Intelligent harvesting system for ryegrass

Abstract

The invention discloses an intelligent harvesting system for ryegrass, and relates to the technical field of agriculture. The intelligent harvesting system comprises an off-site identification module, a ryegrass identification module, a data processing module, a ryegrass harvesting module and a ryegrass fertilization module; the off-site identification module is used for identifying and generating a plane image of a ryegrass planting field to obtain the overall growth condition of ryegrass; the ryegrass identification module is used for identifying and obtaining ryegrass individual growth conditions and ryegrass planting field environment information; the data processing module is used for processing data to obtain a differentiated harvesting mode and a differentiated fertilization mode, controlling the ryegrass harvesting module to perform differentiated harvesting, and controlling the ryegrass fertilization module to perform differentiated fertilization. Aiming at the problem that the ryegrass in different growth states cannot be subjected to differentiated treatment due to the fact that the growth condition of the ryegrass cannot be accurately recognized in an existing ryegrass harvesting mode, the yield and quality of the ryegrass are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural intelligent harvesting, and specifically, to an intelligent harvesting system for ryegrass. Background Art

[0002] Ryegrass is a high-quality forage grass, which has the characteristics of fast growth, high yield, rich nutritional value, and soft texture. It is an excellent feed for herbivorous livestock such as cattle and sheep. Ryegrass has a short growth cycle. Annual ryegrass grows rapidly and can be harvested in 40 - 50 days. Perennial ryegrass can be continuously utilized for 6 - 7 years. Under suitable conditions, annual ryegrass can be harvested multiple times a year, and the per mu yield can reach 8000 - 10000 kilograms.

[0003] The traditional ryegrass planting and management methods mainly rely on manual experience and have many drawbacks. When harvesting ryegrass, traditional mechanical harvesting lacks flexibility and accuracy. In the face of lodging, diseases and pests, etc., it cannot be effectively handled, which affects the harvesting efficiency and quality, and is prone to resource waste. In terms of fertilization, farmers apply fertilizers uniformly to the whole field according to traditional experience, and cannot accurately adjust according to soil fertility and the actual growth needs of ryegrass, resulting in fertilizer waste, environmental pollution and soil degradation. The existing ryegrass harvesting methods lack attention to the growth conditions of ryegrass and cannot make adaptive adjustments according to the growth conditions of ryegrass. Summary of the Invention

[0004] The present invention provides an intelligent harvesting system for ryegrass to solve the problem that the existing ryegrass harvesting methods cannot accurately identify the growth conditions of ryegrass, resulting in the inability to differentially process ryegrass in different growth states, improve the harvesting quality and yield of ryegrass, and ensure continuous high yield and high quality in ryegrass planting.

[0005] The present invention provides an intelligent harvesting system for ryegrass, including: an off-site identification module, a ryegrass identification module, a data processing module, a ryegrass harvesting module, and a ryegrass fertilization module;

[0006] The off-site identification module is used to identify the scene of the ryegrass planting area, establish a planar image of the ryegrass planting area, obtain the overall growth situation of ryegrass, and transmit it to the data processing module;

[0007] The ryegrass identification module is used to identify the individual growth situation of ryegrass and the environmental information of the ryegrass planting area, and transmit it to the data processing module;

[0008] The data processing module is used to comprehensively analyze the planar image of the ryegrass planting area, the overall growth situation of ryegrass, the individual growth situation of ryegrass, and the environmental information of the ryegrass planting area, obtain differential harvesting methods and differential fertilization methods, and send them to the ryegrass harvesting module and the ryegrass fertilization module respectively;

[0009] The ryegrass harvesting module is used to differentially harvest ryegrass according to the received differential harvesting method;

[0010] The ryegrass fertilizing module is used to differentially fertilize the harvested ryegrass according to the received differential fertilizing method.

[0011] Aiming at the problem that the prior art cannot accurately identify the growth situation of ryegrass during harvesting, the present invention provides an off-site identification module and a ryegrass identification module. Among them, the off-site identification module can identify the scene of the entire ryegrass planting area and generate a top-view plane image of the ryegrass planting area. Through the top-view plane image, the overall growth situation of ryegrass in the ryegrass planting area can be obtained; the ryegrass identification module can identify individual ryegrass in the ryegrass planting area to obtain the individual growth situation of ryegrass, and at the same time can obtain the information of the ryegrass planting area; after the off-site identification module and the ryegrass identification module obtain data through identification, the data is transmitted to the data processing module for analysis by the data processing module.

[0012] Aiming at the problem that the existing ryegrass harvesting method cannot adopt different treatment methods for ryegrass with different growth situations, the present invention provides a data processing module, a ryegrass harvesting module and a ryegrass fertilizing module; after receiving the data of the off-site identification module and the ryegrass identification module, the data processing module analyzes to obtain harvesting information and fertilizing information, and transmits them to the ryegrass harvesting module and the ryegrass fertilizing module respectively. After receiving the harvesting information, the ryegrass harvesting module harvests ryegrass with different growth situations in different ways according to the harvesting information. After receiving the fertilizing information, the ryegrass fertilizing module fertilizes ryegrass with different growth situations in different ways according to the fertilizing information.

[0013] In this solution, an intelligent harvesting system for ryegrass accurately identifies the overall and individual growth situations of ryegrass through an off-site identification module and a ryegrass identification module. The data processing module comprehensively analyzes according to the identification results, and realizes differential harvesting through the ryegrass harvesting module, improves the harvesting quality and efficiency, reduces labor costs, and reduces the waste and loss of ryegrass; at the same time, realizes precise fertilization through the ryegrass fertilizing module, improves the fertilizer utilization rate, and reduces resource waste and environmental pollution.

