CN113086192A - Remote sensing monitoring system for monitoring growth vigor of crops - Google Patents
Remote sensing monitoring system for monitoring growth vigor of crops Download PDFInfo
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Abstract
The invention discloses a remote sensing monitoring system for monitoring the growth vigor of crops, which comprises an unmanned aerial vehicle and a data processing center, wherein a data acquisition module is loaded on the unmanned aerial vehicle, the data processing center is provided with a data storage module, a data preprocessing module and a data analysis module, the unmanned aerial vehicle and the data processing center are communicated through a wireless network, the data acquisition module comprises remote sensing image acquisition equipment and a universal tripod head system, the lower part of the unmanned aerial vehicle is provided with an automatic tripod head connecting mechanism, the universal tripod head system is provided with a connecting column which penetrates through a bottom opening of the unmanned aerial vehicle and is inserted into the automatic tripod head connecting mechanism for connection, and the automatic tripod head connecting mechanism and the connecting column are automatically connected and locked through the taking-off and landing. The universal holder system for loading different remote sensing image acquisition devices is automatically connected and replaced with the unmanned aerial vehicle through the taking-off and landing of the unmanned aerial vehicle, the replacement efficiency is high, and the problems of time-consuming overlong and human errors caused by field manual replacement are solved.
Description
Technical Field
The invention belongs to the field of aerial remote sensing, and relates to a remote sensing monitoring system for monitoring the growth vigor of crops.
Background
In the technology of monitoring the growth of crops by adopting the aerial remote sensing technology at present, the cost for acquiring data can be greatly reduced by utilizing the existing more and more mature unmanned aerial vehicle loaded remote sensing equipment to acquire remote sensing images, so that the unmanned aerial vehicle is widely used at present. However, in the aspect of long-term monitoring, because the image features that can be extracted from single type of remote sensing image data are limited, and the reliability and accuracy are not sufficient in the inversion training and analysis process, the inversion model training and the actual inversion processing are increasingly performed in the analytical calculation by adopting a multi-source data analysis mode of multiple types of remote sensing images, and more accurate monitoring results are obtained
But unmanned aerial vehicle platform self's load capacity receives the unmanned aerial vehicle volume restriction, and unmanned aerial vehicle duration also receives the ghost image simultaneously and makes a sound, consequently in the collection process of actually carrying out the remote sensing image, an unmanned aerial vehicle is difficult to carry on a plurality of remote sensing image acquisition devices simultaneously, consequently need carry on an acquisition device and accomplish once gathering the back, get back to the department of taking off and land of unmanned aerial vehicle and change different remote sensing image acquisition devices and carry out next remote sensing image acquisition process. However, different types of remote sensing image acquisition equipment have different power supply requirements and data transmission interfaces, so that the unmanned aerial vehicle needs to be manually replaced when the remote sensing image acquisition equipment is replaced every time, the connection relation among the interfaces is set, meanwhile, the data transmission effect is debugged, and the interface configuration needs to be modified on site. Obviously above-mentioned change process needs operating personnel to spend quite long time and energy, not only influences image data's collection efficiency, also receives the success rate that human misoperation influences the data of gathering easily, if carry out image data collection through a plurality of unmanned aerial vehicle simultaneously in large scale farmland, consequently the efficiency reduction and the human error that cause can not ignore.
Meanwhile, the collection of the optical remote sensing image data is easily influenced by weather illumination factors, so that the improvement of the efficiency of collecting the images on site is also important for avoiding the influence of environmental factors on the collection effect. In order to avoid the influence on the acquisition of field remote sensing image data caused by weather change and illumination reduction due to efficiency reduction, a technology capable of effectively improving the field acquisition efficiency of a multi-source remote sensing image is needed.
Disclosure of Invention
The invention aims to provide a remote sensing monitoring system for monitoring the growth of crops, and aims to solve the technical problems that in the prior art, when an unmanned aerial vehicle is replaced by different types of remote sensing image acquisition devices, the unmanned aerial vehicle needs to be manually replaced and connected with various interfaces every time, and operators spend considerable time and energy in the replacement process, so that the efficiency and reliability of image acquisition are greatly reduced.
