Visual identification guided multi-degree-of-freedom autonomous adjustment spraying infrared reduction control method

Abstract

The invention provides a multi-degree-of-freedom autonomous adjustment spraying infrared reduction control method guided by visual identification, and relates to the technical field of infrared identification control, and the method comprises the steps: obtaining an infrared intensity image through an infrared camera, carrying out the mapping of the infrared intensity image and a crop region, judging an abnormal sub-region according to the infrared intensity, and carrying out the control of the abnormal sub-region; abnormal subareas are formed according to the distance of the abnormal subareas, the specific condition is judged, the falling time of sprayed objects in the abnormal subareas is judged according to the diffusion principle, the elevation angle and the deflection angle of the multi-degree-of-freedom spraying head are determined for first-time spraying operation, then an infrared intensity image is obtained for the second time, and the spraying effect and a stubborn area are determined; according to the automatic spraying device, accurate spraying is achieved according to specific conditions, follow-up work is adjusted according to the spraying effect, accurate control over the spraying dosage is achieved, and resources are saved.

Description

Technical Field

[0001] The present invention relates to the technical field of infrared recognition control, and specifically provides a multi-degree-of-freedom autonomous adjustment spray cooling infrared control method guided by visual recognition. Background Art

[0002] With the continuous development of agricultural production, the planting environment and health status of crops have a more and more significant impact on agricultural yields. Most traditional crop irrigation methods rely on manual or preset-time automated sprinkler systems, but these methods cannot accurately reflect the needs of crops under different environmental conditions, resulting in waste of water resources and insufficient crop health management. Especially under changing environmental conditions (such as changes in temperature, humidity, wind speed, etc.), traditional sprinkler systems often cannot adjust the spraying strategy in real time, thus affecting the growth status of crops.

[0003] In the prior art, the publication number CN114515663A discloses a mushroom spraying control method, device and system. According to visible light images, the growth projection area at each acquisition position is determined; combining the thermal infrared image and the growth projection area, the surface average temperature of the growth projection area is determined; according to the surface average temperature of the growth projection area and the environmental temperature, the transpiration diffusion coefficient at the acquisition position is determined; according to the transpiration diffusion coefficients at each acquisition position, the average transpiration rate of the to-be-operated mushroom room is determined; according to the average transpiration rate, a spraying strategy for all mushrooms in the to-be-operated mushroom room is formulated.

[0004] According to the disclosed technology, although this method realizes the control of the growth status of crops through vision, it cannot accurately take targeted measures for the areas with problems, resulting in waste of resources.

[0005] The above information disclosed in the background art section is only used to enhance the understanding of the background of the present disclosure, and thus it may include information that does not constitute the prior art known to those of ordinary skill in the art. Summary of the Invention

[0006] The purpose of the present invention is to provide a multi-degree-of-freedom autonomous adjustment spray cooling infrared control method guided by visual recognition to solve the problems raised in the above background art.

[0007] To achieve the above purpose, the present invention provides the following technical solutions:

[0008] A multi-degree-of-freedom autonomous adjustment spray cooling infrared control method guided by visual recognition, and the specific steps include:

[0009] Step 1: Obtain the infrared intensity image of the crop area from a top-down perspective. Divide the crop area into sub-areas and establish a plane coordinate system. Map the infrared intensity image to the crop area. The mapping method is to set markers for sub-area division in the crop area. The infrared intensity image identifies sub-areas by recognizing the markers, obtains the average infrared intensity of the sub-areas, and determines abnormal sub-areas based on the average infrared intensity deviation threshold.

[0010] Step 2: According to the plane coordinate system, obtain the coordinate distance between any two abnormal sub-areas, and divide abnormal partitions and obtain the area data of the abnormal partitions based on the abnormal sub-area distance threshold. Determine the type of liquid to be sprayed based on the relationship between the abnormal partition area threshold and the area data of the abnormal partitions.

[0011] Step 3: Determine the projection coordinates of the sprinkler heads in each sub-area within the plane coordinate system. The plane coordinate system of the multi-degree-of-freedom sprinkler heads is exactly the same as that of the sub-areas. Obtain the temperature, humidity, wind direction, and wind speed of the crop area through a thermometer and a wind vane, obtain the spraying range, and judge the falling time of the sprayed material according to the diffusion principle.

[0012] Step 4: The multi-degree-of-freedom sprinkler heads within the spraying range participate in the first spraying operation. Adjust the elevation angle of the multi-degree-of-freedom sprinkler heads according to the wind speed, and adjust the horizontal deflection angle of the multi-degree-of-freedom sprinkler heads according to the wind direction.

[0013] Step 5: After the first spraying operation, take a second photo through an infrared camera to obtain the second infrared intensity value of the abnormal sub-areas, and judge the effect of the first spraying operation and the stubborn areas based on the two infrared intensity values.

[0014] Step 6: Conduct a second spraying operation according to the effect of the first spraying operation and conduct supplementary spraying operations on the stubborn areas.

