CN206087326U - Automatic sprinkler of plant protection unmanned aerial vehicle based on distance and image detection - Google Patents
Automatic sprinkler of plant protection unmanned aerial vehicle based on distance and image detection Download PDFInfo
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- CN206087326U CN206087326U CN201621136926.4U CN201621136926U CN206087326U CN 206087326 U CN206087326 U CN 206087326U CN 201621136926 U CN201621136926 U CN 201621136926U CN 206087326 U CN206087326 U CN 206087326U
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- unmanned plane
- distance
- plant protection
- image
- image detection
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- 238000001514 detection method Methods 0.000 title claims abstract description 15
- 238000004458 analytical method Methods 0.000 claims abstract description 6
- 238000005507 spraying Methods 0.000 claims description 15
- 239000007921 spray Substances 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 2
- 238000010191 image analysis Methods 0.000 abstract description 2
- 239000002917 insecticide Substances 0.000 abstract description 2
- 238000000034 method Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 6
- 239000000575 pesticide Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000002604 ultrasonography Methods 0.000 description 2
- 208000010086 Hypertelorism Diseases 0.000 description 1
- 206010020771 Hypertelorism of orbit Diseases 0.000 description 1
- 241000607479 Yersinia pestis Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000008141 laxative Substances 0.000 description 1
- 230000002475 laxative effect Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
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Abstract
The utility model discloses an automatic sprinkler of plant protection unmanned aerial vehicle based on distance and image detection utilizes ranging module to measure whether there is object and unmanned aerial vehicle's distance in the region that unmanned aerial vehicle flies, and whether further utilizes image analysis technique analysis object to be crops when object and unmanned aerial vehicle's distance is in the target distance, reaches the effect that automatic accuracy sprayed insecticide.
Description
Technical field
This utility model is related to plant protection unmanned plane field, and in particular to a kind of plant protection based on distance and image detection nobody
Machine automatic spraying device.
Background technology
In recent years, with the continuous development of China's science and technology, many advantage technologies are progressively towards industries such as agricultural, forestry
Development, plant protection unmanned plane is one of typical case.China's land resource is not enough, and Northeast plain, northwest, the North China Plain are extensive
Land resource only accounts for cultivated area 30% or so, and account for total cultivated area more than 60% for small-scale cropping pattern, large-scale ground
Dispenser equipment is difficult in adapt to its prevention and control of plant diseases, pest control and requires.Due to people it is difficult please, it is artificial it is expensive, laxative is difficult the problems such as exist, it is achieved that
Plant protection unmanned plane automatic spraying has great importance.Eight rotor plant protection unmanned aerial vehicle control systems are mainly by hardware system and software
System two parts are constituted.Hardware system mainly includes sensor subsystem（Gyroscope, accelerometer）, eight motor control subsystems
（The mechanical, electrical tune of electricity）, power subsystem, communication subsystem and master controller.And software system mainly carries out reality to hardware capability
It is existing, including the detection of plant protection unmanned plane current state, control and implementing of communicating.In practice operator are being sprayed
When spilling control, because hypertelorism, excessive height accurately cannot be sprayed to crops, cause the wave that pesticide is unnecessary
Take, the existing patent of Application No. 201510957610.5 gathers crop information and is sent to detector by infrared camera,
But still up to the purpose of not only automatic spraying.
The content of the invention
The purpose of this utility model is the defect for solving prior art, there is provided a kind of plant protection based on distance and image detection
Unmanned plane automatic spraying device, the technical scheme of employing is as follows：
Based on distance and the plant protection unmanned plane automatic spraying device of image detection, including unmanned plane, also including being electrically connected successively
Range unit, data processing equipment and the image collecting device for connecing, the data processing equipment has been also connected with control device, described
Control device is connected to flusher, and the range unit, image collecting device and flusher distinguish carry in unmanned plane
On undercarriage, whether the range unit has object and its distance with unmanned plane and judges for sensorcraft flight range
Whether in preset range, described image harvester is used to gather the image in unmanned plane during flying region distance, at the data
Reason device is used to judge whether the object for detecting is crops, and causes flusher according to analysis result control control device
Sprinkling.
Operation principle of the present utility model is as follows：
Whether the region flown using range unit sensorcraft has the distance between object and object and unmanned plane,
The image in the region of image acquisition device unmanned plane during flying is opened simultaneously, has object if detecting the region of unmanned plane during flying
Then will determine that the distance of object and unmanned plane whether in preset range, is gathered if the trigger data processing meanss analysis of the image if
The image that device is collected, so as to analyze whether the object for detecting is crops, if then sending a control signal to control dress
Put so as to control flusher and sprayed.
Judge detected object be whether crops method it is specific as follows：
The rgb value of image each pixel that collection image capture module is collected, with the RGB within the green fields of standard
Value is contrasted, and when the standard compliant green fields of the numerical value for collecting, just Jia one, if this number is not not more than the image institute
Have pixel 1/3 judges detected object as crops.
It should be noted that the rgb value of each pixel of collection image, and the rgb value in a certain color gamut is carried out
Statistics is the conventional technology of image processing field, and this utility model is applied to this technology in plant protection unmanned plane field.
Preferably, the range unit is HC-SR04 supersonic range finders.
