Prescription map-based variable seeding and fertilizing method, system, equipment and medium

Abstract

The invention discloses a variable seeding and fertilizing method, system and equipment based on a prescription map and a medium, and relates to the technical field of agricultural machinery, the method comprises the following steps: determining land parcel information through a prescription map to be processed, converting a WGS84 coordinate of a machine tool into a UTM coordinate, and combining the land parcel information to determine accurate position information of the machine tool in the prescription map to be processed; in combination with the plot boundary of at least one polygonal plot in the prescription map to be processed, a unique ID corresponding to the polygonal plot where the accurate position information falls is judged; and determining target seeding and fertilization information corresponding to the unique ID based on the corresponding relationship between the ID and the seeding and fertilization information, and controlling the machine tool to operate based on the target seeding and fertilization information. According to the invention, accurate distribution of sowing and fertilizing amount is ensured, resource waste and environmental pollution are effectively reduced, and the overall efficiency and benefit of agricultural production are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to a variable seeding and fertilizing method, system, equipment and medium based on a prescription map. Background Art

[0002] With the advancement of agricultural modernization, precision agriculture has become a crucial tool for improving agricultural production efficiency and resource utilization. Precision agriculture, based on the integration of information technology and agricultural engineering, enables refined management of agricultural production through the precise acquisition, analysis, and processing of farmland information. Variable-rate seeding and fertilization technology is a core component of precision agriculture. This technology enables precise control of seeding and fertilizer application rates based on factors such as soil fertility and moisture conditions in different areas of the farmland, thereby improving the utilization efficiency of agricultural inputs, reducing environmental pollution, and increasing crop yield and quality. Currently, variable-rate seeding and fertilization technology is primarily implemented through prescription maps. Prescription maps are electronic maps generated by collecting and analyzing farmland information and contain information on the appropriate seeding or fertilizer application rates for different areas of the farmland. However, traditional agricultural practices typically involve directly setting seeding or fertilizer application rates per mu, which is unable to accurately adjust to the actual conditions of different farmland areas. This approach is not only inefficient but also fails to meet the requirements of precision agriculture. However, these existing technologies do not provide effective solutions for analyzing agricultural prescription maps and accurately positioning agricultural machinery. In practical applications, the parsing of prescription maps involves complex data processing and spatial information analysis, and the information in the prescription maps needs to be accurately converted into executable instructions for agricultural machinery. At the same time, the precise positioning of agricultural machinery is also the key to achieving variable-rate seeding and fertilization. It is necessary to combine technologies such as the Global Positioning System (GPS) and the Geographic Information System (GIS) to ensure that agricultural machinery can perform the correct operations in the correct location according to the requirements of the prescription map. The main problems existing in the existing technology are: on the one hand, there is a lack of effective prescription map parsing methods, which makes it difficult to accurately convert the information in the prescription map into executable instructions for agricultural machinery; on the other hand, the positioning accuracy of agricultural machinery is insufficient, making it difficult to achieve precise variable-rate seeding and fertilization according to the requirements of the prescription map. These problems have seriously restricted the promotion and application of precision agriculture technology and reduced the efficiency and benefits of agricultural production. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to address the deficiencies of the existing technology, and specifically provide a variable seeding and fertilization method, system, equipment and medium based on a prescription map, as follows: 1) In the first aspect, the present invention provides a variable seeding and fertilization method based on a prescription map, the specific technical solution of which is as follows: Determine the plot information through the prescription map to be processed, convert the WGS84 coordinates of the machine tool into UTM coordinates, and determine the accurate position information of the machine tool in the prescription map to be processed by combining the plot information; Determine the unique ID corresponding to the polygon plot into which the accurate position information falls in combination with the plot boundary of at least one polygon plot in the prescription map to be processed; Determine the target seeding and fertilizing information corresponding to the unique ID based on the corresponding relationship between the ID and the seeding and fertilizing information, and control the machine tool to work based on the target seeding and fertilizing information.

