An intelligent harvesting system for ryegrass

Abstract

The application discloses an intelligent harvesting system for rye grass, belongs to the field of agricultural technology, and comprises an off-site identification module, a rye grass identification module, a data processing module, a rye grass harvesting module and a rye grass fertilization module; the off-site identification module is used for identifying and generating a planar image of a rye grass planting site to obtain the overall growth condition of the rye grass; the rye grass identification module is used for identifying the individual growth condition of the rye grass and environment information of the rye grass planting site; the data processing module is used for data processing to obtain a differentiated harvesting mode and a differentiated fertilization mode, and control the rye grass harvesting module to perform differentiated harvesting and control the rye grass fertilization module to perform differentiated fertilization. The application aims at the problem that the existing rye grass harvesting mode cannot accurately identify the growth condition of the rye grass, and different growth states of the rye grass cannot be subjected to differentiated treatment, and realizes the improvement of the yield and quality of the rye grass.

Description

Technical Field

[0001] This invention relates to the field of intelligent agricultural harvesting technology, and more specifically, to an intelligent harvesting system for ryegrass. Background Technology

[0002] Ryegrass is a high-quality forage grass characterized by rapid growth, high yield, and rich nutritional value. Its soft texture makes it 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, while perennial ryegrass can be used continuously for 6-7 years. Under suitable conditions, annual ryegrass can be harvested multiple times a year, with a yield of 8,000-10,000 kg per acre.

[0003] Traditional ryegrass cultivation and management methods rely heavily on manual experience, which has many drawbacks. When harvesting ryegrass, traditional mechanical harvesting lacks flexibility and precision, and is unable to effectively handle lodging, pests, and diseases, affecting harvesting efficiency and quality, and easily leading to resource waste. Regarding fertilization, farmers rely on traditional experience to apply fertilizer uniformly across the entire field, failing to make precise adjustments based on soil fertility and the actual growth needs of the ryegrass, resulting in fertilizer waste, environmental pollution, and soil degradation. Existing ryegrass harvesting methods lack attention to the growth status of the ryegrass and cannot adaptively adjust to its specific conditions. Summary of the Invention

[0004] This invention provides an intelligent harvesting system for ryegrass to solve the problem that existing ryegrass harvesting methods cannot accurately identify the growth status of ryegrass, resulting in the inability to differentiate the treatment of ryegrass in different growth stages. This system improves the harvesting quality and yield of ryegrass and ensures continuous high yield and high quality in ryegrass cultivation.

[0005] This invention provides an intelligent harvesting system for ryegrass, comprising: 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 recognition module is used to identify the ryegrass planting area scene, establish a planar image of the ryegrass planting area, obtain the overall growth status of the ryegrass, and transmit it to the data processing module.

[0007] The ryegrass identification module is used to identify the individual growth status of ryegrass and the environmental information of the ryegrass planting site, 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 of the ryegrass, the individual growth of the ryegrass, and the environmental information of the ryegrass planting area to obtain differentiated harvesting methods and differentiated fertilization methods, which are then sent to the ryegrass harvesting module and the ryegrass fertilization module, respectively.

[0009] The ryegrass harvesting module is used to harvest ryegrass in a differentiated manner according to the received differentiated harvesting method.

[0010] The ryegrass fertilization module is used to apply differentiated fertilization to the harvested ryegrass according to the received differentiated fertilization method.

[0011] To address the problem of existing technologies failing to accurately identify the growth status of ryegrass during harvesting, this invention provides an off-site identification module and a ryegrass identification module. The off-site identification module can identify the entire ryegrass planting area and generate a top-down planar image of the planting area, from which the overall growth status of the ryegrass is determined. The ryegrass identification module can identify individual ryegrass plants within the planting area, obtaining information about their individual growth and the overall planting area. After acquiring data through identification, both the off-site identification module and the ryegrass identification module transmit the data to a data processing module for analysis.

[0012] To address the problem that existing ryegrass harvesting methods cannot apply different treatments to ryegrass under different growth conditions, this invention provides a data processing module, a ryegrass harvesting module, and a ryegrass fertilization module. The data processing module receives and analyzes data from the off-site identification module and the ryegrass identification module to obtain harvesting and fertilization information, which is then transmitted to the ryegrass harvesting and fertilization modules, respectively. Upon receiving the harvesting information, the ryegrass harvesting module harvests ryegrass under different growth conditions according to the information, and the ryegrass fertilization module fertilizes ryegrass under different growth conditions according to the information.

[0013] In this solution, an intelligent harvesting system for ryegrass accurately identifies the overall and individual growth of ryegrass through an off-site identification module and a ryegrass identification module. The data processing module comprehensively analyzes the identification results and uses the ryegrass harvesting module to achieve differentiated harvesting, improving harvesting quality and efficiency, reducing labor costs, and minimizing ryegrass waste and loss. Simultaneously, the ryegrass fertilization module enables precise fertilization, improving fertilizer utilization and reducing resource waste and environmental pollution.

[0014] Furthermore: the off-site recognition module includes a multi-view image acquisition unit, a planar image generation unit, an image analysis unit, and a planar image processing unit;

[0015] The multi-view image acquisition unit is arranged around the ryegrass planting area to acquire images of the ryegrass planting area from different perspectives.

