CN109673280A - Cultivation method, device, equipment and processor based on microwave radar - Google Patents
Cultivation method, device, equipment and processor based on microwave radar Download PDFInfo
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- CN109673280A CN109673280A CN201910024502.0A CN201910024502A CN109673280A CN 109673280 A CN109673280 A CN 109673280A CN 201910024502 A CN201910024502 A CN 201910024502A CN 109673280 A CN109673280 A CN 109673280A
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G2/00—Vegetative propagation
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- Life Sciences & Earth Sciences (AREA)
- Botany (AREA)
- Developmental Biology & Embryology (AREA)
- Environmental Sciences (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a cultivation method, a cultivation device, cultivation equipment and a cultivation processor based on a microwave radar. The method comprises the following steps: sending at least one first radar signal through a radar signal transmitting assembly, wherein the at least one first radar signal is used for detecting height information of plants to be cultivated; and cultivating the plants to be cultivated at least according to at least one echo signal which is received by the radar signal receiving assembly and corresponds to at least one first radar signal. The invention solves the technical problems that the plant cultivation mode provided by the related technology still needs manual attendance and the manual management cost can not be obviously reduced.
Description
Technical field
The present invention relates to radar communication field, in particular to a kind of cultural method based on microwave radar, device,
Equipment and processor.
Background technique
Microwave refers to that frequency is the electromagnetic wave of 300MHz-300GHz, is the abbreviation of a limited frequency band in radio wave, i.e.,
Wavelength is the general designation of decimetric wave, centimeter wave, millimeter wave and submillimeter wave to the electromagnetic wave between 1 millimeter 1 meter (be free of 1 meter).
Microwave frequency is higher than general radio wave frequency, also commonly referred to as " uhf electromagnetic wave ".Microwave is as a kind of electromagnetic wave
With duality principle.The fundamental property of microwave typically appears as penetrating, reflects, absorbs three characteristics.For glass, plastics and
For porcelain, microwave is almost passed through without being absorbed.For water and food etc., microwave can be absorbed and make self-heating.
And for metallic objects, then it can microwave reflection.
With the fast development of microwave device and hybrid microwave integrated circuit technology, microwave chip or microwave system on chip
Cost gradually declines, and thus provides possibility for the universal of microwave radar.In view of the high reliability of microwave radar and sensor,
Accuracy, can be obtained by cordless telemeasurement the distance between target and microwave radar and target relative to
The information such as the movement speed of microwave radar.
Currently, labor management cost is not significantly reduced although plant cultivation technology is increasingly scientific.In order to
It reasonably plans labor management cost, needs to seek more intelligentized plant culture mode.
For above-mentioned problem, currently no effective solution has been proposed.
Summary of the invention
The present invention at least partly embodiment provides a kind of cultural method based on microwave radar, device, equipment and processing
Device, by least solve in the related technology provided by a manner of plant culture there is still a need for artificial on duty, can not be substantially reduced artificial
The technical issues of management cost.
A wherein embodiment according to the present invention, provides a kind of cultural method based on microwave radar, comprising:
At least one first radar signal is sent by radar signal component, wherein at least one first radar letter
Number for detecting elevation information to cultivated plant；Received according at least to radar signal receiving unit at least one first
At least one corresponding echo-signal of radar signal is treated cultivated plant and is cultivated.
Optionally, treating cultivated plant to carry out cultivation according at least at least one echo-signal includes: according at least one
Echo-signal obtains elevation information；The growth conditions to cultivated plant are determined by elevation information；Cultivation is treated according to growth conditions
Object is cultivated to be cultivated.
Optionally, obtaining elevation information according at least one echo-signal includes: connecing according at least one echo-signal
Time receiving, which carves, obtains first distance and second distance relative to the latency measurement of the emission time of at least one the first radar signal,
In, vertical range of the first distance between radar signal component and ground, second distance is radar signal component
The shortest distance between the highest point to cultivated plant；4th distance is calculated using second distance and third distance,
In, third distance is radar signal component in the horizontal direction and to the distance between cultivated plant；Calculate first distance
The distance between 4th distance is poor, obtains elevation information.
Optionally, obtaining elevation information according at least one echo-signal includes: connecing according at least one echo-signal
Time receiving, which carves, obtains first distance and second distance relative to the latency measurement of the emission time of at least one the first radar signal,
In, vertical range of the first distance between radar signal component and ground, second distance is radar signal component
Vertical range between the highest point to cultivated plant；It is poor to calculate the distance between first distance and second distance, obtains height
Spend information.
