CN114402995A

CN114402995A - Air-ground cooperative corn emasculation method and system and air unmanned emasculation machine

Info

Publication number: CN114402995A
Application number: CN202210062341.6A
Authority: CN
Inventors: 陈立平; 张瑞瑞; 丁晨琛; 杨琰; 张旦主; 徐旻
Original assignee: Intelligent Equipment Technology Research Center of Beijing Academy of Agricultural and Forestry Sciences
Current assignee: Intelligent Equipment Technology Research Center of Beijing Academy of Agricultural and Forestry Sciences
Priority date: 2022-01-19
Filing date: 2022-01-19
Publication date: 2022-04-29
Anticipated expiration: 2042-01-19
Also published as: CN114402995B

Abstract

The invention provides an air-ground collaborative corn emasculation method and system and an air unmanned emasculation machine, comprising the following steps: controlling an aerial unmanned emasculation machine to obtain remote sensing data and canopy height information; generating a castration path according to the remote sensing data, sending the castration path and canopy height information to a ground unmanned castration machine, and executing ground castration operation by the ground unmanned castration machine; if the emasculation rate of the ground emasculation operation is smaller than the threshold value, the emasculation path is regenerated, the ground unmanned emasculation machine executes the ground emasculation operation again, and then the aerial emasculation unmanned aerial vehicle can perform emasculation on the residual tassels. The unmanned aerial tassel removing machine can quickly and accurately identify and position the maize tassel and plan the optimal operation path based on the unmanned aerial vehicle remote sensing technology through the mutual matching of the unmanned aerial tassel removing machine and the unmanned ground tassel removing machine, can efficiently and quickly complete the preliminary removal operation of the maize tassel, overcomes the defects of high difficulty, low efficiency, time consumption and labor consumption of manually removing the residual tassel, and has strong popularization potential.

Description

Air-ground cooperative corn emasculation method and system and air unmanned emasculation machine

Technical Field

The invention relates to the technical field of agricultural automation, in particular to an air-ground collaborative corn emasculation method and system and an air unmanned emasculation machine.

Background

Corn is used as a main grain crop, and the variety of the corn is mainly hybrid seeds and needs to be produced year by year. One key link of corn planting is emasculation of female parent corn, but the emasculation operation has large workload, requires short-time completion and has high cost.

At present, the corn castration operation is mainly completed manually, but the manual castration method has low efficiency, high cost and high labor intensity of workers, and the castration operation quality is difficult to ensure. In recent years, methods for emasculation using ground machines have become popular, and have advantages of high efficiency, high maneuverability, and little influence from natural conditions to some extent. However, because of the difference of the growth vigor among corn plants, the emasculation rate of ground machinery can only reach about 90%, and the remaining tassels seriously affect the purity and quality of corn seeds and still need to be removed continuously. The task of removing the residual tassel is complex, manual removal is mostly relied on, but the tassel is difficult to position by workers, the removal efficiency is low, and the cost is high.

Therefore, a safe, efficient and accurate device and method for removing the remaining tassels of corn are urgently needed to be developed to reduce labor investment and production cost.

Disclosure of Invention

The invention provides an air-ground collaborative corn emasculation method and system and an air unmanned emasculation machine, which are used for solving the defects that in the prior art, the emasculation rate cannot meet the expected requirement when only a ground machine is used for emasculation, manual assistance is needed for emasculation, but the defects of low removal efficiency and high cost exist at the same time.

In a first aspect, the invention provides an open-land collaborative corn emasculation method, comprising:

controlling an aerial unmanned emasculation machine to patrol a to-be-operated area, and acquiring first remote sensing data of the to-be-operated area and average canopy height information of parent corn plant rows in the to-be-operated area;

generating a first castration path for a ground unmanned castration machine to perform first ground castration operation according to the first remote sensing data, and sending the first castration path and the average canopy height information to the ground unmanned castration machine so that the ground unmanned castration machine can perform the first ground castration operation on the area to be operated;

controlling the aerial unmanned emasculation machine to inspect the area to be operated again, acquiring second remote sensing data of the area to be operated, and determining the emasculation rate of the first ground emasculation operation according to the second remote sensing data;

and if the emasculation rate of the first ground emasculation operation is smaller than a first threshold value, generating a second emasculation path for the ground unmanned emasculation machine to execute secondary ground emasculation operation according to the second remote sensing data, and sending the second emasculation path to the ground unmanned emasculation machine so that the ground unmanned emasculation machine can execute secondary ground emasculation operation on the area to be operated.

According to the air-ground collaborative corn emasculation method provided by the invention, if the emasculation rate of the first ground emasculation operation is not less than the first threshold value, the air unmanned emasculation machine is controlled to execute the first air emasculation operation on the tassels left in the area to be operated.

