技术领域technical field
本发明涉及变量施肥技术领域，更具体地，涉及一种施肥装置及方法。The invention relates to the technical field of variable fertilization, and more specifically, to a fertilization device and method.
背景技术Background technique
我国自20世纪70年代开始，化肥的消费量迅速增加，对提高农作物产量起到了很大的作用，但我国的化肥投入突出问题是结构不合理，利用率低。1978—2005年粮食产量仅增产50％，但化肥消费量却增长了300％以上。目前我国施用化肥多停留在经验施肥的水平上，化肥利用率仅为30％～40％，化肥的增产效果并未得到充分发挥，造成了惊人的浪费，在一些地区已出现了水污染等问题。据统计，我国的化肥施用量已经达到了平均434.3kg/hm2，远远超出发达国家为防止化肥对水体造成污染所设置的225kg/hm2的安全上限，是国际标准的1.93倍。肥料施用量的增加和利用效率的下降，不仅造成了经济上的巨大损失，而且引起了严重的环境污染。化肥尤其是氮肥已成为主要的环境污染源之一，实行科学的变量施肥是农业可持续发展的必要措施和亟待解决的问题。Since the 1970s in my country, the consumption of chemical fertilizers has increased rapidly, which has played a great role in increasing crop yields. However, the outstanding problems of my country's chemical fertilizer input are irrational structure and low utilization rate. From 1978 to 2005, grain production increased by only 50%, but chemical fertilizer consumption increased by more than 300%. At present, the application of chemical fertilizers in my country mostly stays at the level of empirical fertilization, and the utilization rate of chemical fertilizers is only 30% to 40%. The effect of increasing production of chemical fertilizers has not been fully exerted, resulting in amazing waste, and problems such as water pollution have appeared in some areas. . According to statistics, the amount of chemical fertilizer used in my country has reached an average of 434.3kg/hm2, far exceeding the safety limit of 225kg/hm2 set by developed countries to prevent water pollution caused by chemical fertilizers, which is 1.93 times the international standard. The increase in fertilizer application and the decline in utilization efficiency have not only caused huge economic losses, but also caused serious environmental pollution. Chemical fertilizers, especially nitrogen fertilizers, have become one of the main sources of environmental pollution. The implementation of scientific variable fertilization is a necessary measure and an urgent problem to be solved for the sustainable development of agriculture.
变量施肥技术是精准农业的重要组成部分，在国外已获得了显著的经济和社会效益。变量施肥机在发达国家研究较为深入，其相关技术已日臻完善和商品化。美国早在20世纪90年代就进行了测土配方施肥技术的应用，英国、德国、加拿大、澳大利亚等国家也相继开展了研究与应用。目前欧洲的RDS公司、Hrdro Agri公司等，美洲的Agtron公司、Agleader公司、Micro-Trak公司、Mid-Tech公司、Trimble公司等已经有具有通用性的产品上市，其接口可以适应液肥、粒肥等多种作业机械的控制。美国已形成了信息农业和精确农业的技术支持体系，许多公司有成熟的变量施肥设备，主要使用的控制器为车载式计算机或PDA，根据土壤养分或肥料的GIS图层信息实现变量施肥作业，如美国John Deere公司生产的变量撒肥机、Case公司利用GPS生产的Flexi Soil变量施肥播种机。目前国外已有在线式变量施肥系统，如美国俄克兰荷马州立大学与NT公司合作推出了商标为GreenSeeker的光传感实时变量施肥机，德国AMAZONE公司开发了一种基于视觉传感器的变量施肥机等。Variable fertilization technology is an important part of precision agriculture, and has achieved significant economic and social benefits abroad. Variable-variable fertilizer applicators have been studied in depth in developed countries, and their related technologies have been perfected and commercialized day by day. As early as the 1990s, the United States carried out the application of soil testing and formula fertilization technology, and the United Kingdom, Germany, Canada, Australia and other countries have also carried out research and application one after another. At present, RDS Company, Hrdro Agri Company in Europe, Agtron Company, Agleader Company, Micro-Trak Company, Mid-Tech Company, Trimble Company in America, etc. have launched general-purpose products, and their interfaces can be adapted to liquid fertilizers, granular fertilizers, etc. Control of working machinery. The United States has formed a technical support system for information agriculture and precision agriculture. Many companies have mature variable fertilization equipment. The main controllers used are vehicle-mounted computers or PDAs, which realize variable fertilization operations based on soil nutrients or GIS layer information of fertilizers. Such as the variable fertilizer spreader produced by John Deere Company of the United States, and the Flexi Soil variable fertilization planter produced by Case Company using GPS. At present, there are online variable fertilization systems in foreign countries. For example, Oklahoma State University in the United States and NT Company have jointly launched a light-sensing real-time variable fertilization machine with the trademark GreenSeeker, and Germany AMAZONE has developed a variable fertilization based on visual sensors. machine etc.
但现有技术中的变量施肥装置需要用到的硬件设备较多且造价昂贵，利用变量施肥装置进行变量施肥的方法也极为复杂。However, the variable fertilization device in the prior art requires many hardware devices and is expensive, and the method of variable fertilization using the variable fertilization device is also extremely complicated.
发明内容SUMMARY OF THE INVENTION
本发明提供一种克服现有技术中的变量施肥装置需要用到的硬件设备较多且造价昂贵，利用变量施肥装置进行变量施肥的方法也极为复杂的问题的一种施肥装置及方法。The present invention provides a fertilization device and method that overcomes the problems that the variable fertilization device in the prior art requires many hardware devices and is expensive, and the variable fertilization method using the variable fertilization device is also extremely complicated.
根据本发明的一个方面，提供一种施肥装置，所述施肥装置包括：作物光谱信息采集装置、施肥量决策控制装置和肥料输出装置；According to one aspect of the present invention, a fertilization device is provided, the fertilization device includes: a crop spectral information collection device, a fertilizer amount decision-making control device, and a fertilizer output device;
所述作物光谱信息采集装置，包括面阵光谱传感器和设置在所述面阵光谱传感器左右两侧的两个点阵光谱传感器；所述面阵光谱传感器，用于采集自身下方的面状区域内的作物冠层的光谱图像信息；所述点阵光谱传感器，用于采集自身正下方的多个点状区域内的作物冠层的多组反射光信号；其中，每一个点状区域具有一组反射光信号；所述多个点状区域位于所述面状区域内；The crop spectral information collection device includes an area spectral sensor and two dot matrix spectral sensors arranged on the left and right sides of the area spectral sensor; the area spectral sensor is used to collect The spectral image information of the crop canopy; the dot matrix spectral sensor is used to collect multiple groups of reflected light signals of the crop canopy in multiple point areas directly below itself; wherein, each point area has a set of Reflecting an optical signal; the plurality of dotted areas are located within the planar area;
所述施肥量决策控制装置，用于根据所述光谱图像信息和所述多组反射光信号，获取作物的氮素营养状态信息；并根据所述作物的氮素营养状态信息，决策施肥量信息；并根据所述施肥量信息，控制所述肥料输出装置输出相应的施肥量；The fertilizer amount decision-making control device is used to obtain the nitrogen nutrition status information of the crops according to the spectral image information and the multiple groups of reflected light signals; and determine the fertilizer amount information according to the nitrogen nutrition status information of the crops ; and according to the fertilizer amount information, control the fertilizer output device to output the corresponding fertilizer amount;
所述肥料输出装置，用于给作物施加肥料。The fertilizer output device is used for applying fertilizer to crops.
优选地，所述点阵光谱传感器具有多个光学通道，所述多个光学通道与所述多个点状区域一一对应；其中，每一个光学通道，用于采集对应的点状区域内的作物冠层在一个特定波长处的反射光信号。Preferably, the dot-matrix spectral sensor has a plurality of optical channels, and the plurality of optical channels correspond to the plurality of point-shaped areas; wherein, each optical channel is used to collect The reflected light signal of a crop canopy at a specific wavelength.
优选地，所述多个光学通道至少为三个；其中，三个光学通道分别采集对应的点状区域内的作物冠层在可见光波段内的任一波长处、在红边波段内的任一波长处和在近红外光波段内的任一波长处的反射光信号。Preferably, the plurality of optical channels is at least three; wherein, the three optical channels respectively collect the crop canopy in the corresponding point-shaped area at any wavelength in the visible light band, any wavelength in the red edge band wavelength and the reflected optical signal at any wavelength within the near-infrared band.
优选地，所述施肥量决策控制装置包括：所述施肥量决策控制装置包括：上位机、地理位置信息获取模块、速度传感器、流量传感器和压力传感器；Preferably, the fertilizer amount decision-making control device includes: the fertilizer amount decision-making control device includes: a host computer, a geographic location information acquisition module, a speed sensor, a flow sensor and a pressure sensor;
所述上位机，用于根据所述光谱图像信息和所述多组反射光信号，获取作物的氮素营养状态信息；并根据所述作物的氮素营养状态信息、所述地理位置信息获取模块获取的所述施肥装置的位置信号、所述速度传感器获取的所述施肥装置的速度信号、所述流量传感器获取的所述肥料输出装置的流量信号和所述压力传感器获取的所述肥料输出装置的压力信号，决策施肥量信息；并根据所述施肥量信息，控制所述肥料输出装置输出相应的施肥量。The upper computer is used to obtain the nitrogen nutrition status information of the crops according to the spectral image information and the multiple groups of reflected light signals; The position signal of the fertilization device obtained by the speed sensor, the speed signal of the fertilization device obtained by the speed sensor, the flow signal of the fertilizer output device obtained by the flow sensor and the fertilizer output device obtained by the pressure sensor the pressure signal to determine the fertilizer application amount information; and according to the fertilizer application amount information, control the fertilizer output device to output the corresponding fertilizer application amount.
优选地，所述肥料输出装置包括：控制器、与所述控制器电连接的流量调节阀组、与所述流量调节阀组连接的肥料箱和与所述肥料箱连接的喷杆机构；Preferably, the fertilizer output device includes: a controller, a flow regulating valve group electrically connected to the controller, a fertilizer tank connected to the flow regulating valve group, and a spray bar mechanism connected to the fertilizer tank;
所述控制器，用于接收所述施肥量决策控制装置发送的施肥量信息；并根据所述施肥量信息，调节所述流量调节阀组，以使得所述喷杆机构输出相应的施肥量；The controller is used to receive the fertilizer amount information sent by the fertilizer amount decision-making control device; and adjust the flow regulating valve group according to the fertilizer amount information, so that the spray bar mechanism outputs a corresponding fertilizer amount;
所述肥料箱，用于装载肥料。The fertilizer box is used for loading fertilizer.