Optionally, before treating cultivated plant according at least at least one echo-signal and being cultivated, further includes: obtain
Growing environment information to cultivated plant.
Optionally, treating cultivated plant to carry out cultivation according at least at least one echo-signal includes: according at least one
Echo-signal obtains elevation information；The growth conditions to cultivated plant are determined by elevation information and growing environment information；According to
Growth conditions are treated cultivated plant and are cultivated.
Optionally, after treating cultivated plant according at least at least one echo-signal and being cultivated, further includes: to
Elevation information is individually recorded during the continued propagation of cultivated plant or records elevation information and growing environment information simultaneously, is obtained
To statistical result；Cultivated plant and other similar cultivation of plants modes are treated according to statistical result adjustment.
A wherein embodiment according to the present invention, additionally provides a kind of culture apparatus based on microwave radar, comprising:
Sending module, for sending at least one first radar signal by radar signal component, wherein at least one
A first radar signal is used to detect the elevation information to cultivated plant；Processing module, for being received according at least to radar signal
At least one echo-signal corresponding at least one first radar signal that component receives is treated cultivated plant and is cultivated.
Optionally, processing module includes: first acquisition unit, is believed for obtaining height according at least one echo-signal
Breath；First determination unit, for determining the growth conditions to cultivated plant by elevation information；First processing units, for pressing
Cultivated plant is treated according to growth conditions to be cultivated.
Optionally, first acquisition unit includes: the first measurement subelement, for the reception according at least one echo-signal
Moment obtains first distance and second distance relative to the latency measurement of the emission time of at least one the first radar signal,
In, vertical range of the first distance between radar signal component and ground, second distance is radar signal component
The shortest distance between the highest point to cultivated plant；First computation subunit, for using second distance and third distance
The 4th distance is calculated, wherein third distance is radar signal component in the horizontal direction and between cultivated plant
Distance；Second computation subunit, it is poor for calculating the distance between first distance and the 4th distance, obtain elevation information.
Optionally, first acquisition unit includes: the second measurement subelement, for the reception according at least one echo-signal
Moment obtains the 5th distance and the 6th distance relative to the latency measurement of the emission time of at least one the first radar signal,
In, vertical range of the 5th distance between radar signal component and ground, the 6th distance is radar signal component
Vertical range between the highest point to cultivated plant；Third computation subunit, for calculating the 5th distance and the 6th distance
The distance between difference, obtain elevation information.
Optionally, above-mentioned apparatus further include: module is obtained, for obtaining the growing environment information to cultivated plant.
Optionally, processing module includes: second acquisition unit, is believed for obtaining height according at least one echo-signal
Breath；Second determination unit, for determining the growth conditions to cultivated plant by elevation information and growing environment information；At second
Unit is managed, is cultivated for treating cultivated plant according to growth conditions.
Optionally, above-mentioned apparatus further include: statistical module, for individually remembering during the continued propagation to cultivated plant
Record elevation information records elevation information and growing environment information simultaneously, obtains statistical result；Module is adjusted, for according to system
Cultivated plant and other similar cultivation of plants modes are treated in meter result adjustment.
A wherein embodiment according to the present invention additionally provides a kind of storage medium, and storage medium includes the program of storage,
In, in program operation, equipment where control storage medium executes the cultural method based on microwave radar of above-mentioned any one.
A wherein embodiment according to the present invention additionally provides a kind of processor, and processor is for running program, wherein journey
The cultural method based on microwave radar of above-mentioned any one is executed when sort run.
A wherein embodiment according to the present invention, additionally provides a kind of cultivating device based on microwave radar, comprising: one or
Multiple processors, memory, radar signal component, radar signal receiving unit and one or more programs, wherein one
A or multiple programs are stored in memory, and are configured as being performed by one or more processors, one or more journeys
Sequence is used to execute the cultural method based on microwave radar of above-mentioned any one.