According to the method for emasculation of corn in cooperation with the open space, after the second emasculation path is sent to the ground unmanned emasculation machine for the ground unmanned emasculation machine to perform ground emasculation again on the area to be worked, the method further comprises the following steps:

controlling the aerial unmanned emasculation machine to inspect the area to be operated again, acquiring third remote sensing data of the area to be operated, and determining the emasculation rate of the ground emasculation operation again according to the third remote sensing data;

and if the emasculation rate of the secondary ground emasculation operation is not less than the first threshold value, controlling the aerial unmanned emasculation machine to execute the first aerial emasculation operation on the residual tassels in the area to be operated.

According to the method for the aerial collaborative emasculation of the corn, provided by the invention, before controlling the aerial unmanned emasculation machine to perform the first aerial emasculation operation on the remaining tassels in the area to be operated, the method further comprises the following steps:

and generating a third castration path for the aerial unmanned castration machine to execute the first aerial castration operation according to the third remote sensing data, and sending the third castration path to the aerial unmanned castration.

According to the air-to-ground cooperative corn emasculation method provided by the invention, after the aerial unmanned emasculation machine is controlled to perform the first aerial emasculation operation on the residual tassels in the area to be operated, the method further comprises the following steps:

controlling the unmanned aerial castration machine to inspect the area to be operated again, acquiring fourth remote sensing data of the area to be operated, and determining the castration rate of the first aerial castration operation according to the fourth remote sensing data;

and if the emasculation rate of the first aerial emasculation operation is smaller than a second threshold value, controlling the aerial unmanned emasculation machine to execute aerial emasculation operation again on the residual tassels in the area to be operated.

According to the air-to-ground cooperative corn emasculation method provided by the invention, after the aerial unmanned emasculation machine is controlled to perform aerial emasculation again on the residual tassels in the area to be operated, the method further comprises the following steps:

controlling the aerial unmanned emasculation machine to inspect the area to be operated again, acquiring fifth remote sensing data of the area to be operated, and determining the emasculation rate of the aerial emasculation operation again according to the fifth remote sensing data;

and if the emasculation rate of the secondary air emasculation operation is smaller than the second threshold value, remotely operating the air unmanned emasculation machine through a flyer to finish manual emasculation of the remaining tassels in the area to be operated.

In a second aspect, the invention further provides an air-ground collaborative corn emasculation system, which comprises an air unmanned emasculation machine, a ground unmanned emasculation machine and a management and dispatching platform; the management scheduling platform comprises a first control unit, a first processing unit, a second control unit and a second processing unit, wherein:

the first control unit is used for controlling the aerial unmanned emasculation machine to patrol the area to be operated and acquiring first remote sensing data of the area to be operated and average canopy height information of the parent corn plant rows in the area to be operated;

the first processing unit is used for generating a first castration path for the ground unmanned castration machine to perform first ground castration operation according to the first remote sensing data, and sending the first castration path and the average canopy height information to the ground unmanned castration machine so that the ground unmanned castration machine can perform the first ground castration operation on the area to be operated;

the second control unit is used for controlling the aerial unmanned emasculation machine to inspect the area to be operated again, acquiring second remote sensing data of the area to be operated and determining the emasculation rate of the first ground emasculation operation according to the second remote sensing data;

and the second processing unit generates a second emasculation path for the ground unmanned emasculation machine to execute secondary ground emasculation according to the second remote sensing data under the condition that the emasculation rate of the primary ground emasculation operation is smaller than a first threshold value, and sends the second emasculation path to the ground unmanned emasculation machine so that the ground unmanned emasculation machine can execute secondary ground emasculation operation on the area to be operated.

In a third aspect, the invention further provides an aerial unmanned emasculation machine for constructing the above aerial collaborative corn emasculation system, comprising:

the system comprises an unmanned aerial vehicle flight platform, a control module, a remote sensing detection module and a castration mechanism;

the unmanned aerial vehicle flight platform comprises an unmanned aerial vehicle body and a mounting rack, wherein the mounting rack is fixedly connected to the bottom of the unmanned aerial vehicle body;

the control module is arranged on the mounting rack and comprises a control unit and a communication unit; the communication unit is used for establishing communication between the remote sensing detection module and the management scheduling platform; the control unit is used for controlling the flight of the unmanned aerial vehicle body and the action of the emasculation mechanism according to an instruction of a management and dispatching platform;

the remote sensing detection module is fixedly connected with the mounting frame through a cross bar and comprises a remote sensing camera and a binocular camera; the remote sensing camera is used for acquiring remote sensing data of the area to be operated;

the castration mechanism is connected to the mounting frame through the telescopic unit and used for executing castration operation on any tassel.