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

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

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

[0019] In this solution, multi-view image acquisition units acquire images of ryegrass planting areas from multiple perspectives and generate planar images of the ryegrass planting areas. Then, image analysis units identify the overall growth status of the ryegrass planting areas. Multi-view recognition solves the problem of misjudgment from a single perspective, enabling the acquisition of comprehensive and accurate image information and providing more realistic information on the growth status of the planting areas. This provides reliable data support for subsequent differentiated harvesting and precision fertilization.

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

[0021] The sensor unit is installed in the ryegrass planting area to acquire the temperature, humidity, light, soil pH, soil moisture content and soil fertility of the ryegrass planting area and transmit them to the data processing module.

[0022] The image acquisition unit is installed on the rye grass harvesting module and is used to acquire images of rye grass before the rye grass harvesting module harvests it, so as to obtain close-up images of rye grass.

[0023] The close-range image processing unit is used to identify and mark high-quality, poor-quality, diseased, lodged, and weed individuals in close-range ryegrass images, obtain the growth status of individual ryegrass individuals, and transmit the data to the data processing module.

[0024] In this solution, sensor units acquire information such as temperature, humidity, light, soil pH, soil moisture content, and soil fertility of the ryegrass planting area, providing basic data for precision fertilization and planting area management. Through image acquisition and image processing units, it is possible to identify ryegrass in different growth stages, providing data support for subsequent differentiated harvesting and fertilization, improving the harvesting efficiency and quality of ryegrass, reducing fertilizer waste, and ensuring high yield in the next growth cycle of ryegrass. This solves the problem of incomplete and inaccurate identification of ryegrass growth stages in traditional methods, and also prevents over-fertilization, which could cause some ryegrass to grow too fast and lodging.

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

[0026] Based on the plan view of the ryegrass planting area, the overall growth of the ryegrass, and the individual growth of the ryegrass, a differentiated harvesting method was obtained;

[0027] Based on the plan view of the ryegrass planting area, environmental information of the ryegrass planting area, the overall growth of ryegrass and the growth of individual ryegrass plants, a differentiated fertilization method was obtained.

[0028] In this solution, the data processing module comprehensively analyzes the planar image of the ryegrass planting area, the overall growth status, the individual growth status, and the environmental information of the ryegrass planting area to achieve precise differentiated harvesting and fertilization. This improves the efficiency and resource utilization of ryegrass harvesting operations, enhances the adaptability and accuracy to complex growth environments, and solves the problem that traditional harvesting and fertilization methods cannot differentiate based on specific growth conditions and environmental information, thus preventing waste of fertilizer resources and environmental pollution.

[0029] Furthermore, the differentiated harvesting method specifically includes:

[0030] High-quality growing areas of ryegrass are marked on a planar image of the ryegrass plantation to obtain the first priority harvesting area.

[0031] Unhealthy growth areas in the overall growth of ryegrass are marked on a planar image of the ryegrass planting area to obtain the second priority harvesting area;

[0032] The disease and pest growth areas and weed growth areas in the overall growth of ryegrass are marked on the planar image of the ryegrass planting area to obtain the third priority harvesting area.

[0033] The harvesting order is to harvest the first priority harvesting area first, then the second priority harvesting area, and not harvest the third priority harvesting area. The harvesting route is planned in the plane image of the ryegrass plantation to obtain the harvesting route.

[0034] Based on the lodged individuals in the ryegrass, determine the harvesting method, including lodged harvesting and normal harvesting;

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

[0036] In this solution, the differentiated harvesting method prioritizes harvesting high-quality growing areas, followed by poor-quality areas, while omitting areas affected by pests, diseases, and weeds. This allows for differentiated harvesting of ryegrass of varying quality, determining its value and facilitating subsequent processing and storage. Furthermore, the method of harvesting lodged ryegrass further enhances the precision and efficiency of the harvest, reducing the impact of pests, diseases, and weeds on harvesting equipment and subsequent processing, thus improving the overall quality of the harvest. Traditional methods, which fail to assess the growth of ryegrass, harvest directly from the field, resulting in a mixture of high-quality, poor-quality, weed, and pest-infested ryegrass. This requires additional separation steps to improve the quality of the harvested ryegrass. This solution addresses the problem of traditional harvesting methods failing to plan harvesting routes based on the actual growth of the ryegrass, leading to a mixture of ryegrass of varying quality and weeds, resulting in reduced ryegrass quality. It also eliminates the need for additional weed separation, reducing harvesting costs.

[0037] Furthermore: the differentiated fertilization method is obtained as follows:

[0038] The high-quality growth areas of ryegrass in the overall growth of ryegrass are marked on the planar image of the ryegrass planting area to obtain the first fertilization area;

[0039] The poor growth areas of the ryegrass were marked on the planar image of the ryegrass planting area to obtain the second fertilization area;

[0040] The areas of disease and pest growth and weed growth in the overall growth of ryegrass were marked on the planar image of the ryegrass planting area to obtain the third fertilization area;

[0041] The standard fertilization amount was configured for the first fertilization area, the incremental fertilization amount was configured for the second fertilization area, and the pest and disease prevention fertilizer was configured for the third fertilization area. The adjustments were made based on the individual growth of the ryegrass and the environmental information of the ryegrass planting site to obtain a differentiated fertilization method.

