Winter bamboo shoot detection method and system based on electromagnetic induction

Abstract

The invention relates to the technical field of winter bamboo shoot detection, and discloses a winter bamboo shoot detection method and system based on electromagnetic induction, and the method comprises the steps: obtaining an area map and a driving path; according to the regional map and the driving path, the ground penetrating radar performs detection in sequence along the driving path to obtain at least one detection image; judging whether a preset feature exists in each detection image or not; when the preset features do not exist in the detection images, executing the step of enabling the ground penetrating radar to perform detection in sequence along the driving path according to the area map and the driving path to obtain the detection images; when the preset features exist in any detection image, determining the detection point corresponding to the detection image with the preset features as an operation position; and a preset mark is drawn on the operation position through the marking mechanism. The underground winter bamboo shoots are identified, then the marking mechanism draws the operation positions corresponding to the detection images, the underground positions of the winter bamboo shoots are rapidly identified, and the collection efficiency of the winter bamboo shoots is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of winter bamboo shoot detection, and in particular to a winter bamboo shoot detection method and system based on electromagnetic induction. Background Art

[0002] China is located in the world's bamboo distribution center, with abundant bamboo resources, accounting for about 20% of the world's bamboo forest area, and is truly the "World Bamboo Kingdom". Winter bamboo shoots, as young shoots of bamboo, are low in fat and high in protein and cellulose. They have both edible value and medicinal effects. Winter bamboo shoots are rich in essential amino acids such as glutamic acid and asparagic acid. They are known as "delicious mountain delicacies" and "king of bamboo shoots". They are the best bamboo shoots and are deeply loved by people. Winter bamboo shoots generally grow 0cm to 20cm below the surface. If they are exposed to the ground, the best harvest period will be missed, and the taste and nutrition of winter bamboo shoots will be greatly affected.

[0003] Winter bamboo shoots mainly grow in woodlands or forests and are usually found in winter. The growth of winter bamboo shoots depends on specific environmental conditions, such as appropriate temperature, humidity and tree types. Bamboo shoot farmers usually look for deciduous forest areas, especially dense bamboo forests and pine forests. Winter bamboo shoots are bamboo shoots that develop from the lateral buds of the underground stems (bamboo whips) of bamboo (Phyllostachys pubescens) around the beginning of autumn. Because they have not yet emerged from the ground, the shoots are tender. The main production areas are Jiangxi and Zhejiang. At present, the collection of winter bamboo shoots is generally based on the long-term collection experience of staff, who collect the winter bamboo shoots that have not yet broken through the ground and cracked. The entire collection process relies entirely on personal experience, resulting in low efficiency in the collection of winter bamboo shoots. Summary of the invention

[0004] The main purpose of the present invention is to provide a winter bamboo shoot detection method and system based on electromagnetic induction, aiming to solve the problem that the entire winter bamboo shoot collection process completely relies on personal experience, resulting in low efficiency in winter bamboo shoot collection.

[0005] To achieve the above object, the present invention proposes a winter bamboo shoot detection method based on electromagnetic induction, comprising:

[0006] Get the area map and driving route respectively;

[0007] According to the area map and the driving path, control the ground penetrating radar to move along the driving path and detect at a preset detection time interval to obtain a detection image corresponding to each detection time point;

[0008] Determining whether there is a preset feature in each of the received detection images;

[0009] When the preset feature does not exist in any of the detection images, control the ground penetrating radar to continue moving along the remaining driving path and detect according to the preset detection time interval, so as to obtain the detection image at each remaining detection time point, and execute the step of determining whether the preset feature exists in each of the received detection images;

[0010] When the preset feature exists in any of the detection images, the detection point corresponding to the detection image having the preset feature is confirmed as the operation position;

[0011] The marking mechanism is used to draw preset marks on the working position.

[0012] Preferably, after the step of marking the working position with a preset mark by a marking mechanism, the following steps are included:

[0013] Determining at least one acquisition point according to the operation position and the detection image having the preset feature;

[0014] A collection image is formed according to the preset mark and each of the collection points, and the collection image is sent to an external terminal.