A remote sensing monitoring system for monitoring crops growing trend, including unmanned aerial vehicle and data processing center, unmanned aerial vehicle is last to be loaded with data acquisition module, data processing center and is equipped with data storage module, data preprocessing module and data analysis module, through wireless network communication between unmanned aerial vehicle and the data processing center, data acquisition module includes remote sensing image acquisition equipment and general cloud platform system, the unmanned aerial vehicle lower part is equipped with cloud platform automatic connection mechanism, general cloud platform system is equipped with and passes unmanned aerial vehicle's bottom entrance to a cave inserts the spliced pole that cloud platform automatic connection mechanism connects, cloud platform automatic connection mechanism includes open and shut door that slides, the interface connection mechanism that is equipped with unmanned aerial vehicle remote sensing interface, symmetrical locking mechanical system and the transmission link mechanism of establishing in both sides, transmission link mechanism includes main connecting rod, data processing center, The lower end of the main connecting rod is arranged in an outward inclined mode, the main connecting rod is connected with a liftable component on the interface connection mechanism, an unmanned aerial vehicle body, a locking connecting rod and an opening and closing connecting rod through a rotating shaft from the upper end downwards in sequence, the locking connecting rod is fixedly connected with the upper portion of the locking mechanism, the opening and closing connecting rod is hinged to the outer side of a door plate of the sliding opening and closing door, the liftable component is driven by the upper end of the connecting rod to inwards slide and clamp the connecting rod through the transmission connecting rod mechanism, and meanwhile, a lock column of the locking mechanism is driven to move to a lock hole position of the overlapped portion of the door plate to penetrate through the lock hole to realize locking of the door plate.
Preferably, the universal tripod head system comprises a multi-axis tripod head for installing the remote sensing image acquisition equipment and a universal power supply and data connection module, the connecting column is arranged on a universal power supply and data connecting module which is provided with a plurality of power supply interfaces and data interfaces adapted to different remote sensing image acquisition devices and is connected with a uniform power supply communication interface on the connecting column, the automatic tripod head connecting mechanism comprises an unmanned aerial vehicle remote sensing interface detachably connected with the unified power supply communication interface and an automatic connecting mechanism automatically realizing connection and detachment with the tripod head connecting structure, the universal power and data connection module further comprises a power control module and a communication interface configuration module, the power supply control module is used for controlling power supply of different power supply interfaces, and the communication interface configuration module is used for setting configuration information of different communication interfaces.
Preferably, the locking mechanism comprises a connecting plate, a guide pillar, a locking pressure spring, a pressing plate, the lock cylinder and an unlocking plate, the locking connecting rod is fixed to the top of the connecting plate, the guide pillar is vertically fixed to the pressing plate and is in sliding fit with a through hole in the connecting plate, two ends of the locking pressure spring are connected to the connecting plate and the pressing plate, the lock cylinder is vertically fixed to the bottom of the pressing plate, the unlocking plate is fixed to the unlocking piece which is jacked upwards when the unmanned aerial vehicle lands, the unlocking plate is arranged below the pressing plate in parallel, and the unlocking plate jacks upwards the pressing plate to unlock the lock cylinder during unlocking.
Preferably, unmanned aerial vehicle includes bottom support and scalable landing leg, scalable landing leg includes the telescopic link and fixes the supporting baseplate of telescopic link lower extreme, the bottom support includes one end court the sleeve pipe that the clamp plate direction set up, telescopic link upper portion slides and pegs graft in the sleeve pipe, the unblock piece does the telescopic link, the lower part of telescopic link with the part of sleeve pipe syntropy extension is fixed with the baffle, the baffle with through buffer spring connection between the sleeve pipe lower extreme.
Preferably, the door plant inwards one side be equipped with spliced pole complex arc presss from both sides tight face and echelonment structure, the echelonment structure of one side door plant divide into from top to bottom has the groove layer, presss from both sides tight layer and stretches out a three-layer hierarchy structure, and the hierarchy structure setting order of the echelonment structure of opposite side door plant is opposite with it, it includes the follow to stretch out the layer stretch out from arc presss from both sides tight face both sides, there is the groove layer to be equipped with and pegs graft complex inserting groove with the extension of opposite side, it is a pair of interval between the extension inboard towards the arc presss from both sides tight face direction and reduces gradually and forms the.
Preferably, the interface connection mechanism comprises a lifting component and a guide pipe vertically fixed in the machine body, the lifting component comprises a middle guide pipe, a lower hinged plate, an interface pressure spring and an unmanned aerial vehicle remote sensing interface in the middle guide pipe, the middle guide pipe is vertically fixed on the lower hinged plate and communicated with a through hole in the lower hinged plate, the upper part of the middle guide pipe is slidably inserted into the lower end of the guide pipe, the lower hinged plate is hinged to the main connecting rod, and the unmanned aerial vehicle remote sensing interface is used for being connected with a universal holder system for power supply and communication.
Preferably, this system still includes the unmanned aerial vehicle platform of parking, unmanned aerial vehicle parks the platform and includes a plurality of plummer and a plurality of dismantlement groove that correspond different remote sensing image acquisition equipment, the oral area of dismantling the groove is greater than the general cloud platform system that is equipped with remote sensing image acquisition equipment simultaneously the width of oral area is less than interval between a pair of supporting baseplate on the unmanned aerial vehicle, the width of plummer is less than interval and centre between a pair of supporting baseplate and is equipped with acquisition equipment and sets up the groove, acquisition equipment sets up and is equipped with the general cloud platform system that is equipped with corresponding remote sensing image acquisition equipment in the groove, the spliced pole of general cloud platform system height is higher than the plummer.
