WO2021258411A1 - 一种烟草飞行打顶机器人 - Google Patents

一种烟草飞行打顶机器人 Download PDF

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Publication number
WO2021258411A1
WO2021258411A1 PCT/CN2020/099140 CN2020099140W WO2021258411A1 WO 2021258411 A1 WO2021258411 A1 WO 2021258411A1 CN 2020099140 W CN2020099140 W CN 2020099140W WO 2021258411 A1 WO2021258411 A1 WO 2021258411A1
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Prior art keywords
tobacco
cutting
drone
topping
motor
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PCT/CN2020/099140
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English (en)
French (fr)
Inventor
杨启志
胡旭
贾翠平
施雷
赫明胜
赵晓琪
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江苏大学
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Publication of WO2021258411A1 publication Critical patent/WO2021258411A1/zh

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
    • A01G3/08—Other tools for pruning, branching or delimbing standing trees
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G7/00—Botany in general
    • A01G7/06—Treatment of growing trees or plants, e.g. for preventing decay of wood, for tingeing flowers or wood, for prolonging the life of plants
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/20—Rotorcraft characterised by having shrouded rotors, e.g. flying platforms
    • 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
    • B64D47/00—Equipment not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/56—Extraction of image or video features relating to colour
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G06V20/13—Satellite images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G06V20/188—Vegetation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/45—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
    • Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
    • Y02P60/21—Dinitrogen oxide [N2O], e.g. using aquaponics, hydroponics or efficiency measures

Definitions

  • the invention belongs to the technical field of agricultural machinery, and particularly relates to a tobacco flying topping robot.
  • the present invention provides a tobacco flying topping robot with high work efficiency, can realize high-efficiency tobacco topping, can achieve the purpose of reducing labor and cost, and improving quality and efficiency, and solves the problem of using artificial tobacco in the prior art.
  • the topping cost is high and the efficiency is low.
  • the technical scheme of the present invention is: a tobacco flying topping robot, including a drone body, a coupling mechanism, an anti-disturbance device, a cutting system, an image acquisition device and a control unit;
  • the coupling mechanism is located below the drone body, and each rotor of the drone body is provided with an anti-disturbance device, and the anti-disturbance device includes a collecting cover, a plurality of deflectors, and a wind deflector. Hole; the deflector is arranged in the collecting cover and located below the rotor; the outer bottom of the collecting cover is provided with a plurality of air outlet diversion holes evenly and equidistantly;
  • the connecting platform is provided with an extension section, the extension section is provided with a bracket, and the bracket is connected with the anti-disturbance device.
  • the collecting cover has a circular ring shape, and the diameter of the upper part is larger than the diameter of the lower part.
  • the cutter is a saw blade type in-line cutter.
  • the image acquisition device includes a camera device; the camera device includes a binocular camera and a pan/tilt; the pan/tilt is connected to the drone body, and the binocular camera is connected to the pan/tilt.
  • the drone body is a multi-rotor drone.
  • the above solution also includes a drone control station; the drone control station is connected to the flight controller and the control unit of the drone body.
  • the beneficial effects of the present invention are: the present invention realizes the automatic topping of tobacco, can adapt to different terrain conditions, is flexible and maneuverable; can monitor and feedback the real-time status of tobacco topping; prevent disturbance
  • the device can effectively avoid the disturbance of tobacco plants caused by the airflow of the drone, which is conducive to the topping operation; the topping device adds an unfolding and folding system, which can be stowed within the landing gear when it is not working, and will not cause damage due to touch ;
  • the work efficiency is high, to achieve high-efficiency topping, to achieve the purpose of reducing labor and cost and improving quality and efficiency.
  • Fig. 1 is a schematic structural diagram of an embodiment of the present invention
  • Figure 2 is a schematic structural diagram of a coupling mechanism according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of the structure of an anti-disturbance device according to an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of a cutting system according to an embodiment of the present invention.
  • Fig. 5 is a block diagram of image acquisition, processing and positioning according to an embodiment of the present invention.