In the present invention at least partly embodiment, at least one first radar is sent using by radar signal component
Signal, at least one first radar signal are used to detect the mode of the elevation information to cultivated plant, believe according at least to radar
At least one echo-signal corresponding at least one first radar signal that number receiving unit receives treat cultivated plant into
Row cultivation has reached and has detected the elevation information to cultivated plant in turn in unattended feelings by the range measurement principle of microwave radar
The purpose that cultivated plant is intelligently cultivated is treated under condition, thus realize by intelligence cultivate significantly reduce labor management at
Originally, the technical effect of the efficiency of management of plant culture is promoted, and then solves provided plant culture mode in the related technology
There is still a need for artificial on duty, the technical issues of labor management cost can not be substantially reduced.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is a kind of hardware block diagram of cultivating device based on microwave radar of the embodiment of the present invention；
Fig. 2 is the wherein flow chart of the cultural method based on microwave radar of an embodiment according to the present invention；
Fig. 3 is wherein schematic diagram of the acquisition of an alternative embodiment one to the elevation information of cultivated plant according to the present invention；
Fig. 4 is wherein schematic diagram of the acquisition of an alternative embodiment two to the elevation information of cultivated plant according to the present invention；
Fig. 5 is the wherein structural block diagram of the culture apparatus based on microwave radar of an embodiment according to the present invention；
Fig. 6 is the wherein structural block diagram of the culture apparatus based on microwave radar of an alternative embodiment according to the present invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.
A wherein embodiment according to the present invention, provides a kind of embodiment of cultural method based on microwave radar, needs
Illustrate, step shown in the flowchart of the accompanying drawings can be in a computer system such as a set of computer executable instructions
It executes, although also, logical order is shown in flow charts, and it in some cases, can be to be different from herein suitable
Sequence executes shown or described step.
This method embodiment can execute in the cultivating device based on microwave radar.Fig. 1 is the one of the embodiment of the present invention
The hardware block diagram of cultivating device of the kind based on microwave radar.As shown in Figure 1, the cultivating device based on microwave radar can wrap
Including one or more (one is only shown in Fig. 1) processors 102, (processor 102 can include but is not limited to: microprocessor
(MCU) or the processing units such as programmable logic device (FPGA) or Digital Signal Processing (DSP) chip) and for storing data
Memory 104.Optionally, the above-mentioned cultivating device based on microwave radar can also include the transmission device for communication function
106 and input-output equipment 108.It will appreciated by the skilled person that structure shown in FIG. 1 is only to illustrate, simultaneously
The structure of the above-mentioned cultivating device based on microwave radar is not caused to limit.For example, the cultivating device based on microwave radar may be used also
Including component more perhaps more less than shown in Fig. 1 or with the configuration different from shown in Fig. 1.
Memory 104 can be used for storing computer program, for example, the software program and module of application software, such as this hair
The corresponding computer program of the cultural method based on microwave radar in bright embodiment, processor 102 are stored in by operation
Computer program in reservoir 104 is realized above-mentioned based on microwave thunder thereby executing various function application and data processing
The cultural method reached.Memory 104 may include high speed random access memory, may also include nonvolatile memory, such as one or
Multiple magnetic storage devices, flash memory or other non-volatile solid state memories.In some instances, memory 104 can be into one
Step includes the memory remotely located relative to processor 102, these remote memories can be by network connection to based on micro-
The cultivating device of wave radar.The example of above-mentioned network includes but is not limited to internet, intranet, local area network, mobile communication
Net and combinations thereof.
Transmission device 106 is used to that data to be received or sent via a network.Above-mentioned network specific example may include
The wireless network that the communication providers of cultivating device based on microwave radar provide.In an example, transmission device 106 includes
One network adapter (Network Interface Controller, referred to as NIC), can pass through base station and other networks
Equipment is connected so as to be communicated with internet.In an example, transmission device 106 can be radio frequency (Radio
Frequency, referred to as RF) module, it is used to wirelessly be communicated with internet.
Input-output equipment 108 is used to send microwave radar signal via radar signal component and believe via radar
Number receiving unit receives echo-signal.
Provide in the present embodiment it is a kind of run on the above-mentioned cultivating device based on microwave radar based on microwave radar
Cultural method, Fig. 2 is the wherein flow chart of the cultural method based on microwave radar of an embodiment according to the present invention, such as Fig. 2
Shown, this method comprises the following steps:
Step S22 sends at least one first radar signal by radar signal component, wherein at least one
One radar signal is used to detect the elevation information to cultivated plant；
Step S24, what is received according at least to radar signal receiving unit is corresponding at least one first radar signal
At least one echo-signal is treated cultivated plant and is cultivated.
