WO2019237411A1 - Unmanned aerial vehicle plant protection monitoring system and method for manual control - Google Patents

Unmanned aerial vehicle plant protection monitoring system and method for manual control Download PDF

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Publication number
WO2019237411A1
WO2019237411A1 PCT/CN2018/092218 CN2018092218W WO2019237411A1 WO 2019237411 A1 WO2019237411 A1 WO 2019237411A1 CN 2018092218 W CN2018092218 W CN 2018092218W WO 2019237411 A1 WO2019237411 A1 WO 2019237411A1
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WIPO (PCT)
Prior art keywords
point
drone
gis
plant protection
crops
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PCT/CN2018/092218
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French (fr)
Chinese (zh)
Inventor
唐宇
骆少明
侯超钧
庄家俊
郭琪伟
孙胜
刘泽锋
陈亚勇
张恒涛
黄建钧
陈家政
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仲恺农业工程学院
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Publication of WO2019237411A1 publication Critical patent/WO2019237411A1/en

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0089—Regulating or controlling systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Definitions

  • the invention relates to the technical field of unmanned aerial vehicle plant protection, in particular to an unmanned aerial vehicle plant protection monitoring system and method for manual control.
  • the current drone plant protection technology relies on professional pilots. Pilots are technicians with professional drone control technology. Plant protection operations have very high requirements for the pilots. Within the distance of visual flight, the pilots must achieve high-lock, straight, and uniform flight. When flying pilots use drones to plant and protect agricultural and forest land, it is difficult to control drones to accurately carry out crops due to the obstruction of sight and the limitation of human control. Plant protection, and there is no guarantee that drones have plant protection in every part of the farmland. Therefore, it is necessary to develop a plant protection system that can control unmanned aerial vehicles to carry out plant protection on agricultural and forestry land accurately and without omission.
  • the present invention provides a drone plant protection monitoring system and method for manual control, which can assist the operator in accurately and not missing when manually controlling the drone. Plant protection of farmland.
  • a drone plant protection monitoring system for manual control comprising a positioning unit, a depth data acquisition unit, a GIS processing unit, and a manual control unit;
  • the positioning unit is configured to obtain the current position of the drone and send it to the GIS processing unit;
  • the GIS processing unit is used to receive the current position of the drone sent by the positioning unit and display it on the GIS map. It is also used to receive the set D sent by the depth data acquisition unit, and extract Z i at the i-th point in the set D, according to i distinguish the Z position corresponding to the i-th point whether cultivated crops, if the position corresponding to the i-th point cultivated crops, i placed in the set a, set X k extracted in the k-th point a will be d, Y k, Display the k-th point on the GIS map according to (X k , Y k ), k takes 1, 2, ..., n, n is the total number of points in set A, and displays all points in set A in turn on the GIS map on;
  • the manual control unit is configured to obtain a flight control command of a controller and control the drone to perform plant protection on the farmland according to the flight control command.
  • the depth data acquisition unit collects the depth point cloud data of the farmland and stores it as set D.
  • Each element in the set D represents each point, and each element stores each point in three dimensions.
  • the coordinate values in the rectangular coordinate system XYZ of, ie, the i-th element d i in the set D stores X i , Y i , Z i of the i-th point.
  • the XY plane of the rectangular coordinate system is a horizontal plane, and the direction corresponding to the Z axis is perpendicular to the horizontal plane.
  • the GIS processing unit draws each point in the set A on a GIS map, and the area where the drone needs to perform plant protection is displayed on the GIS map.
  • the operator can issue flight control commands to the manual control unit based on the area requiring plant protection displayed on the GIS map and the current position of the drone displayed on the GIS map, so as to control the drone to be accurate and not missed in the area requiring plant protection.
  • Ground plant protection According to the coordinates (X k , Y k ) of each point in the set A on the horizontal plane, the GIS processing unit draws each point in the set A on a GIS map, and the area where the drone needs to perform plant protection is displayed on the GIS map.
  • the operator can issue flight control commands to the manual control unit based on the area requiring plant protection displayed on the GIS map and the current position of the drone displayed on the GIS map, so as to control the drone to be accurate and not missed in the area requiring plant protection.
  • Ground plant protection Ground plant protection.
  • system further includes a color data acquisition unit
  • the GIS processing unit is further configured to receive the set D sent by the color data acquisition unit, extract R i , G i , and B i at the i-th point in the set D, and distinguish the i-point corresponding to the i-point according to R i , G i , and B i . Whether there are planted crops at the position. If there are planted crops at the position corresponding to the i-th point, place d i in the set B, and set the intersection of the set B, the set A and the set B, or the union of the set A and the set B as the set A. .
  • the color data acquisition unit collects the color point cloud data of the farmland.
  • the color point cloud data is added to the set D.
  • Each element in the set D saves the three-dimensional coordinates of each point. storing the color value of each point three channels, i.e. the set D i D i th element of the i-th stored point X i, Y i, Z i, R i, G i, B i.
  • R i , G i, and B i collected by the color data acquisition unit are different.
  • R i, G i, B i the position corresponding to point i to distinguish whether cultivated crops, is determined to have a position corresponding to the point of planting crops are placed in set B according to R i, G i, B i .
  • the GIS processing unit draws each point in the set A on a GIS map, and the area where the drone needs to be plant protected is displayed on the GIS map.
  • the GIS processing unit is further configured to arrange the points in the set A in an order according to the sizes of X k and Y k , and connect the points in the set A displayed on the GIS map according to the order.
  • the connected line is the flight path of the drone.
  • the operator can easily and intuitively determine the flight path of the drone. According to the connection and the current position of the drone, it can control the precise plant protection of the drone, and ensure that every position where the crops are planted is plant protected.
  • UAVs In order to ensure the quality of plant protection, UAVs need to keep a certain distance from the tip of crops in order to ensure the quality of plant protection. It is necessary to ensure effective plant protection of crops and to avoid damage to crops caused by the strong airflow caused by the drone rotors. Therefore, by calculating the flying height of the drone through the GIS processing unit, while drawing each point in the set A on the GIS map and connecting the points in order to form a flight path, when the distance between two adjacent points on the flight path is When the difference in flying height is too large to exceed the set threshold, the flying heights of the two adjacent points are displayed on the GIS map corresponding to the two adjacent points, indicating that the drone is in this phase. The adjacent two points need to climb or descend a large height, which needs to attract the attention of the operator, which is more conducive for the operator to accurately control the flying height of the drone when plant protection is performed on the crop.
  • the GIS processing unit is further configured to obtain the current height of the drone, and when ⁇ h j does not exceed a set threshold, display the current height of the drone on a GIS map.
  • the controller When the difference in flight height between two adjacent points on the flight path is not very large, the controller only needs to ensure that the control drone is flying at a relatively stable altitude. Therefore, the current height of the drone can be obtained through the GIS processing unit and displayed on the GIS map. It can monitor in real time whether the drone is flying at a relatively stable altitude, and can timely find the drone's sudden drop or rapid rise out of control. appear.
  • the value of c is from 0.5m to 1.5m.
  • the UAV When the UAV is in plant protection operation, the UAV is generally about 1 m above the leaf tip of the crop. Therefore, the value of c is preferably 0.5 m to 1.5 m.
  • h k ⁇ 2m.
  • the drone For low crops, the drone needs to be about 2m above the ground. Therefore, the flying height of the drone cannot be less than 2m.
  • a drone plant protection monitoring method for manual control includes the following steps:
  • S3 extract the set D Z i of the i-th point, if there is growing crops in accordance with the Z i corresponding to the i-th position of the distinguished point, if the position of the corresponding point i cultivated crops, i will be placed in set A D;
  • the depth point cloud data of the farmland is collected and stored as set D.
  • Each element in the set D represents each point, and each element stores each point in a three-dimensional rectangular coordinate system.
  • the coordinate values under XYZ, that is, the i-th element d i in the set D stores X i , Y i , Z i of the i-th point.
  • the XY plane of the rectangular coordinate system is a horizontal plane, and the direction corresponding to the Z axis is perpendicular to the horizontal plane.
  • the GIS processing unit draws each point in the set A on a GIS map, and the area where the drone needs to perform plant protection is displayed on the GIS map.
  • the operator can issue a flight control command to control the drone to perform accurate and unobtrusive plant protection in the area where the plant protection is required according to the area where the plant protection is displayed on the GIS map and the current position of the drone displayed on the GIS map.
  • step S3 further extraction R i, G i, B i of the i-th point within the set of D, if the position of crops cultivated R i, G i, B i corresponding to point i to distinguish, if the point corresponding to the i location of planting crops, I d will be placed in the set B, the set B, set intersection, or a and set B and set a set B and set as a set A.
  • the color point cloud data of the farmland is collected, and the color point cloud data is added to the set D.
  • Each element in the set D stores each of the three-dimensional coordinates of each point, and each point value of the three color channels, i.e., the set of D i D i th element of the i-th stored point X i, Y i, Z i, R i, G i, B i.
  • each point in the set A is drawn on the GIS map, and the area where the drone needs to be protected is displayed on the GIS map, which improves the GIS map.
  • the accuracy of the plant protection area shown above is required.
  • the points in the set A are arranged according to the sizes of Xk and Yk , and the points in the set A displayed on the GIS map are connected according to the order.
  • the connected line is the flight path of the drone.
  • the operator can easily and intuitively determine the flight path of the drone. According to this connection, it is possible to control the precise plant protection of the drone, and to ensure that each crop planting position is plant protected.
  • UAVs In order to ensure the quality of plant protection, UAVs need to keep a certain distance from the tip of crops in order to ensure the quality of plant protection. It is necessary to ensure effective plant protection of crops and to avoid damage to crops caused by the strong airflow caused by the drone rotors. Therefore, by calculating the flying height of the drone, while drawing each point in the set A on the GIS map and connecting the points in order to form a flight path, when the flight height between two adjacent points on the flight path is When the difference is too large to exceed the set threshold, the flying heights of the two adjacent points are displayed on the GIS map corresponding to the two adjacent points, indicating that the drone is in the two adjacent points. It is necessary to climb or descend a large height between these points, which needs to attract the attention of the operator, which is more conducive to the operator to accurately control the flying height of the drone when it is performing crop protection.
  • step S1 the current height of the drone is also obtained.
  • step S4 when ⁇ h j does not exceed the set threshold, the current height of the drone is displayed on the GIS map.
  • the controller When the difference in flight height between two adjacent points on the flight path is not very large, the controller only needs to ensure that the control drone is flying at a relatively stable altitude. Therefore, by obtaining the current height of the drone and displaying it on the GIS map, it can be monitored in real time whether the drone is flying at a relatively stable altitude, and it can be found in time that the drone's drooping or rising out of control situation appears.
  • the value of c is from 0.5m to 1.5m.
  • the UAV When the UAV is in plant protection operation, the UAV is generally about 1 m above the leaf tip of the crop. Therefore, the value of c is preferably 0.5 m to 1.5 m.
  • h k ⁇ 2m.
  • the drone For low crops, the drone needs to be about 2m above the ground. Therefore, the flying height of the drone cannot be less than 2m.
  • the depth information and color information of the farmland collected by the drone are obtained through the GIS processing unit. After analysis and processing, the area where the crops are planted in the farmland is displayed on the GIS map. The operator can use the GIS map to display Areas where crops are planted, and control of drones to accurately and non-missively plant crops in farmland;
  • FIG. 1 is a schematic diagram of a system composition according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of displaying a GIS map according to an embodiment of the present invention.
  • FIG. 3 is another schematic diagram of displaying a GIS map according to an embodiment of the present invention.
  • a drone plant protection monitoring system for manual manipulation includes a positioning unit 11, a depth data acquisition unit 12, a GIS processing unit 20, and a manual control unit 30;
  • the positioning unit 11 is configured to obtain the current position of the drone and send it to the GIS processing unit 20;
  • the GIS processing unit 20 is used to receive the current position of the drone sent by the positioning unit 11 and display it on the GIS map. It is also used to receive the set D sent by the depth data acquisition unit 12 and extract the Z of the i-th point in the set D i, according to whether there is distinction between the Z i corresponding to the i-th position of the point of planting crops, if the position corresponding to the i-th point cultivated crops, i placed in the set a, set X k extracted in the k-th point a will be d, Y k , display the k-th point on the GIS map according to (X k , Y k ), k takes 1, 2, ..., n, n is the total number of points in set A, and displays all points in set A in turn On a GIS map;
  • the manual control unit 30 is configured to obtain a flight control command from a controller and control the drone to perform plant protection on the farmland according to the flight control command.
