CN107484745A - A kind of agriculture and forestry unmanned plane pesticide spraying system - Google Patents
A kind of agriculture and forestry unmanned plane pesticide spraying system Download PDFInfo
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- CN107484745A CN107484745A CN201710838591.3A CN201710838591A CN107484745A CN 107484745 A CN107484745 A CN 107484745A CN 201710838591 A CN201710838591 A CN 201710838591A CN 107484745 A CN107484745 A CN 107484745A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0003—Atomisers or mist blowers
- A01M7/0014—Field atomisers, e.g. orchard atomisers, self-propelled, drawn or tractor-mounted
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M29/00—Scaring or repelling devices, e.g. bird-scaring apparatus
- A01M29/16—Scaring or repelling devices, e.g. bird-scaring apparatus using sound waves
- A01M29/18—Scaring or repelling devices, e.g. bird-scaring apparatus using sound waves using ultrasonic signals
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
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- Engineering & Computer Science (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
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- Environmental Sciences (AREA)
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- Other Investigation Or Analysis Of Materials By Electrical Means (AREA)
Abstract
The invention belongs to agricultural management engineering device technique field, discloses a kind of agriculture and forestry unmanned plane pesticide spraying system, and unmanned plane body interior is provided with the controller module that the data of reception are carried out with computing and processing；For shooting the camera of real-time growth information after forestry plant sprays；The IR spectra of PVDC launched using built-in infrared transmitter detects the infrared monitor of the surface temperature of forestry plant in real time；By the data obtaining module of the surface temperature information transfer of the forestry plant of detection；Realize the data processing module that nonlinear transformation is carried out to data-signal；Display module by testing number according to real-time display.The agriculture and forestry unmanned plane pesticide spraying system can convert the solar into electric energy by solar panel, continue electricity consumption for battery, meet the power demands of unmanned plane body, realize long-range continuation of the journey；Effectively the birds of flight range can be driven by supersonic wave bird driving device, meet flying condition, ensure that spray process is smoothed out.
Description
Technical field
The invention belongs to agricultural management engineering device technique field, more particularly to a kind of agriculture and forestry unmanned plane pesticide spraying system.
Background technology
Plant protection unmanned plane, as the term suggests be for agriculture and forestry plant protection operation UAV, the type unmanned aerial vehicle
By flying platform (fixed-wing, helicopter, Multi-axis aircraft), navigation fly control, spraying mechanism three parts form, pass through ground remote control
Or navigation flies control, to realize spraying operation, can spray medicament, seed, pulvis etc..However, existing unmanned plane endurance
Difference, usage time are short；Simultaneously easily by birds interference effect spray drug operation.
In summary, the problem of prior art is present be：Existing unmanned plane endurance is poor, and usage time is short；Simultaneously
Easily by birds interference effect spray drug operation.
The content of the invention
The problem of existing for prior art, the invention provides a kind of agriculture and forestry unmanned plane pesticide spraying system.
The present invention is achieved in that the agriculture and forestry are provided with unmanned plane body with unmanned plane pesticide spraying system, it is described nobody
Machine body interior is provided with the controller module that the data of reception are carried out with computing and processing；
Electrically connected with controller module, for shooting the camera of real-time growth information after forestry plant sprays；
Electrically connected with controller module, the IR spectra of PVDC launched using built-in infrared transmitter is detected forestry and planted in real time
The infrared monitor of the surface temperature of thing；
Electrically connected with controller module, by the data obtaining module of the surface temperature information transfer of the forestry plant of detection；
Electrically connected with controller module, realize the data processing module that nonlinear transformation is carried out to data-signal；
Electrically connected with controller module, the display module by testing number according to real-time display.
Further, the upper end of the unmanned plane body, which is inlayed, is provided with signal receiver, the lower end of the unmanned plane body
It is installed by welding with support；The lower end of the support, which is bolted, is provided with connector, and the lower end of institute's connector is welded with medicine
Case, the lower end connection spray rotating disk of the medicine-chest；
The upper end of the unmanned plane body, which is bolted, is provided with solar panel, the unmanned plane body connection
The internal stent of wing, which is inlayed, is provided with battery, and the solar panel is connected with storage battery；The unmanned plane body
Front end be bolted supersonic wave bird driving device be installed.