Through the above steps, can be using at least one first radar signal be sent by radar signal component, it should
At least one first radar signal is used to detect the mode of the elevation information to cultivated plant, according at least to radar signal reception group
At least one echo-signal corresponding at least one first radar signal that part receives is treated cultivated plant and is cultivated, and reaches
It is treated in the case where unattended in turn to being detected by the range measurement principle of microwave radar to the elevation information of cultivated plant
The purpose that cultivated plant is intelligently cultivated significantly reduces labor management cost, is promoted and planted to realize and be cultivated by intelligence
The technical effect of the efficiency of management of object cultivation, and then solve provided plant culture mode in the related technology and still need people
The technical issues of work is on duty, can not be substantially reduced labor management cost.
It is above-mentioned to can include but is not limited at least one of to cultivated plant:
(1) food plant, comprising: food plant etc. directly or indirectly；
(2) medicinal plant, comprising: Chinese medicine, herbal medicine, chemicals material plant etc.；
(3) industrial plant, comprising: timber, fiber, the parasitic plant of economic insects and industrial plant dyestuff
Deng；
(4) protection and Environmental change plant, comprising: plant of checking winds and fixing drifting sand afforests and beautifies environment plant etc.；
(5) plant germplasm, comprising: the germplasm of the Related species of useful plant, such as: wild rice, Wild soybean.
Above-mentioned cultivation processing can include but is not limited to: watering (irrigation) applies fertilizer, sprays insecticide.
Optionally, in step s 24, according at least at least one echo-signal treat cultivated plant carry out cultivation can wrap
Include step performed below:
Step S241 obtains elevation information according at least one echo-signal；
Step S242 determines the growth conditions to cultivated plant by elevation information；
Step S243 treats cultivated plant according to growth conditions and is cultivated.
It is measured by the elevation information for treating cultivated plant at interval of predetermined period, so can determine that and planted wait cultivate
The growing height of the progress at any time of object changes, and the growth conditions (such as: health status) to cultivated plant are tentatively judged with this,
And then targetedly implement the operation such as water (irrigation), apply fertilizer, spray insecticide.
Optionally, in step S241, it may include performed below for obtaining elevation information according at least one echo-signal
Step:
Step S2411, according to the time of reception of at least one echo-signal relative at least one the first radar signal
The latency measurement of emission time obtains first distance and second distance, wherein first distance is radar signal component and ground
Vertical range between face, second distance is for radar signal component and to the most short distance between the highest point of cultivated plant
From；
The 4th distance is calculated using second distance and third distance in step S2412, wherein third distance is radar
Signal transmission component is in the horizontal direction and to the distance between cultivated plant；
Step S2413, the distance between calculating first distance and the 4th distance are poor, obtain elevation information.
The range measurement principle of microwave radar is: by the first moment of measurement the first microwave radar signal of transmitting and receiving the
Time delay between second moment of two microwave radar signals, obtain between each target object and microwave radar emitting module away from
From.The formula of the distance between each target object and microwave radar emitting module can be determined such as according to the spread speed of microwave
Under: s=ct/2, wherein s is the distance between each target object and microwave radar emitting module, and t is electromagnetic wave from emitting the
First moment of one microwave radar signal, c was the light velocity to the time delay between the second moment for receiving the second microwave radar signal.
And the measurement method of above-mentioned time delay usually may include following one:
Mode one, front and back will mix noisy echo-signal (being equivalent to above-mentioned second microwave radar signal) along threshold method
Compared with threshold level, using echo frontier and after the two point moment average values that intersect along same thresholding as the survey in relative time delay
Magnitude；
Mode two, the door wave method of quadrature are quadratured after mixing the same door wave signal multiplication of noisy echo-signal.Work as door
Area should be maximum when wave alignment target reflection echo, and door wave position when using area value maximum is as the measurement in relative time delay
Value.