[0042] In this solution, differentiated fertilization precisely identifies high-quality, low-quality, pest-prone, and weed-prone areas in ryegrass planting sites. Based on the growth conditions and environmental information of each area, different amounts and types of fertilizer are applied. Standard fertilizer amounts are applied to high-quality areas to maintain good ryegrass growth; increased fertilizer amounts are applied to low-quality areas to promote growth; pest-prone areas are treated with preventative fertilizers; and herbicides are sprayed in weed-prone areas to control weeds. This precise and efficient fertilization improves fertilizer utilization efficiency, thereby enhancing the growth quality and yield of ryegrass. It solves the problem of traditional one-size-fits-all fertilization strategies, which lead to excessive fertilizer application in some areas and reduced yield in others. Furthermore, differentiated fertilization for pest-prone and weed-prone areas enhances the scientific rigor and precision of fertilization.

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

[0044] The anti-lodging unit is used to prop up lodged ryegrass.

[0045] The intelligent cutting unit is used to adjust the height and angle of the cutting blade and to cut the roots and stems of ryegrass.

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

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

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

[0049] In this solution, the ryegrass harvesting module effectively handles lodged ryegrass through the coordinated operation of an anti-lodging unit, an intelligent cutting unit, a ryegrass storage unit, a motion unit, and a harvesting control unit. It adjusts cutting parameters to adapt to different growth conditions and achieves efficient and precise harvesting through automated control. This solves the problem of traditional harvesting equipment being unable to effectively handle lodged ryegrass, as well as the low harvesting efficiency caused by the fixed cutting method and inability to adjust cutting parameters according to growth conditions. The ryegrass harvesting module in this solution improves harvesting flexibility and adaptability. Its automation reduces errors and labor intensity from manual operation, significantly improving the accuracy and efficiency of ryegrass harvesting.

[0050] Furthermore: the rye grass harvesting module is specifically used for:

[0051] Based on the differentiated harvesting method, for areas where lodged ryegrass grows, the anti-lodging unit is activated, and the intelligent cutting unit is controlled to adjust the height and angle of the cutting blades to harvest the lodged ryegrass.

[0052] Based on the differentiated harvesting method, for areas with high-quality ryegrass and areas with poor-quality ryegrass, the control unit prioritizes harvesting the high-quality ryegrass areas and then proceeds to harvest the poor-quality ryegrass areas.

[0053] In this solution, the ryegrass harvesting module is specifically used for differentiated harvesting methods. It can flexibly handle lodged ryegrass. By activating the anti-lodging unit and adjusting the parameters of the intelligent cutting unit, it ensures the integrity and quality of the harvest. By controlling the motion unit to carry out harvesting operations according to the priority-planned harvesting route, it first harvests the high-quality growing areas and then harvests the poor-quality growing areas, thereby improving the harvesting quality and efficiency. It solves the problem that traditional harvesting equipment cannot effectively handle lodged ryegrass, as well as the problem that traditional harvesting methods lack targeted and planned approaches to the growth of ryegrass, resulting in low ryegrass cutting efficiency and low ryegrass yield quality.

[0054] Furthermore: the ryegrass fertilization module includes several fertilizer storage units, conveying units, fertilizer application head units, and fertilizer control units;

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

[0056] The conveying unit is used to convey fertilizer from the fertilizer storage unit to the fertilizer application head unit;

[0057] The fertilizer applicator unit is used to open and close according to the instructions of the fertilizer application control unit to complete the application of fertilizer.

[0058] The fertilization control unit is used to receive information from the data processing module and control the fertilizer application head unit to apply fertilizer according to the differentiated fertilization method.

[0059] In this solution, the ryegrass fertilization module stores different types of fertilizers through several fertilizer storage units and performs precise fertilization according to the instructions of the fertilization control unit through the delivery unit and fertilizer head unit. It can flexibly adjust the fertilization strategy according to different growth conditions and environmental information, improving the efficiency and accuracy of fertilization. It solves the problem that traditional fertilization methods cannot differentiate fertilization according to the specific growth conditions of ryegrass and soil environmental information, resulting in some soils in ryegrass planting areas being over-fertilized while others are under-fertilized. It avoids over-fertilization and resource waste, and improves the management level of ryegrass planting.

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

[0061] Based on differentiated fertilization methods, areas of high-quality ryegrass growth are identified, and the standard fertilization amount is applied by controlling the fertilization head unit through the fertilization control unit.

[0062] Based on the differentiated fertilization method, identify the ryegrass areas with poor growth, and apply incremental fertilization by controlling the fertilization head unit through the fertilization control unit;

[0063] Based on the environmental information of the ryegrass planting site in the differentiated fertilization method, the fertilization control unit controls the on / off channels of several fertilizer storage units to apply different types of fertilizer.

[0064] In this solution, the ryegrass fertilization module uses a fertilization control unit to precisely fertilize the conveying unit and the fertilization head unit according to the differentiated fertilization method. It can apply different types and amounts of fertilizer to different types of ryegrass based on their different growth conditions and the environmental information of the ryegrass planting site. This solves the problem that traditional fertilization equipment cannot flexibly adjust fertilization strategies and that a single type of fertilizer cannot meet the diverse growth needs of ryegrass in the soil.

