CN110816833A - Unmanned aerial vehicle flying rice transplanting system and rice transplanting method - Google Patents
Unmanned aerial vehicle flying rice transplanting system and rice transplanting method Download PDFInfo
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- 241000209094 Oryza Species 0.000 title claims abstract description 55
- 235000007164 Oryza sativa Nutrition 0.000 title claims abstract description 55
- 235000009566 rice Nutrition 0.000 title claims abstract description 55
- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims description 28
- 238000000605 extraction Methods 0.000 claims description 6
- 238000003702 image correction Methods 0.000 claims description 6
- 239000000284 extract Substances 0.000 claims description 5
- 241000196324 Embryophyta Species 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims description 3
- 238000000926 separation method Methods 0.000 claims description 3
- 239000013589 supplement Substances 0.000 claims description 3
- 238000009313 farming Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/003—Transplanting machines for aquatic plants; for planting underwater, e.g. rice
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- 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
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- 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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Abstract
The invention relates to a flight seedling transplanting system and a seedling transplanting method of an unmanned aerial vehicle, wherein the system comprises: the system comprises a cloud end, an unmanned aerial vehicle, a GPS module, a barometer, a camera, a calculation module and a rice transplanting module; the system comprises a GPS module, a barometer, a camera, a computing module and a cloud end, wherein the GPS module is used for acquiring GPS information of the unmanned aerial vehicle, the barometer is used for acquiring height information of the unmanned aerial vehicle, the camera is used for shooting a video image of a farmland, the computing module root is used for carrying out image processing and constructing map information, and the cloud end is used for planning a flight task of the unmanned aerial vehicle; the calculation module realizes the control of the flight mission of the unmanned aerial vehicle; and realizes the control of the rice transplanting module. The method comprises the following steps: s1: constructing map information of a farmland to be transplanted; s2: editing flight tasks, including flight paths, flight speeds and transplanting frequency; s3: installing a transplanting module on the unmanned aerial vehicle, S4: the calculation module realizes the control of the unmanned aerial vehicle flight and the rice transplanting of the rice transplanting module according to the flight task. The invention can improve the stability and the intelligent degree of unmanned aerial vehicle rice transplanting.
Description
Technical Field
The invention relates to the field of agriculture and planting, in particular to a flight rice transplanting system and a rice transplanting method of an unmanned aerial vehicle.
Background
The rice is the most common crop, and for small-area farming areas, especially most seedling planting areas in the south or some terrace planting areas, due to terrain limitation, the farming area is relatively small compared with wide farming farmlands in the north, and the farming area is large in quantity and scattered. Therefore, the conventional large-sized rice transplanter is difficult to be applied to the southern cultivation area. For small-area rice cultivation, the mode of transplanting rice is mainly manual rice transplanting, the efficiency is low, the distance between rice seedlings and the force of transplanting rice seedlings are not uniform, the growth of the rice seedlings is not facilitated, and a large amount of manpower and material resources are consumed.
In recent years, unmanned aerial vehicles are applied more and more in civil aspects, and the civil aspects of the unmanned aerial vehicles are gradually opened. Although the unmanned aerial vehicle is also applied to the aspect of transplanting rice seedlings, the unmanned aerial vehicle adopts the action of transplanting rice seedlings to transplant rice seedlings, so that the rice seedlings are not stably transplanted, and the unmanned aerial vehicle flies to a corresponding rice transplanting area by adopting a method of manually controlling the flight of the unmanned aerial vehicle, so that the unmanned aerial vehicle is not intelligent enough.
Disclosure of Invention
The invention provides a flight rice transplanting system and a rice transplanting method of an unmanned aerial vehicle, aiming at overcoming the defects of unstable rice transplanting and intelligentization of the unmanned aerial vehicle in the prior art.
