Multi-camera real-time detection targeted pesticide spraying system, method and equipment and medium

Abstract

The invention discloses a multi-camera real-time detection targeted pesticide spraying system, method and device and a medium, and relates to the technical field of agricultural machinery, and the method comprises the steps that an external sensor module is used for obtaining the traveling speed of a spraying vehicle, the height of a spraying head of the spraying vehicle and field image data in a preset range with the spraying vehicle as the center; the control module is used for generating a spraying strategy based on the field image data, the running speed of the spraying vehicle and the height of a nozzle of the spraying vehicle; and the execution module is used for controlling a nozzle of the spraying vehicle to work based on the spraying strategy. The real situation around the spraying vehicle can be accurately fed back through the field image data, a data basis for generating a spraying strategy is further provided, and in addition, real-time response and accuracy of spraying in the advancing process of the vehicle can be ensured through real-time collection of the speed of the spraying vehicle and the height of a spraying head of the spraying vehicle.

Description

Background Art

[0002] In the field of crop spraying pesticides, the existing technology does not consider the impact of the actual vehicle speed and the actual vehicle speed and spray boom height on the spraying effect. The defect of the nozzle start and close timing is fixed at different vehicle speeds and heights. For example, at the current vehicle speed and spray boom height, the best spraying timing and closing timing are selected to achieve a uniform spraying effect. If it is not possible to automatically adjust according to the actual spray boom height and vehicle speed, it will cause large-scale spraying or wrong spraying, which seriously limits the user's operation speed. Summary of the invention

[0003] The technical problem to be solved by the present invention is to address the deficiencies of the prior art and specifically provide a system, method, device and medium for real-time detection of target spraying by a multi-channel camera, as follows:

[0004] 1) In the first aspect, the present invention provides a multi-channel camera real-time detection target spraying system, and the specific technical solution is as follows:

[0005] Including: external sensor module, control module and execution module;

[0006] The external sensor module is used to obtain the speed of the spraying vehicle, the height of the spraying vehicle nozzle, and the field image data within a preset range centered on the spraying vehicle;

[0007] The control module is used to: generate a spraying strategy based on the field image data, the travel speed of the spraying vehicle and the height of the spraying head of the spraying vehicle;

[0008] The execution module is used to control the spray head of the spraying vehicle to operate based on the spraying strategy.

[0009] The beneficial effects of a multi-channel camera real-time detection on a target spraying system provided by the present invention are as follows:

[0010] The field image data can accurately reflect the real situation around the spraying vehicle, and further provide the data basis for generating spraying strategies. In addition, the real-time collection of the spraying vehicle speed and the height of the spraying vehicle nozzle can ensure the real-time response and accuracy of the spraying while the vehicle is moving forward.

[0011] Based on the above solution, the present invention can also be improved as follows.

[0012] Furthermore, the external sensor module includes: a height sensor for obtaining the height of the spraying vehicle's nozzle, a speed sensor for obtaining the traveling speed of the spraying vehicle, and at least two monocular cameras for obtaining field image data.

[0013] Furthermore, it also includes:

[0014] The display module is used to display the spraying strategy in real time.

[0015] Furthermore, the spraying strategy includes: a spraying amount adjustment strategy, a spraying distance adjustment strategy and a spraying height adjustment strategy.

[0016] 2) In the second aspect, the present invention also provides a method for real-time detection of target spraying by using multiple cameras, and the specific technical scheme is as follows:

[0017] Acquire the travel speed of the spraying vehicle, the height of the spraying vehicle nozzle, and the field image data within a preset range centered on the spraying vehicle based on the external sensor module;

[0018] generating a spraying strategy based on the field image data, the travel speed of the spraying vehicle, and the height of the spraying head of the spraying vehicle;

[0019] Based on the spraying strategy, the spray head of the spraying vehicle is controlled to operate.

[0020] Based on the above solution, the present invention can also be improved as follows.

[0021] Furthermore, the external sensor module includes: a height sensor for obtaining the height of the spraying vehicle's nozzle, a speed sensor for obtaining the traveling speed of the spraying vehicle, and at least two monocular cameras for obtaining field image data.

[0022] Furthermore, it also includes:

[0023] The display module is used to display the spraying strategy in real time.