  • Fig. 6 is a view of a firework positioning mode according to an embodiment of the present invention.
  • Fig. 7 is a flowchart of image processing and positioning according to an embodiment of the present invention.
  • UAV body 11. Landing gear; 2. Coupling mechanism; 211. The first platform link; 212. The second platform link; 213. The third platform link; 214. The fourth platform link Rod; 22. Connecting platform; 23. Bracket; 24. Extension section; 25. Fixing plate; 251. First card hole; 252. Second card hole; 3. Anti-disturbance device; 31. Collector cover; 32. Guide Flow plate; 33. Wind diversion hole; 4. Cutting system; 411. First motor; 412. Second motor; 421. First connecting rod; 422. Second connecting rod; 43. Cutting motor; 44. Cutting Knife; 5. Vision system; 51. Camera device; 511. Binocular camera; 512. PTZ; 52. Fireworks.
  • first and second are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with “first” and “second” may explicitly or implicitly include one or more of these features.
  • “plurality” means two or more than two, unless specifically defined otherwise.
  • the terms “installed”, “connected”, “connected”, “fixed” and other terms should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. , Or integrally connected; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components.
  • installed can be a fixed connection or a detachable connection.
  • integrally connected it can be a mechanical connection or an electrical connection
  • it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components.
  • the specific meanings of the above-mentioned terms in the present invention can be understood according to specific situations.
  • FIG. 1 shows a preferred embodiment of the tobacco flying topping robot.
  • the tobacco flying topping robot includes an unmanned aerial vehicle body 1, a coupling mechanism 2, an anti-disturbance device 3, a cutting system 4, and image acquisition.
  • Device 5 and control unit The coupling mechanism 2 is located below the drone body 1, each rotor of the drone body 1 is provided with an anti-disturbance device 3, one end of the cutting system 4 is connected with the coupling mechanism 2, and the image acquisition
  • the device 5 is located in front of the drone body 1; the control unit is connected to the drone body 1, the cutting system 4 and the image acquisition device 5 respectively.
  • the control unit analyzes and processes the images collected by the image acquisition device 5, identifies and locates the fireworks on the target tobacco plant, determines the top position information of the fireworks on the target tobacco plant, and controls the drone body 1 to drive the cutting system 4 Move to the corresponding position, and control the cutting system 4 to cut the top of the target tobacco plant.
  • the UAV body 1 is a multi-rotor UAV.
  • the UAV body 1 includes a wing, a flight drive motor, a propeller, a landing gear, a battery, and a flight controller.
  • four drive motors are respectively fixed at the end of the wing, and the four propellers are respectively connected with the motor shafts of the flight drive motors.
  • the position between the wings; optionally, the flight drive motor is a brushless motor; the battery and the flight controller are respectively fixed on the support frame, and the flight controller is connected to the electronic speed controller corresponding to each brushless motor.
  • the motor is connected with the propeller.
  • the battery provides power for the lithium battery, which saves energy and protects the environment, and reduces noise and environmental pollution.
  • the invention realizes the automatic topping of tobacco by carrying a topping device on the existing mature technology multi-rotor unmanned aerial vehicle, can adapt to different terrain conditions, and is flexible and maneuverable.
  • the image acquisition device 5 and the control unit can monitor and feedback the real-time status of tobacco topping and determine the next action; the anti-disturbance device 3 can effectively avoid the disturbance of the tobacco plant caused by the airflow of the drone, which is conducive to the topping operation
  • the topping device adds an unfolding and folding mechanism, which can be retracted into the landing gear when it is not working, and will not cause damage due to touch; and the work efficiency is high, to achieve high-efficiency topping, to reduce labor and cost, and improve quality and efficiency the goal of.
  • the coupling mechanism 2 includes a platform link and a connecting platform 22, and the connecting platform 22 is connected to the bottom of the drone body 1 through the platform link;
  • the platform 22 is provided with an extension section 24, and the extension section 24 is provided with a bracket 23, and the bracket 23 is connected with the anti-disturbance device 3.
