CN100541120C - Extreme low-altitude early warning system of a kind of plague of locusts and field locust automatic identifying method thereof - Google Patents
Extreme low-altitude early warning system of a kind of plague of locusts and field locust automatic identifying method thereof Download PDFInfo
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- CN100541120C CN100541120C CNB2005101125363A CN200510112536A CN100541120C CN 100541120 C CN100541120 C CN 100541120C CN B2005101125363 A CNB2005101125363 A CN B2005101125363A CN 200510112536 A CN200510112536 A CN 200510112536A CN 100541120 C CN100541120 C CN 100541120C
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Abstract
The present invention relates to the extreme low-altitude early warning system of a kind of plague of locusts.The invention still further relates to a kind of field locust automatic identifying method.Extreme low-altitude early warning system of a kind of plague of locusts disclosed by the invention and field locust automatic identifying method thereof comprise: comprise cross-country vehicle, unmanned vehicle, automatic navigation control system, video camera or camera, communication system, signal processing system.Its method comprises: 1) be equipped in Digital Video on the small-sized hedgehopping device bottom bracket real-time obtain ground locust image; Or equipment digital camera fixed point is obtained ground locust image; 2) image information of obtaining is transmitted to the signal Processing computing machine by communication system or DV band; 3) computing machine carries out Treatment Analysis to the image of input.
Description
Technical field
The present invention relates to electrification and automatic field in the precision agriculture, be specifically related to the extreme low-altitude early warning system of a kind of plague of locusts.The invention still further relates to a kind of field locust automatic identifying method.
Background technology
The plague of locusts belongs to destructive biological epidemics, and it and floods, drought constitute three the Nature disasters of human society together.Since 20th century the mid-80s, the influence that changed by extreme climate and agroecological environment, the new locust in China various places district constantly produces, and old locust district occurs repeatedly, the rising of locust occurrence frequency, the extent of injury increases the weight of.According to the preliminary statistics, China's migratory locusts generating region relates to 16 provinces, cities and regions at present, area takes place more than 200,000,000 mu.Above-mentioned locust generating region relates to peasants and herdsmen people more than 100,000,000.The enforcement period of the ninth five-year plan, although actively taked prophylactico-therapeutic measures, the economic loss that causes because of the plague of locusts is still more than 10,000,000,000 yuan.
At present, China's locust monitoring means is very backward, and detecting means commonly used have three kinds: 1) mainly rely on tactics of human sea.In the contingent zone of the plague of locusts, large-area layouting, artificial circulation is checked.It mainly is the emergence period of predicting the plague of locusts length of time of looking into worm's ovum and actual ground locust.2) satellite remote sensing prediction.This technology is measured indirectly by the ground vegetation index, need find out the generation of locust habitat feature and local locust population, concern mechanism between breeding.But in general, this mechanism is very complicated, and is everywhere and different, does not have a fixed mode.3) radar observation system.This method can only be detected large-area migratory locusts, can not forecast.The plague of locusts condition monitoring that is generally used for having taken off.
Because that locust district mostly is is with a varied topography, discrepancy is because of coastal beach He Hu, the marshy terrain, storehouse of difficulty, to monitor dynamically for locust, the past generally is to set up in each locust district a plurality ofly to observe and predict website, undertaken by the method for manual research and trend analysis.This method can play effect in certain space-time unique, but for migratory locusts thisly have a very wide distribution, habitat complexity, animal migration and sudden strong insect, it is far from being enough only monitoring by the means of artificial ground investigation., improve and raising locust monitoring technology level for this reason, advanced person's early warning system technology is introduced in the monitoring of locust, crucial beyond doubt.
Summary of the invention
(1) technical matters that will solve
The purpose of this invention is to provide that a kind of maneuverability, investigative range are big, ground image resolution height and can solve the extreme low-altitude early warning system of the plague of locusts that manually can't survey.The present invention also provides a kind of and can draw the locust density profile and predict the period of plague of locusts outburst and the field locust automatic identifying method of degree.
(2) technical scheme
In order to achieve the above object, the present invention adopts following scheme: comprise cross-country vehicle, be used to load surveying instrument and as the surface work station; Unmanned vehicle is used to be carried at the video camera and the communication system of aerial shooting; Automatic navigation control system is used to control the airflight of unmanned vehicle; Video camera or camera are used for gathering in real time ground locust image information; Communication system is used for the locust image information is sent to signal processing system; Signal processing system is used to the generation area of handling the locust image information and obtaining the plague of locusts.
Wherein, unmanned vehicle is to be used for the overhead hedgehopping device of 2-200 rice.
Wherein, unmanned vehicle adopts giro.
