CN112306094A - Visual detection device and method for obstacle avoidance flight of plant protection unmanned aerial vehicle - Google Patents
Visual detection device and method for obstacle avoidance flight of plant protection unmanned aerial vehicle Download PDFInfo
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- CN112306094A CN112306094A CN202011200308.2A CN202011200308A CN112306094A CN 112306094 A CN112306094 A CN 112306094A CN 202011200308 A CN202011200308 A CN 202011200308A CN 112306094 A CN112306094 A CN 112306094A
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- 230000000007 visual effect Effects 0.000 title claims abstract description 37
- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000004891 communication Methods 0.000 claims abstract description 55
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical group C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 20
- 230000004888 barrier function Effects 0.000 claims description 21
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- 241000196324 Embryophyta Species 0.000 description 78
- 238000005516 engineering process Methods 0.000 description 4
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 239000000575 pesticide Substances 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 241000422846 Sequoiadendron giganteum Species 0.000 description 1
- 241000607479 Yersinia pestis Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
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- 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
- G05D1/10—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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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B39/00—High-speed photography
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- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/30—Image reproducers
- H04N13/363—Image reproducers using image projection screens
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- H—ELECTRICITY
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- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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Abstract
The invention discloses visual detection equipment and a method for obstacle avoidance flight of a plant protection unmanned aerial vehicle, wherein the visual detection equipment for the obstacle avoidance flight of the plant protection unmanned aerial vehicle comprises a holographic projection module, a detection photography module, a display module and a control module, wherein the holographic projection module comprises a 3D holographic projector and a 3D holographic projection communication unit; the detection photographing module comprises a high-speed camera and a photographing communication unit; the display module comprises a display communication unit and a display; the control module comprises an automatic flight control unit and a ground control unit, the ground control unit is in wireless connection with the 3D holographic projector through a 3D holographic communication unit, and the automatic flight control unit is in wireless connection with the ground control unit. The invention discloses visual detection equipment and method for obstacle avoidance flight of a plant protection unmanned aerial vehicle, which can realize real-time visual detection of flight precision of the plant protection unmanned aerial vehicle when the plant protection unmanned aerial vehicle avoids obstacles and flies.
Description
Technical Field
The invention relates to a flight performance detection system and method for a plant protection unmanned aerial vehicle, in particular to visual detection equipment and method for obstacle avoidance flight of the plant protection unmanned aerial vehicle.
Background
At present, the disease and insect pest control in China mainly takes a manual knapsack sprayer as a main part, and has low operation efficiency, high labor intensity and poor safety. The tractor-drawn or self-propelled sprayer is limited in field operation due to the influence of special ground walking conditions such as paddy fields, mountains and hills. Compared with the prior art, the unmanned aerial vehicle pesticide application operation is high in efficiency, low in cost and strong in farmland adaptability, and is popular among farmers in recent years. According to the introduction of the agricultural and computerized division of the national agricultural and mechanical Commission, the stock of the plant protection unmanned aerial vehicles in China reaches 1.4 thousands of frames as of 2017, and leaps the first in the world. Meanwhile, the total work load of the plant protection unmanned aerial vehicle is increased from millions of acres in 2015 to billions of acres in 2017. Although the industry is rapidly developing, the industry is still in a blank area in terms of industry standards and detection.
In order to solve the problem in the aspect of the unmanned aerial vehicle of above-mentioned plant protection detects, the utility model patent of the grant announcement for CN 207379500U discloses an unmanned aerial vehicle track detection device, and the device includes: the supporting frame is erected on the foundation; set up camera on the support frame, it is used for acquireing the real-time image of unmanned aerial vehicle flight in-process in real time, the top of camera is provided with shielding plate and its lateral wall and all is provided with the calibration pole, the calibration pole is used for maring the camera with relative relation between the shielding plate, above-mentioned unmanned aerial vehicle track detection device acquires its real-time image when unmanned aerial vehicle flies through the camera that sets up in real time, restores the track of unmanned aerial vehicle flight in-process through the mode of observing the analysis photo.