In one alternate embodiment, the cultivating device based on microwave radar can fix on the ground.Fig. 3 is according to this
Invention wherein an alternative embodiment one acquisition to cultivated plant elevation information schematic diagram.As shown in figure 3, passing through at least one
The time of reception of a echo-signal can measure to obtain thunder relative to the time delay of the emission time of at least one the first radar signal
Up between signal transmission component and ground vertical range S1 (i.e. above-mentioned first distance) and radar signal component with to
Shortest distance S2 (i.e. above-mentioned second distance) between the highest point of cultivated plant.In addition, passing through the cultivation based on microwave radar
The initial, set position of equipment can also determine radar signal component in the horizontal direction between cultivated plant away from
From S3 (with a distance from i.e. above-mentioned third).Then, using Pythagorean theorem, the cultivation based on microwave radar can be calculated by S2 and S3
Equipment and to the difference in height S4 (i.e. above-mentioned 4th distance) between cultivated plant.Finally, being calculated using S1 and S4 to cultivated plant
Elevation information.
Optionally, in step S241, it may include performed below for obtaining elevation information according at least one echo-signal
Step:
Step S2414, according to the time of reception of at least one echo-signal relative at least one the first radar signal
The latency measurement of emission time obtains the 5th distance and the 6th distance, wherein the 5th distance is radar signal component and ground
Vertical range between face, the 6th distance between radar signal component and the highest point to cultivated plant it is vertical away from
From；
Step S2415, the distance between the 5th distance of calculating and the 6th distance are poor, obtain elevation information.
In one alternate embodiment, the cultivating device based on microwave radar can be fixed on unmanned plane.Fig. 4 is basis
The present invention wherein an alternative embodiment two acquisition to cultivated plant elevation information schematic diagram.As shown in figure 4, using nobody
Machine high altitude operation hovers over the surface to cultivated plant, by microwave radar instrumentation radar signal transmission component and ground it
Between vertical range S5 (i.e. above-mentioned 5th distance) and radar signal component and between the highest point of cultivated plant
Vertical range S6 (i.e. above-mentioned 6th distance)；Then, passing through the difference calculated between S5 and S6, and then obtaining to cultivated plant
Elevation information.
Optionally, it in step S24, is treated before cultivated plant cultivated according at least at least one echo-signal, also
May include step performed below:
Step S23 obtains the growing environment information to cultivated plant.
It, can also be periodically other than periodically being obtained to the elevation information of cultivated plant during plant culture
Ground obtains the growing environment information (such as: soil self attributes information, ambient lighting information) to cultivated plant.Soil itself belongs to
Property information can include but is not limited to: soil moisture, soil nutrient, the soil moisture.
In an optional embodiment, can first pass through soil moisture, soil nutrient, the soil moisture analyzer can be with
Soil moisture data, soil nutrient data, soil temperature data are obtained respectively；Then, then will acquire soil moisture data,
Soil nutrient data, soil temperature data are transmitted to the cultivating device of microwave radar.
Certainly, there is certain penetration capacity to soil in view of microwave, generalling use penetration depth is indicated.And penetrate depth
Degree is mainly determined by microwave frequency and Dielectric Constant of NaCl Soil characteristic.Accordingly it is also possible to pass through the micro- of the cultivating device itself of microwave radar
Wave radar signal transmitting-receiving subassembly obtains above-mentioned soil self attributes information.Such as: frequency domain reflection mode is used, is existed according to electromagnetic wave
Propagation frequency measures the apparent dielectric constant of soil, to obtain volumetric water content of soil.Using microwave plasma
Body torch aes determination soil nutrient.
Further, it is also possible to be obtained by imaging sensor to information such as the spectrum of cultivated plant, emissivity, coordinates, pass through
Spectrographic technique judges the health condition to cultivated plant, such as: the branches and leaves of health plant, the branches and leaves of aging plant, illness plant
The reflectance spectrums of branches and leaves there are notable differences with chromaticity coordinates.
Above-mentioned ambient lighting information can be obtained by optical sensor.
Optionally, in step s 24, according at least at least one echo-signal treat cultivated plant carry out cultivation can wrap
Include step performed below:
Step S244 obtains elevation information according at least one echo-signal；
Step S245 determines the growth conditions to cultivated plant by elevation information and growing environment information；
Step S246 treats cultivated plant according to growth conditions and is cultivated.
It, can be more quasi- after periodically getting the above-mentioned elevation information to cultivated plant and growing environment information
Really judge growth conditions to cultivated plant for example: health status), and then targetedly implement to water (irrigations), fertilising, spray
Spill the operation such as pesticide.
