CN117850457A - Unmanned aerial vehicle woodland accurate operation flight control system based on big dipper technique - Google Patents
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Abstract
The invention discloses an unmanned aerial vehicle woodland accurate operation flight control system based on Beidou technology, and relates to the field of unmanned aerial vehicle flight control; the system comprises a Beidou positioning module, a central control module, an information data acquisition module, a data analysis module and a flight strategy module, wherein the information data acquisition module is used for acquiring data of a woodland in real time, the data analysis module is used for analyzing varieties and various conditions of trees, accurately monitoring growth conditions, pests and disease conditions of the trees, and the Beidou positioning module is used for accurately marking point positions of the trees with different colors according to different conditions so as to realize a rapid and accurate positioning monitoring function; combining the acquired data result with a data analysis module, and making an accurate flight path and an operation strategy in real time by a flight strategy module; the invention improves the precision and the working efficiency of the unmanned aerial vehicle in the woodland working task.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle flight control, in particular to an unmanned aerial vehicle forest accurate operation flight control system based on the Beidou technology.
Background
Along with the rapid development of modern technology, the automation demand in the agriculture and forestry field is also higher and higher, the forestry resource distribution in China is very wide, the traditional forestry monitoring method is used for inspecting the forest land in the field by dispatching workers, recording the growth condition, the pest and disease condition and the like of the trees, a great deal of time and manpower resources are required for manual inspection, and large-scale data cannot be quickly obtained, or the remote sensing technology is used for monitoring the forest land by utilizing aviation or satellite images, and the information such as the coverage type, vegetation index, forest fire hot spot and the like of the forest land is obtained by analyzing the remote sensing image, however, the remote sensing technology may be limited in detail, the detailed information about single trees cannot be provided, the limited data acquisition mode is time-consuming and labor cost is high, and the monitoring and operation on the forest wood cannot be quickly carried out in a large scale, so that the pest invasion and the artificial injury cannot be timely found, and the health growth and the quantity of the forest are affected.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle woodland accurate operation flight control system based on the Beidou technology, which is used for carrying out accurate marking point positions of different colors on trees according to different conditions through a Beidou positioning module, and setting an accurate flight path and an operation strategy in real time by combining with a flight strategy module so as to realize accurate monitoring, operation and resource management of the woodland.
The aim of the invention can be achieved by the following technical scheme:
the embodiment of the application provides an unmanned aerial vehicle woodland accurate operation flight control system based on Beidou technology, which comprises a Beidou positioning module, a central control module, an information data acquisition module, a data analysis module and a flight strategy module,
the central control module is used for monitoring and coordinating the running states of the Beidou positioning module, the information data acquisition module, the data analysis module and the flight strategy module, and comprehensively managing and controlling;
the information data acquisition module is used for being carried on the unmanned aerial vehicle, and acquiring relevant information of the tree in real time through an image recognition and data acquisition technology;
the data analysis module is used for processing, analyzing and storing the acquired data, analyzing information about tree growth conditions, pests and disease conditions through a data analysis algorithm, and sending the information to the flight strategy module;
the Beidou positioning module is used for marking and positioning the trees and dotting the marked positions;
the flight strategy module is used for receiving the data analysis result and making a flight path and an operation strategy of the unmanned aerial vehicle.
Preferably, the central control module comprises a monitoring unit and a coordination and communication unit,
the monitoring unit is used for monitoring the running state of the unmanned aerial vehicle in real time, monitoring the working states of the Beidou positioning module, the information data acquisition module, the data analysis module and the flight strategy module, and timely finding out abnormality and faults;
the coordination and communication unit is used for coordinating communication and data transmission among the modules and transmitting a working instruction generated by the analysis result of the data analysis module to the flight strategy module.
