CN206178480U - Unmanned aerial vehicle is pruned to intelligence based on machine vision - Google Patents
Unmanned aerial vehicle is pruned to intelligence based on machine vision Download PDFInfo
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- CN206178480U CN206178480U CN201621275536.5U CN201621275536U CN206178480U CN 206178480 U CN206178480 U CN 206178480U CN 201621275536 U CN201621275536 U CN 201621275536U CN 206178480 U CN206178480 U CN 206178480U
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- machine vision
- unmanned plane
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- 238000012545 processing Methods 0.000 claims abstract description 48
- 238000004891 communication Methods 0.000 claims abstract description 19
- 238000013138 pruning Methods 0.000 claims description 24
- 244000141353 Prunus domestica Species 0.000 claims description 17
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical group C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 claims description 3
- 238000002604 ultrasonography Methods 0.000 claims description 3
- 235000013399 edible fruits Nutrition 0.000 abstract description 18
- 238000009966 trimming Methods 0.000 abstract description 6
- 238000000034 method Methods 0.000 description 3
- 241000269319 Squalius cephalus Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005094 fruit set Effects 0.000 description 1
- 238000003898 horticulture Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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Abstract
The utility model discloses an intelligent trimming unmanned aerial vehicle based on machine vision, which is characterized by comprising a machine vision module, a spatial position module, a data processing module, a communication module, a flight power and control module, a trimming module, a central processing unit and a power supply module; the output ends of the machine vision module, the spatial position module and the communication module are connected with the input end of the data processing module, the output end of the data processing module is connected with the input end of the central processing unit, and the output end of the central processing unit is connected with the input ends of the trimming module and the flight power and control module; the power supply module supplies power to the machine vision module, the spatial position module, the data processing module, the communication module, the flight power and control module, the trimming module and the central processing unit. The technical scheme is to realize automatic trimming for efficiently and automatically finding tender tips, tender buds and stiff leaves of fruit trees.
Description
Technical field
This utility model is related to a kind of pollard device, and more particularly to a kind of intelligence based on machine vision prunes nobody
Machine.
Background technology
Although branch pruning unmanned plane in the market overcomes traditional horticulture person by the instrument cutting such as ladder
The dangerous drawback of branch, but remotely pilotless machine is remained a need for when in use to the position specified, not with intelligent.Due to cannot be right
Tree trimming scope automatic identification and it is accurately positioned, when the work such as tender tip, tender shoots, pruning, the excision of stiff leaf are carried out to fruit tree
Operant skill requirement to operator is higher.
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art, there is provided a kind of intelligence based on machine vision is pruned
Unmanned plane, it is therefore intended that while reducing labor intensity, the complexity of artificial pruning, can automatically find tender tip, the tender shoots of fruit tree
With stiff leaf and it is automatically performed pruning.
This utility model is achieved through the following technical solutions.
A kind of intelligence based on machine vision prunes unmanned plane, it is characterised in that including machine vision module, locus
Module, data processing module, communication module, flying power and control module, pruning module, central processing unit, power module；Institute
State the outfan of machine vision module, locus module and communication module to be connected with the input of data processing module, data
The outfan of processing module is connected with the input of central processing unit, and the outfan of central processing unit is moved with pruning module and flying
The input connection of power and control module；The power module is machine vision module, locus module, data processing mould
Block, communication module, flying power and control module, pruning module and central processing unit are powered.
According to such scheme, the fruit tree that can treat pruning by locus module and machine vision module carries out respectively three
Dimension space coordinate setting and shooting, then the specific position of fruit tree to be pruned and the image transmitting of shooting to data processing
Module, data processing module treats the position of pruning fruit trees and image information is analyzed process, by communication module and movement
The communication of intelligent terminal, the image feature data of the tender tip, tender shoots and stiff leaf of the fruit tree of acquisition is stored in data processing module, number
According to processing module based on analysis result the pruning information transfer for determining to central processing unit, then central processing unit control flight
Power and control module and pruning module are pruned automatically to fruit tree.