  • there are four platform links which are a first platform link 211, a second platform link 212, a third platform link 213, and a fourth platform link 214; the connecting platform 22 passes through four
  • the platform link is fixed at the bottom of the drone body 1, and the four platform links are fixed under the drone body 1.
  • the bracket 23 is downwardly connected with a fixing plate 25, and the fixing plate 25 is provided with a first clamping hole 251 and a second clamping hole 252 in the ring direction.
  • the anti-disturbance device 3 includes a collecting cover 31, a plurality of baffles 32, and an outlet orifice 33;
  • a circular ring-shaped collecting cover 31 the diameter of the upper part of the collecting cover 31 is larger than the diameter of the lower part;
  • the baffle plate 32 is arranged in the collecting cover 31 and located below the rotor.
  • a plurality of air outlet diversion holes 33 are uniformly and equidistantly arranged on the outside of the bottom of the collecting cover 31.
  • the air outlet diversion holes 33 are installed obliquely downward, which is beneficial to lead the wind near the fireworks to the outside and reduce the disturbance to the fireworks. .
  • the first clamping hole 251 and the second clamping hole 252 are used to connect the collecting cover 31 to realize the connection between the collecting cover 31 and the bracket 23, and to facilitate the installation and disassembly of the collecting cover 31, and also easy to connect the collecting cover 31. Replace it.
  • the rod 422 is made of carbon fiber, which has the advantages of high strength, fatigue resistance, light weight and low density.
  • the cutting mechanism includes a cutting motor 43 and a cutting knife 44, and the cutting motor 43 is connected to the cutting knife 44. Considering factors such as the growth status of the tobacco plant and the flatness of the topping, the topping method is rotary cutting, and the topping mechanism is rotated from the upper part of the tobacco plant by a rotary cutter.
  • the cutting knife 44 is a saw blade type in-line cutting knife, and both sides of the cutting knife 44 are provided with blades, and the blades protrude outward to enhance the topping cutting ability.
  • the cutting motor 43 uses a DC motor to directly drive the cutting knife to rotate.
  • the image acquisition device 5 is a camera device 51 mounted on the drone body 1; the camera device 51 includes a binocular camera 511 and a pan/tilt 512; The gimbal 512 is connected to the drone body 1, and the binocular camera 511 is connected to the gimbal 512. As shown in FIG. 5, optionally according to this embodiment, the image acquisition device 5 is a camera device 51 mounted on the drone body 1; the camera device 51 includes a binocular camera 511 and a pan/tilt 512; The gimbal 512 is connected to the drone body 1, and the binocular camera 511 is connected to the gimbal 512. As shown in FIG.
  • the binocular camera 511 and the gimbal 512 are used to achieve stable and real-time acquisition of aircraft images, and the acquired picture data Stored in the storage module, the image processing module of the control unit calls the image data from the storage module for analysis and processing, segmentation and feature extraction of the image, and the firework position positioning module of the control unit uses the binocular ranging positioning method to determine the fireworks
  • the three-dimensional coordinate position information of 52 spatial points is used to calculate the distance between the drone topping device and the firework.
  • the invention can perform corresponding image feature extraction on the objects to be recognized to complete the target task, realize the image recognition and positioning of the target object, and is beneficial to the multi-rotor drone loaded with topping equipment to complete the corresponding topping task.
  • control unit analyzes and processes the images collected by the image acquisition device 5, recognizes and locates the fireworks on the target tobacco plants, and determines the topping of the fireworks on the target tobacco plants. Position information, control the drone body 1 to drive the cutting system 4 to move to the corresponding position, and control the cutting system 4 to cut the top of the target tobacco plant.
  • the image acquisition device 5 collects images of the flowering status of the tobacco plant tops through the binocular camera 511, and transmits the collected information to the control unit, and the image processing module of the control unit performs Image analysis and feature extraction, identify the firework 52 on the target tobacco plant and its location, obtain the specific three-dimensional position of the top to be removed, use three-dimensional reconstruction technology to obtain the height information of the top of the tobacco plant, and receive the height information of the top of the tobacco plant through the control unit , Calculate the position distance, and then control the rotation of the cutting motor 43, and at the same time make the UAV rise or fall to a certain height, the UAV drives the cutting mechanism to move to the corresponding removal position, and then realizes the cutting of the top of the tobacco plant.