[0004] The variable seeding and fertilizing method based on the prescription map provided by the application has the following beneficial effects: By accurately analyzing the plot information in the prescription map to be processed, converting the WGS84 coordinates of the machine tool into UTM coordinates, and determining the accurate position of the machine tool in the prescription map by combining the plot information, the polygon plot in which the machine tool is located and the unique ID corresponding thereto can be accurately determined, and the target seeding and fertilizing information can be determined based on the corresponding relationship between the ID and the seeding and fertilizing information, so as to realize accurate control of the machine tool work. This process not only improves the accuracy of agricultural work and ensures the accurate allocation of seeding and fertilizing amount, but also effectively reduces resource waste and environmental pollution, and improves the overall efficiency and benefit of agricultural production.

[0005] On the basis of the above-mentioned scheme, the application can also be improved as follows.

[0006] Further, the plot information further includes: The vertex information of each polygon plot and the number of polygon plots.

[0007] Further, the determination process of the accurate position information is: Determine the accurate position information of the machine tool in the prescription map to be processed based on the UTM coordinates of the machine tool, in combination with the vertical distance between the machine tool and the positioning antenna and the heading angle of the machine tool and the positioning antenna.

[0008] The beneficial effects of the above-mentioned further scheme are: By introducing the two key parameters of the vertical distance between the implement and the positioning antenna and the heading angle, the UTM coordinates of the implement are accurately adjusted and calibrated, so that the actual working position of the implement in the prescription map to be processed can be determined more accurately. This accurate position information determination method not only makes up for the possible lack of accuracy of relying solely on GPS positioning, but also effectively deals with the influence of complex working environment (such as undulating farmland topography, shielding, etc.) on positioning accuracy. In this way, the system can more accurately determine the polygonal plot where the implement is located and its corresponding unique ID, thereby realizing more accurate matching of seeding and fertilizing information and operation control, further improving the accuracy and reliability of agricultural operation, reducing resource waste and operation errors caused by inaccurate positioning, and enhancing the practicality and adaptability of the entire variable seeding and fertilizing system.

[0009] Further, the method further comprises: displaying the working condition of the implement and the attitude information of the implement in real time.

[0010] 2) In a second aspect, the present application also provides a variable seeding and fertilizing system based on a prescription map, and the specific technical solutions are as follows: The acquisition module is configured to: determine plot information through the prescription map to be processed, convert the WGS84 coordinates of the implement into UTM coordinates, and determine the accurate position information of the implement in the prescription map to be processed in combination with the plot information; The judgment module is configured to: in combination with the plot boundary of at least one polygonal plot in the prescription map to be processed, judge the unique ID corresponding to the polygonal plot where the accurate position information falls into; The processing module is configured to: determine the target seeding and fertilizing information corresponding to the unique ID based on the corresponding relationship between the ID and the seeding and fertilizing information, and control the implement to work based on the target seeding and fertilizing information.

[0011] On the basis of the above-mentioned scheme, the present application can also be improved as follows.

[0012] Further, the plot information further comprises: the vertex information of each polygonal plot and the number of polygonal plots.

[0013] Further, the determination process of the accurate position information is as follows: Based on the UTM coordinates of the implement, in combination with the vertical distance between the implement and the positioning antenna and the heading angle of the implement and the positioning antenna, the accurate position information of the implement in the prescription map to be processed is determined.

[0014] Further, the method further comprises: The display module is configured to: display the working condition of the implement and the attitude information of the implement in real time.

[0015] 3) In a third aspect, the present invention further provides an electronic device, comprising a processor coupled to a memory, wherein the memory stores at least one computer program, and the at least one computer program is loaded and executed by the processor so that the electronic device implements any of the above methods.

[0016] 4) In a fourth aspect, the present invention further provides a computer-readable storage medium, in which at least one computer program is stored. The at least one computer program is loaded and executed by a processor to enable a computer to implement any of the above methods.