  • the depth data acquisition unit 12 collects the depth point cloud data of the farmland and stores it as set D.
  • Each element in the set D represents each point, and each element stores each point in the
  • the XY plane of the rectangular coordinate system is a horizontal plane, and the direction corresponding to the Z axis is perpendicular to the horizontal plane.
  • the GIS processing unit 20 draws each point in the set A on a GIS map, and the area where the drone needs to perform plant protection is displayed on the GIS map.
  • the operator can issue flight control commands to the manual control unit 30 according to the area requiring plant protection displayed on the GIS map and the current position of the drone displayed on the GIS map, so as to control the drone to be accurate and not required in the area requiring plant protection. Missing plant protection.
  • system further includes a color data acquisition unit 13;
  • the GIS processing unit 20 is further configured to receive the set D sent by the color data acquisition unit 13 and extract R i , G i , and B i at the i-th point in the set D, and distinguish the i-th point according to R i , G i , and B i . whether a position corresponding to cultivated crops, if the position corresponding to the i-th point cultivated crops, d i in the set B will be placed in the set B, set intersection, or a and set B and set a set B and set as Collection A.
  • the color data acquisition unit 13 collects the color point cloud data of the farmland.
  • the color point cloud data is added to the set D.
  • Each element in the set D saves the 3D coordinates of each point. also stores the value of each point of the three color channels, i.e., the set of D i D i th element of the i-th stored point X i, Y i, Z i, R i, G i, B i.
  • the R i , G i , and B i collected by the color data acquisition unit 13 are different.
  • the R i, G i, B i the position corresponding to point i to distinguish whether cultivated crops, the crops are grown with a point set B is placed in a position in accordance with the corresponding R i, G i, B i is determined.
  • the GIS processing unit 20 draws each point in the set A on a GIS map, and the area where the drone needs plant protection is displayed on the GIS map. Improve the accuracy of plant protection areas displayed on GIS maps.
  • the GIS processing unit 20 is further configured to arrange the points in the set A according to the sizes of X k and Y k , and display the points on the GIS map in this order. Each point in the set A is connected.
  • the connected line is the flight path of the drone.
  • the operator can easily and intuitively determine the flight path of the drone. According to the connection and the current position of the drone, it can control the precise plant protection of the drone, and ensure that every position where the crops are planted is plant protected.
  • h j and h j + 1 are displayed in the form of labels at positions corresponding to the jth point and the j + 1th point on the GIS map, respectively.
  • XX in FIG. 2 indicates the flying height corresponding to the point indicated by the label.
  • UAVs In order to ensure the quality of plant protection, UAVs need to keep a certain distance from the tip of crops in order to ensure the quality of plant protection. It is necessary to ensure effective plant protection of crops and to avoid damage to crops caused by the strong airflow caused by the drone rotors.
  • the flying height of the drone through the GIS processing unit 20, while drawing each point in the set A on the GIS map and connecting the points in order to form a flight path, when two adjacent points on the flight path
  • the difference between the flying heights of the two is too large to exceed the set threshold, the flying heights of the two adjacent points are displayed on the GIS map corresponding to the two adjacent points, indicating that the drone is here
  • the adjacent two points need to climb or descend a large height, which needs to attract the attention of the operator, which is more conducive for the operator to accurately control the flying height of the drone when it is plant protection.
  • the GIS processing unit 20 is further configured to obtain the current height of the drone.
  • the GIS processing unit 20 displays the current height of the drone on the GIS map.
  • XX in FIG. 3 indicates the flying height corresponding to the point indicated by the label.
  • the controller When the difference in flight height between two adjacent points on the flight path is not very large, the controller only needs to ensure that the control drone is flying at a relatively stable altitude. Therefore, the current height of the drone can be obtained through the GIS processing unit 20 and displayed on the GIS map. It can be monitored in real time whether the drone is flying at a relatively stable altitude, and the drone's rapid descent or runaway can be detected in time. The situation appears.
  • the GIS processing unit displays the GIS map and the current height of the drone in different windows.
  • the GIS map is displayed in a large window
  • the current height of the drone is displayed in a small window
  • the small window is located at the corner of the large window.
  • the GIS processing unit 20 when ⁇ h j exceeds a set threshold, the GIS processing unit 20 also displays the current height of the drone on a GIS map in the form of a tag, allowing the operator to monitor the drone in real time.
  • the current altitude when ⁇ h j exceeds a set threshold, the GIS processing unit 20 also displays the current height of the drone on a GIS map in the form of a tag, allowing the operator to monitor the drone in real time.
  • the current altitude is displayed on a GIS map in the form of a tag.
  • the value of c is from 0.5m to 1.5m.
  • the UAV When the UAV is in plant protection operation, the UAV is generally about 1 m above the leaf tip of the crop. Therefore, the value of c is preferably 0.5 m to 1.5 m.
  • h k ⁇ 2m.
  • the drone For low crops, the drone needs to be about 2m above the ground. Therefore, the flying height of the drone cannot be less than 2m.
  • a drone plant protection monitoring method for manual control includes the following steps:
  • S3 extract the set D Z i of the i-th point, if there is growing crops in accordance with the Z i corresponding to the i-th position of the distinguished point, if the position of the corresponding point i cultivated crops, i will be placed in set A D;
  • the depth point cloud data of the farmland is collected and stored as set D.
  • Each element in the set D represents each point, and each element stores each point in a three-dimensional rectangular coordinate system.
  • the coordinate values under XYZ, that is, the i-th element d i in the set D stores X i , Y i , Z i of the i-th point.
  • the XY plane of the rectangular coordinate system is a horizontal plane, and the direction corresponding to the Z axis is perpendicular to the horizontal plane.
  • the GIS processing unit 20 draws each point in the set A on a GIS map, and the area where the drone needs to perform plant protection is displayed on the GIS map.
  • the operator can issue a flight control command to control the drone to perform accurate and unobtrusive plant protection in the area where the plant protection is required according to the area where the plant protection is displayed on the GIS map and the current position of the drone displayed on the GIS map.
  • step S3 further extraction R i, G i, B i of the i-th point within the set of D, if the position of crops cultivated R i, G i, B i corresponding to point i to distinguish, if the point corresponding to the i location of planting crops, I d will be placed in the set B, the set B, set intersection, or a and set B and set a set B and set as a set A.
  • the color point cloud data of the farmland is collected, and the color point cloud data is added to the set D.
  • Each element in the set D stores each of the points in addition to the three-dimensional coordinates of each point. point value of the three color channels, i.e., the set of D i D i th element of the i-th stored point X i, Y i, Z i, R i, G i, B i.
  • each point in the set A is drawn on the GIS map, and the area where the drone needs to be protected is displayed on the GIS map, which improves the GIS map.
  • the accuracy of the plant protection area shown above is required.
  • step S4 the points in the set A are also arranged according to the sizes of X k and Y k , and the displayed points on the GIS map are arranged in this order. Set the points in A to connect.
  • the connected line is the flight path of the drone.
  • the operator can easily and intuitively determine the flight path of the drone. According to this connection, it is possible to control the precise plant protection of the drone, and to ensure that each crop planting position is plant protected.
  • h j and h j + 1 are displayed in the form of labels at positions corresponding to the jth point and the j + 1th point on the GIS map, respectively.
  • XX in FIG. 2 indicates the flying height corresponding to the point indicated by the label.
  • UAVs In order to ensure the quality of plant protection, UAVs need to keep a certain distance from the tip of crops in order to ensure the quality of plant protection. It is necessary to ensure effective plant protection of crops and to avoid damage to crops caused by the strong airflow caused by the drone rotors. Therefore, by calculating the flying height of the drone, while drawing each point in the set A on the GIS map and connecting the points in order to form a flight path, when the flight height between two adjacent points on the flight path is When the difference is too large to exceed the set threshold, the flying heights of the two adjacent points are displayed on the GIS map corresponding to the two adjacent points, indicating that the drone is in the two adjacent points. It is necessary to climb or descend a large height between these points, which needs to attract the attention of the operator, which is more conducive to the operator to accurately control the flying height of the drone when it is performing crop protection.
  • step S1 the current height of the drone is also obtained
  • step S4 as shown in FIG. 3, when ⁇ h j does not exceed the set threshold, the current height of the drone is displayed on the GIS map.
  • XX in FIG. 3 indicates the flying height corresponding to the point indicated by the label.
  • the controller When the difference in flight height between two adjacent points on the flight path is not very large, the controller only needs to ensure that the control drone is flying at a relatively stable altitude. Therefore, by obtaining the current height of the drone and displaying it on the GIS map, it can be monitored in real time whether the drone is flying at a relatively stable altitude, and it can be found in time that the drone's drooping or rising out of control situation appears.
  • the current height of the drone is also displayed on the GIS map in the form of a label, so that the operator can monitor the current height of the drone in real time.
  • the value of c is from 0.5m to 1.5m.
  • the UAV When the UAV is in plant protection operation, the UAV is generally about 1 m above the leaf tip of the crop. Therefore, the value of c is preferably 0.5 m to 1.5 m.
  • h k ⁇ 2m.
  • the drone For low crops, the drone needs to be about 2m above the ground. Therefore, the flying height of the drone cannot be less than 2m.

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Abstract

An unmanned aerial vehicle plant protection monitoring system and method for manual control, comprising a positioning unit (11), a depth data collecting unit (12), a color data collecting unit (13), a GIS processing unit (20), and a manual control unit (30). Farmland depth information and color information respectively collected by the depth data collecting unit (12) and the color data collecting unit (13) are acquired by means of the GIS processing unit (20); an area, where crops are planted, in farmland is displayed on a GIS map after analyzing and processing are carried out, and an operator can input a flight control command in a manual control unit to control an unmanned aerial vehicle to precisely carry out plant protection on the crops in the farmland without omission according to the area, where the crops are planted, displayed on the map.

Description

一种用于手动操控的无人机植保监控系统及方法UAV plant protection monitoring system and method for manual control 技术领域Technical field
本发明涉及无人机植保技术领域，具体涉及一种用于手动操控的无人机植保监控系统及方法。The invention relates to the technical field of unmanned aerial vehicle plant protection, in particular to an unmanned aerial vehicle plant protection monitoring system and method for manual control.
背景技术Background technique
现行的无人机植保技术依赖于专业的飞手，飞手是指拥有专业的无人机操控技术的技术人员。植保作业对飞手的要求非常高，在目视飞行的距离内，飞手必须要做到锁高、直线、匀速飞行。飞手在操控无人机对农林地进行植保时，由于视线的阻碍以及人为操控的局限性，即使是拥有无人机专业操控技能的飞手，也很难控制无人机精准地对农作物进行植保，并且不能保证无人机对农田的每一个地方都进行了植保。因此，需要研发出可以控制无人机精准且不遗漏地对农林地进行植保的植保系统。The current drone plant protection technology relies on professional pilots. Pilots are technicians with professional drone control technology. Plant protection operations have very high requirements for the pilots. Within the distance of visual flight, the pilots must achieve high-lock, straight, and uniform flight. When flying pilots use drones to plant and protect agricultural and forest land, it is difficult to control drones to accurately carry out crops due to the obstruction of sight and the limitation of human control. Plant protection, and there is no guarantee that drones have plant protection in every part of the farmland. Therefore, it is necessary to develop a plant protection system that can control unmanned aerial vehicles to carry out plant protection on agricultural and forestry land accurately and without omission.
发明内容Summary of the Invention
本发明为了克服现有技术所述的至少一种缺陷(不足)，提供一种用于手动操控的无人机植保监控系统及方法，可以辅助操控人员在手动操控无人机时精准且不遗漏地对农田进行植保。In order to overcome at least one of the defects (deficiencies) described in the prior art, the present invention provides a drone plant protection monitoring system and method for manual control, which can assist the operator in accurately and not missing when manually controlling the drone. Plant protection of farmland.