Further, the information collecting method of the camera comprises the following steps：
Collect N number of sample and be used as training set X, sample mean m is obtained using following formula：
Wherein, xi ∈ sample training collections X=(x1, x2 ..., xN)；
Obtain scatter matrix S：
Obtain the eigenvalue λ i and corresponding characteristic vector ei of scatter matrix, wherein, ei is principal component, by characteristic value from
Arrive greatly and small be arranged in order λ 1, λ 2 ...；
P value is taken out, λ 1, λ 2 ..., λ p determine the plant scope E=(e1, e2 ..., eP) after spray, sprayed herein
In plant scope afterwards, in training sample X, the point for the plant scope that each element is projected to after the spray is obtained by following formula：
X ' i=Etxi, t=1,2 ..., N；
What is obtained by above formula is p dimensional vectors by former vector after PCA dimensionality reductions；
It is described forestry plant is sprayed after in real time growth information carry out extraction and extracted based on sparse representation method, it is sparse
Characterization model is：
Wherein α is greater than 0 coefficient,For measuring the error that noise and wild point are brought；
It is equivalent to drag：
Further, the processing method of the data processing module comprises the following steps：
First, the integrated information evaluation body established between the surface temperature scope of forestry plant and the factor of influence surface temperature
System, appraisement system is the system being made up of surface temperature value m index of scope of n forestry plant, so as to obtain initial information
Evaluations matrix：
Wherein, i=1,2 ..., n；J=1,2 ..., m；
To each index normalized in A '：
Normalized index：
Wherein, i=1,2 ..., n；J=1,2 ..., m；
The minimum value of-matrix A ' middle jth row；
The maximum of-matrix A ' middle jth row；
aijCorrespond to the element of the i-th row j row in-normative information matrix, normative information matrix A is represented by：
Wherein, i=1,2 ..., n；J=1,2 ..., m；
Then, according to normative information matrix, jth item index under the surface temperature value scope of i-th of forestry plant is determined
Desired value proportion：
Wherein, i=1,2 ..., n；J=1,2 ..., m；
Finally, the entropy of the surface temperature value scope of i-th of forestry plant is calculated by entropy assessment
Wherein, Ti- be defined as i-th of forestry plant surface temperature value scope influence surface temperature sub-information entropy；
pijThe proportion of jth item index under the surface temperature value scope of-i-th forestry plant；
I=1,2 ..., n；J=1,2 ..., m；
The entropy of the surface temperature value scope of forestry plant is normalized, and normalizes formula：
According to the relation of the risk factor between the factor of the surface temperature scope of forestry plant and influence surface temperature, risk factor
Classification standard is divided into：
0.8≤Hc≤ 1, extremely low danger；
0.6≤Hc＜ 0.8, low degree of hazard；
0.4≤Hc＜ 0.6, poor risk；
0.2≤Hc＜ 0.4, highly dangerous；
0≤Hc＜ 0.2, high danger.
Further, the regulation and control method of the controller module is：
Nonlinear transformation is carried out to the signal s (t) of data processing module transmission, carried out as follows：
WhereinA represents the amplitude of signal, and a (m) represents letter
Number symbol, p (t) represent shaping function, fcThe carrier frequency of signal is represented,The phase of signal is represented, by this
Obtained after nonlinear transformation：
Further, the information collecting method of described information acquisition module includes：
To what camera, infrared monitor transmitted circulation covariant function is sought containing noisy signal；
Fourier transformation is carried out to the circulation covariant function, asks it to circulate co-variation spectrum；
Dimensionality reduction is carried out to circulation co-variation spectrum signal, passes through the difference equation of finite impulse response filterWherein h (0) ..., h (L-1) are filter coefficient, are designed based on filtering
Compressed sensing signal acquisition framework, construct following Teoplitz calculation matrix：
Then observeWherein b1..., bLRegard filter coefficient as；Submatrix
ΦFTSingular value be gram matrix G (ΦF, T) and=Φ 'FTΦFTThe arithmetic root of characteristic value, checking G (Φ F, T) all spies
Value indicative λ i ∈ (1- δK, 1+ δK), i=1 ..., T, then ΦFMeet RIP, and pass through solutionOptimization problem
To reconstruct original signal；Original signal, that is, BP algorithm are reconstructed by linear programming method；Collection to picture signal, then repair
Change ΦFFor following form：
If signal conversion basic matrix Ψ on have it is openness, pass through solution
Optimization problem, Accurate Reconstruction go out original signal；Wherein Φ is uncorrelated to Ψ,Referred to as CS matrixes.
Further, method for processing noise includes in the camera, infrared monitor transmission：Noisy signal will be contained to contain
There is the mpsk signal for obeying S α S partition noises, be expressed as：
Wherein E is the mean power of signal,M=2k, m=1,
2 ... M, q (t) represent rectangular pulse waveform, and T represents symbol period, fcRepresent carrier frequency, φ0Initial phase is represented, if (this
Whether place needs plus condition：If) w (t) is the non-Gaussian noise for obeying S α S distribution, its autocovariance function is defined as：
Wherein (x (t- τ))<p-1>=| x (t- τ) |p-2X* (t- τ), γx(t-τ)It is x (t) coefficient of dispersion, then x (t) is followed
Ring co-variation is defined as：
Wherein ε is referred to as cycle frequency, and T is a code-element period；
The Fourier transformation of covariant function is circulated, is expressed as：
It circulates co-variation spectrum and is derived as：
As M >=4,Place,
As M=2,
Wherein Q (f) is q (t) Fourier transformation, and
Advantages of the present invention and good effect are：The agriculture and forestry unmanned plane pesticide spraying system can be incited somebody to action by solar panel
Solar energy is converted to electric energy, continues electricity consumption for battery, meets the power demands of unmanned plane body, realize long-range continuation of the journey；
Effectively the birds of flight range can be driven by supersonic wave bird driving device, meet flying condition, ensure spray process
It is smoothed out.
Brief description of the drawings
Fig. 1 is agriculture and forestry unmanned plane pesticide spraying system structural representation provided in an embodiment of the present invention.
Fig. 2 is the internal structure schematic diagram of unmanned plane body provided in an embodiment of the present invention.
In figure：1st, medicine-chest；2nd, support；3rd, unmanned plane body；4th, solar panel；5th, supersonic wave bird driving device；6th, signal
Receiver；7th, connector；8th, wing；9th, battery；10th, spray rotating disk；11st, controller module；12nd, camera；13rd, infrared prison
Survey instrument；14th, data obtaining module；15th, data processing module；16th, display module.
