CN109240304A - A kind of precision planting system and method - Google Patents
A kind of precision planting system and method Download PDFInfo
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- CN109240304A CN109240304A CN201811195281.5A CN201811195281A CN109240304A CN 109240304 A CN109240304 A CN 109240304A CN 201811195281 A CN201811195281 A CN 201811195281A CN 109240304 A CN109240304 A CN 109240304A
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000010586 diagram Methods 0.000 claims abstract description 21
- 238000009331 sowing Methods 0.000 claims abstract description 20
- 239000007943 implant Substances 0.000 claims abstract description 18
- 238000001514 detection method Methods 0.000 claims description 43
- 238000001228 spectrum Methods 0.000 claims description 34
- 238000012876 topography Methods 0.000 claims description 23
- 238000003860 storage Methods 0.000 claims description 22
- 238000010899 nucleation Methods 0.000 claims description 16
- 241000196324 Embryophyta Species 0.000 claims description 14
- 241000894007 species Species 0.000 claims description 12
- 238000012545 processing Methods 0.000 claims description 11
- 239000002689 soil Substances 0.000 claims description 11
- 230000008569 process Effects 0.000 claims description 9
- 230000004888 barrier function Effects 0.000 claims description 7
- 235000015097 nutrients Nutrition 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000005056 compaction Methods 0.000 claims description 2
- 240000001931 Ludwigia octovalvis Species 0.000 claims 1
- 230000004083 survival effect Effects 0.000 abstract description 3
- 238000011835 investigation Methods 0.000 abstract description 2
- 230000008901 benefit Effects 0.000 description 4
- 241000721671 Ludwigia Species 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000003337 fertilizer Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 241000345998 Calamus manan Species 0.000 description 1
- 244000025254 Cannabis sativa Species 0.000 description 1
- 241000422846 Sequoiadendron giganteum Species 0.000 description 1
- 238000002513 implantation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000013138 pruning Methods 0.000 description 1
- 235000012950 rattan cane Nutrition 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
- A01C11/025—Transplanting machines using seedling trays; Devices for removing the seedlings from the trays
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C21/00—Methods of fertilising, sowing or planting
- A01C21/005—Following a specific plan, e.g. pattern
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
Abstract
The invention discloses a kind of precision planting system and method, including independent navigation unmanned plane, ground implant system handles the ground-based computer of information；The ground-based computer is used to analyze the vegetation information of unmanned plane acquisition, and generation reseeds trajectory diagram to control the autonomous airline operation of unmanned plane and unmanned vehicle autonomous.The system can detect investigation on a large scale, obtain forest land vegetative coverage information, it makes analysis, carry out positioning, it completes unmanned aerial vehicles sowing and unmanned vehicle is planted, wherein: unmanned aerial vehicles sowing can solve the plantation problem that complicated landform is brought, and save manpower, and high survival rate is planted on unmanned vehicle ground, plantation efficiency is improved, to realize accurate efficiently plantation.
Description
Technical field
The present invention relates to a kind of plant planting system more particularly to a kind of forestry unmanned plane precision planting system and methods.
Background technique
The tending of woods is also known as stand tending, refers to during playing mature pervious Forest Cultivation from afforestation, to guarantee children
Woods survives, and promotes tree growth, improves stand structure and quality and improves the measures that forest productivity is taken.Including removing
Grass loosens the soil, makees, applies fertilizer, irrigating, draining, going the work such as rattan, pruning, intermediate cutting, plant time wood.
Forest, which is reseeded, to be referred in the vegetation for occurring being short of seedling, and is planted again.Technology and immature, big portion are reseeded in forestry at present
It point takes and manually to reseed method, human cost is high, low efficiency, and can not accurately judge this area if appropriate for reseeding.
