阅读说明：本技术 即时农药浓度调制平台 (Instant pesticide concentration modulation platform ) 是由 不公告发明人 于 2019-05-17 设计创作，主要内容包括：本发明涉及一种即时农药浓度调制平台,所述平台包括：航拍摄像头,设置在农业无人机上,用于面对下方的小麦种植区域进行拍摄,以获得并输出相应的即时航拍图像；农药储存罐,位于农业无人机内,有两个相邻的容器组成,其中两个容器分别用于放置农药原料和纯净水；农药喷洒机构,设置在农业无人机上,用于基于接收到的绿色像素百分比确定喷洒的农药的浓度,并执行确定浓度的农药的喷洒。本发明的即时农药浓度调制平台结构定制、使用方便。由于将定制处理图像中的绿色像素点占据的百分比作为绿色像素百分比输出,并基于绿色像素百分比确定喷洒的农药的浓度,从而达到农药节省和杀虫效果之间的均衡。(The invention relates to an instant pesticide concentration modulation platform, which comprises: the aerial photography camera is arranged on the agricultural unmanned aerial vehicle and used for shooting a wheat planting area below the agricultural unmanned aerial vehicle so as to obtain and output a corresponding instant aerial photography image; the pesticide storage tank is positioned in the agricultural unmanned aerial vehicle and consists of two adjacent containers, wherein the two containers are respectively used for placing pesticide raw materials and purified water; and the pesticide spraying mechanism is arranged on the agricultural unmanned aerial vehicle and used for determining the concentration of the sprayed pesticide based on the received green pixel percentage and executing the spraying of the pesticide with the determined concentration. The instant pesticide concentration modulation platform is customized in structure and convenient to use. The percentage occupied by the green pixel points in the customized processing image is output as the percentage of the green pixel points, and the concentration of the sprayed pesticide is determined based on the percentage of the green pixel points, so that the balance between pesticide saving and insecticidal effects is achieved.)

1. An immediate pesticide concentration modulation platform, the platform comprising:

the aerial photography camera is arranged on the agricultural unmanned aerial vehicle and used for shooting the wheat planting area facing the lower part so as to obtain and output a corresponding instant aerial photography image.

2. The immediate pesticide concentration modulation platform of claim 1, further comprising:

the pesticide storage tank is positioned in the agricultural unmanned aerial vehicle and consists of two adjacent containers, wherein the two containers are respectively used for placing pesticide raw materials and purified water.

3. The immediate pesticide concentration modulation platform of claim 2, further comprising:

the pesticide spraying mechanism is arranged on the agricultural unmanned aerial vehicle and used for determining the concentration of the sprayed pesticide based on the received green pixel percentage and executing the spraying of the pesticide with the determined concentration;

the pesticide spraying mechanism comprises pesticide modulating equipment and material drawing equipment, and the pesticide modulating equipment executes corresponding pesticide modulating operation according to the determined concentration of the sprayed pesticide;

the material drawing device comprises two feeding pipelines which are respectively communicated with the two adjacent containers;

the aerial camera and the pesticide spraying mechanism are both arranged at the bottom of the agricultural unmanned aerial vehicle, and the aerial camera is positioned on the side face of the pesticide spraying mechanism;

the pesticide spraying mechanism also comprises a spraying faucet which is connected with the pesticide modulation equipment and is used for spraying the pesticide with determined concentration;

the component detection equipment is connected with the aerial photography camera and is used for obtaining each Y component value of each pixel point in the instant aerial photography image and taking the pixel point with the absolute value of the difference between the Y component value and the arithmetic mean value of each Y component value of each surrounding pixel point as a contour pixel point;

the component detection equipment is also used for taking the pixel point of which the absolute value of the difference between the Y component value and the arithmetic mean value of all the Y component values of all the surrounding pixel points is not over-limited as a non-contour pixel point;

