CN114063639B - Unmanned aerial vehicle remote sensing information acquisition method and device - Google Patents
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Abstract
The invention relates to the technical field of unmanned aerial vehicle information acquisition, in particular to an unmanned aerial vehicle remote sensing information acquisition method and device, wherein the device comprises the following steps: the terminal generates a navigation route according to the selection instruction and sends the navigation route to the controller; the controller controls the unmanned aerial vehicle to navigate according to the navigation route; the unmanned aerial vehicle is provided with a lifting rod and a driving mechanism; the detector is fixedly arranged on the lifting rod and sends out a first signal when entering the soil; the plate body is connected to the lifting rod in a sliding manner and can float on farmland crops; the distance measuring piece is used for collecting a distance value between the detector and the distance measuring piece when the detector sends out a first signal; the controller is further configured to: when the unmanned aerial vehicle reaches the acquisition node, the unmanned aerial vehicle is controlled to hover, and a landing instruction is sent to the driving assembly, and the driving assembly drives the lifting rod to land along the first direction. The application has the effect of collecting the crop height of the farmland so as to know the crop growth condition of the farmland.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle information acquisition, in particular to an unmanned aerial vehicle remote sensing information acquisition method and device.
Background
Unmanned aerial vehicles, abbreviated as "unmanned aerial vehicles", abbreviated as "UAVs", are unmanned aerial vehicles that are operated by means of radio remote control devices and self-contained programmed control devices, or are operated autonomously, either entirely or intermittently, by an onboard computer. Unmanned aircraft tend to be more suitable for tasks that are too "fooled, messy, or dangerous" than manned aircraft. Unmanned aerial vehicles can be classified into military and civilian applications according to the field of application. For military purposes, unmanned aerial vehicles are classified into reconnaissance and drones. In civil aspect, the unmanned aerial vehicle and the industrial application are really just needed by the unmanned aerial vehicle; the unmanned aerial vehicle is applied to the fields of aerial photography, agriculture, plant protection, miniature self-timer shooting, express delivery transportation, disaster relief, wild animal observation, infectious disease monitoring, mapping, news reporting, power inspection, disaster relief, film and television shooting, romantic manufacturing and the like, the application of the unmanned aerial vehicle is greatly expanded, and the developed countries are also actively expanding the application of industries and developing unmanned aerial vehicle technologies.
At present, unmanned aerial vehicles are generally used for photographing and sampling farmlands and monitoring diseases and insects in agriculture, but the growth conditions of farm crops cannot be well known.
Disclosure of Invention
In order to collect crop height in a farmland so as to know crop growth conditions in the farmland, the application provides an unmanned aerial vehicle remote sensing information collection method and device.
The first object of the present invention is achieved by the following technical solutions:
an unmanned aerial vehicle remote sensing information acquisition device, includes:
the terminal is internally provided with a farmland map, the farmland map comprises a plurality of farmland areas, the terminal is used for inputting a selection instruction for selecting the farmland areas by personnel, the terminal generates a navigation route according to the selection instruction and sends the navigation route to the controller, the navigation route comprises a plurality of acquisition nodes, and the acquisition nodes are correspondingly associated with the farmland areas;
the controller is used for receiving a navigation route from the terminal and controlling the unmanned aerial vehicle to navigate according to the navigation route;
the unmanned aerial vehicle is provided with a lifting rod, the unmanned aerial vehicle is provided with a driving mechanism for driving the lifting rod to lift along a first direction, and when the unmanned aerial vehicle is in a hovering state, the first direction is a vertical direction;
the detector is fixedly arranged on the lifting rod and emits a first signal when entering the ground;
the plate body is connected to the lifting rod in a sliding manner, and can float on farmland crops;
the distance measuring piece is used for measuring the distance between the detector and the first position on the plate body, and the distance measuring piece collects the distance value between the detector and the distance measuring piece when the detector sends out a first signal;
wherein the controller is further configured to:
when the unmanned aerial vehicle arrives at the acquisition node, the unmanned aerial vehicle is controlled to hover and a landing instruction is sent to the driving component, and when the driving component receives the landing instruction, the lifting rod is driven to land along the first direction,
and receiving the distance value acquired by the distance measuring piece and correlating with the acquisition node where the current unmanned aerial vehicle is located.