[0015] Further, divide the crop area into a plane coordinate system. From a top-down perspective, with the upper left corner as the origin, the right direction as the positive x-axis direction, and the downward direction as the positive y-axis direction, divide the crop area into multiple sub-areas of equal area. Take a photo of the crop area from a top-down perspective through an infrared camera to obtain an infrared intensity image, and map the infrared intensity image to the crop area. The mapping logic is as follows: When dividing the sub-areas in the crop area, set markers at the connections of the sub-areas. The infrared camera also captures the markers when taking pictures of the crop. The infrared intensity image is divided according to the markers, that is, a plane coordinate system identical to the crop area is formed in the infrared intensity image. The upper left corner of the infrared intensity image is the origin, the right direction is the positive x-axis direction, and the downward direction is the positive y-axis direction. The cells in the infrared intensity image correspond to the sub-areas of the crop area.

[0016] Further, obtain the infrared intensity matrix of the crop area. The infrared intensity value of each sub-region in the infrared intensity matrix is the average of the infrared intensities of all pixel points in this sub-region. The infrared intensity matrix is as follows:

[0017]

[0018] where I m,n is the infrared intensity of the sub-region with the x-axis coordinate m and the y-axis coordinate n. m is the number of sub-regions on the x-axis of the infrared intensity image, and n is the number of sub-regions on the y-axis of the infrared intensity image. m ∈ N, n ∈ N.

[0019] Further, obtain the average infrared intensity of all sub-regions, set the average infrared intensity deviation threshold, obtain the deviation between the infrared intensity of each sub-region and the average infrared intensity, label the sub-regions with a deviation exceeding the average infrared intensity deviation threshold as abnormal sub-regions, obtain the coordinates of all abnormal sub-regions on the x-axis and y-axis, and at the same time number the abnormal sub-regions.

[0020] Further, obtain the coordinate distance between any two abnormal sub-regions. The formula for the distance between two abnormal sub-regions is as follows:

[0021]

[0022] where d (i，j) is the coordinate distance between the i-th abnormal sub-region and the j-th abnormal sub-region. (i x i y ) and (j x ,j y ) are the coordinates of the i-th abnormal sub-region and the j-th abnormal sub-region respectively. i ∈ N, j ∈ N, i < j;

[0023] Set the abnormal sub-region distance threshold δ. When d (，j) < δ, connect the i-th abnormal sub-region and the j-th abnormal sub-region and merge the abnormal partitions. Traverse all abnormal sub-regions through breadth-first search to obtain mutually isolated abnormal partitions. Set the abnormal partition area threshold. Label the abnormal partitions exceeding the abnormal partition area threshold as water stress, and label the abnormal partitions not exceeding the abnormal partition area threshold as pest and disease infections. Perform the first spraying operation on the abnormal partitions, spray water for water stress, and spray pesticides for pest and disease infections.

[0024] Further, a multi-degree-of-freedom sprinkler is arranged inside each sub-region and a planar coordinate system is constructed. The projection of the planar coordinate system of the multi-degree-of-freedom sprinkler on the crop region is exactly the same as that of the sub-region. Each multi-degree-of-freedom sprinkler is placed at the center point of the corresponding sub-region. The temperature, humidity, wind direction and wind speed of the crop region are obtained through a thermometer and a wind vane, and the abnormal area is marked as the sprinkling range;

[0025] Obtain the falling time of the sprinkling liquid. The sprinkling liquid will be affected by temperature and humidity during the falling process and produce a diffusion phenomenon. According to the diffusion principle, obtain its falling time. The formula is as follows:

[0026]

[0027] where t is the falling time of the sprinkling liquid, d is the height of the multi-degree-of-freedom sprinkler from the top of the crop, V is the wind speed, D 0 is a constant of the diffusion coefficient, R is the gas constant, T 0 is the reference temperature, T is the temperature, k H is the influence coefficient of humidity on the diffusion coefficient, obtained by consulting the literature, and H is the humidity.

[0028] Further, the multi-degree-of-freedom sprinklers within the sprinkling range participate in the first sprinkling operation. The spraying angle of the multi-degree-of-freedom sprinkler is adjusted according to the wind speed. Based on the horizontal direction, the adjustment formula for the elevation angle of the multi-degree-of-freedom sprinkler is as follows:

[0029]

[0030] where θ s is the elevation angle of the multi-degree-of-freedom sprinkler, V is the wind speed, and d is the height of the multi-degree-of-freedom sprinkler from the top of the crop;

[0031] Determine the horizontal direction deviation angle of the multi-degree-of-freedom sprinkler according to the wind direction. The horizontal direction deviation angle is the upwind direction.

[0032] Further, 6 hours after the completion of the first sprinkling operation, the crop region is photographed for the second time through an infrared camera to obtain the second infrared intensity value of each abnormal sub-region within the abnormal area. According to the infrared intensity difference obtained from the two photographs, judge the effect of the first sprinkling operation and the stubborn area. The formula for judging the effect of the first sprinkling operation is as follows:

[0033]

[0034] where ΔI overall is the overall infrared intensity difference, I before (u, v) is the infrared intensity value of the abnormal sub-region with the x-axis coordinate u and the y-axis coordinate v during the first photographing, Iafter1 (u, v) is the infrared intensity value of the abnormal sub-region with the x-axis coordinate u and the y-axis coordinate v at the first photo-taking, where u ∈ N, 1 ≤ u ≤ m, v ∈ N, 1 ≤ v ≤ n;

[0035] Set an infrared intensity change threshold to judge the stubborn area. The formula for judging the stubborn area is as follows:

[0036]

[0037] Among them, is the infrared intensity change threshold, and I before (u, v) is the infrared intensity value of the abnormal sub-region with the x-axis coordinate u and the y-axis coordinate v at the first photo-taking, and I after1 (u, v) is the infrared intensity value of the abnormal sub-region with the x-axis coordinate u and the y-axis coordinate v at the second photo-taking, where u ∈ N, 1 ≤ u ≤ m, v ∈ N, 1 ≤ v ≤ m;

[0038] Mark the sub-region with the x-axis coordinate u and the y-axis coordinate v as a stubborn area.