Preferably, the remote sensing monitoring method adopted by the system is as follows:
step one, controlling an unmanned aerial vehicle in an idle state to fly to a bearing platform corresponding to the remote sensing image acquisition equipment adopted at this time and land, and enabling a connecting column of a universal holder system to be inserted into an automatic holder connecting mechanism to realize automatic connection;
secondly, controlling the unmanned aerial vehicle to arrive at a monitoring area to acquire a first remote sensing image and send the first remote sensing image to a data processing center for preprocessing, and storing the preprocessed data as corresponding image data;
thirdly, controlling the unmanned aerial vehicle after image data acquisition to reach a dismounting groove on an unmanned aerial vehicle parking platform, dismounting the remote sensing image acquisition equipment used for the previous acquisition by utilizing the compression of the telescopic support legs during landing, and enabling the unmanned aerial vehicle to be in an idle state;
repeating the first step to the third step before all kinds of remote sensing images required by the acquisition are not acquired, stopping the acquisition after all kinds of remote sensing images are acquired, and performing the fourth step;
extracting corresponding feature data from the stored image data, and carrying out time sequencing and fusion on the feature data to form a multi-dimensional feature data set containing various remote sensing image features;
and step five, inputting the multi-dimensional feature data set into a trained crop growth inversion model, and obtaining a monitoring result of the crop growth after model inversion.
The invention has the technical effects that: 1. this scheme has multiple power supply interface and communication interface's general cloud platform system through the setting, let the operator can accomplish the connection installation of different remote sensing image acquisition equipment and general cloud platform system in advance before carrying out aviation remote sensing data collection, and when actually carrying out remote sensing image data collection, only realize loading different remote sensing image acquisition equipment's general cloud platform system and unmanned aerial vehicle's being connected and the change through the automatic coupling mechanism of cloud platform that has on the unmanned aerial vehicle automatic through unmanned aerial vehicle's take off and land, general cloud platform system is unanimous with unmanned aerial vehicle's the action of being connected with changing, and do not receive the influence of remote sensing image acquisition equipment kind. Therefore, the defects of insufficient multi-source remote sensing image data acquisition efficiency caused by the fact that the remote sensing image acquisition equipment is replaced on site and each interface is debugged can be avoided, the time for acquiring data is effectively shortened, the possibility of human errors during replacement on site is avoided, and the requirements on the quantity, efficiency and reliability of remote sensing images acquired on site are effectively met.
2. According to the scheme, the clamping connecting column of the sliding opening and closing door guarantees that the universal holder system is reliably connected, and meanwhile the locking mechanism linked with the sliding opening and closing door guarantees that locking between door plates on two sides is automatically completed when the door plates are closed, so that accidental opening of the door plates caused by factors such as shaking, wind pushing and vibration in the flight process is avoided, and reliability and stability of data acquisition of the remote sensing image acquisition equipment can be guaranteed to the greatest extent. And the clamping structure cooperation location guiding groove of block-type and articulated slab down allow the spliced pole to have certain error with cloud platform automatic connection mechanism's center when the door plant is opened, improve automatic connection's feasibility greatly, avoid proposing too high requirement to unmanned aerial vehicle descending precision, influence practical application's feasibility.
3. Interface connection structure and the linkage that opens and shuts that slides in this scheme lets this scheme drive the opening and shutting door that slides on the one hand and close when realizing unmanned aerial vehicle remote sensing interface and unified power supply communication interface, need not the external world and controls and just accomplish the connection process. And unmanned aerial vehicle descending position always has certain error, sets up location guiding groove and articulated slab down and just can allow spliced pole and cloud platform automatic connection mechanism's center to have certain error when the door plant is opened. The connecting column drives the whole interface connecting structure to ascend through pushing the lower hinged plate to drive the automatic connecting mechanism of the pan-tilt head, and the positioning guide groove guides the connecting column to the center of the automatic connecting mechanism of the pan-tilt head gradually through the folding of the door plate at the moment and finally clamps the connecting column from two sides through the arc-shaped clamping surface.
4. The utility model discloses a utilize the ascending realization unblock of scalable landing leg when the unblock, can utilize the pressure that the closure pressure spring provided to open automatically and slide the retractable door when the unblock again, realize the unblock, open the door, lift off a series of actions of general cloud platform system, and buffer spring can not only play the cushioning effect when scalable landing leg, can also make the unblock piece reset after above-mentioned action is accomplished, prepares for unblock next time. The upward pressure generated by the buffer spring is greater than the downward pressure generated by the locking compression spring, so that the pressure plate can be pushed to move upwards to realize unlocking.