Embodiment
In order to further understand the content, features and effects of the present invention, hereby enumerating following examples, and coordinate accompanying drawing
1st, accompanying drawing 2 describes in detail as follows.
The agriculture and forestry are provided with unmanned plane body 3 with unmanned plane pesticide spraying system, are provided with inside the unmanned plane body 3 pair
The data of reception carry out the controller module 11 of computing and processing；
Electrically connected with controller module 11, for shooting the camera 12 of real-time growth information after forestry plant sprays；
Electrically connected with controller module 11, the IR spectra of PVDC launched using built-in infrared transmitter detects forestry in real time
The infrared monitor 13 of the surface temperature of plant；
Electrically connected with controller module 11, by the data obtaining module of the surface temperature information transfer of the forestry plant of detection
14；
Electrically connected with controller module 11, realize the data processing module 15 that nonlinear transformation is carried out to data-signal；
Electrically connected with controller module 11, the display module 16 by testing number according to real-time display.
As the preferred embodiments of the present invention, the upper end of the unmanned plane body 3, which is inlayed, is provided with signal receiver 6, institute
The lower end for stating unmanned plane body 3 is installed by welding with support 2；The lower end of the support 2, which is bolted, is provided with connector 7,
The lower end of institute's connector 7 is welded with medicine-chest 1, the lower end connection spray rotating disk 10 of the medicine-chest 1；
The upper end of the unmanned plane body 3, which is bolted, is provided with solar panel 4, the unmanned plane body 3
Connect to inlay inside the support 2 of wing 8 and battery 9 is installed, the solar panel 4 electrically connects with battery 9；The nothing
The front end of man-machine body 3, which is bolted, is provided with supersonic wave bird driving device 5.
Electric energy is converted the solar into by solar panel 4, is stored in battery 9, is each electricity by battery 9
Device power elements, meet supply of electric power, realize the requirement continued a journey at a distance.By installing supersonic wave bird driving device 5, realize
Supersonic wave bird driving and sound bird repellent, avoid the influence to unmanned plane body 3 during Bird Flight.Believed by ST60-36P types
Number receiver 6 receives the information of spray, and the decoction in medicine-chest 1 is conducted to spray rotating disk 10 by flexible pipe, is realized by spray orifice
Effective spray.By the setting of reflecting strips, the flight position of unmanned plane body 3 can be effectively found, passes through oxidation resistant layer
Set, the oxidation of wing 8 of effective surface, extend service life.
As the preferred embodiments of the present invention, the information collecting method of the camera 12 comprises the following steps：
Collect N number of sample and be used as training set X, sample mean m is obtained using following formula：
Wherein, xi ∈ sample training collections X=(x1, x2 ..., xN)；
Obtain scatter matrix S：
Obtain the eigenvalue λ i and corresponding characteristic vector ei of scatter matrix, wherein, ei is principal component, by characteristic value from
Arrive greatly and small be arranged in order λ 1, λ 2 ...；
P value is taken out, λ 1, λ 2 ..., λ p determine the plant scope E=(e1, e2 ..., eP) after spray, sprayed herein
In plant scope afterwards, in training sample X, the point for the plant scope that each element is projected to after the spray is obtained by following formula：
X ' i=Etxi, t=1,2 ..., N；
What is obtained by above formula is p dimensional vectors by former vector after PCA dimensionality reductions；
It is described forestry plant is sprayed after in real time growth information carry out extraction and extracted based on sparse representation method, it is sparse
Characterization model is：
Wherein α is greater than 0 coefficient,For measuring the error that noise and wild point are brought；
It is equivalent to drag：
As the preferred embodiments of the present invention, the processing method of the data processing module 15 comprises the following steps：
First, the integrated information evaluation body established between the surface temperature scope of forestry plant and the factor of influence surface temperature
System, appraisement system is the system being made up of surface temperature value m index of scope of n forestry plant, so as to obtain initial information
Evaluations matrix：
Wherein, i=1,2 ..., n；J=1,2 ..., m；
To each index normalized in A '：
Normalized index：
Wherein, i=1,2 ..., n；J=1,2 ..., m；
The minimum value of-matrix A ' middle jth row；
The maximum of-matrix A ' middle jth row；
aijCorrespond to the element of the i-th row j row in-normative information matrix, normative information matrix A is represented by：
Wherein, i=1,2 ..., n；J=1,2 ..., m；
Then, according to normative information matrix, jth item index under the surface temperature value scope of i-th of forestry plant is determined
Desired value proportion：
Wherein, i=1,2 ..., n；J=1,2 ..., m；
Finally, the entropy of the surface temperature value scope of i-th of forestry plant is calculated by entropy assessment
Wherein, Ti- be defined as i-th of forestry plant surface temperature value scope influence surface temperature sub-information entropy；
pijThe proportion of jth item index under the surface temperature value scope of-i-th forestry plant；
I=1,2 ..., n；J=1,2 ..., m；
The entropy of the surface temperature value scope of forestry plant is normalized, and normalizes formula：
According to the relation of the risk factor between the factor of the surface temperature scope of forestry plant and influence surface temperature, risk factor
Classification standard is divided into：
0.8≤Hc≤ 1, extremely low danger；
0.6≤Hc＜ 0.8, low degree of hazard；
0.4≤Hc＜ 0.6, poor risk；
0.2≤Hc＜ 0.4, highly dangerous；
0≤Hc＜ 0.2, high danger.