[0014] Further: The off-site identification module includes a multi-view image acquisition unit, a plane image generation unit, an image analysis unit and a plane image processing unit;

[0015] The multi-view image acquisition unit is arranged on the periphery of the ryegrass planting area and is used to obtain images of different perspectives of the ryegrass planting area;

[0016] The planar image generation unit is used to process the images of the ryegrass planting area from different perspectives by using the trained planar image generation model to obtain the planar image of the ryegrass planting area;

[0017] The image analysis unit is used to identify and mark the high-quality growth areas, poor growth areas, pest and disease areas, lodging growth areas, and weed areas in the images of the ryegrass planting area from different perspectives and the planar image of the ryegrass planting area, so as to obtain the growth situation area division of the images from different perspectives and the growth situation area division of the planar image;

[0018] The planar image processing unit is used to calibrate the growth situation area division of the planar image by using the growth situation area division of the images from different perspectives to obtain the overall growth situation of the ryegrass and transmit it to the data processing module.

[0019] In this solution, the multi-perspective image acquisition unit is used to acquire the images of the ryegrass planting area from multiple perspectives and generate the planar image of the ryegrass planting area. Then, through the image analysis unit, the overall growth situation of the ryegrass planting area is identified. Through multi-perspective recognition, the problem of misjudgment from a single perspective is solved, and comprehensive and accurate image information can be obtained, providing a more real growth situation of the planting area, and providing reliable data support for subsequent differential harvesting and precise fertilization.

[0020] Furthermore: The ryegrass recognition module includes a sensor unit, an image acquisition unit, and a close-range image processing unit;

[0021] The sensor unit is arranged in the ryegrass planting area and is used to obtain the temperature, humidity, light, soil pH value, soil water content, and soil fertility of the ryegrass planting area and transmit them to the data processing module;

[0022] The image acquisition unit is arranged on the ryegrass harvesting module and is used to obtain the image of the ryegrass before the ryegrass harvesting module performs harvesting to obtain a close-range image of the ryegrass;

[0023] The close-range image processing unit is used to identify and mark the high-quality growth individuals, poor growth individuals, pest and disease individuals, lodging growth individuals, and weed individuals in the close-range image of the ryegrass to obtain the individual growth situation of the ryegrass and transmit it to the data processing module.

[0024] In this solution, the sensor unit obtains information such as the temperature, humidity, light, soil pH value, soil water content, and soil fertility of the ryegrass planting area, providing basic data for precise fertilization and planting area management. Through the image acquisition unit and the image processing unit, it is possible to identify ryegrass in different growth states, providing data support for subsequent differential harvesting and fertilization, improving the harvesting efficiency and quality of ryegrass, reducing the waste of fertilizer resources, ensuring high yields in the next growth cycle of ryegrass, solving the problem of incomplete and inaccurate identification of the growth state of ryegrass in traditional methods, and also preventing excessive fertilization, which may cause some ryegrass to grow too fast and result in lodging.

[0025] Furthermore: The data processing module is specifically used for:

[0026] Based on the planar image of the ryegrass planting area, the overall growth situation of ryegrass, and the individual growth situation of ryegrass, obtain a differential harvesting method;

[0027] Based on the planar image of the ryegrass planting area, the environmental information of the ryegrass planting area, the overall growth situation of ryegrass, and the individual growth situation of ryegrass, obtain a differential fertilization method.

[0028] In this solution, the data processing module realizes precise differential harvesting and fertilization by comprehensively analyzing the planar image of the ryegrass planting area, the overall growth situation, the individual growth situation, and the environmental information of the ryegrass planting area, improving the harvesting operation efficiency and resource utilization rate of ryegrass, enhancing the adaptability and precision to complex growth environments, solving the problem that traditional harvesting and fertilization methods cannot perform differential processing according to specific growth situations and environmental information, and preventing the waste of fertilizer resources and environmental pollution.

[0029] Furthermore: The differential harvesting method specifically includes:

[0030] Mark the high-quality growth areas in the overall growth situation of ryegrass on the planar image of the ryegrass planting area to obtain the first-priority harvesting area;

[0031] Mark the poor growth areas in the overall growth situation of ryegrass on the planar image of the ryegrass planting area to obtain the second-priority harvesting area;

[0032] Mark the pest and disease growth areas and weed growth areas in the overall growth situation of ryegrass on the planar image of the ryegrass planting area to obtain the third-priority harvesting area;

[0033] Taking the order of harvesting the first-priority harvesting area first, then the second-priority harvesting area, and not harvesting the third-priority harvesting area, plan in the planar image of the ryegrass planting area to obtain the harvesting route;

[0034] Determine the harvesting method according to the lodging-growing individuals in the individual growth of ryegrass, including lodging harvesting and normal harvesting;

[0035] Based on the ryegrass with different growth conditions in the ryegrass planting area, combined with the harvesting route and the harvesting method, a differentiated harvesting method is obtained.

[0036] In this solution, the differentiated harvesting method preferentially harvests the high-quality growth areas, then harvests the poor growth areas, and does not harvest the areas with pests, diseases and weeds. It can distinguish and harvest ryegrass of different qualities, determine the value of ryegrass, facilitate subsequent processing and storage of ryegrass in different ways. At the same time, for lodging-growing individuals, the lodging harvesting method is adopted, which realizes the accuracy and efficiency of the ryegrass harvesting operation, reduces the impact of pests, diseases and weeds on the harvesting equipment and subsequent processing, and improves the harvesting quality of ryegrass. The traditional method does not detect the growth conditions of ryegrass and directly harvests in the planting area, harvesting the high-quality growing ryegrass, poor-growing ryegrass, weeds and pest-infected ryegrass together and mixing them. An additional separation step is required to improve the quality of the harvested ryegrass. This solution solves the problem that the traditional harvesting method cannot plan the harvesting route according to the actual growth conditions of ryegrass, resulting in the mixing of ryegrass of different final qualities and weeds, which reduces the quality of ryegrass. At the same time, there is no need for additional weed separation operations, reducing the harvesting cost.