The rice transplanting system comprises: the system comprises a cloud end, an unmanned aerial vehicle, a GPS module, a barometer, a camera, a calculation module and a transplanting module, wherein the GPS module, the barometer, the camera, the calculation module and the transplanting module are carried by the unmanned aerial vehicle;
the GPS module is used for acquiring GPS information of the unmanned aerial vehicle and sending the GPS information to the computing module and the cloud end;
the barometer is used for acquiring the height information of the unmanned aerial vehicle and sending the height information to the calculation module and the cloud end;
the camera is used for shooting a video image of a farmland and sending video image information to the computer module and the cloud end;
the calculation module processes the video image according to the video image information, constructs map information by combining GPS information and height information, and sends an image processing result and the map information to the cloud;
the cloud end plans a flight task of the unmanned aerial vehicle according to the GPS information, the height information and the video image information, and sends the flight task to the computing module;
the calculation module realizes the control of the flight mission of the unmanned aerial vehicle; and realizes the control of the rice transplanting module.
Preferably, the transplanting module is detachably connected with the unmanned aerial vehicle.
Preferably, the rice transplanting module comprises: a bracket, a seedling storage bin, a transmission device, a motor and a seedling separating knife;
the bracket is used for being connected with an unmanned aerial vehicle, the seedling storage bin is connected with the edge of the bracket and extends out of the bracket, and the angle between the seedling storage bin and the horizontal plane is 30-50 degrees; the tail of the seedling separating knife is connected with a transmission device, and the head of the seedling separating knife is driven by the transmission device to realize seedling separation; the transmission device is arranged on the bracket, and the motor is used for driving the transmission device to act.
Preferably, the angle between the seedling storage bin and the horizontal plane is 45 degrees.
Preferably, the transmission device comprises a rotating disc, a transmission rod, a fixed rod and a rotating shaft;
a rotating shaft is fixed at the center of the rotating disc, the rotating shaft is arranged along the axis of the rotating disc, two ends of the rotating shaft extend out of the rotating disc, one end of the rotating shaft is used for being connected with a motor, and the other end of the rotating shaft is rotatably fixed at one end of a fixed rod; the other end of the fixed rod is fixed on the bracket;
the edge of the rotating disc is provided with a connecting point, one end of the transmission rod is movably connected with the connecting point, the other end of the transmission rod is movably connected with the cutter tail of the seedling separating cutter, the seedling separating cutter is provided with a movable point, the movable point is fixed on the bracket, and the seedling separating cutter can rotate along the movable point.
Preferably, the distance from the movable point on the seedling separating knife to the knife tail is one fourth of the length of the seedling separating knife.
Preferably, the rice transplanting module is further provided with an infrared distance meter, and the infrared distance meter is fixed at the bottom of the support and is electrically connected with the computing module.
The method of the invention is applied to the intelligent unmanned aerial vehicle flying rice transplanting system, and the method comprises the following steps:
s1: under the condition that the seedling transplanting module is not installed, the unmanned aerial vehicle is controlled to fly around over the farmland to be transplanted; the acquisition of GPS information, height information and video image information is realized;
the calculation module constructs map information of the farmland to be transplanted with the video image information according to the GPS information and the height information; uploading the map information to a cloud;
s2: editing a flight task including a flight path, a flight speed and a transplanting frequency at the cloud according to the map information;
s3: installing a transplanting module on the unmanned aerial vehicle;
s4: and the flying task edited by the cloud end is sent to the computing module, and the computing module realizes the control of the unmanned aerial vehicle flying and the rice transplanting of the rice transplanting module according to the flying task.
Preferably, S1 includes the steps of:
s1.1: the unmanned aerial vehicle carries a camera to shoot a real-time video at an angle of a lens parallel to the ground, and extracts images in the video according to the frequency of one image in 0.5 second, and performs image correction and feature extraction; the image correction comprises weighted mean filtering and image distortion correction; the characteristic extraction is to extract ORB characteristic points of the image;
s1.2: when the feature points accord with the threshold value, the image is used as an initial key frame and used as a reference frame of the next key frame, a map is initialized, and the GPS data and the flight altitude at the moment are recorded;
s1.3: the unmanned aerial vehicle moves, when the difference number of the ORB characteristic points of the current frame and the initial key frame exceeds a set threshold (the threshold is 80), a new key frame and an update map are created, and the GPS and height information of the new key frame are recorded;
s1.4: and (4) eliminating repeated map points or map points with larger errors, and constructing a BoW vector database (Bagof Word dictionary) of the key frame.