As the preferred embodiments of the present invention, the regulation and control method of the controller module 11 is：
Nonlinear transformation is carried out to the signal s (t) that data processing module 15 transmits, carried out as follows：
WhereinA represents the amplitude of signal, and a (m) represents letter
Number symbol, p (t) represent shaping function, fcThe carrier frequency of signal is represented,The phase of signal is represented, by this
Obtained after nonlinear transformation：
As the preferred embodiments of the present invention, the information collecting method of described information acquisition module 14 includes：
To what camera 12, infrared monitor 13 transmitted circulation covariant function is sought containing noisy signal；
Fourier transformation is carried out to the circulation covariant function, asks it to circulate co-variation spectrum；
Dimensionality reduction is carried out to circulation co-variation spectrum signal, passes through the difference equation of finite impulse response filterWherein h (0) ..., h (L-1) are filter coefficient, are designed based on filtering
Compressed sensing signal acquisition framework, construct following Teoplitz calculation matrix：
Then observeWherein b1..., bLRegard filter coefficient as；Submatrix
ΦFTSingular value be gram matrix G (ΦF, T) and=Φ 'FTΦFTThe arithmetic root of characteristic value, checking G (Φ F, T) all spies
Value indicative λ i ∈ (1- δK, 1+ δK), i=1 ..., T, then ΦFMeet RIP, and pass through solutionOptimization problem
To reconstruct original signal；Original signal, that is, BP algorithm are reconstructed by linear programming method；Collection to picture signal, then repair
Change ΦFFor following form：
If signal conversion basic matrix Ψ on have it is openness, pass through solution
Optimization problem, Accurate Reconstruction go out original signal；Wherein Φ is uncorrelated to Ψ,Referred to as CS matrixes.
As the preferred embodiments of the present invention, method for processing noise bag during the camera 12, infrared monitor 13 transmit
Include：The mpsk signal for obeying S α S partition noises will be contained containing noisy signal, be expressed as：
Wherein E is the mean power of signal,M=2k, m=1,
2 ... M, q (t) represent rectangular pulse waveform, and T represents symbol period, fcRepresent carrier frequency, φ0Initial phase is represented, if (this
Whether place needs plus condition：If) w (t) is the non-Gaussian noise for obeying S α S distribution, its autocovariance function is defined as：
Wherein (x (t- τ))<p-1>=| x (t- τ) |p-2X* (t- τ), γx(t-τ)It is x (t) coefficient of dispersion, then x (t) is followed
Ring co-variation is defined as：
Wherein ε is referred to as cycle frequency, and T is a code-element period；
The Fourier transformation of covariant function is circulated, is expressed as：
It circulates co-variation spectrum and is derived as：
As M >=4,Place,
As M=2,
Wherein Q (f) is q (t) Fourier transformation, and
It is described above to be only the preferred embodiments of the present invention, any formal limitation not is made to the present invention,
Every technical spirit according to the present invention belongs to any simple modification made for any of the above embodiments, equivalent variations and modification
In the range of technical solution of the present invention.
Claims (7)
1. a kind of agriculture and forestry unmanned plane pesticide spraying system, it is characterised in that the agriculture and forestry are provided with unmanned plane pesticide spraying system
Unmanned plane body, the unmanned plane body interior are provided with the controller module that the data of reception are carried out with computing and processing；
Electrically connected with controller module, for shooting the camera of real-time growth information after forestry plant sprays；
Electrically connected with controller module, the IR spectra of PVDC launched using built-in infrared transmitter detects forestry plant in real time
The infrared monitor of surface temperature；
Electrically connected with controller module, by the data obtaining module of the surface temperature information transfer of the forestry plant of detection；
Electrically connected with controller module, realize the data processing module that nonlinear transformation is carried out to data-signal；
Electrically connected with controller module, the display module by testing number according to real-time display.
2. agriculture and forestry as claimed in claim 1 unmanned plane pesticide spraying system, it is characterised in that the upper end of the unmanned plane body
Inlay and signal receiver is installed, the lower end of the unmanned plane body is installed by welding with support；The lower end of the support passes through spiral shell
Bolt is installed with connector, and the lower end of institute's connector is welded with medicine-chest, the lower end connection spray rotating disk of the medicine-chest；
The upper end of the unmanned plane body, which is bolted, is provided with solar panel, and the unmanned plane body connects wing
Internal stent inlay battery be installed, the solar panel is connected with storage battery；Before the unmanned plane body
End, which is bolted, is provided with supersonic wave bird driving device.
