CN108812599B - Unmanned aerial vehicle plant protection monitoring system and method for manual control - Google Patents

Unmanned aerial vehicle plant protection monitoring system and method for manual control Download PDF

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CN108812599B
CN108812599B CN201810609294.6A CN201810609294A CN108812599B CN 108812599 B CN108812599 B CN 108812599B CN 201810609294 A CN201810609294 A CN 201810609294A CN 108812599 B CN108812599 B CN 108812599B
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unmanned aerial
aerial vehicle
crops
gis
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CN108812599A (en
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唐宇
骆少明
侯超钧
庄家俊
郭琪伟
孙胜
刘泽锋
陈亚勇
张恒涛
黄建钧
陈家政
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Zhongkai University of Agriculture and Engineering
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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
    • A01M7/0089—Regulating or controlling systems
    • 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
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

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  • Aviation & Aerospace Engineering (AREA)
  • Pest Control & Pesticides (AREA)
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  • Radar, Positioning & Navigation (AREA)
  • Insects & Arthropods (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Environmental Sciences (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract

The invention relates to an unmanned aerial vehicle plant protection monitoring system and method for manual control, which comprises a positioning unit, a depth data acquisition unit, a color data acquisition unit, a GIS processing unit and a manual control unit, wherein the depth information and the color information of a farmland, which are respectively acquired by the depth data acquisition unit and the color data acquisition unit, are acquired by the GIS processing unit, the region where crops are planted in the farmland is displayed on a GIS map after analysis and processing, an operator can input a flight control command in the manual control unit to control the unmanned aerial vehicle to accurately plant and protect the crops in the farmland without omission according to the region where the crops are planted, which is displayed on the GIS map.

Description

Unmanned aerial vehicle plant protection monitoring system and method for manual control
Technical Field
The invention relates to the technical field of unmanned aerial vehicle plant protection, in particular to an unmanned aerial vehicle plant protection monitoring system and method for manual control.
Background
The existing unmanned aerial vehicle plant protection technology depends on a professional flyer, and the flyer refers to a technician who has a professional unmanned aerial vehicle control technology. The requirement of plant protection operation on the flyer is very high, and the flyer needs to fly at a high, straight and uniform speed in a visual flying distance. When the flyer is controlling unmanned aerial vehicle to plant the guarantor's land, because the hindrance of sight and the artificial limitation of controlling, even possess the flyer of unmanned aerial vehicle specialty control skill, also very difficult control unmanned aerial vehicle carries out plant protection to crops accurately to can not guarantee that unmanned aerial vehicle has all carried out plant protection to each place in farmland. Therefore, a plant protection system capable of controlling the unmanned aerial vehicle to perform plant protection on the agriculture and forestry land accurately and without omission needs to be developed.
Disclosure of Invention
The invention provides a plant protection monitoring system and a plant protection monitoring method for an unmanned aerial vehicle for manual control, aiming at overcoming at least one defect (deficiency) in the prior art, and the plant protection monitoring system and the plant protection monitoring method can assist an operator to accurately and not neglect plant protection on a farmland when the operator manually controls the unmanned aerial vehicle.
In order to realize the purpose of the invention, the following technical scheme is adopted for realizing the purpose:
an unmanned aerial vehicle plant protection monitoring system for manual control comprises a positioning unit, a depth data acquisition unit, a GIS processing unit and a manual control unit;
the positioning unit is used for acquiring the current position of the unmanned aerial vehicle and sending the current position to the GIS processing unit;
the depth data acquisition unit is used for acquiring depth point cloud data of a farmland and storing the depth point cloud data into a set D ═ D1,d2,……,dmIn which d isi＝(Xi,Yi,Zi)，Xi、Yi、ZiRespectively representing the coordinate values of the ith point in a rectangular coordinate system X-Y-ZThe X-Y plane is a horizontal plane, the direction corresponding to the Z axis is vertical to the horizontal plane, i is 1,2, … …, m is the total number of the midpoints of the set D, and the set D is sent to the GIS processing unit;
the GIS processing unit is used for receiving the current position of the unmanned aerial vehicle sent by the positioning unit and displaying the current position on a GIS map, and is also used for receiving the set D sent by the depth data acquisition unit and extracting the Z of the ith point in the set DiAccording to ZiDistinguishing whether crops are planted in the position corresponding to the ith point, and if crops are planted in the position corresponding to the ith point, comparing diPlacing in the set A, extracting X of the k point in the set Ak、YkAccording to (X)k，Yk) Displaying the kth point on a GIS map, wherein k is 1,2, … …, n, n is the total number of points in the set A, and all points in the set A are sequentially displayed on the GIS map;
and the manual control unit is used for acquiring a flight control command of an operator and controlling the unmanned aerial vehicle to plant the farmland according to the flight control command.
When the unmanned aerial vehicle flies in the farmland, the depth data acquisition unit acquires depth point cloud data of the farmland and stores the depth point cloud data as a set D, each element in the set D represents each point, and each element stores the coordinate value of each point under a three-dimensional rectangular coordinate system X-Y-Z, namely the ith element D in the set DiStores X of the ith pointi、Yi、Zi. The X-Y plane of the rectangular coordinate system is a horizontal plane, and the direction corresponding to the Z axis is vertical to the horizontal plane.
There is a clear difference in height between the positions where crops are planted and the positions where crops are not planted in the field, the Z collected by the unmanned aerial vehicleiIs different and thus can be based on Z at point iiAnd distinguishing whether crops are planted at the position corresponding to the ith point. Since there are locations where crops are planted that require the drone to be plant protected, which must be contained in the flight path of the drone, the GIS processing unit will be according to ZiThe points where the crops are planted are all placed in the set A according to the judgment.