[0039] Furthermore, conduct the second spraying operation according to the judgment of the effect of the first spraying operation. The formula for the second spraying operation is as follows:

[0040]

[0041] Among them, t 2 is the time of the second spraying operation, t 1 is the time of the first spraying operation, ΔI overall is the overall infrared intensity difference, and ΔI threshold is the average infrared intensity deviation threshold;

[0042] Reconstruct the spraying range for the stubborn area and conduct a supplementary spraying operation. The formula for the supplementary spraying operation is as follows:

[0043]

[0044] Among them, t 3 is the time of the supplementary spraying operation, t 1 is the time of the first spraying operation, I after1 (u, v) is the infrared intensity value of the stubborn area with the x-axis coordinate u and the y-axis coordinate v at the first photo-taking, and I after1 (u, v) is the infrared intensity value of the stubborn area with the x-axis coordinate u and the y-axis coordinate v at the second photo-taking, and ΔI threshold is the average infrared intensity deviation threshold, and ΔI overall is the overall infrared intensity difference, and W is the number of stubborn areas.

[0045] Further, when there is no stubborn area, the supplementary spraying operation is not carried out. Steps 3 to 6 are a control process for normal control in the crop area. The infrared camera regularly takes infrared images and analyzes them. When an abnormal sub-area is judged through the infrared camera, steps 3 to 6 are executed. When no abnormal sub-area is judged, steps 3 to 6 are not executed.

[0046] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0047] The present invention takes pictures of the crop area by an infrared camera to obtain abnormal sub-areas, discriminates the specific situation according to the distribution of the abnormal sub-areas, then determines the falling time of the spraying material according to the diffusion principle, performs two spraying operations successively within the spraying range, corrects the second spraying operation according to the effect of the first spraying operation, and at the same time judges the stubborn area and performs supplementary spraying operation on the stubborn area, achieving precise spraying according to the specific situation, adjusting the subsequent work according to the spraying effect, achieving precise control of the spraying dose, and saving resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a schematic diagram of the overall method flow of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0049] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below in conjunction with specific embodiments.

[0050] It should be noted that unless otherwise defined, the technical terms or scientific terms used in the present invention should have the ordinary meaning understood by those of ordinary skill in the field to which the present invention belongs. The "first", "second" and similar terms used in the present invention do not denote any order, quantity or importance, but are only used to distinguish different components. The terms such as "including" or "comprising" mean that the elements or objects appearing before this term cover the elements or objects listed after this term and their equivalents, without excluding other elements or objects. The terms such as "connected" or "coupled" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The terms such as "upper", "lower", "left" and "right" are only used to represent relative positional relationships, and when the absolute position of the object to be described changes, the relative positional relationship may also change accordingly.

[0051] Embodiment:

[0052] Please refer to Figure 1 , the present invention provides a technical solution:

[0053] A multi-degree-of-freedom autonomous adjustment spray cooling infrared control method guided by visual recognition, and the specific steps include:

[0054] Step 1: Obtain the infrared intensity image of the crop area from a top-down perspective, divide the crop area into sub-areas and establish a plane coordinate system, map the infrared intensity image to the crop area, and the mapping method is to set markers for sub-area division in the crop area. The infrared intensity image identifies sub-areas by recognizing markers, obtains the average infrared intensity of the sub-areas, and judges abnormal sub-areas according to the average infrared intensity deviation threshold.

[0055] The said Step 1 includes the following contents:

[0056] Step 101: Divide the plane coordinate system of the crop area. From a top-down perspective, with the upper left corner as the origin, the right direction as the positive x-axis direction, and the downward direction as the positive y-axis direction, divide the crop area into multiple sub-areas of equal area. Take a photo of the crop area from a top-down perspective through an infrared camera to obtain the infrared intensity image, and map the infrared intensity image to the crop area. The mapping logic is: when dividing sub-areas in the crop area, set markers at the connections of sub-areas. The infrared camera also captures the markers when taking pictures of the crops. The infrared intensity image is divided according to the markers, that is, a plane coordinate system identical to the crop area is formed in the infrared intensity image. The upper left corner of the infrared intensity image is the origin, the right direction is the positive x-axis direction, and the downward direction is the positive y-axis direction. The cells in the infrared intensity image correspond to the sub-areas of the crop area.

[0057] In this embodiment, a plane rectangular coordinate system is constructed for the crop area in an equal-area manner. The sub-areas are set as rectangles, and division markers are set at the area connections. For example, positioning rods are set at the corner points of the sub-areas. The markers will also be captured when the infrared camera takes pictures of the crop area. The plane rectangular coordinate system can be synchronously established for the infrared intensity image through the markers in the infrared intensity image. The infrared intensity image is segmented in this way, so that each cell in the infrared intensity image corresponds to a sub-area, thereby obtaining the infrared intensity of each sub-area.