According to the aerial unmanned emasculation machine provided by the invention, the emasculation mechanism comprises the telescopic unit, an emasculation unit and a medicine box;

the telescopic unit comprises a hoisting motor and a flexible composite rope, and the composite rope comprises a traction rope, a control cable and a medicine conveying pipe;

the castration unit comprises a screw motor, a transmission mechanism, a spraying module and a plurality of cutting teeth; the movable end of the traction rope is connected with a hanging ring at the top of the screw motor;

the transmission mechanism comprises a fixed seat, a sliding seat and a connecting rod, the fixed seat is fixedly connected with the screw motor, the sliding seat and the connecting rod are connected with a movable screw rod of the screw motor, and the transmission mechanism drives the plurality of cutting teeth to perform cooperative opening and closing actions when the movable screw rod moves up and down;

the medicine box is arranged on the unmanned aerial vehicle body, one end of the medicine conveying pipe is communicated with the medicine box through the spraying module, and the other end of the medicine conveying pipe is arranged in a closed interval formed when the plurality of cutting teeth are cooperatively closed;

after the plurality of cutting teeth are cooperatively closed, the spraying module acts to spray the pollen inactivator preset in the medicine box through the medicine conveying pipe.

According to the aerial unmanned emasculation machine provided by the invention, both sides of the cutting teeth are designed as cutters;

when the sliding seat is located at the first position of the movable screw rod, the adjacent cutters of the plurality of cutting teeth are mutually abutted to form the closed interval; the upper half part of the closed area is of an umbrella-shaped structure which is opened, and the upper half part of the closed area is of a hemispherical structure;

when the sliding seat is located at the second position of the movable screw rod, adjacent cutters in the plurality of cutting teeth are far away from each other, and the distance between the adjacent cutters correspondingly changes along with the position change of the sliding seat on the movable screw rod.

In a fourth aspect, the present invention provides an electronic device, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to implement the steps of the space-based collaborative corn emasculation method as described in any of the above.

In a fifth aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method for space-based collaborative emasculation of corn as described in any of the above.

According to the air-ground cooperative corn tassel removing method and system and the air unmanned tassel removing machine, the air unmanned tassel removing machine and the ground unmanned tassel removing machine are matched with each other, the optimal operation path can be rapidly and accurately identified, positioned and planned based on the unmanned aerial vehicle remote sensing technology, the preliminary tassel removing operation of corn can be efficiently and rapidly completed, the defects of high difficulty, low efficiency, time consumption and labor consumption in manual removal of residual tassels are overcome, and the air-ground cooperative corn tassel removing method and system has strong popularization potential.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

FIG. 1 is a schematic flow diagram of a method for the collaborative emasculation of corn in open space provided by the present invention;

FIG. 2 is a second schematic flow chart of the method for emasculation of corn with cooperation of the open space and the ground provided by the present invention;

FIG. 3 is a schematic diagram of a space-to-ground cooperative corn emasculation system provided by the present invention;

FIG. 4 is a schematic structural diagram of an aerial unmanned emasculation machine provided by the invention in a flight state;

FIG. 5 is a schematic structural diagram of the aerial unmanned emasculation machine provided by the invention in an operating state;

FIG. 6 is a schematic view of the castration unit of the present invention when closed;

FIG. 7 is a schematic illustration of the detasseling unit of the present invention in an expanded configuration;

FIG. 8 is a schematic structural diagram of an electronic device provided by the present invention;

reference numerals:

1: an unmanned aerial vehicle flight platform; 2: a control module; 3: a castration unit; 4: a castration mechanism; 5: a remote sensing detection module; 4-1: a composite rope; 4-2: a hoisting motor; 3-1: a hoisting ring; 3-2: a lead screw motor; 3-3: fixing a seat; 3-4: a slide base; 3-5: cutting teeth; 3-6: a connecting rod; 3-7: and a spraying module.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that in the description of the embodiments of the present invention, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. The terms "upper", "lower", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The terms first, second and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that embodiments of the application may be practiced in sequences other than those illustrated or described herein, and that the terms "first," "second," and the like are generally used herein in a generic sense and do not limit the number of terms, e.g., the first term can be one or more than one. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/" generally means that a preceding and succeeding related objects are in an "or" relationship.

The castration rate of the conventional ground unmanned castration machine for castration of female parent corn can only reach about 90 percent, and the residual tassel can greatly influence the purity and quality of seeds. The method for manually removing the residual tassels has the advantages of high labor intensity, low efficiency and high cost, and seriously restricts the large-scale development of the production of the seed production corns.

Aiming at the problems, the invention provides an air-ground collaborative corn emasculation method and system and an air unmanned emasculation machine, which mainly utilize the collaborative operation of a management and dispatching platform, the ground unmanned emasculation machine and the air unmanned emasculation machine, and are based on a remote sensing detection technology and an unmanned aerial vehicle technology, so that the corn tassels can be accurately, efficiently and thoroughly removed, and the quality and purity of the prepared corn seeds are ensured.

The method, system and aerial emasculation machine for the air-ground cooperative corn emasculation provided by the embodiment of the invention are described in detail below with reference to fig. 1-7.

Fig. 1 is a schematic flow chart of an air-to-ground collaborative corn emasculation method provided by the present invention, and as shown in fig. 1, a management scheduling platform can be used as an execution subject to perform overall control of collaborative operations of a ground unmanned emasculation machine and an aerial unmanned emasculation machine, which mainly includes, but is not limited to, the following steps:

step 101: and controlling an aerial unmanned emasculation machine to inspect a to-be-operated area, and acquiring first remote sensing data of the to-be-operated area and average canopy height information of parent corn plant rows in the to-be-operated area.