[0015] Preferably, after the step of forming a collected image according to the preset mark and each of the collected points and sending the collected image to an external terminal, the method further comprises:

[0016] According to the driving path and each of the working positions, determining whether the interval between two adjacent working positions along the driving path is greater than a first preset distance;

[0017] When the interval distance is greater than or equal to the first preset distance, a blank area is formed between two adjacent working areas;

[0018] When the interval distance is less than the first preset distance, two adjacent working positions form a cluster area;

[0019] Along the driving path, marking each of the blank areas and each of the cluster areas on the regional map;

[0020] The area map is sent to an external terminal.

[0021] Preferably, after the step of marking each of the blank areas and each of the cluster areas on the area map along the driving path, the method further comprises:

[0022] Determine whether the number of the collection points in each of the cluster areas is greater than a preset number;

[0023] When the number of the collection points in any cluster area is greater than or equal to the preset number, the cluster area is confirmed as a recommended area, and the recommended area and the number of collection points in the recommended area are marked on the area map;

[0024] When the number of the collection points in each of the cluster areas is less than the preset number, a warning message is marked on the area map.

[0025] To achieve the above-mentioned purpose, the present invention proposes a winter bamboo shoot detection system based on electromagnetic induction, wherein the winter bamboo shoot detection system applies any of the above-mentioned winter bamboo shoot detection methods based on electromagnetic induction to detect winter bamboo shoots, and the winter bamboo shoot detection system includes a controller, a mover, a ground penetrating radar, a marking mechanism and a lifting mechanism. A receiving groove is provided on the bottom side of the mover, and the ground penetrating radar, the marking mechanism and the lifting mechanism are all arranged in the receiving groove. The lifting mechanism drives and connects the ground penetrating radar and the marking mechanism respectively, and the lifting mechanism is used to drive the ground penetrating radar and the marking mechanism to vertically lift and lower respectively; the controller is electrically connected to the mover, the ground penetrating radar, the marking mechanism and the lifting mechanism respectively, and the controller is used to obtain a regional map and a driving path respectively, and according to the regional map and the driving path, control the lifting mechanism to drive the ground penetrating radar to detect and obtain at least one detection image in sequence along the driving path; the controller is also used to confirm the detection point corresponding to the detection image with the preset feature as the working position when the preset feature exists in any of the detection images, so that the marking mechanism draws a preset mark on the working position.

[0026] Preferably, the lifting mechanism includes a first lifter, which is arranged in the receiving tank; the marking mechanism includes a liquid storage tank, a fixed frame, a liquid spraying structure and a marking structure, the liquid storage tank is arranged on the side of the movable device away from the receiving tank, and the liquid storage tank is used to store marking liquid; the fixed frame is arranged in the receiving tank, the fixed frame is located on the side of the first lifter away from the liquid storage tank, and the first lifter is driven and connected to the fixed frame; the liquid spraying structure and the marking structure are both arranged on the side of the fixed frame away from the first lifter, and the liquid spraying structure is connected to the liquid storage tank; the controller is electrically connected to the first lifter, the liquid spraying structure and the marking structure, and the controller is used to control the first lifter to drive the liquid spraying structure and the marking structure to lift and lower respectively through the fixed frame, so that when the marking structure is adjusted to the preset mark, the liquid spraying structure sprays the preset mark to the working position through the marking structure.

[0027] Preferably, the marking structure includes a connecting frame, a connecting bearing, two connecting cylinders and a driver, the two connecting cylinders are arranged at intervals along the axial direction, the connecting bearing is located between the two connecting cylinders, the connecting bearings are respectively rotatably connected to the ends of the two connecting cylinders, and the two connecting cylinders are coaxial and horizontally arranged; the two connecting cylinders are both formed with a plurality of characteristic through holes along the circumference, and each of the characteristic through holes is sequentially arranged at intervals along the circumference of the connecting cylinder; the connecting bearing is connected to the side of the fixing frame away from the first lifter through the connecting frame, the driver is arranged on the side of the fixing frame facing the two connecting cylinders, the driver drives the two connecting cylinders respectively, and the driver is used to drive the two connecting cylinders to rotate along the axial direction respectively; a moving space for the movement of the spray structure is formed inside the two connecting cylinders, and the spray structure is located in the moving space; the controller is electrically connected to the driver, and the controller is used to control the driver to respectively drive the two connecting cylinders to rotate according to the preset mark, and rotate the characteristic through hole corresponding to the preset mark to the lower position of the spray direction of the spray structure, so that the marking liquid sprayed by the spray structure contacts the ground through the characteristic through hole at the lower position to form the preset mark.