Optionally, it in step S24, is treated after cultivated plant cultivated according at least at least one echo-signal, also
May include step performed below:
Step S25 individually records elevation information during the continued propagation to cultivated plant or records height simultaneously
Information and growing environment information, obtain statistical result；
Step S26 treats cultivated plant and other similar cultivation of plants modes according to statistical result adjustment.
During the continued propagation to cultivated plant, both it can individually be recorded by the cultivating device based on microwave radar
The elevation information of cultivated plant is treated, elevation information and growth ring can be recorded by the cultivating device based on microwave radar simultaneously
Border information, and then obtain statistical result.Then, statistical result is back to remote service again by the cultivating device based on microwave radar
Device or cloud are stored.Finally, being every a kind of to the targeted cultivation side of cultivated plant formulation by big data analysis
Formula, constantly to adjust currently employed planting type.
Through the above description of the embodiments, those skilled in the art can be understood that according to above-mentioned implementation
The method of example can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but it is very much
In the case of the former be more preferably embodiment.Based on this understanding, technical solution of the present invention is substantially in other words to existing
The part that technology contributes can be embodied in the form of software products, which is stored in a storage
In medium (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that a terminal device (can be mobile phone, calculate
Machine, server or network equipment etc.) execute method described in each embodiment of the present invention.
A kind of culture apparatus based on microwave radar is additionally provided in the present embodiment, and the device is for realizing above-mentioned implementation
Example and preferred embodiment, the descriptions that have already been made will not be repeated.As used below, term " module " may be implemented pre-
Determine the combination of the software and/or hardware of function.Although device described in following embodiment is preferably realized with software,
The realization of the combination of hardware or software and hardware is also that may and be contemplated.
Fig. 5 is the wherein structural block diagram of the culture apparatus based on microwave radar of an embodiment according to the present invention, such as Fig. 5 institute
Show, which includes: sending module 10, for sending at least one first radar signal by radar signal component,
In, at least one first radar signal is used to detect the elevation information to cultivated plant；Processing module 20, for according at least to thunder
At least one echo-signal corresponding at least one first radar signal received up to signal receiving assembly is treated cultivation and is planted
Object is cultivated.
Optionally, processing module 20 includes: first acquisition unit (not shown), for being believed according at least one echo
Number obtain elevation information；First determination unit (not shown), for determining the growth to cultivated plant by elevation information
State；First processing units (not shown) is cultivated for treating cultivated plant according to growth conditions.
Optionally, first acquisition unit (not shown) includes: the first measurement subelement (not shown), is used for root
It is obtained according to the time of reception of at least one echo-signal relative to the latency measurement of the emission time of at least one the first radar signal
To first distance and second distance, wherein vertical range of the first distance between radar signal component and ground, second
Distance is for radar signal component and to the shortest distance between the highest point of cultivated plant；First computation subunit is (in figure
It is not shown), for the 4th distance to be calculated using second distance and third distance, wherein third distance is that radar signal is sent out
Component is penetrated in the horizontal direction and to the distance between cultivated plant；Second computation subunit (not shown), for calculating
The distance between first distance and the 4th distance are poor, obtain elevation information.
Optionally, first acquisition unit (not shown) includes: the second measurement subelement (not shown), is used for root
It is obtained according to the time of reception of at least one echo-signal relative to the latency measurement of the emission time of at least one the first radar signal
To the 5th distance and the 6th distance, wherein vertical range of the 5th distance between radar signal component and ground, the 6th
Distance is for radar signal component and to the vertical range between the highest point of cultivated plant；Third computation subunit is (in figure
It is not shown), it is poor for calculating the distance between the 5th distance and the 6th distance, obtain elevation information.
Optionally, Fig. 6 is the wherein structure of the culture apparatus based on microwave radar of an alternative embodiment according to the present invention
Block diagram, as shown in fig. 6, the device except include all modules shown in fig. 5 in addition to, above-mentioned apparatus further include: obtain module 30, be used for
Obtain the growing environment information to cultivated plant.
Optionally, processing module 20 includes: second acquisition unit (not shown), for being believed according at least one echo
Number obtain elevation information；Second determination unit (not shown), for by elevation information and growing environment information determine to
The growth conditions of cultivated plant；The second processing unit (not shown), for treating cultivated plant progress according to growth conditions
Cultivation.
