CN106564599A - Plant protection method for unmanned aerial vehicle based on multispectral remote sensing - Google Patents
Plant protection method for unmanned aerial vehicle based on multispectral remote sensing Download PDFInfo
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- CN106564599A CN106564599A CN201611025852.1A CN201611025852A CN106564599A CN 106564599 A CN106564599 A CN 106564599A CN 201611025852 A CN201611025852 A CN 201611025852A CN 106564599 A CN106564599 A CN 106564599A
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- unmanned plane
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 239000007921 spray Substances 0.000 claims abstract description 36
- 241000607479 Yersinia pestis Species 0.000 claims abstract description 29
- 201000010099 disease Diseases 0.000 claims abstract description 29
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 claims abstract description 29
- 239000000575 pesticide Substances 0.000 claims abstract description 15
- 238000005507 spraying Methods 0.000 claims abstract description 6
- 241000238631 Hexapoda Species 0.000 claims abstract 2
- 230000009418 agronomic effect Effects 0.000 claims description 15
- 239000002917 insecticide Substances 0.000 claims description 13
- 208000031968 Cadaver Diseases 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 6
- 238000005457 optimization Methods 0.000 claims description 6
- 239000003814 drug Substances 0.000 claims description 5
- 229940079593 drug Drugs 0.000 claims description 4
- 241000196324 Embryophyta Species 0.000 claims 18
- 241000209094 Oryza Species 0.000 claims 2
- 235000007164 Oryza sativa Nutrition 0.000 claims 2
- 235000009566 rice Nutrition 0.000 claims 2
- 238000001228 spectrum Methods 0.000 claims 2
- 230000016507 interphase Effects 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000019504 cigarettes Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000002420 orchard Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D7/00—Control of flow
- G05D7/06—Control of flow characterised by the use of electric means
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a plant protection method for an unmanned aerial vehicle based on multispectral remote sensing. The method is characterized in that a multispectral camera is arranged on a multi-rotor unmanned aerial vehicle; the conditions of crop diseases and insect pests are acquired by the multispectral camera; and acquired picture information is analyzed and processed, and the flow of a spray head of plant protection unmanned aerial vehicle spraying equipment is controlled, so that reasonable spraying of pesticide is realized. According to the plant protection method disclosed by the invention, the operation that farmers go to field for observing is avoided, variable spraying of the pesticide can be realized, and a large amount of time and cost are saved.
Description
Technical field
The present invention relates to agriculture field, and in particular to a kind of unmanned plane plant protection operation method based on multispectral remote sensing.
Background technology
China is a large agricultural country, and with the development of science and technology, the application of unmanned plane is also more and more extensive, especially in agricultural
Aspect.Current plant protection unmanned plane is primarily directed to large area farmland or the industrial crops in orchard and carries out spray pesticide operation, right
Entire area dispenser is indiscriminate when processing, but the situation of the diseases and pests of agronomic crop in each region is different, then the feelings of dispenser
Condition is also just different.
The content of the invention
For problems of the prior art, the invention provides a kind of unmanned plane plant protection based on multispectral remote sensing is made
Industry method, can carry out variable spray pesticide to different degrees of pest and disease damage situation.
In order to reach above-mentioned technique effect, technical scheme is as follows：A kind of unmanned plane based on multispectral remote sensing
Plant protection operation method, the pictorial information that unmanned plane is collected according to multispectral camera implements after treatment the variable spray of pesticide
Spill.
A kind of unmanned plane plant protection operation method based on multispectral remote sensing, comprises the following steps：
Step 1：Start unmanned plane, multi-rotor unmanned aerial vehicle sky machine is flown and calculates the real area in farmland, advised by ground based terminal
Draw surely optimal flight path and shoot hovering point；
Step 2：Multispectral camera is arranged on below multi-rotor unmanned aerial vehicle, starts unmanned plane, unmanned plane is according to Plan
Good route flight；
Step 3：The multi-rotor unmanned aerial vehicle for being loaded with multispectral camera is flown when hovering point is shot, unmanned plane hovering flight in the air
3s-5s, presses " taking pictures " switch of ground based terminal, and multispectral camera is taken pictures and gathers the image data of diseases and pests of agronomic crop, nobody
The image data that multispectral camera is collected is sent to ground based terminal by machine；
Step 4：Ground based terminal is received after the image data that multispectral camera is collected, and these data to collecting are built
Mould, analysis and process, obtain afterwards the situation information of diseases and pests of agronomic crop；
Step 5：The situation information of all of diseases and pests of agronomic crop obtained according to step 4, writes and controls flow of spraying insecticide
Algorithm, and it is sent to ground based terminal；
Step 6：Start plant protection unmanned plane so that it is docked with ground based terminal, plant protection unmanned plane according to the good route of preplanning
Flight, presses " spray " switch of ground based terminal, and the spray appliance of unmanned plane carries out variable spray agriculture by controlling capacity of sprinkler
Medicine, until completing whole plant protection operation.