根据本发明的另一个方面，提供一种施肥方法，所述方法包括：According to another aspect of the present invention, there is provided a fertilization method, the method comprising:
S1，采集面阵光谱传感器下方的面状区域内的作物冠层的光谱图像信息和两个点阵光谱传感器正下方的多个点状区域内的作物冠层的多组反射光信号；S1, collecting the spectral image information of the crop canopy in the planar area below the area spectral sensor and multiple groups of reflected light signals of the crop canopy in multiple point areas directly below the two lattice spectral sensors;
S2，根据所述光谱图像信息和所述多组反射光信号，获取作物的氮素营养状态信息；并根据所述作物的氮素营养状态信息，决策施肥量信息；并根据所述施肥量信息，控制所述肥料输出装置输出相应的施肥量；S2. According to the spectral image information and the multiple groups of reflected light signals, obtain the nitrogen nutrition status information of the crops; and according to the nitrogen nutrition status information of the crops, decide the fertilizer application amount information; and according to the fertilizer application amount information , controlling the fertilizer output device to output a corresponding amount of fertilizer;
S3，给作物施加肥料。S3, applying fertilizer to the crops.
优选地，步骤S2具体包括：Preferably, step S2 specifically includes:
S21，根据所述两个点阵光谱传感器正下方的多个点状区域内的作物冠层的多组反射光信号，获取每一组反射光信号在对应的一个特定波长处的反射率；S21, according to multiple sets of reflected light signals of the crop canopy in multiple dotted areas directly below the two dot matrix spectral sensors, acquire the reflectance of each set of reflected light signals at a corresponding specific wavelength;
S22，根据多组反射光信号在对应的多个特定波长处的反射率，利用插值算法，获取所述面阵光谱传感器正下方区域内的作物冠层在所述多个特定波长处的反射率；S22, according to the reflectance of multiple groups of reflected light signals at the corresponding multiple specific wavelengths, using an interpolation algorithm to obtain the reflectance of the crop canopy in the area directly under the area array spectral sensor at the multiple specific wavelengths ;
S23，将所述面状区域划分为三个小区；对于每一小区，根据每一小区内的作物冠层的反射光信号在对应的特定波长处的反射率，获取第一实际植被指数和第二实际植被指数；S23. Divide the planar area into three sub-regions; for each sub-district, according to the reflectance of the reflected light signal of the crop canopy in each sub-district at the corresponding specific wavelength, the first actual vegetation index and the first actual vegetation index are obtained. 2. Actual vegetation index;
S24，对于每一小区，通过每一小区内的光谱图像信息，获取每一小区内的作物覆盖率参数；并根据所述作物覆盖率参数，对所述第一实际植被指数和第二实际植被指数进行修正，以获取第一修正植被指数和第二修正植被指数；S24, for each plot, obtain the crop coverage parameter in each plot through the spectral image information in each plot; and according to the crop coverage parameter, calculate the first actual vegetation index and the second actual vegetation The index is corrected to obtain the first revised vegetation index and the second revised vegetation index;
S25，根据每一小区的第一修正植被指数和第二修正植被指数，获取面状区域内的第一植被指数和第二植被指数；S25, according to the first modified vegetation index and the second modified vegetation index of each plot, obtain the first vegetation index and the second vegetation index in the planar area;
S26，根据第一植被指数和第二植被指数，获取在所述面状区域内的作物的氮素营养状态信息；并根据所述氮素营养状态信息，决策施肥量信息；并根据所述施肥量信息，控制所述肥料输出装置输出相应的施肥量。S26. According to the first vegetation index and the second vegetation index, obtain the nitrogen nutrition status information of the crops in the planar area; and according to the nitrogen nutrition status information, decide the fertilization amount information; and according to the fertilization The amount information is used to control the fertilizer output device to output the corresponding fertilizer amount.
优选地，步骤S23中的第一实际植被指数NDVI实和第二实际植被指数NDRE实，通过以下公式获取：Preferably, the firstactual vegetation index NDVI and the second actual vegetation indexNDRE in step S23 are obtained by the following formula:
其中，Rnir为近红外光在对应的特定波长处的反射率，Rre为红边在对应的特定波长处的反射率，Rr为可见光在对应的特定波长处的反射率；Wherein, Rnir is the reflectance of near-infrared light at the corresponding specific wavelength, Rre is the reflectance of the red edge at the corresponding specific wavelength, and Rr is the reflectance of visible light at the corresponding specific wavelength;
步骤S24中的作物覆盖率参数C，通过以下公式获取：The crop coverage parameter C in step S24 is obtained by the following formula:
其中，LP为任一小区内冠层叶片像素点数，Ap为任一小区内总像素点数；Among them, LP is the number of pixel points of canopy leaves in any plot, and Ap is the total number of pixel points in any plot;
所述第一修正植被指数NDVI修和第二修正植被指数NDRE修，通过以下公式获取：The first modified vegetation index NDVI and the secondmodified vegetation indexNDRE are obtained by the following formula:
其中，NDVI实为第一实际植被指数，NDRE实为第二实际植被指数，NDVIs为裸土区的第一植被指数，NDREs为裸土区的第二植被指数，C为作物覆盖率参数。Among them, NDVIis actually the first actual vegetation index, NDREis actually the second actual vegetation index, NDVIs is the first vegetation index of the bare soil area, NDREs is the second vegetation index of the bare soil area, C is the crop coverage parameter .
优选地，步骤S25中所述面状区域内的第一植被指数NDVI和第二植被指数NDRE，通过以下公式获取：Preferably, the first vegetation index NDVI and the second vegetation index NDRE in the planar area described in step S25 are obtained by the following formula:
NDVI＝KA·NDVIA+KB·NDVIB+KC·NDVIC；NDVI＝KA NDVIA +KB NDVIB +KC NDVIC ;
NDRE＝KA·NDREA+KB·NDREB+KC·NDREC；NDRE＝KA NDREA +KB NDREB +KC NDREC ;
其中，NDVIA为第一小区的第一修正植被指数，NDVIB为第二小区的第一修正植被指数，NDVIC为第三小区的第一修正植被指数，NDREA为第一小区的第二修正植被指数，NDREB为第二小区的第二修正植被指数，NDREC为第三小区的第二修正植被指数，KA、KB、KC均为加权系数。Among them, NDVIA is the first modified vegetation index of the first plot, NDVIB is the first modified vegetation index of the second plot, NDVIC is the first modified vegetation index of the third plot, and NDREA is the second modified vegetation index of the first plot. Modified vegetation index, NDREB is the second modified vegetation index of the second plot, NDREC is the second modified vegetation index of the third plot, and KA , KB , andK Care weighting coefficients.
优选地，步骤S26具体包括：Preferably, step S26 specifically includes:
S261，根据所述面状区域内的第一植被指数，获取所述面状区域内的生物量；S261. Acquire the biomass in the area according to the first vegetation index in the area;
S262，根据氮稀释曲线和所述生物量，获取标准氮浓度；根据所述第一植被指数和所述生物量，获取标准吸氮量；S262. Obtain a standard nitrogen concentration according to the nitrogen dilution curve and the biomass; obtain a standard nitrogen uptake amount according to the first vegetation index and the biomass;
S263，根据所述面状区域内的第二植被指数，获取实际吸氮量；S263. According to the second vegetation index in the planar area, obtain the actual amount of nitrogen uptake;
S264，根据所述标准吸氮量和所述实际吸氮量，获取吸氮量差值；S264. According to the standard nitrogen absorption amount and the actual nitrogen absorption amount, obtain a nitrogen absorption amount difference;
S265，根据区域优化施氮量、前期施氮量、穗肥的氮肥回收率和所述吸氮量差值，计算施肥量，并控制所述肥料输出装置输出相应的施肥量。S265. Calculate the amount of fertilization according to the optimal nitrogen application amount in the region, the nitrogen application amount in the early stage, the nitrogen fertilizer recovery rate of ear fertilizer, and the nitrogen absorption amount difference, and control the fertilizer output device to output the corresponding fertilization amount.
本发明提供的一种施肥装置及方法，通过将点阵光谱传感器和面阵光谱传感器组合使用，使得该施肥装置既保持了点阵传感器数据格式简单、处理速度快、实时性好且信噪比高的优点；又可利用面阵传感器采集的光谱图像信息而方便计算出地表作物覆盖度，以修正田间土壤反射光谱和作物生长形态导致的光谱干扰影响，从而可获得高精度的作物冠层的反射光信号，为施肥决策提供更可靠的数据支持。A fertilization device and method provided by the present invention, by combining a dot matrix sensor and an area spectrum sensor, the fertilization device not only maintains the simple data format of the dot matrix sensor, fast processing speed, good real-time performance and signal-to-noise ratio It can also use the spectral image information collected by the area array sensor to easily calculate the crop coverage on the surface, so as to correct the spectral interference caused by the field soil reflectance spectrum and crop growth form, so as to obtain high-precision crop canopy Reflect light signals to provide more reliable data support for fertilization decisions.
附图说明Description of drawings
图1为根据本发明实施例提供的一种施肥装置的结构示意图；Fig. 1 is a schematic structural view of a fertilization device provided according to an embodiment of the present invention;
图2为根据本发明实施例提供的一种作物光谱信息采集装置的结构示意图；Fig. 2 is a schematic structural diagram of a crop spectral information collection device provided according to an embodiment of the present invention;
图3为根据本发明实施例提供的一种点阵光谱传感器的硬件结构示意图；3 is a schematic diagram of the hardware structure of a dot matrix spectral sensor provided according to an embodiment of the present invention;
图4为根据本发明实施例提供的一种面阵光谱传感器的硬件结构示意图；4 is a schematic diagram of the hardware structure of an area array spectral sensor provided according to an embodiment of the present invention;
图5为根据本发明实施例提供的一种点阵光谱传感器的感光原理示意图；Fig. 5 is a schematic diagram of the photosensitive principle of a dot matrix spectral sensor provided according to an embodiment of the present invention;
图6为根据本发明实施例提供的一种面阵光谱传感器的感光原理示意图；Fig. 6 is a schematic diagram of the photosensitive principle of an area array spectral sensor provided according to an embodiment of the present invention;
图7为根据本发明实施例提供的一种施肥牵引机的结构示意图；Fig. 7 is a schematic structural view of a fertilization tractor provided according to an embodiment of the present invention;
图8为根据本发明实施例提供的一种施肥方法的流程图；Fig. 8 is a flowchart of a fertilization method provided according to an embodiment of the present invention;
图9为根据本发明实施例提供的一种面状区域的分区示意图；Fig. 9 is a schematic diagram of partitions of a planar region according to an embodiment of the present invention;
图10为根据本发明实施例提供的一种氮稀释曲线CNDC模型示意图。Fig. 10 is a schematic diagram of a nitrogen dilution curve CNDC model provided according to an embodiment of the present invention.