But above-mentioned unmanned aerial vehicle track detection device still has following problem: 1. the track of the unmanned aerial vehicle obstacle avoidance flight cannot be observed in real time; 2. the flight precision of the unmanned aerial vehicle obstacle avoidance flight can not be intuitively observed in real time.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides visual detection equipment for obstacle avoidance flight of a plant protection unmanned aerial vehicle, and realizes real-time visual detection of flight precision of the plant protection unmanned aerial vehicle when the plant protection unmanned aerial vehicle avoids obstacles and flies.
The invention further aims to provide a visual detection method for the obstacle avoidance flight of the plant protection unmanned aerial vehicle.
The technical scheme for solving the technical problems is as follows:
a visual detection device for obstacle avoidance flight of a plant protection unmanned aerial vehicle comprises a holographic projection module, a detection photography module, a display module and a control module for controlling automatic flight of the unmanned aerial vehicle, wherein the holographic projection module comprises a 3D holographic projector and a 3D holographic projection communication unit, the 3D holographic projector is used for projecting a double-layer three-dimensional copying light curtain outside a preset obstacle; the detection photographing module comprises a high-speed camera and a photographing communication unit; the display module comprises a display communication unit and a display, wherein the display communication unit is used for being in wireless connection with the photographing communication unit; the control module comprises an automatic flight control unit and a ground control unit used for planning the double-layer three-dimensional copying light curtain, the ground control unit is in wireless connection with the 3D holographic projector through a 3D holographic communication unit, and the automatic flight control unit is in wireless connection with the ground control unit.
The visual detection equipment's of barrier flight is kept away to above-mentioned plant protection unmanned aerial vehicle theory of operation is:
the method comprises the steps that a control module is started, a ground control unit calculates obstacle avoidance flight data and light curtain projection data of the plant protection unmanned aerial vehicle according to the outline of a preset obstacle, the ground control unit sends the obstacle avoidance flight data to an automatic flight control unit, the automatic flight control unit drives the plant protection unmanned aerial vehicle to start after receiving the obstacle avoidance flight data, the plant protection unmanned aerial vehicle hovers when meeting the preset obstacle, and the plant protection unmanned aerial vehicle plans an automatic obstacle avoidance route to start obstacle avoidance flight; the ground control unit sends the light curtain projection data to the 3D holographic projection communication unit, and the 3D holographic projection communication unit transmits the light curtain projection data to the 3D holographic projector after receiving the light curtain projection data, so that the 3D holographic projector projects a double-layer three-dimensional copying light curtain around a preset obstacle; after the photographic communication unit receives unmanned aerial vehicle's enable signal, with information transmission to high-speed camera on, make high-speed camera start-up work, keep away barrier flight orbit along plant protection unmanned aerial vehicle and carry out whole journey video recording, and carry out high-speed photography and record to the position condition at flight in-process and double-deck three-dimensional profile modeling light curtain boundary to the plant protection unmanned aerial vehicle, meanwhile, photographic communication unit transmits photography and record data to display communication unit in real time, display communication unit transmits the real-time picture to the display, thereby watch the condition that plant protection unmanned aerial vehicle crossed double-deck three-dimensional profile modeling light curtain boundary on the display, so that judge the precision that plant protection unmanned aerial vehicle kept away barrier flight, realize the real-time visual detection that plant protection unmanned aerial vehicle kept away barrier flight.
In a preferred embodiment of the present invention, the holographic projection module and the detection photography module are both disposed on the support.
Preferably, the support comprises a lifting mechanism and a rotating mechanism, wherein the lifting mechanism comprises a lifting driving motor, a linear module arranged in the vertical direction and a lifting seat arranged on the linear module; the rotating mechanism comprises a rotating driving motor arranged on the lifting seat and a rotating plate arranged on the rotating driving motor.
Preferably, there are two sets of the rotating mechanisms, and the holographic projection module and the detection photography module are respectively installed on the two sets of the rotating mechanisms.