S1.5: in order to reduce accumulated errors during map construction, the unmanned aerial vehicle performs loop inspection during flight, compares the current key frame with a Bow vector database, and fuses map points with larger similarity;
s1.6: judging whether the map is closed loop or not because the map building effect is not good enough, and ending the flight if the map is closed loop; if not, the surrounding flight is continued until the map is closed.
Preferably, S4 includes the steps of:
s4.1: after receiving the task, the unmanned aerial vehicle flies to the starting point GPS position, extracts the image characteristics shot at the moment, compares the image characteristics with the image characteristics of the same GPS position of the cloud map, and proves that the flying position is correct when the coincidence degree of the characteristic points meets a threshold value, so that the seedling transplanting work can be carried out;
s4.2: performing rice transplanting: descending the unmanned aerial vehicle at the starting point, sensing the ground clearance by using an infrared distance meter at the bottom of the seedling planting device, starting the seedling planting machine to plant seedlings when reaching a proper height, and stopping the seedling planting machine if the height is not met;
s4.3: seedling supplement: and when the seedlings are transplanted, recording the position of the final seedling transplanting, returning to the recording point position after the seedlings are replenished, and executing the seedling transplanting task again until the regional seedling transplanting task is finished.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that: the unmanned aerial vehicle seedling transplanting system can improve the stability and the intelligent degree of unmanned aerial vehicle seedling transplanting, integrates the characteristic information of shooting farmland images with the GPS information and the barometer information, ensures the flying precision of the unmanned aerial vehicle in the farmland, can make a flying system make corresponding flying plans according to different terrains and different areas, does not need to carry out flying planning according to specific farmland templates, and can fly across cultivation areas. Meanwhile, the planned task can be reused, and the next seedling transplanting task is facilitated. The transplanting device is carried to the unmanned aerial vehicle, so that the unmanned aerial vehicle can transplant rice in the flying process, manpower in artificial transplanting is saved, and the transplanting efficiency is improved.
Drawings
Fig. 1 is a schematic view of an intelligent flying seedling transplanting system of an unmanned aerial vehicle according to embodiment 1.
Fig. 2 is a schematic structural diagram of a rice transplanting module.
Fig. 3 is a flowchart of the intelligent flying seedling transplanting method of the unmanned aerial vehicle according to embodiment 2.
In the figure, 1-an unmanned aerial vehicle, 2-a transmission device, 3-a bracket, 4-a seedling storage bin, 5-a seedling separating knife, 6-an infrared distance meter, 201-a rotating disc, 202-a transmission rod, 203-a fixed rod, 204-a connection point and 501-a movable point.
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 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.
Example 1
The present embodiment provides a flight transplanting system of unmanned aerial vehicle, as shown in fig. 1, the system includes: the system comprises a cloud end, an unmanned aerial vehicle, a GPS module, a barometer, a camera, a calculation module and a transplanting module, wherein the GPS module, the barometer, the camera, the calculation module and the transplanting module are carried by the unmanned aerial vehicle;
the GPS module is used for acquiring GPS information of the unmanned aerial vehicle and sending the GPS information to the computing module and the cloud end;
the barometer is used for acquiring the height information of the unmanned aerial vehicle and sending the height information to the calculation module and the cloud end;
the camera is used for shooting a video image of a farmland and sending video image information to the computer module and the cloud end;
the calculation module processes the video image according to the video image information, constructs map information by combining GPS information and height information, and sends an image processing result and the map information to the cloud;
the cloud end plans a flight task of the unmanned aerial vehicle according to the GPS information, the height information and the video image information, and sends the flight task to the computing module;
the calculation module realizes the control of the flight mission of the unmanned aerial vehicle; and realizes the control of the rice transplanting module.