  • the image acquisition device 5 continues to collect and analyze real-time images, and after locking the next top of the tobacco plant to be cut, the topping action is repeated until all operations are completed.
  • An unmanned aerial vehicle control station that communicates with the flight control system is set on the ground; the unmanned aerial vehicle control station is connected with the flight controller and control unit of the unmanned aerial vehicle body 1.
  • the UAV control station has the ability to monitor and manipulate the UAV flight platform and mission load.
  • the working process of the present invention After starting the drone, the drone hoveres above the smoke field, the unfolding and folding mechanism is opened, the cutting mechanism is in a vertical state, the control unit controls the cutting motor 43 that drives the blade to rotate, and the cutting is set.
  • the rotation speed of the motor 43 is used to set the flying height of the UAV so that the inline cutter 44 is attached to the top of the tobacco.
  • the GPS system of the UAV controls the flight trajectory of the UAV.
  • the rotating cutter 44 can move The top of the tobacco is cut off to complete the tobacco topping operation.
  • the airflow enters at a low speed from the position of the airflow inlet at the bottom of the drone body 1, and is ejected at a higher speed from the airflow outlets where the four propellers of the drone body 1 are located.
  • the lift generated by the airflow is also Will increase.
  • the multi-rotor drone-based tobacco flying topping robot adopts a single-row topping operation along the smoke ridge.
  • the rotor drone can automatically adjust the hovering drone flying platform up and down based on GPS. Height function to adjust the position of the topping mechanism to achieve precise topping.
  • the unfolding and folding mechanism is opened to drive the cutting mechanism to a vertical state.
  • the control unit determines that the tobacco plant is the work target, the drone will be in a hovering state and adjust the cutting mechanism to a suitable topping position.
  • the topping cutting system 4 is activated, and the anti-disturbance device 3 keeps the tobacco plant stable. Finish the topping of one tobacco plant, and then enter the topping of the next tobacco plant.
  • the collecting cover 31 is made of carbon fiber material with a lower density.
  • the baffle 32 formed by connecting the air inlet and each air outlet adopts an integrated structure. It is processed and formed, and the projections of the center of gravity and the geometric center of the deflector cover overlap on the horizontal plane, which is relatively stable after installation.
  • the present invention can monitor and feedback the real-time status of tobacco plant topping.
  • the anti-disturbance device 3 can effectively avoid the disturbance of the tobacco plant caused by the airflow of the drone.
  • the unfolding and folding system can be retracted within the landing gear when not working. Will cause damage due to touch.
  • the invention has high working efficiency, can realize high-efficiency tobacco topping, and can achieve the purposes of reducing labor and cost, and improving quality and efficiency.