the image block extraction equipment is connected with the component detection equipment and is used for acquiring all contour pixel points in the instant aerial image and performing fitting processing on all contour pixel points in the instant aerial image to obtain one or more object image blocks in the instant aerial image;

the parallel processing equipment is connected with the image block extraction equipment and is used for deepening the edge of each object image block in the instant aerial image so as to obtain a deepened edge-deepened image;

the smooth linear filtering device is connected with the parallel processing device and is used for receiving the edge deepened image and executing smooth linear filtering processing on the edge deepened image so as to obtain and output a corresponding smooth linear filtering image;

the arithmetic mean filtering device is connected with the smooth linear filtering device and is used for receiving the smooth linear filtering image and executing arithmetic mean filtering processing on the smooth linear filtering image so as to obtain and output a corresponding arithmetic mean filtering image;

and the green detection equipment is respectively connected with the arithmetic mean filtering equipment and the pesticide spraying mechanism and is used for acquiring each green channel value of each pixel point of the arithmetic mean filtering image, taking the pixel point with the green channel value exceeding 125 as a green pixel point, and counting the percentage occupied by the green pixel point in the arithmetic mean filtering image to be output as the percentage of the green pixel point.

4. The immediate pesticide concentration modulation platform of claim 3, wherein:

the image block extraction equipment, the parallel processing equipment, the smooth linear filtering equipment and the arithmetic mean filtering equipment perform image data interaction through a 32-bit parallel data bus;

wherein the image block extraction device, the parallel processing device, the smooth linear filtering device and the arithmetic mean filtering device are integrated on the same printed circuit board;

the smoothing linear filtering device is internally provided with a data memory for temporarily storing the smoothing linear filtering image.

5. The immediate pesticide concentration modulation platform of claim 4, further comprising:

and the self-adaptive high-frequency analysis equipment is connected with the aerial photography camera and is used for receiving the instant aerial photography image, carrying out contrast measurement on the instant aerial photography image so as to obtain the real-time contrast corresponding to the instant aerial photography image, and determining the corresponding high-frequency distribution frequency band in the instant aerial photography image based on the real-time contrast so as to output the real-time distribution frequency band as a target frequency band.

6. The immediate pesticide concentration modulation platform of claim 5, further comprising:

and the image differentiation equipment is respectively connected with the frequency band extraction equipment and the contrast measurement equipment and is used for receiving the target frequency band and the instant aerial image, executing high-pass filtering processing based on the target frequency band on the instant aerial image to obtain a corresponding high-pass filtering image and outputting the high-pass filtering image.

7. The immediate pesticide concentration modulation platform of claim 6, further comprising:

and the difference value acquisition equipment is connected with the image differentiation equipment and is used for acquiring the instant aerial image and the high-pass filtering image, and is also used for subtracting the high-pass filtering image from the instant aerial image pixel by pixel to acquire a corresponding difference value processing image and outputting the difference value processing image.

8. The immediate pesticide concentration modulation platform of claim 7, further comprising:

and the targeted processing device is respectively connected with the component detection device, the difference value acquisition device and the image differentiation device, and is used for receiving the high-pass filtering image and the difference value processing image, performing feature enhancement processing on the high-pass filtering image to obtain and output a corresponding feature enhanced image, adding the feature enhanced image and the difference value processing image pixel by pixel to obtain a corresponding reconstructed image, and replacing the reconstructed image with the instant aerial image to send the instant aerial image to the component detection device.

Technical Field

The invention relates to the field of agricultural unmanned aerial vehicles, in particular to an instant pesticide concentration modulation platform.

Background

Agricultural unmanned aerial vehicle, also called unmanned vehicles, as the name implies is the unmanned aircraft who is used for agriculture and forestry plant protection operation, and this type unmanned aircraft comprises flight platform (fixed wing, helicopter, multiaxis aircraft), navigation flight control, spraying mechanism triplex, flies through ground remote control or navigation and controls, realizes spraying the operation, can spray medicament, seed, powder etc..