The transplanting module is detachably connected with the unmanned aerial vehicle.
As shown in fig. 2, the rice transplanting module includes: a bracket 3, a seedling storage bin 4, a transmission device 2, a seedling separating knife 5 and a motor (not shown in the figure);
the support 3 is used for being connected with the unmanned aerial vehicle 1, the seedling storage bin 4 is connected with the edge of the support 3 and extends out of the support 3, and the angle between the seedling storage bin 4 and the horizontal plane is 30-50 degrees; the tail of the seedling separating knife 5 is connected with the transmission device 2, and the head of the seedling separating knife 5 is driven by the transmission device 2 to realize seedling separation; the transmission device 2 is arranged on the bracket 3, and the motor is used for driving the transmission device to act.
The angle between the seedling storage bin 4 and the horizontal plane is 45 degrees.
The transmission device 2 comprises a rotating disc 201, a transmission rod 202, a fixed rod 203 and a rotating shaft (not shown in the figure);
a rotating shaft is fixed at the center of the rotating disc 201, the rotating shaft is arranged along the axis of the rotating disc 201, two ends of the rotating shaft extend out of the rotating disc 201, one end of the rotating shaft is used for being connected with a motor, and the other end of the rotating shaft is rotatably fixed at one end of a fixed rod 203; the other end of the fixed rod 203 is fixed on the bracket 3;
the edge of the rotating disc 201 is provided with a connecting point 204, one end of the transmission rod 202 is movably connected with the connecting point 204, the other end is movably connected with the tail of the seedling separating knife 5, the seedling separating knife 5 is provided with a movable point 501, the movable point 501 is fixed on the bracket 3, and the seedling separating knife 5 can rotate along the movable point 501.
The distance from the active point 501 on the seedling separating knife 5 to the knife tail is one fourth of the length of the seedling separating knife 5.
The rice transplanting module is also provided with an infrared distance meter 6, and the infrared distance meter 6 is fixed at the bottom of the bracket and is electrically connected with the computing module.
Example 2:
the embodiment provides an intelligent flying seedling transplanting method for an unmanned aerial vehicle, which is applied to the seedling transplanting system in embodiment 1, and as shown in fig. 3, the method comprises the following steps:
s1: under the condition that the seedling transplanting module is not installed, the unmanned aerial vehicle is controlled to fly around over the farmland to be transplanted; the acquisition of GPS information, height information and video image information is realized;
the calculation module constructs map information of the farmland to be transplanted with the video image information according to the GPS information and the height information; uploading the map information to a cloud;
s2: editing a flight task including a flight path, a flight speed and a transplanting frequency at the cloud according to the map information;
s3: installing a transplanting module on the unmanned aerial vehicle;
s4: and the flying task edited by the cloud end is sent to the computing module, and the computing module realizes the control of the unmanned aerial vehicle flying and the rice transplanting of the rice transplanting module according to the flying task.
S1 includes the steps of:
s1.1: the unmanned aerial vehicle carries a camera to shoot a real-time video at an angle of a lens parallel to the ground, and extracts images in the video according to the frequency of one image in 0.5 second, and performs image correction and feature extraction; the image correction comprises weighted mean filtering and image distortion correction; the characteristic extraction is to extract ORB characteristic points of the image;
s1.2: when the feature points accord with the threshold value, the image is used as an initial key frame and used as a reference frame of the next key frame, a map is initialized, and the GPS data and the flight altitude at the moment are recorded;
s1.3: the unmanned aerial vehicle moves, when the difference number of the ORB characteristic points and the characteristic points of the initial key frame exceeds a set threshold value, a new key frame and an updated map are created, and the GPS and height information of the new key frame are recorded;
s1.4: and (4) eliminating repeated map points or map points with larger errors, and constructing a BoW vector database (Bagof Word dictionary) of the key frame.
S1.5: in order to reduce accumulated errors during map construction, the unmanned aerial vehicle performs loop inspection during flight, compares the current key frame with a Bow vector database, and fuses map points with larger similarity;
s1.6: judging whether the map is closed loop or not because the map building effect is not good enough, and ending the flight if the map is closed loop; if not, the surrounding flight is continued until the map is closed.