Further, equipped with positioner and radio communication device in multi-rotor unmanned aerial vehicle, when positioner obtains nobody
During the current geographical position of machine, ground based terminal can be sent to by radio communication device, ground based terminal is received after information, can be with
The good shooting hovering point of Plan is compared, if the shooting hovering good with Plan of the geographical position of current unmanned plane
Numerical value between point is in 0.5 meter, then be loaded with the multi-rotor unmanned aerial vehicle hovering flight of multispectral camera, the surrounding's feelings to the point
Condition carries out omnibearing shooting, collecting.
Further, plant protection unmanned plane hovering flight highly gathers picture in corps canopy h, gathers the model of image data
Enclose is 5 meters -50 meters.
Further, positioner uses GPS positioning system.
A kind of unmanned plane plant protection operation method based on multispectral remote sensing is the multi-rotor unmanned aerial vehicle for being loaded with multispectral camera
With plant protection unmanned plane common operational；Start multi-rotor unmanned aerial vehicle, unmanned plane sky machine flight calculates the real area in farmland, by ground
Face terminal Plan flight optimization route and shooting hovering point；Startup be loaded with multispectral camera unmanned plane and plant protection nobody
Machine, plant protection unmanned plane is followed and is loaded with multispectral camera flight；Be loaded with multispectral camera multi-rotor unmanned aerial vehicle fly it is outstanding to shooting
During rest point, in corps canopy h height hovering flight 3s -5s, and omnibearing shooting, collecting is waken up with a start to the ambient conditionss,
Positioner is housed, if positioner obtains the current geographical position of unmanned plane and hangs with the good shooting of Plan on unmanned plane
Numerical value between rest point is in 0.5 meter, then be loaded with the multi-rotor unmanned aerial vehicle hovering flight of multispectral camera, and multispectral camera is adopted
After collection diseases and pests of agronomic crop image data, the feelings of pest and disease damage are obtained through the message processing device analysis on unmanned plane and after processing
Pest and disease damage situation information is sent to plant protection unmanned plane by condition information, the unmanned plane for being loaded with multispectral camera, and plant protection unmanned plane is received
The capacity of sprinkler of spray appliance is calculated after information by algorithm, plant protection unmanned plane is sprayed according to the capacity of sprinkler for calculating
Pesticide, the unmanned plane and plant protection unmanned plane during flying for being loaded with multispectral camera is acquired image data and spray to next hovering point
Spill pesticide.
A kind of unmanned plane plant protection operation method based on multispectral remote sensing is the spray appliance by multispectral camera and pesticide
In same multi-rotor unmanned aerial vehicle；Start multi-rotor unmanned aerial vehicle, unmanned plane sky machine flight calculates the real area in farmland, leads to
Cross ground based terminal Plan flight optimization route and shoot hovering point；Multispectral camera and agriculture are installed in multi-rotor unmanned aerial vehicle
The spray appliance of medicine, starts unmanned plane and according to the good route flight of Plan, when unmanned plane during flying is to shooting hovering point,
In corps canopy h height hovering flight 3s -5s, and omnibearing shooting, collecting is waken up with a start to the ambient conditionss, on unmanned plane
Equipped with positioner, if positioner is obtained between the good shooting hovering point of the current geographical position of unmanned plane and Plan
Numerical value in 0.5 meter, then be loaded with the multi-rotor unmanned aerial vehicle hovering flight of multispectral camera, multispectral camera collection crops
After pest and disease damage image data, the situation information of pest and disease damage is obtained through the message processing device analysis on unmanned plane and after processing,
After the control module receive information of unmanned plane, the capacity of sprinkler of spray appliance is calculated by algorithm, unmanned plane is according to calculating
Capacity of sprinkler sprayed insecticide, unmanned plane flies again to next hovering point to be acquired picture and to spray insecticide.