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

[0066] This intelligent harvesting system acquires planar images of the planting area and the growth status of individual plants through an off-site identification module and a ryegrass identification module. Combined with environmental information, it performs comprehensive analysis to achieve differentiated harvesting and fertilization. This invention can prioritize harvesting high-quality areas based on growth conditions, handle lodged plants, and implement targeted strategies for areas with pests, diseases, and weeds, significantly improving harvesting efficiency and resource utilization. It solves the problems of low efficiency, insufficient precision, and poor adaptability in traditional ryegrass harvesting and fertilization methods. It can differentiate processing based on the growth status and environmental information of the planting area, preventing resource waste and environmental pollution, achieving precise harvesting and precise fertilization, and improving the operational efficiency and environmental friendliness of ryegrass harvesting. Attached Figure Description

[0067] The accompanying drawings, which are provided to further illustrate embodiments of the invention and constitute a part of this invention, are not intended to limit the scope of the invention.

[0068] Figure 1 This is a schematic diagram of the structure of an intelligent harvesting system for ryegrass according to the present invention;

[0069] Figure 2 This is a schematic diagram of the improved structure of the cutting tool in this invention;

[0070] Figure 3This is a schematic diagram of the improved structure of the rye straw container in this invention. Detailed Implementation

[0071] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, where there is no conflict, the embodiments of the present invention and the features thereof can be combined with each other.

[0072] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0073] Example 1

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

[0075] The off-site recognition module is used to identify ryegrass planting sites, create planar images of ryegrass planting sites, obtain the overall growth status of ryegrass, and transmit the data to the data processing module.

[0076] The ryegrass identification module is used to identify the growth status of individual ryegrass plants and the environmental information of the ryegrass planting site, 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 area, the overall growth of the ryegrass, the individual growth of the ryegrass, and the environmental information of the ryegrass planting area to obtain differentiated harvesting methods and differentiated fertilization methods, which are then sent to the ryegrass harvesting module and the ryegrass fertilization module, respectively.

[0078] The ryegrass harvesting module is used to harvest ryegrass in a differentiated manner based on the received differentiated harvesting methods;

[0079] The ryegrass fertilization module is used to apply differentiated fertilization to harvested ryegrass based on the received differentiated fertilization method.

[0080] The off-site identification module of this technical solution identifies the entire ryegrass planting area from outside the field, obtaining images of the ryegrass planting area from different perspectives, and generating a top-down planar image of the ryegrass planting area. Using this top-down planar image, a neural network model for image recognition is used to process the overall growth status of the ryegrass. Simultaneously, the off-site identification module acquires images of the ryegrass within the planting area from within the field, obtaining information on the individual growth of the ryegrass. It also acquires information about the ryegrass planting area through sensors, such as soil basic information like pH values. After acquiring data through identification, both the off-site identification module and the ryegrass identification module transmit the data to the data processing module for analysis.

[0081] To address the problem that existing ryegrass harvesting methods cannot apply different treatments to ryegrass under different growth conditions, this invention provides a data processing module, a ryegrass harvesting module, and a ryegrass fertilization module. The data processing module receives and analyzes data from the off-site identification module and the ryegrass identification module to obtain harvesting and fertilization information, which is then transmitted to the ryegrass harvesting and fertilization modules, respectively. Upon receiving the harvesting information, the ryegrass harvesting module harvests ryegrass under different growth conditions according to the information, and the ryegrass fertilization module fertilizes ryegrass under different growth conditions according to the information.

[0082] In this solution, an intelligent harvesting system for ryegrass accurately identifies the overall and individual growth of ryegrass through an off-site identification module and a ryegrass identification module. The data processing module comprehensively analyzes the identification results and uses the ryegrass harvesting module to achieve differentiated harvesting, improving harvesting quality and efficiency, reducing labor costs, and minimizing ryegrass waste and loss. Simultaneously, the ryegrass fertilization module enables precise fertilization, improving fertilizer utilization and reducing resource waste and environmental pollution.

[0083] Example 2

[0084] A smart harvesting system for ryegrass, based on Embodiment 1, includes an off-site identification module comprising a multi-view image acquisition unit, a planar image generation unit, an image analysis unit, and a planar image processing unit.

[0085] Multi-view image acquisition units are deployed around the periphery of the ryegrass plantation to acquire images of the ryegrass plantation from different perspectives.

[0086] The planar image generation unit is used to process images of the ryegrass planting area from different perspectives using a trained planar image generation model to obtain a planar 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, lodged growth areas, and weed areas in images of ryegrass planting sites from different perspectives and in planar images of ryegrass planting sites, respectively, to obtain the growth area division in images from different perspectives and the growth area division in planar images.

