproductive data of the target object in the cluster is greater than or equal to the preset threshold, calculating the second growth index of the target object based on the reproductive data, and acquiring third fertilization data according to the second growth index of the target object; Step S33: using the first fertilization data, the second fertilization data or the third fertilization data corresponding to the target object as the target fertilization data of the target object; The step S4 comprises: Step S41: calculating a first watering amount according to the first growth index of the target object, obtaining a second watering amount according to the second growth index based on the first watering amount, obtaining a water shortage state of each target object according to the second depth image, and adjusting the second watering amount to a third watering amount based on the water shortage state, and taking the difference between the third watering amount and the precipitation as a target watering amount according to the precipitation in the target area within a preset time, and taking the target watering amount and the target watering time obtained through the water shortage state as the target watering data; Step S42: Calculate the time intersection of the target watering time in the target watering data and the target fertilization time in the target fertilization data, and use the time intersection as the water-fertilization time of the target object, and mark the water-fertilization time, the target watering amount, the target fertilization type and the target fertilization amount at each location of the target object in the three-dimensional space to generate the water-fertilization map.

2. The method according to claim 1, characterized in that The step S1 comprises: Step S11: acquiring the center position of the target area, and photographing the first depth image of the target area by the camera device at the first height above the center position, wherein the camera device is an aerial camera; Step S12: Divide the target area into N sub-areas, wherein each sub-area includes two adjacent rows of a plurality of target objects; Step S13: adjusting the camera of the camera device toward the sub-area at the second height above the center position of each sub-area and rotating it once to acquire a plurality of the second depth images, wherein the first height is higher than the second height.

3. The method according to claim 1, characterized in that The step S2 comprises: Step S21: performing coordinate conversion on the first depth image and the plurality of second depth images according to a coordinate position relationship and mapping them to the same three-dimensional space to obtain the three-dimensional image of each target object; Step S22: calculating the feature data and the reproductive data of each target object according to the three-dimensional image of each target object; Step S23: clustering the target objects in two adjacent rows with a set window based on the reproductive data of the target objects, and obtaining M clusters; The width of the setting window is the spacing between N target objects, the value of N is 1 / 5 of the total number of target objects in each row, and the value of M is a positive integer greater than or equal to 3.

4. The method according to claim 1, characterized in that: The step S5 comprises: Step S51: obtaining all the target objects in the clusters with the same target fertilization type in two adjacent rows as water-fertilizer objects, and calculating the total amount of fertilizer corresponding to the target fertilization type of the water-fertilizer objects, when watering starts, the first water pump discharges water into the watering pipe at a first speed, and the second water pump discharges the fertilizer liquid corresponding to the target fertilization type into the outlet pipe at a second speed, wherein the ratio of the weight of the fertilizer liquid discharged by the second water pump per unit time to the sum of the weight of the water discharged by the first water pump per unit time plus the weight of the fertilizer liquid is equal to the fertilizer concentration, and the fertilizer concentration is the maximum value of the ratio of the target fertilization amount in the water-fertilizer object to the sum of the target fertilization amount plus the target watering amount; Step S52: when the product of the fertilization concentration and the first water output of the water outlet corresponding to the water and fertilizer object is greater than or equal to the target fertilization amount of the water and fertilizer object, the electromagnetic valve switch corresponding to the water and fertilizer object is closed, and when the discharge amount of the second water pump is equal to the total fertilization amount and the electromagnetic valve switches of the water and fertilizer object are all closed, the second water pump stops discharging; the water and fertilizer object whose first water output is greater than or equal to the sum of the target watering amount and the target fertilization amount is taken as the first object, the electromagnetic valve switch of the first object is opened, the first water pump drains water at a third speed, and when the total water output of the water outlet corresponding to the first object is greater than or equal to the sum of the target watering amount and the target fertilization amount, the electromagnetic valve corresponding to the first object is closed, wherein the first speed is less than the third speed; Step S53: repeating the steps S51 and S52 until the watering and fertilizing of each target object is completed, and then turning off the first water pump.

5. The method according to claim 1, characterized in that The target fertilization data includes target fertilization type, target fertilization amount and target fertilization time.

6. The method according to claim 1, characterized in that The second growth index is a weighted sum of the number of flower buds, the number of blooms and the number of fruits in the reproductive data, wherein the number of fruits has the largest weight, followed by the number of flower buds and the number of blooms.

7. The method according to claim 1, characterized in that The clusters include clusters of litchi trees in their infancy and clusters of litchi trees at different developmental stages.

8. A litchi growth balance control system based on intelligent water-fertilizer integration, the system is used to implement the method according to any one of claims 1 to 7, characterized in that: The system comprises: A camera device, used to capture a first depth image of the target area at a first height above the center of the target area, divide the target area into N sub-areas, and capture multiple side second depth images of the sub-areas at a second height above the center position of each sub-area; a mapping unit, configured to map the first depth image and the plurality of the second depth images to a three-dimensional space to obtain a three-dimensional image of each of the target objects, and to obtain feature data and reproductive data of each of the target objects based on the three-dimensional image, A clustering unit, configured to cluster all the target objects based on the reproductive data of each of the target objects to obtain clusters; The calculation unit is configured to: obtain the target fertilization data of the target object according to the reproductive data of the target object in each of the clusters and the first growth index and the second growth index of the target object; generate the target watering data of the target object according to the first growth index and the second growth index of the target object, the predicted precipitation and the water shortage state of the target object, and generate the water and fertilizer map of the target area based on the target watering data and the target fertilization data of each of the target objects; A control unit is used to water and fertilize each of the target objects in the target area according to the water and fertilizer map.

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