The intelligence prunes unmanned plane also includes range finder module, and range finder module is connected with central processing unit.
The range finder module for one of radar submodule, laser submodule, infrared submodule and ultrasound wave submodule or
It is multiple, it is capable of achieving the range finding for treating pruning fruit trees and the unmanned plane.
The range finder module also includes RGBD camera submodules, is capable of achieving flight avoidance.
The locus module includes height sensor and GNSS submodules.The GNSS submodules are GPS unit mould
Block or Big Dipper unit module, can make the lifting of positioning precision.
The real-time spatial data obtained by the locus module, at the data processing module
Reason and storage, set up the record for pruning position of the fruit tree.
The communication module be bluetooth submodule, Wifi submodules, Zigbee submodules, GPRS submodules in one or
It is multiple, realize the unmanned plane with mobile intelligent terminal or the communication of cloud service.
Compared with prior art, the beneficial effects of the utility model are, the unmanned plane can be to the tender tip of fruit tree, tender
Bud, stiff leaf are identified positioning by machine vision module, then automatically pruned, are extractd.This utility model operation letter
It is single, can effectively reduce the labor intensity of people and the complexity of pruning process.
Description of the drawings
Fig. 1 is the structural representation that a kind of intelligence based on machine vision of the present embodiment prunes unmanned plane.
Specific embodiment
Accompanying drawing being for illustration only property explanation, it is impossible to be interpreted as the restriction to this patent；It is attached in order to more preferably illustrate the present embodiment
Scheme some parts to have omission, zoom in or out, do not represent the size of actual product；
To those skilled in the art, it can be to understand that some known features and its explanation may be omitted in accompanying drawing
's.The technical solution of the utility model is described further with reference to the accompanying drawings and examples.
As shown in figure 1, a kind of intelligence based on machine vision of this utility model prunes unmanned plane, including machine vision mould
Block, locus module, data processing module, communication module, flying power and control module, prune module, central processing unit,
Power module.
The input of the machine vision module, the outfan of locus module and communication module and data processing module
Connection, the outfan of data processing module is connected with the input of central processing unit, the outfan and trim mode of central processing unit
The input connection of block and flying power and control module；The power module is machine vision module, locus module, number
Power according to processing module, communication module, flying power and control module, pruning module and central processing unit.
The intelligence prunes unmanned plane also includes range finder module, and range finder module is connected with central processing unit.The range finding mould
Block is one or more of radar submodule, laser submodule, infrared submodule and ultrasound wave submodule, is capable of achieving to wait to prune fruit
Set the range finding with the unmanned plane.The range finder module also includes RGBD camera submodules, is capable of achieving flight avoidance.
In such scheme, the locus module includes height sensor and GNSS submodules, by the height
Sensor obtains the real-time three-dimensional space coordinatess of the unmanned plane with GNSS submodules.The GNSS submodules can be that GPS is mono-
Element module or Big Dipper unit module.The real-time spatial data obtained by the locus module, via the data
Processing module is processed and stored, and sets up the record for pruning position of the fruit tree.
In such scheme, the communication module is bluetooth submodule, Wifi submodules, Zigbee submodules, GPRS
One or more in module, realize the communication of the unmanned plane and mobile intelligent terminal or cloud service, obtain fruit tree tender tip, tender
The image feature data of bud, stiff leaf, characteristic is stored in the data processing module.
The unmanned plane is shot by the fruit tree that the machine vision module treats pruning, with reference to the locus
The real-time three-dimensional spatial data of module, specific positional information and the image information transmission for shooting of fruit tree to be pruned
To data processing module, data processing module treats the position of pruning fruit trees and image information is analyzed process, further according to number
According to the fruit tree tender tip, tender shoots stored in processing module, the image feature data of stiff leaf, via the data processing module, it is determined that
The pruning information of the fruit tree to be cut, the pruning information for determining central processing unit is sent to, complete by described pruning module
Prune into automatic identification.