[0017] It should be noted that the beneficial effects achieved by the technical solutions of the second to fourth aspects of the present invention and the corresponding possible implementation methods can be found in the above-mentioned technical effects of the first aspect and its corresponding possible implementation methods, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments made with reference to the following drawings: Figure 1 This is a flow chart of a variable-rate seeding and fertilization method based on a prescription map according to an embodiment of the present invention; Figure 2 Schematic diagram of a model architecture of a variable seeding and fertilization method based on a prescription map according to an embodiment of the present invention; Figure 3 This is a second flow chart of a variable-rate seeding and fertilization method based on a prescription map according to an embodiment of the present invention; Figure 4 This is a structural framework diagram of an electronic device of the present invention. DETAILED DESCRIPTION

[0019] To make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0020] like Figure 1 As shown, a variable seeding and fertilization method based on a prescription map according to an embodiment of the present invention includes the following steps: S1, determine the plot information through the prescription map to be processed, convert the WGS84 coordinates of the machine into UTM coordinates, and combine the plot information to determine the precise location information of the machine in the prescription map to be processed; S2, combining the boundary of at least one polygonal plot in the prescription map to be processed, and determining the unique ID corresponding to the polygonal plot where the precise location information falls; S3, determining the target seeding and fertilizing information corresponding to the unique ID based on the correspondence between the ID and the seeding and fertilizing information, and controlling the machine tool to operate based on the target seeding and fertilizing information.

[0021] The variable seeding and fertilizing method based on the prescription map provided by the application has the following advantages: By accurately analyzing the plot information in the prescription map to be processed, converting the WGS84 coordinates of the machine tool into UTM coordinates, and determining the accurate position of the machine tool in the prescription map in combination with the plot information, the polygon plot where the machine tool is located and the unique ID corresponding thereto can be accurately determined, and then the target seeding and fertilizing information is determined based on the correspondence between the ID and the seeding and fertilizing information, so as to realize accurate control of the operation of the machine tool. This process not only improves the accuracy of agricultural operation and ensures accurate allocation of seeding and fertilizing amount, but also effectively reduces resource waste and environmental pollution, and improves the overall efficiency and benefit of agricultural production.

[0022] It should be noted that the plot information includes boundary information of the periphery of the prescription map, all plot IDs, vertex information of the plot, number of polygons inside the plot, and information such as acreage seeding amount or acreage fertilizing amount of different plots.

[0023] In another embodiment of the present scheme, the specific implementation process of S1 is as follows: The plot information is extracted from the prescription map to be processed by the SHAPE library, including boundary information of the periphery of the prescription map, all plot IDs, vertex information of the plot, number of polygons inside the plot, and information such as acreage seeding amount or acreage fertilizing amount of different plots. The WGS84 coordinates of the machine tool are converted into UTM coordinates by using the PROJ library, and the specific steps are as follows: the UTM projection zone number of the machine tool is calculated according to the longitude value of the current position of the machine tool, the projection conversion parameters from WGS84 to UTM are established, and then the WGS84 coordinates of the current position of the machine tool are converted into UTM plane coordinates. In combination with the vertical distance between the machine tool and the positioning antenna and the heading angle of the machine tool, the WGS84 coordinates of the actual working position of the machine tool are obtained by inverse operation, so as to determine the accurate position information of the machine tool in the prescription map to be processed.

[0024] In another embodiment of the present scheme, the specific implementation process of S2 is as follows: The spatial relationship between the accurate position coordinates of the machine tool and the boundaries of each polygon plot in the prescription map is judged by using the spatial analysis function provided by the GEOS library. That is, the inclusion relationship detection algorithm of point and polygon is used to check whether the accurate position coordinates of the machine tool fall within the boundary range of a certain polygon plot one by one. When it is determined that the accurate position information of the machine tool falls within the boundary of a certain polygon plot, the unique ID corresponding to the polygon plot is obtained, so that the specific plot position where the machine tool is currently located is determined, and accurate plot identification basis is provided for subsequent variable operation.