[0028] Preferably, the driver comprises two connecting gears, two driving gears and two servo motors, wherein one of the connecting gears is sleeved on one end of one of the connecting cylinders away from the connecting bearing, and the other connecting gear is sleeved on one end of the other connecting cylinder away from the connecting bearing; the two servo motors are arranged on a side of the fixing frame facing the two connecting cylinders, and the connecting frame is located between the two servo motors, wherein the output end of one of the servo motors meshes with the adjacent connecting gear through one of the driving gears, and the output end of the other servo motor meshes with the adjacent connecting gear through the other driving gear; the controller is electrically connected to the two servo motors, respectively, and the controller is used to control the two servo motors to drive the connected connecting cylinders to rotate, so that the characteristic through hole that meets the preset mark rotates to the lower position of the liquid spray structure.

[0029] Preferably, the liquid spraying structure comprises a nozzle, a pump body, a connecting hose, a telescopic device and a connecting pipe, the nozzle is arranged in the movable space, and the liquid spraying direction of the nozzle is away from the fixed frame; the telescopic device is arranged at one end of one of the connecting tubes away from the connecting bearing, and the output end of the telescopic device extends toward the connecting bearing to drive and connect the nozzle; the connecting pipe is arranged at one end of the other connecting tube away from the connecting bearing, and the end of the connecting pipe close to the connecting bearing extends to connect with the nozzle, and the end of the connecting pipe away from the nozzle is connected to the liquid storage tank through the connecting hose, and the pump body is arranged on the connecting hose; the controller is electrically connected to the pump body and the telescopic device, and the controller is used to control the telescopic device and the pump body respectively when the characteristic through hole that meets the preset mark rotates to the side of the nozzle away from the connecting frame, so that the telescopic device drives the nozzle to spray the marking liquid on the characteristic through hole away from the side of the connecting frame in turn.

[0030] Preferably, the lifting mechanism further comprises a second lifter, the second lifter is located on one side of the first lifter, and the second lifter is driven to connect the ground penetrating radar

[0031] Compared with the prior art, the present invention has at least the following beneficial effects:

[0032] The path to be detected by the ground penetrating radar is determined according to the regional map and the driving path, so that the ground penetrating radar can obtain detection images in sequence, and identify the underground winter bamboo shoots by detecting the preset features in the image respectively. Then, the working position corresponding to the detection image is drawn by the marking mechanism, so as to realize the rapid identification of the underground position of the winter bamboo shoots, and effectively improve the collection efficiency of the winter bamboo shoots. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0034] Figure 1 It is a flow chart of an embodiment of a winter bamboo shoot detection method based on electromagnetic induction of the present invention;

[0035] Figure 2 It is a structural schematic diagram of an embodiment of a winter bamboo shoot detection system based on electromagnetic induction of the present invention;

[0036] Figure 3 It is a structural diagram of the marking mechanism.

[0037] Description of Figure Numbers:

[0038] 1-mover; 11-accommodating slot; 12-ground penetrating radar; 13-first lifter; 14-second lifter; 15-connecting plate; 16-anti-collision plate;

[0039] 2-marking mechanism; 21-liquid storage tank; 22-fixed frame;

[0040] 3-liquid spraying structure; 31-spray head; 32-pump body; 33-connecting hose; 34-retractor; 35-connecting pipe;

[0041] 4- serial number structure; 41- connecting frame; 42- connecting bearing; 43- connecting cylinder;

[0042] 5-driver; 51-connecting gear; 52-driving gear; 53-servo motor.