为实现本发明的目的，采用以下技术方案予以实现：In order to achieve the purpose of the present invention, the following technical solutions are used to achieve it:
一种用于手动操控的无人机植保监控系统，包括定位单元、深度数据采集单元、GIS处理单元、手动控制单元；A drone plant protection monitoring system for manual control, comprising a positioning unit, a depth data acquisition unit, a GIS processing unit, and a manual control unit;
所述定位单元，用于获取无人机当前位置并发送到GIS处理单元；The positioning unit is configured to obtain the current position of the drone and send it to the GIS processing unit;
所述深度数据采集单元，用于采集农田的深度点云数据并将深度点云数据存储为集合D＝{d 1,d 2,......,d m}，其中d i＝(X i,Y i,Z i)，X i、Y i、Z i分别表示第i点在直角坐标系X-Y-Z下的坐标值，所述直角坐标系的X-Y平面为水平面，Z轴对应的方向是垂直于水平面的，i＝1,2,……,m，m为集合D中点的总数，并将集合D发送到GIS处理单元； The depth data acquisition unit is configured to collect the depth point cloud data of the farmland and store the depth point cloud data as a set D = {d 1 , d 2 , ..., d m }, where d i = ( X i, Y i, Z i ), X i, Y i, Z i denote the i-th point coordinate in the XYZ rectangular coordinate system, XY plane of the rectangular coordinate system is a horizontal plane, Z-axis direction corresponding to Perpendicular to the horizontal plane, i = 1, 2, ..., m, m is the total number of points in the set D, and sends the set D to the GIS processing unit;
所述GIS处理单元，用于接收定位单元发送的无人机当前位置并显示在GIS地图上，还用于接收深度数据采集单元发送的集合D，提取集合D内第i点的Z i，根据Z i区分第i点的对应的位置是否有种植农作物，若第i点对应的位置有种植 农作物，则将d i放置在集合A中，提取集合A内第k点的X k、Y k，根据(X k，Y k)将第k点显示在GIS地图上，k取1,2,……,n，n为集合A中点的总数，将集合A内的所有点依次显示在GIS地图上； The GIS processing unit is used to receive the current position of the drone sent by the positioning unit and display it on the GIS map. It is also used to receive the set D sent by the depth data acquisition unit, and extract Z i at the i-th point in the set D, according to i distinguish the Z position corresponding to the i-th point whether cultivated crops, if the position corresponding to the i-th point cultivated crops, i placed in the set a, set X k extracted in the k-th point a will be d, Y k, Display the k-th point on the GIS map according to (X k , Y k ), k takes 1, 2, ..., n, n is the total number of points in set A, and displays all points in set A in turn on the GIS map on;
所述手动控制单元，用于获取操控人员的飞行控制命令并根据飞行控制命令控制无人机对农田进行植保。The manual control unit is configured to obtain a flight control command of a controller and control the drone to perform plant protection on the farmland according to the flight control command.
当无人机在农田中飞行时，深度数据采集单元采集农田的深度点云数据并存储为集合D，集合D内的每个元素代表每一个点，每个元素都存储了每一个点在三维的直角坐标系X-Y-Z下的坐标值，也即集合D内第i个元素d i存储了第i点的X i、Y i、Z i。直角坐标系的X-Y平面为水平面，Z轴对应的方向是垂直于水平面的。 When the drone is flying in the farmland, the depth data acquisition unit collects the depth point cloud data of the farmland and stores it as set D. Each element in the set D represents each point, and each element stores each point in three dimensions. The coordinate values in the rectangular coordinate system XYZ of, ie, the i-th element d i in the set D stores X i , Y i , Z i of the i-th point. The XY plane of the rectangular coordinate system is a horizontal plane, and the direction corresponding to the Z axis is perpendicular to the horizontal plane.
在农田中有种植农作物的位置和没有种植农作物的位置在高度上有明显区别的，无人机所采集的Z i是不同的，因此可以根据第i点的Z i区分第i点对应的位置是否有种植农作物。因为有种植农作物的位置需要无人机去植保，该位置必须包含在无人机的飞行路径上，所以GIS处理单元将根据Z i判断为对应的位置有种植农作物的点均放置在集合A中。 There is a significant difference in height between the position where crops are planted and the position where no crops are planted. The Z i collected by the drone is different, so the position corresponding to the i point can be distinguished according to the z i of the i point Are there any crops grown? Because the location where the crops are planted needs drones for plant protection, the location must be included in the flight path of the drones, so the GIS processing unit will place the points where the crops are planted in the corresponding location determined by Z i in the set A .
根据集合A内各个点在水平面上的坐标(X k，Y k)，GIS处理单元将集合A内各个点绘制在GIS地图上，在GIS地图上即显示无人机需要进行植保的区域。操控人员可以根据GIS地图上所显示的需要植保的区域以及GIS地图上所显示的无人机当前位置，向手动控制单元发出飞行控制命令，从而控制无人机在需要植保区域进行精准且不遗漏地植保。 According to the coordinates (X k , Y k ) of each point in the set A on the horizontal plane, the GIS processing unit draws each point in the set A on a GIS map, and the area where the drone needs to perform plant protection is displayed on the GIS map. The operator can issue flight control commands to the manual control unit based on the area requiring plant protection displayed on the GIS map and the current position of the drone displayed on the GIS map, so as to control the drone to be accurate and not missed in the area requiring plant protection. Ground plant protection.
进一步地，所述系统还包括彩色数据采集单元；Further, the system further includes a color data acquisition unit;
所述彩色数据采集单元，用于采集农田的彩色点云数据并将彩色点云数据添加在集合D中，d i＝(X i,Y i,Z i,R i,G i,B i)，R i、G i、B i分别表示第i点三个颜色通道的值，并将集合D发送到GIS处理单元； The color data acquisition unit is configured to collect color point cloud data of farmland and add the color point cloud data to the set D, where d i = (X i , Y i , Z i , R i , G i , B i ) , R i , G i , and B i respectively represent the values of the three color channels of the i-th point, and send the set D to the GIS processing unit;
所述GIS处理单元还用于接收彩色数据采集单元发送的集合D，提取集合D内第i点的R i、G i、B i，根据R i、G i、B i区分第i点对应的位置是否有种植农作物，若第i点对应的位置有种植农作物，则将d i放置在集合B中，将集合B、集合A与集合B的交集或者集合A与集合B的并集作为集合A。 The GIS processing unit is further configured to receive the set D sent by the color data acquisition unit, extract R i , G i , and B i at the i-th point in the set D, and distinguish the i-point corresponding to the i-point according to R i , G i , and B i . Whether there are planted crops at the position. If there are planted crops at the position corresponding to the i-th point, place d i in the set B, and set the intersection of the set B, the set A and the set B, or the union of the set A and the set B as the set A. .
当无人机在农田中飞行时，彩色数据采集单元采集农田的彩色点云数据，彩色点云数据添加在集合D中，集合D内的每个元素除了存储每一个点的三维坐标以外，还存储了每一个点三个颜色通道的值，也即集合D内第i个元素d i存储了第i点的X i、Y i、Z i、R i、G i、B i。 When the drone is flying in the farmland, the color data acquisition unit collects the color point cloud data of the farmland. The color point cloud data is added to the set D. Each element in the set D saves the three-dimensional coordinates of each point. storing the color value of each point three channels, i.e. the set D i D i th element of the i-th stored point X i, Y i, Z i, R i, G i, B i.
在农田中有种植农作物的位置和没有种植农作物的位置在颜色上是有明显区别的，用彩色数据采集单元所采集的R i、G i、B i是不同的，因此可以根据第i点的R i、G i、B i区分第i点对应的位置是否有种植农作物，将根据R i、G i、B i判断为对应的位置有种植农作物的点均放置在集合B中。 There is a clear difference in color between the position where crops are planted and the position where no crops are planted in the field. The R i , G i , and B i collected by the color data acquisition unit are different. R i, G i, B i the position corresponding to point i to distinguish whether cultivated crops, is determined to have a position corresponding to the point of planting crops are placed in set B according to R i, G i, B i .
不同农作物在农田中的高度、颜色是不同的。有一些农作物生长高度较高，根据Z i去判断第i点对应的位置是否有种植农作物较为准确；有一些农作物颜色较有辨识度，根据R i、G i、B i去判断第i点对应的位置是否有种植农作物较为准确。因此，在实际中根据农田所种植农作物的特点，可以单独根据Z i去判断，也可以单独根据R i、G i、B i去判断，将集合B作为集合A，还可以结合Z i、R i、G i、B i综合去判断，将集合A和集合B的交集或并集作为集合A。 Different crops have different heights and colors in the field. Some crop growth higher altitude, the Z i according to the i-th judgment point corresponding to the position if there is more accurate planting crops; some crops are more recognizable color, according to R i, G i, B i to the i-th judgment point corresponding to It is more accurate to check whether there are crops in the location. Thus, in practice, according to the characteristics of farmland planted crops may be based solely on Z i to judge, also be used alone to judge according to R i, G i, B i , the set B as a set A, may also be combined Z i, R i, G i, B i integrated to judge the intersection of set a and set B and set as a set or A.
根据集合A内各个点在水平面上的坐标(X k，Y k)，GIS处理单元将集合A内各个点绘制在GIS地图上，在GIS地图上即显示无人机需要进行植保的区域，提高在GIS地图上所显示的需要植保区域的精准度。 According to the coordinates (X k , Y k ) of each point in the set A on the horizontal plane, the GIS processing unit draws each point in the set A on a GIS map, and the area where the drone needs to be plant protected is displayed on the GIS map. The accuracy of the plant protection area displayed on the GIS map.
进一步地，所述GIS处理单元还用于根据X k、Y k的大小将集合A内各个点排列顺序，并按照该顺序对显示在GIS地图上的集合A内各个点进行连线。 Further, the GIS processing unit is further configured to arrange the points in the set A in an order according to the sizes of X k and Y k , and connect the points in the set A displayed on the GIS map according to the order.
根据X k、Y k的大小顺序将显示在GIS地图上的各个点进行连线，所连成的线即为无人机的飞行路径，操控人员可以方便、直观地确定无人机的飞行路径，根据该连线以及无人机当前位置可以控制无人机精准植保，且保证每一个种植农作物的位置都被植保了。 Connect the points displayed on the GIS map according to the order of X k and Y k . The connected line is the flight path of the drone. The operator can easily and intuitively determine the flight path of the drone. According to the connection and the current position of the drone, it can control the precise plant protection of the drone, and ensure that every position where the crops are planted is plant protected.
进一步地，所述GIS处理单元还用于提取集合A内第k点的Z k，根据Z k计算第k点的飞行高度h k＝Z k+c，c为无人机与农作物的距离； Further, the processing unit is further configured to extract GIS k of the Z k in the set point A, is calculated according to the k-th point of the Z k fly height h k = Z k + c, c is the distance of the UAV and crops;
按照所述顺序计算第j点和第j+1点之间的飞行高度之差Δh j，j＝1,2,……,n-1，当Δh j超过设定的阈值时，将h j和h j+1分别以标签的形式显示在GIS地图上第j点和第j+1点对应的位置。 Calculate the difference in flight height Δh j between the j-th point and the j + 1-th point in the stated order, j = 1, 2, ..., n-1. When Δh j exceeds the set threshold, set h j And h j + 1 are displayed in the form of labels on the GIS map corresponding to the jth point and the j + 1th point, respectively.
无人机在植保作业时，为了保证植保的质量，需要与农作物叶尖保持一定距离，既要保证对农作物的有效植保，又要避免无人机旋翼所造成的强气流对农作物造成伤害。因此，通过GIS处理单元计算无人机的飞行高度，在GIS地图上绘制集合A内各个点并将各个点按顺序连线形成飞行路径的同时，当飞行路径上相邻两个点之间的飞行高度之差太大，以致于超过所设定的阈值时，将这相邻两个点的飞行高度分别显示在GIS地图上这相邻两个点对应的位置，表明无人机在这相邻的两个点之间需要爬升或下降较大的高度，需要引起操控人员的注意，更有利于操控人员精准地控制无人机对农作物进行植保时的飞行高度。In order to ensure the quality of plant protection, UAVs need to keep a certain distance from the tip of crops in order to ensure the quality of plant protection. It is necessary to ensure effective plant protection of crops and to avoid damage to crops caused by the strong airflow caused by the drone rotors. Therefore, by calculating the flying height of the drone through the GIS processing unit, while drawing each point in the set A on the GIS map and connecting the points in order to form a flight path, when the distance between two adjacent points on the flight path is When the difference in flying height is too large to exceed the set threshold, the flying heights of the two adjacent points are displayed on the GIS map corresponding to the two adjacent points, indicating that the drone is in this phase. The adjacent two points need to climb or descend a large height, which needs to attract the attention of the operator, which is more conducive for the operator to accurately control the flying height of the drone when plant protection is performed on the crop.