具体实施方式Detailed ways
下面结合附图和实施例，对本发明的具体实施方式作进一步详细描述。以下实施例用于说明本发明，但不用来限制本发明的范围。The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and embodiments. The following examples are intended to illustrate the present invention, but not to limit the scope of the present invention.
肥料施用量的增加和利用效率的下降，不仅造成了经济上的巨大损失，而且引起了严重的环境污染。化肥中的氮肥已成为主要的环境污染源之一，实行科学的变量施肥是农业可持续发展的必要措施和亟待解决的问题。The increase in fertilizer application and the decline in utilization efficiency have not only caused huge economic losses, but also caused serious environmental pollution. Nitrogen fertilizer in chemical fertilizers has become one of the main sources of environmental pollution, and the implementation of scientific variable fertilization is a necessary measure and an urgent problem to be solved for the sustainable development of agriculture.
本发明提供的一种施肥装置及方法，能够实现科学的变量施肥，不仅在经济上节约了大量的资源，并且对于环境保护，也具有巨大的有益贡献。The fertilization device and method provided by the present invention can realize scientific variable fertilization, not only save a large amount of resources economically, but also make great beneficial contributions to environmental protection.
以下将结合附图，详细介绍此种施肥装置的结构与功能。The structure and function of this kind of fertilization device will be described in detail below in conjunction with the accompanying drawings.
图1为根据本发明实施例提供的一种施肥装置的结构示意图，如图1所示，所述施肥装置包括：作物光谱信息采集装置、施肥量决策控制装置和肥料输出装置。Fig. 1 is a schematic structural diagram of a fertilization device provided according to an embodiment of the present invention. As shown in Fig. 1, the fertilization device includes: a crop spectral information collection device, a fertilizer amount decision-making control device, and a fertilizer output device.
所述作物光谱信息采集装置，包括面阵光谱传感器和设置在所述面阵光谱传感器左右两侧的两个点阵光谱传感器；所述面阵光谱传感器，用于采集自身下方的面状区域内的作物冠层的光谱图像信息；所述点阵光谱传感器，用于采集自身正下方的多个点状区域内的作物冠层的多组反射光信号；其中，每一个点状区域具有一组反射光信号；所述多个点状区域位于所述面状区域内。The crop spectral information collection device includes an area spectral sensor and two dot matrix spectral sensors arranged on the left and right sides of the area spectral sensor; the area spectral sensor is used to collect The spectral image information of the crop canopy; the dot matrix spectral sensor is used to collect multiple groups of reflected light signals of the crop canopy in multiple point areas directly below itself; wherein, each point area has a set of Reflecting an optical signal; the plurality of dot-shaped areas are located in the planar area.
具体地，图2为根据本发明实施例提供的一种作物光谱信息采集装置的结构示意图，如图2所示，面阵光谱传感器和设置在所述面阵光谱传感器左右两侧的两个点阵光谱传感器。即，该作物光谱信息采集装置由一个面阵光谱传感器和两个点阵光谱传感器组成。其中，面阵光谱传感器处于中间位置，两个点阵光谱传感器分别位于面阵光谱传感器的左侧和右侧。Specifically, Fig. 2 is a schematic structural diagram of a crop spectral information collection device provided according to an embodiment of the present invention. As shown in Fig. 2, the area array spectral sensor and two points arranged on the left and right sides of the area array spectral sensor. That is, the crop spectral information collection device is composed of an area spectral sensor and two dot matrix spectral sensors. Wherein, the area spectrum sensor is in the middle position, and the two dot matrix spectrum sensors are respectively located on the left and right sides of the area array spectrum sensor.
所述面阵光谱传感器，用于采集自身下方的面状区域内的作物冠层的光谱图像信息。其中，面阵光谱传感器的镜头具有特定的视场角。在该面阵光谱传感器与被测面之间的距离一定时，面状区域的大小随视场角的变化而变化。当视场角一定时，面状区域的大小随面阵光谱传感器与被测面之间的距离的变化而变化。The area array spectral sensor is used to collect the spectral image information of the crop canopy in the area below itself. Among them, the lens of the area array spectral sensor has a specific field of view. When the distance between the area array spectral sensor and the measured surface is constant, the size of the area of the area changes with the change of the viewing angle. When the field of view is constant, the size of the planar area changes with the distance between the spectral array sensor and the measured surface.
所述点阵光谱传感器，用于采集自身正下方的多个点状区域内的作物冠层的多组反射光信号；其中，每一个点状区域具有一组反射光信号；所述多个点状区域位于所述面状区域内。The dot-matrix spectral sensor is used to collect multiple groups of reflected light signals of the crop canopy in multiple point-shaped areas directly below itself; wherein, each point-shaped area has a set of reflected light signals; the multiple points A shaped area is located within the planar area.
需要说明的是，“正下方”的含义和的“下方”的含义不同。“正下方”是指点阵光谱传感器在被测面的竖直投影区域，而“下方”是指面阵光谱传感器在被测面上所能探测到的一大片区域，该区域的大小可变，其变化规律在上文中已作介绍，此处不再赘述。“点状区域”与的“面状区域”的含义也不同。“点状区域”特指面积极小的区域，“面状区域”特指面积较大的区域。在本实施例中，多个点状区域位于面状区域内。It should be noted that the meaning of "directly below" is different from the meaning of "below". "Directly below" refers to the vertical projection area of the dot matrix spectral sensor on the measured surface, while "below" refers to a large area that the area spectral sensor can detect on the measured surface. The size of this area is variable. Its changing rules have been introduced above, and will not be repeated here. The meanings of "dotted area" and "area area" are also different. The "dotted area" specifically refers to an area with an extremely small area, and the "area area" specifically refers to an area with a large area. In this embodiment, a plurality of dot-shaped areas are located in the planar area.
点阵光谱传感器虽然能够有效获取作物冠层的反射光信号，而且数据格式简单、处理速度快、实时性好，却不能有效消除田间土壤反射光谱和作物生长形态导致的光谱干扰。Although the dot-matrix spectral sensor can effectively obtain the reflected light signal of the crop canopy, and the data format is simple, the processing speed is fast, and the real-time performance is good, but it cannot effectively eliminate the spectral interference caused by the field soil reflection spectrum and crop growth form.
面阵光谱传感器虽然能通过图像分割技术消除田间土壤反射光谱和作物生长形态导致的光谱干扰，但是图像数据量较大，尤其对于反演作物的反射光信号所用的算法较为复杂，处理时间较长，对处理器要求较高，实时性差。利用面阵光谱传感器实时检测作物长势以指导施肥决策，技术难度大，成本较高。Although the area array spectral sensor can eliminate the spectral interference caused by the field soil reflection spectrum and crop growth form through image segmentation technology, the amount of image data is large, especially for the algorithm used to invert the reflected light signal of crops. The algorithm is relatively complex and the processing time is long , higher requirements on the processor and poor real-time performance. Using area array spectral sensors to detect crop growth in real time to guide fertilization decisions is technically difficult and costly.
所述施肥量决策控制装置，用于根据所述光谱图像信息和所述多组反射光信号，获取作物的氮素营养状态信息；并根据所述作物的氮素营养状态信息，决策施肥量信息；并根据所述施肥量信息，控制所述肥料输出装置输出相应的施肥量。The fertilizer amount decision-making control device is used to obtain the nitrogen nutrition status information of the crops according to the spectral image information and the multiple groups of reflected light signals; and determine the fertilizer amount information according to the nitrogen nutrition status information of the crops ; and according to the fertilizer amount information, control the fertilizer output device to output the corresponding fertilizer amount.
所述肥料输出装置，用于给作物施加肥料。The fertilizer output device is used for applying fertilizer to crops.
本实施例提供的一种施肥装置，通过将点阵光谱传感器和面阵光谱传感器组合使用，使得该施肥装置既保持了点阵传感器数据格式简单、处理速度快、实时性好且信噪比高的优点；又可利用面阵传感器采集的光谱图像信息而方便计算出地表作物覆盖度，以修正田间土壤反射光谱和作物生长形态导致的光谱干扰影响，从而可获得高精度的作物冠层的反射光信号，为施肥决策提供更可靠的数据支持。In the fertilization device provided in this embodiment, by combining the dot matrix sensor and the area spectrum sensor, the fertilization device maintains the simple data format of the dot sensor, fast processing speed, good real-time performance and high signal-to-noise ratio advantages; and the spectral image information collected by the area array sensor can be used to easily calculate the crop coverage on the surface, so as to correct the spectral interference caused by the field soil reflectance spectrum and crop growth form, so as to obtain high-precision crop canopy reflection Optical signals provide more reliable data support for fertilization decisions.
基于上述实施例，本实施例对上述实施例中的点阵光谱传感器进行详细说明：Based on the above embodiments, this embodiment describes in detail the dot matrix spectral sensor in the above embodiments:
所述点阵光谱传感器具有多个光学通道，所述多个光学通道与所述多个点状区域一一对应；其中，每一个光学通道，用于采集对应的点状区域内的作物冠层在一个特定波长处的反射光信号。The dot-matrix spectral sensor has a plurality of optical channels, and the plurality of optical channels correspond to the plurality of point-shaped areas one by one; wherein, each optical channel is used to collect the crop canopy in the corresponding point-shaped area The reflected light signal at a specific wavelength.
需要说明的是，在本实施例中，两个点阵光谱传感器的结构和功能完全一致。两个点阵光谱传感器中的每一个点阵光谱传感器，具有多个光学通道。其中，每一个光学通道用于采集与该光学通道对应的点状区域内的作物冠层在一个特定波长处的反射光信号。其中，特定波长与该光学通道的特性相关，不同特性的光学通道采集不同特定波长处的反射光信号，一个光学通道只能采集一个特定波长处的反射光信号。It should be noted that, in this embodiment, the structures and functions of the two dot-matrix spectral sensors are completely consistent. Each of the two lattice spectral sensors has a plurality of optical channels. Wherein, each optical channel is used to collect the reflected light signal of the crop canopy at a specific wavelength in the point-shaped area corresponding to the optical channel. The specific wavelength is related to the characteristics of the optical channel, optical channels with different characteristics collect reflected optical signals at different specific wavelengths, and one optical channel can only collect reflected optical signals at one specific wavelength.