[0058] Step 102: Obtain the infrared intensity matrix of the crop area. The infrared intensity value of each sub-area in the infrared intensity matrix is the average value of the infrared intensities of all pixel points in this sub-area. The infrared intensity matrix is as follows:

[0059]

[0060] Among them, I m,n is the infrared intensity of the sub-area with the x-axis coordinate of m and the y-axis coordinate of n. m is the number of sub-areas on the x-axis of the infrared intensity image, n is the number of sub-areas on the y-axis of the infrared intensity image, m ∈ N, n ∈ N.

[0061] Step 103: Obtain the average infrared intensity of all sub-regions, set the average infrared intensity deviation threshold, obtain the deviation between the infrared intensity of each sub-region and the average infrared intensity, label the sub-regions with deviations exceeding the average infrared intensity deviation threshold as abnormal sub-regions, obtain the coordinates of all abnormal sub-regions on the x-axis and y-axis, and number the abnormal sub-regions simultaneously.

[0062] By dividing the crop area into sub-regions and then taking pictures of the crop area with an infrared camera, after obtaining the infrared intensity image, the infrared intensity values of each sub-region are formed. This division method can very accurately reflect the health status of the crops, ensure that each small area can be monitored and processed separately, avoid missing any area that may have problems. Through this method, it is possible to better detect the moisture status, pests and diseases, or other environmental abnormalities of the crops, thus providing accurate basis for subsequent spraying operations.

[0063] Step 2: Obtain the coordinate distances between abnormal sub-regions, divide the abnormal partitions according to the abnormal sub-region distance threshold and obtain the area data of the abnormal partitions. According to the relationship between the abnormal partition area threshold and the area data of the abnormal partitions, judge the specific situation of the abnormal area and formulate corresponding measures;

[0064] The said Step 2 includes the following contents:

[0065] Obtain the coordinate distances between any two abnormal sub-regions. The formula for the distance between two abnormal sub-regions is as follows:

[0066]

[0067] where d (i，j) is the coordinate distance between the i-th abnormal sub-region and the j-th abnormal sub-region, (i x i y ) and (j x , j y ) are the coordinates of the i-th abnormal sub-region and the j-th abnormal sub-region respectively, i ∈ N, j ∈ N, i < j;

[0068] The sub-regions themselves have length and width data, and the coordinate distance also represents the distance between sub-regions. Taking an abnormal sub-region as a circle and using the abnormal sub-region distance threshold as the radius to draw a circle, the other abnormal sub-regions that this circle can touch are regarded as adjacent to these two abnormal sub-regions. Setting the abnormal sub-region distance threshold according to actual needs can reflect a certain degree of flexibility.

[0069] Set the abnormal sub-region distance threshold δ. When d (，j)When δ, connect the i-th abnormal sub-region and the j-th abnormal sub-region and merge the abnormal partitions. Traverse all abnormal sub-regions through breadth-first search to obtain mutually isolated abnormal partitions. Set the threshold of the abnormal partition area. The abnormal partitions exceeding the abnormal partition area threshold are labeled as water stress, and the abnormal partitions not exceeding the abnormal partition area threshold are labeled as pest and disease infections. Conduct the first spraying operation on the abnormal partitions, spraying water for water stress and pesticides for pest and disease infections.

[0070] Among the multiple sub-regions divided in step 1, determine which sub-regions have problems by calculating the difference between the infrared intensity of each sub-region and the average infrared intensity of that region. If the infrared intensity deviation of a certain region is large, it indicates that there may be abnormalities (such as water shortage, pests and diseases, etc.) in that region. This detection method can automatically identify the "problem areas" in the crop area without manual intervention, greatly improving work efficiency. The advantage of this process is that it can accurately find the areas that need attention and directly process them through subsequent spraying operations, avoiding excessive or unnecessary resource waste.

[0071] Step 3: Determine the projection coordinates of the spray head in the plane coordinate system for each sub-region. The plane coordinate system of the multi-degree-of-freedom spray head is exactly the same as that of the sub-region. Obtain the temperature, humidity, wind direction, and wind speed of the crop area through a thermometer and a wind vane, obtain the spraying range, and judge the falling time of the sprayed material according to the diffusion principle.

[0072] The said step 3 includes the following contents:

[0073] Arrange a multi-degree-of-freedom spray head inside each sub-region and construct a plane coordinate system. The projection of the plane coordinate system of the multi-degree-of-freedom spray head in the crop area is exactly the same as that of the sub-region. Each multi-degree-of-freedom spray head is placed at the center point of the corresponding sub-region. Obtain the temperature, humidity, wind direction, and wind speed of the crop area through a thermometer and a wind vane, and label the abnormal partition as the spraying range.

[0074] Obtain the falling time of the sprayed liquid. The sprayed liquid will be affected by temperature and humidity during the falling process and produce a diffusion phenomenon. Obtain its falling time according to the diffusion principle. The formula is as follows:

[0075]

[0076] where t is the falling time of the sprayed liquid, d is the height of the multi-degree-of-freedom spray head from the top of the crop, V is the wind speed, D 0 is a constant of the diffusion coefficient, R is the gas constant, T 0 is the reference temperature, T is the temperature, k H is the influence coefficient of humidity on the diffusion coefficient, obtained by consulting the literature, and H is the humidity.