In a preferred embodiment of the present invention, the shape of the double-layer three-dimensional profiling light curtain is consistent with the shape of the preset barrier.
In a preferred embodiment of the present invention, the control module plans a preset height of obstacle avoidance flight, where the preset height plus an allowable error of upward flight is a height of the upper light curtain, and the preset height minus an allowable error of downward flight is a height of the lower light curtain.
In a preferred embodiment of the present invention, the predetermined obstacle is a columnar protruding structure.
A visual detection method for obstacle avoidance flight of a plant protection unmanned aerial vehicle is characterized by comprising the following steps:
(1) the ground control unit calculates obstacle avoidance flight data and light curtain projection data according to the outline of a preset obstacle, and sends the obstacle avoidance flight data and the light curtain projection data to the automatic flight control unit and the holographic projection module respectively;
(2) the 3D holographic projection module receives light curtain projection data and projects a double-layer three-dimensional copying light curtain around a preset barrier, and the section size between the two layers of light curtains of the double-layer three-dimensional copying light curtain is determined according to the allowable flight error size;
(3) the automatic flight control unit receives obstacle avoidance flight data and drives the plant protection unmanned aerial vehicle to start, the plant protection unmanned aerial vehicle hovers when meeting a preset obstacle, and the plant protection unmanned aerial vehicle plans an automatic obstacle avoidance route to start obstacle avoidance flight;
(4) the method comprises the steps that a detection photography module receives starting information of the plant protection unmanned aerial vehicle to start working, whole-process video recording is carried out along obstacle avoidance flight tracks of the plant protection unmanned aerial vehicle, high-speed photography and recording are carried out on the position conditions of the plant protection unmanned aerial vehicle and the boundary of a double-layer three-dimensional copying light curtain in the flight process, and data are transmitted to a display module;
(5) the display module receives the data and transmits the real-time picture to the display;
(6) the situation that the plant protection unmanned aerial vehicle crosses the boundary of the double-layer three-dimensional copying light curtain is observed on the display, and the flight precision of obstacle avoidance flight of the plant protection unmanned aerial vehicle is judged.
Preferably, the ground control unit calculates light curtain projection data and obstacle avoidance flight data according to the outline of a preset obstacle, the light curtain projection data are sent to the 3D holographic projection communication unit, the 3D holographic projection communication unit transmits the light curtain projection data to the 3D holographic projector, and the 3D holographic projector receives the light curtain projection data and projects a double-layer three-dimensional copying light curtain around the preset obstacle.
Preferably, after receiving plant protection unmanned aerial vehicle's start information, the photography communication unit sends data to high-speed camera, and high-speed camera starts work after receiving data, keeps away the barrier flight orbit along plant protection unmanned aerial vehicle and carries out whole journey video recording to the position condition on plant protection unmanned aerial vehicle and double-deck three-dimensional profile modeling light curtain border at the flight in-process carries out high-speed photography and record, and transmits picture data for the display communication unit through the photography communication unit.
Preferably, the display communication unit receives the picture data from the photographing communication unit and transmits the real-time picture to the display for display.
Compared with the prior art, the invention has the following beneficial effects:
1. the visual detection equipment for obstacle avoidance flight of the plant protection unmanned aerial vehicle, disclosed by the invention, is combined with a 3D holographic projection technology, can realize visual detection of various indexes of the flight track of the plant protection unmanned aerial vehicle, gets rid of the detection limit of the existing electronic information technology, and is a brand-new and breakthrough-type detection mode in the field of flight track detection of the plant protection unmanned aerial vehicle.
2. The visual detection equipment for obstacle avoidance flight of the plant protection unmanned aerial vehicle, disclosed by the invention, uses the light curtain of the 3D holographic projection technology, not only can protect the unmanned aerial vehicle, but also gets rid of the construction of unmanned aerial vehicle detection fields and equipment, and improves the economical efficiency of unmanned aerial vehicle detection.