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

[0089] The multi-view image acquisition unit is located around the perimeter of the ryegrass planting area. It uses drone cameras and fixed cameras to acquire images from different angles, ensuring coverage of the entire ryegrass planting area. This ensures comprehensive and accurate image data even in complex terrain or large-scale ryegrass planting areas. The planar image generation unit uses a trained planar image generation model to process images from different perspectives, generating a top-down planar image that accurately reflects the actual situation of the ryegrass planting area. Specifically, it can employ neural network models suitable for image generation, such as convolutional neural networks, ResNet neural networks, and generative adversarial networks. The image analysis unit analyzes images from different perspectives and planar images of the ryegrass planting area, identifying and marking different growth areas, including high-quality growth areas and areas with poor growth. The system identifies and marks ryegrass planting areas, including disease and pest areas, lodged areas, and weed areas, on images from different perspectives and planar images of the ryegrass planting area. This allows for a detailed classification of the overall ryegrass growth. Specifically, neural network models for image recognition, such as YOLO, U-Net, and SwinTransformer, can be used. The planar image processing unit calibrates the planar image by combining images from different perspectives. Since the planar image is generated by the planar image generation unit, rather than being an actual photograph, to address the problem of inaccurate identification of the overall ryegrass growth due to distortion and errors in some parts of the planar image, the marked areas in the planar image are modified and calibrated using the marked areas in the images from different perspectives, resulting in an accurate assessment of the overall ryegrass growth.

[0090] A smart harvesting system for ryegrass, based on Embodiment 1, includes a ryegrass identification module comprising a sensor unit, an image acquisition unit, and a close-range image processing unit.

[0091] The sensor unit is set up in the ryegrass planting area to acquire the temperature, humidity, light, soil pH, soil moisture 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 harvests, so as to obtain close-up images of ryegrass.

[0093] The close-range image processing unit is used to identify and mark high-quality, poor-quality, diseased, lodged, and weed individuals in close-range ryegrass images, obtain the growth status of individual ryegrass individuals, and transmit the data to the data processing module.

[0094] The sensor unit is deployed in the ryegrass planting area to monitor environmental parameters in real time, including soil data such as temperature, humidity, light, soil pH, soil moisture content, and soil fertility. The sensors can be distributed to ensure coverage of the entire ryegrass planting area and transmit data wirelessly or via wired means. The real-time and accurate sensor data provides environmental data support for subsequent differentiated harvesting and fertilization. By monitoring soil pH, moisture content, and soil fertility in real time, fertilization strategies can be adjusted in a timely manner to ensure the healthy growth of ryegrass and solve the problems of waste and environmental pollution caused by excessive soil fertilization, as well as the decline in ryegrass yield caused by insufficient soil fertilization.

[0095] The image acquisition unit is installed on the rye grass harvesting module and can use a high-resolution camera to ensure image clarity and detail, thereby improving the accuracy of subsequent image recognition. The image acquisition unit works synchronously with the harvesting module as it moves to harvest, dynamically capturing the growth of the rye grass and providing real-time image data to the close-range image processing unit.

[0096] The close-range image processing unit uses deep learning models, such as YOLOv8, to analyze the acquired images, identify the image data from the image acquisition unit, and mark high-quality individuals, poor-quality individuals, pest-infested individuals, lodged individuals, and weeds. At the same time, some individuals, such as pest-infested individuals, may be difficult to identify in the early stages. YOLOv8 can be improved by introducing attention mechanisms and lightweight improvements to enhance the detection accuracy and efficiency of ryegrass targets, accurately identify pest-infested areas, and solve 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 from both inside and outside the ryegrass planting area. Through neural network models, it analyzes and identifies data, achieving comprehensive monitoring and precise analysis of environmental parameters and growth conditions in ryegrass planting areas. This ensures the scientific and timely implementation of subsequent harvesting and fertilization strategies, improving the efficiency and resource utilization of ryegrass harvesting. The off-site identification and ryegrass identification modules can cover large areas of ryegrass planting areas, reducing manual inspection and monitoring, lowering labor and management costs. It solves the problems of traditional ryegrass planting area monitoring methods, which cannot comprehensively obtain growth and environmental information, suffer from high labor costs and low efficiency, and lack data support for subsequent management decisions.

[0098] Example 3

[0099] A smart harvesting system for ryegrass, based on Embodiment 1, wherein the data processing module is specifically used for:

[0100] Based on the plan view of the ryegrass planting area, the overall growth of the ryegrass, and the individual growth of the ryegrass, a differentiated harvesting method was obtained;

[0101] Based on the plan view of the ryegrass planting area, environmental information of the ryegrass planting area, the overall growth of ryegrass and the growth of individual ryegrass plants, a differentiated fertilization method was obtained.

[0102] The differentiated harvesting methods specifically include:

[0103] High-quality growing areas of ryegrass are marked on a planar image of the ryegrass planting area to obtain the first priority harvesting area, which is harvested first.

[0104] Unhealthy growth areas in the overall growth of ryegrass are marked on a plan view of the ryegrass planting area to obtain the second priority harvesting area, and then harvesting is carried out.

[0105] The areas with pests and diseases and the areas with weeds in the overall growth of ryegrass are marked on the plan view of the ryegrass planting area to obtain the third priority harvesting area, which is usually not harvested.

[0106] The harvesting order is to harvest the first priority harvesting area first, then the second priority harvesting area, and not harvest the third priority harvesting area. The harvesting route is planned in the plane image of the ryegrass plantation to obtain the harvesting route.

