CN106347667B - Plant protection drone automatic spraying method and apparatus based on distance and image detection - Google Patents
Plant protection drone automatic spraying method and apparatus based on distance and image detection Download PDFInfo
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- CN106347667B CN106347667B CN201610910296.XA CN201610910296A CN106347667B CN 106347667 B CN106347667 B CN 106347667B CN 201610910296 A CN201610910296 A CN 201610910296A CN 106347667 B CN106347667 B CN 106347667B
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- image
- distance
- unmanned plane
- rgb value
- plant protection
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/188—Vegetation
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Abstract
The present invention discloses a kind of plant protection drone automatic spraying method and apparatus based on distance and image detection, whether the region using range finder module measurement unmanned plane during flying has object and object at a distance from unmanned plane, using image analysis technology object analysis whether it is further crops when at a distance from object with unmanned plane in target range, achievees the effect that automatic and accurate is sprayed insecticide.
Description
Technical field
The present invention relates to plant protection drone fields, and in particular to a kind of plant protection drone based on distance and image detection from
Dynamic flusher.
Background technique
In recent years, with the continuous development of China's science and technology, many advantage technologies are gradually towards the industries such as agricultural, forestry
Development, plant protection drone are one of typical.China's land resource is insufficient, and Northeast plain, northwest, the North China Plain are extensive
Land resource only accounts for cultivated area 30% or so, and accounting for total 60% or more cultivated area is small-scale cropping pattern, large-scale ground
Application equipment is difficult to adapt to the requirement of its prevention and control of plant diseases, pest control.Since people's difficulty is asked, artificial expensive, the problems such as difficult of going and buy Chinese medicine exists, it is achieved that
Plant protection drone automatic spraying has great importance.Eight rotor plant protection drone control systems are mainly by hardware system and software
System two parts composition.Hardware system mainly includes sensor subsystem (gyroscope, accelerometer), eight motor control subsystems
(the mechanical, electrical tune of electricity), power subsystem, communication subsystem and master controller.And software systems mainly carry out in fact hardware capability
It is existing, the specific implementation of detection, control and communication including plant protection drone current state.Operator is being sprayed in practice
When spilling control, because of hypertelorism, excessive height can not accurately spray crops, cause the unnecessary wave of pesticide
Take, crop information acquired by infrared camera application No. is 201510957610.5 existing patent and is sent to detector,
But still reach the purpose of not only automatic spraying.
Summary of the invention
Present invention aim to address the defect of the prior art, provide a kind of plant protection based on distance and image detection nobody
Machine automatic spraying device, the technical solution adopted is as follows:
Plant protection drone automatic spraying method based on distance and image detection, which comprises the following steps:
Target range is set；
Whether the region of sensorcraft flight has object and calculates it at a distance from unmanned plane, while obtaining unmanned plane and flying
The image in capable region；
The image of acquisition is analyzed if within a preset range if the distance between unmanned plane and object, judges detected object
Whether body is crops, if then starting the sprinkling to the region, until can't detect unmanned plane during flying region have object or
The object detected is not crops.
Preferably, the detected object of judgement whether be crops method it is specific as follows:
The rgb value for acquiring each pixel of acquired image, compares with the rgb value within the green fields of standard,
It when the standard compliant green fields of collected numerical value, just carries out adding one, if this number is not more than the 1/3 of the image all pixels
Then judge detected object as crops.
It is another object of the present invention to solve the defect of the prior art, a kind of plant protection based on distance and image detection is provided
Unmanned plane automatic spraying device, the technical solution adopted is as follows:
Plant protection drone automatic spraying device based on distance and image detection, including unmanned plane, further include successively being electrically connected
Range unit, data processing equipment and the image collecting device connect, the data processing equipment has been also connected with control device, described
Control device is connected to flusher, and the range unit, image collecting device and flusher difference carry are in unmanned plane
On undercarriage, whether the range unit for sensorcraft flight range has object and its at a distance from unmanned plane and judgement
Within a preset range whether, described image acquisition device is used to acquire the image in unmanned plane during flying region to distance, at the data
Whether the object that reason device is used to judge to detect is crops, and control control device makes flusher based on the analysis results
Sprinkling.
Working principle of the present invention is as follows:
Whether there are object and the distance between object and unmanned plane using the region that range unit sensorcraft flies,
The image for opening the region of image acquisition device unmanned plane during flying simultaneously, has object if detecting the region of unmanned plane during flying
Then by judgment object at a distance from unmanned plane whether within a preset range, if if trigger data processing unit analyze Image Acquisition
Device acquired image, so that whether the object that analysis detects is crops, if then sending a control signal to control dress
It sets, so that it is controlled flusher and sprayed.
Preferably, the range unit is HC-SR04 supersonic range finder.