Optionally, as shown in fig. 6, above-mentioned apparatus further include: statistical module 40, in the continued propagation to cultivated plant
Elevation information is individually recorded in the process or records elevation information and growing environment information simultaneously, obtains statistical result；Adjust mould
Block 50, for treating cultivated plant and other similar cultivation of plants modes according to statistical result adjustment.
It should be noted that above-mentioned modules can be realized by software or hardware, for the latter, Ke Yitong
Following manner realization is crossed, but not limited to this: above-mentioned module is respectively positioned in same processor；Alternatively, above-mentioned modules are with any
Combined form is located in different processors.
The embodiments of the present invention also provide a kind of storage medium, computer program is stored in the storage medium, wherein
The computer program is arranged to execute the step in any of the above-described embodiment of the method when operation.
Optionally, in the present embodiment, above-mentioned storage medium can be set to store by executing based on following steps
Calculation machine program:
S1 sends at least one first radar signal by radar signal component, wherein at least one first radar
Signal is used to detect the elevation information to cultivated plant；
S2, corresponding at least one first radar signal at least one received according at least to radar signal receiving unit
A echo-signal is treated cultivated plant and is cultivated.
Optionally, in the present embodiment, above-mentioned storage medium can include but is not limited to: USB flash disk, read-only memory (Read-
Only Memory, referred to as ROM), it is random access memory (Random Access Memory, referred to as RAM), mobile hard
The various media that can store computer program such as disk, magnetic or disk.
The embodiments of the present invention also provide a kind of processor, which is arranged to run computer program to execute
Step in any of the above-described embodiment of the method.
Optionally, in the present embodiment, above-mentioned processor can be set to execute following steps by computer program:
S1 sends at least one first radar signal by radar signal component, wherein at least one first radar
Signal is used to detect the elevation information to cultivated plant；
S2, corresponding at least one first radar signal at least one received according at least to radar signal receiving unit
A echo-signal is treated cultivated plant and is cultivated.
Optionally, the specific example in the present embodiment can be with reference to described in above-described embodiment and optional embodiment
Example, details are not described herein for the present embodiment.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
In the above embodiment of the invention, it all emphasizes particularly on different fields to the description of each embodiment, does not have in some embodiment
The part of detailed description, reference can be made to the related descriptions of other embodiments.
In several embodiments provided herein, it should be understood that disclosed technology contents can pass through others
Mode is realized.Wherein, the apparatus embodiments described above are merely exemplary, such as the division of the unit, Ke Yiwei
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of unit or module
It connects, can be electrical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
On unit.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can for personal computer, server or network equipment etc.) execute each embodiment the method for the present invention whole or
Part steps.And storage medium above-mentioned includes: that USB flash disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic or disk etc. be various to can store program code
Medium.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (17)
1. a kind of cultural method based on microwave radar characterized by comprising
At least one first radar signal is sent by radar signal component, wherein at least one first radar letter
Number for detecting elevation information to cultivated plant；
Received according at least to radar signal receiving unit it is corresponding at least one described first radar signal at least one
Echo-signal is cultivated to described to cultivated plant.
2. the method according to claim 1, wherein according at least at least one described echo-signal to it is described to
Cultivated plant carries out cultivation
The elevation information is obtained according at least one described echo-signal；
The growth conditions to cultivated plant are determined by the elevation information；
It is cultivated to described to cultivated plant according to the growth conditions.
3. according to the method described in claim 2, it is characterized in that, obtaining the height according at least one described echo-signal
Information includes:
When transmitting according to the time of reception of at least one echo-signal relative at least one first radar signal
The latency measurement at quarter obtains first distance and second distance, wherein the first distance be the radar signal component with
Vertical range between ground, the second distance are the radar signal component and the highest point to cultivated plant
Between the shortest distance；
4th distance is calculated using the second distance and third distance, wherein the third distance is that the radar is believed
Number emitting module is in the horizontal direction with described to the distance between cultivated plant；
It is poor to calculate the distance between the first distance and the 4th distance, obtains the elevation information.
4. according to the method described in claim 2, it is characterized in that, obtaining the height according at least one described echo-signal
Information includes:
When transmitting according to the time of reception of at least one echo-signal relative at least one first radar signal
The latency measurement at quarter obtains the 5th distance and the 6th distance, wherein it is described 5th distance be the radar signal component with
Vertical range between ground, the 6th distance is the radar signal component and the highest point to cultivated plant
Between vertical range；
It is poor to calculate the distance between the 5th distance and the 6th distance, obtains the elevation information.