Existing unmanned aerial vehicles sowing, which refers to, combines remote sensing technology, machine intelligence technology and unmanned air vehicle technique, is used for
Afforestation, in seeding process, needs unmanned plane to be cooperated.Current unmanned aerial vehicles sowing flies conduct boat using unmanned plane and makees
Industry reduces manually with the contact of seedling and seed to greatest extent, to reduce the undermined degree of seedling, while passing through ground
The display interface at face station accomplishes the development situation for observing operation in real time.But existing unmanned aerial vehicles sowing is confined in the air, nothing
Method takes into account the sowing on ground, fosters and reseed, and immature due to technology, inefficient, without complete system and side
Method.
Summary of the invention
The problem of in view of above-mentioned and/or existing forestry implantation methods, propose the present invention.
Present invention aim to address prior art large area plantation efficiency is not high, the not high problem of accuracy provides one
Kind forestry unmanned plane precision planting system and method.This method is fully functional reliable, convenient for implementing operation in woodland.
In order to achieve the goal above, the present invention is achieved by the following technical programs.
A kind of precision planting system, including independent navigation unmanned plane, ground implant system and the ground for handling information calculate
Machine；
The unmanned plane includes unmanned plane objective table, the rotor for being fixed on objective table surrounding, motor and is arranged under objective table
Undercarriage；Unmanned aerial vehicle remote sensing detection system and aerial seeding system are also mounted on the independent navigation unmanned plane；
The ground implant system, including unmanned vehicle are also mounted with independent navigation module and plantation module on unmanned vehicle；
The ground-based computer is used to analyze the vegetation information of unmanned plane acquisition, and it is autonomous to control unmanned plane that trajectory diagram is reseeded in generation
Airline operation and unmanned vehicle autonomous.
As a preferred solution of the present invention, the unmanned aerial vehicle remote sensing detection system includes wireless transport module, camera shooting
Head, spectrum camera and vegetation detection module；Wherein, wireless transport module is mounted on unmanned plane, and spectrum camera, camera is fixed
It is mounted below unmanned plane objective table；The spectrum camera Real-time Remote Sensing obtains vegetation spectrum picture；The camera obtains in real time
Take topography and geomorphology information；Image real-time radio is transferred to computer by the wireless transport module；The vegetation detection module is real
When analyze spectrum picture, judge the vegetation type and distribution density, automatically generate benefit according to the spatial coordinated information recorded
Kind track.
As a preferred solution of the present invention, the aerial seeding system includes flying control module, aerial seeding apparatus；Its
In, flying control module includes locating module, gesture stability module and autonomous flight module, to control unmanned plane autonomous flight；Wherein
Aerial seeding apparatus includes seed box, seed distribution and seeder, and what is automatically generated in unmanned aerial vehicle remote sensing detection system reseeds
The tree species classification reseeded needed for being marked on trajectory diagram, and different classes of kind is sowed by the aerial seeding apparatus of wireless control
Son.
As a preferred solution of the present invention, the ground implant system, including unmanned vehicle are also mounted on unmanned vehicle
Independent navigation module and plantation module；
Wherein, independent navigation module includes locating module, obstacle avoidance module and autonomous module, to control the autonomous row of unmanned vehicle
It walks；
The plantation module includes storage seedling distribution module, plants module, to realize the classification plantation of nursery stock.
Further, the locating module includes GPS and wireless transport module；The obstacle avoidance module includes radar, takes the photograph
As head and obstacle sensor；The autonomous module includes wireless transport module and controller；The GPS and wireless transmission mould
Block, controller are mounted below unmanned vehicle vehicle body；The radar, camera are mounted on front side of unmanned vehicle on vehicle body；The obstacle
Sensor is mounted on unmanned vehicle vehicle body surrounding.