Before castration operation is carried out on all corn female parents in an area to be operated each time, firstly, a command is sent to an aerial unmanned castration machine by a management scheduling platform so as to fly to the upper part of the area to be operated according to a preset routing inspection path and inspect and detect the whole area to be operated, remote sensing data related to the area to be operated and corn plants are obtained by an airborne remote sensing detection module, and the collected remote sensing data (for convenience of distinguishing, referred to as first remote sensing data) are sent to the management scheduling platform in real time through a wireless communication module.

Further, after receiving the remote sensing data of the area to be operated, the management scheduling platform can obtain the plot property information (such as area, shape and position) related to the area to be operated and the distribution of the corn male parent rows and female parent rows through analysis, and further can determine the canopy height of each row of female parent corn plants.

Then, the average canopy height information of the rows of maternal corn plants in the area to be operated can be generated according to the average canopy height of each row of maternal corn plants.

Step 102: and generating a first castration path for a ground unmanned castration machine to perform first ground castration according to the first remote sensing data, and sending the first castration path and the average canopy height information to the ground unmanned castration machine so that the ground unmanned castration machine can perform the first ground castration operation on the area to be operated.

In consideration of the efficiency and cost of the emasculation operation, the present invention preferentially utilizes the ground unmanned emasculation machine to perform the emasculation operation on the area to be operated.

After the management scheduling platform acquires the first remote sensing data, as the plot property information and the distribution situation of the corn male parent rows and the corn female parent rows can be analyzed, a path (referred to as a first emasculation path) for the ground unmanned emasculation machine to automatically execute the unmanned emasculation operation (referred to as a first ground emasculation operation) can be planned.

And the management scheduling platform feeds the planned first emasculation path and the determined average canopy height information back to the ground unmanned emasculation machine.

The ground unmanned emasculation machine can adjust the height of each cutting knife in advance according to the average canopy height information of the female parent corn plant rows, and starts emasculation operation based on a planned first emasculation path after adjustment is finished.

After the emasculation machine on the ground finishes the emasculation operation on the whole area to be operated according to the first emasculation path, task execution completion information can be fed back to the management scheduling platform.

Step 103: and controlling the aerial unmanned emasculation machine to inspect the area to be operated again, acquiring second remote sensing data of the area to be operated, and determining the emasculation rate of the first ground emasculation operation according to the second remote sensing data.

After the management and dispatching platform can execute the completion information according to the task fed back by the ground unmanned emasculation machine, after the ground unmanned emasculation machine is determined to have completed the first ground emasculation operation, the aerial unmanned emasculation machine can be instructed to fly to the to-be-operated area again to acquire the remote sensing data of the to-be-operated area again (for the convenience of distinguishing, referred to as second remote sensing data).

Due to the fact that the corn plants have different growth vigour, the female parent tassels cannot be completely removed by the ground unmanned emasculation machine in the first ground emasculation operation, and therefore after the management scheduling platform receives the second remote sensing data, the remaining female parent tassels in the area to be operated can be identified, the proportion of the remaining female parent tassels to all the female parent tassels is counted, and the ratio serves as the emasculation rate of the first ground emasculation operation.

Step 104: and if the emasculation rate of the first ground emasculation operation is smaller than a first threshold value, generating a second emasculation path for the ground unmanned emasculation machine to execute secondary ground emasculation operation according to the second remote sensing data, and sending the second emasculation path to the ground unmanned emasculation machine so that the ground unmanned emasculation machine can execute secondary ground emasculation operation on the area to be operated.

Alternatively, if the emasculation rate of the first ground emasculation operation is less than the first threshold (assuming that the first threshold is 90%), an optimal path (referred to as a second emasculation path) for guiding the ground unmanned emasculation machine to perform the emasculation operation again on the remaining female parent tassels (referred to as a second ground emasculation operation herein) can be generated according to the distribution of the remaining female parent tassels in the area to be operated analyzed by the second remote sensing data.

The management scheduling platform sends the second castration path to the ground unmanned castration machine again, under a general condition, the average canopy height information of the rows of the rest female parent corn plants does not need to be analyzed again according to the second remote sensing data, namely the ground unmanned castration machine does not need to adjust the height of a cutting knife again, and castration operation of female parent tassels of all the rest female parent corn plants in the area to be operated can be automatically executed directly according to the received second castration path.

According to the method for emasculation of corn with cooperation of the aerial unmanned emasculation machine and the ground unmanned emasculation machine, the corn tassels can be identified, positioned and planned to be in an optimal operation path quickly and accurately based on the unmanned aerial vehicle remote sensing technology, preliminary removal operation of the corn tassels can be completed efficiently and quickly, the defects that manual removal of residual tassels is high in difficulty, low in efficiency, time-consuming and labor-consuming are overcome, and the method has strong popularization potential.

Based on the content of the above embodiment, as an optional embodiment, if the emasculation rate of the first ground emasculation operation is not less than the first threshold, the aerial unmanned emasculation machine is controlled to perform the first aerial emasculation operation on the tassels remaining in the area to be operated.