Preferably, the information data acquisition module comprises an image recognition unit and a sensor data acquisition unit,
the image recognition unit is used for collecting images by using a camera carried by the unmanned aerial vehicle, processing and analyzing the collected images by using an image recognition technology, extracting and matching the image characteristics of the trees, and transmitting the collected images to the data analysis module;
the sensor data acquisition unit acquires environmental data by using a temperature and humidity sensor and an air image sensor which are mounted on the unmanned aerial vehicle.
Preferably, the data analysis module comprises a data preprocessing unit, a feature extraction unit, a data model building unit and a result generation and transmission unit,
the data preprocessing unit is used for preprocessing the collected original data, and then converting the data into a unified format so that the data can be identified and processed by a subsequent algorithm and model;
the feature extraction unit is used for extracting the growth height of the tree and the color features of the leaves after the data preprocessing for subsequent analysis and judgment;
the data model building unit is used for building a data model based on the features extracted by the feature extraction unit and used for predicting tree growth trend, detecting pests and diseases and evaluating forest health status tasks;
the result generation and transmission unit is used for converting the analyzed result into a visual report and chart form after the data model is established and transmitting the generated result to the flight strategy module.
Preferably, the Beidou positioning module comprises a positioning receiving unit, a data processing unit, a marking positioning unit and a dotting control unit,
the positioning receiving unit is used for receiving positioning signals from the Beidou satellite system and calculating the current position coordinates of the unmanned aerial vehicle by receiving navigation signals sent by satellites;
the data processing unit is used for receiving the positioning signals, analyzing and calculating the received navigation data to obtain the longitude and latitude of the unmanned aerial vehicle, converting the longitude and latitude into three-bit coordinates and extracting the position information of the unmanned aerial vehicle;
the marking and positioning unit is used for performing high-precision marking and positioning on the tree, and the unmanned aerial vehicle is flown to the position right above the tree species by the Beidou positioning technology, so that the target position is marked;
the dotting control unit enables the unmanned aerial vehicle to stably hover on the target position by adjusting flight parameters and gesture control, and completes dotting action within a specified time.
Preferably, the marking and positioning unit is used for positioning the tree according to the Beidou positioning technology after analysis according to the data analysis module, marking different colors according to the growth condition of the tree, the color change of the tree leaves and the humidity condition, analyzing the slow growth of the tree into malnutrition, marking red, marking poor growth of the tree leaves, marking yellow, marking lack of humidity, marking blue, marking normal growth of the tree into green, marking white in other conditions, and displaying according to mark generation line areas of different colors.
Preferably, the flight strategy module comprises a flight path planning unit and a working strategy making unit,
the flight path planning unit is used for generating a corresponding line area according to the result provided by the data analysis module, the condition of the tree and the point location information density and making a flight path of the unmanned aerial vehicle;
and the operation strategy making unit is used for receiving the data analysis result by the unmanned aerial vehicle, generating a corresponding operation instruction and making a specific operation strategy of the unmanned aerial vehicle.
Preferably, the unmanned aerial vehicle performs a step of operating a strategy on the tree:
s1: data acquisition, namely acquiring tree data through a sensor and a camera carried by the unmanned aerial vehicle;
s2: image processing and analysis, wherein the tree image is subjected to image processing and analysis, detection, classification and positioning processing are performed on the tree, and position coordinates and other relevant attributes of the tree are obtained through the image processing and analysis;
s3: dotting planning, namely carrying out dotting planning of different colors according to the position information of the tree and the corresponding conditions, determining the positions and the number of dotting according to the distribution conditions and the spacing requirements of the tree in the dotting planning stage, and using the dotting for generating lines and carrying out specific operation;
s4: planning a flight path, namely planning the flight path based on a dotting planning result, and determining a route of the unmanned aerial vehicle, so that the unmanned aerial vehicle accurately flies to each dotting position, and each dotting position can be covered in sequence;
s5: and executing flight and operation, namely executing flight and operation tasks by the unmanned aerial vehicle according to the flight path planning, flying to each dotting position according to a preset route, stably hovering at each position and performing corresponding strategy operation.