The invention has the beneficial effects as follows multispectral cigarette sense technology is gone to the field in combination with unmanned plane plant protection technology without the need for peasant
Observation diseases and pests of agronomic crop situation, goes to the field without peasant and sprays insecticide, it is often more important that can be different degrees of for crops
Pest and disease damage situation carry out variable spray pesticide, save substantial amounts of cost of labor and time.
Description of the drawings
Fig. 1 is a kind of flow process Fig. 1 of the unmanned plane plant protection operation method based on multispectral remote sensing.
Fig. 2 is a kind of flow process Fig. 2 of the unmanned plane plant protection operation method based on multispectral remote sensing.
Fig. 3 is a kind of flow process Fig. 3 of the unmanned plane plant protection operation method based on multispectral remote sensing.
Specific embodiment
Below in conjunction with the accompanying drawings the invention will be further described.
A kind of unmanned plane plant protection operation method based on multispectral remote sensing, the figure that unmanned plane is collected according to multispectral camera
Piece information, implements after treatment the variable spray of pesticide.
A kind of unmanned plane plant protection operation method based on multispectral remote sensing, comprises the following steps, as shown in Figure 1：
Step 1：Start unmanned plane, multi-rotor unmanned aerial vehicle sky machine is flown and calculates the real area in farmland, advised by ground based terminal
Draw surely optimal flight path and shoot hovering point；
Step 2：Multispectral camera is arranged on below multi-rotor unmanned aerial vehicle, starts unmanned plane, unmanned plane is according to Plan
Good route flight；
Step 3：The multi-rotor unmanned aerial vehicle for being loaded with multispectral camera is flown when hovering point is shot, unmanned plane hovering flight in the air
3s-5s, presses " taking pictures " switch of ground based terminal, and multispectral camera is taken pictures and gathers the image data of diseases and pests of agronomic crop, nobody
The image data that multispectral camera is collected is sent to ground based terminal by machine；
Step 4：Ground based terminal is received after the image data that multispectral camera is collected, and these data to collecting are built
Mould, analysis and process, obtain afterwards the situation information of diseases and pests of agronomic crop；
Step 5：The situation information of all of diseases and pests of agronomic crop obtained according to step 4, writes and controls flow of spraying insecticide
Algorithm, and it is sent to ground based terminal；
Step 6：Start plant protection unmanned plane so that it is docked with ground based terminal, plant protection unmanned plane according to the good route of preplanning
Flight, presses " spray " switch of ground based terminal, and the spray appliance of unmanned plane carries out variable spray agriculture by controlling capacity of sprinkler
Medicine, until completing whole plant protection operation.
Further, equipped with positioner and radio communication device in multi-rotor unmanned aerial vehicle, when positioner obtains nobody
During the current geographical position of machine, ground based terminal can be sent to by radio communication device, ground based terminal is received after information, can be with
The good shooting hovering point of Plan is compared, if the shooting hovering good with Plan of the geographical position of current unmanned plane
Numerical value between point is in 0.5 meter, then be loaded with the multi-rotor unmanned aerial vehicle hovering flight of multispectral camera, the surrounding's feelings to the point
Condition carries out omnibearing shooting, collecting.
Further, plant protection unmanned plane hovering flight highly gathers picture in corps canopy h, gathers the model of image data
Enclose is 5 meters -50 meters.
Further, positioner uses GPS positioning system.