[0107] Specifically, a path planning algorithm can be used to generate the optimal ryegrass harvesting route, ensuring that the harvesting module harvests high-quality areas first and then poor-quality areas, avoiding areas with pests, diseases, and weeds. This can distinguish between high-quality and poor-quality ryegrass in the ryegrass planting area, making it easier for subsequent processing and sales. This solves the problem that traditional harvesting methods mix high-quality and low-quality ryegrass together, leading to a decrease in the quality of ryegrass.

[0108] Based on the lodged individuals in the ryegrass, determine the harvesting method, including lodged harvesting and normal harvesting;

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

[0110] The differentiated fertilization method is obtained as follows:

[0111] The high-quality growth areas of ryegrass in the overall growth of ryegrass are marked on the planar image of the ryegrass planting area to obtain the first fertilization area;

[0112] The poor growth areas of ryegrass in the overall growth of ryegrass are marked on the planar image of the ryegrass planting area to obtain the second fertilization area;

[0113] The disease and pest growth areas and weed growth areas in the overall growth of ryegrass are marked on the planar image of the ryegrass planting area to obtain the third fertilization area;

[0114] The system applies a standard fertilizer amount to the first fertilization area to maintain good ryegrass growth, an incremental fertilizer amount to the second fertilization area to promote ryegrass growth, and a pest and disease control fertilizer to the third fertilization area to eliminate pests and diseases. Herbicides can also be sprayed to remove weeds. Adjustments are made based on individual ryegrass growth and environmental information of the ryegrass planting area to achieve differentiated fertilization. Furthermore, based on environmental information provided by the sensor unit in the ryegrass identification module, such as soil pH, moisture content, and soil fertility, the system dynamically adjusts the fertilizer amount and type, achieving precise and efficient fertilization. This improves fertilizer utilization efficiency, thereby enhancing the growth quality and yield of ryegrass. It solves the problem that traditional fertilization strategies often result in some ryegrass plants being over-fertilized, reducing yield and quality, while others are under-fertilized, failing to improve 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 and fertilization methods, ensuring efficient resource utilization and reducing waste. It can flexibly adjust the harvesting strategy and fertilization measurement according to different growth conditions of ryegrass and soil environmental information, improving the system's adaptability and robustness. This solves the problem that traditional harvesting and fertilization methods cannot differentiate based on specific growth conditions and environmental information, preventing waste of fertilizer resources and environmental pollution.

[0116] Example 4

[0117] A smart harvesting system for ryegrass, based on Embodiment 1, includes a ryegrass harvesting module comprising an anti-lodging unit, a smart cutting unit, a ryegrass storage unit, a motion 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 lift up lodged ryegrass. When faced with lodged ryegrass, the anti-lodging unit can effectively lift up the lodged ryegrass to ensure that the ryegrass can be harvested smoothly. An extended reel can be used to lift up the lodged ryegrass, and the height and angle of the cutting blade can be adjusted to adapt to the lodging direction of the ryegrass to reduce the rate of missed cuts.

[0119] The intelligent cutting unit is used to adjust the height and angle of the cutting blade and cut the roots and stems of ryegrass. It adjusts the height and angle of the cutting blade according to the different growth conditions of ryegrass to make precise cuts on the roots and stems of ryegrass, so as to adapt to ryegrass of different heights and growth stages.

[0120] Ryegrass storage units are used to store harvested ryegrass. During the harvesting process, the cut ryegrass is collected and temporarily stored to facilitate subsequent transportation and processing, reducing the steps of picking it from the plantation.

[0121] The motion unit is used to move according to the action commands issued by the harvest control unit, and to prioritize the harvesting of high-quality ryegrass areas and then the low-quality ryegrass areas according to the harvesting route in the differentiated harvesting method.

[0122] As the core of the entire harvesting module, the harvesting control unit receives information from the data processing module and precisely controls each unit in the harvesting module according to the differentiated harvesting methods, so as to achieve efficient and accurate 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, the cutting blades are designed as an upper blade disc 2 and a lower blade disc 1, both mounted on the same handle 3. The upper blade disc 2 is hollow and has a fan-shaped structure with a certain tilt angle, which can generate an upward airflow when rotating. The fan-shaped structure can also be fitted with cutting edges to cut the ryegrass remaining on the upper blade disc. The lower blade disc 1 has normal cutting teeth to cut the roots of the ryegrass. The upper blade disc 2 and the lower blade disc 1 are spaced a certain distance apart, serving as an airflow channel. During cutting, the upper blade disc 2 generates an upward airflow, guiding the ryegrass clippings upward. Combined with an additional suction pump and clipping channel, the clippings can be sucked into the ryegrass storage unit, preventing clippings from remaining in the field and reducing the yield of the ryegrass in the next growth cycle. Simultaneously, as... Figure 3 As shown, the storage box 4 in the rye straw storage unit can be equipped with several layers of parallel multi-gap partitions 5 to form several compartments, so that each compartment can store rye straw. Louvers 6 are set on the inner walls on both sides of each compartment. The opening angle of the louvers 6 is set to 45°. An exhaust fan 7 is set on the top of the storage box 4. The storage box 4, combined with the parallel multi-gap partitions 5, louvers 6 and exhaust fan 7, forms a three-dimensional circulating ventilation path, which solves the problem of poor ventilation at the bottom when rye straw is piled up, thus reducing the quality of rye straw.