HC-SR04 supersonic range finders are found range using I O trigger, at least high level signal of 10us, 8 are sent automatically
Whether the square wave of individual 40khz, automatic detection has signal to return, if there is signal to return, with IO a high level is exported, and high level is held
The continuous time is exactly ultrasound wave from the time for being transmitted into return, therefore measuring distance=（The high level time * velocities of sound（340m/s）/ 2, if
Measuring distance proves ultrasonic listening to object within the scope of giving, then.
Preferably, described image harvester is OV7670 photographic head.
Preferably, the data processing equipment is STM32 series monolithics.
Preferably, the control device is relay.
Relay receives control signal and controls pump switch then, allows flusher automatic spraying pesticide, realizes unmanned control
The target of system.
Compared with prior art, the beneficial effects of the utility model：This utility model measures unmanned plane using range finder module
Whether the region of flight has the distance of object and object and unmanned plane, enters when the distance of object and unmanned plane is in target range
Whether one step is crops using image analysis technology object analysis, reaches the effect accurately sprayed insecticide automatically.
Description of the drawings
Fig. 1 is the structural representation of the automatic spraying device of this utility model embodiment；
Fig. 2 is the electrical block diagram of the relay of this utility model embodiment.
Specific embodiment
This utility model is described in further details with reference to the accompanying drawings and examples.
Embodiment：
As shown in figure 1, based on distance and the plant protection unmanned plane automatic spraying device of image detection, including unmanned plane, also wrap
Range unit, data processing equipment and the image collecting device being sequentially connected electrically is included, the data processing equipment has been also connected with control
Device processed, the control device is connected to flusher, the range unit, image collecting device and flusher difference carry
On the undercarriage of unmanned plane, the range unit for sensorcraft flight range whether have object and its with unmanned plane
Whether apart from simultaneously judging distance in preset range, described image harvester is used to gather the image in unmanned plane during flying region,
The data processing equipment is used to judge whether the object for detecting is crops, and is made according to analysis result control control device
Obtain flusher sprinkling.
The range unit is HC-SR04 supersonic range finders.
HC-SR04 supersonic range finders are found range using I O trigger, at least high level signal of 10us, 8 are sent automatically
Whether the square wave of individual 40khz, automatic detection has signal to return, if there is signal to return, with IO a high level is exported, and high level is held
The continuous time is exactly ultrasound wave from the time for being transmitted into return, therefore measuring distance=（The high level time * velocities of sound（340m/s）/ 2, if
Measuring distance proves ultrasonic listening to object within the scope of giving, then.
Described image harvester is OV7670 photographic head.
The data processing equipment is STM32 series monolithics.
The control device is relay, and its circuit diagram is as shown in Figure 2.
Relay receives control signal and controls pump switch then, allows flusher automatic spraying pesticide, realizes unmanned control
The target of system.
Claims (5)
1. based on distance and the plant protection unmanned plane automatic spraying device of image detection, including unmanned plane, it is characterised in that also include
Range unit, data processing equipment and the image collecting device being sequentially connected electrically, the data processing equipment has been also connected with control
Device, the control device is connected to flusher, and the range unit, image collecting device and flusher difference carry exists
On the undercarriage of unmanned plane, the range unit for sensorcraft flight range whether have object and its with unmanned plane away from
Whether from simultaneously judging distance in preset range, described image harvester is used to gather the image in unmanned plane during flying region, institute
State data processing equipment for judge the object that detects whether be crops, and caused according to analysis result control control device
Flusher sprays.
2. according to claim 1 based on distance and the plant protection unmanned plane automatic spraying device of image detection, its feature exists
In the range unit is HC-SR04 supersonic range finders.
3. according to claim 1 based on distance and the plant protection unmanned plane automatic spraying device of image detection, its feature exists
In described image harvester is OV7670 photographic head.
4. according to claim 1 based on distance and the plant protection unmanned plane automatic spraying device of image detection, its feature exists
In the data processing equipment is STM32 series monolithics.
5. according to claim 1 based on distance and the plant protection unmanned plane automatic spraying device of image detection, its feature exists
In the control device is relay.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621136926.4U CN206087326U (en) | 2016-10-19 | 2016-10-19 | Automatic sprinkler of plant protection unmanned aerial vehicle based on distance and image detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621136926.4U CN206087326U (en) | 2016-10-19 | 2016-10-19 | Automatic sprinkler of plant protection unmanned aerial vehicle based on distance and image detection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206087326U true CN206087326U (en) | 2017-04-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621136926.4U Active CN206087326U (en) | 2016-10-19 | 2016-10-19 | Automatic sprinkler of plant protection unmanned aerial vehicle based on distance and image detection |
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| Country | Link |
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| CN (1) | CN206087326U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107272734A (en) * | 2017-06-13 | 2017-10-20 | 深圳市易成自动驾驶技术有限公司 | Unmanned plane during flying task executing method, unmanned plane and computer-readable recording medium |
| CN111744688A (en) * | 2019-10-25 | 2020-10-09 | 广州极飞科技有限公司 | Uniform spraying operation method and related device |
-
2016
- 2016-10-19 CN CN201621136926.4U patent/CN206087326U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107272734A (en) * | 2017-06-13 | 2017-10-20 | 深圳市易成自动驾驶技术有限公司 | Unmanned plane during flying task executing method, unmanned plane and computer-readable recording medium |
| CN111744688A (en) * | 2019-10-25 | 2020-10-09 | 广州极飞科技有限公司 | Uniform spraying operation method and related device |
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