进一步地，所述GIS处理单元还用于获取无人机当前高度，当Δh j不超过设定的阈值时，将无人机当前高度显示在GIS地图上。 Further, the GIS processing unit is further configured to obtain the current height of the drone, and when Δh j does not exceed a set threshold, display the current height of the drone on a GIS map.
当飞行路径上相邻两个点之间的飞行高度之差均没有很大时，操控人员只需要保证控制无人机在一个相对稳定的高度上飞行即可。因此，通过GIS处理单元获取无人机当前高度，并显示在GIS地图上，可以实时监控无人机是否在一个相对稳定的高度上飞行，可以及时发现无人机急降或急升的失控状况出现。When the difference in flight height between two adjacent points on the flight path is not very large, the controller only needs to ensure that the control drone is flying at a relatively stable altitude. Therefore, the current height of the drone can be obtained through the GIS processing unit and displayed on the GIS map. It can monitor in real time whether the drone is flying at a relatively stable altitude, and can timely find the drone's sudden drop or rapid rise out of control. appear.
优选地，c的取值为0.5m～1.5m。Preferably, the value of c is from 0.5m to 1.5m.
无人机在植保作业时，无人机一般在距离农作物叶尖以上1m左右，因此，c的取值优选为0.5m～1.5m。When the UAV is in plant protection operation, the UAV is generally about 1 m above the leaf tip of the crop. Therefore, the value of c is preferably 0.5 m to 1.5 m.
优选地，h k≥2m。 Preferably, h k ≧ 2m.
对于低矮农作物，无人机需要在距离地面以上2m左右。因此，无人机的飞行高度不能小于2m。For low crops, the drone needs to be about 2m above the ground. Therefore, the flying height of the drone cannot be less than 2m.
一种用于手动操控的无人机植保监控方法，包括以下步骤：A drone plant protection monitoring method for manual control includes the following steps:
S1.获取无人机当前位置并显示在GIS地图上；S1. Obtain the current position of the drone and display it on the GIS map;
S2.采集农田的深度点云数据并将深度点云数据存储为集合D＝{d 1,d 2,......,d m}，其中d i＝(X i,Y i,Z i)，X i、Y i、Z i分别表示第i点在直角坐标系X-Y-Z下的坐标值，所述直角坐标系的X-Y平面为水平面，Z轴对应的方向是垂直于水平面的，i＝1,2,……,m，m为集合D中点的总数； S2. Collect the depth point cloud data of farmland and store the depth point cloud data as a set D = {d 1 , d 2 , ..., d m }, where d i = (X i , Y i , Z i), X i, Y i , Z i denote the i-th point coordinate in the XYZ rectangular coordinate system, XY plane of the rectangular coordinate system is a horizontal plane, corresponding to the Z-axis direction is perpendicular to the horizontal plane, i = 1,2, ..., m, m is the total number of points in the set D;
S3.提取集合D内第i点的Z i，根据Z i区分第i点的对应的位置是否有种植农作物，若第i点对应的位置有种植农作物，则将d i放置在集合A中； . S3 extract the set D Z i of the i-th point, if there is growing crops in accordance with the Z i corresponding to the i-th position of the distinguished point, if the position of the corresponding point i cultivated crops, i will be placed in set A D;
S4.提取集合A内第k点的X k、Y k，根据(X k，Y k)将第k点显示在GIS 地图上，k取1,2,……,n，n为集合A中点的总数，将集合A内的所有点依次显示在GIS地图上； S4. Extract the k k , Y k of the k- th point in the set A, and display the k-th point on the GIS map according to (X k , Y k ), where k is 1, 2, ..., n, and n is the set A. The total number of points, all points in the set A are displayed on the GIS map in order;
S5.获取操控人员的飞行控制命令并根据飞行控制命令控制无人机对农田进行植保。S5. Obtain the flight control command of the controller and control the drone to plant protect the farmland according to the flight control command.
当无人机在农田中飞行时，采集农田的深度点云数据并存储为集合D，集合D内的每个元素代表每一个点，每个元素都存储了每一个点在三维的直角坐标系X-Y-Z下的坐标值，也即集合D内第i个元素d i存储了第i点的X i、Y i、Z i。直角坐标系的X-Y平面为水平面，Z轴对应的方向是垂直于水平面的。 When the drone is flying in the farmland, the depth point cloud data of the farmland is collected and stored as set D. Each element in the set D represents each point, and each element stores each point in a three-dimensional rectangular coordinate system. The coordinate values under XYZ, that is, the i-th element d i in the set D stores X i , Y i , Z i of the i-th point. The XY plane of the rectangular coordinate system is a horizontal plane, and the direction corresponding to the Z axis is perpendicular to the horizontal plane.
在农田中有种植农作物的位置和没有种植农作物的位置在高度上有明显区别的，无人机所采集的Z i是不同的，因此可以根据第i点的Z i区分第i点对应的位置是否有种植农作物。因为有种植农作物的位置需要无人机去植保，该位置必须包含在无人机的飞行路径上，所以将根据Z i判断为对应的位置有种植农作物的点均放置在集合A中。 There is a significant difference in height between the position where crops are planted and the position where no crops are planted. The Z i collected by the drone is different, so the position corresponding to the i point can be distinguished according to the z i of the i point Are there any crops grown? Because the position of planting crops UAVs need to plant protection, this position must be included in UAV flight path, so there will be point planting crops are placed in set A Z i is determined according to the corresponding positions.
根据集合A内各个点在水平面上的坐标(X k，Y k)，GIS处理单元将集合A内各个点绘制在GIS地图上，在GIS地图上即显示无人机需要进行植保的区域。操控人员可以根据GIS地图上所显示的需要植保的区域以及GIS地图上所显示的无人机当前位置，发出飞行控制命令控制无人机在需要植保区域进行精准且不遗漏地植保。 According to the coordinates (X k , Y k ) of each point in the set A on the horizontal plane, the GIS processing unit draws each point in the set A on a GIS map, and the area where the drone needs to perform plant protection is displayed on the GIS map. The operator can issue a flight control command to control the drone to perform accurate and unobtrusive plant protection in the area where the plant protection is required according to the area where the plant protection is displayed on the GIS map and the current position of the drone displayed on the GIS map.
进一步地，所述步骤S2中，还采集农田的彩色点云数据并将彩色点云数据添加在集合D中，d i＝(X i,Y i,Z i,R i,G i,B i)，R i、G i、B i分别表示第i点三个颜色通道的值； Further, in step S2, the color point cloud data of the farmland is also collected and the color point cloud data is added to the set D, where d i = (X i , Y i , Z i , R i , G i , B i ), R i , G i , and B i respectively represent the values of the three color channels at the i-th point;
所述步骤S3中，还提取集合D内第i点的R i、G i、B i，根据R i、G i、B i区分第i点对应的位置是否有种植农作物，若第i点对应的位置有种植农作物，则将d i放置在集合B中，将集合B、集合A与集合B的交集或者集合A与集合B的并集作为集合A。 The step S3, further extraction R i, G i, B i of the i-th point within the set of D, if the position of crops cultivated R i, G i, B i corresponding to point i to distinguish, if the point corresponding to the i location of planting crops, I d will be placed in the set B, the set B, set intersection, or a and set B and set a set B and set as a set A.
当无人机在农田中飞行时，采集农田的彩色点云数据，彩色点云数据添加在集合D中，集合D内的每个元素除了存储每一个点的三维坐标以外，还存储了每一个点三个颜色通道的值，也即集合D内第i个元素d i存储了第i点的X i、Y i、 Z i、R i、G i、B i。 When the drone is flying in the farmland, the color point cloud data of the farmland is collected, and the color point cloud data is added to the set D. Each element in the set D stores each of the three-dimensional coordinates of each point, and each point value of the three color channels, i.e., the set of D i D i th element of the i-th stored point X i, Y i, Z i, R i, G i, B i.
在农田中有种植农作物的位置和没有种植农作物的位置在颜色上是有明显区别的，所采集的R i、G i、B i是不同的，因此可以根据第i点的R i、G i、B i区分第i点对应的位置是否有种植农作物，将根据R i、G i、B i判断为对应的位置有种植农作物的点均放置在集合B中。 There is a clear difference in color between the position where the crop is planted and the position where the crop is not planted in the farmland. The collected R i , G i , and B i are different, so it can be determined according to the R i , G i at the i-th point. , the position of point B i corresponding to the i-th distinguish whether cultivated crops, is determined to have a position corresponding to the point of planting crops are placed in set B according to R i, G i, B i .
不同农作物在农田中的高度、颜色是不同的。有一些农作物生长高度较高，根据Z i去判断第i点对应的位置是否有种植农作物较为准确；有一些农作物颜色较有辨识度，根据R i、G i、B i去判断第i点对应的位置是否有种植农作物较为准确。因此，在实际中根据农田所种植农作物的特点，可以单独根据Z i去判断，也可以单独根据R i、G i、B i去判断，将集合B作为集合A，还可以结合Z i、R i、G i、B i综合去判断，将集合A和集合B的交集或并集作为集合A。 Different crops have different heights and colors in the field. Some crop growth higher altitude, the Z i according to the i-th judgment point corresponding to the position if there is more accurate planting crops; some crops are more recognizable color, according to R i, G i, B i to the i-th judgment point corresponding to It is more accurate to check whether there are crops in the location. Thus, in practice, according to the characteristics of farmland planted crops may be based solely on Z i to judge, also be used alone to judge according to R i, G i, B i , the set B as a set A, may also be combined Z i, R i, G i, B i integrated to judge the intersection of set a and set B and set as a set or A.
根据集合A内各个点在水平面上的坐标(X k，Y k)，将集合A内各个点绘制在GIS地图上，在GIS地图上即显示无人机需要进行植保的区域，提高在GIS地图上所显示的需要植保区域的精准度。 According to the coordinates (X k , Y k ) of each point in the set A on the horizontal plane, each point in the set A is drawn on the GIS map, and the area where the drone needs to be protected is displayed on the GIS map, which improves the GIS map. The accuracy of the plant protection area shown above is required.
进一步地，所述步骤S4中，还根据X k、Y k的大小将集合A内各个点排列顺序，并按照该顺序对显示在GIS地图上的集合A内各个点进行连线。 Further, in the step S4, the points in the set A are arranged according to the sizes of Xk and Yk , and the points in the set A displayed on the GIS map are connected according to the order.
根据X k、Y k的大小顺序将显示在GIS地图上的各个点进行连线，所连成的线即为无人机的飞行路径，操控人员可以方便、直观地确定无人机的飞行路径，根据该连线可以控制无人机精准植保，且保证每一个种植农作物的位置都被植保了。 Connect the points displayed on the GIS map according to the order of X k and Y k . The connected line is the flight path of the drone. The operator can easily and intuitively determine the flight path of the drone. According to this connection, it is possible to control the precise plant protection of the drone, and to ensure that each crop planting position is plant protected.
进一步地，所述步骤S4中，还提取集合A内第k点的Z k，根据Z k计算第k点的飞行高度h k＝Z k+c，c为无人机与农作物的距离； Further, in the step S4, Z k of the k-th point in the set A is also extracted, and the flying height h k of the k-th point h k = Z k + c is calculated according to Z k , where c is the distance between the drone and the crop;
按照所述顺序计算第j点和第j+1点之间的飞行高度之差Δh j，j＝1,2,……,n-1，当Δh j超过设定的阈值时，将h j和h j+1分别以标签的形式显示在GIS地图上第j点和第j+1点对应的位置。 Calculate the difference in flight height Δh j between the j-th point and the j + 1-th point in the stated order, j = 1, 2, ..., n-1. When Δh j exceeds the set threshold, set h j And h j + 1 are displayed in the form of labels on the GIS map corresponding to the jth point and the j + 1th point, respectively.