According to the points in the set ACoordinates on a plane (X)k，Yk) And the GIS processing unit draws each point in the set A on a GIS map, and the area of the unmanned aerial vehicle needing plant protection is displayed on the GIS map. The control personnel can be according to the unmanned aerial vehicle current position that shows on the regional and the GIS map of the needs plant protection that show on the GIS map, send flight control command to manual control unit to control unmanned aerial vehicle and carry out accurate and not omit ground plant protection in needs plant protection region.
Further, the system also comprises a color data acquisition unit;
the color data acquisition unit is used for acquiring color point cloud data of a farmland and adding the color point cloud data into a set D, Di＝(Xi,Yi,Zi,Ri,Gi,Bi)，Ri、Gi、BiRespectively representing the values of the three color channels of the ith point, and sending the set D to a GIS processing unit;
the GIS processing unit is also used for receiving the set D sent by the color data acquisition unit and extracting the R of the ith point in the set Di、Gi、BiAccording to Ri、Gi、BiDistinguishing whether the position corresponding to the ith point is planted with crops or not, and if the position corresponding to the ith point is planted with crops, comparing diAnd placing the collection A in the collection B, and taking the collection B, the intersection of the collection A and the collection B, or the union of the collection A and the collection B as the collection A.
When the unmanned aerial vehicle flies in the farmland, the color data acquisition unit acquires color point cloud data of the farmland, the color point cloud data is added into the set D, each element in the set D stores three color channel values of each point besides the three-dimensional coordinate of each point, namely the ith element D in the set DiStores X of the ith pointi、Yi、Zi、Ri、Gi、Bi。
The positions with crops planted and the positions without crops planted in the farmland are obviously different in color, and R collected by the color data collecting uniti、Gi、BiIs different and thus can be based on R at the ith pointi、Gi、BiWhether crops are planted or not is distinguished at the position corresponding to the ith point, and the crops are planted according to Ri、Gi、BiAnd judging that the corresponding positions have the points for planting the crops to be placed in the set B.
The height and color of different crops in the farmland are different. Some crops grow at a higher height according to ZiJudging whether the position corresponding to the ith point is accurately planted with crops; some crops have better color discrimination according to Ri、Gi、BiWhether crops are planted in the position corresponding to the ith point is judged accurately. Therefore, according to the characteristics of crops planted in the farmland, the Z can be independently determinediTo determine, can also be based on R alonei、Gi、BiJudging, using the set B as the set A, and combining with Zi、Ri、Gi、BiAnd (4) performing comprehensive judgment, and taking the intersection or union of the set A and the set B as a set A.
According to the coordinates (X) of each point in the set A on the horizontal planek，Yk) And the GIS processing unit draws each point in the set A on a GIS map, and displays the area of the unmanned aerial vehicle needing plant protection on the GIS map, thereby improving the accuracy of the area needing plant protection displayed on the GIS map.
Further, the GIS processing unit is also used for processing the data according to Xk、YkThe size of (2) arranges the points in the set A in order, and connects the points in the set A displayed on the GIS map according to the order.
According to Xk、YkThe big or small order of will showing each point on the GIS map and carry out the line, the line that becomes that is unmanned aerial vehicle's flight path promptly, and control personnel can make things convenient for, confirm unmanned aerial vehicle's flight path directly perceivedly, can control the accurate plant protection of unmanned aerial vehicle according to this line and unmanned aerial vehicle current position, and guarantee that each position of planting crops has all been protected by the plant.
Further, the air conditioner is provided with a fan,the GIS processing unit is also used for extracting Z of the kth point in the set AkAccording to ZkCalculating the flying height h of the kth pointk＝Zk+ c, c is the distance between the unmanned aerial vehicle and the crops;
calculating the difference Deltah between the flying height of the j point and the flying height of the j +1 point according to the sequencejJ is 1,2, … …, n-1, when Δ hjWhen the set threshold value is exceeded, h is setjAnd hj+1And respectively displaying the corresponding positions of the j point and the j +1 point on the GIS map in the form of labels.
Unmanned aerial vehicle is when the plant protection operation, in order to guarantee the quality of plant protection, need keep a distance with the crops apex, both will guarantee the effective plant protection to crops, will avoid the strong air current that the unmanned aerial vehicle rotor caused to cause the injury to crops again. Therefore, the flying height of the unmanned aerial vehicle is calculated through the GIS processing unit, each point in the set A is drawn on the GIS map, and each point is connected in sequence to form a flying path, and when the difference of the flying heights between two adjacent points on the flying path is too large and exceeds a set threshold value, the flying heights of the two adjacent points are respectively displayed at the corresponding positions of the two adjacent points on the GIS map, which indicates that the unmanned aerial vehicle needs to climb or descend to a large height between the two adjacent points and needs to draw attention of an operator, so that the unmanned aerial vehicle can accurately control the flying height when the unmanned aerial vehicle plants and protects crops.
Further, the GIS processing unit is also used for obtaining the current height of the unmanned aerial vehicle when the current height is delta hjAnd when the height of the unmanned aerial vehicle does not exceed the set threshold value, displaying the current height of the unmanned aerial vehicle on a GIS map.
When the difference between the flying heights between two adjacent points on the flying path is not very large, the control personnel only need to ensure that the unmanned aerial vehicle is controlled to fly at a relatively stable height. Therefore, the current height of the unmanned aerial vehicle is obtained through the GIS processing unit and displayed on a GIS map, whether the unmanned aerial vehicle flies at a relatively stable height or not can be monitored in real time, and the situation of losing control of the rapid landing or rapid rising of the unmanned aerial vehicle can be found in time.