[0025] In another embodiment of the present solution, the specific implementation process of S3 is as follows: According to the pre-set ID and the corresponding relationship table of the seeding and fertilizing information, the target seeding and fertilizing information corresponding to the unique ID is searched. That is, the operation parameters such as the acreage seeding amount or the acreage fertilizing amount associated with the ID are retrieved from the stored prescription map data. When the target seeding and fertilizing information is obtained, these information is sent to the controller of the machine through the CAN communication protocol. After the controller receives the application amount information, the operation parameters of the seeding or fertilizing equipment of the machine are adjusted according to these information, for example, the seeding rate of the seeder or the fertilizing amount of the fertilizer machine is adjusted, so as to realize the precise variable seeding and fertilizing operation, and ensure that the machine operates according to the predetermined prescription map requirements in the current land.

[0026] Further, the land information further includes: The vertex information of each polygonal land and the number of polygonal lands.

[0027] Further, the determination process of the accurate position information is as follows: Based on the UTM coordinates of the machine, combined with the vertical distance between the machine and the positioning antenna and the heading angle between the machine and the positioning antenna, the accurate position information of the machine in the to-be-processed prescription map is determined.

[0028] Further, it further includes: The operation situation of the machine and the attitude information of the machine are displayed in real time.

[0029] In the above embodiments, although the steps are numbered S1, S2, etc., it is only a specific embodiment given by the present application, and those skilled in the art can adjust the execution order of S1, S2, etc. according to the actual situation, which is within the protection scope of the present application. It can be understood that in some embodiments, some or all of the above embodiments can be included.

[0030] Embodiment 1, as shown in Figure 2 and Figure 3 The method is composed of a high-precision positioning module, an intelligent display terminal and a machine unit, and includes the following steps: A prescription map analysis step extracts land information from the prescription map through the SHAPE library. The land information includes boundary information of the periphery of the prescription map, all land IDs and vertex information of the land, the number of polygons inside the land, and information such as acreage seeding amount or acreage fertilizing amount of different lands; The positioning processing step provides a projection conversion method from WGS84 to UTM coordinate system based on the PROJ library, calculates the UTM projection zone according to the input longitude value (the longitude coordinate of the current position of the machine acquired by the positioning antenna), and converts the current position of the machine from WGS84 coordinate to UTM coordinate by calling the proj_create_crs_to_crs function of the PROJ library after obtaining the UTM projection coordinate, that is, the current position of the machine is converted from WGS84 coordinate to UTM coordinate, and the vertical distance between the machine and the positioning antenna and the heading angle are combined to obtain the coordinate based on the WGS84 coordinate system through reverse operation; The prescription map analysis and application step determines the field ID and application information of the machine through the inclusion relationship between the current position of the machine and the polygon by the GEOS library, and sends the results to the controller end through CAN communication to perform variable fertilization or seeding. Preferably, in the prescription map analysis step, the SHAPE library is used to read the prescription map file, and the field information of the prescription map is extracted, including the latitude and longitude coordinate points of the field boundary, the field ID, the number and shape of the polygons inside the field, and the corresponding acreage seeding amount or acreage fertilization amount information of each field. Further, in the machine positioning processing step, the conversion from WGS84 coordinate system to UTM coordinate system is realized based on the PROJ library, which specifically includes: calculating the UTM projection zone number according to the longitude value of the current position of the machine; establishing the projection conversion parameters from WGS84 to UTM according to the projection zone number; and converting the WGS84 coordinate of the current position of the machine into UTM plane coordinate. The machine positioning processing step further includes: obtaining the WGS84 coordinate of the actual working position of the machine through reverse operation according to the vertical distance between the machine and the positioning antenna and the heading angle of the machine. Further, in the prescription map application step, the inclusion relationship between the current position of the machine and the polygon field in the prescription map is determined through the spatial analysis function provided by the GEOS library, and the field ID and the corresponding acreage seeding amount or acreage fertilization amount information of the machine are determined. The prescription map application step further includes: sending the determined field application information to the controller through the CAN communication protocol, and adjusting the seeding amount or fertilization amount of the machine according to the received application information to realize variable operation.