Drawings
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle parking platform in a remote sensing monitoring system for monitoring crop growth in the invention.
Fig. 2 is a block diagram of a general power supply and data connection module of the general pan/tilt head system according to the present invention.
Fig. 3 is a schematic structural view of the drone in the structure shown in fig. 1.
Fig. 4 is a cross-sectional view of the structure shown in fig. 3.
Fig. 5 is a schematic structural diagram of the automatic connecting mechanism of the pan-tilt head in the structure shown in fig. 3 when the automatic connecting mechanism of the pan-tilt head is connected with a general pan-tilt head system.
Fig. 6 is a front view of the structure shown in fig. 5.
Fig. 7 is an enlarged view of region a in the structure shown in fig. 6.
Fig. 8 is a schematic structural view of the automatic connecting mechanism of the pan/tilt head shown in fig. 7 when the automatic connecting mechanism of the pan/tilt head is not connected to the universal pan/tilt head system.
Fig. 9 is a schematic structural view of an interface connection mechanism in the structure shown in fig. 8.
Fig. 10 is a schematic structural view of the sliding door and the connecting column of the structure shown in fig. 8 when the connecting column is inserted.
The labels in the figures are: 1. unmanned aerial vehicle, 11, a machine body, 12, a landing gear, 121, a bottom support, 122, a telescopic leg, 1221, a telescopic rod, 1222, a support base plate, 13, a sliding opening and closing door, 131, a door panel, 1311, an extension part, 1312, a step-shaped structure, 1313, a plug-in groove, 1314, a lock hole, 1315, an arc-shaped clamping surface, 1316, a directional notch, 14, a transmission link mechanism, 141, a main link, 142, a locking link, 143, an opening and closing link, 15, a locking mechanism, 151, a connecting plate, 152, a pressing plate, 153, an unlocking plate, 154, a guide pillar, 155, a locking compression spring, 156, a lock pillar, 16, an interface connecting mechanism, 161, a lower hinge plate, 162, a guide pipe, 163, an intermediate guide pipe, 164, an interface compression spring, 165, an unmanned aerial vehicle remote sensing interface, 2, an unmanned aerial vehicle parking platform, 21, a dismounting groove, 22, a bearing platform, 23, a collection, The system comprises a multi-axis cradle head, 32 remote sensing image acquisition equipment, 33 a connecting column, 331 a rotation stopping rib, 332 a directional plate, 34 a universal power supply and data connection module, 35 a unified power supply communication interface.
Detailed Description
The following detailed description of the embodiments of the present invention will be given in order to provide those skilled in the art with a more complete, accurate and thorough understanding of the inventive concept and technical solutions of the present invention.
As shown in figures 1-10, the invention provides a remote sensing monitoring system for monitoring the growth of crops, which comprises an unmanned aerial vehicle 1 and a data processing center, wherein the unmanned aerial vehicle 1 is loaded with a data acquisition module 3, the data processing center is provided with a data storage module, a data preprocessing module and a data analysis module, and the unmanned aerial vehicle 1 and the data processing center are communicated through a wireless network, and is characterized in that the data acquisition module 3 comprises a remote sensing image acquisition device 32 and a universal tripod head system, the lower part of a machine body 11 of the unmanned aerial vehicle 1 is provided with an automatic tripod head connecting mechanism, the universal tripod head system is provided with a connecting column 33 which passes through a bottom opening of the machine body 11 and is inserted into the automatic tripod head connecting mechanism for connection, and the automatic tripod head connecting mechanism comprises a split sliding opening and closing door 13, an interface connecting mechanism 16, a data analysis module, The locking mechanism 15 and the transmission link mechanism 14 are symmetrically arranged at two sides, the transmission link mechanism 14 comprises a main link 141, a locking link 142 and an opening and closing link 143, the lower end of the main connecting rod 141 is inclined outwards, the main connecting rod 141 is connected with the lifting component on the interface connection mechanism 16, the machine body 11, the locking connecting rod 142 and the opening and closing connecting rod 143 from the upper end downwards in sequence through a rotating shaft, the locking connecting rod 142 is fixedly connected with the upper part of the locking mechanism 15, the opening and closing connecting rod 143 is hinged with the outer side of the door panel 131 of the sliding opening and closing door 13, when the lifting component is jacked up by the upper end of the connecting column 33, the door panel 131 is driven by the transmission link mechanism 14 to slide inwards to clamp the connecting column 33, and simultaneously drives the lock cylinder 156 of the locking mechanism 15 to move to the lock hole 1314 of the overlapped part of the door panel 131 to pass through the lock hole 1314 to lock the door panel 131.