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Abstract

一种烟草飞行打顶机器人，包括无人机本体（1）、联结机构（2）、防扰动装置（3）、切割系统（4）、图像采集装置（5）和控制单元；联结机构（2）位于无人机本体（1）下方，无人机本体（1）的每个旋翼上分别设有防扰动装置（3），切割系统（4）的一端与联结机构（2）连接，图像采集装置（5）位于无人机本体（1）的前方；控制单元分别与无人机本体（1）、切割系统（4）和图像采集装置（5）连接；控制单元对图像采集装置（5）采集的图像进行分析处理，识别目标作业烟草植株上的烟花（52）以及定位，确定目标作业烟草植株上的烟花（52）的打顶位置信息，控制无人机本体（1）带动切割系统（4）移到相应的位置，并控制切割系统（4）对目标作业烟草植株顶端进行切割。

Description

一种烟草飞行打顶机器人 技术领域
本发明属于农机技术领域，尤其涉及一种烟草飞行打顶机器人。
背景技术
我国是烟草种植大国，长期以来烟草的种植和管理主要由人工来完成，机械化程度较低，而人工作业成本高、效率低、劳动强度大，随着劳动力成本，土地租金、肥料等烟用物资的成本不断增加，农民种烟积极性降低，严重影响我国烟叶的产量，烟叶生产机械化势在必行。
种植烟草以收获烟叶为目的，若不及时去除顶部花序，叶内营养物质会大量流向顶部花序，导致烟叶叶片因养分不足而变的又薄又轻。解除顶端优势后，具有明显的增产增收效果。
目前，山东农大率先研制出一批适用于平原地区的样机，仍处于试验阶段。我国烟叶打顶工作还是由人工完成，采用刀片手动切割，劳动强度大、工作效率低，因此打顶的机械化对于提高我国烟叶产量及品质，降低烟草种植成本具有很好的现实意义。
西南烟区是我国最大的烟草种植生产区，而西南烟区地形多以山地丘陵为主，烟田位于山坡，起伏大面积小，大中型打顶械机很难进行使用，因此需要一种体积小、重量轻、灵活方便的烟草打顶抑芽机械。
发明内容
针对上述技术问题，本发明提供一种烟草飞行打顶机器人，工作效率高，能实现高效烟草打顶，可达到减工降本和提质增效的目的，解决现有技术中采用人工进行烟草打顶成本投入高，效率低的问题。
本发明的技术方案是：一种烟草飞行打顶机器人，包括无人机本体、联结机构、防扰动装置、切割系统、图像采集装置和控制单元；
所述联结机构位于无人机本体下方，所述无人机本体的每个旋翼上分别设有防扰动装置，所述防扰动装置包括集流罩、多个导流板和出风导流斜孔；所述导流板布置在集流罩内、且位于旋翼的下方；所述集流罩的底部外侧均匀等距设有多个出风导流孔；
所述切割系统包括展开折叠机构和切割机构；所述展开折叠机构包括第一电机、第二电机和第一连杆、第二连杆，所述第一电机与联结机构和第一连杆的一端连接，第一连杆的另一端与第二电机连接，第二电机还与第二连杆的一端连接，所述第二连杆的另一端与切割机构连接；所述切割机构包括切割电机和割刀，所述切割电机与割刀连接；所述图像采集装置位于无人机本体的前方；所述控制单元分别与无人机本体、切割系统和图像采集装置连接； 所述控制单元对图像采集装置采集的图像进行分析处理，识别目标作业烟草植株上的烟花以及定位，确定目标作业烟草植株上的烟花的打顶位置信息，控制无人机本体带动切割系统移到相应的位置，并控制切割系统对目标作业烟草植株顶端进行切割。
上述方案中，所述联结机构包括平台连杆和连接平台，所述连接平台通过平台连杆与无人机本体的底部连接；
所述连接平台设有延伸段，延伸段上设有支架，所述支架与防扰动装置连接。
上述方案中，所述集流罩为圆环形、且上部直径大于下部直径。
上述方案中，所述出风导流孔向下倾斜安装。
上述方案中，所述割刀为锯片式一字型割刀。
上述方案中，所述图像采集装置包括摄像装置；所述摄像装置包括双目摄像头和云台；所述云台与无人机本体连接，所述双目摄像头与云台连接。
上述方案中，所述无人机本体为多旋翼无人机。
上述方案中，还包括无人机控制站；所述无人机控制站与无人机本体的飞行控制器和控制单元连接。