HC-SR04 supersonic range finder sends 8 at least high level signal of 10us using I O trigger ranging automatically
The square wave of a 40khz has detected whether signal return automatically, if there is signal return, exports a high level with IO, high level is held
The continuous time is exactly ultrasonic wave from the time for being emitted to return, therefore measuring distance=(the high level time * velocity of sound (340m/s)/2, if
Measuring distance then proves ultrasonic listening to object within the scope of given.
Preferably, described image acquisition device is OV7670 camera.
Preferably, the data processing equipment is STM32 series monolithic.
Preferably, the data processing equipment includes rgb value acquisition module, rgb value comparison module and counting module, institute
It states rgb value acquisition module and compares for acquiring the rgb value of each pixel of image capture module acquired image, the rgb value
Module is for comparing the rgb value within the green fields of the rgb value of pixel and standard, when collected numerical value meets mark
Then flip-flop number module carries out adding one quasi- green fields, when the count value of counting module is not more than the image all pixels
1/3 illustrates that detected object is crops.
Preferably, the control device is relay.
Relay receives control signal and then controls pump switch, allows flusher automatic spraying pesticide, realizes unmanned control
The target of system.
Compared with prior art, beneficial effects of the present invention: the present invention measures the area of unmanned plane during flying using range finder module
Whether domain has object and object at a distance from unmanned plane, further utilizes when at a distance from object with unmanned plane in target range
Whether image analysis technology object analysis is crops, achievees the effect that automatic and accurate is sprayed insecticide.
Detailed description of the invention
Fig. 1 is the flow diagram of the automatic spraying method of the embodiment of the present invention 1；
Fig. 2 is the structural schematic diagram of the automatic spraying device of the embodiment of the present invention 2；
Fig. 3 is the electrical block diagram of the relay of the embodiment of the present invention 2.
Specific embodiment
The present invention is described in further details with reference to the accompanying drawings and examples.
Embodiment 1:
As shown in Figure 1, the plant protection drone automatic spraying method based on distance and image detection, comprising the following steps:
Target range is set；
Whether the region of sensorcraft flight has object and calculates it at a distance from unmanned plane, while obtaining unmanned plane and flying
The image in capable region；
The image of acquisition is analyzed if within a preset range if the distance between unmanned plane and object, judges detected object
Whether body is crops, if then starting the sprinkling to the region, until can't detect unmanned plane during flying region have object or
The object detected is not crops.
Judge detected object whether be crops method it is specific as follows:
The rgb value for acquiring each pixel of image capture module acquired image, with the RGB within the green fields of standard
Value compares, and when the standard compliant green fields of collected numerical value, just carries out adding one, if this number is not more than the image institute
1/3 for having pixel judges detected object as crops.
Embodiment 2:
As shown in Fig. 2, the plant protection drone automatic spraying device based on distance and image detection, including unmanned plane, also wrap
The range unit, data processing equipment and image collecting device being sequentially connected electrically are included, the data processing equipment has been also connected with control
Device processed, the control device are connected to flusher, and the range unit, image collecting device and flusher distinguish carry
On the undercarriage of unmanned plane, the range unit for sensorcraft flight range whether have object and its with unmanned plane
Whether within a preset range distance simultaneously judges distance, and described image acquisition device is used to acquire the image in unmanned plane during flying region,
Whether the object that the data processing equipment is used to judge to detect is crops, and control control device makes based on the analysis results
Obtain flusher sprinkling.
The region that the present embodiment is flown using range unit sensorcraft whether have object and object and unmanned plane it
Between distance, while the image in the region of image acquisition device unmanned plane during flying is opened, if detecting unmanned plane during flying
Region have object then by judgment object at a distance from unmanned plane whether within a preset range, if the trigger data processing unit point if
The image that analysis image acquisition device arrives, so that whether the object that analysis detects is crops, if then sending control letter
Number to control device, so that it is controlled flusher and sprayed.
The range unit is HC-SR04 supersonic range finder.
HC-SR04 supersonic range finder sends 8 at least high level signal of 10us using I O trigger ranging automatically
The square wave of a 40khz has detected whether signal return automatically, if there is signal return, exports a high level with IO, high level is held
The continuous time is exactly ultrasonic wave from the time for being emitted to return, therefore measuring distance=(the high level time * velocity of sound (340m/s)/2, if
Measuring distance then proves ultrasonic listening to object within the scope of given.
Described image acquisition device is OV7670 camera.
The data processing equipment is STM32 series monolithic.
The data processing equipment includes rgb value acquisition module, rgb value comparison module and counting module, and the rgb value is adopted
Collection module is used to acquire the rgb value of each pixel of image capture module acquired image, and the rgb value comparison module is used for will
Rgb value within the rgb value of pixel and the green fields of standard compares, when the standard compliant green model of collected numerical value
It encloses, flip-flop number module carries out plus one, illustrates when the count value of counting module is not more than 1/3 of the image all pixels
The object detected is crops.