[0077] Among them, the higher the height of the multi-degree-of-freedom sprinkler head from the top of the crop, the longer the falling time of the sprayed material. Under different temperature and humidity conditions, the volatilization and diffusion effects of the sprayed material are different. The higher the temperature relative to the reference temperature, the more obvious the volatilization of the sprayed material. As the water evaporates, it affects the upward floating of the internal air, and the falling time is longer. Although the effect is not very obvious, it should also be taken into consideration. The higher the humidity, the more affected the air fluidity is, and the slower the sprayed material will fall during the falling process, and the longer the falling time will be.

[0078] Once the abnormal sub-region is determined, the range of the sub-region to be sprayed will be obtained. A multi-degree-of-freedom sprinkler head will be arranged in each sub-region, and it is ensured that the spraying range can cover the abnormal partition. In this way, the spraying operation will not be wasted in unnecessary places, but will be precisely sprayed on the abnormal partition. This method ensures the efficiency of the spraying operation and avoids over-spraying, saving water resources and consumables such as pesticides.

[0079] Step 4: The multi-degree-of-freedom sprinkler heads within the spraying range participate in the first spraying operation. Adjust the elevation angle of the multi-degree-of-freedom sprinkler head according to the wind speed, and adjust the horizontal direction deflection angle of the multi-degree-of-freedom sprinkler head according to the wind direction.

[0080] The said Step 4 includes the following contents:

[0081] The multi-degree-of-freedom sprinkler heads within the spraying range participate in the first spraying operation, and adjust the spraying angle of the multi-degree-of-freedom sprinkler head according to the wind speed. Taking the horizontal direction as the reference, the adjustment formula for the elevation angle of the multi-degree-of-freedom sprinkler head is as follows:

[0082]

[0083] Among them, θ s is the elevation angle of the multi-degree-of-freedom sprinkler head, V is the wind speed, and d is the height of the multi-degree-of-freedom sprinkler head from the top of the crop.

[0084] Determine the horizontal direction deflection angle of the multi-degree-of-freedom sprinkler head according to the wind direction, and the said horizontal direction deflection angle is the upwind direction.

[0085] The multi-degree-of-freedom sprinkler head has an elevation angle to resist the influence brought by the wind speed. The greater the wind speed, the greater the elevation angle should be to ensure that the sprayed material can reach the predetermined position.

[0086] Since wind speed and direction can affect the spraying effect, before the spraying operation, it is necessary to adjust the angle of the multi-degree-of-freedom spray head according to the real-time wind speed and direction. For example, when the wind speed is high, it is necessary to adjust the elevation angle of the multi-degree-of-freedom spray head so that the sprayed liquid can diffuse along the wind direction and will not deviate from the target area due to excessive wind force. In this way, the spraying angle of the spray head can be dynamically adjusted according to the actual environmental factors, thereby ensuring the accuracy of liquid spraying and achieving the best operation effect.

[0087] Step 5: After the first spraying operation, take a second photo through the infrared camera again to obtain the second infrared intensity value of the abnormal sub-region, and judge the effect of the first spraying operation and the stubborn area according to the two infrared intensity values;

[0088] The said step 5 includes the following content:

[0089] Six hours after the completion of the first spraying operation, take a second photo of the crop area through the infrared camera to obtain the second infrared intensity value of each abnormal sub-region in the abnormal area. Judge the effect of the first spraying operation and the stubborn area according to the infrared intensity difference obtained from the two photos. The formula for judging the effect of the first spraying operation is as follows:

[0090]

[0091] Among them, ΔI overall is the overall infrared intensity difference, I before (u, v) is the infrared intensity value of the abnormal sub-region with the x-axis coordinate u and the y-axis coordinate v during the first photo-taking, I after1 (u, v) is the infrared intensity value of the abnormal sub-region with the x-axis coordinate u and the y-axis coordinate v during the first photo-taking, u ∈ N, 1 ≤ u ≤ m, v ∈ N, 1 ≤ v ≤ n;

[0092] Accumulate and average the infrared intensity differences of all abnormal sub-regions before and after the first spraying operation. The effect of the first spraying operation can be judged from an overall perspective. If there are areas with poor effect in the first spraying operation, this poor effect will be reflected in the overall infrared intensity difference, resulting in a decrease in the overall infrared intensity difference. And the influence of the poor effect will be accumulated by the overall infrared intensity difference. When the overall infrared intensity difference is too large or too small, it can respectively intuitively reflect that the first spraying operation has an obvious effect or no effect. When the overall infrared intensity difference is in the middle state, it is necessary to consider whether the first spraying operation has an overall effect but the effect is not particularly obvious, or the first spraying operation has an obvious effect on some abnormal sub-regions but not on individual abnormal sub-regions, providing a guiding basis for the second spraying operation.

[0093] Set an infrared intensity change threshold to judge stubborn areas. The formula for judging stubborn areas is as follows:

[0094]

[0095] Among them, is the infrared intensity change threshold, and I before (u, v) is the infrared intensity value of the abnormal sub - area with the x - axis coordinate u and the y - axis coordinate v at the first photographing. I after1 (u, v) is the infrared intensity value of the abnormal sub - area with the x - axis coordinate u and the y - axis coordinate v at the second photographing. u ∈ N, 1 ≤ u ≤ m, v ∈ N, 1 ≤ v ≤ m;

[0096] Calibrate the sub - area with the x - axis coordinate u and the y - axis coordinate v as a stubborn area.