[0037] Furthermore: The way to obtain the differentiated fertilization method is as follows:

[0038] Mark the high-quality growth areas in the overall growth of ryegrass on the plane image of the ryegrass planting area to obtain the first fertilization area;

[0039] Mark the poor growth areas in the overall growth of ryegrass on the plane image of the ryegrass planting area to obtain the second fertilization area;

[0040] Mark the pest-infected growth areas and weed growth areas in the overall growth of ryegrass on the plane image of the ryegrass planting area to obtain the third fertilization area;

[0041] Configure the standard fertilization amount for the first fertilization area, configure the increased fertilization amount for the second fertilization area, configure the pest-control fertilizer for the third fertilization area, and adjust according to the individual growth conditions of ryegrass and the environmental information of the ryegrass planting area to obtain the differentiated fertilization method.

[0042] In this solution, the differential fertilization method accurately identifies the high-quality growth areas, poor growth areas, pest and disease growth areas, and weed growth areas in the ryegrass planting land, and configures different fertilization amounts and fertilizer types according to the growth conditions and environmental information of the areas. It configures the standard fertilization amount for the high-quality growth areas to maintain the good growth state of ryegrass, configures the increased fertilization amount for the poor growth areas to promote the growth of ryegrass, configures pest and disease prevention fertilizers for the pest and disease growth areas to remove pests and diseases, and sprays herbicides on the weed growth areas to remove weeds, achieving precise and efficient fertilization, improving the fertilizer utilization efficiency, thereby improving the growth quality and yield of ryegrass; it solves the problem of the traditional one-size-fits-all fertilization strategy, which causes waste of resources due to excessive fertilizer in some areas of the ryegrass planting land and a decrease in the yield of ryegrass due to insufficient fertilization in some areas. At the same time, differential fertilization is carried out for the pest and disease areas and weed areas, enhancing the scientificity and precision of fertilization.

[0043] Furthermore: The ryegrass harvesting module includes an anti-lodging unit, an intelligent cutting unit, a ryegrass storage unit, a movement unit, and a harvesting control unit;

[0044] The anti-lodging unit is used to lift up the lodging ryegrass;

[0045] The intelligent cutting unit is used to adjust the height and angle of the cutting tool and cut the rhizomes of the ryegrass;

[0046] The ryegrass storage unit is used to store the harvested ryegrass;

[0047] The movement unit is used to move according to the action command issued by the harvesting control unit;

[0048] The harvesting control unit is used to receive the information from the data processing module and control each unit in the ryegrass harvesting module according to the differential harvesting method to complete the harvesting of the ryegrass.

[0049] In this solution, the ryegrass harvesting module effectively processes the lodging ryegrass through the collaborative work of the anti-lodging unit, the intelligent cutting unit, the ryegrass storage unit, the movement unit, and the harvesting control unit, adjusts the cutting parameters to adapt to different growth conditions, and realizes efficient and precise harvesting operations through automatic control. It solves the problem that traditional harvesting equipment cannot effectively handle lodging ryegrass, and the problem that traditional equipment has a fixed cutting method and cannot adjust the cutting parameters according to the growth conditions, resulting in low harvesting efficiency. The ryegrass harvesting module of this solution improves the flexibility and adaptability of harvesting, and its automatic function reduces the error and labor intensity of manual operation, significantly improving the precision and efficiency of ryegrass harvesting.

[0050] Furthermore: The ryegrass harvesting module is specifically used for:

[0051] According to the differential harvesting method, for the area of rye grass growing in a lodging state, activate the anti-lodging unit and control the intelligent cutting unit to adjust the height and angle of the cutting tool, and perform lodging harvesting on the lodging rye grass;

[0052] According to the differential harvesting method, for the areas of rye grass with good growth and poor growth, control the movement unit to preferentially go to the area of rye grass with good growth for harvesting according to the differential harvesting method, and then go to the area of rye grass with poor growth for harvesting.

[0053] In this solution, the rye grass harvesting module is specifically used for the differential harvesting method, which can flexibly handle the lodging rye grass. By activating the anti-lodging unit and adjusting the parameters of the intelligent cutting unit, the integrity and quality of the harvesting are ensured. By controlling the movement unit to perform the harvesting operation according to the harvesting route planned by the priority, first harvesting the area with good growth and then harvesting the area with poor growth, the harvesting quality and efficiency are improved, and the problem that traditional harvesting equipment cannot effectively handle the lodging rye grass is solved, as well as the problem that the traditional harvesting method lacks pertinence and planning for the growth situation of rye grass, resulting in low cutting efficiency of rye grass and low output quality of rye grass.

[0054] Furthermore: The rye grass fertilization module includes several fertilizer storage units, a conveying unit, a fertilizing head unit, and a fertilization control unit;

[0055] The several fertilizer storage units are used to store several different types of fertilizers and transport them to the conveying unit through a switchable channel;

[0056] The conveying unit is used to convey the fertilizers in the fertilizer storage unit to the fertilizer fertilizing head unit;

[0057] The fertilizing head unit is used to open and close according to the instructions of the fertilizer fertilization control unit to complete the fertilization of the fertilizer;

[0058] The fertilization control unit is used to receive the information of the data processing module and control the fertilizer fertilizing head unit to fertilize according to the differential fertilization method.

[0059] In this solution, the rye grass fertilization module stores different types of fertilizers through several fertilizer storage units, and performs precise fertilization through the conveying unit and the fertilizing head unit according to the instructions of the fertilization control unit. It can flexibly adjust the fertilization strategy according to different growth conditions and environmental information, improve the efficiency and precision of fertilization, solve the problem that the traditional fertilization method cannot perform differential fertilization according to the specific growth situation of rye grass and the soil environment information, resulting in over-fertilization of some soils but lack of fertilization in some soils in the rye grass planting area, avoid over-fertilization and resource waste, and improve the management level of rye grass planting.

[0060] Furthermore: The ryegrass fertilization module is specifically used for:

[0061] Determine the ryegrass areas with high-quality growth according to the differential fertilization method, and control the fertilization head unit through the fertilization control unit to apply the standard fertilization amount;

[0062] Determine the ryegrass areas with poor growth according to the differential fertilization method, and control the fertilization head unit through the fertilization control unit to apply the increased fertilization amount;

[0063] According to the environmental information of the ryegrass planting area in the differential fertilization method, control the switch-type channels of several fertilizer storage units through the fertilization control unit to apply different types of fertilizers.