3. According to the visual detection equipment for the obstacle avoidance flight of the plant protection unmanned aerial vehicle, the data sent by the photographic communication unit is received through the display communication unit, real-time picture recording is carried out on the display, the position condition of the boundary between the plant protection unmanned aerial vehicle and the double-layer three-dimensional copying light curtain can be directly checked on the display, and then the flight precision of the obstacle avoidance flight of the plant protection unmanned aerial vehicle is judged.
Drawings
Fig. 1 is a spatial arrangement diagram and functional block diagrams of the visual detection device for obstacle avoidance flight of the plant protection unmanned aerial vehicle of the invention.
Fig. 2 is an obstacle avoidance flight path of the visual detection device for obstacle avoidance flight of the plant protection unmanned aerial vehicle of the invention.
Fig. 3 is a schematic view of a bracket of the visual detection device for obstacle avoidance flight of the plant protection unmanned aerial vehicle of the invention.
Fig. 4 is a schematic view of a working flow of the visual detection device for obstacle avoidance flight of the plant protection unmanned aerial vehicle of the present invention.
Fig. 5 is a functional block diagram of the visual detection device for obstacle avoidance flight of the plant protection unmanned aerial vehicle of the present invention.
Wherein, 1, a bracket; 1-1, avoiding an obstacle flight track; 1-2, double-layer three-dimensional profiling light curtain; 1-3, presetting obstacles; 2. a 3D holographic projector; 3. a 3D holographic projection communication unit; 4. a high-speed camera; 5. a photographic communication unit; 6. a plant protection unmanned aerial vehicle; 7. a lifting drive motor; 8. a linear module; 9. a lifting seat; 10. a rotary drive motor; 11. and rotating the plate.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
Referring to fig. 1-2, a visual detection device for plant protection unmanned aerial vehicle obstacle avoidance flight comprises a holographic projection module, a detection photography module, a display module, and a control module for controlling unmanned aerial vehicle automatic flight, wherein the holographic projection module comprises a 3D holographic projector 2 for projecting a double-layer three-dimensional profiling light curtain 1-2 outside a preset obstacle and a 3D holographic projection communication unit 3; the detection camera module comprises a high-speed camera 4 and a camera communication unit 5; the display module comprises a display communication unit and a display which are wirelessly connected with the photographing communication unit 5; the control module comprises an automatic flight control unit and a ground control unit used for planning the double-layer three-dimensional copying light curtain 1-2, the ground control unit is in wireless connection with the 3D holographic projector 2 through a 3D holographic projection communication unit 3, and the automatic flight control unit is in wireless connection with the ground control unit.
Referring to fig. 1-2, the holographic projection system further comprises a support 1, and the holographic projection module and the detection photography module are both arranged on the support 1. The holographic projection module and the detection photography module are arranged on the bracket 1, so that the fixed installation is realized, and the holographic projection module and the detection photography module have good stability in the projection and photography processes.
Referring to fig. 3, the support 1 includes a lifting mechanism and a rotating mechanism, wherein the lifting mechanism includes a lifting driving motor 7, a linear module 8 arranged in the vertical direction, and a lifting base 9 mounted on the linear module 8; the rotating mechanism comprises a rotating driving motor 10 arranged on the lifting seat 9 and a rotating plate 11 arranged on the rotating driving motor 10. Through the support 1 with the structure, the holographic projection module and the detection photography module are arranged on the rotating plate 11, so that the height and the angle of the holographic projection module and the detection photography module arranged on the support can be flexibly adjusted, and the projection range and the photography range are increased.
Referring to fig. 3, there are two sets of the rotating mechanisms, and the holographic projection module and the detection photography module are respectively installed on the two sets of the rotating mechanisms. The two groups of rotating mechanisms are arranged, so that the holographic projection module and the detection photographing module which are respectively arranged on the rotating mechanisms can rotate independently, the projection range or the photographing range is increased, and the adaptability is stronger.