基于上述实施例，本实施例中的多个光学通道至少为三个；其中，三个光学通道分别采集对应的点状区域内的作物冠层在可见光波段内的任一波长处、在红边波段内的任一波长处和在近红外光波段内的任一波长处的反射光信号。Based on the above-mentioned embodiment, the plurality of optical channels in this embodiment is at least three; wherein, the three optical channels respectively collect the crop canopy in the corresponding point-shaped area at any wavelength in the visible light band, at the red edge The reflected optical signal at any wavelength in the near-infrared light band and at any wavelength in the near-infrared light band.
具体地，本实施例将光学通道的个数优选为至少三个。在本实施例中，若光学通道的个数仅为三个，为了以示区别，将这三个光学通道分别取名为第一光学通道、第二光学通道和第三光学通道。Specifically, in this embodiment, the number of optical channels is preferably at least three. In this embodiment, if the number of optical channels is only three, these three optical channels are respectively named as the first optical channel, the second optical channel and the third optical channel in order to distinguish them.
其中，第一光学通道，用于采集其对应的点状区域内的作物冠层在可见光波段内的任一波长处的反射光信号；第二光学通道，用于采集其对应的点状区域内的作物冠层在红边波段内的任一波长处的反射光信号；第三光学通道，用于采集其对应的点状区域内的作物冠层在近红外光波段内的任一波长处的反射光信号。Among them, the first optical channel is used to collect the reflected light signal of the crop canopy in the visible light band in the corresponding point region; the second optical channel is used to collect the corresponding point region The reflected light signal of the crop canopy at any wavelength in the red edge band; the third optical channel is used to collect the crop canopy in the corresponding point area at any wavelength in the near-infrared band reflected light signal.
需要说明的是，可见光波段的波长范围为400～700nm，红边波段的波长范围为700～760nm，近红外光波段的波长范围为760～1000nm。It should be noted that the wavelength range of the visible light band is 400-700 nm, the wavelength range of the red-edge band is 700-760 nm, and the wavelength range of the near-infrared light band is 760-1000 nm.
作为一个优选实施例，本实施例结合附图，并通过具体的举例对本发明提供的一种作物光谱信息采集装置进行说明。As a preferred embodiment, this embodiment describes a crop spectral information collection device provided by the present invention through specific examples in conjunction with the accompanying drawings.
以下对点阵光谱传感器和面阵光谱传感器的硬件结构进行说明：The following describes the hardware structure of the dot matrix spectral sensor and the area spectral sensor:
在本实施例中，点阵光谱传感器采用四波段自标定式光谱传感器。图3为根据本发明实施例提供的一种点阵光谱传感器的硬件结构示意图，如图3所示，该点阵光谱传感器主要由光学通道、信号调理电路、微控制器和相应外围电路组成。In this embodiment, the dot matrix spectral sensor adopts a four-band self-calibration spectral sensor. Fig. 3 is a schematic diagram of the hardware structure of a dot-matrix spectral sensor provided according to an embodiment of the present invention. As shown in Fig. 3, the dot-matrix spectral sensor is mainly composed of an optical channel, a signal conditioning circuit, a microcontroller and corresponding peripheral circuits.
该点阵光谱传感器具有四个光学通道，四个光学通道的特性均不同，因此，四个光学通道采集不同特定波长处的反射光信号。在本实施例中，由于四个光学通道的特性已固定，四个光学通道的光电探测器分别负责采集作物冠层在550nm、650nm、766nm和850nm处的反射光信号，并将反射光信号转换成微弱模拟电信号输出。微弱模拟电信号经过信号调理电路中的IU转换模块和滤波放大模块后，转换成为模拟电信号。模拟电信号再由微控制器进行A/D变换，进而转换为数字信号。该数字信号由相应外围电路中的通信模块输出给上位机。The dot-matrix spectral sensor has four optical channels, and the characteristics of the four optical channels are different. Therefore, the four optical channels collect reflected light signals at different specific wavelengths. In this embodiment, since the characteristics of the four optical channels are fixed, the photodetectors of the four optical channels are respectively responsible for collecting the reflected light signals of the crop canopy at 550nm, 650nm, 766nm and 850nm, and converting the reflected light signals Into a weak analog electrical signal output. The weak analog electrical signal is converted into an analog electrical signal after being passed through the IU conversion module and the filter amplification module in the signal conditioning circuit. The analog electrical signal is then A/D converted by the microcontroller, and then converted into a digital signal. The digital signal is output to the host computer by the communication module in the corresponding peripheral circuit.
其中，通信模块的通信方式预留CAN总线接口、WIFI模块接口和ZigBee接口等多种通信方式，可以根据具体场景选择合适的通信方式。Among them, the communication mode of the communication module reserves a variety of communication modes such as CAN bus interface, WIFI module interface and ZigBee interface, and the appropriate communication mode can be selected according to the specific scene.
在本实施例中，面阵光谱传感器采用多光谱相机。图4为根据本发明实施例提供的一种面阵光谱传感器的硬件结构示意图，如图4所示，该面阵光谱传感器主要由镜头、信号调理模块、RGB和NIR图像输出模块组成。In this embodiment, the area array spectral sensor adopts a multi-spectral camera. FIG. 4 is a schematic diagram of the hardware structure of an area spectral sensor provided according to an embodiment of the present invention. As shown in FIG. 4 , the area spectral sensor is mainly composed of a lens, a signal conditioning module, and an RGB and NIR image output module.
该面阵光谱传感器通过棱镜分光技术可同步获取可见光RGB图像和NIR图像信号。该面阵光谱传感器将采集到的光谱图像信息传输给上位机，由上位机通过图像处理算法，计算得到覆盖率。The area array spectral sensor can simultaneously acquire visible light RGB images and NIR image signals through prism spectroscopic technology. The area array spectral sensor transmits the collected spectral image information to the host computer, and the host computer calculates the coverage rate through the image processing algorithm.
以下对点阵光谱传感器和面阵光谱传感器的功能进行说明：The following describes the functions of the dot matrix spectral sensor and the area spectral sensor:
图5为根据本发明实施例提供的一种点阵光谱传感器的感光原理示意图，如图5所示，点阵光谱传感器具有四个光学通道。为了以示区分，将四个光学通道分别取名为第一光学通道、第二光学通道、第三光学通道和第四光学通道。FIG. 5 is a schematic diagram of a light-sensing principle of a dot-matrix spectral sensor according to an embodiment of the present invention. As shown in FIG. 5 , the dot-matrix spectral sensor has four optical channels. In order to distinguish, the four optical channels are respectively named as the first optical channel, the second optical channel, the third optical channel and the fourth optical channel.
其中，由于每一个光学通道内的光电探测器的感光面较小，只有3.2×3.2mm，因此，将光学通道的探测区域称为点状区域。Wherein, since the light-sensing surface of the photodetector in each optical channel is small, only 3.2×3.2 mm, the detection area of the optical channel is called a spot area.
其中，第一光学通道用于采集对应点状区域内的作物冠层在550nm处的反射光信号，第二光学通道用于采集对应点状区域内的作物冠层在650nm处的反射光信号，第三光学通道用于采集对应点状区域内的作物冠层在766nm处的反射光信号，第四光学通道用于采集对应点状区域内的作物冠层在850nm处的反射光信号。Wherein, the first optical channel is used to collect the reflected light signal of the crop canopy in the corresponding point-shaped area at 550nm, and the second optical channel is used to collect the reflected light signal of the crop canopy in the corresponding point-shaped area at 650nm, The third optical channel is used to collect the reflected light signal of the crop canopy in the corresponding point area at 766nm, and the fourth optical channel is used to collect the reflected light signal of the crop canopy in the corresponding point area at 850nm.
图6为根据本发明实施例提供的一种面阵光谱传感器的感光原理示意图，如图6所示，面阵光谱传感器具有一个镜头。该镜头具有25°视场角，其探测范围为一圆形面状区域。该圆形面状区域的大小由镜头距离被测面的距离决定。采集作物冠层光谱图像信息时考虑到反射光信号的强度问题，设定面阵光谱传感器到被测面即作物冠层的经验距离是50cm，此时的圆形面状区域的大小约为386cm2。FIG. 6 is a schematic diagram of a photosensitive principle of an area spectrum sensor according to an embodiment of the present invention. As shown in FIG. 6 , the area array sensor has a lens. The lens has a field of view of 25°, and its detection range is a circular area. The size of the circular area is determined by the distance between the lens and the measured surface. Considering the intensity of the reflected light signal when collecting crop canopy spectral image information, set the empirical distance from the area array spectral sensor to the measured surface, that is, the crop canopy, as 50cm, and the size of the circular area at this time is about 386cm2 .
需要说明的是，面阵光谱传感器的探测范围为一圆形面状区域，但其保存的光谱图像为圆形面状区域内的一块矩形面状区域。It should be noted that the detection range of the area spectrum sensor is a circular area, but the spectral image it saves is a rectangular area within the circular area.
以下对点阵光谱传感器和面阵光谱传感器的组合进行说明：The combination of the dot matrix spectral sensor and the area spectral sensor is described below:
图2为根据本发明实施例提供的一种作物光谱信息采集装置，如图2所示，该作物光谱信息采集装置由一个面阵光谱传感器和两个点阵光谱传感器组成。其中，面阵光谱传感器处于中间位置，两个点阵光谱传感器分别位于面阵光谱传感器的左侧和右侧。Fig. 2 is a crop spectral information collection device according to an embodiment of the present invention. As shown in Fig. 2, the crop spectral information collection device is composed of an area array spectral sensor and two dot matrix spectral sensors. Wherein, the area spectrum sensor is in the middle position, and the two dot matrix spectrum sensors are respectively located on the left and right sides of the area array spectrum sensor.