[0064] In this solution, the ryegrass fertilization module controls the conveying unit and the fertilization head unit to perform precise fertilization according to the differential fertilization method. It can apply different types and amounts of fertilizers to different ryegrass according to the different growth conditions of ryegrass and the environmental information of the ryegrass planting area, solving the problems that traditional fertilization equipment cannot flexibly adjust the fertilization strategy and a single fertilizer type cannot meet the diverse growth needs of ryegrass soil.

[0065] One or more technical solutions provided by the present invention have at least the following technical effects or advantages:

[0066] This intelligent harvesting system obtains the plane image and individual growth conditions of the planting area through the off-site identification module and the ryegrass identification module, and conducts comprehensive analysis in combination with environmental information to achieve differential harvesting and differential fertilization. The present invention can preferentially harvest high-quality areas according to the growth conditions, process individuals with lodging growth, and adopt targeted strategies for pest, disease, and weed areas, significantly improving the harvesting efficiency and resource utilization rate; solving the problems of low efficiency, insufficient accuracy, and poor adaptability in traditional ryegrass harvesting and fertilization methods, being able to perform differential treatment according to the growth conditions and environmental information of the planting area, preventing resource waste and environmental pollution, achieving precise harvesting and precise fertilization, and enhancing the operation efficiency and environmental friendliness of ryegrass harvesting. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, form a part of the present invention, and do not constitute a limitation to the embodiments of the present invention;

[0068] Figure 1 It is a schematic structural diagram of an intelligent harvesting system for ryegrass in the present invention;

[0069] Figure 2 It is an improved schematic structural diagram of the cutting tool in the present invention;

[0070] Figure 3It is a schematic diagram of the improved structure of the ryegrass accommodation box in the present invention. Detailed implementation manners

[0071] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners. It should be noted that, without conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0072] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described within the scope here. Therefore, the protection scope of the present invention is not limited by the specific embodiments disclosed below.

[0073] Embodiment 1

[0074] As Figure 1 shown, an intelligent harvesting system for ryegrass includes: an off-site identification module, a ryegrass identification module, a data processing module, a ryegrass harvesting module, and a ryegrass fertilizing module;

[0075] The off-site identification module is used to identify the ryegrass planting ground scene, establish a planar image of the ryegrass planting ground, obtain the overall growth situation of the ryegrass, and transmit it to the data processing module;

[0076] The ryegrass identification module is used to identify the individual growth situation of the ryegrass and the environmental information of the ryegrass planting ground, and transmit it to the data processing module;

[0077] The data processing module is used to comprehensively analyze the planar image of the ryegrass planting ground, the overall growth situation of the ryegrass, the individual growth situation of the ryegrass, and the environmental information of the ryegrass planting ground, obtain a differential harvesting method and a differential fertilizing method, and send them to the ryegrass harvesting module and the ryegrass fertilizing module respectively;

[0078] The ryegrass harvesting module is used to differentially harvest the ryegrass according to the received differential harvesting method;

[0079] The ryegrass fertilizing module is used to differentially fertilize the harvested ryegrass according to the received differential fertilizing method.

[0080] When the off-site recognition module of this technical solution is working, it recognizes the scene of the entire ryegrass planting area from off-site, obtains images of the ryegrass planting area from different perspectives, and generates a top-down plane image of the ryegrass planting area. Through the top-down plane image, the overall growth situation of the ryegrass is obtained by processing through a neural network model for image recognition; when the off-site recognition module of this technical solution is working, it obtains images of the ryegrass in the ryegrass planting area from on-site, and obtains the individual growth situation of the ryegrass. At the same time, information about the ryegrass planting area, such as basic soil information such as pH value, is obtained through sensors; after the off-site recognition module and the ryegrass recognition module obtain data through recognition, the data is transmitted to the data processing module, and the data processing module performs analysis.

[0081] Aiming at the problem that the existing ryegrass harvesting method cannot adopt different treatment methods for ryegrass with different growth situations, the present invention provides a data processing module, a ryegrass harvesting module, and a ryegrass fertilizing module; after receiving the data from the off-site recognition module and the ryegrass recognition module, the data processing module performs analysis to obtain harvesting information and fertilizing information, and transmits them to the ryegrass harvesting module and the ryegrass fertilizing module respectively. After receiving the harvesting information, the ryegrass harvesting module adopts different harvesting methods for ryegrass with different growth situations. After receiving the fertilizing information, the ryegrass fertilizing module adopts different fertilizing methods for ryegrass with different growth situations.

[0082] In this solution, an intelligent harvesting system for ryegrass accurately recognizes the overall and individual growth situations of ryegrass through an off-site recognition module and a ryegrass recognition module. The data processing module comprehensively analyzes according to the recognition results, and realizes differential harvesting through the ryegrass harvesting module, improves the harvesting quality and efficiency, reduces labor costs, and reduces waste and loss of ryegrass; at the same time, realizes precise fertilization through the ryegrass fertilizing module, improves the fertilizer utilization rate, and reduces resource waste and environmental pollution.

[0083] Embodiment 2

[0084] An intelligent harvesting system for ryegrass, on the basis of Embodiment 1, the off-site recognition module includes a multi-perspective image acquisition unit, a plane image generation unit, an image analysis unit, and a plane image processing unit;

[0085] The multi-perspective image acquisition unit is arranged on the periphery of the ryegrass planting area, and is used to obtain images of the ryegrass planting area from different perspectives;

[0086] The plane image generation unit is used to process the images of the ryegrass planting area from different perspectives by using a trained plane image generation model to obtain a plane image of the ryegrass planting area;

[0087] The image analysis unit is used to identify and mark the high-quality growth areas, poor growth areas, pest and disease areas, lodging growth areas, and weed areas in the images of different perspectives of the ryegrass planting area and the planar image of the ryegrass planting area respectively, so as to obtain the growth situation area division of the images of different perspectives and the growth situation area division of the planar image;

[0088] The planar image processing unit is used to calibrate the growth situation area division of the planar image by using the growth situation area division of the images of different perspectives, obtain the overall growth situation of the ryegrass, and transmit it to the data processing module.