与现有技术相比，本发明的有益效果是：本发明实现了对烟草的自动化打顶，可以适应不同的地形情况，灵活机动；能够对烟株打顶的实时状况进行监控反馈；防扰动装置能够有效避免无人机气流造成的烟草植株的扰动，有利于打顶作业的进行；打顶装置添加展开折叠系统，在不工作时可以收与起落架以内，不会因触碰而造成损害；并且工作效率高，实现高效打顶，达到减工降本和提质增效的目的。
附图说明
图1是本发明一实施方式的的结构示意图；
图2是本发明一实施方式的联结机构的结构示意图；
图3是本发明一实施方式的防扰动装置的结构示意图；
图4是本发明一实施方式的切割系统的结构示意图；
图5是本发明一实施方式的图像采集、处理和定位框图；
图6是本发明一实施方式的烟花定位方式图；
图7是本发明一实施方式的图像处理定位工作流程图。
图中：1.无人机本体；11.起落架；2.联结机构；211.第一平台连杆；212.第二平台连杆；213.第三平台连杆；214.第四平台连杆；22.连接平台；23.支架；24.延伸段；25.固定板；251.第一卡孔；252.第二卡孔；3.防扰动装置；31.集流罩；32.导流板；33.出风导流孔；4.切割系统；411.第一电机；412.第二电机；421.第一连杆；422.第二连杆；43.切割电机；44.割刀；5. 视觉系统；51.摄像装置；511.双目摄像头；512.云台；52.烟花。
具体实施方式
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本发明，而不能理解为对本发明的限制。
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“轴向”、“径向”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
图1所示为所述烟草飞行打顶机器人的一种较佳实施方式，所述烟草飞行打顶机器人，包括无人机本体1、联结机构2、防扰动装置3、切割系统4、图像采集装置5和控制单元。所述联结机构2位于无人机本体1下方，所述无人机本体1的每个旋翼上分别设有防扰动装置3，所述切割系统4的一端与联结机构2连接，所述图像采集装置5位于无人机本体1的前方；所述控制单元分别与无人机本体1、切割系统4和图像采集装置5连接。所述控制单元对图像采集装置5采集的图像进行分析处理，识别目标作业烟草植株上的烟花以及定位，确定目标作业烟草植株上的烟花的打顶位置信息，控制无人机本体1带动切割系统4移到相应的位置，并控制切割系统4对目标作业烟草植株顶端进行切割。
所述无人机本体1为多旋翼无人机，所述无人机本体1包括机翼、飞行驱动电机、螺旋桨、起落架、电池和飞行控制器，机翼设置有四个，分别固定于主体的四个方向上，四个驱动电机分别固定在机翼末端，四个螺旋桨分别与飞行驱动电机的电机轴连接，起落架设置于设置于无人机本体1两侧下方，分别位于两机翼之间位置；有选的，飞行驱动电机为无刷电机；所述电池和飞行控制器分别固定在支撑架上，所述飞行控制器连接各个无刷电机对应的 电子调速器，无刷电机与螺旋浆连接。优选的，电池为锂蓄电池提供动力，节能环保，降低噪音和环境污染。本发明通过在现有成熟技术多旋翼无人机上搭载打顶装置，实现了对烟草的自动化打顶，可以适应不同的地形情况，灵活机动。图像采集装置5和控制单元，能够对烟株打顶的实时状况进行监控反馈，确定下一步行动；防扰动装置3能够有效避免无人机气流造成的烟草植株的扰动，有利于打顶作业的进行；打顶装置添加展开折叠机构，在不工作时可以收与起落架以内，不会因触碰而造成损害；并且工作效率高，实现高效打顶，达到减工降本和提质增效的目的。
如图2所示，根据本实施例有选的，所述联结机构2包括平台连杆和连接平台22，所述连接平台22通过平台连杆与无人机本体1的底部连接；所述连接平台22设有延伸段24，延伸段24上设有支架23，所述支架23与防扰动装置3连接。具体的，所述平台连杆有四个，分别为第一平台连杆211、第二平台连杆212、第三平台连杆213和第四平台连杆214；所述连接平台22通过四个平台连杆固定在无人机本体1的底部，四个平台连杆固定在无人机本体1下方，平台连杆一端通过连接平台22连接在无人机本体1的底部，另一端与连接平台22相连接。所述支架23向下连有固定板25，所述固定板25在环向上设有第一卡孔251和第二卡孔252。