[0043] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0044] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0045] See also Figure 1 To achieve the above purpose, a winter bamboo shoot detection method based on electromagnetic induction in a first embodiment of the present invention includes:

[0046] Step S10, respectively obtaining a regional map and a driving route;

[0047] Step S20, according to the area map and the driving path, controlling the ground penetrating radar 12 to move along the driving path and detect according to a preset detection time interval to obtain a detection image corresponding to each detection time point;

[0048] Step S30, determining whether there are preset features in each received detection image;

[0049] Step S40, when the preset features do not exist in any of the detection images, control the ground penetrating radar 12 to continue moving along the remaining driving path and detect according to the preset detection time interval, so as to obtain detection images at each remaining detection time point, and execute step S30;

[0050] Step S50, when there is a preset feature in any detection image, confirming the detection point corresponding to the detection image with the preset feature as the operation position;

[0051] Step S60: drawing a preset mark on the working position by the marking mechanism 2.

[0052] The path to be detected by the ground penetrating radar 12 is determined according to the regional map and the driving path, so that the ground penetrating radar 12 can obtain detection images in sequence, and identify the winter bamboo shoots underground by detecting the preset features in the images respectively, and then draw the working position corresponding to the detection image through the marking mechanism 2, so as to realize the rapid identification of the underground position of the winter bamboo shoots, and effectively improve the collection efficiency of the winter bamboo shoots.

[0053] Specifically, the preset mark is the shape of winter bamboo shoots displayed in the ground ditch detected by the ground penetrating radar 12, and multiple shapes are input to improve the detection accuracy.

[0054] In the second embodiment of the present invention, based on the first embodiment, after step S60, the following steps are included:

[0055] Step S70, determining at least one acquisition point according to the working position and the detection image having the preset features;

[0056] Step S71, forming a captured image according to preset marks and each captured point, and sending the captured image to an external terminal.

[0057] Specifically, the collected image is a plane image, and the position of the preset mark and the position of the winter bamboo shoots are displayed in the image, so that the user can quickly determine the collection point position of the winter bamboo shoots according to the preset mark on the spot.

[0058] In the third embodiment of the present invention, based on the second embodiment, after step S71, the following steps are included:

[0059] Step S73, according to the driving path and each working position, determining whether the interval distance between two adjacent working positions along the driving path is greater than a first preset distance;

[0060] Step S74, when the interval distance is greater than or equal to the first preset distance, a blank area is formed between two adjacent working areas;

[0061] Step S75, when the interval distance is less than the first preset distance, two adjacent working positions form a cluster area;

[0062] Step S76, marking each blank area and each cluster area on the regional map along the driving path;

[0063] Step S77, sending the area map to an external terminal.

[0064] Through the first preset distance, the user can go over the area with fewer winter bamboo shoots and go to the area with more winter bamboo shoots for collection, thereby increasing the number of single collections, reducing the operation time and improving the overall efficiency.

[0065] Specifically, the external terminal is a mobile phone.

[0066] In the fourth embodiment of the present invention, based on the third embodiment, after step S76, the following steps are included:

[0067] Step S78, determining whether the number of collection points in each cluster area is greater than a preset number;

[0068] Step S79, when the number of collection points in any cluster area is greater than or equal to a preset number, the cluster area is confirmed as a recommended area, and the recommended area and the number of collection points in the recommended area are marked on the regional map;

[0069] Step S710: When the number of collection points in each cluster area is less than a preset number, a warning message is marked on the area map.

[0070] The collection efficiency is further improved by recommending users to collect data within the cluster area.

[0071] Specifically, after step S79, the following steps are included:

[0072] Step S711, determining whether the interval between the collection point closest to the previous blank area and the collection point closest to the next blank area in the recommended area is greater than a second preset distance;

[0073] Step S712, when the interval between the collection point close to the previous blank area and the collection point closest to the next blank area in the recommended area is less than the second preset distance, the recommended area is marked with a color in the area map;

[0074] Step S713: When the interval distance between the collection point close to the previous blank area and the collection point closest to the next blank area in the recommended area is greater than or equal to the second preset distance, step S77 is executed.

[0075] Since the mover 1 travels unidirectionally along the driving path, the interval distance between the collection point close to the previous blank area and the collection point closest to the next blank area can determine the area of ​​the recommended area, thereby further selecting a more enriched area in the recommended area.