General cloud platform system is including the installation remote sensing image acquisition equipment 32's multiaxis cloud platform 31 and general power supply and data connection module 34, spliced pole 33 is located on general power supply and data connection module 34, general power supply and data connection module 34 be equipped with the different remote sensing image acquisition equipment 32 of adaptation multiple power supply interface and data interface and with unified power supply communication interface 35 on the spliced pole 33 is connected, unified power supply communication interface 35 can dismantle with unmanned aerial vehicle remote sensing interface 165 and be connected, general power supply and data connection module 34 still includes power supply control module and communication interface configuration module, power supply control module is used for supplying power control to different power supply interfaces, communication interface configuration module is used for setting up different communication interface's configuration information.
The locking mechanism 15 includes a connecting plate 151, a guide post 154, a locking pressure spring 155, a pressing plate 152, a locking post 156 and an unlocking plate 153, the locking connecting rod 142 is fixed on the top of the connecting plate 151, the guide post 154 is vertically fixed on the pressing plate 152 and is in sliding fit with a through hole on the connecting plate 151, two ends of the locking pressure spring 155 are connected to the connecting plate 151 and the pressing plate 152, the locking post 156 is vertically fixed at the bottom of the pressing plate 152, the unlocking member which is lifted upwards when the unmanned aerial vehicle 1 lands is fixed with the unlocking plate 153, the unlocking plate 153 is arranged below the pressing plate 152 in parallel, and when unlocking is performed, the unlocking plate 153 lifts the pressing plate 152 upwards to unlock the locking post 156.
The inward side of the door panel 131 is provided with an arc-shaped clamping surface 1315 and a stepped structure 1312 matched with the connecting column 33, the stepped structure 1312 of the door panel 131 on one side is divided into three layered structures including a groove layer, a clamping layer and a protruding layer from top to bottom, the order of the layered structures of the stepped structure 1312 of the door panel 131 on the other side is opposite to that of the groove layer, the protruding layer comprises protruding parts 1311 protruding from two sides of the arc-shaped clamping surface 1315, the groove layer is provided with inserting grooves 1313 matched with the protruding parts 1311 on the opposite side in an inserting mode, and the distance between the inner sides of the protruding parts gradually decreases towards the direction of the arc-shaped clamping surface to form a positioning. When the sliding opening and closing door 13 is closed, the arc-shaped clamping surfaces 1315 on the two sides are combined to form a clamping hole for clamping the connecting column 33, and the locking hole 1314 on the extension part 1311 on one side is overlapped with the locking hole 1314 below the insertion groove 1313 on the other side.
The positioning guide groove and the lower hinged plate 161 allow a certain error between the connecting column 33 and the center of the automatic connecting mechanism of the pan-tilt-zoom when the door plate is opened, the connecting column 33 enables the whole interface connecting structure 16 to ascend through pushing the lower hinged plate 161 to drive the automatic connecting mechanism of the pan-tilt-zoom, and the positioning guide groove guides the connecting column 33 to the center of the automatic connecting mechanism of the pan-tilt-zoom gradually through the folding of the door plate 131 at the moment, and finally clamps the connecting column from two sides through the arc-shaped clamping surface 131.
A plurality of rotation stopping convex edges 331 are arranged on the connecting column 33 along the circumferential direction, and the rotation stopping convex edges 331 are arranged on the arc-shaped clamping surface 1315. At least one of the slotted layers on both sides has an orientation notch 1316, the orientation notch 1316 is located at a position corresponding to the arc-shaped clamping surface 1315, the connecting column 33 is vertically fixed with an orientation plate 332, the orientation plate 332 is parallel to the protruding part 1311, both sides of the orientation plate 332 have inclined surfaces parallel to the inner side of the protruding part 1311, the orientation notch 1316 and the corresponding protruding part 1311 enclose an orientation empty slot, and the orientation empty slot is matched with the orientation plate 332 in shape, so as to realize the position determination of each pin on the unified power supply communication interface 35 and prevent the pin from position deflection error.
The interface connection mechanism 16 comprises a liftable component and a guide pipe 162 vertically fixed in the machine body 11, the liftable component comprises a middle guide pipe 163, a lower hinged plate 161, an interface pressure spring 164 and an unmanned aerial vehicle remote sensing interface 165 in the middle guide pipe 163, the middle guide pipe 163 is vertically fixed on the lower hinged plate 161 and communicated with a through hole in the lower hinged plate 161, the upper part of the middle guide pipe 163 is slidably inserted at the lower end of the guide pipe 162, the lower hinged plate 161 is hinged and connected with the main connecting rod 141, and the unmanned aerial vehicle remote sensing interface 165 is used for being connected with a universal holder system for power supply and communication.