[0024] Furthermore, the spraying strategy includes: a spraying amount adjustment strategy, a spraying distance adjustment strategy and a spraying height adjustment strategy.

[0025] 3) In a third aspect, the present invention further provides an electronic device, comprising a processor, wherein the processor is coupled to a memory, wherein at least one computer program is stored in the memory, and the at least one computer program is loaded and executed by the processor so that the electronic device implements any of the above methods.

[0026] 4) In a fourth aspect, the present invention further provides a computer-readable storage medium, wherein at least one computer program is stored in the computer-readable storage medium, and the at least one computer program is loaded and executed by a processor so that a computer implements any of the above methods.

[0027] It should be noted that the beneficial effects achieved by the technical solutions of the second to fourth aspects of the present invention and the corresponding possible implementation methods can be found in the above-mentioned technical effects of the first aspect and its corresponding possible implementation methods, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0029] Figure 1 A schematic diagram of a process of a method for real-time detection of target spraying by using multiple cameras according to an embodiment of the present invention;

[0030] Figure 2 A schematic diagram of the structural architecture of a multi-channel camera real-time detection target spraying system according to an embodiment of the present invention;

[0031] Figure 3 A schematic diagram of the placement of a monocular camera of a target spraying system for real-time detection of multiple cameras according to an embodiment of the present invention;

[0032] Figure 4 A schematic diagram of a monocular camera distance measurement of a target spraying system using multiple cameras for real-time detection according to an embodiment of the present invention;

[0033] Figure 5 The present invention is a structural framework diagram of an electronic device. DETAILED DESCRIPTION

[0034] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0035] A multi-channel camera real-time detection target spraying system according to an embodiment of the present invention includes the following steps:

[0036] Including: external sensor module, control module and execution module;

[0037] The external sensor module is used to obtain the speed of the spraying vehicle, the height of the spraying vehicle nozzle, and the field image data within a preset range centered on the spraying vehicle;

[0038] The control module is used to: generate a spraying strategy based on the field image data, the travel speed of the spraying vehicle and the height of the spraying head of the spraying vehicle;

[0039] The execution module is used to control the spray head of the spraying vehicle to operate based on the spraying strategy.

[0040] The beneficial effects of a multi-channel camera real-time detection on a target spraying system provided by the present invention are as follows:

[0041] The field image data can accurately reflect the real situation around the spraying vehicle, and further provide the data basis for generating spraying strategies. In addition, the real-time collection of the spraying vehicle speed and the height of the spraying vehicle nozzle can ensure the real-time response and accuracy of the spraying while the vehicle is moving forward.

[0042] The process of generating a spraying strategy based on the field image data, the travel speed of the spraying vehicle and the height of the spraying head of the spraying vehicle is specifically as follows:

[0043] Based on the field image data, it is determined whether the spraying vehicle is located in the area to be sprayed. After being in the area to be sprayed, the distance between the crop to be sprayed and the nozzle is determined through the field image data, and the forward or backward distance is determined based on the distance (i.e., the spraying distance adjustment strategy), and the height of the nozzle is adjusted at the same time (spraying height adjustment strategy). In addition, the type of crop is determined through the field image data, and the spraying amount and the corresponding speed of the spraying vehicle are determined based on the type of crop.

[0044] In another embodiment of the present invention, the spraying height adjustment scheme and the spraying amount adjustment scheme can be predicted by using the field image data and the current vehicle speed. The specific process is:

[0045] Through the real-time collected field image data and the current vehicle speed, the duration for maintaining the current spraying height and spraying amount is calculated and continuously updated. When the field image data collects changes in crops, the spraying height and spraying amount corresponding to the recognition result are searched in the preset corresponding table through the recognition result of the collected image data. At the same time, the time to move to the position of the changed crops according to the current vehicle speed is calculated. After this time, the spraying height and spraying amount are automatically adjusted.

[0046] Furthermore, the external sensor module includes: a height sensor for obtaining the height of the spraying vehicle's nozzle, a speed sensor for obtaining the traveling speed of the spraying vehicle, and at least two monocular cameras for obtaining field image data.

[0047] Furthermore, it also includes:

[0048] The display module is used to display the spraying strategy in real time.