3. agriculture and forestry as claimed in claim 1 unmanned plane pesticide spraying system, it is characterised in that the information gathering of the camera
Method comprises the following steps：
Collect N number of sample and be used as training set X, sample mean m is obtained using following formula：
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Obtain scatter matrix S：
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It is small to be arranged in order λ 1, λ 2 ...；
P value is taken out, λ 1, λ 2 ..., λ p determine the plant scope E=(e1, e2 ..., eP) after spray, after spraying herein
In plant scope, in training sample X, the point for the plant scope that each element is projected to after the spray is obtained by following formula：
X ' i=Etxi, t=1,2 ..., N；
What is obtained by above formula is p dimensional vectors by former vector after PCA dimensionality reductions；
It is described forestry plant is sprayed after in real time growth information carry out extraction and extracted based on sparse representation method, sparse representation
Model is：
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<mn>1</mn>
</msub>
<mo>,</mo>
<mo>...</mo>
<mo>,</mo>
<msub>
<mi>J</mi>
<mi>K</mi>
</msub>
</mrow>
</munder>
<mrow>
<msub>
<mi>S</mi>
<mn>1</mn>
</msub>
<mo>,</mo>
<mo>...</mo>
<mo>,</mo>
<msub>
<mi>S</mi>
<mi>K</mi>
</msub>
</mrow>
</munder>
<mrow>
<msub>
<mi>Z</mi>
<mn>1</mn>
</msub>
<mo>,</mo>
<mo>...</mo>
<mo>,</mo>
<msub>
<mi>Z</mi>
<mi>K</mi>
</msub>
</mrow>
</munder>
<mrow>
<msub>
<mi>E</mi>
<mn>1</mn>
</msub>
<mo>,</mo>
<mo>...</mo>
<mo>,</mo>
<msub>
<mi>E</mi>
<mi>K</mi>
</msub>
</mrow>
</munder>
</mtd>
<mtd>
<mrow>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>K</mi>
</munderover>
<mrow>
<mo>(</mo>
<mo>|</mo>
<mo>|</mo>
<msub>
<mi>J</mi>
<mi>i</mi>
</msub>
<mo>|</mo>
<msub>
<mo>|</mo>
<mo>*</mo>
</msub>
<mo>+</mo>
<mi>&lambda;</mi>
<mo>|</mo>
<mo>|</mo>
<msub>
<mi>E</mi>
<mi>i</mi>
</msub>
<mo>|</mo>
<msub>
<mo>|</mo>
<mrow>
<mn>2</mn>
<mo>,</mo>
<mn>1</mn>
</mrow>
</msub>
<mo>)</mo>
</mrow>
<mo>+</mo>
<mi>&alpha;</mi>
<mo>|</mo>
<mo>|</mo>
<mi>A</mi>
<mo>|</mo>
<msub>
<mo>|</mo>
<mrow>
<mn>2</mn>
<mo>,</mo>
<mn>1</mn>
</mrow>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mi>s</mi>
<mo>.</mo>
<mi>t</mi>
<mo>.</mo>
</mrow>
</mtd>
<mtd>
<mrow>
<msub>
<mi>X</mi>
<mi>i</mi>
</msub>
<mo>=</mo>
<msub>
<mi>X</mi>
<mi>i</mi>
</msub>
<msub>
<mi>S</mi>
<mi>i</mi>
</msub>
<mo>+</mo>
<msub>
<mi>E</mi>
<mi>i</mi>
</msub>
<mo>,</mo>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow></mrow>
</mtd>
<mtd>
<mrow>
<msub>
<mi>A</mi>
<mi>i</mi>
</msub>
<mo>=</mo>
<msub>
<mi>J</mi>
<mi>i</mi>
</msub>
<mo>,</mo>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow></mrow>
</mtd>
<mtd>
<mrow>
<msub>
<mi>A</mi>
<mi>i</mi>
</msub>
<mo>=</mo>
<msub>
<mi>S</mi>
<mi>i</mi>
</msub>
<mo>,</mo>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
<mo>,</mo>
<mn>...</mn>
<mo>,</mo>
<mover>
<mi>K</mi>
<mo>~</mo>
</mover>
</mrow>
</mtd>
</mtr>
</mtable>
<mo>.</mo>
</mrow>
4. agriculture and forestry as claimed in claim 1 unmanned plane pesticide spraying system, it is characterised in that the place of the data processing module
Reason method comprises the following steps：
First, the integrated information appraisement system established between the surface temperature scope of forestry plant and the factor of influence surface temperature,
Appraisement system is the system being made up of surface temperature value m index of scope of n forestry plant, so as to obtain initial information evaluation
Matrix：
Wherein, i=1,2 ..., n；J=1,2 ..., m；
To each index normalized in A '：
Normalized index：
<mrow>
<msub>
<mi>a</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msub>
<mo>=</mo>
<mn>0.8</mn>
<mo>&times;</mo>
<mrow>
<mo>(</mo>
<mfrac>
<mrow>
<msubsup>
<mi>a</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
<mo>&prime;</mo>
</msubsup>
<mo>-</mo>
<munder>
<mi>min</mi>
<mi>i</mi>
</munder>
<mo>{</mo>
<msubsup>
<mi>a</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
<mo>&prime;</mo>
</msubsup>
<mo>}</mo>
</mrow>
<mrow>
<munder>
<mi>max</mi>
<mi>i</mi>
</munder>
<mo>{</mo>
<msubsup>
<mi>a</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
<mo>&prime;</mo>
</msubsup>
<mo>}</mo>
<mo>-</mo>
<munder>
<mi>min</mi>
<mi>i</mi>
</munder>
<mo>{</mo>
<msubsup>
<mi>a</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
<mo>&prime;</mo>
</msubsup>
<mo>}</mo>
</mrow>
</mfrac>
<mo>)</mo>
</mrow>
<mo>+</mo>
<mn>0.1</mn>
</mrow>
Wherein, i=1,2 ..., n；J=1,2 ..., m；
--- the minimum value of matrix A ' middle jth row；
--- the maximum of matrix A ' middle jth row；
aij--- correspond to the element of the i-th row j row in normative information matrix, normative information matrix A is represented by：
Wherein, i=1,2 ..., n；J=1,2 ..., m；
Then, according to normative information matrix, the finger of jth item index under the surface temperature value scope of i-th of forestry plant is determined
The proportion of scale value：
<mrow>
<msub>
<mi>p</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msub>
<mo>=</mo>
<mfrac>
<msub>
<mi>a</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msub>