The agricultural unmanned aerial vehicle in China is still at a starting stage at present, and according to statistics, the quantity of agricultural unmanned aerial vehicles in China in 2017 is 695 frames, and the total operation area is 426 ten thousand mu; the holding quantity of agricultural unmanned aerial vehicles in China in 2018 is 2324 frames (statistics of 31 provinces), the total working area is 1152.8 ten thousand mu, and the increase amplitudes are 234% and 170.6% respectively. Although the rise is obvious, the agricultural unmanned aerial vehicle system in China is not mature on the whole. At present, the agricultural unmanned aerial vehicle technology and the product performance are different, and at least of a plurality of products can meet the requirements of large-area high-strength plant protection spraying.

Disclosure of Invention

The invention needs to have the following two key points:

(1) outputting the percentage occupied by the green pixel points in the customized image as the percentage of the green pixel points, and determining the concentration of the sprayed pesticide based on the percentage of the green pixel points, thereby achieving the balance between pesticide saving and insecticidal effect;

(2) in order to ensure the accuracy of subsequent image identification and image processing, the contour of each object in the image is subjected to targeted edge deepening processing.

According to an aspect of the present invention, there is provided an instant pesticide concentration modulation platform comprising: the aerial photography camera is arranged on the agricultural unmanned aerial vehicle and used for shooting the wheat planting area facing the lower part so as to obtain and output a corresponding instant aerial photography image.

More specifically, in the instant pesticide concentration modulation platform, the platform further comprises: the pesticide storage tank is positioned in the agricultural unmanned aerial vehicle and consists of two adjacent containers, wherein the two containers are respectively used for placing pesticide raw materials and purified water.

More specifically, in the instant pesticide concentration modulation platform, the platform further comprises: the pesticide spraying mechanism is arranged on the agricultural unmanned aerial vehicle and used for determining the concentration of the sprayed pesticide based on the received green pixel percentage and executing the spraying of the pesticide with the determined concentration; the pesticide spraying mechanism comprises pesticide modulating equipment and material drawing equipment, and the pesticide modulating equipment executes corresponding pesticide modulating operation according to the determined concentration of the sprayed pesticide; the material drawing device comprises two feeding pipelines which are respectively communicated with the two adjacent containers; the aerial camera and the pesticide spraying mechanism are both arranged at the bottom of the agricultural unmanned aerial vehicle, and the aerial camera is positioned on the side face of the pesticide spraying mechanism; the pesticide spraying mechanism further comprises a spraying faucet connected with the pesticide preparation device and used for spraying the pesticide with determined concentration.

The instant pesticide concentration modulation platform is customized in structure and convenient to use. The percentage occupied by the green pixel points in the customized processing image is output as the percentage of the green pixel points, and the concentration of the sprayed pesticide is determined based on the percentage of the green pixel points, so that the balance between pesticide saving and insecticidal effects is achieved.

Drawings

Embodiments of the invention will now be described with reference to the accompanying drawings, in which:

fig. 1 is a schematic view of a working scene of an agricultural unmanned aerial vehicle where an instant pesticide concentration modulation platform is located according to an embodiment of the present invention.

Detailed Description

Embodiments of the instant pesticide concentration preparation platform of the present invention will be described in detail below with reference to the accompanying drawings.

The pesticide is chemical for preventing and controlling diseases and pests and regulating plant growth. It is widely used in agriculture, forestry and animal husbandry production, environment and household sanitation, pest and disease control, and industrial product mildew and moth prevention.