Referring to fig. 1-2, the shape of the double-layer three-dimensional profiling light curtain 1-2 is consistent with the shape of the preset barrier 1-3. The double-layer three-dimensional copying light curtain 1-2 is arranged, an obstacle avoidance space formed by the double-layer three-dimensional copying light curtain 1-2 is formed around the preset obstacle 1-3, the plant protection unmanned aerial vehicle 6 keeps flying in the obstacle avoidance space, the flying precision meets the set requirement, and otherwise, the flying precision does not meet the set requirement.
Referring to fig. 1-2, the control module plans a preset height of obstacle avoidance flight, where the preset height plus an allowable error of upward flight is a height of an upper layer light curtain, and the preset height minus an allowable error of downward flight is a height of a lower layer light curtain. Thus, the preset height is the height of obstacle avoidance flight, the plant protection unmanned aerial vehicle 6 is watched on the display to fly in the double-layer three-dimensional copying light curtain 1-2, and when the plant protection unmanned aerial vehicle 6 crosses the light curtain boundary, the flight of the plant protection unmanned aerial vehicle 6 exceeds the flight error size; on the contrary, when the plant protection unmanned aerial vehicle 6 is kept in the double-layer three-dimensional copying light curtain 1-2 in the flying process, the plant protection unmanned aerial vehicle 6 flies in the allowable flight error range and meets the requirement of flight precision; in addition, when different flight errors are required to be set according to the technology and operation requirements, the distance between the lower layer light curtain and the upper layer light curtain is adjusted, and the related detection requirements can be flexibly adapted.
Referring to fig. 1, the predetermined obstacles 1-3 are pillar-shaped protruding structures. The barrier sets up to the protruding structure of column, corresponds the wire pole that plant protection unmanned aerial vehicle 6 met when flat crop ground flies, big tree, the condition such as iron tower, for example, plant protection unmanned aerial vehicle 6 sprays the pesticide in the crop ground, when meetting a wire pole, ground control unit calculates according to the profile of wire pole and keeps away barrier flight data to keep away barrier flight data and send automatic flight control unit, automatic flight control unit receives and keeps away barrier flight data, drive plant protection unmanned aerial vehicle 6 keeps away barrier flight.
The visual detection equipment's of barrier flight is kept away to above-mentioned plant protection unmanned aerial vehicle theory of operation is:
the method comprises the steps that a control module is started, a ground control unit calculates obstacle avoidance flight data and light curtain projection data of a plant protection unmanned aerial vehicle 6 according to the outline of a preset obstacle 1-3, the ground control unit sends the obstacle avoidance flight data to an automatic flight control unit, the automatic flight control unit drives the plant protection unmanned aerial vehicle to start after receiving the obstacle avoidance flight data, the plant protection unmanned aerial vehicle hovers when meeting the preset obstacle, and the plant protection unmanned aerial vehicle 6 plans an automatic obstacle avoidance route to start obstacle avoidance flight; the ground control unit sends the light curtain projection data to the 3D holographic projection communication unit 3, and after the 3D holographic projection communication unit 3 receives the light curtain projection data, the light curtain projection data are transmitted to the 3D holographic projector 2, so that the 3D holographic projector 2 projects a double-layer three-dimensional copying light curtain 1-2 around a preset barrier 1-3; after the photographic communication unit 5 receives the start signal of unmanned aerial vehicle, transmit information to high-speed camera 4 on, make high-speed camera 4 start-up work, keep away barrier flight track along plant protection unmanned aerial vehicle 6 and carry out whole journey video recording, and carry out high-speed photography and record with the position condition at double-deck three-dimensional profile modeling light curtain 1-2 border to plant protection unmanned aerial vehicle 6 in flight process, meanwhile, photographic communication unit 5 transmits photography and record data to the display communication unit in real time, the display communication unit transmits the real-time picture to the display, thereby watch the condition that plant protection unmanned aerial vehicle 6 crosses double-deck three-dimensional profile modeling light curtain 1-2 border on the display, so that judge plant protection unmanned aerial vehicle 6's flight precision, realize plant protection unmanned aerial vehicle 6 and keep away the real-time visual detection of barrier flight.