[0089] Among them, the multi-perspective image acquisition unit is set outside the ryegrass planting area, and images are obtained from different angles through photographic equipment such as UAV cameras and fixed cameras to ensure that the entire ryegrass planting area is covered, and comprehensive and accurate image data can be obtained in complex terrains or large-area ryegrass planting areas; the planar image generation unit uses the trained planar image generation model to process the images of different perspectives and generate a top-down planar image that accurately reflects the actual situation of the ryegrass planting area. Specifically, neural network models suitable for image generation such as convolutional neural networks, ResNet neural networks, and generative adversarial networks can be used; the image analysis unit analyzes the images of different perspectives of the ryegrass planting area and the planar image of the ryegrass planting area, identifies and marks different growth areas, including high-quality growth areas, poor growth areas, pest and disease areas, lodging growth areas, and weed areas, and marks them respectively in the images of different perspectives of the ryegrass planting area and the planar image of the ryegrass planting area, so as to realize a detailed division of the overall growth situation of the ryegrass. Specifically, neural network models for image recognition such as YOLO, U-Net, and Swin Transformer can be used; the planar image processing unit can calibrate the planar image by combining the images of different perspectives. Since the planar image is the image generated by the planar image generation unit rather than the actually captured image, in order to solve the problem that the inaccurate recognition of the overall growth situation of the ryegrass is caused by the distortion and error of some contents in the planar image, the marked areas in the planar image are modified and calibrated by using the marked areas in the images of different perspectives to obtain the accurate overall growth situation of the ryegrass.

[0090] An intelligent harvesting system for ryegrass. On the basis of Embodiment 1, the ryegrass recognition module includes a sensor unit, an image acquisition unit, and a close-range image processing unit;

[0091] The sensor unit is set in the ryegrass planting area and is used to obtain the temperature, humidity, light, soil pH value, soil water content, and soil fertility of the ryegrass planting area, and transmit them to the data processing module;

[0092] The image acquisition unit is set on the ryegrass harvesting module and is used to acquire images of ryegrass before the ryegrass harvesting module performs harvesting, so as to obtain close-range ryegrass images;

[0093] The close-range image processing unit is used to identify and mark high-quality growing individuals, poorly growing individuals, pest and disease individuals, lodging-growing individuals, and weed individuals in the close-range ryegrass images, obtain the growth conditions of ryegrass individuals, and transmit them to the data processing module.

[0094] Among them, the sensor unit is deployed in the ryegrass planting area and is used to monitor the environmental parameters of the planting area in real time, including soil data such as temperature, humidity, light, soil pH value, soil water content, and soil fertility; the sensors can be arranged distributively to ensure coverage of the entire ryegrass planting area, and data transmission is carried out wirelessly or wiredly. The real-time and accuracy of sensor data provide environmental data support for subsequent differential harvesting and fertilization. By monitoring the soil pH value, water content, and soil fertility in real time, the fertilization strategy can be adjusted in a timely manner to ensure the healthy growth of ryegrass, solve the problems of waste and environmental pollution caused by excessive soil fertilization, and the decrease in ryegrass yield caused by insufficient soil fertilization.

[0095] The image acquisition unit is installed on the ryegrass harvesting module and can use a high-resolution camera to ensure the clarity and details of the image, improve the accuracy of subsequent image recognition. The image acquisition unit works synchronously when the harvesting module moves during harvesting, dynamically capturing the growth conditions of ryegrass, and providing real-time image data for the close-range image processing unit.

[0096] The close-range image processing unit uses a deep learning model, such as YOLOv8, to analyze the acquired images, identify the image data of the image acquisition unit, and mark high-quality growing individuals, poorly growing individuals, pest and disease individuals, lodging-growing individuals, and weed individuals. At the same time, some individuals, such as pest and disease individuals, may be difficult to identify in the initial stage. The YOLOv8 can be improved by introducing existing improvement schemes such as attention mechanisms and lightweight improvements, which improves the detection accuracy and efficiency of ryegrass targets, accurately identifies the pest and disease areas, and solves the problems of inaccurate identification and low efficiency.

[0097] This solution combines an off-site identification module and a ryegrass identification module to comprehensively analyze ryegrass both off-site and on-site in the ryegrass planting area. Through data analysis and identification using a neural network model, it realizes the comprehensive monitoring and accurate analysis of the environmental parameters and growth conditions of the ryegrass planting area, ensuring the scientificity and timeliness of subsequent harvesting strategies and fertilization strategies, and improving the operation efficiency and resource utilization rate of ryegrass harvesting. The off-site identification module and ryegrass identification module of this solution can cover a large area of ryegrass planting areas, reduce manual inspections and monitoring, lower labor costs and management costs, and solve the problems that the traditional monitoring method of ryegrass planting areas cannot comprehensively obtain the growth conditions and environmental information of ryegrass planting areas, with high labor costs and low efficiency, and the lack of data support for subsequent management decisions.

[0098] Embodiment III

[0099] An intelligent harvesting system for ryegrass. Based on Embodiment I, the data processing module is specifically used for:

[0100] Obtain a differentiated harvesting method according to the planar image of the ryegrass planting area, the overall growth condition of ryegrass, and the individual growth condition of ryegrass;

[0101] Obtain a differentiated fertilization method according to the planar image of the ryegrass planting area, the environmental information of the ryegrass planting area, the overall growth condition of ryegrass, and the individual growth condition of ryegrass.