[0124] In this solution, the collaborative work of the anti-lodging unit and the intelligent cutting unit effectively handles lodged ryegrass, improving the integrity and quality of harvesting. Simultaneously, the height and angle of the cutting blades are adjusted according to the different growth stages of the ryegrass to ensure cutting accuracy and adapt to different growth conditions. This solves the problems of fixed cutting methods and low efficiency in traditional equipment. The motion unit operates according to a priority-planned harvesting route, harvesting high-quality growing areas first, followed by poorly growing areas, optimizing the harvesting path and reducing energy consumption. The ryegrass storage unit reduces the steps of picking from the plantation, improving the continuity and efficiency of the harvesting operation. The harvesting control unit achieves automated control, reducing manual labor intensity, improving the stability and consistency of the harvesting operation, and avoiding resource waste.

[0125] A smart harvesting system for ryegrass, based on Embodiment 1, includes a ryegrass fertilization module comprising several fertilizer storage units, a conveying unit, a fertilizer application head unit, and a fertilizer control unit. The specific functions and collaborative working methods of each unit are as follows:

[0126] Several 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 fertilizer control unit, specific types of fertilizers are selectively conveyed to the conveying unit.

[0127] The conveying unit is used to transport fertilizer from the fertilizer storage unit to the fertilizer application head unit. It receives fertilizer from the storage unit and transports it to the application head unit through pipelines and other conveying equipment to ensure that the fertilizer can reach the application location accurately.

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

[0129] The fertilization control unit receives information from the data processing module and controls the fertilizer storage unit, conveying unit, and fertilizer head unit according to the differentiated fertilization methods to achieve efficient and precise fertilization operations.

[0130] In this solution, the ryegrass fertilization module is installed on the ryegrass harvesting module, working simultaneously with the harvesting process. It fertilizes the harvested ryegrass, and through precise control of the fertilization control unit, it achieves automated operation. This allows for flexible adjustments to the fertilization strategy based on different growth conditions and environmental information, ensuring accurate fertilizer application, reducing labor intensity, and improving operational stability and consistency. By employing differentiated fertilization methods and multiple fertilizer storage units, it avoids over-fertilization and resource waste, improves fertilizer utilization efficiency, reduces production costs and environmental pollution, and enhances the sustainability of ryegrass cultivation. The ryegrass fertilization module solves the problem of traditional fertilization methods being unable to provide differentiated fertilization based on 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, such as using triadimefon for the control of rust and powdery mildew, and using imidacloprid 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, and improve soil fertility and water and fertilizer retention capacity; storing microbial preparations to improve the soil environment through microbial activity, promote plant growth, and enhance disease resistance; storing biopesticides to control pests and diseases through biological means, reduce the use of chemical pesticides, and reduce environmental pollution; storing herbicides to selectively kill weeds and reduce the competitive pressure of weeds on the growth of ryegrass; and storing soil loosening agents to improve soil aeration and permeability and promote root development.

[0132] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0133] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A smart harvesting system for ryegrass, characterized in that, include: The system includes 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 recognition module is used to identify the ryegrass planting area scene, establish a planar image of the ryegrass planting area, obtain the overall growth status of the ryegrass, and transmit it to the data processing module. The ryegrass identification module is used to identify the individual growth status of ryegrass and the environmental information of the ryegrass planting site, and transmit it to the data processing module. The data processing module is used to comprehensively analyze the planar image of the ryegrass planting area, the overall growth of the ryegrass, the individual growth of the ryegrass, and the environmental information of the ryegrass planting area to obtain differentiated harvesting methods and differentiated fertilization methods, which are then sent to the ryegrass harvesting module and the ryegrass fertilization module, respectively. The ryegrass harvesting module is used to harvest ryegrass in a differentiated manner according to the received differentiated harvesting method. The ryegrass fertilization module is used to apply differentiated fertilization to the harvested ryegrass according to the received differentiated fertilization method. The off-site recognition module includes a multi-view image acquisition unit, a planar image generation unit, an image analysis unit, and a planar image processing unit; The multi-view image acquisition unit is arranged around the ryegrass planting area to acquire images of the ryegrass planting area from different perspectives. The planar image generation unit is used to process images of the ryegrass planting area from different perspectives using a trained planar image generation model to obtain a planar image of the ryegrass planting area. The image analysis unit is used to identify and mark the high-quality growth area, poor growth area, pest and disease area, lodged growth area and weed area in the images of the ryegrass planting area from different perspectives and the planar image of the ryegrass planting area, respectively, so as to obtain the growth area division of the images from different perspectives and the growth area division of the planar image. The planar image processing unit is used to calibrate the growth region division of the planar image by using the growth region division of images from different perspectives, to obtain the overall growth status of ryegrass, and transmit it to the data processing module. The data processing module is specifically used for: Based on the plan view of the ryegrass planting area, the overall growth of the ryegrass, and the individual growth of the ryegrass, a differentiated harvesting method was obtained; Based on the plan view of the ryegrass planting area, environmental information of the ryegrass planting area, the overall growth of ryegrass and the individual growth of ryegrass, a differentiated fertilization method was obtained. The differentiated harvesting method is obtained as follows: High-quality growing areas of ryegrass are marked on a planar image of the ryegrass plantation to obtain the first priority harvesting area. Unhealthy growth areas in the overall growth of ryegrass are marked on a planar image of the ryegrass planting area to obtain the second priority harvesting area; The disease and pest growth areas and weed growth areas in the overall growth of ryegrass are marked on the planar image of the ryegrass planting area to obtain the third priority harvesting area. Based on the principle of harvesting the first priority harvesting area first, the second priority harvesting area next, and not harvesting the third priority harvesting area, the harvesting route is planned in the plan view of the ryegrass planting area to obtain the harvesting route. The harvesting order is to harvest the first priority harvesting area first, then the second priority harvesting area, and not harvest the third priority harvesting area. The harvesting route is planned in the plane image of the ryegrass plantation to obtain the harvesting route. The harvesting method is determined based on the lodged individual ryegrass plants. Based on the different growth conditions of ryegrass in the ryegrass planting area, combined with the harvesting route and harvesting method, a differentiated harvesting method is obtained; 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 prop up lodged ryegrass. The intelligent cutting unit is used to adjust the height and angle of the cutting blade and to cut the roots and stems of ryegrass. The ryegrass storage unit is used to store harvested ryegrass; The motion unit is used to move according to the action commands issued by the harvesting control unit; The harvesting control unit is used to receive information from the data processing module and control each unit in the ryegrass harvesting module according to the differentiated harvesting method to complete the harvesting of ryegrass. The cutting blade of the intelligent cutting unit includes an upper blade disc and a lower blade disc mounted on the same handle. The upper blade disc is hollowed out and has a fan-blade structure with a certain tilt angle to generate an upward airflow when rotating. The lower blade disc has normal cutting teeth and is used to cut the roots of ryegrass. The upper and lower blade discs are spaced a certain distance apart to serve as an airflow channel.