Preferably, the unmanned aerial vehicle is provided with a temperature and humidity sensor and an air image sensor for collecting the forest environment, wherein the unmanned aerial vehicle is further provided with an infrared thermal imager for monitoring hot spots and smoke of forest fires and acquiring fire information in real time.
Preferably, the white trees marked with white marks represent most of blank areas of the trees, a state that a large number of trees are cut or rotted and cannot survive exists, and if the total area of the white areas is 8% of the total area of the trees, an alarm is immediately started.
The beneficial effects of the invention are as follows:
(1) Acquiring data of a woodland in real time through an information data acquisition module of the unmanned aerial vehicle, analyzing varieties and various conditions of the tree through a data analysis module, accurately monitoring growth conditions, pests and disease conditions of the tree, and accurately marking point positions of different colors of the tree according to different conditions through a Beidou positioning module to realize a rapid and accurate positioning monitoring function;
(2) Combining the acquired data result with a data analysis module, and making an accurate flight path and an operation strategy in real time by a flight strategy module; meanwhile, the central control module is used for comprehensively managing and controlling the running states of the modules in the system, so that the precision, the operation efficiency and the operation quality of the unmanned aerial vehicle in the operation task of the forests are improved, the control cost is saved by the accurate operation route, the damage of control to the ecological environment is reduced, and the healthy growth of trees is ensured.
Drawings
For a better understanding and implementation, the technical solutions of the present application are described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle woodland precise operation flight control system based on the beidou technology provided in embodiment 1 of the present application;
fig. 2 is a schematic structural diagram of an information data acquisition module of an unmanned aerial vehicle woodland precise operation flight control system based on the beidou technology provided in embodiment 1 of the present application;
fig. 3 is a schematic block diagram of a data analysis module of an unmanned aerial vehicle woodland precise operation flight control system based on the beidou technology provided in embodiment 1 of the present application;
fig. 4 is a schematic diagram of a Beidou positioning module structure of an unmanned aerial vehicle forest accurate operation flight control system based on a Beidou technology provided in embodiment 1 of the present application;
fig. 5 is a schematic view of a flight strategy module structure of an unmanned aerial vehicle inter-forest accurate operation flight control system based on the beidou technology provided in embodiment 1 of the present application;
fig. 6 is a schematic structural diagram of a central control module of an unmanned aerial vehicle woodland precise operation flight control system based on the beidou technology provided in embodiment 1 of the present application;
fig. 7 is a flowchart of steps of a precision operation flight control system for an unmanned aerial vehicle forest based on the beidou technology for performing an operation strategy on trees according to embodiment 1 of the present application;
fig. 8 is a schematic structural diagram of an unmanned aerial vehicle woodland precise operation flight control system based on the beidou technology provided in embodiment 2 of the present application;
fig. 9 is a flowchart of a step of performing accurate flight by the unmanned aerial vehicle woodland accurate operation flight control system based on the Beidou technology provided in embodiment 2 of the present application.
Detailed Description
For further explanation of the technical means and effects adopted by the present invention for achieving the intended purpose, exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of methods and systems that are consistent with aspects of the present application, as detailed in the accompanying claims.
The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
The following detailed description of specific embodiments, features and effects according to the present invention is provided with reference to the accompanying drawings and preferred embodiments.
Example 1
Referring to fig. 1-7, in this embodiment, by combining the collected data result with the data analysis module, the method realizes large-scale monitoring of the tree, and performs accurate analysis on the tree condition, and real-time formulates accurate flight path and operation strategy through the flight strategy module; meanwhile, the central control module is used for comprehensively managing and controlling the running states of all modules in the system, and the system has the advantage of improving the accuracy, the working efficiency and the working quality of the unmanned aerial vehicle in the woodland working tasks.