The control device is relay, and circuit diagram is as shown in Figure 3.
Relay receives control signal and then controls pump switch, allows flusher automatic spraying pesticide, realizes unmanned control
The target of system.
Claims (6)
1. the plant protection drone automatic spraying method based on distance and image detection, which comprises the following steps:
Target range is set；
Whether the region of sensorcraft flight has object and calculates it at a distance from unmanned plane, while being flown by obtaining unmanned plane
The image in capable region；
The image of acquisition is analyzed if within a preset range if the distance between unmanned plane and object, judges that detected object is
No is crops, if then starting the sprinkling to the region, until there is object in the region that can't detect unmanned plane during flying or is visited
The object measured is not crops；
The detected object of the judgement whether be crops method it is specific as follows:
The rgb value for acquiring each pixel of acquired image, compares with the rgb value within the green fields of standard, when adopting
The standard compliant green fields of the numerical value collected just carry out adding one, judge if this number is no more than the 1/3 of the image all pixels
The object detected is crops.
2. the plant protection drone automatic spraying device based on distance and image detection, including unmanned plane, which is characterized in that further include
Range unit, data processing equipment and the image collecting device being sequentially connected electrically, the data processing equipment have been also connected with control
Device, the control device are connected to flusher, and the range unit, image collecting device and flusher difference carry exist
On the undercarriage of unmanned plane；
The data processing equipment includes rgb value acquisition module, rgb value comparison module and counting module, and the rgb value acquires mould
Block is used to acquire the rgb value for each pixel of image that image acquisition device arrives, and the rgb value comparison module is used for pixel
Rgb value and standard green fields within rgb value compare, when the standard compliant green fields of collected numerical value then
Flip-flop number module carries out plus one, when the count value of counting module illustrates to be detected no more than 1/3 of the image all pixels
The object arrived is crops.
3. the plant protection drone automatic spraying device according to claim 2 based on distance and image detection, feature exist
In the range unit is HC-SR04 supersonic range finder.
4. the plant protection drone automatic spraying device according to claim 2 based on distance and image detection, feature exist
In described image acquisition device is OV7670 camera.
5. the plant protection drone automatic spraying device according to claim 2 based on distance and image detection, feature exist
In the data processing equipment is STM32 series monolithic.
6. the plant protection drone automatic spraying device according to claim 2 based on distance and image detection, feature exist
In the control device is relay.
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| CN201610910296.XA CN106347667B (en) | 2016-10-19 | 2016-10-19 | Plant protection drone automatic spraying method and apparatus based on distance and image detection |
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| CN201610910296.XA CN106347667B (en) | 2016-10-19 | 2016-10-19 | Plant protection drone automatic spraying method and apparatus based on distance and image detection |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107200130B (en) * | 2017-04-19 | 2024-03-22 | 江苏大学 | Intelligent pesticide spraying aircraft and method |
| CN107272734A (en) * | 2017-06-13 | 2017-10-20 | 深圳市易成自动驾驶技术有限公司 | Unmanned plane during flying task executing method, unmanned plane and computer-readable recording medium |
| CN107907162A (en) * | 2017-11-15 | 2018-04-13 | 成都天麒科技有限公司 | A kind of unmanned plane spraying swath and spray effect detection method and operational method |
| CN108803657A (en) * | 2018-06-13 | 2018-11-13 | 仲恺农业工程学院 | A kind of unmanned plane plant protection monitoring system and method for manipulating automatically |
| CN109566582A (en) * | 2018-12-11 | 2019-04-05 | 山东省农业科学院科技信息研究所 | A kind of intelligent spray method based on unmanned plane |
| CN111114780B (en) * | 2019-12-20 | 2021-04-02 | 山东大学 | Unmanned aerial vehicle steel bar detection standard part placing and recycling system and method |
| CN112904891B (en) * | 2021-01-19 | 2022-12-06 | 国网浙江省电力有限公司台州供电公司 | Spraying method of plant protection unmanned aerial vehicle capable of easily detecting pesticide application effect |
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| CN104238523A (en) * | 2014-09-20 | 2014-12-24 | 无锡北斗星通信息科技有限公司 | Pesticide spraying platform based on image acquisition |
| CN105025262A (en) * | 2015-07-08 | 2015-11-04 | 常州华奥航空科技有限公司 | Large-area agricultural work unmanned plane |
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| JP3441342B2 (en) * | 1997-08-05 | 2003-09-02 | 本田技研工業株式会社 | Vehicle distance measuring device |
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| CN104238523A (en) * | 2014-09-20 | 2014-12-24 | 无锡北斗星通信息科技有限公司 | Pesticide spraying platform based on image acquisition |
| CN105025262A (en) * | 2015-07-08 | 2015-11-04 | 常州华奥航空科技有限公司 | Large-area agricultural work unmanned plane |
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