If the management scheduling platform obtains that the emasculation rate of the ground unmanned emasculation machine after the ground unmanned emasculation machine performs the first ground emasculation operation is greater than or equal to a first threshold (for example, the emasculation rate of the first ground emasculation operation is 93%), it indicates that the emasculation capacity limit of the ground unmanned emasculation machine is reached, and at this time, the aerial unmanned emasculation machine can be controlled to replace the ground unmanned emasculation machine, and the emasculation operation of the remaining tassels in the inspection waiting operation area is started.

Based on the content of the foregoing embodiment, as an optional embodiment, after sending the second castration path to the ground unmanned castration machine for the ground unmanned castration machine to perform ground castration again on the area to be worked, the method further includes:

Specifically, when the emasculation rate of the first ground emasculation operation of the ground unmanned emasculation machine is smaller than a first threshold value, the management scheduling platform controls the management scheduling platform to perform ground emasculation operation again on the remaining tassels in the area to be operated.

And then, the management and dispatching platform needs to reevaluate the emasculation rate of the ground unmanned emasculation machine after the ground emasculation operation again, namely, the aerial unmanned emasculation machine is controlled to patrol the area to be operated again, the third remote sensing data is obtained again, and the emasculation rate of the ground emasculation machine after the ground emasculation operation again is determined according to the analysis result of the third remote sensing data.

And if the emasculation rate after the ground emasculation operation is performed again is greater than or equal to a first threshold (such as 90%), the operation task of the ground unmanned emasculation machine is considered to be completed, and for the remaining tassels, the management and scheduling platform controls the aerial unmanned emasculation machine to perform operation so as to remove the tassels.

As an optional embodiment, before the management scheduling platform controls the aerial unmanned emasculation machine to perform an emasculation operation on the remaining tassels, a corresponding operation path needs to be planned for the aerial unmanned emasculation machine.

Alternatively, when the emasculation rate of the secondary ground emasculation operation is calculated, the third remote sensing data with the operation area is already acquired by the aerial unmanned emasculation machine, so that the distribution of the tassels remaining after the secondary ground emasculation operation can be acquired by analyzing the third remote sensing data, an optimal operation path (referred to as a third emasculation path) for guiding the aerial unmanned emasculation machine operation can be further formulated, and the third emasculation path can be transmitted to the aerial unmanned emasculation machine.

Based on the content of the foregoing embodiment, as an optional embodiment, after controlling the aerial emasculation machine to perform the first aerial emasculation operation on the tassels remaining in the area to be operated, the method further includes:

Fig. 2 is a second flow chart of the method for corn emasculation with cooperation between the air and the ground according to the present invention, as shown in fig. 2, after the aerial drone receives the third emasculation path, the aerial drone operates further (referred to as the first aerial emasculation operation), and performs the emasculation operation on the remaining tassels in the area to be worked according to the third emasculation path, it is further determined whether the emasculation rate of the whole area to be worked after the first aerial emasculation operation by the aerial drone meets the final requirement, i.e., it is determined whether the emasculation rate after the first aerial emasculation operation is greater than a second threshold, wherein the second threshold is greater than the first threshold, and may be set to 99%, for example.

Alternatively, after the unmanned emasculation machine is controlled to complete the first air emasculation operation, the management scheduling platform controls the unmanned emasculation machine to inspect the area to be operated again to obtain remote sensing data (referred to as fourth remote sensing data) of the area to be operated at the moment, so as to obtain the emasculation rate after the first air emasculation operation is performed through analysis of the fourth remote sensing data.

Further, if the emasculation rate of the first air emasculation operation is determined to be smaller than a second threshold value, the current emasculation rate does not meet the requirement, the management scheduling platform controls to determine the distribution of the current remaining tassels again according to fourth remote sensing data, and a new optimal crime path is planned for the air unmanned emasculation machine so as to control the air unmanned emasculation machine to perform emasculation operation on the remaining tassels in the operation area again.

Further, after the aerial unmanned emasculation machine performs an emasculation operation on the remaining tassels in the area to be operated (i.e. completes the aerial emasculation operation again), the aerial unmanned emasculation machine can be controlled by the management scheduling platform to inspect the area to be operated again to obtain the remote sensing data (referred to as fifth remote sensing data herein) of the area to be operated at the moment and obtain the emasculation rate of the aerial emasculation operation again.

And if the emasculation rate of the second air emasculation operation is greater than or equal to a second threshold value, the emasculation operation of all the corn plants in the operation area is considered to be completed.

If the emasculation rate of the secondary air emasculation operation is smaller than a second threshold value, the situation that the whole emasculation operation requirement cannot be met by mechanical operation of the ground unmanned emasculation machine, the air unmanned emasculation machine and the like is considered to be only depended on, at the moment, the flyer can be authorized, and the air unmanned emasculation machine is operated to manually perform emasculation on the remaining tassels in the area to be operated.