In order to discern the field locust accurately, automatically, the present invention also has following method step:
Step 1: small-sized extreme low-altitude unmanned vehicle is installed on the cross-country vehicle, during the detecting plague of locusts, carries aircraft by offroad vehicle and fly to the predetermined area, control small-sized extreme low-altitude unmanned vehicle then and fly by the course line of setting;
Step 2: applied global positioning system carries out the self-navigation of hedgehopping device, by means of Geographic Information System planned design course line, by automatic navigation control system aircraft is guided to the plague of locusts sky, area takes place, and samples;
Step 3: adopt extreme low-altitude measuring method, flying height 2-200 rice utilizes rotor craft can revolve the characteristics of stopping fixing a point to gather ground image aloft simultaneously, gathers ground locust distributed image information by video camera or camera;
Step 4: the image information that collects is sent in the signal processing system of the ground control station in the offroad vehicle by communication system, or image information is stored in the DV band when being returned by aircraft is input in the signal processing system of ground control station;
Step 5: the image information that collects is handled,, and drawn the density profile of locust in this monitored area by the locust number under the direct unit of account area of the signal processing system of ground control station.
In step 5, further comprising the steps of:
1) original color image is carried out parity field and separate correction, to solve motion blur problems;
2) coloured image is carried out brightness and contrast's adjustment, to improve image quality issues;
3) coloured image is carried out medium filtering, with filtering noise;
4) coloured image is carried out color notation conversion space, to solve the illumination problem;
5) colourity H and saturation degree S gray level image are carried out image segmentation based on color, from background, cut apart locust;
6) the locust image of cutting apart is carried out zone marker, with a number of statistics locust under unit area;
7) obtain the generation area of the plague of locusts according to graphical analysis.
(3) beneficial effect
1, owing to adopted extreme low-altitude measuring method,, improved the resolution of ground image greatly, and can directly measure the ground locust than satellite remote sensing and general airborne remote sensing.
2, cooperate the GIS Geographic Information System owing to utilized cross-country vehicle to carry small-sized extreme low-altitude unmanned vehicle, therefore, expanded investigative range widely, reach the coverage of large-scale remote sensing system, and maneuverability; Than artificial detection locust distribution situation, realized high-efficiency homework, surveyed accurately.
3, owing to adopted the pattern of aircraft, and applied global positioning system carries out the self-navigation of hedgehopping device, by means of Geographic Information System planned design course line, by automatic navigation control system aircraft is guided to the plague of locusts sky, area takes place, sample, therefore, can enter areas such as lake, beach, marsh, solve the monitoring that artificial detection can't arrival area.
4, owing to adopted rotor craft, can fly at deck-level height, can aloft revolve and stop, fix a point to gather ground image, can fix a point to measure simultaneously, grab sampling function at a high speed improves sample rate greatly.
5,, can detect and forecast that the present invention can not only play important supervision effect to guaranteeing that locust does not take off, and can predict the period and the degree of plague of locusts outburst the plague of locusts owing to adopted the image automatic identification technology.
Description of drawings
Fig. 1 is the structural representation of the extreme low-altitude early warning system of the plague of locusts of the present invention;
Fig. 2 is the theory diagram of field of the present invention locust automatic identifying method;
Fig. 3 is an automatic navigation control system principle of work block diagram of the present invention.
Among the figure: 1, cross-country vehicle; 2, aircraft; 3, automatic navigation control system; 4, video camera; 5, communication system; 6, signal processing system; 7, the given computing machine in course; 8, navigation communication system; 9, flight-control computer; 10, steering wheel and control device; 11, attitude, longitude, latitude, height measuring device.
Embodiment
Following examples are used to illustrate the present invention, but are not used for limiting the scope of the invention.
As shown in Figure 1.The present invention structurally comprises 6 parts: cross-country vehicle 1, small-sized extreme low-altitude unmanned vehicle 2, automatic navigation control system 3, video camera 4, communication system 5, signal processing system 6.Wherein the part of video camera 4 and automatic navigation control system 3, communication system 5 is installed on the support of small aircraft 2 bottoms; Signal processing system 6 mainly is made up of computing machine and locust image automatic recognition software.Cross-country vehicle 1 both had been used to load measuring equipment, again as the surface work station.
Unmanned vehicle 2 is general type: as: the aerial robot of YAMAHARMAX that Japanese Yamaha engine Co., Ltd. (YAMAHAMOTOR) produces; The RPH2 of Japanese fuji heavy industry research and development; The HIROBO 60CLASS helicopter that Japan HIROBO company produces etc.Parameter request is that giro, mission payload are greater than 3 kilograms.
As shown in Figure 3, automatic navigation control system 3 comprises: the given computing machine 7 in course; Navigation communication system 8; Flight-control computer 9; Attitude, longitude, latitude, height measuring device 11; Steering wheel and control device 10.Its principle of work is: flight-control computer 9 is after receiving the course data that the given computing machine 7 in course is sent by navigation communication system 8, with attitude, longitude, latitude, the course data that height measuring device 11 is measured compares, if do not meet requirements such as course, then send the adjustment signal and make it arrive prebriefed pattern to steering engine controller device 10.