S4 includes the steps of:
s4.1: after receiving the task, the unmanned aerial vehicle flies to the starting point GPS position, then the image features shot at the moment are extracted and compared with the image features of the same GPS position of the cloud map, when the coincidence degree of the feature points accords with a threshold value, the flying position is proved to be free of errors, and the seedling transplanting work can be carried out;
s4.2: performing rice transplanting: descending the unmanned aerial vehicle at the starting point, sensing the ground clearance by using an infrared distance meter at the bottom of the seedling planting device, starting the seedling planting machine to plant seedlings when reaching a proper height, and stopping the seedling planting machine if the height is not met;
s4.3: seedling supplement: and when the seedlings are transplanted, recording the position of the final seedling transplanting, returning to the recording point position after the seedlings are replenished, and executing the seedling transplanting task again until the regional seedling transplanting task is finished.
The terms describing positional relationships in the drawings are for illustrative purposes only and are not to be construed as limiting the patent;
it should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above 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 (10)
1. A flying rice transplanting system of an unmanned aerial vehicle, the system comprising: the system comprises a cloud end, an unmanned aerial vehicle, a GPS module, a barometer, a camera, a calculation module and a transplanting module, wherein the GPS module, the barometer, the camera, the calculation module and the transplanting module are carried by the unmanned aerial vehicle;
the GPS module is used for acquiring GPS information of the unmanned aerial vehicle and sending the GPS information to the computing module and the cloud end;
the barometer is used for acquiring the height information of the unmanned aerial vehicle and sending the height information to the calculation module and the cloud end;
the camera is used for shooting a video image of a farmland and sending video image information to the computer module and the cloud end;
the calculation module processes the video image according to the video image information, constructs map information by combining GPS information and height information, and sends an image processing result and the map information to the cloud;
the cloud end plans a flight task of the unmanned aerial vehicle according to the GPS information, the height information and the video image information, and sends the flight task to the computing module;
the calculation module realizes the control of the flight mission of the unmanned aerial vehicle; and realizes the control of the rice transplanting module.
2. The flying seedling transplanting system of the unmanned aerial vehicle as claimed in claim 1, wherein the seedling transplanting module is detachably connected with the unmanned aerial vehicle.
3. The flying seedling transplanting system of unmanned aerial vehicle of claim 1 or 2, wherein the seedling transplanting module comprises: a bracket, a seedling storage bin, a transmission device, a motor and a seedling separating knife;
the bracket is used for being connected with an unmanned aerial vehicle, the seedling storage bin is connected with the edge of the bracket and extends out of the bracket, and the angle between the seedling storage bin and the horizontal plane is 30-50 degrees; the tail of the seedling separating knife is connected with a transmission device, and the head of the seedling separating knife is driven by the transmission device to realize seedling separation; the transmission device is arranged on the bracket, and the motor is used for driving the transmission device to act.
4. The flying seedling transplanting system of the unmanned aerial vehicle as claimed in claim 3, wherein an angle between the seedling storage bin and a horizontal plane is 45 °.
5. The flying seedling transplanting system of the unmanned aerial vehicle as claimed in claim 4, wherein the transmission device comprises a rotary disc, a transmission rod, a fixed rod and a rotating shaft;
a rotating shaft is fixed at the center of the rotating disc, the rotating shaft is arranged along the axis of the rotating disc, two ends of the rotating shaft extend out of the rotating disc, one end of the rotating shaft is used for being connected with a motor, and the other end of the rotating shaft is rotatably fixed at one end of a fixed rod; the other end of the fixed rod is fixed on the bracket;
the edge of the rotating disc is provided with a connecting point, one end of the transmission rod is movably connected with the connecting point, the other end of the transmission rod is movably connected with the cutter tail of the seedling separating cutter, the seedling separating cutter is provided with a movable point, the movable point is fixed on the bracket, and the seedling separating cutter can rotate along the movable point.