Preferably, c is 0.5m to 1.5 m.
When the unmanned aerial vehicle is in plant protection operation, the unmanned aerial vehicle is generally about 1m above the tip of the crop, and therefore the value of c is preferably 0.5 m-1.5 m.
Preferably, hk≥2m。
For short crops, the drone needs to be about 2m above the ground. Therefore, the flying height of the drone cannot be less than 2 m.
A plant protection monitoring method for manually controlled unmanned aerial vehicles comprises the following steps:
s1, acquiring the current position of the unmanned aerial vehicle and displaying the current position on a GIS map;
s2, collecting depth point cloud data of a farmland and storing the depth point cloud data as a set D ═ D1,d2,……,dmIn which d isi＝(Xi,Yi,Zi)，Xi、Yi、ZiRespectively representing coordinate values of the ith point under a rectangular coordinate system X-Y-Z, wherein an X-Y plane of the rectangular coordinate system is a horizontal plane, a direction corresponding to a Z axis is vertical to the horizontal plane, i is 1,2, … …, m is the total number of points in the set D;
s3, extracting Z of ith point in the set DiAccording to ZiDistinguishing whether crops are planted at the position corresponding to the ith point, and if crops are planted at the position corresponding to the ith point, dividing diPlaced in set A;
s4, extracting X of the kth point in the set Ak、YkAccording to (X)k，Yk) Displaying the kth point on a GIS map, wherein k is 1,2, … …, n, n is the total number of points in the set A, and all points in the set A are sequentially displayed on the GIS map;
and S5, acquiring a flight control command of an operator and controlling the unmanned aerial vehicle to plant the farmland according to the flight control command.
When the unmanned aerial vehicle flies in the farmland, the depth point cloud data of the farmland is collected and stored as a set D, each element in the set D represents each point, and each element stores the coordinate value of each point under a three-dimensional rectangular coordinate system X-Y-Z, namely the coordinate value of the point in the set Di elements diStores X of the ith pointi、Yi、Zi. The X-Y plane of the rectangular coordinate system is a horizontal plane, and the direction corresponding to the Z axis is vertical to the horizontal plane.
There is a clear difference in height between the positions where crops are planted and the positions where crops are not planted in the field, the Z collected by the unmanned aerial vehicleiIs different and thus can be based on Z at point iiAnd distinguishing whether crops are planted at the position corresponding to the ith point. Since there is a location to plant the crop that requires the drone to do plant protection, this location must be contained on the flight path of the drone, so will be according to ZiAnd all the points for planting the crops in the corresponding positions are judged to be placed in the set A.
According to the coordinates (X) of each point in the set A on the horizontal planek，Yk) And the GIS processing unit draws each point in the set A on a GIS map, and the area of the unmanned aerial vehicle needing plant protection is displayed on the GIS map. The control personnel can send flight control command control unmanned aerial vehicle to carry out accurate and plant protection in the area that needs plant protection according to the unmanned aerial vehicle current position that shows on the region that needs plant protection and the GIS map that shows on the GIS map.
Further, in step S2, color point cloud data of the farmland is collected and added to the set D, Di＝(Xi,Yi,Zi,Ri,Gi,Bi)，Ri、Gi、BiRespectively representing the values of three color channels at the ith point;
in step S3, R of the ith point in the set D is also extractedi、Gi、BiAccording to Ri、Gi、BiDistinguishing whether the position corresponding to the ith point is planted with crops or not, and if the position corresponding to the ith point is planted with crops, comparing diAnd placing the collection A in the collection B, and taking the collection B, the intersection of the collection A and the collection B, or the union of the collection A and the collection B as the collection A.
When the unmanned aerial vehicle flies in the farmland, collecting the color point cloud data of the farmland, and adding the color point cloud data into the farmlandIn the set D, each element in the set D stores the three-dimensional coordinates of each point, and also stores the values of three color channels of each point, namely the ith element D in the set DiStores X of the ith pointi、Yi、Zi、Ri、Gi、Bi。
The positions with and without crops in the field are clearly distinguished in color, and the collected Ri、Gi、BiIs different and thus can be based on R at the ith pointi、Gi、BiWhether crops are planted or not is distinguished at the position corresponding to the ith point, and the crops are planted according to Ri、Gi、BiAnd all the points where crops are planted are placed in the set B according to the judgment.
The height and color of different crops in the farmland are different. Some crops grow at a higher height according to ZiJudging whether the position corresponding to the ith point is accurately planted with crops; some crops have better color discrimination according to Ri、Gi、BiWhether crops are planted in the position corresponding to the ith point is judged accurately. Therefore, according to the characteristics of crops planted in the farmland, the Z can be independently determinediTo determine, can also be based on R alonei、Gi、BiJudging, using the set B as the set A, and combining with Zi、Ri、Gi、BiAnd (4) performing comprehensive judgment, and taking the intersection or union of the set A and the set B as a set A.
According to the coordinates (X) of each point in the set A on the horizontal planek，Yk) And drawing each point in the set A on a GIS map, and displaying the area of the unmanned aerial vehicle needing plant protection on the GIS map, thereby improving the accuracy of the area needing plant protection displayed on the GIS map.
Further, in the step S4, according to Xk、YkThe size of the point sequence of the points in the set A, and the points in the set A displayed on the GIS map are connected according to the sequence。
According to Xk、YkThe big or small order that will show each point on the GIS map carry out the line, and the line that links up is unmanned aerial vehicle's flight path promptly, and control personnel can make things convenient for, confirm unmanned aerial vehicle's flight path directly perceivedly, can control the accurate plant protection of unmanned aerial vehicle according to this line, and guarantee that each position of planting crops has all been protected by the plant.