Through adopting above-mentioned technical scheme, personnel select farmland area to generate the selection instruction on the terminal, the terminal generates the navigation route according to the selection instruction, send the controller, the controller goes corresponding acquisition node according to the navigation route and samples, the sampling process specifically is, through the lifter landing on the drive assembly drive unmanned aerial vehicle, when the plate body contacts farmland crop, can float on farmland crop, and the detector continues to descend, until contacting the soil and getting into, the detector sends first signal, the distance measurement spare then gathers the distance value between detector and the distance measurement spare this moment, thereby obtain the farmland crop height of this farmland area, then send the distance value to the controller, the controller is with this distance value and with the acquisition node correlation that current unmanned aerial vehicle is located, thereby realize gathering this farmland area's crop height, so that the crop growth condition in farmland is known.
The present application may be further configured in a preferred example to: when the distance value is obtained, the controller sends a lifting command to the driving assembly, and when the driving assembly receives the lifting command, the lifting rod is driven to lift in the first direction.
By adopting the technical scheme, after measuring the distance value of the farmland area corresponding to one acquisition node, the controller sends a lifting instruction to the driving assembly, so that lifting of the lifting rod, the detector, the distance measuring piece and the plate body is realized.
The present application may be further configured in a preferred example to: the farmland map is provided with a plurality of node coordinates corresponding to a plurality of farmland areas, the node coordinates are three-dimensional coordinates of real world acquisition nodes, and when receiving a selection instruction, the terminal generates a navigation route according to the node coordinates corresponding to each farmland area selected by the selection instruction.
Through adopting above-mentioned technical scheme, navigation route is through a plurality of node coordinates generation to the unmanned aerial vehicle of being convenient for gradually reaches each farmland district of selecting and samples.
The present application may be further configured in a preferred example to: the plate body adopts a sponge plate body.
By adopting the technical scheme, the plate body made of the sponge material has lower cost, and can easily float on farmland crops, so that the compression on the farmland crops is reduced.
The present application may be further configured in a preferred example to: the distance measuring piece is arranged at a first position of the plate body, and the first position is located at a position, close to the lifting rod, on the plate body.
By adopting the technical scheme, when the distance measuring piece measures the distance of the detector, the distance is closer to the distance in the actual vertical direction.
The present application may be further configured in a preferred example to: and sending the distance value associated with the acquisition node to a terminal, and marking the distance value associated with the acquisition node on the coordinate position of the node associated with the acquisition node on the farmland map after the terminal receives the distance value.
By adopting the technical scheme, the distance values are correspondingly marked in each farmland area on the farmland map, so that personnel can conveniently and intuitively check the distance values.
The second object of the present invention is achieved by the following technical solutions:
a remote sensing information acquisition method of an unmanned aerial vehicle comprises the following steps:
receiving a navigation route from a terminal, wherein the navigation route comprises a plurality of acquisition nodes, and the acquisition nodes are correspondingly associated with a plurality of farmland areas;
controlling the unmanned aerial vehicle to navigate according to the navigation route;
when the unmanned aerial vehicle arrives at the acquisition node, the unmanned aerial vehicle is controlled to hover, and a landing instruction is sent to the driving assembly, when the driving assembly receives the landing instruction, the lifting rod is driven to land along a first direction, the lifting rod is arranged on the unmanned aerial vehicle, the driving assembly is used for driving the lifting rod to lift along the first direction, when the unmanned aerial vehicle is in a hovering state, the first direction is a vertical direction, a detector is fixedly arranged on the lifting rod, the detector sends out a first signal when entering the ground, a plate body capable of floating on a farmland crop is connected to the lifting rod in a sliding mode, a distance measuring piece used for measuring the distance between the detector and the first position on the plate body is arranged on the plate body, and when the detector sends out a first signal, the distance measuring piece acquires a distance value between the detector and the distance measuring piece;
and receiving the distance value acquired by the distance measuring piece and correlating with the acquisition node where the current unmanned aerial vehicle is located.
The present application may be further configured in a preferred example to: further comprises:
when the distance value is obtained, the controller sends a lifting command to the driving assembly, and when the driving assembly receives the lifting command, the lifting rod is driven to lift in the first direction.
In summary, the present application includes at least one of the following beneficial technical effects:
1. personnel select a farmland area on a terminal to generate a selection instruction, the terminal generates a navigation route according to the selection instruction and sends the navigation route to a controller, the controller carries out sampling according to a corresponding acquisition node of the navigation route, the sampling process specifically comprises the steps that a lifting rod on an unmanned aerial vehicle is driven by a driving component to fall, when a plate body contacts farmland crops, the plate body can float on the farmland crops, a detector continuously descends until the plate body contacts the land and enters the farmland crops, the detector sends a first signal, a distance measuring piece acquires a distance value between the detector and the distance measuring piece at the moment, so that the farmland crop height of the farmland area is obtained, then the distance value is sent to the controller, and the controller associates the distance value with the acquisition node where the current unmanned aerial vehicle is located, so that the crop height of the farmland area is acquired, and the crop growth condition of the farmland is known;
2. after measuring the distance value of a farmland area corresponding to one acquisition node, the controller sends a lifting instruction to the driving assembly, so that lifting of the lifting rod, the detector, the distance measuring piece and the plate body is realized;
3. the distance measuring member measures the distance of the detector more closely to the distance in the actual vertical direction.