Such as Fig. 2, a kind of unmanned plane plant protection operation method based on multispectral remote sensing is many rotors for being loaded with multispectral camera
Unmanned plane and plant protection unmanned plane common operational；Start multi-rotor unmanned aerial vehicle, unmanned plane sky machine flight calculates the real area in farmland,
By ground based terminal Plan flight optimization route and shooting hovering point；Startup is loaded with unmanned plane and the plant protection of multispectral camera
Unmanned plane, plant protection unmanned plane is followed and is loaded with multispectral camera flight；The multi-rotor unmanned aerial vehicle for being loaded with multispectral camera is flown to bat
When taking the photograph hovering point, in corps canopy h height hovering flight 3s -5s, and the ambient conditionss are waken up with a start it is omnibearing shooting adopt
Collection, is equipped with positioner on unmanned plane, if positioner obtains the current geographical position of unmanned plane and the good bat of Plan
The numerical value taken the photograph between hovering point is in 0.5 meter, then be loaded with the multi-rotor unmanned aerial vehicle hovering flight of multispectral camera, multispectral phase
After machine collection diseases and pests of agronomic crop image data, through the message processing device analysis on unmanned plane and after processing pest and disease damage is obtained
Situation information, pest and disease damage situation information is sent to plant protection unmanned plane, plant protection unmanned plane by the unmanned plane for being loaded with multispectral camera
The capacity of sprinkler of spray appliance is calculated after receive information by algorithm, plant protection unmanned plane is carried out according to the capacity of sprinkler for calculating
Spray insecticide, the unmanned plane and plant protection unmanned plane during flying for being loaded with multispectral camera is acquired image data to next hovering point
With spray insecticide.
Such as Fig. 3, a kind of unmanned plane plant protection operation method based on multispectral remote sensing is the spray by multispectral camera and pesticide
Spill equipment to be arranged in same multi-rotor unmanned aerial vehicle；Start multi-rotor unmanned aerial vehicle, unmanned plane sky machine flight calculates the reality in farmland
Area, by ground based terminal Plan flight optimization route and shooting hovering point；Install in multi-rotor unmanned aerial vehicle multispectral
The spray appliance of camera and pesticide, starts unmanned plane and according to the good route flight of Plan, when unmanned plane during flying is to shooting
During hovering point, in corps canopy h height hovering flight 3s -5s, and the ambient conditionss are waken up with a start it is omnibearing shooting adopt
Collection, is equipped with positioner on unmanned plane, if positioner obtains the current geographical position of unmanned plane and the good bat of Plan
The numerical value taken the photograph between hovering point is in 0.5 meter, then be loaded with the multi-rotor unmanned aerial vehicle hovering flight of multispectral camera, multispectral phase
After machine collection diseases and pests of agronomic crop image data, through the message processing device analysis on unmanned plane and after processing pest and disease damage is obtained
Situation information, after the control module receive information of unmanned plane, the capacity of sprinkler of spray appliance, unmanned plane are calculated by algorithm
Capacity of sprinkler according to calculating is sprayed insecticide, and unmanned plane flies again to next hovering point to be acquired picture and sprinkling agriculture
Medicine.
Claims (7)
1. a kind of unmanned plane plant protection operation method based on multispectral remote sensing, it is characterised in that unmanned plane is according to multispectral camera
The pictorial information for collecting, implements after treatment the variable spray of pesticide.
2. a kind of unmanned plane plant protection operation method based on multispectral remote sensing according to claim 1, it is characterised in that bag
Include following steps：
Step 1：Start unmanned plane, multi-rotor unmanned aerial vehicle sky machine is flown and calculates the real area in farmland, advised by ground based terminal
Draw surely optimal flight path and shoot hovering point；
Step 2：Multispectral camera is arranged on below multi-rotor unmanned aerial vehicle, starts unmanned plane, unmanned plane is according to Plan
Good route flight；
Step 3：The multi-rotor unmanned aerial vehicle for being loaded with multispectral camera is flown when hovering point is shot, unmanned plane hovering flight in the air
3s-5s, presses " taking pictures " switch of ground based terminal, and multispectral camera is taken pictures and gathers the image data of diseases and pests of agronomic crop, nobody
The image data that multispectral camera is collected is sent to ground based terminal by machine；
Step 4：Ground based terminal is received after the image data that multispectral camera is collected, and these data to collecting are built
Mould, analysis and process, obtain afterwards the situation information of diseases and pests of agronomic crop；
Step 5：The situation information of all of diseases and pests of agronomic crop obtained according to step 4, writes and controls flow of spraying insecticide
Algorithm, and it is sent to ground based terminal；
Step 6：Start plant protection unmanned plane so that it is docked with ground based terminal, plant protection unmanned plane according to the good route of preplanning
Flight, presses " spray " switch of ground based terminal, and the spray appliance of unmanned plane carries out variable spray agriculture by controlling capacity of sprinkler
Medicine, until completing whole plant protection operation.