如图3所示，根据本实施例有选的，所述防扰动装置3包括集流罩31、多个导流板32和出风导流孔33；每个旋翼均围绕设置有一个形状相同的圆环形的集流罩31，所述集流罩31上部直径大于下部直径；所述导流板32布置在集流罩31内、且位于旋翼的下方。所述集流罩31的底部外侧均匀等距设有多个出风导流孔33，所述出风导流孔33向下倾斜安装，利于将烟花附近的风导出外面，减少对烟花的扰动。所述第一卡孔251和第二卡孔252用于连接集流罩31，实现集流罩31与支架23的连接，并且方便集流罩31的安装与拆卸，也易于对集流罩31进行更换。
如图4所示，根据本实施例有选的，所述切割系统4包括展开折叠机构和切割机构；所述展开折叠机构包括第一电机411、第二电机412和第一连杆421、第二连杆422，第一电机411、第二电机412安装的方法均为在安装位置开孔通过螺栓螺母连接。所述第一电机411与联结机构2和第一连杆421的一端连接，形成上下转动结构，第一连杆421的另一端与第二电机412连接，第二电机412还与第二连杆422的一端连接，第一连杆421、第二电机412和第二连杆422形成收放机构，所述第二连杆422的另一端与切割机构连接；第一连杆421和第二连杆422材质为碳纤维，具有强度高、耐疲劳、质量轻和低密度等优点。所述切割机构包括切割电机43和割刀44，所述切割电机43与割刀44连接。综合烟草植株生长状况、打顶的平整性等因素，打顶方式为旋转切割，打顶机构从烟草植株上部由旋转式割刀旋转切 割。所述割刀44为锯片式一字型割刀，所述割刀44的两侧均设置有刀刃，并且所述刀刃均向外凸起，以增强打顶切割能力。所述切割电机43采用直流电机直接驱动割刀转动。
如图5所示，根据本实施例有选的，所述图像采集装置5为无人机本体1上搭载的摄像装置51；所述摄像装置51包括双目摄像头511和云台512；所述云台512与无人机本体1连接，所述双目摄像头511与云台512连接，如图6所示，利用双目摄像头511以及云台512实现飞行器图像的稳定实时获取，获取的图片数据存储于存储模块中，控制单元的图像处理模块从存储模块中调用图像数据进行分析处理，对图像进行分割和特征提取，控制单元的烟花位置定位模块运用双目测距定位的方法，来确定烟花52空间点的三维坐标位置信息，来计算出无人机打顶装置与烟花的位置距离。本发明能对完成目标任务所需识别的物体进行相应的图像特征提取，实现对目标物体的图像识别以及定位，有利于装载打顶装备的多旋翼无人机完成相应的打顶作业任务。
结合图5，根据本实施例有选的，所述控制单元对图像采集装置5采集的图像进行分析处理，识别目标作业烟草植株上的烟花以及定位，确定目标作业烟草植株上的烟花的打顶位置信息，控制无人机本体1带动切割系统4移到相应的位置，并控制切割系统4对目标作业烟株顶端进行切割。
结合图7，所述控制单元的图像处理模块对图像采集装置5采集的图像基于烟花颜色进行分割和特征提取，采用基于RGB颜色系统的烟花识别的方法，对采集的图像进行最优阀值分割，把烟花像素提取出来作为前景图像像素，提取前景图像像素中的R、G、B颜色分量。当符合以下关系：R≥0.62G+1.23B时，则该像素的色调为盛花期烟花的颜色。从采集到的图像的第一行的第一个像素点的RGB关系进行判断，如果不符合R≥0.62G+1.23B的关系，则识别下一点，并设定计数器为0；如果符合R≥0.62G+1.23B的关系，则初步判断为盛花期烟花上的点,再判断这点的上下左右点是不是符合R≥0.62G+1.23B的关系,如果是则判断此点为盛花期烟花上的点。不断循环，直至遍历前景图像上的所有点，得出烟花的轮廓形象。再计算轮廓图像的一阶中心距来得到烟花的质心，此质心即为烟花的中心位置。