[0049] Furthermore, the spraying strategy includes: a spraying amount adjustment strategy, a spraying distance adjustment strategy and a spraying height adjustment strategy.

[0050] Embodiment 1, as Figure 2As shown, the external sensor modules include a height sensor, a speed sensor, and a monocular camera. The height sensor obtains the boom height information, the speed sensor is used to obtain the vehicle speed information, and the monocular camera is used to obtain the field image information.

[0051] Control module: image processing controller, electromagnetic sprinkler controller. The image processing controller is used to process the image information of the field and send the decision result to the electromagnetic sprinkler controller. The electromagnetic sprinkler controller is used to receive the result of the image processing controller and control the action of the electromagnetic sprinkler.

[0052] Execution module: electromagnetic nozzle;

[0053] Overall design scheme: The monocular camera collects field images, and the image information of the field is transmitted to the image processing controller. The results processed by the image processing controller are transmitted to the electromagnetic nozzle controller, and the electromagnetic nozzle controller controls the action of the electromagnetic nozzle.

[0054] like Figure 1 As shown, the present invention also provides a method for real-time detection of target spraying by multiple cameras, and the specific technical scheme is as follows:

[0055] S1, acquiring the speed of the spraying vehicle, the height of the spraying vehicle nozzle, and the field image data within a preset range centered on the spraying vehicle based on the external sensor module;

[0056] S2, generating a spraying strategy based on the field image data, the travel speed of the spraying vehicle and the height of the spraying head of the spraying vehicle;

[0057] S3, based on the spraying strategy, controlling the spray head of the spraying vehicle to operate.

[0058] Based on the above solution, the present invention can also be improved as follows.

[0059] Furthermore, the external sensor module includes: a height sensor for obtaining the height of the spraying vehicle's nozzle, a speed sensor for obtaining the traveling speed of the spraying vehicle, and at least two monocular cameras for obtaining field image data.

[0060] Furthermore, it also includes:

[0061] The display module is used to display the spraying strategy in real time.

[0062] Furthermore, the spraying strategy includes: a spraying amount adjustment strategy, a spraying distance adjustment strategy and a spraying height adjustment strategy.

[0063] Embodiment 2, as Figure 3 as well as Figure 4As shown, the height information of the spray boom is measured by the height sensor, the distance of the detected weeds is measured by monocular vision, and the speed information is obtained by the speed sensor. According to the measured weed distance and vehicle speed, it is judged whether the weeds have entered the spraying area of ​​the electromagnetic nozzle, and the appropriate triggering time of the electromagnetic nozzle is judged. After the electromagnetic nozzle is triggered, the delay time of the nozzle is judged according to the real-time speed, so that the electromagnetic nozzle sprays a uniform area at different speeds.

[0064] The camera's intrinsic parameter matrix K is:

[0065]

[0066] The camera external parameters R and T are:

[0067]

[0068] The pixel coordinates (x, y) of the object in the image are converted to the coordinates in the camera coordinate system (Xc, Yc, Zc):

[0069]

[0070] Use the camera's external parameters R and T to convert the coordinates in the camera coordinate system to the coordinates in the world coordinate system (Xw, Yw, Zw):

[0071]

[0072] The distance D of the object from the camera is:

[0073]

[0074] In the above embodiments, although the steps are numbered S1, S2, etc., these are only specific embodiments given by the present invention. Those skilled in the art may adjust the execution order of S1, S2, etc. according to actual conditions, which is also within the protection scope of the present invention. It can be understood that in some embodiments, some or all of the above embodiments may be included.