The number of the tassels left after the operation of the two wheels of ground unmanned emasculation machines and the two wheels of aerial unmanned emasculation machines is limited, so the labor intensity of the manual emasculation operation is not high.

FIG. 3 is a schematic structural diagram of the air-ground cooperative corn emasculation system provided by the present invention, as shown in FIG. 3, which mainly comprises: the system comprises an air unmanned emasculation machine, a ground unmanned emasculation machine and a management and dispatching platform.

Wherein: the management scheduling platform comprises a first control unit, a first processing unit, a second control unit and a second processing unit.

Further, the first control unit is used for controlling the aerial unmanned emasculation machine to patrol the area to be operated, and obtaining first remote sensing data of the area to be operated and average canopy height information of the parent corn plant rows in the area to be operated.

The first processing unit is used for generating a first castration path for the ground unmanned castration machine to execute first ground castration operation according to the first remote sensing data, and sending the first castration path and the average canopy height information to the ground unmanned castration machine so that the ground unmanned castration machine can execute the first ground castration operation on the area to be operated.

And the second control unit is used for controlling the aerial unmanned emasculation machine to inspect the area to be operated again, acquiring second remote sensing data of the area to be operated and determining the emasculation rate of the first ground emasculation operation according to the second remote sensing data.

It should be noted that, in the air-ground collaborative corn emasculation system provided in the embodiment of the present invention, during specific operation, the air-ground collaborative corn emasculation method described in any of the above embodiments may be executed, which is not described in detail in this embodiment.

Based on the content of the above embodiment, as an alternative embodiment, the invention also provides an aerial unmanned emasculation machine which is used for constructing the aerial collaborative corn emasculation system provided by the above embodiment.

Fig. 4 is a schematic structural diagram of an aerial unmanned emasculation machine provided by the present invention in a flying state, fig. 5 is a schematic structural diagram of an aerial unmanned emasculation machine provided by the present invention in an operating state, and with reference to fig. 4 and 5, the aerial unmanned emasculation machine provided by the present invention mainly comprises: unmanned aerial vehicle flying platform 1, control module 2, remote sensing detection module 5 and castration mechanism.

Wherein, unmanned aerial vehicle flight platform 1 mainly includes unmanned aerial vehicle body and mounting bracket, mounting bracket fixed connection be in the bottom of unmanned aerial vehicle body.

The control module 2 is arranged on the mounting rack and mainly comprises a control unit and a communication unit. The communication unit is mainly used for establishing communication between the remote sensing detection module 5 and the management scheduling platform.

The control unit is used for controlling the flight of the unmanned aerial vehicle body and the action of the detasseling mechanism according to the instruction of the management scheduling platform.

The remote sensing detection module 5 is fixedly connected with the mounting frame through a cross bar and comprises a remote sensing camera and a binocular camera; the remote sensing camera is used for acquiring remote sensing data of the area to be operated.

The castration mechanism is connected to the mounting frame through the telescopic unit 4 and used for executing castration operation on any tassel.

Specifically, as shown in fig. 4 and 5, the unmanned aerial vehicle flight platform is composed of an unmanned aerial vehicle body and a mounting frame.

The unmanned aerial vehicle body is used for air flight and carries on other constitutions, and mounting bracket fixed connection is in the bottom of unmanned aerial vehicle body for connect other constitution, be the installation basis of all the other each constitutions.

The control module 2 is mounted on the mounting frame and comprises a control unit and a communication unit. The communication unit is used for establishing communication between the remote sensing detection module 5 and the management scheduling platform, receiving detection data of the remote sensing detection module 5, transmitting the detection data to the management scheduling platform, and receiving path information, command information and the like sent by the management scheduling platform.

The control unit controls the actions of the flying and emasculation mechanisms of the unmanned aerial vehicle body respectively.

The remote sensing detection module 5 is fixedly connected with the mounting frame through a cross bar and consists of a remote sensing camera and a binocular camera.

The remote sensing detection module shoots remote sensing data of the corn plants through a remote sensing camera and transmits the data to the management scheduling platform through the control module, and then the management scheduling platform identifies and positions the corn tassels, so that a basis is provided for planning operation paths of the ground unmanned emasculation machine and the aerial unmanned emasculation machine; the binocular camera is used for detecting the relative distance between the emasculation mechanism and the corn tassel of the unmanned aerial emasculation machine, so that the accurate control of the emasculation mechanism is realized, and the accurate cutting operation of the corn tassel is completed.

The aerial unmanned emasculation machine provided by the invention can be matched with a ground unmanned emasculation machine, realizes the purposes of quickly and accurately identifying and positioning the maize tassel and planning the optimal operation path based on the unmanned aerial vehicle remote sensing technology, can efficiently and quickly complete the preliminary removal operation of the maize tassel, overcomes the defects of high difficulty, low efficiency, time and labor consumption of manually removing the residual tassel, and has strong popularization potential.