Above-described embodiment of the present utility model is only intended to clearly illustrate example of the present invention, and is not to this
The restriction of the embodiment of utility model.For those of ordinary skill in the field, on the basis of the above description also
Can make other changes in different forms.There is no need to be exhaustive to all of embodiment.It is all
Any modification, equivalent and improvement made within spirit of the present utility model and principle etc., should be included in this practicality new
Within type scope of the claims.
Claims (7)
1. a kind of intelligence based on machine vision prunes unmanned plane, it is characterised in that including machine vision module, locus mould
Block, data processing module, communication module, flying power and control module, pruning module, central processing unit, power module；It is described
The outfan of machine vision module, locus module and communication module is connected with the input of data processing module, at data
The outfan of reason module is connected with the input of central processing unit, outfan and pruning module and the flying power of central processing unit
And the input connection of control module；The power module be machine vision module, locus module, data processing module,
Communication module, flying power and control module, pruning module and central processing unit are powered.
2. the intelligence based on machine vision according to claim 1 prunes unmanned plane, it is characterised in that the intelligence is pruned
Unmanned plane also includes range finder module, and range finder module is connected with central processing unit.
3. the intelligence based on machine vision according to claim 2 prunes unmanned plane, it is characterised in that the range finder module
For one or more in radar submodule, laser submodule, infrared submodule, ultrasound wave submodule.
4. the intelligence based on machine vision according to claim 3 prunes unmanned plane, it is characterised in that the range finder module
Also include RGBD camera submodules.
5. the intelligence based on machine vision according to claim 1 prunes unmanned plane, it is characterised in that the locus
Module includes height sensor and GNSS submodules.
6. the intelligence based on machine vision according to claim 5 prunes unmanned plane, it is characterised in that the GNSS submodules
Block is GPS unit module or Big Dipper unit module.
7. the intelligence based on machine vision according to claim 1 prunes unmanned plane, it is characterised in that the communication module
For one or more in bluetooth submodule, Wifi submodules, Zigbee submodules, GPRS submodules.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621275536.5U CN206178480U (en) | 2016-11-25 | 2016-11-25 | Unmanned aerial vehicle is pruned to intelligence based on machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621275536.5U CN206178480U (en) | 2016-11-25 | 2016-11-25 | Unmanned aerial vehicle is pruned to intelligence based on machine vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206178480U true CN206178480U (en) | 2017-05-17 |
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|---|---|---|---|
| CN201621275536.5U Expired - Fee Related CN206178480U (en) | 2016-11-25 | 2016-11-25 | Unmanned aerial vehicle is pruned to intelligence based on machine vision |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108243761A (en) * | 2018-01-24 | 2018-07-06 | 广东容祺智能科技有限公司 | The tree potted landscape clipping device and pruning method of a kind of unmanned plane |
| CN113485448A (en) * | 2021-08-16 | 2021-10-08 | 浙江大学 | Autonomous trimming type unmanned aerial vehicle for gardens and control method thereof |
| CN113574538A (en) * | 2019-03-07 | 2021-10-29 | 立体修剪股份公司 | System and method for assisting in plant pruning |
-
2016
- 2016-11-25 CN CN201621275536.5U patent/CN206178480U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108243761A (en) * | 2018-01-24 | 2018-07-06 | 广东容祺智能科技有限公司 | The tree potted landscape clipping device and pruning method of a kind of unmanned plane |
| CN113574538A (en) * | 2019-03-07 | 2021-10-29 | 立体修剪股份公司 | System and method for assisting in plant pruning |
| CN113485448A (en) * | 2021-08-16 | 2021-10-08 | 浙江大学 | Autonomous trimming type unmanned aerial vehicle for gardens and control method thereof |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170517 Termination date: 20171125 |