Further, in step S4, Z of the k-th point in the set a is extractedkAccording to ZkCalculating the flight height h of the kth pointk＝Zk+ c, c is the distance between the unmanned aerial vehicle and the crops;
calculating the difference Deltah between the flying height of the j point and the flying height of the j +1 point according to the sequencejJ is 1,2, … …, n-1, when Δ hjWhen the set threshold value is exceeded, h is setjAnd hj+1And respectively displaying the corresponding positions of the j point and the j +1 point on the GIS map in the form of labels.
Unmanned aerial vehicle is when the plant protection operation, in order to guarantee the quality of plant protection, need keep a distance with the crops apex, both will guarantee the effective plant protection to crops, will avoid the strong air current that the unmanned aerial vehicle rotor caused to cause the injury to crops again. Therefore, by calculating the flight height of the unmanned aerial vehicle, when the difference between the flight heights of two adjacent points on the flight path is too large so as to exceed a set threshold value, the flight heights of the two adjacent points are respectively displayed at the corresponding positions of the two adjacent points on the GIS map, which indicates that the unmanned aerial vehicle needs to climb or descend to a larger height between the two adjacent points, and needs to draw the attention of an operator, thereby being more beneficial to accurately controlling the flight height of the unmanned aerial vehicle when the unmanned aerial vehicle plants crops.
Further, in step S1, the current height of the unmanned aerial vehicle is also obtained;
in step S4, when Δ h is smallerjAnd when the height of the unmanned aerial vehicle does not exceed the set threshold value, displaying the current height of the unmanned aerial vehicle on a GIS map.
When the difference between the flying heights between two adjacent points on the flying path is not very large, the control personnel only need to ensure that the unmanned aerial vehicle is controlled to fly at a relatively stable height. Therefore, through obtaining unmanned aerial vehicle current height to show on the GIS map, can real time monitoring unmanned aerial vehicle whether fly at a relatively stable height, can discover in time that the out of control situation of unmanned aerial vehicle rapid descending or rapid ascending appears.
Preferably, c is 0.5m to 1.5 m.
When the unmanned aerial vehicle is in plant protection operation, the unmanned aerial vehicle is generally about 1m above the tip of the crop, and therefore the value of c is preferably 0.5 m-1.5 m.
Preferably, hk≥2m。
For short crops, the drone needs to be about 2m above the ground. Therefore, the flying height of the drone cannot be less than 2 m.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that:
(1) the depth information and the color information of the farmland collected by the unmanned aerial vehicle are acquired through the GIS processing unit, the region where crops are planted in the farmland is displayed on the GIS map after analysis and processing, and an operator can control the unmanned aerial vehicle to accurately plant and protect the crops in the farmland without omission according to the region where the crops are planted displayed on the GIS map;
(2) the depth information and the color information acquired by the unmanned aerial vehicle are utilized, and a depth image, a color image or a color depth image is formed through the GIS processing unit, so that the growth condition of crops is accurately monitored.
Drawings
FIG. 1 is a schematic diagram of the system components of an embodiment of the present invention.
Fig. 2 is a schematic diagram of a GIS map display according to an embodiment of the present invention.
Fig. 3 is another schematic diagram of a GIS map display according to an embodiment of the present invention.
Description of the drawings: 11. a positioning unit; 12. a depth data acquisition unit; 13. a color data acquisition unit; a GIS processing unit; 30. a manual control unit.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent;
for the purpose of better illustrating the present embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product;
it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
As shown in fig. 1, an unmanned aerial vehicle plant protection monitoring system for manual control comprises a positioning unit 11, a depth data acquisition unit 12, a GIS processing unit 20, and a manual control unit 30;
the positioning unit 11 is configured to acquire a current position of the unmanned aerial vehicle and send the current position to the GIS processing unit 20;
the depth data acquisition unit 12 is configured to acquire depth point cloud data of a farmland and store the depth point cloud data as a set D ═ D1,d2,……,dmIn which d isi＝(Xi,Yi,Zi)，Xi、Yi、ZiCoordinate values of the ith point in a rectangular coordinate system X-Y-Z, respectively, where the X-Y plane of the rectangular coordinate system is a horizontal plane, the direction corresponding to the Z axis is perpendicular to the horizontal plane, i is 1,2, … …, m, m is the total number of points in the set D, and the set D is sent to the GIS processing unit 20;
the GIS processing unit 20 is used for receiving the current position of the unmanned aerial vehicle sent by the positioning unit 11, displaying the current position on a GIS map, receiving the set D sent by the depth data acquisition unit 12, and extracting the Z of the ith point in the set DiAccording to ZiDistinguishing whether crops are planted in the position corresponding to the ith point, and if crops are planted in the position corresponding to the ith point, comparing diPlacing in the set A, extracting X of the k point in the set Ak、YkAccording to (X)k，Yk) Displaying the kth point on the GIS map, wherein k is 1,2, … …, n is the total number of points in the set ASequentially displaying all the points in the set A on a GIS map;
and the manual control unit 30 is used for acquiring a flight control command of an operator and controlling the unmanned aerial vehicle to plant the farmland according to the flight control command.
When the unmanned aerial vehicle flies in the farmland, the depth data acquisition unit 12 acquires depth point cloud data of the farmland and stores the depth point cloud data as a set D, each element in the set D represents each point, and each element stores coordinate values of each point under a three-dimensional rectangular coordinate system X-Y-Z, namely an ith element D in the set DiStores X of the ith pointi、Yi、Zi. The X-Y plane of the rectangular coordinate system is a horizontal plane, and the direction corresponding to the Z axis is vertical to the horizontal plane.