[0076] like Figure 2 and Figure 3A winter bamboo shoot detection system based on electromagnetic induction is shown. The winter bamboo shoot detection system uses any of the above-mentioned winter bamboo shoot detection methods based on electromagnetic induction to detect winter bamboo shoots. The winter bamboo shoot detection system includes a controller, a mover 1, a ground penetrating radar 12, a marking mechanism 2 and a lifting mechanism. A receiving groove 11 is provided on the bottom side of the mover 1. The ground penetrating radar 12, the marking mechanism 2 and the lifting mechanism are all arranged in the receiving groove 11. The lifting mechanism drives and connects the ground penetrating radar 12 and the marking mechanism 2 respectively, and the lifting mechanism is used to drive the ground penetrating radar 12 and the marking mechanism 2 to vertically lift and lower respectively; the controller is electrically connected to the mover 1, the ground penetrating radar 12, the marking mechanism 2 and the lifting mechanism respectively, and the controller is used to obtain a regional map and a driving path respectively, and according to the regional map and the driving path, the lifting mechanism controls the lifting mechanism to drive the ground penetrating radar 12 to perform detection in sequence along the driving path to obtain at least one detection image; the controller is also used to confirm the detection point corresponding to the detection image with the preset feature as the working position when there is a preset feature in any detection image, so that the marking mechanism 2 draws a preset mark on the working position.

[0077] The lifting mechanism includes a first lifter 13, which is arranged in the receiving tank; the marking mechanism 2 includes a liquid storage tank 2, a fixed frame 22, a spray structure 3 and a marking structure 4, the liquid storage tank 2 is arranged on the side of the movable device 1 away from the receiving tank 11, and the liquid storage tank 2 is used to store marking liquid; the fixed frame 22 is arranged in the receiving tank 11, and the fixed frame 22 is located on the side of the first lifter 13 away from the liquid storage tank 2, and the first lifter 13 drives the connection fixed frame 22; the spray structure 3 and the marking structure 4 are both arranged on the side of the fixed frame 22 away from the first lifter 13, and the spray structure 3 is connected to the liquid storage tank 2; the controller is electrically connected to the first lifter 13, the spray structure 3 and the marking structure 4, and the controller is used to control the first lifter 13 to drive the spray structure 3 and the marking structure 4 to lift and lower respectively through the fixed frame 22, so that when the marking structure 4 is adjusted to a preset mark, the spray structure 3 sprays the preset mark to the working position through the marking structure 4. The first lifter 13 drives the liquid spraying structure 3 and the serial number marking structure 4 to rise and fall vertically through the fixing frame 22 , so that the liquid spraying structure 3 sprays the preset mark on the working area through the serial number marking structure 4 .

[0078] The marking structure 4 includes a connecting frame 41, a connecting bearing 42, two connecting cylinders 43 and a driver 5. The two connecting cylinders 43 are arranged at intervals along the axial direction. The connecting bearing 42 is located between the two connecting cylinders 43. The connecting bearing 42 is respectively rotatably connected to the ends of the two connecting cylinders 43. The two connecting cylinders 43 are coaxial and horizontally arranged. The two connecting cylinders 43 are formed with a plurality of characteristic through holes (not shown in the figure) along the circumferential direction. The characteristic through holes are sequentially arranged at intervals along the circumferential direction of the connecting cylinders 43. The connecting bearing 42 is connected to the side of the fixing frame 22 away from the first lifter 13 through the connecting frame 41. The driver 5 is arranged on the fixing frame 22. On the side facing the two connecting cylinders 43, the driver 5 drives the two connecting cylinders 43 respectively, and the driver 5 is used to drive the two connecting cylinders 43 to rotate axially respectively; a moving space for the liquid spraying structure 3 to move is formed in the two connecting cylinders 43, and the liquid spraying structure is located in the moving space; the controller is electrically connected to the driver 5, and the controller is used to control the driver 5 to drive the two connecting cylinders 43 to rotate respectively according to the preset mark, and rotate the characteristic through hole corresponding to the preset mark to the lower position of the liquid spraying direction of the liquid spraying structure 3, so that the marking liquid sprayed by the liquid spraying structure 3 contacts the ground through the characteristic through hole at the lower position to form the preset mark. The driver 5 rotates the two connecting cylinders 43 according to the preset mark to realize the adjustment of different preset marks. Through a variety of preset marks, the use of multiple working positions is met, so that users can quickly determine different working positions.