[0102] Among them, the differentiated harvesting method specifically includes:

[0103] Mark the high-quality growth areas in the overall growth condition of ryegrass on the planar image of the ryegrass planting area to obtain the first-priority harvesting area and harvest it first;

[0104] Mark the poor growth areas in the overall growth condition of ryegrass on the planar image of the ryegrass planting area to obtain the second-priority harvesting area and then harvest it;

[0105] Mark the pest and disease growth areas and weed growth areas in the overall growth condition of ryegrass on the planar image of the ryegrass planting area to obtain the third-priority harvesting area and usually do not harvest it;

[0106] Taking the order of harvesting the first-priority harvesting area first, then the second-priority harvesting area, and not harvesting the third-priority harvesting area, plan in the planar image of the ryegrass planting area to obtain the harvesting route;

[0107] Specifically, a path planning algorithm can be adopted to generate an optimal ryegrass harvesting route, ensuring that the harvesting module first harvests the high-quality areas, then the poor-quality areas, and avoids the areas affected by pests, diseases, and weeds. In this way, the high-quality and poor-quality ryegrass in the ryegrass planting area can be distinguished, facilitating subsequent processing and sales, and solving the problem that the traditional harvesting method mixes high-quality and low-quality ryegrass together, resulting in a reduction in the quality of ryegrass.

[0108] Determine the harvesting method according to the lodging growth individuals in the individual growth situation of ryegrass, including lodging harvesting and normal harvesting.

[0109] Based on the ryegrass with different growth situations in the ryegrass planting area, combined with the harvesting route and harvesting method, a differentiated harvesting method is obtained.

[0110] Among them, the way to obtain the differentiated fertilization method is as follows:

[0111] Mark the high-quality growth areas in the overall growth situation of ryegrass on the plane image of the ryegrass planting area to obtain the first fertilization area.

[0112] Mark the poor-quality growth areas in the overall growth situation of ryegrass on the plane image of the ryegrass planting area to obtain the second fertilization area.

[0113] Mark the pest, disease, and weed growth areas in the overall growth situation of ryegrass on the plane image of the ryegrass planting area to obtain the third fertilization area.

[0114] Configure the standard fertilization amount for the first fertilization area to maintain the good growth state of ryegrass, configure the increased fertilization amount for the second fertilization area to promote the growth of ryegrass, configure the pest and disease prevention fertilizer for the third fertilization area to remove pests and diseases, and at the same time, herbicides can be sprayed to remove weeds. Adjust according to the individual growth situation of ryegrass and the environmental information of the ryegrass planting area to obtain the differentiated fertilization method. At the same time, according to the environmental information provided by the sensor unit in the ryegrass recognition module, such as soil pH value, water content, and soil fertility, dynamically adjust the fertilization amount and fertilizer type, achieving precise and efficient fertilization, improving the fertilizer utilization efficiency, and improving the growth quality and yield of ryegrass, solving the problem that the traditional fertilization strategy will cause some ryegrass in the ryegrass planting area to be over-fertilized, reducing the yield and quality, while some ryegrass is under-fertilized and unable to increase the yield and quality.

[0115] The data processing module in this technical solution can process and analyze the data from the off-site identification module and the ryegrass identification module to obtain differentiated harvesting methods and differentiated fertilization methods, ensuring the efficient utilization of resources and reducing waste. It can flexibly adjust the harvesting strategy and fertilization measurement according to the different growth conditions of ryegrass and soil environment information, improving the adaptability and robustness of the system, solving the problem that traditional harvesting and fertilization methods cannot perform differentiated processing according to specific growth conditions and environmental information, and preventing the waste of fertilizer resources and environmental pollution.

[0116] Embodiment 4

[0117] An intelligent harvesting system for ryegrass. On the basis of Embodiment 1, the ryegrass harvesting module includes an anti-lodging unit, an intelligent cutting unit, a ryegrass storage unit, a movement unit, and a harvesting control unit. The specific functions and collaborative working methods of each unit are as follows:

[0118] The anti-lodging unit is used to straighten the lodging ryegrass. When facing the lodging ryegrass, the anti-lodging unit can effectively straighten the lodging ryegrass to ensure that the ryegrass can be smoothly harvested. An extended reel can be used to straighten the lodging ryegrass, and at the same time, adjust the height and angle of the cutting tool to adapt to the lodging direction of the ryegrass and reduce the missed cutting rate.

[0119] The intelligent cutting unit is used to adjust the height and angle of the cutting tool and cut the rhizome of the ryegrass. According to the different growth conditions of the ryegrass, adjust the height and angle of the cutting tool to precisely cut the rhizome of the ryegrass to adapt to ryegrass of different heights and growth states.

[0120] The ryegrass storage unit is used to store the harvested ryegrass. During the harvesting process, collect the cut ryegrass and temporarily store it for subsequent transportation and processing, reducing the steps of picking up from the planting area.

[0121] The movement unit is used to move according to the action command issued by the harvesting control unit, and preferentially go to the high-quality ryegrass area for harvesting according to the harvesting route in the differentiated harvesting method, and then go to the low-quality ryegrass area for harvesting.

[0122] The harvesting control unit, as the core of the entire harvesting module, receives information from the data processing module and precisely controls each unit in the harvesting module according to the differentiated harvesting method to achieve efficient and precise harvesting operations.

[0123] In a specific embodiment of the present invention, the cutting tool of the intelligent cutting unit can be improved, such as Figure 2As shown in the figure, the cutting tool is designed as an upper cutter head 2 and a lower cutter head 1, which are installed on the same tool handle 3. The upper cutter head 2 is hollowed out, provided with a fan blade structure and has a certain inclination angle, which can generate an upward air flow when rotating. At the same time, the fan blade structure can be provided with cutting edges to cut the ryegrass staying on the upper cutter head. The lower cutter head 1 is a normal cutting tooth to cut the roots of the ryegrass. And there is a certain distance between the upper cutter head 2 and the lower cutter head 1 as the air flow channel. During the cutting process, the upper cutter head 2 can generate an upward air flow to guide the chopped ryegrass and debris to rise. Combined with the additionally provided suction pump and debris channel, the chopped ryegrass and debris can be sucked into the ryegrass storage unit, preventing the problem that the chopped ryegrass and debris remain in the field and reduce the yield of the next growth cycle of ryegrass. At the same time, as Figure 3 shown, a plurality of parallel multi-gap partitions 5 can be added to the accommodation box 4 in the ryegrass storage unit to form a plurality of compartments, so that each compartment can store ryegrass. Blinds 6 are provided on the inner walls on both sides of each compartment, and the opening angle of the blinds 6 is set to 45°. An exhaust fan 7 is provided at the top of the accommodation box 4. The accommodation box 4 combines the parallel multi-gap partitions 5, the blinds 6 and the exhaust fan 7 to form a three-dimensional circulation ventilation path, solving the problem that the bottom is not ventilated when the ryegrass is stacked, reducing the quality of the ryegrass.