<mrow>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>j</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>m</mi>
</munderover>
<msub>
<mi>a</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msub>
</mrow>
</mfrac>
</mrow>
2
Wherein, i=1,2 ..., n；J=1,2 ..., m；
Finally, the entropy of the surface temperature value scope of i-th of forestry plant is calculated by entropy assessment
<mrow>
<msub>
<mi>T</mi>
<mi>i</mi>
</msub>
<mo>=</mo>
<mo>-</mo>
<mfrac>
<mrow>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>j</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>m</mi>
</munderover>
<msub>
<mi>p</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msub>
<msubsup>
<mi>log</mi>
<mn>2</mn>
<msub>
<mi>p</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msub>
</msubsup>
</mrow>
<mrow>
<msubsup>
<mi>log</mi>
<mn>2</mn>
<mi>m</mi>
</msubsup>
</mrow>
</mfrac>
</mrow>
Wherein, Ti--- it is defined as the sub-information entropy of the influence surface temperature of the surface temperature value scope of i-th of forestry plant；
pij--- the proportion of jth item index under the surface temperature value scope of i-th of forestry plant；
I=1,2 ..., n；J=1,2 ..., m；
The entropy of the surface temperature value scope of forestry plant is normalized, and normalizes formula：
<mrow>
<msub>
<mi>H</mi>
<mi>c</mi>
</msub>
<mo>=</mo>
<mfrac>
<mrow>
<mi>H</mi>
<mrow>
<mo>(</mo>
<mi>X</mi>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mi>min</mi>
<mrow>
<mo>(</mo>
<mi>H</mi>
<mo>(</mo>
<mi>X</mi>
<mo>)</mo>
</mrow>
<mo>)</mo>
</mrow>
<mrow>
<mi>max</mi>
<mrow>
<mo>(</mo>
<mi>H</mi>
<mo>(</mo>
<mi>X</mi>
<mo>)</mo>
</mrow>
<mo>)</mo>
<mo>-</mo>
<mi>min</mi>
<mrow>
<mo>(</mo>
<mi>H</mi>
<mo>(</mo>
<mi>X</mi>
<mo>)</mo>
</mrow>
<mo>)</mo>
</mrow>
</mfrac>
</mrow>
According to the relation of the risk factor between the factor of the surface temperature scope of forestry plant and influence surface temperature, risk factor grade
Standard is divided into：
0.8≤Hc≤ 1, extremely low danger；
0.6≤Hc＜ 0.8, low degree of hazard；
0.4≤Hc＜ 0.6, poor risk；
0.2≤Hc＜ 0.4, highly dangerous；
0≤Hc＜ 0.2, high danger.
5. agriculture and forestry as claimed in claim 1 unmanned plane pesticide spraying system, it is characterised in that the regulation and control of the controller module
Method is：
Nonlinear transformation is carried out to the signal s (t) of data processing module transmission, carried out as follows：
<mrow>
<mi>f</mi>
<mo>&lsqb;</mo>
<mi>s</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>&rsqb;</mo>
<mo>=</mo>
<mfrac>
<mrow>
<mi>s</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>*</mo>
<mi>ln</mi>
<mo>|</mo>
<mi>s</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>|</mo>
</mrow>
<mrow>
<mo>|</mo>
<mi>s</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>|</mo>
</mrow>
</mfrac>
<mo>=</mo>
<mi>s</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mi>c</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>;</mo>
</mrow>
WhereinA represents the amplitude of signal, and a (m) represents signal
Symbol, p (t) represent shaping function, fcThe carrier frequency of signal is represented,The phase of signal is represented, it is non-thread by this
Property conversion after obtain：
<mrow>
<mi>f</mi>
<mo>&lsqb;</mo>
<mi>s</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>&rsqb;</mo>
<mo>=</mo>
<mi>s</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mfrac>
<mrow>
<mi>ln</mi>
<mo>|</mo>
<mi>A</mi>
<mi>a</mi>
<mrow>
<mo>(</mo>
<mi>m</mi>
<mo>)</mo>
</mrow>
<mo>|</mo>
</mrow>
<mrow>
<mo>|</mo>
<mi>A</mi>
<mi>a</mi>
<mrow>
<mo>(</mo>
<mi>m</mi>
<mo>)</mo>
</mrow>
<mo>|</mo>
</mrow>
</mfrac>
<mo>.</mo>
</mrow>
6. agriculture and forestry as claimed in claim 1 unmanned plane pesticide spraying system, it is characterised in that the letter of described information acquisition module
Breath acquisition method includes：
To what camera, infrared monitor transmitted circulation covariant function is sought containing noisy signal；
Fourier transformation is carried out to the circulation covariant function, asks it to circulate co-variation spectrum；
Dimensionality reduction is carried out to circulation co-variation spectrum signal, passes through the difference equation of finite impulse response filterWherein h (0) ..., h (L-1) are filter coefficient, are designed based on filtering
Compressed sensing signal acquisition framework, construct following Teoplitz calculation matrix：
Then observeWherein b1..., bLRegard filter coefficient as；Submatrix ΦFT
Singular value be gram matrix G (ΦF, T) and=Φ 'FTΦFTThe arithmetic root of characteristic value, checking G (Φ F, T) all eigenvalue λs
i∈(1-δK, 1+ δK), i=1 ..., T, then ΦFMeet RIP, and pass through solutionOptimization problem weighs
Structure original signal；Original signal, that is, BP algorithm are reconstructed by linear programming method；Collection to picture signal, then change ΦF
For following form：
If signal conversion basic matrix Ψ on have it is openness, pass through solutionMost
Optimization problem, Accurate Reconstruction go out original signal；Wherein Φ is uncorrelated to Ψ, and Ξ is referred to as CS matrixes.