There is a clear difference in height between the positions where crops are planted and the positions where crops are not planted in the field, the Z collected by the unmanned aerial vehicleiIs different and thus can be based on Z at point iiAnd distinguishing whether crops are planted at the position corresponding to the ith point. Since there are locations where crops are planted that require the drone to be plant protected, which must be contained in the flight path of the drone, the GIS processing unit 20 will be according to ZiThe points where the crops are planted are all placed in the set A according to the judgment.
According to the coordinates (X) of each point in the set A on the horizontal planek，Yk) The GIS processing unit 20 draws each point in the set a on a GIS map, and displays the area where the unmanned aerial vehicle needs plant protection on the GIS map. The control personnel can be according to the unmanned aerial vehicle current position that shows on the regional and the GIS map of the needs plant protection that show on the GIS map, to manual control unit 30 issue flight control command to control unmanned aerial vehicle and carry out accurate and not neglected ground plant protection in needs plant protection region.
Further, the system further comprises a color data acquisition unit 13;
the color data acquisition unit 13 is used for acquiring color point cloud data of a farmland and adding the color point cloud data into a set D, Di＝(Xi,Yi,Zi,Ri,Gi,Bi)，Ri、Gi、BiRespectively representing the values of the three color channels of the ith point, and sending the set D to the GIS processing unit 20;
the GIS processing unit 20 is further configured to receive the set D sent by the color data collecting unit 13, and extract R of the ith point in the set Di、Gi、BiAccording to Ri、Gi、BiDistinguishing whether the position corresponding to the ith point is planted with crops or not, and if the position corresponding to the ith point is planted with crops, comparing diAnd placing the collection A in the collection B, and taking the collection B, the intersection of the collection A and the collection B, or the union of the collection A and the collection B as the collection A.
When the unmanned aerial vehicle flies in the farmland, the color data acquisition unit 13 acquires color point cloud data of the farmland, the color point cloud data is added into the set D, each element in the set D stores three color channel values of each point besides three-dimensional coordinates of each point, namely the ith element D in the set DiStores X of the ith pointi、Yi、Zi、Ri、Gi、Bi。
The positions where crops are planted and the positions where crops are not planted in the field are clearly distinguished in color, and R collected by the color data collecting unit 13i、Gi、BiIs different and thus can be based on R at the ith pointi、Gi、BiWhether crops are planted or not is distinguished at the position corresponding to the ith point, and the crops are planted according to Ri、Gi、BiAnd all the points where crops are planted are placed in the set B according to the judgment.
The height and color of different crops in the farmland are different. Some crops grow at a higher height according to ZiJudging whether the position corresponding to the ith point is accurately planted with crops; some crops have better color discrimination according to Ri、Gi、BiWhether crops are planted in the position corresponding to the ith point is judged accurately. Therefore, in practice, according to agricultureThe characteristics of crops planted in the field can be independently according to ZiTo determine, can also be based on R alonei、Gi、BiJudging, using the set B as the set A, and combining with Zi、Ri、Gi、BiAnd (4) performing comprehensive judgment, and taking the intersection or union of the set A and the set B as a set A.
According to the coordinates (X) of each point in the set A on the horizontal planek，Yk) And the GIS processing unit 20 draws each point in the set A on a GIS map, and displays the area of the unmanned aerial vehicle needing plant protection on the GIS map, thereby improving the accuracy of the area needing plant protection displayed on the GIS map.
As shown in fig. 2 and fig. 3, in the present embodiment, the GIS processing unit 20 is further configured to process the data according to Xk、YkThe size of the set A is to arrange the points in the set A in order, and the points in the set A displayed on the GIS map are connected according to the order.
According to Xk、YkThe big or small order of will showing each point on the GIS map and carry out the line, the line that becomes that is unmanned aerial vehicle's flight path promptly, and control personnel can make things convenient for, confirm unmanned aerial vehicle's flight path directly perceivedly, can control the accurate plant protection of unmanned aerial vehicle according to this line and unmanned aerial vehicle current position, and guarantee that each position of planting crops has all been protected by the plant.
In this embodiment, the GIS processing unit 20 is further configured to extract Z of the kth point in the set akAccording to ZkCalculating the flight height h of the kth pointk＝Zk+ c, c is the distance between the unmanned aerial vehicle and the crops;
calculating the difference Deltah between the flying height of the j point and the flying height of the j +1 point according to the sequencej，j＝ 1,2,……,n-1。
When Δ h is shown in FIG. 2jWhen the set threshold value is exceeded, h is setjAnd hj+1And respectively displaying the corresponding positions of the j point and the j +1 point on the GIS map in the form of labels. XX in fig. 2 indicates the flying height corresponding to the point indicated by the label.
Unmanned aerial vehicle is when the plant protection operation, in order to guarantee the quality of plant protection, need keep a distance with the crops apex, both will guarantee the effective plant protection to crops, will avoid the strong air current that the unmanned aerial vehicle rotor caused to cause the injury to crops again. Therefore, the flying height of the unmanned aerial vehicle is calculated by the GIS processing unit 20, when the flying height difference between two adjacent points on the flying path is too large so as to exceed a set threshold value, the flying heights of the two adjacent points are respectively displayed at the corresponding positions of the two adjacent points on the GIS map, which indicates that the unmanned aerial vehicle needs to climb or descend to a larger height between the two adjacent points, and needs to cause the attention of the control personnel, so that the control personnel can accurately control the flying height of the unmanned aerial vehicle when the unmanned aerial vehicle plants and protects crops.