[0097] By setting the infrared intensity change threshold, if the infrared intensity change of some individual areas is not large enough after the first spraying operation, it indicates that there are relatively serious problems in this abnormal sub - area. Maybe one or two spraying operations cannot achieve the effect of eliminating the abnormal situation, and more spraying doses are needed. The change in infrared intensity of a single abnormal sub - area before and after the spraying operation can be judged most intuitively.

[0098] After the first spraying operation, the infrared intensity image of the crop area will be obtained by taking another photo and compared with the first image. If the infrared intensity difference of some areas is small, it indicates that the spraying effect is not ideal. Maybe there are some special problems in these areas, such as severe lack of moisture and stubborn pests and diseases, which have not been completely dealt with. Through this subsequent inspection, the areas with unsatisfactory spraying effects can be found in time and these areas can be sprayed again, so as to ensure that each problem area is effectively treated and no part that needs attention is missed.

[0099] Step 6: Conduct the second spraying operation according to the effect of the first spraying operation and conduct supplementary spraying operations on stubborn areas.

[0100] The said Step 6 includes the following content:

[0101] Conduct the second spraying operation according to the judgment of the effect of the first spraying operation. The formula for the second spraying operation is as follows:

[0102]

[0103] Among them, t 2 is the time of the second spraying operation, t 1 is the time of the first spraying operation, ΔI overall is the overall infrared intensity difference, ΔI thresholdis the average infrared intensity deviation threshold;

[0104] Taking the time of the first spraying operation as the dosage, the longer the spraying time, the greater the spraying dosage, and the greater the overall difference in infrared intensity, indicating that the effect of the first spraying operation is more obvious. The time of the second spraying operation will be shorter, manifested as a decrease in the time of the second spraying operation, and the treatment of the abnormal sub-region is completed with a smaller dosage. If the overall difference in infrared intensity is smaller, it indicates that the effect of the first spraying operation is less obvious, and the time of the second spraying operation needs to be lengthened, manifested as an increase in the time of the second spraying operation. At the same time, the reference quantity of the average infrared intensity deviation threshold is introduced. If the overall difference in infrared intensity has exceeded the average infrared intensity deviation threshold, it indicates that the effect of the first spraying operation has also reached the basic expectation, manifested as a decrease in the time of the second spraying operation, and as the overall difference in infrared intensity exceeds the average infrared intensity deviation threshold more and more, the decrease in the time of the second spraying operation becomes more obvious, reflecting the correction effect of the average infrared intensity deviation threshold on the time of the second spraying operation, and reducing the spraying dosage on the basis of directly obtaining the time of the second spraying operation from the overall difference in infrared intensity.

[0105] Reconstruct the spraying range for the stubborn area again and perform supplementary spraying operations. The formula for the supplementary spraying operations is as follows:

[0106]

[0107] where, t 3 is the supplementary spraying operation time, t 1 is the time of the first spraying operation, I after1 (u, v) is the infrared intensity value of the stubborn area with the x-axis coordinate u and the y-axis coordinate v at the first photographing, I after1 (u, v) is the infrared intensity value of the stubborn area with the x-axis coordinate u and the y-axis coordinate v at the second photographing, ΔI threshold is the average infrared intensity deviation threshold, ΔI overall is the overall difference in infrared intensity, and W is the number of stubborn areas.

[0108] The effect of the first spraying operation on the stubborn areas is judged by separately determining the average value of the change in infrared intensity before and after the first spraying operation. The greater the average value of the change in infrared intensity, the more obvious the effect. When performing the supplementary spraying operation, a smaller dose can be considered, which is reflected in a shorter supplementary spraying operation time. The smaller the average value of the change in infrared intensity, the less obvious the effect. When performing the supplementary spraying operation, a larger dose needs to be increased, which is reflected in an increase in the supplementary spraying operation time. At the same time, the average infrared intensity deviation threshold and the overall infrared intensity difference are introduced for consideration. The larger the overall infrared intensity difference, it indicates that the overall effect of the first spraying is good while the effect on the stubborn areas is poor. Then, more doses should be increased in the stubborn areas, which is reflected in an increase in the supplementary spraying operation time. The average infrared intensity deviation threshold, as a reference condition at the same time, can make the result generated by the average value of the change in infrared intensity converge to a certain value as much as possible, reducing the spraying dose while ensuring the effect of the supplementary spraying operation.

[0109] According to the effect evaluation after the first spraying operation, for those areas where the problems are not completely solved, a second spraying operation will be carried out. Especially for the stubborn areas, the spraying amount will be supplemented according to their actual situations. In this way, it is ensured that all abnormal areas can be fully treated, avoiding omissions or poor effects. The time and amount of the second spraying operation will be adjusted according to the effect of the first spraying to ensure that the crops can be protected most effectively.

[0110] As a preferred embodiment, when there are no stubborn areas, the supplementary spraying operation is not carried out. Steps 3 to 6 are a control process for normal control in the crop area. The infrared camera regularly takes infrared images and analyzes them. When an abnormal sub-area is judged by the infrared camera, steps 3 to 6 are executed. When no abnormal sub-area is judged, steps 3 to 6 are not executed.

[0111] The above formulas are all dimensionless and take their numerical values for calculation. The formula is obtained by collecting a large amount of data for software simulation to get a formula closest to the actual situation. The preset parameters in the formula are set by those skilled in the art according to the actual situation.