7. agriculture and forestry as claimed in claim 6 unmanned plane pesticide spraying system, it is characterised in that the camera, infrared monitoring
Method for processing noise includes in instrument transmission：The mpsk signal for obeying S α S partition noises will be contained containing noisy signal, represented
For：
<mrow>
<mi>x</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<msqrt>
<mi>E</mi>
</msqrt>
<mi>V</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mi>exp</mi>
<mo>&lsqb;</mo>
<mi>j</mi>
<mrow>
<mo>(</mo>
<mn>2</mn>
<msub>
<mi>&pi;f</mi>
<mi>c</mi>
</msub>
<mi>t</mi>
<mo>+</mo>
<msub>
<mi>&phi;</mi>
<mn>0</mn>
</msub>
<mo>)</mo>
</mrow>
<mo>&rsqb;</mo>
<mo>+</mo>
<mi>w</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
</mrow>
Wherein E is the mean power of signal,M=2k, m=1,2,
... M, q (t) represent rectangular pulse waveform, and T represents symbol period, fcRepresent carrier frequency, φ0Initial phase is represented, if (herein
Whether need to add condition：If) w (t) is the non-Gaussian noise for obeying S α S distribution, its autocovariance function is defined as：
<mrow>
<msub>
<mi>R</mi>
<mrow>
<mi>x</mi>
<mo>,</mo>
<mi>C</mi>
</mrow>
</msub>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>,</mo>
<mi>&tau;</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<msub>
<mrow>
<mo>&lsqb;</mo>
<mi>x</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>,</mo>
<mi>x</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>-</mo>
<mi>&tau;</mi>
<mo>)</mo>
</mrow>
<mo>&rsqb;</mo>
</mrow>
<mi>&alpha;</mi>
</msub>
<mo>=</mo>
<mfrac>
<mrow>
<mi>E</mi>
<mrow>
<mo>(</mo>
<mi>x</mi>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<msup>
<mrow>
<mo>(</mo>
<mi>x</mi>
<mo>(</mo>
<mi>t</mi>
<mo>-</mo>
<mi>&tau;</mi>
<mo>)</mo>
<mo>)</mo>
</mrow>
<mrow>
<mo><</mo>
<mi>p</mi>
<mo>-</mo>
<mn>1</mn>
<mo>></mo>
</mrow>
</msup>
<mo>)</mo>
</mrow>
<mrow>
<mi>E</mi>
<mrow>
<mo>(</mo>
<mo>|</mo>
<mi>x</mi>
<mo>(</mo>
<mi>t</mi>
<mo>-</mo>
<mi>&tau;</mi>
<mo>)</mo>
</mrow>
<msup>
<mo>|</mo>
<mi>p</mi>
</msup>
<mo>)</mo>
</mrow>
</mfrac>
<msub>
<mi>&gamma;</mi>
<mrow>
<mi>x</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>-</mo>
<mi>&tau;</mi>
<mo>)</mo>
</mrow>
</mrow>
</msub>
<mo>;</mo>
</mrow>
Wherein (x (t- τ))<p-1>=| x (t- τ) |p-2X* (t- τ), γx(t-τ)It is x (t) coefficient of dispersion, then x (t) circulation is total to
Change is defined as：
<mrow>
<msubsup>
<mi>R</mi>
<mrow>
<mi>x</mi>
<mo>,</mo>
<mi>c</mi>
</mrow>
<mi>&epsiv;</mi>
</msubsup>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>,</mo>
<mi>&tau;</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mfrac>
<mn>1</mn>
<msub>
<mi>T</mi>
<mn>0</mn>
</msub>
</mfrac>
<msubsup>
<mo>&Integral;</mo>
<mrow>
<mo>-</mo>
<msub>
<mi>T</mi>
<mn>0</mn>
</msub>
<mo>/</mo>
<mn>2</mn>
</mrow>
<mrow>
<msub>
<mi>T</mi>
<mn>0</mn>
</msub>
<mo>/</mo>
<mn>2</mn>
</mrow>
</msubsup>
<msub>
<mi>R</mi>
<mrow>
<mi>x</mi>
<mo>,</mo>
<mi>C</mi>
</mrow>
</msub>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>,</mo>
<mi>&tau;</mi>
<mo>)</mo>
</mrow>
<msup>
<mi>e</mi>
<mrow>
<mo>-</mo>
<mi>j</mi>
<mn>2</mn>
<mi>&pi;</mi>
<mi>&epsiv;</mi>
<mi>t</mi>
</mrow>
</msup>
<mi>d</mi>
<mi>t</mi>
<mo>=</mo>
<mfrac>
<mn>1</mn>
<mi>T</mi>
</mfrac>
<msubsup>
<mo>&Integral;</mo>
<mrow>
<mo>-</mo>
<mi>T</mi>
<mo>/</mo>
<mn>2</mn>
</mrow>
<mrow>
<mi>T</mi>
<mo>/</mo>
<mn>2</mn>
</mrow>
</msubsup>
<mfrac>
<mrow>
<mi>E</mi>
<mrow>
<mo>(</mo>
<mi>x</mi>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<msup>
<mrow>
<mo>(</mo>
<mi>x</mi>
<mo>(</mo>
<mi>t</mi>
<mo>-</mo>
<mi>&tau;</mi>