In this embodiment, the GIS processing unit 20 is further configured to obtain the current altitude of the drone.
When Δ h is shown in FIG. 3jWhen the current height of the unmanned aerial vehicle does not exceed the set threshold value, the GIS processing unit 20 displays the current height of the unmanned aerial vehicle on a GIS map. XX in fig. 3 indicates the flight height corresponding to the point indicated by the label.
When the difference between the flying heights between two adjacent points on the flying path is not very large, the control personnel only need to ensure that the unmanned aerial vehicle is controlled to fly at a relatively stable height. Therefore, acquire unmanned aerial vehicle current height through GIS processing unit 20 to show on the GIS map, whether can real time monitoring unmanned aerial vehicle fly at a relatively stable height, can discover in time that the situation of out of control of unmanned aerial vehicle rapid descending or rapid ascending appears.
Preferably, the GIS processing unit displays the GIS map and the current altitude of the drone in different windows. Specifically, the GIS map is displayed in a large window, the current height of the unmanned aerial vehicle is displayed in a small window, and the small window is positioned at the corner of the large window.
Preferably, as shown in FIG. 2, when Δ hjWhen the current height of the unmanned aerial vehicle exceeds the set threshold value, the GIS processing unit 20 displays the current height of the unmanned aerial vehicle on a GIS map in the form of a label to enable the unmanned aerial vehicle to be in contact with the GIS mapAnd the operator monitors the current height of the unmanned aerial vehicle in real time.
Preferably, c is 0.5m to 1.5 m.
When the unmanned aerial vehicle is in plant protection operation, the unmanned aerial vehicle is generally about 1m above the tip of the crop, and therefore the value of c is preferably 0.5 m-1.5 m.
Preferably, hk≥2m。
For short crops, the drone needs to be about 2m above the ground. Therefore, the flying height of the drone cannot be less than 2 m.
A plant protection monitoring method for manually controlled unmanned aerial vehicles comprises the following steps:
s1, acquiring the current position of the unmanned aerial vehicle and displaying the current position on a GIS map;
s2, collecting depth point cloud data of a farmland and storing the depth point cloud data as a set D ═ D1,d2,……,dmIn which d isi＝(Xi,Yi,Zi)，Xi、Yi、ZiRespectively representing coordinate values of the ith point under a rectangular coordinate system X-Y-Z, wherein an X-Y plane of the rectangular coordinate system is a horizontal plane, a direction corresponding to a Z axis is vertical to the horizontal plane, i is 1,2, … …, m is the total number of points in the set D;
s3, extracting Z of ith point in the set DiAccording to ZiDistinguishing whether crops are planted at the position corresponding to the ith point, and if crops are planted at the position corresponding to the ith point, dividing diPlaced in set A;
s4, extracting X of the kth point in the set Ak、YkAccording to (X)k，Yk) Displaying the kth point on a GIS map, wherein k is 1,2, … …, n, n is the total number of points in the set A, and all points in the set A are sequentially displayed on the GIS map;
and S5, acquiring a flight control command of an operator and controlling the unmanned aerial vehicle to plant the farmland according to the flight control command.
When the unmanned aerial vehicle flies in the farmland, the depth point cloud data of the farmland is collected and stored as a set D, each element in the set D represents each point, and each point represents each pointEach element stores the coordinate value of each point in a three-dimensional rectangular coordinate system X-Y-Z, namely the ith element D in the set DiStores X of the ith pointi、Yi、Zi. The X-Y plane of the rectangular coordinate system is a horizontal plane, and the direction corresponding to the Z axis is vertical to the horizontal plane.
There is a clear difference in height between the positions where crops are planted and the positions where crops are not planted in the field, the Z collected by the unmanned aerial vehicleiIs different and thus can be based on Z at point iiAnd distinguishing whether crops are planted at the position corresponding to the ith point. Since there is a location to plant the crop that requires the drone to do plant protection, this location must be contained on the flight path of the drone, so will be according to ZiAnd all the points for planting the crops in the corresponding positions are judged to be placed in the set A.
According to the coordinates (X) of each point in the set A on the horizontal planek，Yk) The GIS processing unit 20 draws each point in the set a on a GIS map, and displays the area where the unmanned aerial vehicle needs plant protection on the GIS map. The control personnel can send flight control command control unmanned aerial vehicle to carry out accurate and plant protection in the area that needs plant protection according to the unmanned aerial vehicle current position that shows on the region that needs plant protection and the GIS map that shows on the GIS map.
In this embodiment, in step S2, color point cloud data of the farmland is also collected and added to the set D, Di＝(Xi,Yi,Zi,Ri,Gi,Bi)，Ri、Gi、BiRespectively representing the values of three color channels at the ith point;
in step S3, R of the ith point in the set D is also extractedi、Gi、BiAccording to Ri、Gi、BiDistinguishing whether the position corresponding to the ith point is planted with crops or not, and if the position corresponding to the ith point is planted with crops, comparing diAnd placing the collection A in the collection B, and taking the collection B, the intersection of the collection A and the collection B, or the union of the collection A and the collection B as the collection A.
When the unmanned aerial vehicle flies in the farmland, collecting color point cloud data of the farmland, adding the color point cloud data into a set D, wherein each element in the set D stores three-dimensional coordinates of each point and values of three color channels of each point, namely the ith element D in the set DiStores X of the ith pointi、Yi、 Zi、Ri、Gi、Bi。
The positions with and without crops in the field are clearly distinguished in color, and the collected Ri、Gi、BiIs different and thus can be based on R at the ith pointi、Gi、BiWhether crops are planted or not is distinguished at the position corresponding to the ith point, and the crops are planted according to Ri、Gi、BiAnd all the points where crops are planted are placed in the set B according to the judgment.