[0079] Specifically, the characteristic through hole is a digital through hole, and the connecting tube 43 is provided with nine digital through holes from number 1 to number 9, which can satisfy the marking of multiple working positions. For example, the actual mark of the working position mark is one, the preset mark of the middle position of the collected image is image one, and the circumference of image one sets the collection point according to the actual interval position between the collection point and the preset mark, so that the user can intuitively determine the position of the winter bamboo shoots by simply viewing the collected image through a mobile phone.

[0080] The driver 5 includes two connecting gears 51, two driving gears 52 and two servo motors 53, wherein one connecting gear 51 is sleeved on one end of one connecting tube 43 away from the connecting bearing 42, and the other connecting gear 51 is sleeved on one end of the other connecting tube 43 away from the connecting bearing 42; the two servo motors 53 are arranged on one side of the fixing frame 22 facing the two connecting tubes 43, and the connecting frame 41 is located between the two servo motors 53, wherein the output end of one servo motor 53 meshes with the adjacent connecting gear 51 through one driving gear 52, and the output end of the other servo motor 53 meshes with the adjacent connecting gear 51 through the other driving gear 52; the controller is electrically connected to the two servo motors 53, respectively, and the controller is used to control the two servo motors 53 to drive the connected connecting tubes 43 to rotate, so that the characteristic through hole that meets the preset mark rotates to the lower position of the liquid spraying structure 3.

[0081] The liquid spraying structure 3 comprises a nozzle 31, a pump body 32, a connecting hose 33, a telescopic device 34 and a connecting pipe 35. The nozzle 31 is arranged in the mobile space, and the liquid spraying direction of the nozzle 31 is arranged away from the fixed frame 22; the telescopic device 34 is arranged at one end of one of the connecting tubes 43 away from the connecting bearing 42, and the output end of the telescopic device 34 extends toward the connecting bearing 42 to drive the connecting nozzle 31; the connecting pipe 35 is arranged at one end of the other connecting tube 43 away from the connecting bearing 42, and the end of the connecting pipe 35 close to the connecting bearing 42 extends to connect with the nozzle 31, and the end of the connecting pipe 35 away from the nozzle 31 is connected to the liquid storage tank 2 through the connecting hose 33, and the pump body 32 is arranged on the connecting hose 33; the controller is electrically connected to the pump body 32 and the telescopic device 34, and the controller is used to control the telescopic device 34 and the pump body 32 respectively when the characteristic through hole that meets the preset mark rotates to the side of the nozzle 31 away from the connecting frame 41, so that the telescopic device 34 drives the nozzle 31 to spray the marking liquid on the characteristic through hole away from the side of the connecting frame 41 in turn. The first lifter 13 abuts the fixing frame 22 close to the ground, and then the two servo motors 53 rotate the connecting tube 43 according to the preset mark, and finally the nozzle 31 sprays the marking liquid toward the ground to form different numbers on the ground, so that the user can quickly confirm the collected image according to the numbers and identify the location of the collection point.

[0082] Specifically, the movement path of the nozzle 31 driven by the telescopic device 34 is parallel to the axial direction of the two connecting tubes 43.

[0083] The lifting mechanism further includes a second lifter 14 . The second lifter 14 is located at one side of the first lifter 13 . The second lifter 14 is driven and connected to the ground penetrating radar 12 .

[0084] Specifically, a connecting plate 15 is also provided on one side of the movable device 1 where the accommodating groove 11 is opened, and the connecting plate 15 is located on the side of the ground penetrating radar 12 away from the marking mechanism 2; an anti-collision plate 16 is provided on the side of the connecting plate 15 away from the ground penetrating radar 12, and a pressure sensor is provided between the connecting plate 15 and the anti-collision plate 16, and the pressure sensor is used to detect pressure data when the anti-collision plate 16 is hit; a controller is electrically connected to the pressure sensor, and the controller is used to receive the pressure data and control the movable device 1 according to the pressure data, so that the movable device 1 bypasses the ground obstacles and continues to travel along the driving path.

[0085] In the description of this specification, the description with reference to the terms "an embodiment", "another embodiment", "other embodiments", or "first embodiment to Xth embodiment" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, method steps or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0086] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0087] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages and disadvantages of the embodiments. Through the description of the above implementation modes, those skilled in the art can clearly understand that the above embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course, by hardware, but in many cases the former is a better implementation mode. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a disk, an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0088] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation modes, which are merely illustrative rather than restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are within the protection of the present invention.