无人机在植保作业时，为了保证植保的质量，需要与农作物叶尖保持一定距离，既要保证对农作物的有效植保，又要避免无人机旋翼所造成的强气流对农作物造成伤害。因此，通过计算无人机的飞行高度，在GIS地图上绘制集合A内 各个点并将各个点按顺序连线形成飞行路径的同时，当飞行路径上相邻两个点之间的飞行高度之差太大，以致于超过所设定的阈值时，将这相邻两个点的飞行高度分别显示在GIS地图上这相邻两个点对应的位置，表明无人机在这相邻的两个点之间需要爬升或下降较大的高度，需要引起操控人员的注意，更有利于操控人员精准地控制无人机对农作物进行植保时的飞行高度。In order to ensure the quality of plant protection, UAVs need to keep a certain distance from the tip of crops in order to ensure the quality of plant protection. It is necessary to ensure effective plant protection of crops and to avoid damage to crops caused by the strong airflow caused by the drone rotors. Therefore, by calculating the flying height of the drone, while drawing each point in the set A on the GIS map and connecting the points in order to form a flight path, when the flight height between two adjacent points on the flight path is When the difference is too large to exceed the set threshold, the flying heights of the two adjacent points are displayed on the GIS map corresponding to the two adjacent points, indicating that the drone is in the two adjacent points. It is necessary to climb or descend a large height between these points, which needs to attract the attention of the operator, which is more conducive to the operator to accurately control the flying height of the drone when it is performing crop protection.
进一步地，所述步骤S1中，还获取无人机当前高度；Further, in step S1, the current height of the drone is also obtained;
所述步骤S4中，当Δh j不超过设定的阈值时，将无人机当前高度显示在GIS地图上。 In step S4, when Δh j does not exceed the set threshold, the current height of the drone is displayed on the GIS map.
当飞行路径上相邻两个点之间的飞行高度之差均没有很大时，操控人员只需要保证控制无人机在一个相对稳定的高度上飞行即可。因此，通过获取无人机当前高度，并显示在GIS地图上，可以实时监控无人机是否在一个相对稳定的高度上飞行，可以及时发现无人机急降或急升的失控状况出现。When the difference in flight height between two adjacent points on the flight path is not very large, the controller only needs to ensure that the control drone is flying at a relatively stable altitude. Therefore, by obtaining the current height of the drone and displaying it on the GIS map, it can be monitored in real time whether the drone is flying at a relatively stable altitude, and it can be found in time that the drone's drooping or rising out of control situation appears.
优选地，c的取值为0.5m～1.5m。Preferably, the value of c is from 0.5m to 1.5m.
无人机在植保作业时，无人机一般在距离农作物叶尖以上1m左右，因此，c的取值优选为0.5m～1.5m。When the UAV is in plant protection operation, the UAV is generally about 1 m above the leaf tip of the crop. Therefore, the value of c is preferably 0.5 m to 1.5 m.
优选地，h k≥2m。 Preferably, h k ≧ 2m.
对于低矮农作物，无人机需要在距离地面以上2m左右。因此，无人机的飞行高度不能小于2m。For low crops, the drone needs to be about 2m above the ground. Therefore, the flying height of the drone cannot be less than 2m.
与现有技术相比，本发明技术方案的有益效果是：Compared with the prior art, the beneficial effects of the technical solution of the present invention are:
(1)通过GIS处理单元获取无人机所采集的农田的深度信息和彩色信息，通过分析处理后在GIS地图上显示出农田中种植了农作物的区域，操控人员可以根据GIS地图上所显示的种植农作物的区域，控制无人机在农田中精准且不遗漏地对农作物进行植保；(1) The depth information and color information of the farmland collected by the drone are obtained through the GIS processing unit. After analysis and processing, the area where the crops are planted in the farmland is displayed on the GIS map. The operator can use the GIS map to display Areas where crops are planted, and control of drones to accurately and non-missively plant crops in farmland;
(2)利用无人机采集的深度信息、彩色信息，通过GIS处理单元形成深度图像、彩色图像或者彩色深度图像，从而精准地对农作物的生长情况进行监控。(2) Use the depth information and color information collected by the drone to form a depth image, color image or color depth image through the GIS processing unit, so as to accurately monitor the growth of the crop.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1是本发明实施例的系统组成示意图。FIG. 1 is a schematic diagram of a system composition according to an embodiment of the present invention.
[根据细则91更正 05.09.2018]　
图2是本发明实施例的GIS地图显示示意图。[Corrected under Rule 91.05.09.2018]
FIG. 2 is a schematic diagram of displaying a GIS map according to an embodiment of the present invention.
[根据细则91更正 05.09.2018]　
图3是本发明实施例的另一个GIS地图显示示意图。[Corrected under Rule 91.05.09.2018]
FIG. 3 is another schematic diagram of displaying a GIS map according to an embodiment of the present invention.
说明：11.定位单元；12.深度数据采集单元；13.彩色数据采集单元；20.GIS 处理单元；30.手动控制单元。Explanation: 11. Positioning unit; 12. Depth data acquisition unit; 13. Color data acquisition unit; 20. GIS processing unit; 30. Manual control unit.
具体实施方式detailed description
附图仅用于示例性说明，不能理解为对本专利的限制；The drawings are only for illustrative purposes and should not be construed as limiting the patent;
为了更好说明本实施例，附图某些部件会有省略、放大或缩小，并不代表实际产品的尺寸；In order to better illustrate this embodiment, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the size of the actual product;
对于本领域技术人员来说，附图中某些公知结构及其说明可能省略是可以理解的。It will be understood by those skilled in the art that some well-known structures and their descriptions in the drawings may be omitted.
下面结合附图和实施例对本发明的技术方案做进一步的说明。The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.
实施例Examples
如图1所示，一种用于手动操控的无人机植保监控系统，包括定位单元11、深度数据采集单元12、GIS处理单元20、手动控制单元30；As shown in FIG. 1, a drone plant protection monitoring system for manual manipulation includes a positioning unit 11, a depth data acquisition unit 12, a GIS processing unit 20, and a manual control unit 30;
所述定位单元11，用于获取无人机当前位置并发送到GIS处理单元20；The positioning unit 11 is configured to obtain the current position of the drone and send it to the GIS processing unit 20;
所述深度数据采集单元12，用于采集农田的深度点云数据并将深度点云数据存储为集合D＝{d 1,d 2,......,d m}，其中d i＝(X i,Y i,Z i)，X i、Y i、Z i分别表示第i点在直角坐标系X-Y-Z下的坐标值，所述直角坐标系的X-Y平面为水平面，Z轴对应的方向是垂直于水平面的，i＝1,2,……,m，m为集合D中点的总数，并将集合D发送到GIS处理单元20； The depth data acquisition unit 12 is configured to collect the depth point cloud data of the farmland and store the depth point cloud data as a set D = {d 1 , d 2 , ..., d m }, where d i = (X i, Y i, Z i), X i, Y i, Z i denote the i-th point coordinate in the XYZ rectangular coordinate system, XY plane of the rectangular coordinate system is a horizontal plane, the Z-axis direction corresponding to Is perpendicular to the horizontal plane, i = 1, 2, ..., m, m is the total number of points in the set D, and sends the set D to the GIS processing unit 20;
所述GIS处理单元20，用于接收定位单元11发送的无人机当前位置并显示在GIS地图上，还用于接收深度数据采集单元12发送的集合D，提取集合D内第i点的Z i，根据Z i区分第i点的对应的位置是否有种植农作物，若第i点对应的位置有种植农作物，则将d i放置在集合A中，提取集合A内第k点的X k、Y k，根据(X k，Y k)将第k点显示在GIS地图上，k取1,2,……,n，n为集合A中点的总数，将集合A内的所有点依次显示在GIS地图上； The GIS processing unit 20 is used to receive the current position of the drone sent by the positioning unit 11 and display it on the GIS map. It is also used to receive the set D sent by the depth data acquisition unit 12 and extract the Z of the i-th point in the set D i, according to whether there is distinction between the Z i corresponding to the i-th position of the point of planting crops, if the position corresponding to the i-th point cultivated crops, i placed in the set a, set X k extracted in the k-th point a will be d, Y k , display the k-th point on the GIS map according to (X k , Y k ), k takes 1, 2, ..., n, n is the total number of points in set A, and displays all points in set A in turn On a GIS map;
所述手动控制单元30，用于获取操控人员的飞行控制命令并根据飞行控制命令控制无人机对农田进行植保。The manual control unit 30 is configured to obtain a flight control command from a controller and control the drone to perform plant protection on the farmland according to the flight control command.
当无人机在农田中飞行时，深度数据采集单元12采集农田的深度点云数据并存储为集合D，集合D内的每个元素代表每一个点，每个元素都存储了每一个点在三维的直角坐标系X-Y-Z下的坐标值，也即集合D内第i个元素d i存储了第i点的X i、Y i、Z i。直角坐标系的X-Y平面为水平面，Z轴对应的方向是垂直 于水平面的。 When the drone is flying in the farmland, the depth data acquisition unit 12 collects the depth point cloud data of the farmland and stores it as set D. Each element in the set D represents each point, and each element stores each point in the The coordinate values in the three-dimensional rectangular coordinate system XYZ, that is, the i-th element d i in the set D stores the i-th points X i , Y i , and Z i . The XY plane of the rectangular coordinate system is a horizontal plane, and the direction corresponding to the Z axis is perpendicular to the horizontal plane.
在农田中有种植农作物的位置和没有种植农作物的位置在高度上有明显区别的，无人机所采集的Z i是不同的，因此可以根据第i点的Z i区分第i点对应的位置是否有种植农作物。因为有种植农作物的位置需要无人机去植保，该位置必须包含在无人机的飞行路径上，所以GIS处理单元20将根据Z i判断为对应的位置有种植农作物的点均放置在集合A中。 There is a significant difference in height between the position where crops are planted and the position where no crops are planted. The Z i collected by the drone is different, so the position corresponding to the i point can be distinguished according to the z i of the i point Are there any crops grown? Because the location where crops are planted requires drones for plant protection, this location must be included in the flight path of the drone, so the GIS processing unit 20 will place the points where there are crops that are determined to be corresponding locations according to Z i in the set A in.
根据集合A内各个点在水平面上的坐标(X k，Y k)，GIS处理单元20将集合A内各个点绘制在GIS地图上，在GIS地图上即显示无人机需要进行植保的区域。操控人员可以根据GIS地图上所显示的需要植保的区域以及GIS地图上所显示的无人机当前位置，向手动控制单元30发出飞行控制命令，从而控制无人机在需要植保区域进行精准且不遗漏地植保。 According to the coordinates (X k , Y k ) of each point in the set A on the horizontal plane, the GIS processing unit 20 draws each point in the set A on a GIS map, and the area where the drone needs to perform plant protection is displayed on the GIS map. The operator can issue flight control commands to the manual control unit 30 according to the area requiring plant protection displayed on the GIS map and the current position of the drone displayed on the GIS map, so as to control the drone to be accurate and not required in the area requiring plant protection. Missing plant protection.
进一步地，所述系统还包括彩色数据采集单元13；Further, the system further includes a color data acquisition unit 13;
所述彩色数据采集单元13，用于采集农田的彩色点云数据并将彩色点云数据添加在集合D中，d i＝(X i,Y i,Z i,R i,G i,B i)，R i、G i、B i分别表示第i点三个颜色通道的值，并将集合D发送到GIS处理单元20； The color data acquisition unit 13 is configured to collect color point cloud data of farmland and add the color point cloud data to the set D, where d i = (X i , Y i , Z i , R i , G i , B i ), R i , G i , and B i respectively represent the values of the three color channels at the i-th point, and send the set D to the GIS processing unit 20;
所述GIS处理单元20还用于接收彩色数据采集单元13发送的集合D，提取集合D内第i点的R i、G i、B i，根据R i、G i、B i区分第i点对应的位置是否有种植农作物，若第i点对应的位置有种植农作物，则将d i放置在集合B中，将集合B、集合A与集合B的交集或者集合A与集合B的并集作为集合A。 The GIS processing unit 20 is further configured to receive the set D sent by the color data acquisition unit 13 and extract R i , G i , and B i at the i-th point in the set D, and distinguish the i-th point according to R i , G i , and B i . whether a position corresponding to cultivated crops, if the position corresponding to the i-th point cultivated crops, d i in the set B will be placed in the set B, set intersection, or a and set B and set a set B and set as Collection A.