3. a kind of unmanned plane plant protection operation method based on multispectral remote sensing according to claim 2, it is characterised in that many
Equipped with positioner and radio communication device on rotor wing unmanned aerial vehicle, when positioner obtains the current geographical position of unmanned plane,
Ground based terminal can be sent to by radio communication device, ground based terminal is received after information, can be outstanding with the good shooting of Plan
Rest point is compared, if the numerical value between the good shooting hovering point of the geographical position of current unmanned plane and Plan is 0.5
In rice, then be loaded with the multi-rotor unmanned aerial vehicle hovering flight of multispectral camera, to the ambient conditionss of the point omnibearing bat is carried out
Take the photograph collection.
4. a kind of unmanned plane plant protection operation method based on multispectral remote sensing according to claim 2, it is characterised in that institute
The step of stating 3, plant protection unmanned plane hovering flight highly gathers picture in corps canopy h, and the scope for gathering image data is 5
- 50 meters of rice.
5. the method for a kind of unmanned plane plant protection operation based on multispectral remote sensing according to claim 3, it is characterised in that
Described positioner adopts GPS positioning system.
6. a kind of unmanned plane plant protection operation method based on multispectral remote sensing, it is characterised in that be loaded with many rotations of multispectral camera
Wing unmanned plane and plant protection unmanned plane common operational；Start multi-rotor unmanned aerial vehicle, unmanned plane sky machine flight calculates the actual face in farmland
Product, by ground based terminal Plan flight optimization route and shooting hovering point；Startup be loaded with multispectral camera unmanned plane and
Plant protection unmanned plane, plant protection unmanned plane is followed and is loaded with multispectral camera flight；It is loaded with the multi-rotor unmanned aerial vehicle flight of multispectral camera
When hovering point is shot, in corps canopy h height hovering flight 3s -5s, and omnibearing bat is waken up with a start to the ambient conditionss
Collection is taken the photograph, positioner is housed on unmanned plane, current geographical position is good with Plan if positioner obtains unmanned plane
Shooting hovering point between numerical value in 0.5 meter, then be loaded with the multi-rotor unmanned aerial vehicle hovering flight of multispectral camera, more light
After spectrum collected by camera diseases and pests of agronomic crop image data, through the message processing device analysis on unmanned plane and after processing disease is obtained
The situation information of insect pest, is loaded with the unmanned plane of multispectral camera and pest and disease damage situation information is sent to into plant protection unmanned plane, plant protection without
The capacity of sprinkler of spray appliance is calculated after man-machine receive information by algorithm, plant protection unmanned plane is according to the capacity of sprinkler for calculating
Sprayed insecticide, the unmanned plane and plant protection unmanned plane during flying for being loaded with multispectral camera is acquired picture to next hovering point
Data and spray insecticide.
7. a kind of unmanned plane plant protection operation method based on multispectral remote sensing, it is characterised in that by multispectral camera and pesticide
Spray appliance is arranged in same multi-rotor unmanned aerial vehicle；Start multi-rotor unmanned aerial vehicle, unmanned plane sky machine flight calculates the reality in farmland
Interphase is accumulated, by ground based terminal Plan flight optimization route and shooting hovering point；Light more is installed in multi-rotor unmanned aerial vehicle
The spray appliance of spectrum camera and pesticide, starts unmanned plane and according to the good route flight of Plan, when unmanned plane during flying is to bat
When taking the photograph hovering point, in corps canopy h height hovering flight 3s -5s, and the ambient conditionss are waken up with a start it is omnibearing shooting adopt
Collection, is equipped with positioner on unmanned plane, if positioner obtains the current geographical position of unmanned plane and the good bat of Plan
The numerical value taken the photograph between hovering point is in 0.5 meter, then multi-rotor unmanned aerial vehicle hovering flight, multispectral camera collection crop diseases and pest
After evil image data, the situation information of pest and disease damage is obtained through the message processing device analysis on unmanned plane and after processing, nobody
After the control module receive information of machine, the capacity of sprinkler of spray appliance is calculated by algorithm, unmanned plane is according to the spray for calculating
Head flow is sprayed insecticide, and unmanned plane flies again to next hovering point to be acquired picture and sprays insecticide.
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| CN107161346A (en) * | 2017-05-18 | 2017-09-15 | 浙江大学 | A kind of unmanned plane pesticide spraying system and spray method based on traversal destination |
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