[0031] The beneficial effects of the present invention are: through prescription map analysis and precise machine positioning technology, variable-rate seeding and fertilization based on prescription maps are achieved. Compared with the traditional agricultural method of directly setting the seeding rate or fertilizer rate per mu, this method can accurately fertilize and sow according to the actual needs of different plots of land, improving agricultural efficiency, reducing resource waste, and achieving precision agriculture. At the same time, the present invention solves the problem of converting spherical coordinates to plane coordinates, making it possible to accurately determine the relationship between the machine position and the prescription map plot in practical applications, ensuring the accuracy of variable-rate fertilization and seeding.

[0032] The present invention also provides a variable sowing and fertilization system based on a prescription map, and the specific technical solution is as follows: The acquisition module is used to: determine the plot information through the prescription map to be processed, convert the WGS84 coordinates of the machine into UTM coordinates, and determine the precise location information of the machine in the prescription map to be processed in combination with the plot information; The judgment module is used to: determine the unique ID corresponding to the polygonal plot where the precise location information falls, based on the plot boundary of at least one polygonal plot in the prescription map to be processed; The processing module is used to: determine the target sowing and fertilization information corresponding to the unique ID based on the correspondence between the ID and the sowing and fertilization information, and control the machine to perform operations based on the target sowing and fertilization information.

[0033] It should be noted that the beneficial effects of the variable seeding and fertilization system based on a prescription map provided by the above embodiment are the same as the beneficial effects of the variable seeding and fertilization method based on a prescription map, and will not be repeated here. In addition, when the system provided by the above embodiment realizes its functions, it only uses the division of the above functional modules as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the system can be divided into different functional modules according to actual conditions to complete all or part of the functions described above. In addition, the system and method embodiments provided by the above embodiment belong to the same concept. The specific implementation process is detailed in the method embodiment, and will not be repeated here.

[0034] like Figure 4 As shown, an electronic device 300 according to an embodiment of the present invention includes a processor 320, which is coupled to a memory 310. The memory 310 stores at least one computer program 330. The at least one computer program 330 is loaded and executed by the processor 320 to enable the electronic device 300 to implement any of the above methods. Specifically: The electronic device 300 can be quite different due to different configurations or performances, and can include one or more processors 320 (Central Processing Units, CPUs) and one or more memories 310, wherein the one or more memories 310 store at least one computer program 330, the at least one computer program 330 is loaded and executed by the one or more processors 320, so that the electronic device 300 implements the prescription map-based variable seeding and fertilizing method provided by the above-mentioned embodiments. Of course, the electronic device 300 can also have a wired or wireless network interface, a keyboard, and an input and output interface, and the like, so as to perform input and output, and the electronic device 300 can also include other components for realizing the functions of the device, which will not be described here.

[0035] The computer readable storage medium of the embodiment of the present application stores at least one computer program, and the at least one computer program is loaded and executed by the processor, so as to make the computer implement any one of the above-mentioned methods.

[0036] Optionally, the computer readable storage medium can be a Read-Only Memory (ROM), a Random Access Memory (RAM), a Compact Disc Read-Only Memory (CD-ROM), a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0037] In the exemplary embodiments, a computer program product or computer program is also provided, which includes computer instructions stored in a computer readable storage medium. The processor of the electronic device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions, so that the electronic device executes any one of the above-mentioned methods.