当无人机在农田中飞行时，彩色数据采集单元13采集农田的彩色点云数据，彩色点云数据添加在集合D中，集合D内的每个元素除了存储每一个点的三维坐标以外，还存储了每一个点三个颜色通道的值，也即集合D内第i个元素d i存储了第i点的X i、Y i、Z i、R i、G i、B i。 When the drone is flying in the farmland, the color data acquisition unit 13 collects the color point cloud data of the farmland. The color point cloud data is added to the set D. Each element in the set D saves the 3D coordinates of each point. also stores the value of each point of the three color channels, i.e., the set of D i D i th element of the i-th stored point X i, Y i, Z i, R i, G i, B i.
在农田中有种植农作物的位置和没有种植农作物的位置在颜色上是有明显区别的，用彩色数据采集单元13所采集的R i、G i、B i是不同的，因此可以根据第i点的R i、G i、B i区分第i点对应的位置是否有种植农作物，将根据R i、G i、B i判断为对应的位置有种植农作物的点均放置在集合B中。 There is a clear difference in color between the position where crops are planted and the position where no crops are planted in the field. The R i , G i , and B i collected by the color data acquisition unit 13 are different. the R i, G i, B i the position corresponding to point i to distinguish whether cultivated crops, the crops are grown with a point set B is placed in a position in accordance with the corresponding R i, G i, B i is determined.
不同农作物在农田中的高度、颜色是不同的。有一些农作物生长高度较高， 根据Z i去判断第i点对应的位置是否有种植农作物较为准确；有一些农作物颜色较有辨识度，根据R i、G i、B i去判断第i点对应的位置是否有种植农作物较为准确。因此，在实际中根据农田所种植农作物的特点，可以单独根据Z i去判断，也可以单独根据R i、G i、B i去判断，将集合B作为集合A，还可以结合Z i、R i、G i、B i综合去判断，将集合A和集合B的交集或并集作为集合A。 Different crops have different heights and colors in the field. Some crop growth higher altitude, the Z i according to the i-th judgment point corresponding to the position if there is more accurate planting crops; some crops are more recognizable color, according to R i, G i, B i to the i-th judgment point corresponding to It is more accurate to check whether there are crops in the location. Thus, in practice, according to the characteristics of farmland planted crops may be based solely on Z i to judge, also be used alone to judge according to R i, G i, B i , the set B as a set A, may also be combined Z i, R i, G i, B i integrated to judge the intersection of set a and set B and set as a set or A.
根据集合A内各个点在水平面上的坐标(X k，Y k)，GIS处理单元20将集合A内各个点绘制在GIS地图上，在GIS地图上即显示无人机需要进行植保的区域，提高在GIS地图上所显示的需要植保区域的精准度。 According to the coordinates (X k , Y k ) of each point in the set A on the horizontal plane, the GIS processing unit 20 draws each point in the set A on a GIS map, and the area where the drone needs plant protection is displayed on the GIS map. Improve the accuracy of plant protection areas displayed on GIS maps.
如图2、图3所示，在本实施例中，所述GIS处理单元20还用于根据X k、Y k的大小将集合A内各个点排列顺序，并按照该顺序对显示在GIS地图上的集合A内各个点进行连线。 As shown in FIG. 2 and FIG. 3, in this embodiment, the GIS processing unit 20 is further configured to arrange the points in the set A according to the sizes of X k and Y k , and display the points on the GIS map in this order. Each point in the set A is connected.
根据X k、Y k的大小顺序将显示在GIS地图上的各个点进行连线，所连成的线即为无人机的飞行路径，操控人员可以方便、直观地确定无人机的飞行路径，根据该连线以及无人机当前位置可以控制无人机精准植保，且保证每一个种植农作物的位置都被植保了。 Connect the points displayed on the GIS map according to the order of X k and Y k . The connected line is the flight path of the drone. The operator can easily and intuitively determine the flight path of the drone. According to the connection and the current position of the drone, it can control the precise plant protection of the drone, and ensure that every position where the crops are planted is plant protected.
在本实施例中，所述GIS处理单元20还用于提取集合A内第k点的Z k，根据Z k计算第k点的飞行高度h k＝Z k+c，c为无人机与农作物的距离； In this embodiment, the GIS processing unit 20 is further configured to extract Z k of the k-th point in the set A, and calculate the flying height of the k-th point h k = Z k + c according to Z k , where c is the drone and Crop distance
按照所述顺序计算第j点和第j+1点之间的飞行高度之差Δh j，j＝1,2,……,n-1。 The difference in flight height Δh j between the j-th point and the j + 1-th point is calculated in the stated order, j = 1,2, ..., n-1.
如图2所示，当Δh j超过设定的阈值时，将h j和h j+1分别以标签的形式显示在GIS地图上第j点和第j+1点对应的位置。图2中XX表示该标签所指示的点对应的飞行高度。 As shown in FIG. 2, when Δh j exceeds a set threshold, h j and h j + 1 are displayed in the form of labels at positions corresponding to the jth point and the j + 1th point on the GIS map, respectively. XX in FIG. 2 indicates the flying height corresponding to the point indicated by the label.
无人机在植保作业时，为了保证植保的质量，需要与农作物叶尖保持一定距离，既要保证对农作物的有效植保，又要避免无人机旋翼所造成的强气流对农作物造成伤害。因此，通过GIS处理单元20计算无人机的飞行高度，在GIS地图上绘制集合A内各个点并将各个点按顺序连线形成飞行路径的同时，当飞行路径上相邻两个点之间的飞行高度之差太大，以致于超过所设定的阈值时，将这相邻两个点的飞行高度分别显示在GIS地图上这相邻两个点对应的位置，表明无 人机在这相邻的两个点之间需要爬升或下降较大的高度，需要引起操控人员的注意，更有利于操控人员精准地控制无人机对农作物进行植保时的飞行高度。In order to ensure the quality of plant protection, UAVs need to keep a certain distance from the tip of crops in order to ensure the quality of plant protection. It is necessary to ensure effective plant protection of crops and to avoid damage to crops caused by the strong airflow caused by the drone rotors. Therefore, by calculating the flying height of the drone through the GIS processing unit 20, while drawing each point in the set A on the GIS map and connecting the points in order to form a flight path, when two adjacent points on the flight path The difference between the flying heights of the two is too large to exceed the set threshold, the flying heights of the two adjacent points are displayed on the GIS map corresponding to the two adjacent points, indicating that the drone is here The adjacent two points need to climb or descend a large height, which needs to attract the attention of the operator, which is more conducive for the operator to accurately control the flying height of the drone when it is plant protection.
在本实施例中，所述GIS处理单元20还用于获取无人机当前高度。In this embodiment, the GIS processing unit 20 is further configured to obtain the current height of the drone.
如图3所示，当Δh j不超过设定的阈值时，GIS处理单元20将无人机当前高度显示在GIS地图上。图3中XX表示该标签所指示的点对应的飞行高度。 As shown in FIG. 3, when Δh j does not exceed the set threshold, the GIS processing unit 20 displays the current height of the drone on the GIS map. XX in FIG. 3 indicates the flying height corresponding to the point indicated by the label.
当飞行路径上相邻两个点之间的飞行高度之差均没有很大时，操控人员只需要保证控制无人机在一个相对稳定的高度上飞行即可。因此，通过GIS处理单元20获取无人机当前高度，并显示在GIS地图上，可以实时监控无人机是否在一个相对稳定的高度上飞行，可以及时发现无人机急降或急升的失控状况出现。When the difference in flight height between two adjacent points on the flight path is not very large, the controller only needs to ensure that the control drone is flying at a relatively stable altitude. Therefore, the current height of the drone can be obtained through the GIS processing unit 20 and displayed on the GIS map. It can be monitored in real time whether the drone is flying at a relatively stable altitude, and the drone's rapid descent or runaway can be detected in time. The situation appears.
优选地，所述GIS处理单元将GIS地图和无人机当前高度显示在不同的窗口。具体地，GIS地图在大窗口中显示，无人机当前高度显示在小窗口中显示，小窗口位于大窗口的角落处。Preferably, the GIS processing unit displays the GIS map and the current height of the drone in different windows. Specifically, the GIS map is displayed in a large window, the current height of the drone is displayed in a small window, and the small window is located at the corner of the large window.
优选地，如图2所示，当Δh j超过设定的阈值时，所述GIS处理单元20还将无人机当前高度以标签的形式显示在GIS地图上，让操控人员实时监控无人机当前高度。 Preferably, as shown in FIG. 2, when Δh j exceeds a set threshold, the GIS processing unit 20 also displays the current height of the drone on a GIS map in the form of a tag, allowing the operator to monitor the drone in real time. The current altitude.
优选地，c的取值为0.5m～1.5m。Preferably, the value of c is from 0.5m to 1.5m.
无人机在植保作业时，无人机一般在距离农作物叶尖以上1m左右，因此，c的取值优选为0.5m～1.5m。When the UAV is in plant protection operation, the UAV is generally about 1 m above the leaf tip of the crop. Therefore, the value of c is preferably 0.5 m to 1.5 m.
优选地，h k≥2m。 Preferably, h k ≧ 2m.
对于低矮农作物，无人机需要在距离地面以上2m左右。因此，无人机的飞行高度不能小于2m。For low crops, the drone needs to be about 2m above the ground. Therefore, the flying height of the drone cannot be less than 2m.
一种用于手动操控的无人机植保监控方法，包括以下步骤：A drone plant protection monitoring method for manual control includes the following steps:
S1.获取无人机当前位置并显示在GIS地图上；S1. Obtain the current position of the drone and display it on the GIS map;
S2.采集农田的深度点云数据并将深度点云数据存储为集合D＝{d 1,d 2,......,d m}，其中d i＝(X i,Y i,Z i)，X i、Y i、Z i分别表示第i点在直角坐标系X-Y-Z下的坐标值，所述直角坐标系的X-Y平面为水平面，Z轴对应的方向是垂直于水平面的，i＝1,2,……,m，m为集合D中点的总数； S2. Collect the depth point cloud data of farmland and store the depth point cloud data as a set D = {d 1 , d 2 , ..., d m }, where d i = (X i , Y i , Z i), X i, Y i , Z i denote the i-th point coordinate in the XYZ rectangular coordinate system, XY plane of the rectangular coordinate system is a horizontal plane, corresponding to the Z-axis direction is perpendicular to the horizontal plane, i = 1,2, ..., m, m is the total number of points in the set D;
S3.提取集合D内第i点的Z i，根据Z i区分第i点的对应的位置是否有种植农 作物，若第i点对应的位置有种植农作物，则将d i放置在集合A中； . S3 extract the set D Z i of the i-th point, if there is growing crops in accordance with the Z i corresponding to the i-th position of the distinguished point, if the position of the corresponding point i cultivated crops, i will be placed in set A D;
S4.提取集合A内第k点的X k、Y k，根据(X k，Y k)将第k点显示在GIS地图上，k取1,2,……,n，n为集合A中点的总数，将集合A内的所有点依次显示在GIS地图上； S4. Extract the k k , Y k of the k- th point in the set A, and display the k-th point on the GIS map according to (X k , Y k ), where k is 1, 2, ..., n, and n is the set A. The total number of points, all points in the set A are displayed on the GIS map in order;
S5.获取操控人员的飞行控制命令并根据飞行控制命令控制无人机对农田进行植保。S5. Obtain the flight control command of the controller and control the drone to plant protect the farmland according to the flight control command.