结合两种光谱传感器的物理尺寸关系，可以计算的得到两种光谱传感器探测范围的位置关系。通过计算得到，当两种光谱传感器的高度距离被测面即作物冠层的距离为50cm(50cm也是面阵光谱传感器采集作物冠层的光谱图像信息的适当距离)时，点阵光谱传感器的探测点在面阵光谱传感器的探测面内的两侧区域。Combining the physical size relationship of the two spectral sensors, the positional relationship of the detection ranges of the two spectral sensors can be calculated. Through calculation, when the height of the two spectral sensors is 50cm from the measured surface, that is, the crop canopy (50cm is also the appropriate distance for the area spectral sensor to collect the spectral image information of the crop canopy), the detection of the lattice spectral sensor Points are placed on the two sides of the detection surface of the area spectrum sensor.
需要说明的是，探测点指代点状区域，探测面指代面状区域。It should be noted that the detection point refers to a point-shaped area, and the detection surface refers to a planar area.
本实施例提供的一种作物光谱信息采集装置，通过将点阵光谱传感器和面阵光谱传感器组合使用，使得该采集装置既保持了点阵传感器数据格式简单、处理速度快、实时性好且信噪比高的优点；又可利用面阵传感器采集的光谱图像信息而方便计算出地表作物覆盖度，以修正田间土壤反射光谱和作物生长形态导致的光谱干扰影响，从而可获得高精度的作物冠层的反射光信号，为施肥决策提供更可靠的数据支持。The crop spectral information acquisition device provided in this embodiment uses a dot matrix sensor and an area spectrum sensor in combination, so that the acquisition device not only maintains the simple data format of the dot matrix sensor, fast processing speed, good real-time performance and information The advantage of high noise ratio; and the spectral image information collected by the area sensor can be used to easily calculate the surface crop coverage, so as to correct the spectral interference caused by the field soil reflection spectrum and crop growth form, so as to obtain high-precision crop canopy. The reflected light signal of the layer can provide more reliable data support for fertilization decision-making.
基于上述实施例，本实施例对一种施肥装置的施肥量决策控制装置进行说明，所述施肥量决策控制装置包括：上位机、地理位置信息获取模块、速度传感器、流量传感器和压力传感器。Based on the above embodiments, this embodiment describes a fertilizer amount decision-making control device for a fertilization device. The fertilizer amount decision-making control device includes: a host computer, a geographic location information acquisition module, a speed sensor, a flow sensor and a pressure sensor.
所述上位机，用于根据所述光谱图像信息和所述多组反射光信号，获取作物的氮素营养状态信息；并根据所述作物的氮素营养状态信息、所述地理位置信息获取模块获取的所述施肥装置的位置信号、所述速度传感器获取的所述施肥装置的速度信号、所述流量传感器获取的所述肥料输出装置的流量信号和所述压力传感器获取的所述肥料输出装置的压力信号，决策施肥量信息；并根据所述施肥量信息，控制所述肥料输出装置输出相应的施肥量。The upper computer is used to obtain the nitrogen nutrition status information of the crops according to the spectral image information and the multiple groups of reflected light signals; The position signal of the fertilization device obtained by the speed sensor, the speed signal of the fertilization device obtained by the speed sensor, the flow signal of the fertilizer output device obtained by the flow sensor and the fertilizer output device obtained by the pressure sensor the pressure signal to determine the fertilizer application amount information; and according to the fertilizer application amount information, control the fertilizer output device to output the corresponding fertilizer application amount.
具体地，施肥量决策控制装置，用于根据作物光谱信息采集装置发送光谱数据获取作物的氮素营养状态信息。并根据作物的氮素营养状态信息、GPS模块采集的位置信号、速度传感器采集的速度信号、流量传感器采集的流量信号和压力传感器采集的压力信号，决策输出作物相应的施肥量信息。并根据施肥量信息，控制肥料输出装置输出相应的施肥量。其中，光谱数据指代面状区域内的作物冠层的光谱图像信息和两个点阵光谱传感器正下方的多个点状区域内的作物冠层的多组反射光信号。所述肥料输出装置，用于给作物施加肥料。Specifically, the fertilizer amount decision-making control device is used to obtain the nitrogen nutrition status information of the crops according to the spectral data sent by the crop spectral information collection device. And according to the nitrogen nutrition status information of the crops, the position signal collected by the GPS module, the speed signal collected by the speed sensor, the flow signal collected by the flow sensor and the pressure signal collected by the pressure sensor, it decides to output the corresponding fertilizer information of the crop. And according to the fertilizer amount information, the fertilizer output device is controlled to output the corresponding fertilizer amount. Wherein, the spectral data refers to the spectral image information of the crop canopy in the planar area and multiple groups of reflected light signals of the crop canopy in multiple point areas directly below the two lattice spectral sensors. The fertilizer output device is used for applying fertilizer to crops.
本实施例提供的一种施肥装置，通过作物光谱信息采集装置，采集面阵光谱传感器下方的面状区域内的作物冠层的光谱图像信息和两个点阵光谱传感器正下方的多个点状区域内的作物冠层的多组反射光信号，从而可获得高精度的作物冠层的反射光信号，为施肥决策提供更可靠的数据支持。In the fertilization device provided in this embodiment, the crop spectral information collection device collects the spectral image information of the crop canopy in the planar area below the area array spectral sensor and the multiple point-shaped images directly below the two lattice spectral sensors. Multiple sets of reflected light signals of the crop canopy in the area can obtain high-precision reflected light signals of the crop canopy, providing more reliable data support for fertilization decisions.
基于上述实施例，本实施例对上述实施例中的肥料输出装置进行具体说明。Based on the above embodiments, this embodiment specifically describes the fertilizer output device in the above embodiments.
所述肥料输出装置包括：The fertilizer output device includes:
控制器、与所述控制器电连接的流量调节阀组、与所述流量调节阀组连接的肥料箱和与所述肥料箱连接的喷杆机构。A controller, a flow regulating valve group electrically connected with the controller, a fertilizer box connected with the flow regulating valve group and a spray bar mechanism connected with the fertilizer box.
所述控制器，用于接收所述施肥量决策控制装置发送的施肥量信息；并根据所述施肥量信息，调节所述流量调节阀组，以使得所述喷杆机构输出相应的施肥量。The controller is configured to receive fertilizer amount information sent by the fertilizer amount decision-making control device; and adjust the flow regulating valve group according to the fertilizer amount information, so that the spray boom mechanism outputs a corresponding fertilizer amount.
所述肥料箱，用于装载肥料。The fertilizer box is used for loading fertilizer.
作为一个优选实施例，本实施例结合附图，并通过具体的举例对一种施肥装置进行具体说明。As a preferred embodiment, this embodiment describes a fertilization device through specific examples in conjunction with the accompanying drawings.
图7为根据本发明实施例提供的一种施肥牵引机的结构示意图，如图7所示，该施肥牵引机包括：Fig. 7 is a schematic structural diagram of a fertilizing tractor provided according to an embodiment of the present invention. As shown in Fig. 7, the fertilizing tractor includes:
固定在牵引机体前端的作物光谱信息采集装置1、牵引机体2、在牵引机体内的施肥量决策控制装置3、固定在牵引机体顶部的GPS装置4、在牵引机体内的控制器5、流量调节阀组6、在牵引机体后端的肥料箱7以及和肥料箱7连在一起的喷杆机构8。Crop spectral information collection device fixed at the front end of the traction body 1, traction body 2, fertilizer amount decision-making control device in the traction body 3, GPS device fixed on the top of the traction body 4, controller in the traction body 5, flow adjustment Valve group 6, the fertilizer box 7 at the traction body rear end and the spray bar mechanism 8 connected together with the fertilizer box 7.
其中，作物光谱信息采集装置1负责采集作物冠层的反射光谱数据，并将该数据发送给施肥量决策控制装置3；施肥量决策控制装置3通过上位机软件处理分析得到作物的氮素营养状态信息后，再结合GPS装置、速度传感器、流量传感器和压力传感器采集的位置信号、速度信号、流量信号和压力信号，计算输出作物相应的施肥量信息给控制器5，所述控制器5控制流量调节阀组6，以使得喷杆机构8输出相应的施肥量。Among them, the crop spectral information acquisition device 1 is responsible for collecting the reflectance spectrum data of the crop canopy, and sends the data to the fertilizer amount decision-making control device 3; the fertilizer amount decision-making control device 3 obtains the nitrogen nutrition status of the crop through the host computer software processing and analysis After the information, combined with the position signal, speed signal, flow signal and pressure signal collected by the GPS device, speed sensor, flow sensor and pressure sensor, the corresponding fertilization amount information of the output crop is calculated and output to the controller 5, and the controller 5 controls the flow rate Adjust the valve group 6 so that the spray bar mechanism 8 outputs the corresponding fertilizer application amount.
本实施例提供的一种施肥装置，实现了根据作物的氮素营养需求实时变量喷肥，减少肥料的使用量，提高肥料的利用率。The fertilization device provided in this embodiment realizes real-time variable fertilizer spraying according to the nitrogen nutrient requirements of crops, reduces the amount of fertilizer used, and improves the utilization rate of fertilizer.
基于上述实施例，图8为根据本发明实施例提供的一种施肥方法的流程图，如图8所示，所述方法包括：Based on the above embodiment, Fig. 8 is a flow chart of a fertilization method provided according to an embodiment of the present invention. As shown in Fig. 8, the method includes:
S1，采集面阵光谱传感器下方的面状区域内的作物冠层的光谱图像信息和两个点阵光谱传感器正下方的多个点状区域内的作物冠层的多组反射光信号。S1, collecting spectral image information of the crop canopy in the planar area below the area spectral sensor and multiple groups of reflected light signals of the crop canopy in multiple point areas directly below the two lattice spectral sensors.
S2，根据所述光谱图像信息和所述多组反射光信号，获取作物的氮素营养状态信息；并根据所述作物的氮素营养状态信息，决策施肥量信息；并根据所述施肥量信息，控制所述肥料输出装置输出相应的施肥量。S2. According to the spectral image information and the multiple groups of reflected light signals, obtain the nitrogen nutrition status information of the crops; and according to the nitrogen nutrition status information of the crops, decide the fertilizer application amount information; and according to the fertilizer application amount information , controlling the fertilizer output device to output a corresponding amount of fertilizer.
S3，给作物施加肥料。S3, applying fertilizer to the crops.
需要说明的是，本实施例中的步骤S1的方法可通过上述实施例中的一种作物光谱信息采集装置实现。It should be noted that the method of step S1 in this embodiment can be implemented by a crop spectral information collection device in the above embodiment.