Based on the content of the above-described embodiment, as an alternative embodiment, the emasculation mechanism includes the telescopic unit 4, the emasculation unit 3, and the medicine boxes. The telescopic unit 4 mainly comprises a hoisting motor and a flexible composite rope, and the composite rope comprises a traction rope, a control cable and a medicine conveying pipe.

Fig. 6 is a schematic structural view of the emasculation unit provided by the invention when closed, fig. 7 is a schematic structural view of the emasculation unit provided by the invention when unfolded, and referring to fig. 6 and 7, the emasculation unit 3 mainly comprises a screw motor, a transmission mechanism, a spraying module 3-7 and a plurality of cutting teeth 3-5, and the movable end of the traction rope is connected with a hanging ring 3-1 at the top of the screw motor 3-2.

The transmission mechanism mainly comprises a fixed seat 3-3, a sliding seat 3-4 and a connecting rod 3-6, the fixed seat 3-3 is fixedly connected with the screw motor 3-2, the sliding seat 3-4 and the connecting rod 3-6 are connected with a movable screw rod of the screw motor 3-2, and the transmission mechanism drives the plurality of cutting teeth 3-5 to perform cooperative opening and closing actions while the movable screw rod moves up and down.

The medicine box is arranged on the unmanned aerial vehicle body, one end of the medicine conveying pipe is communicated with the medicine box through the spraying module 3-7, and the other end of the medicine conveying pipe is arranged in a closed interval formed when the plurality of cutting teeth 3-5 are cooperatively closed;

after the plurality of cutting teeth 3-5 are cooperatively closed, the spraying module 3-7 acts to spray the pollen inactivator preset in the medicine box through the medicine conveying pipe.

The medicine chest is fixed on the unmanned aerial vehicle; the telescopic unit is fixedly arranged on the mounting frame and consists of a battery, a hoisting motor and a flexible composite rope. The telescopic unit is used for controlling the telescopic of the castration unit so that the castration unit can accurately reach the position of the tassel to finish the cutting operation.

Specifically, the flexible composite rope consists of a traction rope, a control cable and a medicine conveying pipe, and provides traction force, electric energy, instructions and liquid medicine for the castration unit 3 respectively. The design of flexibility has stronger elasticity and flexibility, and at aerial unmanned emasculation machine's flight and operation in-process, this kind of design can avoid the emasculation mechanism to touch the barrier and cause the danger of unmanned aerial vehicle crash, has improved the security of system greatly to compare in heavy mechanical hard connection, this design has reduced the holistic weight of device, and energy consumption is little, has prolonged unmanned aerial vehicle duration operation time.

Furthermore, the castration unit consists of a screw motor 3-2, a transmission mechanism, a spraying module 3-7 and five cutting teeth 3-5. The hanging ring 3-1 at the top of the screw motor 3-2 is connected with the bottom end of the composite rope.

As shown in fig. 6 and 7, the transmission mechanism consists of a fixed seat 3-3 fixedly connected with a lead screw motor 3-2, a sliding seat 3-4 connected with a lead screw and a connecting rod 3-7, converts the up-and-down movement of the lead screw into the opening and closing action of a gear cutting 3-5,

the spraying module 3-7 inactivates the cut tassels by spraying special medicaments to eliminate indirect influence caused by leaving the tassels on the ground after being cut.

Compared with the prior art that the corn tassels are cut by the device and left in the corn field, the air unmanned emasculation machine provided by the invention cannot further process the cut corn tassels and possibly has the defect that the quality of corn seeds is affected by the survival pollen, and the problem can be effectively solved by spraying the inactivating agent on the cut corn tassels by using the spraying modules 3-7.

Based on the content of the above embodiment, as an alternative embodiment, both sides of the cutting teeth 3-5 are designed as cutters;

when the sliding seats 3-4 are positioned at the first positions of the movable screw rods, the adjacent cutters of the plurality of cutting teeth are mutually abutted to form a closed interval; the upper half part of the closed area is of an umbrella-shaped structure which is opened, and the upper half part of the closed area is of a hemispherical structure;

when the sliding seats 3-4 are located at the second position of the movable screw rod, adjacent cutters in the multiple cutting teeth are far away from each other, and the distance between the adjacent cutters correspondingly changes along with the position change of the sliding seats on the movable screw rod.

Alternatively, the number of the above-described cutting teeth 3 to 5 may be set to 3 or 5 pieces.

Compared with the mode of cutting the corn tassels by utilizing the rotation of the flail knife, which is commonly adopted by the existing emasculation topping device, the structure of the cutting teeth provided by the invention can further ensure the stability and the safety of the unmanned aerial vehicle in the flying and operating processes, and is not easy to cause error damage to other plants in the flying process of the unmanned aerial vehicle.