5. the method according to claim 1, wherein according at least at least one described echo-signal to described
Before being cultivated to cultivated plant, further includes:
Obtain the growing environment information to cultivated plant.
6. according to the method described in claim 5, it is characterized in that, according at least at least one described echo-signal to it is described to
Cultivated plant carries out cultivation
The elevation information is obtained according at least one described echo-signal；
The growth conditions to cultivated plant are determined by the elevation information and the growing environment information；
It is cultivated to described to cultivated plant according to the growth conditions.
7. method according to claim 1 or 6, which is characterized in that according at least at least one described echo-signal pair
It is described cultivated to cultivated plant after, further includes:
The elevation information is individually recorded during the continued propagation to cultivated plant or records the height simultaneously
Information and growing environment information, obtain statistical result；
According to statistical result adjustment to described to cultivated plant and other similar cultivation of plants modes.
8. a kind of culture apparatus based on microwave radar characterized by comprising
Sending module, for sending at least one first radar signal by radar signal component, wherein described at least one
A first radar signal is used to detect the elevation information to cultivated plant；
Processing module, for being received according at least to radar signal receiving unit at least one described first radar signal pair
At least one echo-signal answered is cultivated to described to cultivated plant.
9. device according to claim 8, which is characterized in that the processing module includes:
First acquisition unit, for obtaining the elevation information according at least one described echo-signal；
First determination unit, for determining the growth conditions to cultivated plant by the elevation information；
First processing units, for being cultivated to described to cultivated plant according to the growth conditions.
10. device according to claim 9, which is characterized in that the first acquisition unit includes:
First measurement subelement, for according to time of reception of at least one echo-signal relative to it is described at least one the
The latency measurement of the emission time of one radar signal obtains first distance and second distance, wherein the first distance is described
Vertical range between radar signal component and ground, the second distance be the radar signal component with it is described
To the shortest distance between the highest point of cultivated plant；
First computation subunit, for the 4th distance to be calculated using the second distance and third distance, wherein described the
Three distances are the radar signal component in the horizontal direction with described to the distance between cultivated plant；
Second computation subunit, it is poor for calculating the distance between the first distance and the 4th distance, obtain the height
Spend information.
11. device according to claim 9, which is characterized in that the first acquisition unit includes:
Second measurement subelement, for according to time of reception of at least one echo-signal relative to it is described at least one the
The latency measurement of the emission time of one radar signal obtains the 5th distance and the 6th distance, wherein the 5th distance is described
Vertical range between radar signal component and ground, it is described 6th distance be the radar signal component with it is described
To the vertical range between the highest point of cultivated plant；
Third computation subunit, it is poor for calculating the distance between the 5th distance and the 6th distance, obtain the height
Spend information.
12. device according to claim 8, which is characterized in that described device further include:
Module is obtained, for obtaining the growing environment information to cultivated plant.
13. device according to claim 12, which is characterized in that the processing module includes:
Second acquisition unit, for obtaining the elevation information according at least one described echo-signal；
Second determination unit, for determining the life to cultivated plant by the elevation information and the growing environment information
Long status；
The second processing unit, for being cultivated to described to cultivated plant according to the growth conditions.
14. the device according to claim 8 or 13, which is characterized in that described device further include:
Statistical module, for individually recording the elevation information or simultaneously during the continued propagation to cultivated plant
The elevation information and growing environment information are recorded, statistical result is obtained；
Adjust module, for according to statistical result adjustment to described to cultivated plant and other similar cultivation of plants sides
Formula.
15. a kind of storage medium, which is characterized in that the storage medium includes the program of storage, wherein run in described program
When control the storage medium where equipment perform claim require any one of 1 to 7 described in the cultivation based on microwave radar
Method.
16. a kind of processor, which is characterized in that the processor is for running program, wherein right of execution when described program is run
Benefit require any one of 1 to 7 described in the cultural method based on microwave radar.
17. a kind of cultivating device based on microwave radar characterized by comprising one or more processors, memory, thunder
Up to signal transmission component, radar signal receiving unit and one or more programs, wherein one or more of programs are deposited
Storage in the memory, and is configured as being executed by one or more of processors, and one or more of programs are used
Cultural method based on microwave radar described in requiring any one of 1 to 7 in perform claim.
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