This system still includes unmanned aerial vehicle parking platform 2, unmanned aerial vehicle parking platform 2 includes a plurality of plummer 22 and a plurality of dismantlement groove 21 that correspond different remote sensing image acquisition equipment 32, the oral area of dismantling groove 21 is greater than the general cloud platform system that is equipped with remote sensing image acquisition equipment 32 simultaneously the width of oral area is less than interval between a pair of supporting baseplate 1222 on unmanned aerial vehicle 1, the width of plummer 22 is less than interval and centre between a pair of supporting baseplate 1222 and is equipped with acquisition equipment and sets up groove 23, acquisition equipment sets up and is equipped with the general cloud platform system that is equipped with corresponding remote sensing image acquisition equipment 32 in the groove 23, the spliced pole 33 of general cloud platform system highly is higher than plummer 22.
The remote sensing monitoring method adopted by the system is as follows:
step one, controlling the unmanned aerial vehicle 1 in an idle state to fly to a bearing platform 22 corresponding to the remote sensing image acquisition equipment 32 adopted at this time and land, and enabling a connecting column 33 of a general holder system to be inserted into an automatic holder connecting mechanism to realize automatic connection;
secondly, controlling the unmanned aerial vehicle 1 to arrive at a monitoring area to acquire a first remote sensing image and send the first remote sensing image to a data processing center for preprocessing, and storing the preprocessed data as corresponding image data;
step three, controlling the unmanned aerial vehicle 1 after collecting the image data to reach the dismounting groove 21 on the unmanned aerial vehicle parking platform 2, and dismounting the remote sensing image collecting device 32 used for the previous collection by utilizing the compression of the telescopic supporting legs 122 during landing, so that the unmanned aerial vehicle 1 becomes in an idle load state;
repeating the first step to the third step before all kinds of remote sensing images required by the acquisition are not acquired, stopping the acquisition after all kinds of remote sensing images are acquired, and performing the fourth step;
extracting corresponding feature data from the stored image data, and carrying out time sequencing and fusion on the feature data to form a multi-dimensional feature data set containing various remote sensing image features;
and step five, inputting the multi-dimensional feature data set into a trained crop growth inversion model, and obtaining a monitoring result of the crop growth after model inversion.
In this scheme, when unmanned aerial vehicle 1 of empty load state descends to general cloud platform system, at first let unmanned aerial vehicle 1 descend to be equipped with corresponding general automatic cloud platform's plummer 22 on, plummer 22 only probably lets unmanned aerial vehicle 1's bottom support 121 stop on it, and general cloud platform system's spliced pole 33 upwards inserts from the middle of the door 13 that opens and shuts that slides organism 11 bottom, spliced pole 33 upper end are inserted the through-hole at articulated slab 161 center down to promote the liftable subassembly and rise. Therefore, the lifting assembly can drive the locking mechanism 15 and the door panel 131 to move inwards at the same time through the transmission link mechanism 14, and the process is stopped until the door panel 131 is closed and the extension part 1311 and the insertion groove 1313 are inserted to the bottom, so that the lock hole 1314 on the extension part 1311 and the lock hole 1314 on the bottom surface of the insertion groove 1313 coincide. At the same time, the movement of the locking mechanism 15 presses the locking compression spring 155 on the one hand and moves the lock cylinder 156 to the already overlapping lock hole 1314 on the other hand, so that the lock cylinder 156 is inserted into the two overlapping lock holes 1314 under the action of the locking compression spring 155, and the locking of the door panel 131 is achieved. At this time, the lifting component does not move upwards any more, and the interface pressure spring 164 acts on the unmanned aerial vehicle remote sensing interface 165 to press down the unmanned aerial vehicle remote sensing interface, so that the unmanned aerial vehicle remote sensing interface is connected with the unified power supply communication interface 35 at the upper end of the connecting column 33 in an inserted manner, and power supply and communication are realized.
The door plant 131 that closes up this moment, on the one hand through constituting directional groove and the directional board 332 shape fit on the spliced pole 33 to accomplish general cloud platform system's directional work, on the other hand has formed through the relative amalgamation of arc clamp surface 1315 and has stopped the tight structure of clamp of rotation bead 331 matched with spliced pole 33 side, effectively guarantees the tight effect of clamp and the effect of stopping rotating of spliced pole 33 side, guarantees that the structural strength after connecting is reliable, can adapt to the impact of flight and a plurality of directions in the process of taking off and land to general automatic cloud platform.