The visual detection method for obstacle avoidance flight of the plant protection unmanned aerial vehicle comprises the following steps:
(1) the ground control unit calculates obstacle avoidance flight data and light curtain projection data according to the outline of the preset obstacles 1-3, and respectively sends the obstacle avoidance flight data and the light curtain projection data to the automatic flight control unit and the holographic projection module;
(2) the 3D holographic projection module receives light curtain projection data and projects a double-layer three-dimensional copying light curtain 1-2 around a preset barrier 1-3, and the section size between the two layers of light curtains of the double-layer three-dimensional copying light curtain 1-2 is determined according to the allowable flight error size;
(3) the automatic flight control unit receives obstacle avoidance flight data and drives the plant protection unmanned aerial vehicle 6 to start, the plant protection unmanned aerial vehicle 6 hovers when meeting preset obstacles 1-3, and the plant protection unmanned aerial vehicle 6 plans an automatic obstacle avoidance route to start obstacle avoidance flight;
(4) the detection photography module starts working after receiving starting information of the plant protection unmanned aerial vehicle 6, carries out whole-process video recording along the obstacle avoidance flight track of the plant protection unmanned aerial vehicle 6, carries out high-speed photography and recording on the position condition of the plant protection unmanned aerial vehicle 6 and the boundary of the double-layer three-dimensional copying light curtain 1-2 in the flight process, and transmits data to the display module;
(5) the display module receives the data and transmits the real-time picture to the display;
(6) the situation that the plant protection unmanned aerial vehicle 6 crosses the boundary of the double-layer three-dimensional copying light curtain 1-2 is observed on the display, and the flight precision of obstacle avoidance flight of the plant protection unmanned aerial vehicle 6 is judged.
Further, the ground control unit calculates light curtain projection data and obstacle avoidance flight data according to the outline of the preset obstacles 1-3, the light curtain projection data are sent to the 3D holographic projection communication unit 3, the 3D holographic projection communication unit 3 transmits the light curtain projection data to the 3D holographic projector 2, and the 3D holographic projector 2 receives the projection data and projects the double-layer three-dimensional copying light curtain 1-2 around the preset obstacles 1-3.
Further, after receiving the starting information of the plant protection unmanned aerial vehicle 6, the photography communication unit 5 transmits data to the high-speed camera 4, the high-speed camera 4 starts up after receiving the data, carries out whole-course video recording along the obstacle avoidance flight track of the plant protection unmanned aerial vehicle 6, carries out high-speed photography and recording on the position condition of the plant protection unmanned aerial vehicle 6 and the boundary of the double-layer three-dimensional copying light curtain 1-2 in the flight process, and transmits the picture data to the display module through the photography communication unit 5.
Further, the display communication unit receives the picture data from the photographing communication unit 5 and transmits the real-time picture to the display for display.
The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents and are included in the scope of the present invention.
Claims (10)
1. The visual detection equipment for the obstacle avoidance flight of the plant protection unmanned aerial vehicle is characterized by comprising a holographic projection module, a detection photography module, a display module and a control module for controlling the unmanned aerial vehicle to automatically fly, wherein the holographic projection module comprises a 3D holographic projector and a 3D holographic projection communication unit, the 3D holographic projector is used for projecting a double-layer three-dimensional copying light curtain outside a preset obstacle; the detection photographing module comprises a high-speed camera and a photographing communication unit; the display module comprises a display communication unit and a display, wherein the display communication unit is used for being in wireless connection with the photographing communication unit; the control module comprises an automatic flight control unit and a ground control unit used for planning the double-layer three-dimensional copying light curtain, the ground control unit is in wireless connection with the 3D holographic projector through a 3D holographic communication unit, and the automatic flight control unit is in wireless connection with the ground control unit.
2. The visual detection equipment of plant protection unmanned aerial vehicle obstacle avoidance flight of claim 1, characterized by further comprising a support, the holographic projection module and the detection photography module are both arranged on the support.