The embodiment of the invention provides an unmanned aerial vehicle woodland accurate operation flight control system based on Beidou technology, which comprises a Beidou positioning module, a central control module, an information data acquisition module, a data analysis module and a flight strategy module,
the central control module is used for monitoring and coordinating the running states of the Beidou positioning module, the information data acquisition module, the data analysis module and the flight strategy module, and comprehensively managing and controlling the modules;
the information data acquisition module is used for being carried on the unmanned aerial vehicle, and acquiring relevant information of the tree in real time through an image recognition and data acquisition technology;
the data analysis module is used for processing, analyzing and storing the acquired data, analyzing information about tree growth conditions, pests and disease conditions through a data analysis algorithm, and sending the information to the flight strategy module;
the Beidou positioning module is used for carrying out high-precision marking and positioning on the trees by utilizing a Beidou navigation technology and dotting points for generating marks;
the flight strategy module is used for receiving the data analysis result, formulating a flight path and an operation strategy of the unmanned aerial vehicle, confirming the flight path and operating through the unmanned aerial vehicle according to the corresponding line area generated by the tree condition and the point location information density, and realizing accurate prevention and control measures and monitoring targets.
In this embodiment, the central control module comprises a monitoring unit and a coordination and communication unit,
the monitoring unit is used for monitoring the running state of the unmanned aerial vehicle in real time, monitoring the working states of the Beidou positioning module, the information data acquisition module, the data analysis module and the flight strategy module, and timely finding out abnormal and fault conditions;
the coordination and communication unit is used for coordinating communication and data transmission among the modules, ensuring that the information data acquisition module transmits acquired data to the data analysis module for processing, and simultaneously transmitting an operation instruction generated by the analysis result of the data analysis module to the flight strategy module.
In this embodiment, the information data acquisition module includes an image recognition unit and a sensor data acquisition unit,
the image recognition unit is responsible for image acquisition of a camera or a camera carried by the unmanned aerial vehicle, processes and analyzes the acquired image by utilizing an image recognition technology, extracts and matches the image characteristics of the tree, and transmits the acquired image to the data analysis module;
the sensor data acquisition unit is responsible for acquiring environmental data of a temperature and humidity sensor and a meteorological sensor carried on the unmanned aerial vehicle, acquiring temperature and humidity information of a forest land through the temperature and humidity sensor, measuring wind speed and air pressure parameters through the meteorological sensor, and providing more comprehensive information support for tree growth conditions, pests and disease conditions.
The method realizes the accurate monitoring and control of the growth condition, the pests and the disease condition of the trees so as to improve the efficiency and the accuracy of the inter-forest operation.
In this embodiment, the data analysis module includes a data preprocessing unit, a feature extraction unit, a data model building unit, and a result generation transmission unit,
the data preprocessing unit is used for preprocessing the collected original data, including data cleaning, denoising and correcting operation, so as to ensure the accuracy and reliability of the data, and then carrying out unified format conversion on the data, so that the data can be identified and processed by a subsequent algorithm and model;
the feature extraction unit is used for extracting the growth height of the tree and the color feature of the leaf from the processed data after the data preprocessing for subsequent analysis and judgment;
the data model building unit is used for building a data model based on the features extracted by the feature extraction unit through machine learning, deep learning and statistical analysis algorithms, and is used for predicting tree growth trend, detecting pests and diseases and evaluating forest health status tasks;
the result generation and transmission unit converts the analyzed result into a visual report and a chart form after the data model is established, wherein the visual report and chart form comprises a tree growth condition report, a pest and disease early warning report and a humidity condition table, and then transmits the generated result to the flight strategy module.
The data analysis module can provide accurate tree growth trend prediction, pest disease detection, forest health assessment and other results through the steps of data preprocessing, feature extraction, data model establishment and result generation and transmission, and helps a decision maker to effectively plan and manage the forest work.