[0112] The above embodiments can be implemented in whole or in part by software, hardware, firmware, or any other combination. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. Those skilled in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed in this article can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed by hardware or software methods depends on the specific application and design constraints of the technical solution.

[0113] The unit described as a separation component may or may not be physically separated. The component displayed as a unit may or may not be a physical unit, and it may be located in one place or distributed across multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0114] As described above, the above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application.

Claims

1. A multi-degree-of-freedom autonomously adjustable spray infrared control method guided by visual recognition, characterized in that: The specific steps include: Step 1: Obtain an infrared intensity image of the crop area from a bird's-eye view, divide the crop area into sub-areas and establish a plane coordinate system, map the infrared intensity image to the crop area, and the mapping method is to set up markers for sub-area division in the crop area, identify the sub-areas by identifying the infrared intensity image, obtain the average infrared intensity of the sub-areas, and judge the abnormal sub-areas according to the average infrared intensity deviation threshold; Step 2: According to the plane coordinate system, the coordinate distance between any two abnormal sub-areas is obtained, and the abnormal sub-areas are divided according to the abnormal sub-area distance threshold and the area data of the abnormal sub-areas are obtained. According to the relationship between the abnormal sub-area area threshold and the area data of the abnormal sub-area, the area of ​​the abnormal area is judged to determine the type of liquid to be sprayed; Step 3: Determine the projection coordinates of the sprinkler head in each sub-area in the plane coordinate system. The plane coordinate system of the multi-degree-of-freedom sprinkler head is exactly the same as the plane coordinate system of the sub-area. The temperature, humidity, wind direction and wind speed of the crop area are obtained by a thermometer and a wind vane to obtain the spraying range, and the falling time of the sprayed object is determined according to the diffusion principle. Step 4: The multi-degree-of-freedom sprinkler heads within the sprinkler range participate in the first sprinkler operation, and the elevation angle of the multi-degree-of-freedom sprinkler heads is adjusted according to the wind speed, and the horizontal deflection angle of the multi-degree-of-freedom sprinkler heads is adjusted according to the wind direction; Step 5: After the first spraying operation, take a second photo with the infrared camera to obtain the second infrared intensity value of the abnormal sub-area, and judge the effect of the first spraying operation and the stubborn area based on the two infrared intensity values; Step 6: Perform a second spraying operation based on the effect of the first spraying operation and perform additional spraying operations on stubborn areas.

2. According to the visual recognition guided multi-degree-of-freedom autonomous adjustment spray infrared control method of claim 1, it is characterized by: The crop area is divided into a plane coordinate system. From a bird's-eye view, the upper left corner is taken as the origin, the right is the positive direction of the x-axis, and the downward is the positive direction of the y-axis. The crop area is divided into multiple sub-areas of equal area. The crop area is photographed by an infrared camera at a bird's-eye view to obtain an infrared intensity image, and the infrared intensity image is mapped to the crop area. The mapping logic is as follows: when the crop area is divided into sub-areas, markers are set at the connection between the sub-areas. The infrared camera also captures the markers when photographing the crops. The infrared intensity image is divided according to the markers, that is, a plane coordinate system identical to that of the crop area is formed in the infrared intensity image. The upper left corner of the infrared intensity image is taken as the origin, the right is the positive direction of the x-axis, and the downward is the positive direction of the y-axis. The cells in the infrared intensity image correspond to the sub-areas of the crop area.

3. According to claim 2, a multi-degree-of-freedom autonomously adjustable spray infrared control method guided by visual recognition is characterized in that: The infrared intensity matrix of the crop area is obtained. The infrared intensity value of each sub-area in the infrared intensity matrix is ​​the average value of the infrared intensity of all pixels in the sub-area. The infrared intensity matrix is ​​as follows: Among them, I m,n is the infrared intensity of the sub-region with x-axis coordinate m and y-axis coordinate n, m is the number of x-axis sub-regions of the infrared intensity image, n is the number of y-axis sub-regions of the infrared intensity image, m∈N, n∈N.

4. The multi-degree-of-freedom autonomously adjustable spray infrared control method guided by visual recognition according to claim 3 is characterized by: The average infrared intensity of all sub-areas is obtained, and a threshold value for the deviation of the average infrared intensity is set. The deviation of the infrared intensity of each sub-area from the average infrared intensity is obtained. The sub-areas whose deviation exceeds the threshold value for the deviation of the average infrared intensity are marked as abnormal sub-areas. The coordinates of all abnormal sub-areas on the x-axis and y-axis are obtained, and the abnormal sub-areas are numbered.

5. The multi-degree-of-freedom autonomously adjustable spray infrared control method guided by visual recognition according to claim 4 is characterized by: Get the coordinate distance between any two abnormal sub-regions. The distance between the two abnormal sub-regions is based on the following formula: Among them, d (i，j) is the coordinate distance between the i-th abnormal sub-region and the j-th abnormal sub-region, (i x i y ) and (j x ,j y ) are the coordinates of the i-th abnormal sub-region and the j-th abnormal sub-region, i∈j, j∈N, i <j; Set the abnormal sub-region distance threshold δ, when d (，j) <δ, the ith abnormal sub-region and the jth abnormal sub-region are connected and the abnormal partitions are merged. All abnormal sub-regions are traversed through breadth search to obtain mutually isolated abnormal partitions. The abnormal partition area threshold is set. The abnormal partitions exceeding the abnormal partition area threshold are marked as water stress, and the abnormal partitions not exceeding the abnormal partition area threshold are marked as pest and disease infection. The first spraying operation is carried out on the abnormal partitions, spraying water for water stress and spraying pesticides for pest and disease infection.