Drawings
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle remote sensing information acquisition device according to an embodiment of the present application;
fig. 2 is a flowchart of an implementation of a method for collecting remote sensing information of an unmanned aerial vehicle according to an embodiment of the present application.
Reference numerals illustrate: 1. unmanned plane; 2. a detector; 3. a plate body; 4. a distance measuring piece.
Detailed Description
In order to enable those skilled in the art to better understand the technical solutions of the present disclosure, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings.
It should be noted that the terms "first," "second," and the like herein are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the disclosure described herein may be capable of operation in sequences other than those illustrated or described herein. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure.
In addition, the term "and/or" in the present invention is merely an association relationship describing the association object, and indicates that three relationships may exist, for example, a and/or B may indicate: a exists alone, A and B exist together, and B exists alone. In the present invention, unless otherwise specified, the term "/" generally indicates that the associated object is an "or" relationship.
The application discloses unmanned aerial vehicle remote sensing information acquisition device, refer to fig. 1, include: the system comprises a terminal, a controller and an unmanned aerial vehicle 1, wherein the terminal is in communication connection with the controller, the unmanned aerial vehicle 1 is in communication connection with the controller, the controller is installed in the unmanned aerial vehicle 1, the terminal can be a handheld terminal or a server, a farmland map is arranged in the terminal, the farmland map can be a three-dimensional map model or a two-dimensional map, the farmland map comprises a plurality of farmland areas, each farmland area is used for planting crops, such as wheat, corn, rice, sugarcane, cotton and the like, the terminal is used for inputting selection instructions for selecting the farmland areas by personnel, and the input mode can be a key, touch, click and other information output mode; the terminal displays a farmland map on a display screen, a person inputs a selection instruction in a touch manner to select a plurality of farmland areas, and generates a navigation route according to the selection instruction, wherein the navigation route comprises a plurality of acquisition nodes, and the acquisition nodes are correspondingly associated with the farmland areas; specifically, in the farmland map, a plurality of node coordinates are set in the farmland map corresponding to a plurality of farmland areas, the node coordinates are three-dimensional coordinates of real world acquisition nodes, each three-dimensional coordinate corresponds to a coordinate point above an actual farmland area in the real world, for example, the farmland map comprises 11 farmland areas such as A, B, C, D, E, F, G, H, I, J, K, the node coordinates are correspondingly set with 11, and the 11 node coordinates are respectively A ', B ', C ', D ', E ', F ', G ', H ', I ', J ' and K ', and correspond to coordinate points above the positions of 11 farmland areas such as A, B, C, D, E, F, G, H, I, J, K in the real world; when the terminal receives the selection instruction, generating a navigation route according to the node coordinates corresponding to each farmland area selected by the selection instruction, for example, five node coordinates of A ', B ', G ', I ' and K ' are connected in series to form the navigation route when each farmland area selected by the selection instruction is A, B, G, I, K respectively; then the terminal sends the navigation route to the controller;
the controller is used for receiving the navigation route from the terminal and controlling the unmanned aerial vehicle 1 to navigate according to the navigation route; specifically, when the unmanned aerial vehicle 1 reaches the acquisition node, the controller controls the unmanned aerial vehicle 1 to hover and perform sampling operation;
in the embodiment, a lifting rod is arranged on the unmanned aerial vehicle 1, a driving mechanism for driving the lifting rod to lift along a first direction is arranged on the unmanned aerial vehicle 1, and when the unmanned aerial vehicle 1 is in a hovering state, the first direction is a vertical direction; the lifting rod can be lifted by means of a gear, a rack and a motor driving gear, for example, the rack is fixedly connected with the lifting rod, the length direction of the rack is consistent with the first direction, and the motor driving gear can reciprocate to drive the lifting rod to lift in the first direction.
When the unmanned aerial vehicle 1 reaches the acquisition node, the unmanned aerial vehicle 1 is controlled to hover, the controller sends a landing instruction to the driving component, and the driving component drives the lifting rod to land along the first direction when receiving the landing instruction.