基于上述实施例，本实施例对上述实施例中的步骤S2进行具体解释说明。步骤S2具体包括：Based on the above embodiments, this embodiment specifically explains step S2 in the above embodiments. Step S2 specifically includes:
S21，根据所述两个点阵光谱传感器正下方的多个点状区域内的作物冠层的多组反射光信号，获取每一组反射光信号在对应的一个特定波长处的反射率；S21, according to multiple sets of reflected light signals of the crop canopy in multiple dotted areas directly below the two dot matrix spectral sensors, acquire the reflectance of each set of reflected light signals at a corresponding specific wavelength;
S22，根据多组反射光信号在对应的多个特定波长处的反射率，利用插值算法，获取所述面阵光谱传感器正下方区域内的作物冠层在所述多个特定波长处的反射率；S22, according to the reflectance of multiple sets of reflected light signals at the corresponding multiple specific wavelengths, using an interpolation algorithm to obtain the reflectance of the crop canopy in the area directly under the area array spectral sensor at the multiple specific wavelengths ;
S23，将所述面状区域划分为三个小区；对于每一小区，根据每一小区内的作物冠层的反射光信号在对应的特定波长处的反射率，获取第一实际植被指数和第二实际植被指数；S23. Divide the planar area into three sub-regions; for each sub-district, according to the reflectance of the reflected light signal of the crop canopy in each sub-district at the corresponding specific wavelength, the first actual vegetation index and the first actual vegetation index are obtained. 2. Actual vegetation index;
S24，对于每一小区，通过每一小区内的光谱图像信息，获取每一小区内的作物覆盖率参数；并根据所述作物覆盖率参数，对所述第一实际植被指数和第二实际植被指数进行修正，以获取第一修正植被指数和第二修正植被指数；S24, for each plot, obtain the crop coverage parameter in each plot through the spectral image information in each plot; and according to the crop coverage parameter, calculate the first actual vegetation index and the second actual vegetation The index is corrected to obtain the first revised vegetation index and the second revised vegetation index;
S25，根据每一小区的第一修正植被指数和第二修正植被指数，获取面状区域内的第一植被指数和第二植被指数；S25, according to the first modified vegetation index and the second modified vegetation index of each plot, obtain the first vegetation index and the second vegetation index in the planar area;
S26，根据第一植被指数和第二植被指数，获取在所述面状区域内的作物的氮素营养状态信息；并根据所述氮素营养状态信息，决策施肥量信息；并根据所述施肥量信息，控制所述肥料输出装置输出相应的施肥量。S26. According to the first vegetation index and the second vegetation index, obtain the nitrogen nutrition status information of the crops in the planar area; and according to the nitrogen nutrition status information, decide the fertilization amount information; and according to the fertilization The amount information is used to control the fertilizer output device to output the corresponding fertilizer amount.
具体地，对于步骤S21中的反射率的计算过程如下，需要说明的是，以下内容中以单个点阵光谱传感器进行说明：Specifically, the calculation process of the reflectivity in step S21 is as follows. It should be noted that a single dot matrix spectral sensor is used for illustration in the following content:
当点阵光谱传感器在作物冠层上方测量时，设点阵光谱传感器测得可见光特征波长处太阳入射光的电信号为Ers、对应波长植被反射光的电信号为Erp；红边特征波长处太阳入射光的电信号为Eres、对应波长植被反射光的电信号为Erep；近红外光特征波长处太阳入射光的电信号为Enirs、对应波长植被反射光的电信号为Enirp，则近红外光特征波长处的反射率Rnir、红边特征波长处的反射率Rre和可见光特征波长处的反射率Rr分别为：When the lattice spectral sensor measures above the crop canopy, it is assumed that the electrical signal of the sun’s incident light at the characteristic wavelength of visible light measured by the lattice spectral sensor is Ers , and the electrical signal of the reflected light of the vegetation at the corresponding wavelength is Erp ; the red edge characteristic wavelength The electrical signal of incident light from the sun is Eres , and the electrical signal of reflected light from vegetation corresponding to the wavelength is Erep ; the electrical signal of incident light from the sun at the characteristic wavelength of near-infrared light is Enirs , and the electrical signal of reflected light from vegetation corresponding to the wavelength is Enirp , then the reflectivity Rnir at the characteristic wavelength of near-infrared light, the reflectivity Rre at the characteristic wavelength of the red edge, and the reflectivity Rr at the characteristic wavelength of visible light are respectively:
其中knir、kre和kr为均比例常数，由装置的光学系统、光电探测器及其适配放大器的特性参数决定。Among them, knir , kre and kr are uniform proportional constants, which are determined by the characteristic parameters of the optical system of the device, the photodetector and its adaptive amplifier.
需要说明的是，特征波长是指反射光信号对应的一个特定波长。例如，第一光学通道用于采集对应点状区域内的作物冠层在550nm处的反射光信号，那么，550nm为该反射光对应的特定波长，也为该反射光的特征波长。It should be noted that the characteristic wavelength refers to a specific wavelength corresponding to the reflected optical signal. For example, the first optical channel is used to collect the reflected light signal at 550nm of the crop canopy in the corresponding point area, then 550nm is the specific wavelength corresponding to the reflected light and also the characteristic wavelength of the reflected light.
具体地，步骤S22是指，获取两个点阵光谱传感器采集到的多组反射光信号在各自对应的特定波长处的反射率。并根据这些反射率，通过插值算法，获取面阵光谱传感器正下方区域内(以下成为待测区域)的作物冠层在上述多个特定波长处的反射率。Specifically, step S22 refers to obtaining the reflectances of multiple groups of reflected light signals collected by the two dot matrix spectral sensors at their corresponding specific wavelengths. And according to these reflectances, through an interpolation algorithm, the reflectances of the crop canopy in the area directly below the area array spectral sensor (hereinafter referred to as the area to be measured) at the above-mentioned multiple specific wavelengths are obtained.
其中，在本实施例中，将插值算法优选为普通克里金法(Ordinary Kriging简称OK法)，说明如何通过插值估算待测区域内各特定波长处的反射率的。OK法常称作局部最优线性无偏估计，所谓线性是指估计值是样本值的线性组合，即加权线性平均，无偏是指理论上估计值的平均值等于实际样本值的平均值，即估计的平均误差为0，最优是指估计的误差方差最小。Wherein, in this embodiment, the interpolation algorithm is preferably Ordinary Kriging (OK method for short), and how to estimate the reflectance at each specific wavelength in the region to be measured by interpolation is described. The OK method is often called a local optimal linear unbiased estimate. The so-called linear means that the estimated value is a linear combination of sample values, that is, a weighted linear average. Unbiased means that the average value of the theoretical estimated value is equal to the average value of the actual sample value. That is, the estimated average error is 0, and optimal means that the estimated error variance is the smallest.
以下通过举例对步骤S22中的方法作出具体说明：The method in step S22 is specifically described below by way of example:
假设第一点阵光谱传感器和第二点阵光谱传感器的第一光学通道均用于采集对应点状区域内的作物冠层在550nm处的反射光信号。并且，第一点阵光谱传感器采集到的反射光信号在550nm处的反射率为R1，第二点阵光谱传感器采集到的反射光信号在550nm处的反射率为R2。那么，待测区域内的作物冠层的反射光信号在550nm处的反射率R为：It is assumed that the first optical channels of the first lattice spectral sensor and the second lattice spectral sensor are both used to collect the reflected light signal at 550 nm of the crop canopy in the corresponding point-shaped area. Moreover, the reflectance of the reflected light signal collected by the first dot-matrix spectral sensor at 550 nm is R1 , and the reflectance of the reflected light signal collected by the second dot-matrix spectral sensor at 550 nm is R2 . Then, the reflectance R of the reflected light signal of the crop canopy in the area to be measured at 550nm is:
R＝K1·R1+K2·R2；R=K1 ·R1 +K2 ·R2 ;
其中，K1和K2为加权系数，可根据场景需要进行调整。Among them, K1 and K2 are weighting coefficients, which can be adjusted according to the needs of the scene.
待测区域在其他特定波长处的反射率的计算过程与上述计算过程一致，此处不再赘述。The calculation process of the reflectance of the region to be measured at other specific wavelengths is consistent with the above calculation process, and will not be repeated here.
具体地，对于步骤S23，此处结合附图对该步骤进行说明。图9为根据本发明实施例提供的一种面状区域的分区示意图，如图9所示，面阵光谱传感器的探测范围为一个圆形面状区域，但其保存的光谱图像为该圆形面状区域内的一个矩形面状区域。图9中的矩形面状区域代表一幅光谱图像，将该矩形面状区域水平分成三个小区，分别用A、B、C标识。Specifically, for step S23, this step will be described here with reference to the accompanying drawings. Fig. 9 is a schematic diagram of the division of a planar area according to an embodiment of the present invention. As shown in Fig. 9, the detection range of the area spectrum sensor is a circular planar area, but the spectral image it saves is the circular area. A rectangular area within a area. The rectangular area in FIG. 9 represents a spectral image, and the rectangular area is divided into three sub-regions horizontally, which are marked with A, B, and C respectively.
其中，A小区和C小区分别为两个点阵光谱传感器的正下方的投影区域，其中的圆圈均为其探测的点状区域。B小区为面阵光谱传感器正下方的投影区域，其中的圆圈代表点状区域。需要说明的是，B小区的点状区域实际上是不存在的，该点状区域内反射光信号的反射率通过A小区和C小区的点状区域内的反射光信号在其对应的特定波长处的反射率，通过插值算法计算得出的。Among them, cell A and cell C are the projection areas directly below the two dot-matrix spectral sensors respectively, and the circles in them are point-shaped areas detected by them. Cell B is the projection area directly under the area spectrum sensor, and the circles in it represent point-like areas. It should be noted that the point-shaped area of cell B does not actually exist, and the reflectance of the reflected optical signal in the point-shaped area passes through the reflected light signals in the point-shaped area of cell A and cell C at their corresponding specific wavelengths. The reflectivity at is calculated by interpolation algorithm.
以A小区为例，计算该区域内的第一实际植被指数NDVI实和第二实际植被指数NDRE实：Taking cell A as an example, calculate the first actual vegetation index NDVI and the secondactual vegetation index NDREin this area:
其中，Rnir为近红外光在对应的特定波长处的反射率，Rre为红边在对应的特定波长处的反射率，Rr为可见光在对应的特定波长处的反射率。Among them, Rnir is the reflectance of near-infrared light at the corresponding specific wavelength, Rre is the reflectance of the red edge at the corresponding specific wavelength, and Rr is the reflectance of visible light at the corresponding specific wavelength.