As shown in Figure 2, field of the present invention locust automatic identifying method, be after carrying small-sized extreme low-altitude unmanned vehicle 2 certain predetermined area of arrival by cross-country vehicle 1, by of the height low-latitude flying of automatic navigation control system 3 controlling aircraft, also comprise step by the course line that sets in the Geographic Information System (GIS) at 2 meters～200 meters:
1) be equipped in Digital Video on small-sized hedgehopping device 2 bottom brackets real-time obtain ground locust image; Or equipment digital camera fixed point is obtained ground locust image.
2) image information of obtaining is transmitted to the signal Processing computing machine by communication system 5 or DV band;
3) computing machine carries out Treatment Analysis to the image of input, comprises the steps:
3-1) original color image is carried out parity field and separate correction, to solve motion blur problems;
3-2) coloured image is carried out brightness and contrast's adjustment, to improve image quality issues;
3-3) coloured image is carried out medium filtering, with filtering noise;
(RGB-＞HIS) is to solve the illumination problem 3-4) coloured image to be carried out color notation conversion space;
3-5) colourity H and saturation degree S gray level image are carried out image segmentation based on color, from background, cut apart locust;
3-6) the locust image of cutting apart is carried out zone marker, with the number of statistics locust under unit area;
3-7) obtain the generation area of the plague of locusts according to graphical analysis.
Investigative range of the present invention is big, maneuverability, the image resolution ratio height that obtains, can solve the detection that artificial detection can't arrival area, and the accurate locust number in the unit of account square metre, can also monitor situations such as the disease and pests of crops, weeds distribution, nutrient, moisture and crop yield, realize intelligentized plague of locusts detecting and early warning.
Claims (1)
1, use a kind of field locust automatic identifying method of the extreme low-altitude early warning system of the plague of locusts, this system comprises: cross-country vehicle (1) is used to load surveying instrument and as the surface work station; Unmanned vehicle (2) is used to be carried at the video camera and the communication system of aerial shooting; Automatic navigation control system (3) is used to control the airflight of unmanned vehicle; Video camera (4) or camera are used for gathering in real time ground locust image information; Communication system (5) is used for the locust image information is sent to signal processing system; Signal processing system (6) is used to the generation area handling the locust image information and obtain the plague of locusts, it is characterized in that this method has following steps:
Step 1: small-sized extreme low-altitude unmanned vehicle (2) is installed on the cross-country vehicle (1), during the detecting plague of locusts, carries aircraft by offroad vehicle and fly to the predetermined area, control small-sized extreme low-altitude unmanned vehicle (2) then and fly by the course line of setting;
Step 2: applied global positioning system carries out the self-navigation of hedgehopping device, by means of Geographic Information System planned design course line, by automatic navigation control system (3) aircraft is guided to the plague of locusts sky, area takes place, and samples;
Step 3: adopt extreme low-altitude measuring method, flying height 2-200 rice utilizes rotor craft can revolve the characteristics of stopping fixing a point to gather ground image aloft simultaneously, gathers ground locust distributed image information by video camera (4) or camera;
Step 4: the image information that collects is sent in the signal processing system (6) of the ground control station in the offroad vehicle (1) by communication system (5), or image information is stored in the DV band when being returned by aircraft is input in the signal processing system (6) of ground control station;
Step 5: the image information that collects is handled,, and drawn the density profile of locust in the monitored area by the locust number under the direct unit of account area of the signal processing system (6) of ground control station;
Described step 5 also comprises step:
1) original color image is carried out parity field and separate correction, to solve motion blur problems;
2) coloured image is carried out brightness and contrast's adjustment, to improve image quality issues;
3) coloured image is carried out medium filtering, with filtering noise;
4) coloured image is carried out color notation conversion space, to solve the illumination problem;
5) colourity H and saturation degree S gray level image are carried out image segmentation based on color, from background, cut apart locust;
6) the locust image of cutting apart is carried out zone marker, with a number of statistics locust under unit area;
7) obtain the generation area of the plague of locusts according to graphical analysis.
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| CNB2005101125363A CN100541120C (en) | 2005-10-10 | 2005-10-10 | Extreme low-altitude early warning system of a kind of plague of locusts and field locust automatic identifying method thereof |
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| CN102082895A (en) * | 2010-10-26 | 2011-06-01 | 娄定风 | Remote insect image detecting system and method |
| US9409644B2 (en) * | 2014-07-16 | 2016-08-09 | Ford Global Technologies, Llc | Automotive drone deployment system |
| CA2957081C (en) * | 2014-08-22 | 2024-06-25 | The Climate Corporation | Methods for agronomic and agricultural monitoring using unmanned aerial systems |
| CN109471450B (en) * | 2018-03-10 | 2019-08-27 | 福建通图信息技术有限公司 | Drone flying height adjusting method |
| CN109984107A (en) * | 2019-03-25 | 2019-07-09 | 闫冬 | A kind of intelligent locust disaster warning device |
| CN111696127A (en) * | 2020-06-02 | 2020-09-22 | 中国联合网络通信集团有限公司 | Locust plague analysis and early warning system and method |
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