The height and color of different crops in the farmland are different. Some crops grow at a higher height according to ZiJudging whether the position corresponding to the ith point is accurately planted with crops; some crops have better color discrimination according to Ri、Gi、BiWhether crops are planted in the position corresponding to the ith point is judged accurately. Therefore, according to the characteristics of crops planted in the farmland, the Z can be independently determinediTo determine, can also be based on R alonei、Gi、BiJudging, using the set B as the set A, and combining with Zi、Ri、Gi、BiAnd (4) performing comprehensive judgment, and taking the intersection or union of the set A and the set B as a set A.
According to the coordinates (X) of each point in the set A on the horizontal planek，Yk) And drawing each point in the set A on a GIS map, and displaying the area of the unmanned aerial vehicle needing plant protection on the GIS map, thereby improving the accuracy of the area needing plant protection displayed on the GIS map.
As shown in fig. 2 and 3, in the present embodiment, in step S4, the method further depends on Xk、YkThe method arranges the points in the set A in sequence, and connects the points in the set A displayed on the GIS map according to the sequence.
According to Xk、YkThe big or small order that will show each point on the GIS map carry out the line, and the line that links up is unmanned aerial vehicle's flight path promptly, and control personnel can make things convenient for, confirm unmanned aerial vehicle's flight path directly perceivedly, can control the accurate plant protection of unmanned aerial vehicle according to this line, and guarantee that each position of planting crops has all been protected by the plant.
In this embodiment, in the step S4, Z of the k-th point in the set a is further extractedkAccording to ZkCalculating the flight height h of the kth pointk＝Zk+ c, c is the distance between the unmanned aerial vehicle and the crops;
calculating the difference Deltah between the flying height of the j point and the flying height of the j +1 point according to the sequencej，j＝ 1,2,……,n-1。
When Δ h is shown in FIG. 2jWhen the set threshold value is exceeded, h is setjAnd hj+1And respectively displaying the corresponding positions of the j point and the j +1 point on the GIS map in the form of labels. XX in fig. 2 indicates the flying height corresponding to the point indicated by the label.
Unmanned aerial vehicle is when the plant protection operation, in order to guarantee the quality of plant protection, need keep a distance with the crops apex, both will guarantee the effective plant protection to crops, will avoid the strong air current that the unmanned aerial vehicle rotor caused to cause the injury to crops again. Therefore, by calculating the flight height of the unmanned aerial vehicle, when the difference between the flight heights of two adjacent points on the flight path is too large so as to exceed a set threshold value, the flight heights of the two adjacent points are respectively displayed at the corresponding positions of the two adjacent points on the GIS map, which indicates that the unmanned aerial vehicle needs to climb or descend to a larger height between the two adjacent points, and needs to draw the attention of an operator, thereby being more beneficial to accurately controlling the flight height of the unmanned aerial vehicle when the unmanned aerial vehicle plants crops.
In this embodiment, in step S1, the current height of the unmanned aerial vehicle is further obtained;
in step S4, as shown in fig. 3, when Δ h is greater than Δ hjAnd when the height of the unmanned aerial vehicle does not exceed the set threshold value, displaying the current height of the unmanned aerial vehicle on a GIS map. XX in fig. 3 indicates the flight height corresponding to the point indicated by the label.
When the difference between the flying heights between two adjacent points on the flying path is not very large, the control personnel only need to ensure that the unmanned aerial vehicle is controlled to fly at a relatively stable height. Therefore, through obtaining unmanned aerial vehicle current height to show on the GIS map, can real time monitoring unmanned aerial vehicle whether fly at a relatively stable height, can discover in time that the out of control situation of unmanned aerial vehicle rapid descending or rapid ascending appears.
Preferably, as shown in FIG. 2, when Δ hjWhen exceeding the threshold value of settlement, still show unmanned aerial vehicle current height on the GIS map with the form of label, let control personnel real time monitoring unmanned aerial vehicle current height.
Preferably, c is 0.5m to 1.5 m.
When the unmanned aerial vehicle is in plant protection operation, the unmanned aerial vehicle is generally about 1m above the tip of the crop, and therefore the value of c is preferably 0.5 m-1.5 m.
Preferably, hk≥2m。
For short crops, the drone needs to be about 2m above the ground. Therefore, the flying height of the drone cannot be less than 2 m.