Claims

1. A winter bamboo shoot detection method based on electromagnetic induction, characterized in that: include: Get the area map and driving route respectively; According to the area map and the driving path, control the ground penetrating radar to move along the driving path and detect at a preset detection time interval to obtain a detection image corresponding to each detection time point; Determining whether there is a preset feature in each of the received detection images; When the preset feature does not exist in each of the detection images, control the ground penetrating radar to continue moving along the remaining driving path and detect according to the preset detection time interval, so as to obtain the detection image at each remaining detection time point, and execute the step of determining whether the preset feature exists in each of the received detection images; When the preset feature exists in any of the detection images, the detection point corresponding to the detection image having the preset feature is confirmed as the operation position; The marking mechanism is used to draw preset marks on the working position.

2. A winter bamboo shoot detection method based on electromagnetic induction as claimed in claim 1, characterized in that: After the step of marking the working position with a preset mark by the marking mechanism, the method includes: Determining at least one acquisition point according to the operation position and the detection image having the preset feature; A collection image is formed according to the preset mark and each of the collection points, and the collection image is sent to an external terminal.

3. A winter bamboo shoot detection method based on electromagnetic induction as claimed in claim 2, characterized in that: After the step of forming a captured image according to the preset mark and each of the captured points, and sending the captured image to an external terminal, the method further comprises: According to the driving path and each of the working positions, determining whether the interval between two adjacent working positions along the driving path is greater than a first preset distance; When the interval distance is greater than or equal to the first preset distance, a blank area is formed between two adjacent working areas; When the interval distance is less than the first preset distance, two adjacent working positions form a cluster area; Along the driving path, marking each of the blank areas and each of the cluster areas on the regional map; The area map is sent to an external terminal.

4. A winter bamboo shoot detection method based on electromagnetic induction as claimed in claim 3, characterized in that: After the step of marking each of the blank areas and each of the cluster areas on the area map along the driving path, the method further includes: Determine whether the number of the collection points in each of the cluster areas is greater than a preset number; When the number of the collection points in any cluster area is greater than or equal to the preset number, the cluster area is confirmed as a recommended area, and the recommended area and the number of collection points in the recommended area are marked on the area map; When the number of the collection points in each of the cluster areas is less than the preset number, a warning message is marked on the area map.

5. A winter bamboo shoot detection system based on electromagnetic induction, wherein the winter bamboo shoot detection system uses the winter bamboo shoot detection method based on electromagnetic induction as described in any one of claims 1 to 4 to detect winter bamboo shoots, characterized in that: The winter bamboo shoot detection system includes a controller, a mover, a ground penetrating radar, a marking mechanism and a lifting mechanism. A receiving groove is provided on the bottom side of the mover. The ground penetrating radar, the marking mechanism and the lifting mechanism are all arranged in the receiving groove. The lifting mechanism drives and connects the ground penetrating radar and the marking mechanism respectively, and the lifting mechanism is used to drive the ground penetrating radar and the marking mechanism to vertically lift and lower respectively; the controller is electrically connected to the mover, the ground penetrating radar, the marking mechanism and the lifting mechanism respectively, and the controller is used to obtain an area map and a driving path respectively, and according to the area map and the driving path, control the lifting mechanism to drive the ground penetrating radar to detect and obtain at least one detection image in sequence along the driving path; the controller is also used to confirm the detection point corresponding to the detection image with the preset feature as the working position when the preset feature exists in any of the detection images, so that the marking mechanism draws a preset mark on the working position.