In the embodiment, the Beidou positioning module comprises a positioning receiving unit, a data processing unit, a marking positioning unit and a dotting control unit,
the positioning receiving unit is used for receiving positioning signals from the Beidou satellite system, calculating the current position coordinates of the unmanned aerial vehicle by receiving navigation signals sent by satellites, and providing high-precision positioning information;
the data processing unit is used for receiving the positioning signals, analyzing and calculating the received navigation data to obtain the longitude and latitude of the unmanned aerial vehicle, converting the longitude and latitude into three-bit coordinates, and extracting the position, speed and course information of the unmanned aerial vehicle;
the marking and positioning unit is used for carrying out high-precision marking and positioning on trees, and utilizing the Beidou positioning technology to fly the unmanned aerial vehicle to the position right above the tree species, marking the target position and realizing the accurate positioning and recording of the tree species condition;
the dotting control unit enables the unmanned aerial vehicle to hover stably on the target position by adjusting flight parameters and gesture control, controls the unmanned aerial vehicle to perform dotting operation, and completes dotting action within a specified time.
The unmanned aerial vehicle can accurately mark the tree position, provide efficient dotting operation and provide accurate positioning and recording service for woodland operation.
In this embodiment, the marking location of the marking location unit locates the tree according to the Beidou positioning technology after analysis according to the data analysis module, then marks with different colors are respectively carried out according to the growth condition of the tree, the color change of the tree leaves and the humidity condition, the slow growth of the tree is analyzed to be malnutrition, the marks are red, the color growth of the tree leaves is poor, the marks are yellow, the humidity condition is lack, the marks are blue, the marks of the tree with normal growth are green, the marks of other conditions are white, and the line area is generated according to the marks with different colors for displaying.
According to the marks with different colors, the tree conditions of the line areas are generated to display the tree conditions of the areas, so that a user can intuitively know the growth condition and the health condition of the tree, a decision maker can be helped to better know the condition of a forest land, and corresponding management measures can be taken.
In this embodiment, the flight strategy module includes a flight path planning unit and a job strategy formulation unit,
the flight path planning unit is used for generating a corresponding line area according to the result provided by the data analysis module and considering the condition of the tree and the point information density, and formulating a flight path of the unmanned aerial vehicle so as to efficiently carry out an operation area on the line area;
the operation strategy making unit is used for receiving the data analysis result after the flight path planning, generating a corresponding operation instruction, making a specific operation strategy of the unmanned aerial vehicle, determining flight height, speed and hover time parameters of the unmanned aerial vehicle, and making corresponding prevention and treatment measures according to the tree condition.
For example, upon detection of a tree of a particular pest, the work policy making unit may instruct the drone to perform a spraying agent or other treatment operation.
The flight strategy module can enable the unmanned aerial vehicle to perform efficient operation according to a preset path through flight path planning and operation strategy formulation, and corresponding prevention and control measures are formulated according to tree conditions, so that scientific management and treatment of the forest land are realized.
In this embodiment, the step of performing the operation policy on the tree by the unmanned aerial vehicle includes:
s1: the method comprises the steps of collecting data, namely collecting tree data including images, position information and environment data of the tree through a sensor and a camera carried by an unmanned aerial vehicle, and obtaining relevant information of the tree through the collected data;
s2: image processing and analysis, wherein the acquired tree image is subjected to image processing and analysis, tree detection, classification and positioning processing are performed, and position coordinates and other related attributes of the tree are obtained through the image processing and analysis;
s3: dotting planning, namely carrying out dotting planning of different colors according to the position information of the tree and the corresponding conditions, determining the positions and the number of dotting according to the distribution conditions and the spacing requirements of the tree in the dotting planning stage, and using the dotting for generating lines and carrying out specific operation;
s4: and (3) planning a flight path, namely planning the flight path based on a dotting planning result, and determining the route of the unmanned aerial vehicle, so that the flight path planning considers tree positions, safe distances and obstacle avoidance factors, and ensures that the unmanned aerial vehicle can accurately fly to each dotting position and can cover each dotting position in sequence.