The lifting rod is provided with a detector 2, the bottom of the lifting rod is provided with a tip, specifically, the detector 2 can be fixedly arranged on the periphery of the bottom of the lifting rod, the detector 2 sends a first signal when entering the soil, in one embodiment, the detector 2 can adopt a light sensor mode, and when the brightness is lower than a first preset value, the detector 2 is judged to enter the soil; the mode of dual judgment of pressure and light can also be adopted, namely, when the pressure is larger than a second preset value and the brightness is lower than a first preset value, namely, the detector 2 is judged to enter the soil, and the mode judgment is more accurate;
the lifting rod is connected with the plate body 3 in a sliding manner, the plate body 3 can float on farmland crops, and in order to realize that the plate body 3 can float on farmland crops when the lifting rod descends, the plate body 3 can be made of sponge materials or other light materials; the plate body 3 is provided with a distance measuring piece 4, the distance measuring piece 4 is used for measuring the distance between the detector 2 and a first position on the plate body 3, the distance measuring piece 4 is fixedly arranged at the first position of the plate body 3, the first position is positioned on the plate body 3 and is close to a lifting rod, and when the distance measuring piece 4 measures the distance of the detector 2, the distance is closer to the distance in the actual vertical direction; the distance measurement mode of RFID can be adopted between the detector 2 and the distance measuring piece 4, so that the distance measurement is realized; specifically, the detector 2 is in communication connection with the ranging piece 4, when the detector 2 sends a first signal, the ranging piece 4 receives the first signal, and the ranging piece 4 collects a distance value between the detector 2 and the ranging piece 4 at the moment;
the controller is further configured to receive the distance value acquired by the distance measuring element 4 and associate the distance value with the acquisition node where the current unmanned aerial vehicle 1 is located, in an embodiment, the controller sends the distance value associated with the acquisition node to the terminal, and after the terminal receives the distance value, the distance value associated with the acquisition node is marked on the farmland map at the node coordinate position associated with the acquisition node. Therefore, personnel can visually check the distance value of each farmland area on the terminal. The distance value corresponds to the crop height of the farmland area, so that the current growth height of crops can be known, the growth period, the stage, the planting time length and the like of the crops can be known by combining the types of the crops, the growth period, the stage and the planting time length corresponding to different heights of each crop can be stored in the terminal in advance, and the planting time length is convenient for personnel to read and compare.
When the controller acquires the distance value, a lifting instruction is sent to the driving assembly, when the driving assembly receives the lifting instruction, the lifting rod is driven to lift in the first direction, and when the lifting rod is lifted to a specified position in the first direction, the controller controls the unmanned aerial vehicle 1 to fly to the next acquisition node continuously along the navigation route, and the distance value is acquired; setting of the designated position can be achieved by resetting the number of turns of the motor, for example, when the motor drives the gear to rotate to drop the lifting rod, the number of turns until the distance measuring piece 4 is received to collect the distance value between the detector 2 and the distance measuring piece 4 is recorded as the number of reset turns.
In an embodiment, a method for collecting remote sensing information of an unmanned aerial vehicle is provided, referring to fig. 2, including:
s1, receiving a navigation route from a terminal, wherein the navigation route comprises a plurality of acquisition nodes, and the acquisition nodes are correspondingly associated with a plurality of farmland areas;
s2, controlling the unmanned aerial vehicle 1 to navigate according to the navigation route;
s3, when the unmanned aerial vehicle 1 reaches an acquisition node, controlling the unmanned aerial vehicle 1 to hover, sending a landing instruction to a driving component, when the driving component receives the landing instruction, driving a lifting rod to land along a first direction, wherein the lifting rod is arranged on the unmanned aerial vehicle 1, the driving component is used for driving the lifting rod to lift along the first direction, when the unmanned aerial vehicle 1 is in a hovering state, the first direction is a vertical direction, a detector 2 is fixedly arranged on the lifting rod, the detector 2 sends a first signal when entering the ground, a plate body 3 capable of floating on a farmland crop is slidingly connected to the lifting rod, a distance measuring piece 4 for measuring the distance between the detector 2 and the first position on the plate body 3 is arranged on the plate body 3, and when the detector 2 sends the first signal, the distance measuring piece 4 acquires a distance value between the detector 2 and the distance measuring piece 4;
s4, receiving a distance value acquired by the distance measuring piece 4 and associating the distance value with an acquisition node where the current unmanned aerial vehicle 1 is located;
s5, when the distance value is obtained, the controller sends a lifting command to the driving component, and when the driving component receives the lifting command, the lifting rod is driven to lift in the first direction;
and S6, repeating the steps S2-S5 when the lifting rod is lifted to the designated position along the first direction until the navigation route is completed.
After the navigation route is finished, the controller can control the unmanned aerial vehicle 1 to return to the navigation independently.