6. The flying seedling transplanting system of the unmanned aerial vehicle as claimed in claim 5, wherein the distance from the active point on the seedling separating blade to the blade tail is one quarter of the length of the seedling separating blade.
7. A flying rice transplanting system of an unmanned aerial vehicle as claimed in claim 5 or 6, wherein the rice transplanting module is further provided with an infrared distance meter fixed at the bottom of the support and electrically connected with the computing module.
8. A rice transplanting method using the unmanned aerial vehicle intelligent flying rice transplanting system of any one of claims 2-7, wherein the method comprises the following steps:
s1: under the condition that the seedling transplanting module is not installed, the unmanned aerial vehicle is controlled to fly around over the farmland to be transplanted; the acquisition of GPS information, height information and video image information is realized;
the calculation module constructs map information of the farmland to be transplanted with the video image information according to the GPS information and the height information; uploading the map information to a cloud;
s2: editing a flight task including a flight path, a flight speed and a transplanting frequency at the cloud according to the map information;
s3: a rice transplanting module is arranged on the unmanned aerial vehicle,
s4: and the flying task edited by the cloud end is sent to the computing module, and the computing module realizes the control of the unmanned aerial vehicle flying and the rice transplanting of the rice transplanting module according to the flying task.
9. The rice transplanting method as claimed in claim 8, wherein S1 comprises the steps of:
s1.1: the unmanned aerial vehicle carries a camera to shoot a real-time video at an angle of a lens parallel to the ground, and extracts images in the video according to the frequency of one image in 0.5 second, and performs image correction and feature extraction; the image correction comprises weighted mean filtering and image distortion correction; the characteristic extraction is to extract ORB characteristic points of the image;
s1.2: when the feature points accord with the threshold value, the image is used as an initial key frame and used as a reference frame of the next key frame, a map is initialized, and the GPS data and the flight altitude at the moment are recorded;
s1.3: the unmanned aerial vehicle moves, when the difference number of the ORB characteristic points and the characteristic points of the initial key frame exceeds a set threshold value, a new key frame and an updated map are created, and the GPS and height information of the new key frame are recorded;
s1.4: and eliminating repeated map points or map points with larger errors, and constructing a BoW vector database of the key frame.
S1.5: performing loop inspection during the flight of the unmanned aerial vehicle, comparing the current key frame with a Bow vector database, and fusing map points with larger similarity;
s1.6: judging whether the map is closed-loop or not, and if closed-loop, ending the flight; if not, the surrounding flight is continued until the map is closed.
10. The rice transplanting method as claimed in claim 9, wherein S4 comprises the steps of:
s4.1: after receiving the task, the unmanned aerial vehicle flies to the starting point GPS position, extracts the image characteristics shot at the moment, compares the image characteristics with the image characteristics of the same GPS position of the cloud map, and proves that the flying position is correct when the coincidence degree of the characteristic points meets a threshold value, so that the seedling transplanting work can be carried out;
s4.2: performing rice transplanting: descending the unmanned aerial vehicle at the starting point, sensing the ground clearance by using an infrared distance meter at the bottom of the seedling planting device, starting the seedling planting machine to plant seedlings when reaching a proper height, and stopping the seedling planting machine if the height is not met;
s4.3: seedling supplement: and when the seedlings are transplanted, recording the position of the final seedling transplanting, returning to the recording point position after the seedlings are replenished, and executing the seedling transplanting task again until the regional seedling transplanting task is finished.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112198878A (en) * | 2020-09-30 | 2021-01-08 | 深圳市银星智能科技股份有限公司 | Instant map construction method and device, robot and storage medium |
| CN113439511A (en) * | 2021-07-07 | 2021-09-28 | 广东诺海科技集团有限公司 | Seedling throwing method for cluster unmanned aerial vehicle |
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| CN113439511B (en) * | 2021-07-07 | 2022-04-08 | 广东诺海科技集团有限公司 | Seedling throwing method for cluster unmanned aerial vehicle |
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