由上述实施例可知各反射光信号的反射率的求取公式，将上述各反射光信号的反射率公式带入第一实际植被指数NDVI实和第二实际植被指数NDRE实的公式中，可得：It can be known from the foregoing embodiments that the formulas for obtaining the reflectance of each reflected light signal are brought into the formulas of the first actual vegetation index NDVI and the secondactual vegetation indexNDRE , and the formulas for the reflectance of each reflected light signal can be obtained :
其中，其他参数均在上述实施例中作了介绍，此处不再赘述。in, Other parameters have been introduced in the above embodiments and will not be repeated here.
为尽可能消除光学传感器的光学系统、光电探测器及其适配放大器系统误差及太阳光照变化对测量结果的影响，研究了系统的标定方法。In order to eliminate as much as possible the influence of the optical system of the optical sensor, the photodetector and its adaptive amplifier system error and the change of sunlight on the measurement results, the calibration method of the system is studied.
当点阵光谱传感器在白板上方测量时，设点阵光谱传感器测得可见光特征波长处太阳入射光的电信号为Es0、对应波长植被反射光的电信号为Ep0；红边特征波长处太阳入射光的电信号为Eres0、对应波长植被反射光的电信号为Erep0；近红外光特征波长处太阳入射光的电信号为Enirs0、对应波长植被反射光的电信号为Enirp0。由于标准白板反射率为1，即近红外光特征波长处的反射率Rnir0、红边特征波长处的反射率Rre0和可见光特征波长处的反射率Rr0均为1，所以：When the dot-matrix spectral sensor measures above the whiteboard, let the dot-matrix spectral sensor measure the electrical signal of the sun’s incident light at the characteristic wavelength of visible light as Es0 , and the electrical signal of the vegetation’s reflected light at the corresponding wavelength as Ep0 ; The electrical signal of the incident light is Eres0 , and the electrical signal of the vegetation reflection light corresponding to the wavelength is Erep0 ; the electrical signal of the sun incident light at the characteristic wavelength of near-infrared light is Enirs0 , and the electrical signal of the vegetation reflection light of the corresponding wavelength is Enirp0 . Since the reflectance of the standard whiteboard is 1, that is, the reflectivity Rnir0 at the characteristic wavelength of near-infrared light, the reflectivity Rre0 at the characteristic wavelength of red edge and the reflectivity Rr0 at the characteristic wavelength of visible light are all 1, so:
可确定装置标定的系数为：The coefficients that can determine the calibration of the device are:
B小区和C小区中的第一实际植被指数和第二实际植被指数与A小区中的计算方法一致，此处不再赘述。The calculation method of the first actual vegetation index and the second actual vegetation index in the B cell and the C cell is the same as that in the A cell, and will not be repeated here.
由于点阵光谱传感器测得的反射光信号，不能去除土壤等背景的影响，因此需要从面阵传感器采集的光谱图像信息中，提取作物冠层信息，消除土壤等背景信息的干扰。因此，提出利用作物覆盖度修正由点阵光谱传感器数据计算得到的第一实际植被指数和第二实际植被指数，然后将修正后的植被指数作为氮素营养诊断模型的输入参数，从而反演作物氮素营养需求。Since the reflected light signal measured by the dot matrix spectral sensor cannot remove the influence of the background such as soil, it is necessary to extract the crop canopy information from the spectral image information collected by the area array sensor to eliminate the interference of background information such as soil. Therefore, it is proposed to use crop coverage to correct the first actual vegetation index and the second actual vegetation index calculated from the data of the lattice spectral sensor, and then use the corrected vegetation index as the input parameter of the nitrogen nutrition diagnosis model to invert the crop Nitrogen nutrient requirements.
基于上述实施例，本实施例对步骤S24中的作物覆盖度的求取过程进行具体说明：Based on the above-mentioned embodiment, the present embodiment specifically describes the process of obtaining the crop coverage in step S24:
由于天气情况、拍摄环境等因素的影响，会使面阵光谱传感器采集的光谱图像信息混有不同程度的噪声。为减小噪声，消除其中的随机性和局部性噪声点，首先对光谱图像信息进行滤波平滑处理。然后，为了实现作物的冠层叶片与土壤背景的分割，利用作物冠层叶片与土壤背景颜色不同的特点，根据经过滤波平滑处理后的光谱图像信息，基于HIS彩色空间模型的H分量，分割出作物的冠层叶片图像信息。接着，根据作物的冠层叶片在近红外光波段内的反射光的反射灰度级高于土壤背景的反射光的反射灰度级的特征，对冠层叶片图像信息进行二次分割，对经过二次分割的冠层叶片图像信息进行二值化处理，从而将作物冠层叶片与土壤背景进行分离开来。Due to the influence of factors such as weather conditions and shooting environment, the spectral image information collected by the area array spectral sensor will be mixed with different degrees of noise. In order to reduce the noise and eliminate the random and local noise points, the spectral image information is filtered and smoothed first. Then, in order to realize the segmentation of crop canopy leaves and soil background, using the characteristics of different colors of crop canopy leaves and soil background, according to the spectral image information after filtering and smoothing, based on the H component of the HIS color space model, segment Image information of crop canopy leaves. Next, according to the feature that the reflection gray level of the reflected light of the crop canopy leaves in the near-infrared band is higher than that of the soil background, the image information of the canopy leaves is divided twice, and the The canopy leaf image information of the secondary segmentation is binarized to separate the crop canopy leaves from the soil background.
对将土壤背景分离后的光谱图像信息进行像素级操作。图8为根据本发明实施例提供的一种面状区域的分区示意图，如图8所示，首先提取出矩形面状区域的像素。然后将该区域像素在水平方向上，平均分为3个小区，对于每一个小区，其作物覆盖率参数C为：Perform pixel-level operations on the spectral image information after separating the soil background. FIG. 8 is a schematic diagram of a partition of a planar area according to an embodiment of the present invention. As shown in FIG. 8 , pixels in a rectangular planar area are first extracted. Then, the pixels in this area are divided into 3 sub-districts on average in the horizontal direction. For each sub-district, the crop coverage parameter C is:
其中，LP为任一小区内冠层叶片像素点数，Ap为任一小区内总像素点数；Among them, LP is the number of pixel points of canopy leaves in any plot, and Ap is the total number of pixel points in any plot;
所述第一修正植被指数NDVI修和第二修正植被指数NDRE修，通过以下公式获取：The first modified vegetation index NDVI and the secondmodified vegetation indexNDRE are obtained by the following formula:
其中，NDVI实为第一实际植被指数，NDRE实为第二实际植被指数，NDVIs为裸土区的第一植被指数，NDREs为裸土区的第二植被指数，C为作物覆盖率参数。Among them, NDVIis actually the first actual vegetation index, NDREis actually the second actual vegetation index, NDVIs is the first vegetation index of the bare soil area, NDREs is the second vegetation index of the bare soil area, C is the crop coverage parameter .
因此，面状区域内的第一植被指数NDVI和第二植被指数NDRE，通过以下公式获取：Therefore, the first vegetation index NDVI and the second vegetation index NDRE in the area are obtained by the following formula:
NDVI＝KA·NDVIA+KB·NDVIB+KC·NDVIC；NDVI＝KA NDVIA +KB NDVIB +KC NDVIC ;
NDRE＝KA·NDREA+KB·NDREB+KC·NDREC；NDRE＝KA NDREA +KB NDREB +KC NDREC ;
其中，NDVIA为A小区的第一修正植被指数，NDVIB为B小区的第一修正植被指数，NDVIC为C小区的第一修正植被指数；NDREA为A小区的第二修正植被指数，NDREB为B小区的第二修正植被指数，NDREC为C小区的第二修正植被指数；KA、KB和KC均为加权系数，加权系数可根据具体场景进行调整。Among them, NDVIA is the first modified vegetation index of A cell, NDVIB is the first modified vegetation index of B cell, NDVIC is the first modified vegetation index of C cell; NDREA is the second modified vegetation index of A cell, NDREB is the second modified vegetation index of cell B, and NDREC is the second modified vegetation index of cellC ; KA , KB and KC are all weighting coefficients, which can be adjusted according to specific scenarios.
基于上述实施例，本实施例对步骤S26中根据第一植被指数和第二植被指数，获取在所述面状区域内的作物的氮素营养状态信息；并根据所述氮素营养状态信息，决策施肥量信息；并根据所述施肥量信息，控制所述肥料输出装置输出相应的施肥量，作出具体说明。Based on the above-mentioned embodiment, in this embodiment, according to the first vegetation index and the second vegetation index in step S26, the nitrogen nutrition status information of the crops in the planar area is obtained; and according to the nitrogen nutrition status information, Decision-making fertilizer amount information; and according to the fertilizer amount information, control the fertilizer output device to output the corresponding fertilizer amount, and make specific instructions.
S261，根据所述面状区域内的第一植被指数，按照如下公式获取所述面状区域内的生物量。S261. Acquire the biomass in the area according to the first vegetation index in the area according to the following formula.
其中，x代表第一植被指数NDVI，y代表生物量Biomass，a1、b1均为调整系数。该系数在不同的作物类型(如小麦、水稻等)间存在差异。Among them, x represents the first vegetation index NDVI, y represents the biomass Biomass, and a1 and b1 are adjustment coefficients. This coefficient varies among different crop types (such as wheat, rice, etc.).
S262，根据氮稀释曲线和所述生物量，获取标准氮浓度；根据所述第一植被指数和所述生物量，获取标准吸氮量。S262. Obtain a standard nitrogen concentration according to the nitrogen dilution curve and the biomass; obtain a standard nitrogen uptake amount according to the first vegetation index and the biomass.
具体地，图10为根据本发明实施例提供的一种氮稀释曲线CNDC模型示意图，如图10所示，该模型示意图的横纵坐标分别为生物量Biomass和标准氮浓度Nc。其中，生物量Biomass和标准氮浓度Nc的函数关系为：Specifically, FIG. 10 is a schematic diagram of a nitrogen dilution curve CNDC model provided according to an embodiment of the present invention. As shown in FIG. 10 , the horizontal and vertical coordinates of the schematic diagram of the model are respectively the biomass Biomass and the standard nitrogen concentration Nc . Among them, the functional relationship between biomass Biomass and standard nitrogen concentrationNc is:
其中，B(Biomass)代表生物量，Nc代表标准氮浓度，c为调整系数。该系数在不同的作物类型(如小麦、水稻等)间存在差异。Among them, B (Biomass) represents the biomass, Nc represents the standard nitrogen concentration, and c is the adjustment coefficient. This coefficient varies among different crop types (such as wheat, rice, etc.).