6. A winter bamboo shoot detection system based on electromagnetic induction as claimed in claim 5, characterized in that: The lifting mechanism includes a first lifter, which is arranged in the receiving tank; the marking mechanism includes a liquid storage tank, a fixed frame, a liquid spraying structure and a marking structure, the liquid storage tank is arranged on the side of the movable device away from the receiving tank, and the liquid storage tank is used to store marking liquid; the fixed frame is arranged in the receiving tank, the fixed frame is located on the side of the first lifter away from the liquid storage tank, and the first lifter is driven and connected to the fixed frame; the liquid spraying structure and the marking structure are both arranged on the side of the fixed frame away from the first lifter, and the liquid spraying structure is connected to the liquid storage tank; the controller is electrically connected to the first lifter, the liquid spraying structure and the marking structure, and the controller is used to control the first lifter to drive the liquid spraying structure and the marking structure to rise and fall respectively through the fixed frame, so that when the marking structure is adjusted to the preset mark, the liquid spraying structure sprays the preset mark to the working position through the marking structure.

7. A winter bamboo shoot detection system based on electromagnetic induction as claimed in claim 6, characterized in that: The marking structure includes a connecting frame, a connecting bearing, two connecting cylinders and a driver. The two connecting cylinders are arranged at intervals along the axial direction. The connecting bearing is located between the two connecting cylinders. The connecting bearings are respectively rotatably connected to the ends of the two connecting cylinders. The two connecting cylinders are coaxial and horizontally arranged. The two connecting cylinders are formed with a plurality of characteristic through holes along the circumference, and each of the characteristic through holes is sequentially arranged at intervals along the circumference of the connecting cylinder. The connecting bearing is connected to the side of the fixing frame away from the first lifter through the connecting frame. The driver is arranged on the side of the fixing frame facing the two connecting cylinders. The driver drives the two connecting cylinders respectively, and the driver is used to drive the two connecting cylinders to rotate along the axial direction respectively. A moving space for the movement of the liquid spraying structure is formed inside the two connecting cylinders, and the liquid spraying structure is located in the moving space. The controller is electrically connected to the driver, and the controller is used to control the driver to respectively drive the two connecting cylinders to rotate according to the preset mark, and rotate the characteristic through hole corresponding to the preset mark to the lower position of the liquid spraying direction of the liquid spraying structure, so that the marking liquid sprayed by the liquid spraying structure contacts the ground through the characteristic through hole at the lower position to form the preset mark.

8. The winter bamboo shoot detection system based on electromagnetic induction as claimed in claim 7, characterized in that: The driver includes two connecting gears, two driving gears and two servo motors, wherein one of the connecting gears is sleeved on one end of one of the connecting cylinders away from the connecting bearing, and the other connecting gear is sleeved on one end of the other connecting cylinder away from the connecting bearing; the two servo motors are arranged on one side of the fixing frame facing the two connecting cylinders, and the connecting frame is located between the two servo motors, wherein the output end of one of the servo motors meshes with the adjacent connecting gear through one of the driving gears, and the output end of the other servo motor meshes with the adjacent connecting gear through the other driving gear; the controller is electrically connected to the two servo motors, respectively, and the controller is used to control the two servo motors to drive the connected connecting cylinders to rotate, so that the characteristic through hole that meets the preset mark rotates to the lower position of the liquid spraying structure.

9. The winter bamboo shoot detection system based on electromagnetic induction as claimed in claim 7, characterized in that: The liquid spraying structure comprises a nozzle, a pump body, a connecting hose, a telescopic device and a connecting pipe, wherein the nozzle is arranged in the movable space, and the liquid spraying direction of the nozzle is away from the fixed frame; the telescopic device is arranged at one end of one of the connecting tubes away from the connecting bearing, and the output end of the telescopic device extends toward the connecting bearing to drive and connect the nozzle; the connecting pipe is arranged at one end of the other connecting tube away from the connecting bearing, and the end of the connecting pipe close to the connecting bearing extends to connect with the nozzle, and the end of the connecting pipe away from the nozzle is connected with the liquid storage tank through the connecting hose, and the pump body is arranged on the connecting hose; the controller is electrically connected to the pump body and the telescopic device, and the controller is used to control the telescopic device and the pump body respectively when the characteristic through hole conforming to the preset mark rotates to the side of the nozzle away from the connecting frame, so that the telescopic device drives the nozzle to spray the marking liquid to the characteristic through hole away from the side of the connecting frame in turn.

10. The winter bamboo shoot detection system based on electromagnetic induction as claimed in claim 6, characterized in that: The lifting mechanism further includes a second lifter, which is located at one side of the first lifter and is driven and connected to the ground penetrating radar.

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