Further, the independent navigation module is for controlling unmanned vehicle walking to designated position；When unmanned vehicle receives
When being reseeded to instruction, unmanned vehicle will run to oriented target according to generated trajectory diagram independent navigation of reseeding
It is planted position；Front is such as encountered in independent navigation traveling process when having barrier, the obstacle avoidance sensor of vehicle body surrounding with
And the radar and camera being equipped on vehicle can obtain obstacle information, timely avoidance；Basis reseeds track after reaching designated position
Tree species distribution on figure carries out the classification plantation of sapling.
Further, the storage seedling distribution module includes storage seedling box and Chu Miao distributor；Planting module includes plantation arm
And compactor；The storage seedling box is mounted on above unmanned vehicle；Storage seedling distributor is mounted in storage seedling box；The plantation arm and compacting
Device is mounted below unmanned vehicle；The unmanned vehicle can reach to specify according to planning path and reseed position according to regulation route walking
Afterwards, storage seedling box emergence, is clamped by plantation arm, is reseeded in designated position, after seedling kind is buried, by compactor by mud near seedling
Soil pressure is real, completes autonomous plantation.
As a preferred solution of the present invention, the ground-based computer of the processing information is that information receives and processing is set
Standby, i.e. realization unmanned plane and unmanned vehicle flight course planning completes Remote Sensing Data Processing, by way of wireless transmission respectively with nothing
Man-machine remote sensing detection system, aerial seeding system and ground implant system are wirelessly connected, steady to sow for accurate, according to by
Unmanned aerial vehicle remote sensing detection system obtains: the tree species that the forest zone lacks, topography is precipitous, the low conclusion of vegetation coverage；Computer
Providing instruction drives unmanned plane to designated position, is accordingly set according to the track of reseeding that the coordinate information recorded automatically generates
The sowing of kind.The vegetation density and soil nutrient degree obtained according to spectrum camera detection determines sowing quantity.
The invention also discloses the precision planting Tending methods of above system, including following scheme:
Scheme one: unmanned plane reseeds operation, unmanned plane autonomous flight above forest zone, with unmanned aerial vehicle remote sensing detection system into
The detection of the row density of trees is analyzed with topography and geomorphology, utilizes the spectrum camera detection density of trees and soil nutrient journey on unmanned plane
Degree, camera shoot forest zone image, image information are transmitted back to ground-based computer, computer is analyzed, according to spectrum camera
It detects the obtained density of crop and normal density compares and analyzes to reseed position needed for obtaining and then generate unmanned plane and reseeds rail
Mark figure, analyze the clapped picture of camera, if according to camera shoot picture analyzing obtain the topography be precipitous topography or it is flat and
Steeply power-relation staggers the time, then computer issue instruction make unmanned plane reseeded to needed for according to airline operation position sow reseed；
Scheme two: unmanned vehicle reseeds operation, unmanned plane autonomous flight above forest zone, with unmanned aerial vehicle remote sensing detection system into
The detection of the row density of trees is analyzed with topography and geomorphology, detects the density of trees using the spectrum camera on unmanned plane, camera shoots woods
Image information is transmitted back to ground-based computer by area's image, and computer is analyzed, and the standing forest detected according to spectrum camera is close
It spends and normal density compares and analyzes to reseed position needed for obtaining and then generate unmanned vehicle and reseeds trajectory diagram, analysis camera institute
Picture is clapped, if shooting picture analyzing to obtain the topography according to camera is smooth relief, computer, which issues instruction, makes unmanned vehicle
Reseed position plantation to required according to route walking and reseed, in unmanned vehicle according in fixed route traveling process, by radar with
Obstacle avoidance sensor obtains peripheral obstacle information, is avoided if there is barrier that can make reaction in time in the direction of travel.
The method and specific steps that this system is implemented:
Step 1: unmanned plane flies to above specified forest zone and is detected, and is shot with camera and spectrum camera, and the woods that will be obtained
Area's image, standing forest and density of trees result are transferred to ground-based computer.
Step 2: ground-based computer according to it is resulting be transmitted back to come information analyzed and determined and generated and reseed track
Figure issues instruction.
Step 3: judging according to the resulting information of step 2, if precipitous topography or it is flat stagger the time with steeply power-relation, then
Unmanned plane is connected to after instruction and is reseeded according to reseeding trajectory diagram；If smooth relief, then unmanned vehicle is connected to after instruction according to benefit
Kind trajectory diagram is reseeded.
Compared with prior art, the present invention its advantage is that:
1, the present invention provides precision planting system, including independent navigation unmanned plane, ground implant system and processing information
Ground-based computer, eliminate the uncertainty artificially detected using unmanned aerial vehicle remote sensing detection system and ground implant system
With omission property, can in time, efficiently good accurate monitoring data and location coordinates, and other trees are planted will not generate wound
Evil, plant maintenance is relatively easy, while can be monitored work by the top or side of unmanned plane during flying to tall and big trees
Make.
2, the system can detect investigation on a large scale, obtain forest land vegetative coverage information, make analysis, carry out positioning,
Planted by unmanned aerial vehicles sowing and unmanned vehicle: unmanned aerial vehicles sowing can solve landform bring and plant problem, save manpower, nothing
High survival rate is planted on people's vehicle ground, saves manpower, improves plantation efficiency, to realize accurate efficiently plantation.
3, the present invention is directed to lack of labor, and forestry cost of labor continuous rise fosters the problem of planting environment complexity,
By the distribution situation of quick, accurate detection large area vegetation, generation reseeds information in real time, according to coordinate position and ground
Gesture, the region that equal surface cars precipitous for topography are difficult to enter, is sowed in real time by unmanned plane, is survived after sowing to improve
Rate, then applied fertilizer and sprinkled water by unmanned plane；For topography flat site, ground seedling is carried out by unmanned vehicle and is reseeded, unmanned vehicle
On will equipped with plantation arm, compactor, water tank etc., complete plantation to pour process, and then complete vegetation accurate reparation, have
Effect is completed accurately to foster work, improves vegetation coverage.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing work simply introduce, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without any creative labor, it can also be obtained according to these attached drawings
Its attached drawing.Wherein:
Fig. 1 a is unmanned plane main view；
Fig. 1 b is unmanned plane three-dimensional view；
Fig. 2 a is to carry seedling unmanned vehicle three-dimensional view；
Fig. 2 b is unmanned vehicle main view；
Fig. 3 is the effect picture after the specific implementation of precision planting system；
Fig. 4 is forest zone vegetation type and density profile；
Fig. 5 is to reseed trajectory diagram；
Fig. 6 is the flow diagram of precision planting method.
In figure: 1- camera, 2- spectrum camera, 3- seeder, 4- unmanned plane objective table；5- rotor, 6- seed box；7- storage
Seedling box, 8- seedling, 9- radar, 10- camera；11- kind plants arm, 12- compactor, the first obstacle sensor of 13-, the barrier of 14- second
Hinder sensor；15- unmanned plane, 16- seed, 17- unmanned vehicle；18- has vegetation, and 19-a tree species lack tree positions, 20-b tree
Kind missing tree positions；21- unmanned plane reseeds track, and 22- unmanned vehicle reseeds track.
Specific embodiment:
Embodiment 1
A kind of precision planting system, including independent navigation unmanned plane, ground implant system and the ground-based computer for handling information；
Such as Fig. 1: the unmanned plane includes that unmanned plane objective table 4, the rotor 5 for being fixed on objective table surrounding, motor and setting exist
Undercarriage under objective table；Unmanned aerial vehicle remote sensing detection system and aerial sowing system are also mounted on the independent navigation unmanned plane
System；
The ground implant system, including unmanned vehicle are also mounted with independent navigation module and plantation module on unmanned vehicle；
The ground-based computer is used to analyze the vegetation information of unmanned plane acquisition, and it is autonomous to control unmanned plane that trajectory diagram is reseeded in generation
Airline operation and unmanned vehicle autonomous.
Such as Fig. 1: the unmanned aerial vehicle remote sensing detection system includes wireless transport module, camera 1, spectrum camera 2 and vegetation
Detection module；Wherein, wireless transport module is mounted on unmanned plane, spectrum camera, and camera is fixedly mounted on unmanned plane loading
Below platform；The spectrum camera Real-time Remote Sensing obtains vegetation spectrum picture；The camera obtains topography and geomorphology information in real time；Institute
It states wireless transport module and image real-time radio is transferred to computer；The vegetation detection module analyzes spectrum picture in real time, sentences
Break the vegetation type and distribution density, is automatically generated according to the spatial coordinated information recorded and reseed track.It is described to broadcast in the air
Kind system includes flying control module, aerial seeding apparatus；Wherein, flying control module includes locating module, gesture stability module and autonomous
Flight module, to control unmanned plane autonomous flight；Wherein aerial seeding apparatus includes seed box 6, seed dispenser and seeder
3, reseeding for automatically generating in unmanned aerial vehicle remote sensing detection system can mark the required tree species classification reseeded on trajectory diagram, and pass through
The aerial seeding apparatus of wireless control sows different classes of seed.
The ground implant system, including unmanned vehicle are also mounted with independent navigation module and plantation module on unmanned vehicle；Its
In, independent navigation module includes locating module, obstacle avoidance module and autonomous module, to control unmanned vehicle autonomous；It is described
Planting module includes storage seedling distribution module, plants module, to realize the classification plantation of nursery stock.
Such as Fig. 2: the locating module includes GPS and wireless transport module；The obstacle avoidance module includes radar 9, camera
10 and obstacle sensor 13；The autonomous module includes wireless transport module and controller；The GPS and wireless transmission mould
Block, controller are mounted below unmanned vehicle vehicle body；The radar, camera are mounted on front side of unmanned vehicle on vehicle body；The obstacle
Sensor is mounted on unmanned vehicle vehicle body surrounding.The independent navigation module is for controlling unmanned vehicle walking to designated position；Work as nothing
People's vehicle receives instruction when reseeding, unmanned vehicle will according to it is generated reseed trajectory diagram independent navigation and run to determined
It is planted the target position of position；When such as encountering front in independent navigation traveling process has barrier, the avoidance of vehicle body surrounding
The radar 9 and camera 10 being equipped on sensor and vehicle can obtain obstacle information, timely avoidance；Root behind arrival designated position
The classification plantation of sapling is carried out according to the tree species distribution reseeded on trajectory diagram.The storage seedling distribution module includes storage seedling box 7 and Chu Miao
Distributor；Planting module includes plantation arm 11 and compactor 12；The storage seedling box is mounted on above unmanned vehicle；Store up seedling distributor peace
In storage seedling box；The plantation arm and compactor are mounted on the unmanned vehicle below unmanned vehicle and can walk according to regulation route,
After reseeding position according to planning path arrival is specified, storage seedling box emergence is clamped by plantation arm 11, is reseeded in designated position, will be young
After seed buries, by compactor 12 by soil compaction near seedling, autonomous plantation is completed.
The ground-based computer of the processing information is information reception and processing equipment, i.e. realization unmanned plane and unmanned vehicle course line
Planning, complete the computer of Remote Sensing Data Processing, by way of wireless transmission respectively with unmanned aerial vehicle remote sensing detection system, sky
Middle seeding system and ground implant system are wirelessly connected, for accurate, steady sowing and seedling, according to there is unmanned plane remote sensing detection
What system obtained: what tree species the forest zone lacks, and topography is precipitous, the low conclusion of vegetation coverage；Computer provides instruction and drives nothing
It is man-machine to arrive designated position, the sowing reseeded track 21 and carry out corresponding tree species automatically generated according to the coordinate information recorded.Root
The conclusion of the density of cover and soil nutrient degree that obtain according to spectrum camera detection determines sowing quantity.
Embodiment 2:
Scheme one: unmanned plane reseeds operation, unmanned plane autonomous flight above forest zone, with unmanned aerial vehicle remote sensing detection system into
The detection of the row density of trees is analyzed with terrain, detects the density of trees using the spectrum camera on unmanned plane, camera shoots woods
Image information is transmitted back to ground-based computer by area's image, and computer is analyzed, and the standing forest detected according to spectrum camera is close
It spends and normal density compares and analyzes to reseed position needed for obtaining and then generate unmanned plane and reseeds trajectory diagram, analysis camera institute
Clap picture, if according to camera shoot picture analyzing obtain the topography be precipitous landforms or it is flat stagger the time with steeply power-relation,
Computer issue instruction make unmanned plane reseeded to needed for according to airline operation position sow reseed；
Scheme two: unmanned vehicle reseeds operation, unmanned plane autonomous flight above forest zone, with unmanned aerial vehicle remote sensing detection system into
The detection of the row density of trees is analyzed with topography and geomorphology, utilizes the spectrum camera detection density of trees and soil nutrient group on unmanned plane
At camera shoots forest zone image, image information is transmitted back to ground-based computer, computer is analyzed, according to spectrum camera
It detects the obtained density of crop and normal density compares and analyzes to reseed position needed for obtaining and then generate unmanned vehicle and reseeds rail
Mark figure analyzes the clapped picture of camera, if shooting picture analyzing to obtain the topography according to camera is flat landforms, computer
Issue instruction make unmanned vehicle according to route walking to it is required reseed position plantation reseed, traveled across in unmanned vehicle according to fixed route
Journey obtains peripheral obstacle information by radar and obstacle avoidance sensor, if there is barrier that can make a response in the direction of travel
It is avoided.
Embodiment 3
Such as Fig. 3-5: a kind of precision planting method,
Step 1: unmanned plane flies to above specified forest zone and is detected, and is shot with camera and spectrum camera, and the woods that will be obtained
Area's image, standing forest and density of trees result are transferred to ground-based computer.
Step 2: ground-based computer according to it is resulting be transmitted back to come information analyzed and determined and generated and reseed track
Figure issues instruction.
Step 3: judging according to the resulting information of step 2, when interlocking if precipitous landforms or flat and precipitous landforms, then
Unmanned plane is connected to after instruction and is reseeded according to reseeding trajectory diagram；If flat landforms, then unmanned vehicle is connected to after instruction according to benefit
Kind trajectory diagram is reseeded.
The unmanned plane 15 is detected in the top of plant or side first, acquires vegetation image by sensoring,
Existing vegetation 18 and missing vegetation are obtained, vegetation detection module analyzes floristics 19 and 20 and distribution density, forms nothing
It is man-machine to reseed track 21 and unmanned vehicle reseeds track 22, and then unmanned plane is sowed, unmanned vehicle realizes seedling on level land
Plantation, unmanned plane and unmanned vehicle are after the sowing for completing upper one plant of plant, by way of manual or automatic control, flight leukorrhagia
The top or side in one region repeat above-mentioned detection and precision planting process.It is default to complete woodland with this process for final system
The precision planting of all plants on route.
In the precision planting method of this system, forest zone vegetation type and density profile are generated according to analysis conclusion, according to
The spatial coordinated information recorded, which automatically generates, reseeds track.Area need to be reseeded for low vegetation density, if in abrupt slope danger
High landform is then sowed in real time by unmanned plane according to reseeding track, if low vegetation density need to reseed area in flatly
Looks, it is contemplated that unmanned vehicle walking is accurate, and plantation survival rate is higher, then is reseeded by unmanned vehicle by track development ground seedling is reseeded.
If encountering the precipitous peace of landform to postpone paying for frequently area, it has not been convenient to carry out unmanned vehicle seedling and reseed, it is full unmanned plane can be directlyed adopt
Journey sowing.
Claims (10)
1. a kind of precision planting system, it is characterised in that: including independent navigation unmanned plane, ground implant system and processing information
Ground-based computer；
The unmanned plane includes that unmanned plane objective table (4), the rotor (5) for being fixed on objective table surrounding, motor and setting are carrying
Undercarriage under object platform；Unmanned aerial vehicle remote sensing detection system and aerial seeding system are also mounted on the independent navigation unmanned plane；
The ground implant system, including unmanned vehicle are also mounted with independent navigation module and plantation module on unmanned vehicle；
The ground-based computer is used to analyze the vegetation information of unmanned plane acquisition, and it is autonomous to control unmanned plane that trajectory diagram is reseeded in generation
Airline operation and unmanned vehicle autonomous.
2. precision planting system according to claim 1, it is characterised in that: the unmanned aerial vehicle remote sensing detection system includes nothing
Line transmission module, camera (1), spectrum camera (2) and vegetation detection module；Wherein, wireless transport module is mounted in unmanned plane
On, spectrum camera, camera is fixedly mounted below unmanned plane objective table；The spectrum camera Real-time Remote Sensing obtains vegetation spectrum
Image；The camera obtains topography and geomorphology information in real time；Image real-time radio is transferred to calculating by the wireless transport module
Machine；The vegetation detection module analyzes spectrum picture in real time, judges the vegetation type and distribution density, according to the sky recorded
Between coordinate information automatically generate and reseed track.
3. precision planting system according to claim 2, it is characterised in that: the aerial seeding system includes flying control mould
Block, aerial seeding apparatus；Wherein, flying control module includes locating module, gesture stability module and autonomous flight module, to control nothing
Man-machine autonomous flight；Wherein aerial seeding apparatus includes seed box (6), and seed distributes and seeder (3), is examined in unmanned aerial vehicle remote sensing
Reseeding for automatically generating in examining system can mark the required tree species classification reseeded on trajectory diagram, and be sowed in the air by wireless control
Device sows different classes of seed.
4. precision planting system according to claim 1, it is characterised in that: the ground implant system, including unmanned vehicle,
Independent navigation module and plantation module are also mounted on unmanned vehicle；
Wherein, independent navigation module includes locating module, obstacle avoidance module and autonomous module, to control the autonomous row of unmanned vehicle
It walks；
The plantation module includes storage seedling distribution module, plants module, to realize the classification plantation of nursery stock.
5. ground implant system according to claim 4, it is characterised in that: the locating module includes GPS and wireless biography
Defeated module；The obstacle avoidance module includes radar (9), camera (10) and obstacle sensor (13)；The autonomous module packet
Include wireless transport module and controller；The GPS and wireless transport module, controller are mounted below unmanned vehicle vehicle body；It is described
Radar, camera are mounted on front side of unmanned vehicle on vehicle body；The obstacle sensor is mounted on unmanned vehicle vehicle body surrounding.
6. ground implant system according to claim 4, it is characterised in that: the independent navigation module is for controlling nobody
Garage goes to designated position；When unmanned vehicle, which receives instruction, to be reseeded, unmanned vehicle will reseed rail according to generated
Mark figure independent navigation runs to oriented target position and is planted；Front is such as encountered in independent navigation traveling process barrier
When hindering object, the radar (9) and camera (10) being equipped in the obstacle avoidance sensor and vehicle of vehicle body surrounding can obtain obstacle information,
Timely avoidance；It is planted after reaching designated position according to the classification that the tree species distribution reseeded on trajectory diagram carries out sapling.
7. ground implant system according to claim 4, it is characterised in that: the storage seedling distribution module includes storage seedling box
(7) and storage seedling distributor；Planting module includes plantation arm (11) and the real device (12) of compacting；The storage seedling box is mounted on unmanned vehicle
Side；Storage seedling distributor is mounted in storage seedling box；The plantation arm and compactor are mounted below unmanned vehicle；The unmanned vehicle can be pressed
It walks according to setting path, after reseeding position according to planning path arrival is specified, storage seedling box emergence is clamped by plantation arm (11), mended
Kind is in designated position, after seedling cultivation is buried, by compactor (12) by soil compaction near seedling, pours, completes autonomous kind
It plants.
8. precision planting system according to claim 1, it is characterised in that: the ground-based computer of the processing information is letter
Breath receives and processing equipment, i.e. realization unmanned plane and unmanned vehicle flight course planning, completes Remote Sensing Data Processing, passes through wireless transmission
Mode be wirelessly connected respectively with unmanned aerial vehicle remote sensing detection system, aerial seeding system and ground implant system, for accurate, put down
Steady sowing and plantation, according to what is obtained as unmanned aerial vehicle remote sensing detection system: tree species lacking in the forest zone, topography is precipitous, plants
The low conclusion of capped rate；Computer, which provides instruction, drives unmanned plane to designated position, automatic according to the coordinate information recorded
The sowing reseeded track (21) and carry out corresponding tree species generated；The vegetation density and soil nutrient obtained according to spectrum camera detection
The conclusion of degree determines sowing quantity.
9. the precision planting method based on any system in claim 1 ~ 8, which is characterized in that including following scheme:
Scheme one: unmanned plane reseeds operation, unmanned plane autonomous flight above forest zone, with unmanned aerial vehicle remote sensing detection system into
Row vegetation Density Detection and topography and geomorphology are analyzed, and the spectrum camera detection density of trees and soil nutrient group on unmanned plane are utilized
At camera shoots forest zone image, image information is transmitted back to ground-based computer, computer is analyzed, according to spectrum camera
It detects the obtained density of crop to compare with normal density, analysis reseeds position and then generates unmanned plane needed for obtaining reseeds rail
Mark figure；Analyze the clapped picture of camera, if according to camera shoot picture analyzing obtain the topography be precipitous topography or it is flat and
Steeply power-relation staggers the time, then computer issue instruction make unmanned plane reseeded to needed for according to airline operation position sow reseed；
Scheme two: unmanned vehicle reseeds operation, unmanned plane autonomous flight above forest zone, with unmanned aerial vehicle remote sensing detection system into
The detection of the row density of trees is analyzed with topography and geomorphology, utilizes the spectrum camera detection density of trees and soil nutrient group on unmanned plane
At camera shoots forest zone image, image information is transmitted back to ground-based computer, computer is analyzed, according to spectrum camera
It detects the obtained density of crop and normal density compares and analyzes to reseed position needed for obtaining and then generate unmanned vehicle and reseeds rail
Mark figure analyzes the clapped picture of camera, if shooting picture analyzing to obtain the topography according to camera is smooth relief, computer
Issue instruction make unmanned vehicle according to route walking to it is required reseed position plantation reseed, unmanned vehicle is according to fixed route traveling process
In, peripheral obstacle information is obtained by radar and obstacle avoidance sensor, if there is barrier that can make in time in the direction of travel
Reaction is avoided.
10. the precision planting method of system according to claim 9, which is characterized in that
Step 1: unmanned plane flies to above specified forest zone and is detected, and is shot with camera and spectrum camera, and the woods that will be obtained
Area's image, standing forest and density of trees result are transferred to ground-based computer；
Step 2: ground-based computer according to it is resulting be transmitted back to come information analyzed and determined and generated and reseed trajectory diagram, send out
It instructs out；
Step 3: judging according to the resulting information of step 2, if precipitous topography or it is flat stagger the time with steeply power-relation, then nobody
Machine is connected to after instruction and is reseeded according to reseeding trajectory diagram；If smooth relief, then unmanned vehicle is connected to after instruction according to reseeding rail
Mark figure is reseeded.
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