Fig. 8 is a schematic structural diagram of an electronic device provided in the present invention, and as shown in fig. 8, the electronic device may include: a processor (processor)810, a communication Interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication Interface 820 and the memory 830 communicate with each other via the communication bus 840. Processor 810 may invoke logic instructions in memory 830 to perform a method of air-to-ground collaborative corn emasculation comprising: controlling an aerial unmanned emasculation machine to patrol a to-be-operated area, and acquiring first remote sensing data of the to-be-operated area and average canopy height information of parent corn plant rows in the to-be-operated area; generating a first castration path for a ground unmanned castration machine to perform first ground castration operation according to the first remote sensing data, and sending the first castration path and the average canopy height information to the ground unmanned castration machine so that the ground unmanned castration machine can perform the first ground castration operation on the area to be operated; controlling the aerial unmanned emasculation machine to inspect the area to be operated again, acquiring second remote sensing data of the area to be operated, and determining the emasculation rate of the first ground emasculation operation according to the second remote sensing data; and if the emasculation rate of the first ground emasculation operation is smaller than a first threshold value, generating a second emasculation path for the ground unmanned emasculation machine to execute secondary ground emasculation operation according to the second remote sensing data, and sending the second emasculation path to the ground unmanned emasculation machine so that the ground unmanned emasculation machine can execute secondary ground emasculation operation on the area to be operated.

In addition, the logic instructions in the memory 830 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the method for spaciously collaborative corn emasculation provided by the above methods, the method comprising: controlling an aerial unmanned emasculation machine to patrol a to-be-operated area, and acquiring first remote sensing data of the to-be-operated area and average canopy height information of parent corn plant rows in the to-be-operated area; generating a first castration path for a ground unmanned castration machine to perform first ground castration operation according to the first remote sensing data, and sending the first castration path and the average canopy height information to the ground unmanned castration machine so that the ground unmanned castration machine can perform the first ground castration operation on the area to be operated; controlling the aerial unmanned emasculation machine to inspect the area to be operated again, acquiring second remote sensing data of the area to be operated, and determining the emasculation rate of the first ground emasculation operation according to the second remote sensing data; and if the emasculation rate of the first ground emasculation operation is smaller than a first threshold value, generating a second emasculation path for the ground unmanned emasculation machine to execute secondary ground emasculation operation according to the second remote sensing data, and sending the second emasculation path to the ground unmanned emasculation machine so that the ground unmanned emasculation machine can execute secondary ground emasculation operation on the area to be operated.

In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor, is implemented to perform the method for collaborative emasculation of corn in open space provided by the above embodiments, the method comprising: controlling an aerial unmanned emasculation machine to patrol a to-be-operated area, and acquiring first remote sensing data of the to-be-operated area and average canopy height information of parent corn plant rows in the to-be-operated area; generating a first castration path for a ground unmanned castration machine to perform first ground castration operation according to the first remote sensing data, and sending the first castration path and the average canopy height information to the ground unmanned castration machine so that the ground unmanned castration machine can perform the first ground castration operation on the area to be operated; controlling the aerial unmanned emasculation machine to inspect the area to be operated again, acquiring second remote sensing data of the area to be operated, and determining the emasculation rate of the first ground emasculation operation according to the second remote sensing data; and if the emasculation rate of the first ground emasculation operation is smaller than a first threshold value, generating a second emasculation path for the ground unmanned emasculation machine to execute secondary ground emasculation operation according to the second remote sensing data, and sending the second emasculation path to the ground unmanned emasculation machine so that the ground unmanned emasculation machine can execute secondary ground emasculation operation on the area to be operated.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. An open-land collaborative corn emasculation method, comprising:

2. The air-ground cooperative corn emasculation method according to claim 1, wherein if the emasculation rate of the first ground emasculation is not less than the first threshold, the aerial unmanned emasculation machine is controlled to perform the first aerial emasculation on the tassels remaining in the area to be worked.

3. The method of claim 2, further comprising, after sending the second emasculation path to the ground drone for the ground drone to perform a second ground emasculation operation on the area to be worked, the method of:

4. The air-ground cooperative corn emasculation method according to claim 3, further comprising, before controlling the aerial unmanned emasculation machine to perform a first aerial emasculation operation on the tassels remaining in the area to be operated:

5. The air-ground cooperative corn emasculation method according to any one of claims 2 or 3, further comprising, after controlling the aerial unmanned emasculation machine to perform a first aerial emasculation operation on the tassels remaining in the area to be operated:

6. The air-ground cooperative corn emasculation method according to claim 5, wherein after controlling the aerial unmanned emasculation machine to perform aerial emasculation again on the tassels remaining in the area to be worked, the method further comprises:

7. An air-ground collaborative corn emasculation system is characterized by comprising an air unmanned emasculation machine, a ground unmanned emasculation machine and a management and dispatching platform; the management scheduling platform comprises a first control unit, a first processing unit, a second control unit and a second processing unit, wherein:

8. An aerial unmanned emasculation machine for constructing the aerial collaborative corn emasculation system of claim 7, comprising: the system comprises an unmanned aerial vehicle flight platform, a control module, a remote sensing detection module and a castration mechanism;

9. The aerial unmanned emasculation machine of claim 8, wherein the emasculation mechanism comprises the telescoping unit, a emasculation unit, and a medicine chest;

10. The aerial unmanned emasculation machine of claim 9, wherein both sides of the cutting teeth are designed as cutters;