The pesticide has various varieties, and can be mainly divided into insecticide, acaricide, rodenticide, nematicide, molluscicide, bactericide, herbicide, plant growth regulator and the like according to the application; according to the raw material source, the pesticide can be divided into mineral source pesticides (inorganic pesticides), biological source pesticides (natural organic matters, microorganisms, antibiotics and the like) and chemical synthetic pesticides; according to chemical structure, mainly comprises organic chlorine, organic phosphorus, organic nitrogen, organic sulfur, carbamate, pyrethroid, amide compounds, urea compounds, ether compounds, phenolic compounds, phenoxy carboxylic acids, amidines, triazoles, heterocycles, benzoic acids, organic metal compounds and the like, which are all organic synthetic pesticides; it can be divided into powder, wettable powder, emulsion, emulsifiable concentrate, emulsifiable paste, cataplasm, colloidal agent, fumigant, aerosol, granule, microgranule, oil agent, etc. according to the preparation formulation.

Currently, agricultural unmanned aerial vehicles have been more common for the pesticide spraying of green plants such as wheat, can practice thrift a large amount of manpower and materials, however, the mode of spraying in the air has the congenital defect that the operation is coarse, difficult accurate control after all, for example, when wheat just budding, green leaf is less, spray too much pesticide this time and cause the injury for wheat easily, if again, when wheat is healthy and strong and grown, green leaf is more, spray less pesticide this time and can't reach predetermined insecticidal effect again.

In order to overcome the defects, the invention builds an instant pesticide concentration modulation platform, and can effectively solve the corresponding technical problem.

Fig. 1 is a schematic view of a working scene of an agricultural unmanned aerial vehicle where an instant pesticide concentration modulation platform is located according to an embodiment of the present invention.

An instant pesticide concentration modulation platform shown according to an embodiment of the present invention comprises:

the aerial photography camera is arranged on the agricultural unmanned aerial vehicle and used for shooting the wheat planting area facing the lower part so as to obtain and output a corresponding instant aerial photography image.

Next, the detailed structure of the immediate pesticide concentration control platform of the present invention will be further described.

The instant pesticide concentration modulation platform can also comprise:

the pesticide storage tank is positioned in the agricultural unmanned aerial vehicle and consists of two adjacent containers, wherein the two containers are respectively used for placing pesticide raw materials and purified water.

The instant pesticide concentration modulation platform can also comprise:

the pesticide spraying mechanism is arranged on the agricultural unmanned aerial vehicle and used for determining the concentration of the sprayed pesticide based on the received green pixel percentage and executing the spraying of the pesticide with the determined concentration;

the pesticide spraying mechanism comprises pesticide modulating equipment and material drawing equipment, and the pesticide modulating equipment executes corresponding pesticide modulating operation according to the determined concentration of the sprayed pesticide;

the material drawing device comprises two feeding pipelines which are respectively communicated with the two adjacent containers;

the aerial camera and the pesticide spraying mechanism are both arranged at the bottom of the agricultural unmanned aerial vehicle, and the aerial camera is positioned on the side face of the pesticide spraying mechanism;

the pesticide spraying mechanism also comprises a spraying faucet which is connected with the pesticide modulation equipment and is used for spraying the pesticide with determined concentration;

the component detection equipment is connected with the aerial photography camera and is used for obtaining each Y component value of each pixel point in the instant aerial photography image and taking the pixel point with the absolute value of the difference between the Y component value and the arithmetic mean value of each Y component value of each surrounding pixel point as a contour pixel point;

the component detection equipment is also used for taking the pixel point of which the absolute value of the difference between the Y component value and the arithmetic mean value of all the Y component values of all the surrounding pixel points is not over-limited as a non-contour pixel point;

the image block extraction equipment is connected with the component detection equipment and is used for acquiring all contour pixel points in the instant aerial image and performing fitting processing on all contour pixel points in the instant aerial image to obtain one or more object image blocks in the instant aerial image;

the parallel processing equipment is connected with the image block extraction equipment and is used for deepening the edge of each object image block in the instant aerial image so as to obtain a deepened edge-deepened image;

the smooth linear filtering device is connected with the parallel processing device and is used for receiving the edge deepened image and executing smooth linear filtering processing on the edge deepened image so as to obtain and output a corresponding smooth linear filtering image;

the arithmetic mean filtering device is connected with the smooth linear filtering device and is used for receiving the smooth linear filtering image and executing arithmetic mean filtering processing on the smooth linear filtering image so as to obtain and output a corresponding arithmetic mean filtering image;

and the green detection equipment is respectively connected with the arithmetic mean filtering equipment and the pesticide spraying mechanism and is used for acquiring each green channel value of each pixel point of the arithmetic mean filtering image, taking the pixel point with the green channel value exceeding 125 as a green pixel point, and counting the percentage occupied by the green pixel point in the arithmetic mean filtering image to be output as the percentage of the green pixel point.