标准吸氮量NUc为：The standard nitrogen uptake NUc is:
NUc＝Nc×Biomass。NUc =Nc x Biomass.
S263，根据所述面状区域内的第二植被指数，按照如下公式获取实际吸氮量。S263. According to the second vegetation index in the planar area, the actual nitrogen uptake is obtained according to the following formula.
其中，x代表第二植被指数NDRE，y代表实际吸氮量NU，a2、b2均为调整系数。该系数在不同的作物类型(如小麦、水稻等)间存在差异。Among them, x represents the second vegetation index NDRE, y represents the actual nitrogen uptake NU, and a2 and b2 are adjustment coefficients. This coefficient varies among different crop types (such as wheat, rice, etc.).
S264，根据所述标准吸氮量和所述实际吸氮量，获取吸氮量差值。S264. Acquire a difference in nitrogen uptake according to the standard nitrogen uptake and the actual nitrogen uptake.
具体地，吸氮量差值NUdiff为：Specifically, the nitrogen uptake difference NUdiff is:
NUdiff＝|NU-NUc|；NUdiff = |NU-NUc |;
其中，NU为实际吸氮量，NUc为标准吸氮量。Among them, NU is the actual nitrogen uptake, and NUc is the standard nitrogen uptake.
S265，根据区域优化施氮量、前期施氮量、穗肥的氮肥回收率和所述吸氮量差值，计算施肥量，并控制所述肥料输出装置输出相应的施肥量。S265. Calculate the amount of fertilization according to the optimal nitrogen application amount in the region, the nitrogen application amount in the early stage, the nitrogen fertilizer recovery rate of ear fertilizer, and the nitrogen absorption amount difference, and control the fertilizer output device to output the corresponding fertilization amount.
具体地，若已知作物所需的施氮量，则可进而获取作物的施肥量，因此，求取作物所需的施氮量是关键。Specifically, if the nitrogen application amount required by the crop is known, the fertilizer application amount of the crop can be further obtained. Therefore, obtaining the nitrogen application amount required by the crop is the key.
作物的施氮量Nrate为：The nitrogen rate Nrate of crops is:
Nrate＝NRONM-Npre-(NUdiff/RE)(0kg/ha≤Nrate≤48kg/ha)；Nrate = NRONM -Npre -(NUdiff /RE)(0kg/ha≤Nrate≤48kg /ha);
其中，NUdiff为吸氮量差值，NRONM为区域优化施氮量，Npre为前期施氮量，RE为穗肥的氮肥回收率。NRONM和RE在不同的时间和地域间存在差异。Among them, NUdiff is the difference of nitrogen uptake, NRONM is the regional optimal nitrogen application rate, Npre is the previous nitrogen application rate, and RE is the nitrogen recovery rate of panicle fertilizer. There are differences between NRONM and RE in different time and regions.
综上，本发明提供的一种施肥装置及方法，通过将点阵光谱传感器和面阵光谱传感器组合使用，使得该施肥装置既保持了点阵传感器数据格式简单、处理速度快、实时性好且信噪比高的优点；又可利用面阵传感器采集的光谱图像信息而方便计算出地表作物覆盖度，以修正田间土壤反射光谱和作物生长形态导致的光谱干扰影响，从而可获得高精度的作物冠层的反射光信号，为施肥决策提供更可靠的数据支持。To sum up, the present invention provides a fertilization device and method. By combining the dot matrix sensor and the area spectrum sensor, the fertilization device not only maintains the simple data format of the dot sensor, fast processing speed, good real-time performance and The advantage of high signal-to-noise ratio; and the spectral image information collected by the area sensor can be used to easily calculate the surface crop coverage, so as to correct the spectral interference caused by the field soil reflection spectrum and crop growth form, so as to obtain high-precision crop coverage. The reflected light signal of the canopy provides more reliable data support for fertilization decisions.
最后，本发明的方法仅为较佳的实施方案，并非用于限定本发明的保护范围。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。Finally, the method of the present invention is only a preferred embodiment, and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711059675.3ACN107976921B (en) | 2017-11-01 | 2017-11-01 | Apparatus and method for fertilizing |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711059675.3ACN107976921B (en) | 2017-11-01 | 2017-11-01 | Apparatus and method for fertilizing |
| Publication Number | Publication Date |
|---|---|
| CN107976921A CN107976921A (en) | 2018-05-01 |
| CN107976921Btrue CN107976921B (en) | 2019-08-02 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711059675.3AActiveCN107976921B (en) | 2017-11-01 | 2017-11-01 | Apparatus and method for fertilizing |
| Country | Link |
|---|---|
| CN (1) | CN107976921B (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111066442B (en)* | 2019-12-04 | 2021-08-06 | 中国农业大学 | A kind of corn fertilization method, device and application to target variable |
| CN111279868B (en)* | 2020-04-10 | 2021-12-14 | 华南农业大学 | A real-time precise spraying method for rice |
| CN112014330B (en)* | 2020-07-30 | 2024-09-10 | 北京农业智能装备技术研究中心 | Crop near-earth spectrum data acquisition method and device |
| CN115428632A (en)* | 2022-10-12 | 2022-12-06 | 安徽科技学院 | Variable switch module and fertilizer applying device with same |
| CN115777312B (en)* | 2023-02-10 | 2023-04-25 | 中国建设基础设施有限公司 | Dynamic fertilization method based on soil information real-time acquisition and analysis |
| CN119476886A (en)* | 2025-01-14 | 2025-02-18 | 北京市农林科学院信息技术研究中心 | Method and device for determining crop topdressing amount based on spectral remote sensing |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101021472A (en)* | 2007-01-17 | 2007-08-22 | 南京农业大学 | Portable multiway crop leaf nitrogen nutrient index nondestructive monitoring device |
| JP2008209314A (en)* | 2007-02-27 | 2008-09-11 | Yanmar Co Ltd | Work vehicle |
| CN101806734A (en)* | 2009-12-30 | 2010-08-18 | 青岛科技大学 | Crop nitrogen nutrition diagnosis method and instrument based on canopy spectra |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7408145B2 (en)* | 2003-09-23 | 2008-08-05 | Kyle Holland | Light sensing instrument with modulated polychromatic source |
| CN101144778B (en)* | 2007-06-19 | 2010-09-08 | 中国农业大学 | Spectral reflectance measuring device |
| CN201638046U (en)* | 2010-04-15 | 2010-11-17 | 吉林农业大学 | Control device for variable fertilization of corn nitrogen fertilizer based on normalized difference vegetation index |
| CN101975764B (en)* | 2010-09-29 | 2013-01-30 | 中国农业大学 | Device and method for multi-band soil nitrogen detection based on near-infrared spectroscopy |
| CN102175626A (en)* | 2010-12-31 | 2011-09-07 | 北京京鹏环球科技股份有限公司 | Method for predicting nitrogen content of cucumber leaf based on spectral image analysis |
| CN102207452A (en)* | 2011-03-11 | 2011-10-05 | 中国农业大学 | Measuring system and method of crop canopy spectral indexes |
| CN102384767B (en)* | 2011-11-17 | 2014-03-12 | 江苏大学 | Nondestructive detection device and method for facility crop growth information |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101021472A (en)* | 2007-01-17 | 2007-08-22 | 南京农业大学 | Portable multiway crop leaf nitrogen nutrient index nondestructive monitoring device |
| JP2008209314A (en)* | 2007-02-27 | 2008-09-11 | Yanmar Co Ltd | Work vehicle |
| CN101806734A (en)* | 2009-12-30 | 2010-08-18 | 青岛科技大学 | Crop nitrogen nutrition diagnosis method and instrument based on canopy spectra |
| Publication number | Publication date |
|---|---|
| CN107976921A (en) | 2018-05-01 |
| Publication | Publication Date | Title |
|---|---|---|
| CN107976921B (en) | Apparatus and method for fertilizing | |
| CN107991245B (en) | Crop spectrum information acquisition device and crop vegetation index acquisition method | |
| Liu et al. | Estimating leaf area index using unmanned aerial vehicle data: shallow vs. deep machine learning algorithms | |
| Hall et al. | Optical remote sensing applications in viticulture‐a review | |
| CN102721651B (en) | Method and system for detecting moisture content of plant leaves based on multispectral images | |
| Vaesen et al. | Ground-measured spectral signatures as indicators of ground cover and leaf area index: the case of paddy rice | |
| CN112991247B (en) | Winter wheat evapotranspiration remote sensing inversion and crop model assimilation method | |
| US11816874B2 (en) | Plant identification using heterogenous multi-spectral stereo imaging | |
| Alchanatis et al. | In-field assessment of single leaf nitrogen status by spectral reflectance measurements | |
| Saberioon et al. | A review of optical methods for assessing nitrogen contents during rice growth | |
| CN106406178A (en) | Greenhouse crop growth information real-time peer-to-peer monitoring device and monitoring method | |
| CN102384767A (en) | Nondestructive detection device and method for facility crop growth information | |
| CN103345707A (en) | Crop maturation stage remote sensing prediction method based on multi-source remote sensing data | |
| CN114863369B (en) | Method, device, equipment and medium for monitoring corn lodging by lidar | |
| CN103616490A (en) | Method for estimating total stock of water-blooming cyanobacteria in large-size shallow lake | |
| CN110163138A (en) | A kind of wheat tillering density measuring method based on unmanned plane multi-spectral remote sensing image | |
| CN116602106A (en) | Unmanned aerial vehicle-based variable fertilization method in paddy field | |
| CN102175626A (en) | Method for predicting nitrogen content of cucumber leaf based on spectral image analysis | |
| CN206178392U (en) | Real -time reciprocity monitoring devices of greenhouse crop growth information | |
| WO2024150226A1 (en) | System and method for turning irrigation pivots into a network of robots for optimizing fertilization | |
| Bourgeon et al. | «On-the-go» multispectral imaging system to characterize the development of vineyard foliage with quantitative and qualitative vegetation indices | |
| Li et al. | Quantification of the cumulative shading capacity in a maize–soybean intercropping system using an unmanned aerial vehicle | |
| CN118747846B (en) | Water and fertilizer cruise decision system and method based on spectral information | |
| Muangprakhon et al. | Estimation of paddy rice plant height using UAV remote sensing | |
| CN106204525B (en) | A unified method for detecting the light interception rate of tree canopy |
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |