CN110348424A - A kind of cultivated farm observation system based on quadrotor drone - Google Patents
A kind of cultivated farm observation system based on quadrotor drone Download PDFInfo
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- CN110348424A CN110348424A CN201910655081.1A CN201910655081A CN110348424A CN 110348424 A CN110348424 A CN 110348424A CN 201910655081 A CN201910655081 A CN 201910655081A CN 110348424 A CN110348424 A CN 110348424A
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- 238000009313 farming Methods 0.000 abstract description 6
- 230000008054 signal transmission Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- FFRBMBIXVSCUFS-UHFFFAOYSA-N 2,4-dinitro-1-naphthol Chemical compound C1=CC=C2C(O)=C([N+]([O-])=O)C=C([N+]([O-])=O)C2=C1 FFRBMBIXVSCUFS-UHFFFAOYSA-N 0.000 description 1
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- 235000010627 Phaseolus vulgaris Nutrition 0.000 description 1
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- G—PHYSICS
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- G—PHYSICS
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- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
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Abstract
The present invention relates to observation systems, it in particular is a kind of cultivated farm observation system based on quadrotor drone, HSN software is converted including quadrotor drone and RGB, the quadrotor drone carries out image taking to cultivated farm area, it is HSN model that RGB, which converts HSN software for image taking RGB model conversation, recognition and verification yellow color lump simultaneously carries out shape recognition, the soil size of the carrying of picture captured by picture is certain, gray scale identifies to obtain the shape in ripe region close to 60 part using the method for picture circle after grayscale image, the ratio that mature region occupies overall region is calculated according to picture ratio and graphics proportion, data will be uploaded to host computer after calculating ratio；It can take photo by plane by quadrotor drone to farm, the image for acquisition of taking photo by plane will will do it image procossing and judge growth cycle, and judge to particularly belong to which a piece of land targetedly carries out farming.
Description
Technical field
The present invention relates to observation systems, are in particular a kind of cultivated farm observation systems based on quadrotor drone.
Background technique
It is less that large-scale SOEs' manager uses the cropping pattern of high mechanization to use relatively for manpower, most of heavy
Manual labor is completed to save a large amount of manpowers by agricultural machinery；By taking the farm of Xunke as an example, only 3,450 people are managed on Xunke farm
The soil more than 3,100,000 mu is managed, manages nearly thousand mu of soil, 100,000 tons of grain beans yield per capita；Mechanical cultivation has been saved greatly
The manpower and material resources of amount, improve labor productivity；But mechanical cultivation needs use on a large scale, uses on lesser soil
Tractor-ploughing does not simply fail to promotion labor productivity can also be to accidental injury crops；A large amount of manpower consumption is in the farming to farm simultaneously
The correspondence growth cycle observation of object judges in next stage work；It would therefore be desirable to have the crops targetedly to farm to generally investigate
Management, judges its growth cycle, and corresponding agricultural machinery is selected to carry out mechanical cultivation, improves labor productivity；After and
Large-scale home farm will largely occur；The following relatively large land area in domestic households farm will be ploughed using mechanical
Make, then a large amount of manpower will consume in the supervision and management to crops.
Summary of the invention
The object of the present invention is to provide a kind of cultivated farm observation system based on quadrotor drone, can rely on quadrotor
Unmanned plane takes photo by plane to farm, and the image for acquisition of taking photo by plane will will do it image procossing and judge growth cycle, and judge specific
Belong to which a piece of land targetedly carries out farming.
The purpose of the present invention is achieved through the following technical solutions:
A kind of cultivated farm observation system based on quadrotor drone, including quadrotor drone and RGB conversion HSN it is soft
Part, the quadrotor drone carry out image taking to cultivated farm area, and RGB converts HSN software and turns image taking RGB model
Turn to HSN model, recognition and verification yellow color lump simultaneously carries out shape recognition, the soil size one of the carrying of picture captured by picture
Fixed, gray scale identifies to obtain the shape in ripe region close to 60 part using the method for picture circle after grayscale image, according to picture ratio with
Graphics proportion calculates the ratio that mature region occupies overall region, will be uploaded to data after calculating ratio upper
Machine.
As advanced optimizing for the technical program, the present invention supervises system in a kind of cultivated farm based on quadrotor drone
System, the formula of the RGB conversion HSN software are as follows:
As advanced optimizing for the technical program, the present invention supervises system in a kind of cultivated farm based on quadrotor drone
System passes through wireless connection between the host computer and RGB conversion HSN software.
As advanced optimizing for the technical program, the present invention supervises system in a kind of cultivated farm based on quadrotor drone
System, is provided with control program in the quadrotor drone, control program can control quadrotor drone be oriented flight,
Fixed point shooting and image recognition.
As advanced optimizing for the technical program, the present invention supervises system in a kind of cultivated farm based on quadrotor drone
System, the flight path of the quadrotor drone can calibrate a piece of land at square four angle repeatedly.
A kind of cultivated farm observation system based on quadrotor drone of the invention has the beneficial effect that
A kind of cultivated farm observation system based on quadrotor drone of the present invention, can be by quadrotor drone to farm
It takes photo by plane, the image for acquisition of taking photo by plane will will do it image procossing and judge growth cycle, and judge which block soil particularly belonged to
Ground targetedly carries out farming.
Detailed description of the invention
The present invention will be further described in detail with specific implementation method with reference to the accompanying drawing.
Fig. 1 is that color identification of the present invention judges whether the structural block diagram that can be picked.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
Specific embodiment 1:
Illustrate present embodiment below with reference to Fig. 1, a kind of cultivated farm observation system based on quadrotor drone, including four
Rotor wing unmanned aerial vehicle and RGB convert HSN software, and the quadrotor drone carries out image taking, RGB conversion to cultivated farm area
Image taking RGB model conversation is HSN model by HSN software, and recognition and verification yellow color lump simultaneously carries out shape recognition, picture institute
The soil size of the picture carrying of shooting is certain, and part of the gray scale close to 60 identifies to obtain ripe using the method for picture circle after grayscale image
The shape in region calculates the ratio that mature region occupies overall region according to picture ratio and graphics proportion, is calculating ratio
Data will be uploaded to host computer after example；It can take photo by plane by quadrotor drone to farm, the image for acquisition of taking photo by plane
Image procossing will be will do it and judge growth cycle, and judge to particularly belong to which a piece of land targetedly carries out farming；It can be with
Air unmanned plane, this unmanned plane voyage 30min are driven with the big boundary of big boundary unmanned plane, the speed of service is about 30km/h, highest operation
Speed is up to 60km/h；Taking photo by plane, it is high to stablize, and pixel is up to 32,000,000, and wide-angle of taking pictures is that 180 degree facilitates acquisition information；Nothing
Man-machine maximum operating range is 4 kilometers, i.e., Maximum Endurance path is 25 kilometers, and possesses the reality that 720p is transmitted in 4 kilometers
When figure biography ability, theoretically not to farm environment do significantly transformation in the case where only rely on 2.4/5.8GHZ signal transmission
With regard to maximum radius up to 4 kilometers, image taking of the area up to 50 square kilometres of region；And big boundary is driven Air and can be relied on
Therefore WiFi signal transmission, which control, increases its working range in centre increase relaying enhancing signal.
Specific embodiment 2:
Illustrate that present embodiment, present embodiment are described further embodiment one below with reference to Fig. 1, the RGB
Convert the formula of HSN software are as follows:
RGB is transformed into the algorithm of HSV:
Max=max (R, G, B)；
Min=min (R, G, B)；
V=max (R, G, B)；
S=(max-min)/max；
If (R=max) H=(G-B)/(max-min) * 60；
If (G=max) H=120+ (B-R)/(max-min) * 60；
If (B=max) H=240+ (R-G)/(max-min) * 60；
If (H < 0) H=H+360.
Specific embodiment 3:
Illustrate that present embodiment, present embodiment are described further embodiment two below with reference to Fig. 1, it is described upper
Pass through wireless connection between machine and RGB conversion HSN software；The photo directly taken pictures is the pixel based on RGB model
Figure, for every bit all by tri- numerical value storages of RGB, information storage is big, relatively slow in three-dimensional array operation in processing；And
RGB color is non-uniform color space, the Euclidean distance of point-to-point transmission in the perceptual differential and space between two colors
Non-linear ratio, and the correlation between R G B value is very high, and to same color attribute, rgb value divides very much at different conditions
It dissipates, for identifying certain special color, is difficult to determine its threshold value and its color similarity calculation method space traditional in color
In distribution, be unfavorable for the identification of target object, therefore be translated into relatively simple HSV model.
Specific embodiment 4:
Illustrate that present embodiment, present embodiment are described further embodiment three below with reference to Fig. 1, four rotation
Be provided with control program on wing unmanned plane, control program can control quadrotor drone be oriented flight, fixed point shooting and
Image recognition.
Specific embodiment 5:
Illustrate that present embodiment, present embodiment are described further embodiment four below with reference to Fig. 1, four rotation
The flight path of wing unmanned plane can calibrate a piece of land at square four angle repeatedly；In actual use
The brown soil on ground may be caused to show the color state similar with golden yellow, due to light for operator
It can be chosen whether to investigate the block soil repeatedly according to the actual conditions in the section soil in host computer.
A kind of cultivated farm observation system based on quadrotor drone of the invention, its working principle is that:
As shown in Figure 1, carrying out image taking to cultivated farm area by quadrotor drone, it is soft that RGB converts HSN when use
Image taking RGB model conversation is HSN model by part, and recognition and verification yellow color lump simultaneously carries out shape recognition, captured by picture
Picture carrying soil size it is certain, part of the gray scale close to 60 identifies to obtain ripe region using the method for picture circle after grayscale image
Shape, the ratio that mature region occupies overall region is calculated according to picture ratio and graphics proportion, after calculating ratio
Data will be uploaded to host computer；It can take photo by plane by quadrotor drone to farm, the image for acquisition of taking photo by plane will
It carries out image procossing and judges growth cycle, and judge to particularly belong to which a piece of land targetedly carries out farming, user's root
It decides whether to pick according to data shown by host computer.
Certainly, above description is not limitation of the present invention, and the present invention is also not limited to the example above, the art
The variations, modifications, additions or substitutions that those of ordinary skill is made within the essential scope of the present invention also belong to guarantor of the invention
Protect range.
Claims (5)
1. a kind of cultivated farm observation system based on quadrotor drone, including quadrotor drone and RGB convert HSN software,
It is characterized by: the quadrotor drone carries out image taking to cultivated farm area, RGB converts HSN software for image taking
RGB model conversation is HSN model, and recognition and verification yellow color lump simultaneously carries out shape recognition, the carrying of picture captured by picture
Soil size is certain, and gray scale identifies to obtain the shape in ripe region close to 60 part using the method for picture circle after grayscale image, according to
Picture ratio and graphics proportion calculate the ratio that mature region occupies overall region, will will be in data after calculating ratio
It is transmitted to host computer.
2. a kind of cultivated farm observation system based on quadrotor drone according to claim 1, it is characterised in that: described
The formula of RGB conversion HSN software are as follows:
3. a kind of cultivated farm observation system based on quadrotor drone according to claim 1, it is characterised in that: described
Pass through wireless connection between host computer and RGB conversion HSN software.
4. a kind of cultivated farm observation system based on quadrotor drone according to claim 1, it is characterised in that: described
Control program is provided in quadrotor drone, control program can control quadrotor drone and be oriented flight, fixed point bat
It takes the photograph and image recognition.
5. according to claim 1 to a kind of cultivated farm observation system based on quadrotor drone described in 4, it is characterised in that:
The flight path of the quadrotor drone can calibrate a piece of land at square four angle repeatedly.
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| CN201910655081.1A CN110348424A (en) | 2019-07-19 | 2019-07-19 | A kind of cultivated farm observation system based on quadrotor drone |
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| CN201910655081.1A CN110348424A (en) | 2019-07-19 | 2019-07-19 | A kind of cultivated farm observation system based on quadrotor drone |
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Citations (3)
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|---|---|---|---|---|
| CN204346928U (en) * | 2015-01-25 | 2015-05-20 | 无锡桑尼安科技有限公司 | Based on the crop maturity degree Identification platform that unmanned plane detects |
| CN108562279A (en) * | 2018-03-06 | 2018-09-21 | 平湖市城工建设测绘设计有限责任公司 | A kind of unmanned plane mapping method |
| CN109358642A (en) * | 2018-10-22 | 2019-02-19 | 江南大学 | A kind of fruit tree plant protection and picking method based on multi-rotor unmanned aerial vehicle |
-
2019
- 2019-07-19 CN CN201910655081.1A patent/CN110348424A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204346928U (en) * | 2015-01-25 | 2015-05-20 | 无锡桑尼安科技有限公司 | Based on the crop maturity degree Identification platform that unmanned plane detects |
| CN108562279A (en) * | 2018-03-06 | 2018-09-21 | 平湖市城工建设测绘设计有限责任公司 | A kind of unmanned plane mapping method |
| CN109358642A (en) * | 2018-10-22 | 2019-02-19 | 江南大学 | A kind of fruit tree plant protection and picking method based on multi-rotor unmanned aerial vehicle |
Non-Patent Citations (1)
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| 刘一航等: "基于四旋翼无人机新型控制方式", 《科技与创新》 * |
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