S5: executing flight and operation, namely starting to execute flight and operation tasks by the unmanned aerial vehicle according to flight path planning, performing flight to each dotting position according to a preset route, stably hovering at each position, and performing corresponding strategy operation;
in this embodiment, the corresponding policy job of step S5 includes:
the unmanned aerial vehicle carries fertilizer spraying equipment, and targeted fertilization is carried out on the red marked position so as to improve the nutrition condition of the tree; the unmanned aerial vehicle is provided with spraying equipment, a foliar fertilizer or a foliar protective agent is added, and foliar spraying is carried out on the position of the yellow mark so as to promote the growth and health of the leaves;
and (3) carrying out fixed-point watering on the blue marked position through unmanned aerial vehicle portable spraying equipment, and supplementing water required by the tree.
In this embodiment, temperature and humidity sensor and meteorological sensor have been configured to unmanned aerial vehicle and have been gathered the forest environment, and wherein, unmanned aerial vehicle still is equipped with thermal infrared imager for the hot spot and the smog of monitoring forest fire, acquire the condition of a fire information in real time, and pass through the locate function of big dipper technique with data transmission back ground, in order in time to take fire extinguishing measure and carry out the conflagration early warning.
In this embodiment, the white tree marked with white color represents that most of the tree is blank, and there is a state that a large number of trees are cut or rotted and cannot survive, and if the total area of the white area is 8% of the total area of the tree, an alarm is immediately started, which represents that the area has serious tree degradation.
Example 2
As shown in fig. 8-9, the embodiment realizes that the unmanned aerial vehicle identifies the color-changing tree species, accurately positions the tree according to the Beidou positioning module, positions the tree at the positioning position, prevents and treats the tree according to the positions of the tree, introduces an automatic obstacle avoidance function, senses the surrounding environment when the unmanned aerial vehicle performs precise operation between forests, and adjusts the flight route.
The embodiment of the invention provides an unmanned aerial vehicle woodland accurate operation flight control system based on a Beidou technology, which comprises a Beidou positioning module, a central control module, a color-changing tree species information data acquisition module, a data analysis module, a flight strategy module and an autonomous obstacle avoidance module;
the color-changing tree species information data acquisition module can accurately identify tree species information and mark the tree species information through the color-changing tree species information data acquisition module of the unmanned aerial vehicle, and can record the tree of the color-changing tree species;
the Beidou positioning module is used for precisely marking the positions of the color-changing tree species through Beidou satellite positioning;
the data analysis module is used for comprehensively analyzing the received data set to obtain flying height information of the unmanned aerial vehicle and position information of the color-changing tree species, and feeding the flying height information and the position information back to the flying strategy module;
the flight strategy module is used for formulating and making an accurate operation strategy according to the analysis result obtained by the data analysis module so as to control the color-changing tree species;
the autonomous obstacle avoidance module introduces an autonomous obstacle avoidance function into the flight strategy module, realizes the perception of surrounding environment through a laser radar and infrared sensor technology, enables an unmanned aerial vehicle to autonomously avoid obstacles, adjusts a flight path according to environmental changes, and improves flight safety and operation effect;
the central control module comprises a storage unit and a control unit, wherein the storage unit is used for storing various data in the system; the control unit is used for carrying out comprehensive management control on the running states of all modules in the system.
In this embodiment, the steps of the unmanned aerial vehicle performing accurate flight are as follows:
s101: identifying the color-changing tree species according to the image obtained by the ultra-clear lens of the unmanned aerial vehicle, and identifying the azimuth of the color-changing tree species; the display interface of the control terminal can display the azimuth;
s102: according to the azimuth of the marked color-changing tree species displayed on the display interface of the control terminal, flying to the upper air one by one to mark and dot the color-changing tree species;
s103: carrying out data processing according to the point location information, making a precise operation route, and generating a corresponding line area and a corresponding surface area according to the point location information density;
s104: the unmanned aerial vehicle performs control operation on the color-changing tree species, and performs accurate operation according to an operation route formulated in a line area or a surface area.