当无人机在农田中飞行时，采集农田的深度点云数据并存储为集合D，集合D内的每个元素代表每一个点，每个元素都存储了每一个点在三维的直角坐标系X-Y-Z下的坐标值，也即集合D内第i个元素d i存储了第i点的X i、Y i、Z i。直角坐标系的X-Y平面为水平面，Z轴对应的方向是垂直于水平面的。 When the drone is flying in the farmland, the depth point cloud data of the farmland is collected and stored as set D. Each element in the set D represents each point, and each element stores each point in a three-dimensional rectangular coordinate system. The coordinate values under XYZ, that is, the i-th element d i in the set D stores X i , Y i , Z i of the i-th point. The XY plane of the rectangular coordinate system is a horizontal plane, and the direction corresponding to the Z axis is perpendicular to the horizontal plane.
在农田中有种植农作物的位置和没有种植农作物的位置在高度上有明显区别的，无人机所采集的Z i是不同的，因此可以根据第i点的Z i区分第i点对应的位置是否有种植农作物。因为有种植农作物的位置需要无人机去植保，该位置必须包含在无人机的飞行路径上，所以将根据Z i判断为对应的位置有种植农作物的点均放置在集合A中。 There is a significant difference in height between the position where crops are planted and the position where no crops are planted. The Z i collected by the drone is different, so the position corresponding to the i point can be distinguished according to the z i of the i point Are there any crops grown? Because the position of planting crops UAVs need to plant protection, this position must be included in UAV flight path, so there will be point planting crops are placed in set A Z i is determined according to the corresponding positions.
根据集合A内各个点在水平面上的坐标(X k，Y k)，GIS处理单元20将集合A内各个点绘制在GIS地图上，在GIS地图上即显示无人机需要进行植保的区域。操控人员可以根据GIS地图上所显示的需要植保的区域以及GIS地图上所显示的无人机当前位置，发出飞行控制命令控制无人机在需要植保区域进行精准且不遗漏地植保。 According to the coordinates (X k , Y k ) of each point in the set A on the horizontal plane, the GIS processing unit 20 draws each point in the set A on a GIS map, and the area where the drone needs to perform plant protection is displayed on the GIS map. The operator can issue a flight control command to control the drone to perform accurate and unobtrusive plant protection in the area where the plant protection is required according to the area where the plant protection is displayed on the GIS map and the current position of the drone displayed on the GIS map.
在本实施例中，所述步骤S2中，还采集农田的彩色点云数据并将彩色点云数据添加在集合D中，d i＝(X i,Y i,Z i,R i,G i,B i)，R i、G i、B i分别表示第i点三个颜色通道的值； In this embodiment, in step S2, the color point cloud data of the farmland is also collected and the color point cloud data is added to the set D, where d i = (X i , Y i , Z i , R i , G i , B i ), R i , G i , and B i respectively represent the values of the three color channels at the i-th point;
所述步骤S3中，还提取集合D内第i点的R i、G i、B i，根据R i、G i、B i区分第i点对应的位置是否有种植农作物，若第i点对应的位置有种植农作物，则将d i放置在集合B中，将集合B、集合A与集合B的交集或者集合A与集合B的并集作为集合A。 The step S3, further extraction R i, G i, B i of the i-th point within the set of D, if the position of crops cultivated R i, G i, B i corresponding to point i to distinguish, if the point corresponding to the i location of planting crops, I d will be placed in the set B, the set B, set intersection, or a and set B and set a set B and set as a set A.
当无人机在农田中飞行时，采集农田的彩色点云数据，彩色点云数据添加在 集合D中，集合D内的每个元素除了存储每一个点的三维坐标以外，还存储了每一个点三个颜色通道的值，也即集合D内第i个元素d i存储了第i点的X i、Y i、Z i、R i、G i、B i。 When the drone is flying in the farmland, the color point cloud data of the farmland is collected, and the color point cloud data is added to the set D. Each element in the set D stores each of the points in addition to the three-dimensional coordinates of each point. point value of the three color channels, i.e., the set of D i D i th element of the i-th stored point X i, Y i, Z i, R i, G i, B i.
在农田中有种植农作物的位置和没有种植农作物的位置在颜色上是有明显区别的，所采集的R i、G i、B i是不同的，因此可以根据第i点的R i、G i、B i区分第i点对应的位置是否有种植农作物，将根据R i、G i、B i判断为对应的位置有种植农作物的点均放置在集合B中。 There is a clear difference in color between the position where the crop is planted and the position where the crop is not planted in the farmland. The collected R i , G i , and B i are different, so it can be determined according to the R i , G i at the i-th point. , the position of point B i corresponding to the i-th distinguish whether cultivated crops, is determined to have a position corresponding to the point of planting crops are placed in set B according to R i, G i, B i .
不同农作物在农田中的高度、颜色是不同的。有一些农作物生长高度较高，根据Z i去判断第i点对应的位置是否有种植农作物较为准确；有一些农作物颜色较有辨识度，根据R i、G i、B i去判断第i点对应的位置是否有种植农作物较为准确。因此，在实际中根据农田所种植农作物的特点，可以单独根据Z i去判断，也可以单独根据R i、G i、B i去判断，将集合B作为集合A，还可以结合Z i、R i、G i、B i综合去判断，将集合A和集合B的交集或并集作为集合A。 Different crops have different heights and colors in the field. Some crop growth higher altitude, the Z i according to the i-th judgment point corresponding to the position if there is more accurate planting crops; some crops are more recognizable color, according to R i, G i, B i to the i-th judgment point corresponding to It is more accurate to check whether there are crops in the location. Thus, in practice, according to the characteristics of farmland planted crops may be based solely on Z i to judge, also be used alone to judge according to R i, G i, B i , the set B as a set A, may also be combined Z i, R i, G i, B i integrated to judge the intersection of set a and set B and set as a set or A.
根据集合A内各个点在水平面上的坐标(X k，Y k)，将集合A内各个点绘制在GIS地图上，在GIS地图上即显示无人机需要进行植保的区域，提高在GIS地图上所显示的需要植保区域的精准度。 According to the coordinates (X k , Y k ) of each point in the set A on the horizontal plane, each point in the set A is drawn on the GIS map, and the area where the drone needs to be protected is displayed on the GIS map, which improves the GIS map. The accuracy of the plant protection area shown above is required.
如图2、图3所示，在本实施例中，所述步骤S4中，还根据X k、Y k的大小将集合A内各个点排列顺序，并按照该顺序对显示在GIS地图上的集合A内各个点进行连线。 As shown in FIG. 2 and FIG. 3, in this embodiment, in step S4, the points in the set A are also arranged according to the sizes of X k and Y k , and the displayed points on the GIS map are arranged in this order. Set the points in A to connect.
根据X k、Y k的大小顺序将显示在GIS地图上的各个点进行连线，所连成的线即为无人机的飞行路径，操控人员可以方便、直观地确定无人机的飞行路径，根据该连线可以控制无人机精准植保，且保证每一个种植农作物的位置都被植保了。 Connect the points displayed on the GIS map according to the order of X k and Y k . The connected line is the flight path of the drone. The operator can easily and intuitively determine the flight path of the drone. According to this connection, it is possible to control the precise plant protection of the drone, and to ensure that each crop planting position is plant protected.
在本实施例中，所述步骤S4中，还提取集合A内第k点的Z k，根据Z k计算第k点的飞行高度h k＝Z k+c，c为无人机与农作物的距离； In this embodiment, in step S4, Z k of the k-th point in the set A is also extracted, and the flying height of the k-th point h k = Z k + c is calculated according to Z k , where c is the distance between the drone and the crop distance;
按照所述顺序计算第j点和第j+1点之间的飞行高度之差Δh j，j＝1,2,……,n-1。 The difference in flight height Δh j between the j-th point and the j + 1-th point is calculated in the stated order, j = 1,2, ..., n-1.
如图2所示，当Δh j超过设定的阈值时，将h j和h j+1分别以标签的形式显示 在GIS地图上第j点和第j+1点对应的位置。图2中XX表示该标签所指示的点对应的飞行高度。 As shown in FIG. 2, when Δh j exceeds a set threshold, h j and h j + 1 are displayed in the form of labels at positions corresponding to the jth point and the j + 1th point on the GIS map, respectively. XX in FIG. 2 indicates the flying height corresponding to the point indicated by the label.
无人机在植保作业时，为了保证植保的质量，需要与农作物叶尖保持一定距离，既要保证对农作物的有效植保，又要避免无人机旋翼所造成的强气流对农作物造成伤害。因此，通过计算无人机的飞行高度，在GIS地图上绘制集合A内各个点并将各个点按顺序连线形成飞行路径的同时，当飞行路径上相邻两个点之间的飞行高度之差太大，以致于超过所设定的阈值时，将这相邻两个点的飞行高度分别显示在GIS地图上这相邻两个点对应的位置，表明无人机在这相邻的两个点之间需要爬升或下降较大的高度，需要引起操控人员的注意，更有利于操控人员精准地控制无人机对农作物进行植保时的飞行高度。In order to ensure the quality of plant protection, UAVs need to keep a certain distance from the tip of crops in order to ensure the quality of plant protection. It is necessary to ensure effective plant protection of crops and to avoid damage to crops caused by the strong airflow caused by the drone rotors. Therefore, by calculating the flying height of the drone, while drawing each point in the set A on the GIS map and connecting the points in order to form a flight path, when the flight height between two adjacent points on the flight path is When the difference is too large to exceed the set threshold, the flying heights of the two adjacent points are displayed on the GIS map corresponding to the two adjacent points, indicating that the drone is in the two adjacent points. It is necessary to climb or descend a large height between these points, which needs to attract the attention of the operator, which is more conducive to the operator to accurately control the flying height of the drone when it is performing crop protection.
在本实施例中，所述步骤S1中，还获取无人机当前高度；In this embodiment, in step S1, the current height of the drone is also obtained;
所述步骤S4中，如图3所示，当Δh j不超过设定的阈值时，将无人机当前高度显示在GIS地图上。图3中XX表示该标签所指示的点对应的飞行高度。 In step S4, as shown in FIG. 3, when Δh j does not exceed the set threshold, the current height of the drone is displayed on the GIS map. XX in FIG. 3 indicates the flying height corresponding to the point indicated by the label.
当飞行路径上相邻两个点之间的飞行高度之差均没有很大时，操控人员只需要保证控制无人机在一个相对稳定的高度上飞行即可。因此，通过获取无人机当前高度，并显示在GIS地图上，可以实时监控无人机是否在一个相对稳定的高度上飞行，可以及时发现无人机急降或急升的失控状况出现。When the difference in flight height between two adjacent points on the flight path is not very large, the controller only needs to ensure that the control drone is flying at a relatively stable altitude. Therefore, by obtaining the current height of the drone and displaying it on the GIS map, it can be monitored in real time whether the drone is flying at a relatively stable altitude, and it can be found in time that the drone's drooping or rising out of control situation appears.
优选地，如图2所示，当Δh j超过设定的阈值时，还将无人机当前高度以标签的形式显示在GIS地图上，让操控人员实时监控无人机当前高度。 Preferably, as shown in FIG. 2, when Δh j exceeds a set threshold, the current height of the drone is also displayed on the GIS map in the form of a label, so that the operator can monitor the current height of the drone in real time.
优选地，c的取值为0.5m～1.5m。Preferably, the value of c is from 0.5m to 1.5m.
无人机在植保作业时，无人机一般在距离农作物叶尖以上1m左右，因此，c的取值优选为0.5m～1.5m。When the UAV is in plant protection operation, the UAV is generally about 1 m above the leaf tip of the crop. Therefore, the value of c is preferably 0.5 m to 1.5 m.
优选地，h k≥2m。 Preferably, h k ≧ 2m.
对于低矮农作物，无人机需要在距离地面以上2m左右。因此，无人机的飞行高度不能小于2m。For low crops, the drone needs to be about 2m above the ground. Therefore, the flying height of the drone cannot be less than 2m.