<mo>)</mo>
<mo>)</mo>
</mrow>
<mrow>
<mo><</mo>
<mi>p</mi>
<mo>-</mo>
<mn>1</mn>
<mo>></mo>
</mrow>
</msup>
<mo>)</mo>
</mrow>
<mrow>
<mi>E</mi>
<mrow>
<mo>(</mo>
<mo>|</mo>
<mi>x</mi>
<mo>(</mo>
<mi>t</mi>
<mo>-</mo>
<mi>&tau;</mi>
<mo>)</mo>
</mrow>
<msup>
<mo>|</mo>
<mi>p</mi>
</msup>
<mo>)</mo>
</mrow>
</mfrac>
<msub>
<mi>&gamma;</mi>
<mrow>
<mi>x</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>-</mo>
<mi>&tau;</mi>
<mo>)</mo>
</mrow>
</mrow>
</msub>
<msup>
<mi>e</mi>
<mrow>
<mo>-</mo>
<mi>j</mi>
<mn>2</mn>
<mi>&pi;</mi>
<mi>&epsiv;</mi>
<mi>t</mi>
</mrow>
</msup>
<mi>d</mi>
<mi>t</mi>
</mrow>
Wherein ε is referred to as cycle frequency, and T is a code-element period；
The Fourier transformation of covariant function is circulated, is expressed as：
<mrow>
<msubsup>
<mi>R</mi>
<mrow>
<mi>x</mi>
<mo>,</mo>
<mi>C</mi>
</mrow>
<mi>&epsiv;</mi>
</msubsup>
<mrow>
<mo>(</mo>
<mi>f</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<msubsup>
<mo>&Integral;</mo>
<mrow>
<mo>-</mo>
<mi>&infin;</mi>
</mrow>
<mi>&infin;</mi>
</msubsup>
<msubsup>
<mi>R</mi>
<mrow>
<mi>x</mi>
<mo>,</mo>
<mi>C</mi>
</mrow>
<mi>s</mi>
</msubsup>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>,</mo>
<mi>&tau;</mi>
<mo>)</mo>
</mrow>
<msup>
<mi>e</mi>
<mrow>
<mo>-</mo>
<mi>j</mi>
<mn>2</mn>
<mi>&pi;</mi>
<mi>f</mi>
<mi>&tau;</mi>
</mrow>
</msup>
<mi>d</mi>
<mi>&tau;</mi>
</mrow>
It circulates co-variation spectrum and is derived as：
As M >=4,Place,
<mrow>
<msubsup>
<mi>S</mi>
<mrow>
<mi>x</mi>
<mo>,</mo>
<mi>C</mi>
</mrow>
<mi>&epsiv;</mi>
</msubsup>
<mrow>
<mo>(</mo>
<mi>f</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mfrac>
<msub>
<mi>&gamma;</mi>
<mrow>
<mi>x</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>+</mo>
<mi>&tau;</mi>
<mo>)</mo>
</mrow>
</mrow>
</msub>
<mrow>
<mn>4</mn>
<mi>T</mi>
</mrow>
</mfrac>
<mo>&lsqb;</mo>
<mi>Q</mi>
<mrow>
<mo>(</mo>
<mi>f</mi>
<mo>-</mo>
<msub>
<mi>f</mi>
<mi>c</mi>
</msub>
<mo>+</mo>
<mfrac>
<mi>&epsiv;</mi>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
<mi>Q</mi>
<mo>*</mo>
<mrow>
<mo>(</mo>
<mi>f</mi>
<mo>-</mo>
<msub>
<mi>f</mi>
<mi>c</mi>
</msub>
<mo>-</mo>
<mfrac>
<mi>&epsiv;</mi>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
<mo>+</mo>
<mi>Q</mi>
<mrow>
<mo>(</mo>
<mi>f</mi>
<mo>+</mo>
<msub>
<mi>f</mi>
<mi>c</mi>
</msub>
<mo>+</mo>
<mfrac>
<mi>&epsiv;</mi>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
<mi>Q</mi>
<mo>*</mo>
<mrow>
<mo>(</mo>
<mi>f</mi>
<mo>+</mo>
<msub>
<mi>f</mi>
<mi>c</mi>
</msub>
<mo>-</mo>
<mfrac>
<mi>&epsiv;</mi>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
<mo>&rsqb;</mo>
</mrow>
As M=2,
Wherein Q (f) is q (t) Fourier transformation, and
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108742737A (en) * | 2018-06-12 | 2018-11-06 | 南通市第人民医院 | A kind of minimally invasive retractor of lumbar vertebrae three-dimensional |
| CN109285141A (en) * | 2018-07-27 | 2019-01-29 | 仲恺农业工程学院 | A kind of real-time detection method of plant protection drone spraying effect |
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2017
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108742737A (en) * | 2018-06-12 | 2018-11-06 | 南通市第人民医院 | A kind of minimally invasive retractor of lumbar vertebrae three-dimensional |
| CN109285141A (en) * | 2018-07-27 | 2019-01-29 | 仲恺农业工程学院 | A kind of real-time detection method of plant protection drone spraying effect |
| CN109285141B (en) * | 2018-07-27 | 2021-06-25 | 仲恺农业工程学院 | Real-time detection method for spraying effect of plant protection unmanned aerial vehicle |
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