According to the embodiment, the color-changing tree species information data acquisition module of the unmanned aerial vehicle can accurately identify tree species information and mark the tree species information, and can record tree trees of the color-changing tree species; the unmanned aerial vehicle flies to the position above the color-changing tree species, and accurate point marking can be carried out through the Beidou positioning module; then according to the acquired data result, a data analysis module is combined with a flight strategy module to make a precise operation strategy in real time; meanwhile, the central control module is used for comprehensively managing and controlling the running states of the modules in the system, so that the precision, the operation efficiency and the operation quality of the unmanned aerial vehicle in the operation tasks of the forests are improved, the control cost is saved by the accurate operation route, and the damage of control to the ecological environment is reduced.
The present invention is not limited to the above embodiments, but is capable of modification and variation in detail, and other modifications and variations can be made by those skilled in the art without departing from the scope of the present invention.
Claims (10)
1. Unmanned aerial vehicle woodland accurate operation flight control system based on big dipper technique, its characterized in that: comprises a Beidou positioning module, a central control module, an information data acquisition module, a data analysis module and a flight strategy module,
the central control module is used for monitoring and coordinating the running states of the information data acquisition module, the Beidou positioning module, the data analysis module and the flight strategy module, and comprehensively managing and controlling;
the information data acquisition module is used for being carried on the unmanned aerial vehicle, and acquiring relevant information of the tree in real time through an image recognition and data acquisition technology;
the data analysis module is used for processing, analyzing and storing the acquired data, analyzing information about tree growth conditions, pests and disease conditions through a data analysis algorithm, and sending the information to the flight strategy module;
the Beidou positioning module is used for marking and positioning the trees and dotting the marked positions;
the flight strategy module is used for receiving the data analysis result and making a flight path and an operation strategy of the unmanned aerial vehicle.
2. The unmanned aerial vehicle woodland accurate operation flight control system based on the Beidou technology according to claim 1, wherein: the central control module comprises a monitoring unit and a coordination and communication unit,
the monitoring unit is used for monitoring the running state of the unmanned aerial vehicle in real time, monitoring the working states of the Beidou positioning module, the information data acquisition module, the data analysis module and the flight strategy module, and timely finding out abnormality and faults;
the coordination and communication unit is used for coordinating communication and data transmission among the modules and transmitting a working instruction generated by the analysis result of the data analysis module to the flight strategy module.
3. The unmanned aerial vehicle woodland accurate operation flight control system based on the Beidou technology according to claim 1, wherein: the information data acquisition module comprises an image recognition unit and a sensor data acquisition unit,
the image recognition unit is used for collecting images by using a camera carried by the unmanned aerial vehicle, processing and analyzing the collected images by using an image recognition technology, extracting and matching the image characteristics of the trees, and transmitting the collected images to the data analysis module;
the sensor data acquisition unit acquires environmental data by using a temperature and humidity sensor and an air image sensor which are mounted on the unmanned aerial vehicle.
4. The unmanned aerial vehicle woodland accurate operation flight control system based on the Beidou technology according to claim 1, wherein: the data analysis module comprises a data preprocessing unit, a feature extraction unit, a data model building unit and a result generation and transmission unit,
the data preprocessing unit is used for preprocessing the collected original data, and then converting the data into a unified format so that the data can be identified and processed by a subsequent algorithm and model;
the feature extraction unit is used for extracting the growth height of the tree and the color features of the leaves after the data preprocessing for subsequent analysis and judgment;
the data model building unit is used for building a data model based on the features extracted by the feature extraction unit and used for predicting tree growth trend, detecting pests and diseases and evaluating forest health status tasks;
the result generation and transmission unit is used for converting the analyzed result into a visual report and chart form after the data model is established and transmitting the generated result to the flight strategy module.