When changing general automatic cloud platform, unmanned aerial vehicle 1 docks to dismantling groove 21 to descend the oral area both sides of dismantling groove 21 through scalable landing leg 122, make telescopic link 1221 upwards slide through the impact that descends to bring this moment, through the upwards jack-up clamp plate 152 of unlocking plate 153 from this, clamp plate 152 and unlocking plate 153 can relative horizontal slip. When the pressure plate 152 is jacked up, the lock cylinder 156 is jacked out of the lock hole 1314, since the locking pressure spring 155 is in a pressing state that the connecting plate 151 is not moved and the pressure plate 152 ascends, after the lock cylinder 156 is jacked up, since the door plates 131 on two opposite sides of the lock cylinder 156 can move, the locking pressure spring 155 can jack the pressure plate 152, and after the lock cylinder 156 is separated from each lock hole 1314, the upper ends of the connecting plate 151 and the main connecting rod 141 can be further moved upwards through the locking pressure spring 155, which simultaneously causes the liftable components to move upwards and the lower end of the main connecting rod 141 to rotate inwards by a certain angle, the main connecting rod 141 drives the pair of door plates 131 to move towards opposite directions through the opening connecting rod 143 to open, the connecting rod 33 can move downwards in the opening process, so that the unmanned aerial vehicle remote sensing interface 165 and the unified power supply communication interface 35 can be separated, and the interface pressure spring 164.
The invention is described above with reference to the accompanying drawings, it is obvious that the specific implementation of the invention is not limited by the above-mentioned manner, and it is within the scope of the invention to adopt various insubstantial modifications of the inventive concept and solution of the invention, or to apply the inventive concept and solution directly to other applications without modification.
Claims (8)
1. The utility model provides a remote sensing monitoring system for monitoring crops growing trend, includes unmanned aerial vehicle (1) and data processing center, and unmanned aerial vehicle (1) facial make-up is loaded with data acquisition module (3), data processing center and is equipped with data storage module, data preprocessing module and data analysis module, through wireless network communication between unmanned aerial vehicle (1) and the data processing center, a serial communication port, data acquisition module (3) are including remote sensing image acquisition equipment (32) and general cloud platform system, unmanned aerial vehicle (1) lower part is equipped with cloud platform automatic connection mechanism, general cloud platform system is equipped with and passes unmanned aerial vehicle (1)'s bottom entrance to a cave inserts spliced pole (33) that cloud platform automatic connection mechanism carries out the connection, cloud platform automatic connection mechanism is including opening and shutting door (13), interface connection mechanism (16) that are equipped with unmanned aerial vehicle remote sensing interface to open and shut, the open and shut of the formula, The locking mechanism (15) and the transmission link mechanism (14) of both sides are established to the symmetry, transmission link mechanism (14) include main connecting rod (141), closure connecting rod (142) and open and shut connecting rod (143), main connecting rod (141) lower extreme outwards inclines to set up, main connecting rod (141) from the upper end down in proper order with liftable subassembly on interface connection mechanism (16) organism (11), closure connecting rod (142) and open and shut connecting rod (143) are connected through the pivot, closure connecting rod (142) with the upper portion of closure mechanism (15) is fixed links to each other, open and shut connecting rod (143) with door plant (131) the outside of door (13) that opens and shuts slides is articulated mutually, liftable subassembly by pass through during spliced pole (33) upper end jack-up transmission link mechanism (14) drive door plant (131) inwards slide and carry spliced pole (33), and simultaneously, the lock cylinder (156) of the locking mechanism (15) is driven to move to a lock hole (1314) of the overlapped part of the door panel (131) to pass through the lock hole (1314) to realize the locking of the door panel (131).
2. The remote sensing monitoring system for monitoring the growth of crops according to claim 1, wherein the universal tripod head system comprises a multi-axis tripod head (31) for mounting the remote sensing image acquisition device (32) and a universal power supply and data connection module (34), the connection column (33) is arranged on the universal power supply and data connection module (34), the universal power supply and data connection module (34) is provided with a plurality of power supply interfaces and data interfaces for adapting to different remote sensing image acquisition devices (32) and is connected with a uniform power supply communication interface (35) on the connection column (33), the uniform power supply communication interface (35) is detachably connected with the unmanned aerial vehicle remote sensing interface, the universal power supply and data connection module (34) further comprises a power supply control module and a communication interface configuration module, and the power supply control module is used for performing power supply control on different power supply interfaces, the communication interface configuration module is used for setting configuration information of different communication interfaces.
3. The remote sensing monitoring system for monitoring the growth of crops as claimed in claims 1 to 2, wherein the locking mechanism (15) comprises a connecting plate (151), a guide post (154), a locking compression spring (155), a pressing plate (152), the locking post (156) and an unlocking plate (153), the locking connecting rod (142) is fixed on the top of the connecting plate (151), the guide post (154) is vertically fixed on the pressing plate (152) and is in sliding fit with a through hole on the connecting plate (151), two ends of the locking compression spring (155) are connected on the connecting plate (151) and the pressing plate (152), the locking post (156) is vertically fixed on the bottom of the pressing plate (152), the unlocking plate (153) is fixed on the unlocking part which is lifted upwards when the unmanned aerial vehicle (1) falls, the unlocking plate (153) is arranged in parallel below the pressing plate (152), when unlocking, the unlocking plate (153) jacks up the pressure plate (152) to unlock the lock column (156).