The specific limitation of the unmanned aerial vehicle remote sensing information acquisition method can be referred to the limitation of the unmanned aerial vehicle remote sensing information acquisition device, and the detailed description is omitted here.
Those skilled in the art will appreciate that implementing all or part of the methodologies of the above embodiments may be accomplished by computer programs to instruct related hardware wherein any references to memory, storage, databases or other media used in the various embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the system is divided into different functional units or modules to perform all or part of the above-described functions.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (5)
1. Unmanned aerial vehicle remote sensing information acquisition device, its characterized in that includes:
the terminal is internally provided with a farmland map, the farmland map comprises a plurality of farmland areas, the terminal is used for inputting a selection instruction for selecting the farmland areas by personnel, the terminal generates a navigation route according to the selection instruction and sends the navigation route to the controller, the navigation route comprises a plurality of acquisition nodes, and the acquisition nodes are correspondingly associated with the farmland areas;
the controller is used for receiving a navigation route from the terminal and controlling the unmanned aerial vehicle to navigate according to the navigation route;
the unmanned aerial vehicle is provided with a lifting rod, the unmanned aerial vehicle is provided with a driving mechanism for driving the lifting rod to lift along a first direction, and when the unmanned aerial vehicle is in a hovering state, the first direction is a vertical direction;
the detector is fixedly arranged at the bottom circumference of the lifting rod and sends out a first signal when entering the ground; the detector judges that the detector enters the land by means of double judgment of pressure and light when the pressure is larger than a second preset value and the brightness is lower than a first preset value;
the plate body is connected to the lifting rod in a sliding manner, and can float on farmland crops; the plate body is a sponge plate body;
the distance measuring piece is used for measuring the distance between the detector and the first position on the plate body, and the distance measuring piece collects the distance value between the detector and the distance measuring piece when the detector sends out a first signal; the distance measuring piece is arranged at a first position of the plate body, and the first position is positioned on the plate body and close to the lifting rod;
wherein the controller is further configured to:
when the unmanned aerial vehicle arrives at the acquisition node, the unmanned aerial vehicle is controlled to hover and a landing instruction is sent to the driving component, and when the driving component receives the landing instruction, the lifting rod is driven to land along the first direction,
receiving a distance value acquired by the distance measuring piece and associating the distance value with an acquisition node where the current unmanned aerial vehicle is located;
the controller is further configured to send a distance value associated with the acquisition node to the terminal;
and after the terminal receives the distance value, marking the distance value associated with the acquisition node on the farmland map at the node coordinate position associated with the acquisition node.
2. The unmanned aerial vehicle remote sensing information acquisition device of claim 1, wherein when the distance value is acquired, the controller sends a lifting command to the driving assembly, and when the driving assembly receives the lifting command, the lifting rod is driven to lift in the first direction.
3. The unmanned aerial vehicle remote sensing information acquisition device according to claim 1, wherein the farmland map is provided with a plurality of node coordinates corresponding to a plurality of farmland areas, the node coordinates are three-dimensional coordinates of real world acquisition nodes, and when the terminal receives the selection instruction, a navigation route is generated according to the node coordinates corresponding to each farmland area selected by the selection instruction.
4. The unmanned aerial vehicle remote sensing information acquisition method is characterized by comprising the following steps of:
receiving a navigation route from a terminal, wherein the navigation route comprises a plurality of acquisition nodes, and the acquisition nodes are correspondingly associated with a plurality of farmland areas;
controlling the unmanned aerial vehicle to navigate according to the navigation route;
when the unmanned aerial vehicle arrives at the acquisition node, the unmanned aerial vehicle is controlled to hover, and a landing instruction is sent to the driving assembly, when the driving assembly receives the landing instruction, the lifting rod is driven to land along a first direction, the lifting rod is arranged on the unmanned aerial vehicle, the driving assembly is used for driving the lifting rod to lift along the first direction, when the unmanned aerial vehicle is in a hovering state, the first direction is a vertical direction, a detector is fixedly arranged on the lifting rod, the detector sends out a first signal when entering the ground, a plate body capable of floating on a farmland crop is connected to the lifting rod in a sliding mode, a distance measuring piece used for measuring the distance between the detector and the first position on the plate body is arranged on the plate body, and when the detector sends out a first signal, the distance measuring piece acquires a distance value between the detector and the distance measuring piece;
and receiving the distance value acquired by the distance measuring piece and correlating with the acquisition node where the current unmanned aerial vehicle is located.
5. The unmanned aerial vehicle remote sensing information acquisition method of claim 4, further comprising:
when the distance value is obtained, the controller sends a lifting command to the driving assembly, and when the driving assembly receives the lifting command, the lifting rod is driven to lift in the first direction.
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