In the instant pesticide concentration modulation platform:

the image block extraction equipment, the parallel processing equipment, the smooth linear filtering equipment and the arithmetic mean filtering equipment perform image data interaction through a 32-bit parallel data bus;

wherein the image block extraction device, the parallel processing device, the smooth linear filtering device and the arithmetic mean filtering device are integrated on the same printed circuit board;

the smoothing linear filtering device is internally provided with a data memory for temporarily storing the smoothing linear filtering image.

The instant pesticide concentration modulation platform can also comprise:

and the self-adaptive high-frequency analysis equipment is connected with the aerial photography camera and is used for receiving the instant aerial photography image, carrying out contrast measurement on the instant aerial photography image so as to obtain the real-time contrast corresponding to the instant aerial photography image, and determining the corresponding high-frequency distribution frequency band in the instant aerial photography image based on the real-time contrast so as to output the real-time distribution frequency band as a target frequency band.

The instant pesticide concentration modulation platform can also comprise:

and the image differentiation equipment is respectively connected with the frequency band extraction equipment and the contrast measurement equipment and is used for receiving the target frequency band and the instant aerial image, executing high-pass filtering processing based on the target frequency band on the instant aerial image to obtain a corresponding high-pass filtering image and outputting the high-pass filtering image.

The instant pesticide concentration modulation platform can also comprise:

and the difference value acquisition equipment is connected with the image differentiation equipment and is used for acquiring the instant aerial image and the high-pass filtering image, and is also used for subtracting the high-pass filtering image from the instant aerial image pixel by pixel to acquire a corresponding difference value processing image and outputting the difference value processing image.

The instant pesticide concentration modulation platform can also comprise:

and the targeted processing device is respectively connected with the component detection device, the difference value acquisition device and the image differentiation device, and is used for receiving the high-pass filtering image and the difference value processing image, performing feature enhancement processing on the high-pass filtering image to obtain and output a corresponding feature enhanced image, adding the feature enhanced image and the difference value processing image pixel by pixel to obtain a corresponding reconstructed image, and replacing the reconstructed image with the instant aerial image to send the instant aerial image to the component detection device.

In addition, the image block extraction device is an SOC processing chip. System on Chip, called SOC for short, is also a System on Chip. From a narrow sense, the system is the chip integration of the core of an information system, and key components of the system are integrated on one chip; in a broad sense, SoC is a micro-miniature system, and if the Central Processing Unit (CPU) is the brain, SoC is a system that includes the brain, heart, eyes, and hands. The academia at home and abroad generally tends to define the SOC as integrating a microprocessor, an analog IP core, a digital IP core and a memory (or off-chip memory control interface) on a single chip, which is usually custom-made or standard product oriented to a specific application. The basic content of the SOC definition is mainly two-fold: one is his composition and the other is his forming process. The system-on-chip can be composed of a system-on-chip control logic module, a microprocessor/microcontroller CPU core module, a digital signal processor DSP module, an embedded memory module, an interface module for communicating with the outside, an analog front-end module containing ADC/DAC, a power supply and power consumption management module, a radio frequency front-end module, user defined logic (which can be realized by FPGA or ASIC) and a micro-electro-mechanical module for a wireless SoC, and more importantly, a SOC chip is embedded with a basic software (RDOS or COS and other application software) module or loadable user software and the like.

Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: Read-Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disk, and other various media capable of storing program codes.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.