[0038] It should be noted that the terms "first", "second" in the specification and claims of the present application are used to distinguish similar objects, and represent the limitation of a specific order or sequence. The order of use of similar objects can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described.

[0039] Those skilled in the art know that the present application can be implemented as a system, a method, or a computer program product, therefore, the present disclosure can be embodied in the form of a complete hardware, a complete software (including firmware, resident software, microcode, etc.), or a combination of hardware and software, which is generally referred to as "circuitry", "module" or "system". In addition, in some embodiments, the present application can also be embodied in the form of a computer program product in one or more computer readable media, which contains computer readable program codes.

[0040] Any combination of one or more computer readable medium can be employed. The computer readable medium can be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or apparatus, or any suitable combination of the above. More specific examples (a non-exhaustive list) of the computer readable storage medium include an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, the computer readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus, or device.

[0041] Although the embodiments of the present application have been shown and described above, it is to be understood that the above-described embodiments are exemplary, and cannot be understood as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above-described embodiments within the scope of the present application.

Claims

1. A variable seeding and fertilization method based on a prescription map, characterized in that: include: Determine the plot information through the prescription map to be processed, convert the WGS84 coordinates of the machine into UTM coordinates, and determine the precise position information of the machine in the prescription map to be processed in combination with the plot information; Determine the unique ID corresponding to the polygonal plot where the precise location information falls, based on the plot boundary of at least one polygonal plot in the prescription map to be processed; Based on the correspondence between the ID and the sowing and fertilization information, the target sowing and fertilization information corresponding to the unique ID is determined, and based on the target sowing and fertilization information, the machine is controlled to perform the operation.

2. The variable seeding and fertilization method based on a prescription map according to claim 1, characterized in that: The land parcel information also includes: Vertex information for each polygonal plot and the number of polygonal plots.

3. The variable seeding and fertilization method based on a prescription map according to claim 1, characterized in that: The process of determining the precise location information is as follows: Based on the UTM coordinates of the machine, combined with the vertical distance between the machine and the positioning antenna and the heading angle between the machine and the positioning antenna, the precise position information of the machine in the prescription map to be processed is determined.

4. The variable seeding and fertilization method based on a prescription map according to claim 1, characterized in that: Also includes: The operation status of the machine and the posture information of the machine are displayed in real time.

5. A variable seeding and fertilization system based on a prescription map, characterized in that: include: The acquisition module is used to: determine the plot information through the prescription map to be processed, convert the WGS84 coordinates of the machine into UTM coordinates, and determine the precise position information of the machine in the prescription map to be processed in combination with the plot information; The judgment module is used to: determine the unique ID corresponding to the polygonal plot where the precise location information falls, based on the plot boundary of at least one polygonal plot in the prescription map to be processed; The processing module is used to: determine the target sowing and fertilization information corresponding to the unique ID based on the correspondence between the ID and the sowing and fertilization information, and control the machine to perform operations based on the target sowing and fertilization information.

6. The variable rate seeding and fertilization system based on prescription map according to claim 5, characterized in that: The land parcel information also includes: Vertex information for each polygonal plot and the number of polygonal plots.

7. The variable rate seeding and fertilization system based on prescription map according to claim 5, characterized in that: The process of determining the precise location information is as follows: Based on the UTM coordinates of the machine, combined with the vertical distance between the machine and the positioning antenna and the heading angle between the machine and the positioning antenna, the precise position information of the machine in the prescription map to be processed is determined.

8. The variable rate seeding and fertilization system based on prescription map according to claim 5, characterized in that: Also includes: The display module is used to display the operation status of the machine and the posture information of the machine in real time.

9. An electronic device, characterized in that: The electronic device includes a processor coupled to a memory, wherein the memory stores at least one computer program, and the at least one computer program is loaded and executed by the processor so that the electronic device implements the method according to any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores at least one computer program, which is loaded and executed by a processor to enable a computer to implement the method according to any one of claims 1 to 4.

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