相同或相似的标号对应相同或相似的部件；The same or similar reference numerals correspond to the same or similar parts;
附图中描述位置关系的仅用于示例性说明，不能理解为对本专利的限制；The description of the positional relationship in the drawings is only for illustrative purposes, and should not be understood as a limitation on this patent;
显然，本发明的实施例仅仅是为清楚地说明本发明所作的举例，而并非是对本发 明的实施方式的限定。对于所属领域的普通技术人员来说，在说明的基础上还可以做出其它不同形式的变化或变动。这里无需也无法对所有的实施方式予以穷举。凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明权利要求的保护范围之内。Obviously, the embodiments of the present invention are merely examples for clearly explaining the present invention, and are not intended to limit the embodiments of the present invention. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the description. There is no need and cannot be exhaustive for all implementations. Any modification, equivalent replacement and improvement made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims (10)

  1. 一种用于手动操控的无人机植保监控系统，其特征在于，包括定位单元、深度数据采集单元、GIS处理单元、手动控制单元；A drone plant protection monitoring system for manual control, which is characterized by comprising a positioning unit, a depth data acquisition unit, a GIS processing unit, and a manual control unit;
    所述定位单元，用于获取无人机当前位置并发送到GIS处理单元；The positioning unit is configured to obtain the current position of the drone and send it to the GIS processing unit;
    所述深度数据采集单元，用于采集农田的深度点云数据并将深度点云数据存储为集合D＝{d 1,d 2,……,d m}，其中d i＝(X i,Y i,Z i)，X i、Y i、Z i分别表示第i点在直角坐标系X-Y-Z下的坐标值，所述直角坐标系的X-Y平面为水平面，Z轴对应的方向是垂直于水平面的，i＝1,2,……,m，m为集合D中点的总数，并将集合D发送到GIS处理单元； The depth data acquisition unit is configured to collect the depth point cloud data of the farmland and store the depth point cloud data as a set D = {d 1 , d 2 , ..., d m }, where d i = (X i , Y i, Z i), X i , Y i, Z i denote the i-th point coordinate in the XYZ rectangular coordinate system, the rectangular coordinate system XY plane is a horizontal plane, Z-axis direction corresponding to a horizontal plane perpendicular to the , I = 1,2, ..., m, m is the total number of points in the set D, and sends the set D to the GIS processing unit;
    所述GIS处理单元，用于接收定位单元发送的无人机当前位置并显示在GIS地图上，还用于接收深度数据采集单元发送的集合D，提取集合D内第i点的Z i，根据Z i区分第i点的对应的位置是否有种植农作物，若第i点对应的位置有种植农作物，则将d i放置在集合A中，提取集合A内第k点的X k、Y k，根据(X k，Y k)将第k点显示在GIS地图上，k取1,2,……,n，n为集合A中点的总数，将集合A内的所有点依次显示在GIS地图上； The GIS processing unit is used to receive the current position of the drone sent by the positioning unit and display it on the GIS map. It is also used to receive the set D sent by the depth data acquisition unit, and extract Z i at the i-th point in the set D, according to i distinguish the Z position corresponding to the i-th point whether cultivated crops, if the position corresponding to the i-th point cultivated crops, i placed in the set a, set X k extracted in the k-th point a will be d, Y k, Display the k-th point on the GIS map according to (X k , Y k ), k takes 1, 2, ..., n, n is the total number of points in set A, and displays all points in set A in turn on the GIS map on;
    所述手动控制单元，用于获取操控人员的飞行控制命令并根据飞行控制命令控制无人机对农田进行植保。The manual control unit is configured to obtain a flight control command of a controller and control the drone to perform plant protection on the farmland according to the flight control command.
  2. 根据权利要求1所述的用于手动操控的无人机植保监控系统，其特征在于，还包括彩色数据采集单元；The drone plant protection monitoring system for manual control according to claim 1, further comprising a color data acquisition unit;
    所述彩色数据采集单元，用于采集农田的彩色点云数据并将彩色点云数据添加在集合D中，d i＝(X i,Y i,Z i,R i,G i,B i)，R i、G i、B i分别表示第i点三个颜色通道的值，并将集合D发送到GIS处理单元； The color data acquisition unit is configured to collect color point cloud data of farmland and add the color point cloud data to the set D, where d i = (X i , Y i , Z i , R i , G i , B i ) , R i , G i , and B i respectively represent the values of the three color channels of the i-th point, and send the set D to the GIS processing unit;
    所述GIS处理单元还用于接收彩色数据采集单元发送的集合D，提取集合D内第i点的R i、G i、B i，根据R i、G i、B i区分第i点对应的位置是否有种植农作物，若第i点对应的位置有种植农作物，则将d i放置在集合B中，将集合B、集合A与集合B的交集或者集合A与集合B的并集作为集合A。 The GIS processing unit is further configured to receive the set D sent by the color data acquisition unit, extract R i , G i , and B i at the i-th point in the set D, and distinguish the i-point corresponding to the i-point according to R i , G i , and B i . Whether there are planted crops at the position. If there are planted crops at the position corresponding to the i-th point, place d i in the set B, and set the intersection of the set B, the set A and the set B, or the union of the set A and the set B as the set A. .
  3. 根据权利要求1或2所述的用于手动操控的无人机植保监控系统，其特征在于，所述GIS处理单元还用于根据X k、Y k的大小将集合A内各个点排列顺序， 并按照该顺序对显示在GIS地图上的集合A内各个点进行连线。 The drone plant protection monitoring system for manual control according to claim 1 or 2, wherein the GIS processing unit is further configured to arrange the points in the set A according to the sizes of Xk and Yk , In this order, the points in the set A displayed on the GIS map are connected.
  4. 根据权利要求3所述的用于手动操控的无人机植保监控系统，其特征在于，所述GIS处理单元还用于提取集合A内第k点的Z k，根据Z k计算第k点的飞行高度h k＝Z k+c，c为无人机与农作物的距离； The UAV plant protection monitoring system for manual control according to claim 3, wherein the GIS processing unit is further configured to extract Z k of the k-th point in the set A, and calculate the k-th point based on Z k Flying height h k = Z k + c, c is the distance between the drone and the crop;
    按照所述顺序计算第j点和第j+1点之间的飞行高度之差Δh j，j＝1,2,……,n-1，当Δh j超过设定的阈值时，将h j和h j+1分别以标签的形式显示在GIS地图上第j点和第j+1点对应的位置。 Calculate the difference in flight height Δh j between the j-th point and the j + 1-th point in the stated order, j = 1, 2, ..., n-1. When Δh j exceeds the set threshold, set h j And h j + 1 are displayed in the form of labels on the GIS map corresponding to the jth point and the j + 1th point, respectively.
  5. 根据权利要求4所述的用于手动操控的无人机植保监控系统，其特征在于，所述定位单元还用于获取无人机当前高度并发送到GIS处理单元；The UAV plant protection monitoring system for manual control according to claim 4, wherein the positioning unit is further configured to obtain the current height of the UAV and send it to the GIS processing unit;
    所述GIS处理单元还用于接收定位单元发送的无人机当前高度，当Δh j不超过设定的阈值时，将无人机当前高度显示在GIS地图上。 The GIS processing unit is further configured to receive the current height of the drone sent by the positioning unit, and when Δh j does not exceed a set threshold, display the current height of the drone on a GIS map.
  6. 一种用于手动操控的无人机植保监控方法，其特征在于，包括以下步骤：A drone plant protection monitoring method for manual control is characterized in that it includes the following steps:
    S1.获取无人机当前位置并显示在GIS地图上；S1. Obtain the current position of the drone and display it on the GIS map;
    S2.采集农田的深度点云数据并将深度点云数据存储为集合D＝{d 1,d 2,……,d m}，其中d i＝(X i,Y i,Z i)，X i、Y i、Z i分别表示第i点在直角坐标系X-Y-Z下的坐标值，所述直角坐标系的X-Y平面为水平面，Z轴对应的方向是垂直于水平面的，i＝1,2,……,m，m为集合D中点的总数； S2. Collect the depth point cloud data of farmland and store the depth point cloud data as a set D = {d 1 , d 2 , ..., d m }, where d i = (X i , Y i , Z i ), X i, the Y i, Z i denote the i-th point coordinate in the XYZ rectangular coordinate system, the rectangular coordinate system XY plane is a horizontal plane, Z-axis is perpendicular to a direction corresponding to the horizontal plane, i = 1,2, ..., m, m is the total number of points in the set D;
    S3.提取集合D内第i点的Z i，根据Z i区分第i点的对应的位置是否有种植农作物，若第i点对应的位置有种植农作物，则将d i放置在集合A中； . S3 extract the set D Z i of the i-th point, if there is growing crops in accordance with the Z i corresponding to the i-th position of the distinguished point, if the position of the corresponding point i cultivated crops, i will be placed in set A D;
    S4.提取集合A内第k点的X k、Y k，根据(X k，Y k)将第k点显示在GIS地图上，k取1,2,……,n，n为集合A中点的总数，将集合A内的所有点依次显示在GIS地图上； S4. Extract the k k , Y k of the k- th point in the set A, and display the k-th point on the GIS map according to (X k , Y k ), where k is 1, 2, ..., n, and n is the set A. The total number of points, all points in the set A are displayed on the GIS map in order;
    S5.获取操控人员的飞行控制命令并根据飞行控制命令控制无人机对农田进行植保。S5. Obtain the flight control command of the controller and control the drone to plant protect the farmland according to the flight control command.
  7. 根据权利要求6所述的用于手动操控的无人机植保监控方法，其特征在于，所述步骤S2中，还采集农田的彩色点云数据并将彩色点云数据添加在集合D中，d i＝(X i,Y i,Z i,R i,G i,B i)，R i、G i、B i分别表示第i点三个颜色通道的 值； The unmanned aerial vehicle plant protection monitoring method for manual control according to claim 6, characterized in that in step S2, color point cloud data of farmland is further collected and the color point cloud data is added to the set D, d i = (X i, Y i , Z i, R i, G i, B i), R i, G i, B i represent the values of the three color channels of the i-th point;
    所述步骤S3中，提取集合D内第i点的R i、G i、B i，根据R i、G i、B i区分第i点对应的位置是否有种植农作物，若第i点对应的位置有种植农作物，则将d i放置在集合B中，将集合B、集合A与集合B的交集或者集合A与集合B的并集作为集合A。 In step S3, the extraction point R i in the i-th set of D, G i, B i, cultivated crops according to whether R i, G i, B i to distinguish between a position corresponding to the i-th point, if the corresponding point i location planting crops, I d will be placed in the set B, the set B, set intersection, or a and set B and set a set B and set as a set A.
  8. 根据权利要求6或7所述的用于手动操控的无人机植保监控方法，其特征在于，所述步骤S4中，还根据X k、Y k的大小将集合A内各个点排列顺序，并按照该顺序对显示在GIS地图上的集合A内各个点进行连线。 The unmanned aerial vehicle plant protection monitoring method for manual control according to claim 6 or 7, characterized in that, in the step S4, the points in the set A are further arranged according to the sizes of Xk and Yk , and Connect each point in the set A displayed on the GIS map in this order.
  9. 根据权利要求8所述的用于手动操控的无人机植保监控方法，其特征在于，所述步骤S4中，还提取集合A内第k点的Z k，根据Z k计算第k点的飞行高度h k＝Z k+c，c为无人机与农作物的距离； The UAV plant protection monitoring method for manual control according to claim 8, wherein in step S4, the k-th point Z k in the set A is further extracted, and the k-th point flight is calculated according to Z k Height h k = Z k + c, c is the distance between the drone and the crop;
    按照所述顺序计算第j点和第j+1点之间的飞行高度之差Δh j，j＝1,2,……,n-1，当Δh j超过设定的阈值时，将h j和h j+1分别以标签的形式显示在GIS地图上第j点和第j+1点对应的位置。 Calculate the difference in flight height Δh j between the j-th point and the j + 1-th point in the stated order, j = 1, 2, ..., n-1. When Δh j exceeds the set threshold, set h j And h j + 1 are displayed in the form of labels on the GIS map corresponding to the jth point and the j + 1th point, respectively.
  10. 根据权利要求9所述的用于手动操控的无人机植保监控方法，其特征在于，所述步骤S1中，还获取无人机当前高度；The drone plant protection monitoring method for manual control according to claim 9, wherein in step S1, the current height of the drone is also obtained;
    所述步骤S4中，当Δh j不超过设定的阈值时，将无人机当前高度显示在GIS地图上。 In step S4, when Δh j does not exceed the set threshold, the current height of the drone is displayed on the GIS map.
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