2. The intelligent harvesting system for ryegrass according to claim 1, characterized in that, The ryegrass identification module includes a sensor unit, an image acquisition unit, and a close-range image processing unit; The sensor unit is installed in the ryegrass planting area to acquire the temperature, humidity, light, soil pH, soil moisture content and soil fertility of the ryegrass planting area and transmit them to the data processing module. The image acquisition unit is installed on the rye grass harvesting module and is used to acquire images of rye grass before the rye grass harvesting module harvests it, so as to obtain close-up images of rye grass. The close-range image processing unit is used to identify and mark high-quality, poor-quality, diseased, lodged, and weed individuals in close-range ryegrass images, obtain the growth status of individual ryegrass individuals, and transmit the data to the data processing module.

3. The intelligent harvesting system for ryegrass according to claim 1, characterized in that, The differentiated fertilization method is obtained as follows: The high-quality growth areas of ryegrass in the overall growth of ryegrass are marked on the planar image of the ryegrass planting area to obtain the first fertilization area; The poor growth areas of the ryegrass were marked on the planar image of the ryegrass planting area to obtain the second fertilization area; The areas of disease and pest growth and weed growth in the overall growth of ryegrass were marked on the planar image of the ryegrass planting area to obtain the third fertilization area; The standard fertilization amount was configured for the first fertilization area, the incremental fertilization amount was configured for the second fertilization area, and the pest and disease prevention fertilizer was configured for the third fertilization area. The adjustments were made based on the individual growth of the ryegrass and the environmental information of the ryegrass planting site to obtain a differentiated fertilization method.

4. The intelligent harvesting system for ryegrass according to claim 1, characterized in that, The ryegrass harvesting module is specifically used for: Based on the differentiated harvesting method, for areas where lodged ryegrass grows, the anti-lodging unit is activated, and the intelligent cutting unit is controlled to adjust the height and angle of the cutting blades to harvest the lodged ryegrass. Based on the differentiated harvesting method, for areas with high-quality ryegrass and areas with poor-quality ryegrass, the control unit prioritizes harvesting the high-quality ryegrass and then proceeds to harvest the poor-quality ryegrass.

5. The intelligent harvesting system for ryegrass according to claim 1, characterized in that, The ryegrass fertilization module includes several fertilizer storage units, a conveying unit, a fertilizer application head unit, and a fertilizer application control unit; The aforementioned fertilizer storage units are used to store several different types of fertilizers and are transported to the conveying unit via a switchable channel; The conveying unit is used to convey fertilizer from the fertilizer storage unit to the fertilizer application head unit; The fertilizer applicator unit is used to open and close according to the instructions of the fertilizer application control unit to complete the application of fertilizer. The fertilization control unit is used to receive information from the data processing module and control the fertilizer application head unit to apply fertilizer according to the differentiated fertilization method.

6. The intelligent harvesting system for ryegrass according to claim 5, characterized in that, The ryegrass fertilization module is specifically used for: Based on differentiated fertilization methods, areas of high-quality ryegrass growth are identified, and the standard fertilization amount is applied by controlling the fertilization head unit through the fertilization control unit. Based on the differentiated fertilization method, identify the ryegrass areas with poor growth, and apply incremental fertilization by controlling the fertilization head unit through the fertilization control unit; Based on the environmental information of the ryegrass planting site in the differentiated fertilization method, the fertilization control unit controls the on / off channels of several fertilizer storage units to apply different types of fertilizer.

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