6. The multi-degree-of-freedom autonomously adjustable spray infrared control method guided by visual recognition according to claim 5 is characterized by: A multi-degree-of-freedom sprinkler is arranged inside each sub-area and a plane coordinate system is constructed. The projection of the plane coordinate system of the multi-degree-of-freedom sprinkler in the crop area is exactly the same as the plane coordinate system of the sub-area. Each multi-degree-of-freedom sprinkler is placed at the center point of the corresponding sub-area. The temperature, humidity, wind direction and wind speed of the crop area are obtained through a thermometer and a wind vane, and the abnormal partition is calibrated as the spraying range. Get the falling time of the spray liquid. The spray liquid will be affected by temperature and humidity during the falling process, resulting in diffusion. The falling time is obtained based on the diffusion principle. The formula is as follows: Among them, t is the falling time of the spray liquid, d is the height of the multi-degree-of-freedom sprinkler head from the top of the crop, V is the wind speed, D0 is the constant of the diffusion coefficient, R is the gas constant, T0 is the reference temperature, T is the temperature, k H is the influence coefficient of humidity on the diffusion coefficient, which is obtained by referring to the literature, and H is the humidity.

7. The multi-degree-of-freedom autonomously adjustable spray infrared control method guided by visual recognition according to claim 6 is characterized by: The multi-degree-of-freedom sprinkler heads within the spraying range participate in the first spraying operation. The spray angle of the multi-degree-of-freedom sprinkler heads is adjusted according to the wind speed. Taking the horizontal direction as the reference, the adjustment formula of the multi-degree-of-freedom sprinkler head elevation angle is as follows: Among them, θ s is the elevation angle of the multi-degree-of-freedom sprinkler head, V is the wind speed, and d is the height of the multi-degree-of-freedom sprinkler head from the top of the crop; The horizontal deflection angle of the multi-degree-of-freedom sprinkler head is determined according to the wind direction, and the horizontal deflection angle is in the upwind direction.

8. The multi-degree-of-freedom autonomously adjustable spray infrared control method guided by visual recognition according to claim 7 is characterized in that: Six hours after the first spraying operation is completed, the crop area is photographed for the second time by an infrared camera to obtain the second infrared intensity value of each abnormal sub-area in the abnormal area. The effect of the first spraying operation and the stubborn area are judged according to the infrared intensity difference obtained from the two photos. The formula for judging the effect of the first spraying operation is as follows: Among them, ΔI overall is the overall difference in infrared intensity, I before (u,v) is the infrared intensity value of the abnormal sub-region with x-axis coordinate u and y-axis coordinate v when taking the first photo. after1 (u, v) is the infrared intensity value of the abnormal sub-region with x-axis coordinate u and y-axis coordinate v when taking the first photo, u∈N, 1≤u≤m, v∈N, 1≤v≤n; Set the infrared intensity change threshold to determine the stubborn area. The formula for determining the stubborn area is as follows: I after1 (u,v)-I before (u,v)<θ Among them, θ is the infrared intensity change threshold, I before (u,v) is the infrared intensity value of the abnormal sub-region with x-axis coordinate u and y-axis coordinate v when taking the first photo. after1 (u, v) is the infrared intensity value of the abnormal sub-region with x-axis coordinate u and y-axis coordinate v when taking the second photo, u∈N, 1≤u≤m, v∈N, 1≤v≤m; The sub-region with x-axis coordinate u and y-axis coordinate n is marked as the stubborn region.

9. The multi-degree-of-freedom autonomously adjustable spray infrared control method guided by visual recognition according to claim 8, characterized in that: The second spraying operation is carried out according to the effect of the first spraying operation. The formula for the second spraying operation is as follows: Among them, t2 is the second spraying operation time, t1 is the first spraying operation time, ΔI overall is the overall difference in infrared intensity, ΔI threshold is the average infrared intensity deviation threshold; The stubborn area is re-sprayed and a supplementary spraying operation is performed. The formula for the supplementary spraying operation is as follows: Among them, t3 is the time for supplementary spraying operation, t1 is the time for the first spraying operation, and I after1 (u,v) is the infrared intensity value of the stubborn area with x-axis coordinate u and y-axis coordinate v when taking the first photo, I after1 (u,v) is the infrared intensity value of the stubborn area with x-axis coordinate u and y-axis coordinate v when taking the second photo, ΔI threshold is the average infrared intensity deviation threshold, ΔI overall is the overall difference in infrared intensity, and W is the number of stubborn areas.

10. The multi-degree-of-freedom autonomously adjustable spray infrared control method guided by visual recognition according to claim 9, characterized in that: When there is no stubborn area, no supplementary spraying operation is performed. Steps 3 to 6 are a control process. Normal control is performed in the crop area. The infrared camera regularly captures infrared images and analyzes them. When an abnormal sub-area is determined by the infrared camera, steps 3 to 6 are executed. When no abnormal sub-area is determined, steps 3 to 6 are not executed.

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