The same or similar reference numerals correspond to the same or similar parts;
the positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the present patent;
it should be understood that the examples are merely for illustrative purposes and are not intended to limit the scope of the present invention. Other variations and modifications will be apparent to persons skilled in the art upon reference to the description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims (6)

1. An unmanned aerial vehicle plant protection monitoring system for manual control is characterized by comprising a positioning unit, a depth data acquisition unit, a GIS processing unit and a manual control unit;
the positioning unit is used for acquiring the current position of the unmanned aerial vehicle and sending the current position to the GIS processing unit;
the depth data acquisition unit is used for acquiring depth point cloud data of a farmland and storing the depth point cloud data as a set D ═ D1，d2，……，dmIn which d isi＝(Xi，Yi，Zi)，Xi、Yi、ZiRespectively representing coordinate values of the ith point under a rectangular coordinate system X-Y-Z, wherein an X-Y plane of the rectangular coordinate system is a horizontal plane, a direction corresponding to a Z axis is vertical to the horizontal plane, i is 1,2, … …, m is the total number of points in the set D, and the set D is sent to the GIS processing unit;
the GIS processing unit is used for receiving the current position of the unmanned aerial vehicle sent by the positioning unit and displaying the current position on a GIS map, and is also used for receiving the set D sent by the depth data acquisition unit and extracting the Z of the ith point in the set DiAccording to ZiDistinguishing whether crops are planted in the position corresponding to the ith point, and if crops are planted in the position corresponding to the ith point, comparing diPlacing in the set A, extracting X of the k point in the set Ak、YkAccording to (X)k，Yk) Displaying the kth point on a GIS map, wherein k is 1,2, … …, n, n is the total number of points in the set A, and all points in the set A are sequentially displayed on the GIS map;
the manual control unit is used for acquiring a flight control command of an operator and controlling the unmanned aerial vehicle to plant the farmland according to the flight control command;
the GIS processing unit is also used for processing the data according to Xk、YkThe size of (2) is to arrange the dots in the set A in order and display the dots in the orderConnecting each point in the set A on the GIS map;
the GIS processing unit is also used for extracting Z of the kth point in the set AkAccording to ZkCalculating the flight height h of the kth pointk＝Zk+ c, c is the distance between the unmanned aerial vehicle and the crops;
calculating the difference Deltah between the flying height of the j point and the flying height of the j +1 point according to the sequencejJ is 1,2, … …, n-1, when Δ hjWhen the set threshold value is exceeded, h is setjAnd hj+1And respectively displaying the corresponding positions of the j point and the j +1 point on the GIS map in the form of labels.
2. The unmanned aerial vehicle plant protection monitoring system for manual manipulation of claim 1, further comprising a color data acquisition unit;
the color data acquisition unit is used for acquiring color point cloud data of a farmland and adding the color point cloud data into a set D, Di＝(Xi，Yi，Zi，Ri，Gi，Bi)，Ri、Gi、BiRespectively representing the values of the three color channels of the ith point, and sending the set D to the GIS processing unit;
the GIS processing unit is also used for receiving the set D sent by the color data acquisition unit and extracting the R of the ith point in the set Di、Gi、BiAccording to Ri、Gi、BiDistinguishing whether the position corresponding to the ith point is planted with crops or not, and if the position corresponding to the ith point is planted with crops, comparing diAnd placing the collection A in the collection B, and taking the collection B, the intersection of the collection A and the collection B, or the union of the collection A and the collection B as the collection A.
3. The unmanned aerial vehicle plant protection monitoring system for manual control of claim 1, wherein the positioning unit is further configured to obtain a current altitude of the unmanned aerial vehicle and send the current altitude to the GIS processing unit;
GIS processing unit still is used for receiving the unmanned aerial vehicle current height that the positioning unit sentWhen Δ h isjAnd when the height of the unmanned aerial vehicle does not exceed the set threshold value, displaying the current height of the unmanned aerial vehicle on a GIS map.
4. The utility model provides an unmanned aerial vehicle plant protection monitoring method for manual control which characterized in that includes following step:
s1, acquiring the current position of the unmanned aerial vehicle and displaying the current position on a GIS map;
s2, collecting depth point cloud data of a farmland and storing the depth point cloud data as a set D ═ D1，d2，……，dmIn which d isi＝(Xi，Yi，Zi)，Xi、Yi、ZiRespectively representing coordinate values of the ith point in a rectangular coordinate system X-Y-Z, wherein an X-Y plane of the rectangular coordinate system is a horizontal plane, a direction corresponding to a Z axis is vertical to the horizontal plane, and i is 1,2, … …, m, and m is the total number of points in the set D;
s3, extracting Z of ith point in the set DiAccording to ZiDistinguishing whether crops are planted in the position corresponding to the ith point, and if crops are planted in the position corresponding to the ith point, comparing diPlaced in set A;
s4, extracting X of the kth point in the set Ak、YkAccording to (X)k，Yk) Displaying the kth point on a GIS map, wherein k is 1,2, … …, n, n is the total number of points in the set A, and all points in the set A are sequentially displayed on the GIS map;
s5, acquiring a flight control command of an operator and controlling the unmanned aerial vehicle to plant and protect the farmland according to the flight control command;
in the step S4, according to Xk、YkArranging the points in the set A in sequence, and connecting the points in the set A displayed on the GIS map according to the sequence;
in step S4, Z at the k-th point in the set a is also extractedkAccording to ZkCalculating the flight height h of the kth pointk＝Zk+ c, c is the distance between the unmanned aerial vehicle and the crops;
calculating the distance between the j point and the j +1 point according to the sequenceDifference of flying height Δ hjJ is 1,2, … …, n-1, when Δ hjWhen the set threshold value is exceeded, h is setjAnd hj+1And respectively displaying the corresponding positions of the j point and the j +1 point on the GIS map in the form of labels.
5. The unmanned aerial vehicle plant protection monitoring method for manual control according to claim 4, wherein in the step S2, color point cloud data of farmland is collected and added into a set D, Di＝(Xi，Yi，Zi，Ri，Gi，Bi)，Ri、Gi、BiRespectively representing the values of three color channels at the ith point;
in step S3, R at the ith point in the set D is extractedi、Gi、BiAccording to Ri、Gi、BiDistinguishing whether the position corresponding to the ith point is planted with crops or not, and if the position corresponding to the ith point is planted with crops, comparing diAnd placing the collection A in the collection B, and taking the collection B, the intersection of the collection A and the collection B, or the union of the collection A and the collection B as the collection A.
6. The plant protection monitoring method for the manually operated unmanned aerial vehicle according to claim 4, wherein in the step S1, the current height of the unmanned aerial vehicle is further obtained;
in step S4, when Δ h is smallerjAnd when the height of the unmanned aerial vehicle does not exceed the set threshold value, displaying the current height of the unmanned aerial vehicle on a GIS map.
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