[0075] It should be noted that the beneficial effects of the target spraying method with real-time detection of multiple cameras provided in the above embodiment are the same as the beneficial effects of the target spraying system with real-time detection of multiple cameras, which will not be repeated here. In addition, when the system provided in the above embodiment realizes its functions, it only takes the division of the above functional modules as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the system can be divided into different functional modules according to actual conditions to complete all or part of the functions described above. In addition, the system and method embodiments provided in the above embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0076] like Figure 5 As shown, an electronic device 300 according to an embodiment of the present invention includes a processor 320, the processor 320 is coupled to a memory 310, and the memory 310 stores at least one computer program 330, and the at least one computer program 330 is loaded and executed by the processor 320, so that the electronic device 300 implements any of the above methods, specifically:

[0077] The electronic device 300 may have relatively large differences due to different configurations or performances, and may include one or more processors 320 (Central Processing Units, CPU) and one or more memories 310, wherein the one or more memories 310 store at least one computer program 330, and the at least one computer program 330 is loaded and executed by the one or more processors 320, so that the electronic device 300 implements a multi-channel camera real-time detection target spraying system provided by the above embodiment. Of course, the electronic device 300 may also have components such as a wired or wireless network interface, a keyboard, and an input and output interface for input and output, and the electronic device 300 may also include other components for realizing the functions of the device, which will not be repeated here.

[0078] A computer-readable storage medium according to an embodiment of the present invention stores at least one computer program, and the at least one computer program is loaded and executed by a processor so that a computer implements any one of the above methods.

[0079] Optionally, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0080] In an exemplary embodiment, a computer program product or a computer program is also provided, the computer program product or the computer program comprising computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device performs any of the above methods.

[0081] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects and represent the definition of a specific order or sequence. The order of use of similar objects can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than the order shown or described.

[0082] Those skilled in the art know that the present invention can be implemented as a system, method or computer program product. Therefore, the present disclosure can be specifically implemented in the following forms, namely: it can be complete hardware, it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software, which is generally referred to as "circuit", "module" or "system" herein. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code.

[0083] Any combination of one or more computer-readable media may be used. A computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. Computer-readable storage media include, but are not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, device or device.

[0084] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A multi-channel camera real-time detection target spraying system, characterized in that: include: External sensor module, control module and execution module; The external sensor module is used to obtain the speed of the spraying vehicle, the height of the spraying vehicle nozzle, and the field image data within a preset range centered on the spraying vehicle; The control module is used to: generate a spraying strategy based on the field image data, the travel speed of the spraying vehicle and the height of the spraying head of the spraying vehicle; The execution module is used to control the spray head of the spraying vehicle to operate based on the spraying strategy.

2. A multi-channel camera real-time detection target spraying system according to claim 1, characterized in that: The external sensor module includes: a height sensor for obtaining the height of the spraying vehicle's spray head, a speed sensor for obtaining the spraying vehicle's traveling speed, and at least two monocular cameras for obtaining field image data.

3. The multi-channel camera real-time detection target spraying system according to claim 1, characterized in that: Also includes: The display module is used to display the spraying strategy in real time.

4. The multi-channel camera real-time detection target spraying system according to claim 1, characterized in that: The spraying strategies include: a spraying amount adjustment strategy, a spraying distance adjustment strategy and a spraying height adjustment strategy.

5. A method for real-time detection of target spraying by using multiple cameras, characterized in that: include: Acquire the travel speed of the spraying vehicle, the height of the spraying vehicle nozzle, and the field image data within a preset range centered on the spraying vehicle based on the external sensor module; generating a spraying strategy based on the field image data, the travel speed of the spraying vehicle, and the height of the spraying head of the spraying vehicle; Based on the spraying strategy, the spray head of the spraying vehicle is controlled to operate.

6. A method for real-time detection of target spraying by using multiple cameras according to claim 5, characterized in that: The external sensor module includes: a height sensor for obtaining the height of the spraying vehicle's spray head, a speed sensor for obtaining the spraying vehicle's traveling speed, and at least two monocular cameras for obtaining field image data.

7. The method for real-time detection of target spraying by using multiple cameras according to claim 5, characterized in that: Also includes: Real-time display of spraying strategies.

8. The method for real-time detection of target spraying by using multiple cameras according to claim 5, characterized in that: The spraying strategies include: a spraying amount adjustment strategy, a spraying distance adjustment strategy and a spraying height adjustment strategy.

9. An electronic device, characterized in that: The electronic device comprises a processor, the processor is coupled to a memory, at least one computer program is stored in the memory, and the at least one computer program is loaded and executed by the processor so that the electronic device implements the method according to any one of claims 5 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one computer program, and the at least one computer program is loaded and executed by a processor to enable a computer to implement the method according to any one of claims 5 to 8.

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