[0124] In this solution, through the collaborative work of the anti-lodging unit and the intelligent cutting unit, the lodged ryegrass can be effectively processed, improving the integrity and quality of the harvesting. At the same time, according to the different growth conditions of the ryegrass, the height and angle of the cutting tool are adjusted to ensure the accuracy of cutting, adapting to the ryegrass in different growth states, solving the problems of fixed cutting mode and low efficiency of traditional equipment. The motion unit operates according to the harvesting route planned by the priority, first harvesting the high-quality growth area and then harvesting the poor growth area, optimizing the harvesting route and reducing energy consumption. The ryegrass storage unit reduces the steps of picking up from the planting land, improving the continuity and efficiency of the harvesting operation. Through the harvesting control unit, automatic control is realized, reducing the manual labor intensity, improving the stability and consistency of the harvesting operation, and avoiding resource waste.

[0125] An intelligent harvesting system for ryegrass. On the basis of Embodiment 1, the ryegrass fertilization module includes a plurality of fertilizer storage units, a conveying unit, a fertilizing head unit and a fertilization control unit. The specific functions and collaborative working methods of each unit are as follows:

[0126] A plurality of fertilizer storage units are used to store several different types of fertilizers and transport them to the conveying unit through a switchable channel. According to the instructions of the fertilization control unit, selectively transport a specific type of fertilizer to the conveying unit;

[0127] The conveying unit is used to convey the fertilizer in the fertilizer storage unit to the fertilizer applicator unit, receive the fertilizer from the storage unit, and convey the fertilizer to the applicator unit through conveying equipment such as pipelines, ensuring that the fertilizer can reach the fertilization position accurately and without error;

[0128] The fertilizer applicator unit is used to open and close according to the instructions of the fertilizer application control unit, precisely control the amount and position of fertilizer application, and ensure that the fertilizer can be evenly applied to the designated soil area;

[0129] The fertilizer application control unit is used to receive the information from the data processing module, control the fertilizer storage unit, conveying unit and fertilizer applicator unit according to the differential fertilization method, and realize efficient and precise fertilization operations.

[0130] In this solution, the ryegrass fertilization module is installed on the ryegrass harvesting module and works synchronously when harvesting grass to fertilize the harvested ryegrass. Through the precise control of the fertilizer application control unit, automatic operation is achieved, and the fertilization strategy can be flexibly adjusted according to different growth conditions and environmental information, ensuring the precise application of fertilizer, reducing labor intensity, and improving the stability and consistency of operations; through the differential fertilization method and several fertilizer storage units, over-fertilization and resource waste are avoided, the utilization efficiency of fertilizer is improved, production costs and environmental pollution are reduced, and the sustainability of ryegrass cultivation is enhanced; the ryegrass fertilization module solves the problem that traditional fertilization methods cannot perform differential fertilization according to specific growth conditions and environmental information.

[0131] In some embodiments of the present invention, the fertilizer storage unit can store highly effective and low-toxic pesticides to prevent pests and diseases. For example, triadimefon is used to prevent rust and powdery mildew, and imidacloprid is used to prevent pests such as aphids and armyworms; the fertilizer storage unit can also store other substances that can improve the yield and quality of ryegrass, such as storing soil conditioners to improve the physical and chemical properties of the soil, increase soil fertility and water and fertilizer retention capacity; storing microbial agents to improve the soil environment through the activities of microorganisms, promote plant growth, and enhance disease resistance; storing biological pesticides to prevent pests and diseases by biological means, reduce the use of chemical pesticides, and reduce environmental pollution; storing herbicides to selectively kill weeds and reduce the competition pressure of weeds on the growth of ryegrass; storing soil loosening agents to improve soil aeration and water permeability and promote root development.

[0132] Although the preferred embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications that fall within the scope of the present invention.

[0133] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. An intelligent harvesting system for ryegrass, characterized in that, Including: An off-site recognition module, a ryegrass recognition module, a data processing module, a ryegrass harvesting module, and a ryegrass fertilizing module; The off-site recognition module is used to recognize the ryegrass planting ground scene, establish a planar image of the ryegrass planting ground, obtain the overall growth situation of the ryegrass, and transmit it to the data processing module; The ryegrass recognition module is used to recognize the individual growth situation of the ryegrass and the environmental information of the ryegrass planting ground, and transmit it to the data processing module; The data processing module is used to comprehensively analyze the planar image of the ryegrass planting ground, the overall growth situation of the ryegrass, the individual growth situation of the ryegrass, and the environmental information of the ryegrass planting ground, obtain a differential harvesting method and a differential fertilizing method, and send them to the ryegrass harvesting module and the ryegrass fertilizing module respectively; The ryegrass harvesting module is used to differentially harvest the ryegrass according to the received differential harvesting method; The ryegrass fertilizing module is used to differentially fertilize the harvested ryegrass according to the received differential fertilizing method.

2. The intelligent harvesting system for ryegrass according to claim 1, characterized in that, The off-site recognition module includes a multi-perspective image acquisition unit, a planar image generation unit, an image analysis unit, and a planar image processing unit; The multi-perspective image acquisition unit is arranged on the periphery of the ryegrass planting ground and is used to obtain images of different perspectives of the ryegrass planting ground; The planar image generation unit is used to process the images of different perspectives of the ryegrass planting ground using a trained planar image generation model to obtain a planar image of the ryegrass planting ground; The image analysis unit is used to respectively identify and mark the high-quality growth areas, poor growth areas, pest and disease areas, lodging growth areas, and weed areas in the images of different perspectives of the ryegrass planting ground and the planar image of the ryegrass planting ground, and obtain the growth situation area division of the different perspective images and the growth situation area division of the planar image; The planar image processing unit is used to calibrate the growth situation area division of the planar image using the growth situation area division of the different perspective images to obtain the overall growth situation of the ryegrass, and transmit it to the data processing module.