3. The visual detection equipment for plant protection unmanned aerial vehicle obstacle avoidance flight according to claim 2, wherein the support comprises a lifting mechanism and a rotating mechanism, wherein the lifting mechanism comprises a lifting driving motor, a linear module arranged in the vertical direction and a lifting seat mounted on the linear module; the rotating mechanism comprises a rotating driving motor arranged on the lifting seat and a rotating plate arranged on the rotating driving motor.
4. The visual detection device for plant protection unmanned aerial vehicle obstacle avoidance flight of claim 3, characterized in that there are two sets of the rotating mechanisms, and the holographic projection module and the detection photography module are respectively installed on the two sets of rotating mechanisms.
5. The visual detection equipment of plant protection unmanned aerial vehicle obstacle avoidance flight of claim 1, characterized in that, the appearance of double-deck three-dimensional profile modeling light curtain is unanimous with the appearance of presetting the barrier.
6. The visual detection equipment for plant protection unmanned aerial vehicle obstacle avoidance flight according to claim 1, wherein the control module plans a preset height of obstacle avoidance flight, the preset height plus an allowable error of upward flight is a height of the upper layer light curtain, and the preset height minus an allowable error of downward flight is a height of the lower layer light curtain.
7. The visual detection equipment of plant protection unmanned aerial vehicle obstacle avoidance flight of claim 1, characterized in that, the preset barrier is a columnar protruding structure.
8. A visual detection method for obstacle avoidance flight of a plant protection unmanned aerial vehicle is characterized by comprising the following steps:
(1) the ground control unit calculates obstacle avoidance flight data and light curtain projection data according to the outline of a preset obstacle, and sends the obstacle avoidance flight data and the light curtain projection data to the automatic flight control unit and the holographic projection module respectively;
(2) the 3D holographic projection module receives light curtain projection data and projects a double-layer three-dimensional copying light curtain around a preset barrier, and the section size between the two layers of light curtains of the double-layer three-dimensional copying light curtain is determined according to the allowable flight error size;
(3) the automatic flight control unit receives obstacle avoidance flight data and drives the plant protection unmanned aerial vehicle to start, the plant protection unmanned aerial vehicle hovers when meeting a preset obstacle, and the plant protection unmanned aerial vehicle plans an automatic obstacle avoidance route to start obstacle avoidance flight;
(4) the method comprises the steps that a detection photography module receives starting information of the plant protection unmanned aerial vehicle to start working, whole-process video recording is carried out along obstacle avoidance flight tracks of the plant protection unmanned aerial vehicle, high-speed photography and recording are carried out on the position conditions of the plant protection unmanned aerial vehicle and the boundary of a double-layer three-dimensional copying light curtain in the flight process, and data are transmitted to a display module;
(5) the display module receives the data and transmits the real-time picture to the display;
(6) the situation that the plant protection unmanned aerial vehicle crosses the boundary of the double-layer three-dimensional copying light curtain is observed on the display, and the flight precision of obstacle avoidance flight of the plant protection unmanned aerial vehicle is judged.
9. The visual detection method for plant protection unmanned aerial vehicle obstacle avoidance flight according to claim 8, characterized in that the ground control unit calculates light curtain projection data according to the profile of a preset obstacle, and sends the light curtain projection data to the 3D holographic projection communication unit, the 3D holographic projection communication unit sends the light curtain projection data to the 3D holographic projector, and the 3D holographic projector receives the projection data and projects a double-layer three-dimensional copying light curtain around the preset obstacle.
10. The visual detection method for plant protection unmanned aerial vehicle obstacle avoidance flight according to claim 8, characterized in that the photography communication unit transmits data to the high-speed camera after receiving the start information of the plant protection unmanned aerial vehicle, the high-speed camera starts up after receiving the data, performs full-process video recording along the obstacle avoidance flight track of the plant protection unmanned aerial vehicle, performs high-speed photography and recording on the position condition of the plant protection unmanned aerial vehicle and the boundary of the double-layer three-dimensional copying light curtain during the flight process, and transmits the picture data to the display communication unit through the photography communication unit.
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