4. The remote sensing monitoring system for monitoring the growth of crops is characterized in that an undercarriage (12) of the unmanned aerial vehicle (1) comprises a bottom support (121) and telescopic legs (122), the telescopic legs (122) comprise telescopic rods (1221) and supporting bottom plates (1222) fixed at the lower ends of the telescopic rods (1221), the bottom support (121) comprises sleeves with one ends arranged towards the direction of the pressing plate (152), the upper portions of the telescopic rods (1221) are slidably inserted into the sleeves, the unlocking pieces are the telescopic rods (1221), baffles are fixed on the lower portions of the telescopic rods (1221) and the portions of the sleeves extending in the same direction, and the baffles are connected with the lower ends of the sleeves through buffer springs.
5. The remote sensing monitoring system for monitoring the growth of crops is characterized in that an inward side of the door panel (131) is provided with an arc-shaped clamping surface (1315) and a stepped structure (1312) which are matched with the connecting column (33), the stepped structure (1312) of the door panel (131) on one side is divided into three layers of a groove layer, a clamping layer and a protruding layer from top to bottom, the arrangement sequence of the layers of the stepped structure (1312) of the door panel (131) on the other side is opposite to that of the groove layer, the protruding layer comprises protruding parts (1311) protruding from two sides of the arc-shaped clamping surface (1315), the groove layer is provided with inserting grooves (1313) which are inserted and matched with the protruding parts (1311) on the opposite side, and the distance between the inner sides of the pair of the protruding parts (1311) is gradually reduced towards the arc-shaped clamping surface (1315) to form a positioning guide groove.
6. A remote monitoring system for monitoring the growth of crops according to claims 1 to 2, it is characterized in that the interface connection mechanism (16) comprises the lifting component and a guide pipe (162) vertically fixed in the machine body (11), the lifting assembly comprises a middle guide pipe (163), a lower hinged plate (161), an interface pressure spring (164) and an unmanned aerial vehicle remote sensing interface which is connected in the middle guide pipe (163) in a sliding manner, the middle conduit (163) is vertically fixed on the lower hinged plate (161) and is communicated with the through hole on the lower hinged plate (161), the upper part of the middle guide pipe (163) is inserted at the lower end of the guide pipe (162) in a sliding way, the lower hinged plate (161) is hinged to the main connecting rod (141), and the unmanned aerial vehicle remote sensing interface is used for being connected with a universal holder system to supply power and communicate.
7. A remote monitoring system for monitoring the growth of a crop according to claim 4, characterized in that the unmanned aerial vehicle parking platform (2) is further included, the unmanned aerial vehicle parking platform (2) comprises a plurality of bearing platforms (22) corresponding to different remote sensing image acquisition devices (32) and a plurality of disassembly grooves (21), the mouth of the disassembly groove (21) is larger than a universal holder system provided with remote sensing image acquisition equipment (32) and the width of the mouth is smaller than the distance between a pair of supporting bottom plates (1222) on the unmanned aerial vehicle (1), the width of the bearing table (22) is less than the distance between the pair of supporting bottom plates (1222), a collecting equipment arranging groove (23) is arranged in the middle of the bearing table, a universal tripod head system provided with corresponding remote sensing image acquisition equipment (32) is arranged in the acquisition equipment setting groove (23), the height of the connecting column (33) of the universal holder system is higher than that of the bearing platform (22).
8. A remote sensing system for monitoring the growth of crops as claimed in claim 7, wherein the remote sensing method is as follows:
the method comprises the following steps that firstly, an unmanned aerial vehicle (1) in an idle state is controlled to fly to a bearing platform (22) corresponding to remote sensing image acquisition equipment (32) adopted at this time and land, and a connecting column (33) of a universal tripod head system is inserted into a tripod head automatic connecting mechanism to realize automatic connection;
secondly, controlling the unmanned aerial vehicle (1) to arrive at a monitoring area to acquire a first remote sensing image and send the first remote sensing image to a data processing center for preprocessing, wherein the preprocessed data is stored as corresponding image data;
thirdly, controlling the unmanned aerial vehicle (1) after image data acquisition to reach a disassembly groove (21) on the unmanned aerial vehicle parking platform (2), disassembling the remote sensing image acquisition equipment (32) used for the previous acquisition by utilizing the compression of the telescopic supporting legs (122) during landing, and changing the unmanned aerial vehicle (1) into an unloaded state;
repeating the first step to the third step before all kinds of remote sensing images required by the acquisition are not acquired, stopping the acquisition after all kinds of remote sensing images are acquired, and performing the fourth step;
extracting corresponding feature data from the stored image data, and carrying out time sequencing and fusion on the feature data to form a multi-dimensional feature data set containing various remote sensing image features;
and step five, inputting the multi-dimensional feature data set into a trained crop growth inversion model, and obtaining a monitoring result of the crop growth after model inversion.
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