3. The intelligent harvesting system for ryegrass according to claim 1, wherein, The ryegrass recognition module includes a sensor unit, an image acquisition unit, and a close-range image processing unit; The sensor unit is arranged in the ryegrass planting ground and is used to obtain the temperature, humidity, light, soil pH value, soil water content, and soil fertility of the ryegrass planting ground, and transmit it to the data processing module; The image acquisition unit is arranged on the ryegrass harvesting module and is used to obtain an image of the ryegrass at close range before the ryegrass harvesting module performs harvesting; The close-range image processing unit is used to identify and mark the high-quality growth individuals, poor growth individuals, pest and disease individuals, lodging growth individuals, and weed individuals in the close-range ryegrass image to obtain the individual growth situation of the ryegrass, and transmit it to the data processing module.

4. The intelligent harvesting system for ryegrass according to claim 2, wherein, The data processing module is specifically used for: Obtaining a differential harvesting method according to the planar image of the ryegrass planting ground, the overall growth situation of the ryegrass, and the individual growth situation of the ryegrass; Based on the planar image of the ryegrass planting area, the environmental information of the ryegrass planting area, the overall growth situation of ryegrass, and the individual growth situation of ryegrass, a differential fertilization method is obtained.

5. The intelligent harvesting system for ryegrass according to claim 4, wherein, The method for obtaining the differential harvesting method is as follows: Mark the high-quality growth area in the overall growth situation of ryegrass on the planar image of the ryegrass planting area to obtain the first-priority harvesting area; Mark the poor growth area in the overall growth situation of ryegrass on the planar image of the ryegrass planting area to obtain the second-priority harvesting area; Mark the pest and disease growth area and the weed growth area in the overall growth situation of ryegrass on the planar image of the ryegrass planting area to obtain the third-priority harvesting area; According to the method of harvesting the first-priority harvesting area first, then the second-priority harvesting area, and not harvesting the third-priority harvesting area, plan in the planar image of the ryegrass planting area to obtain the harvesting route; Taking the order of harvesting the first-priority harvesting area first, then the second-priority harvesting area, and not harvesting the third-priority harvesting area, plan in the planar image of the ryegrass planting area to obtain the harvesting route; Determine the harvesting method according to the lodging growth individuals in the individual growth situation of ryegrass; According to the ryegrass with different growth situations in the ryegrass planting area, combined with the harvesting route and the harvesting method, obtain the differential harvesting method.

6. The intelligent harvesting system for ryegrass according to claim 4, characterized in that, The method for obtaining the differential fertilization method is as follows: Mark the high-quality growth area in the overall growth situation of ryegrass on the planar image of the ryegrass planting area to obtain the first fertilization area; Mark the poor growth area in the overall growth situation of ryegrass on the planar image of the ryegrass planting area to obtain the second fertilization area; Mark the pest and disease growth area and the weed growth area in the overall growth situation of ryegrass on the planar image of the ryegrass planting area to obtain the third fertilization area; Configure the standard fertilization amount for the first fertilization area, configure the increased fertilization amount for the second fertilization area, configure the pest control fertilizer for the third fertilization area, and adjust according to the individual growth situation of ryegrass and the environmental information of the ryegrass planting area to obtain the differential fertilization method.

7. The intelligent harvesting system for ryegrass according to claim 1, characterized in that, The ryegrass harvesting module includes an anti-lodging unit, an intelligent cutting unit, a ryegrass storage unit, a movement unit, and a harvesting control unit; The anti-lodging unit is used to straighten the lodging ryegrass; The intelligent cutting unit is used to adjust the height and angle of the cutting tool and cut the rhizome of ryegrass; The ryegrass storage unit is used to store the harvested ryegrass; The movement unit is used to move according to the action command issued by the harvesting control unit; The harvesting control unit is used to receive the information of the data processing module and control each unit in the ryegrass harvesting module according to the differential harvesting method to complete the harvesting of ryegrass.

8. The intelligent harvesting system for ryegrass according to claim 7, characterized in that, The ryegrass harvesting module is specifically used for: According to the differential harvesting method, for the area of lodging ryegrass, start the anti-lodging unit and control the intelligent cutting unit to adjust the height and angle of the cutting tool to perform lodging harvesting on the lodging ryegrass; According to the differential harvesting method, for the areas of ryegrass with good growth and the areas of ryegrass with poor growth, control the motion unit to preferentially go to the areas of ryegrass with good growth for harvesting according to the differential harvesting method, and then go to the areas of ryegrass with poor growth for harvesting.

9. The intelligent harvesting system for ryegrass according to claim 1, characterized in that, The ryegrass fertilization module includes a number of fertilizer storage units, a conveying unit, a fertilizing head unit and a fertilization control unit; The number of fertilizer storage units is used to store several different types of fertilizers and transport them to the conveying unit through a switching channel; The conveying unit is used to convey the fertilizers in the fertilizer storage unit to the fertilizer fertilizing head unit; The fertilizing head unit is used to open and close according to the instructions of the fertilizer fertilizing control unit to complete the fertilization of fertilizers; The fertilization control unit is used to receive the information of the data processing module and control the fertilizer fertilizing head unit to fertilize according to the differential fertilization method.

10. The intelligent harvesting system for ryegrass according to claim 9, characterized in that, The ryegrass fertilization module is specifically used for: According to the differential fertilization method, determine the areas of ryegrass with good growth, and control the fertilizing head unit through the fertilization control unit to apply the standard fertilization amount; According to the differential fertilization method, determine the areas of ryegrass with poor growth, and control the fertilizing head unit through the fertilization control unit to apply an increased fertilization amount; According to the environmental information of the ryegrass planting land in the differential fertilization method, control the switching channels of several fertilizer storage units through the fertilization control unit to apply different types of fertilizers.

Images