5. The unmanned aerial vehicle woodland accurate operation flight control system based on the Beidou technology according to claim 1, wherein: the Beidou positioning module comprises a positioning receiving unit, a data processing unit, a marking positioning unit and a dotting control unit,
the positioning receiving unit is used for receiving positioning signals from the Beidou satellite system and calculating the current position coordinates of the unmanned aerial vehicle by receiving navigation signals sent by satellites;
the data processing unit is used for receiving the positioning signals, analyzing and calculating the received navigation data to obtain the longitude and latitude of the unmanned aerial vehicle, converting the longitude and latitude into three-bit coordinates and extracting the position information of the unmanned aerial vehicle;
the marking and positioning unit is used for performing high-precision marking and positioning on the tree, and the unmanned aerial vehicle is flown to the position right above the tree species by the Beidou positioning technology, so that the target position is marked;
the dotting control unit enables the unmanned aerial vehicle to stably hover on the target position by adjusting flight parameters and gesture control, and completes dotting action within a specified time.
6. The unmanned aerial vehicle woodland accurate operation flight control system based on the Beidou technology according to claim 5, wherein: the marking and positioning unit is used for positioning the tree according to the Beidou positioning technology after the tree is analyzed by the data analysis module, then marking different colors according to the growth condition of the tree, the color change of the tree leaves and the humidity condition, analyzing the slow growth of the tree into malnutrition, marking red, not good growth of the tree leaves, marking yellow, lacking the humidity condition, marking blue, marking normal growth of the tree into green, marking other conditions into white, and generating a line area according to the marks of different colors for displaying.
7. The unmanned aerial vehicle woodland accurate operation flight control system based on the Beidou technology according to claim 1, wherein: the flight strategy module comprises a flight path planning unit and a working strategy making unit,
the flight path planning unit is used for generating a corresponding line area according to the result provided by the data analysis module, the condition of the tree and the point location information density and making a flight path of the unmanned aerial vehicle;
and the operation strategy making unit is used for receiving the data analysis result by the unmanned aerial vehicle, generating a corresponding operation instruction and making a specific operation strategy of the unmanned aerial vehicle.
8. The unmanned aerial vehicle woodland accurate operation flight control system based on the Beidou technology according to claim 5, wherein: the unmanned aerial vehicle carries out the step of operation strategy to trees:
s1: data acquisition, namely acquiring tree data through a sensor and a camera carried by the unmanned aerial vehicle;
s2: image processing and analysis, wherein the tree image is subjected to image processing and analysis, detection, classification and positioning processing are performed on the tree, and position coordinates and other relevant attributes of the tree are obtained through the image processing and analysis;
s3: dotting planning, namely carrying out dotting planning of different colors according to the position information of the tree and the corresponding conditions, determining the positions and the number of dotting according to the distribution conditions and the spacing requirements of the tree in the dotting planning stage, and using the dotting for generating lines and carrying out specific operation;
s4: planning a flight path, namely planning the flight path based on a dotting planning result, and determining a route of the unmanned aerial vehicle, so that the unmanned aerial vehicle accurately flies to each dotting position, and each dotting position can be covered in sequence;
s5: and executing flight and operation, namely executing flight and operation tasks by the unmanned aerial vehicle according to the flight path planning, flying to each dotting position according to a preset route, stably hovering at each position and performing corresponding strategy operation.
9. The unmanned aerial vehicle woodland accurate operation flight control system based on the Beidou technology according to claim 3, wherein: the unmanned aerial vehicle of information data acquisition module still is equipped with thermal infrared imager for monitoring forest fire's hot spot and smog, acquire the condition of a fire information in real time.
10. The unmanned aerial vehicle woodland accurate operation flight control system based on the Beidou technology according to claim 6, wherein: the white trees are marked, the white trees represent most of blank areas of the trees, the trees are in a state of being cut or rotted in a large number and not survival, and if the total area of the white areas is 8% of the total area of the trees, an alarm is started immediately.
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