将烟花的中心位置信息传送给控制单元的烟花位置定位模块；所述烟花位置定位模块对烟花位置信息进行计算，确定打顶准确的位置，并运用双目测距定位的方法，来确定目标作业烟草植株上的烟花空间点的三维坐标位置信息，来计算出无人机本体1与目标作业烟草植株上的烟花的位置距离。具体的，工作时，操作人员启动烟草飞行打顶机器人，图像采集装置5通过双目摄像头511采集烟草植株顶部开花状况图像，并将采集到的信息传输给控制单元，控制单元的图像处理模块进行图像分析和特征提取，识别目标作业烟草植株上的烟花52以及定位，获得待去除顶部的具体三维位置，利用三维重建技术获取烟株顶端的高度信息，通过控制单元接收 到烟株顶端的高度信息，计算位置距离，然后控制切割电机43转动，同时使无人机上升或下降一定高度，无人机带动切割机构移到相应的去除位置，进而实现对烟株顶端的切割。图像采集装置5继续采集并分析实时图像，锁定烟草植株下一个所需剪切的顶部后，重复打顶动作，直到全部作业完成。
在地面上设置有与飞行控制系统进行通讯的无人机控制站；所述无人机控制站与无人机本体1的飞行控制器和控制单元连接。所述无人机控制站具有对无人机飞行平台和任务载荷进行监控和操纵的能力。
本发明的工作过程：启动无人机后，无人机悬停至烟地上方，展开折叠机构打开，切割机构处于竖直状态，控制单元控制驱动刀片旋转的切割电机43工作，设定好切割电机43转速，设定无人机的飞行高度，使一字型割刀44贴合烟草的顶部，由无人机自带的GPS系统控制无人机的飞行轨迹，旋转的割刀44可以将烟草的顶部切除，完成烟草打顶作业。
启动无人机后，无人机悬停至烟地上方，当无人机悬停时，螺旋桨会向下喷出强大的气流，散乱的气流将会收集于集流罩31内，并沿着导流板32内运动，最终进入集流罩31底部均匀分布的出风导流孔33，集流罩31进风口和出风导流孔33相配合，使收集的气流喷出于作业烟株之外，将扰动气流对作业烟株的影响减到最小。
优选的，使气流从无人机本体1底部的气流入口的位置低速进入，从无人机本体1的四个螺旋桨所处的气流出口以较高的速度喷出，通过气流所产生的升力也会增大。
基于多旋翼无人机的烟草飞行打顶机器人采用沿烟垄单行打顶作业方式，可根据烟草高度的不同，由旋翼无人机自带基于GPS的自动上下调节悬停无人机飞行平台的高度功能来调整打顶机构的位置，实现精确打顶。打顶机进入烟田工作前，展开折叠机构打开，进而带动切割机构处于竖直状态。当控制单元确定该烟株是作业对象，无人机将处于悬停状态，并将切割机构调整到合适打顶的位置，同时启动打顶切割系统4，防扰动装置3将烟草植株维持稳定。完成一株烟草的打顶工作，进而进入下一株烟草的打顶。
优选的，所述的集流罩31采用密度较小的碳纤维材料制作而成，用于连接气流入口和各个气流出口之间的导流板32形成的导流罩采用一体式的结构，通过一次加工成型，且所述导流板罩的重心和几何中心在水平面上的投影重合，安装上以后比较稳定。
本发明能够对烟株打顶的实时状况进行监控反馈，防扰动装置3能够有效避免无人机气流造成的烟草植株的扰动，展开、折叠系统，在不工作时可以收与起落架以内，不会因触碰而造成损害。本发明工作效率高，能实现高效烟草打顶，可达到减工降本和提质增效的目的。
应当理解，虽然本说明书是按照各个实施例描述的，但并非每个实施例仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为 一个整体，各实施例中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。
上文所列出的一系列的详细说明仅仅是针对本发明的可行性实施例的具体说明，它们并非用以限制本发明的保护范围，凡未脱离本发明技艺精神所作的等效实施例或变更均应包含在本发明的保护范围之内。

Claims (8)

  1. 一种烟草飞行打顶机器人，其特征在于，包括无人机本体(1)、联结机构(2)、防扰动装置(3)、切割系统(4)、图像采集装置(5)和控制单元；
    所述联结机构(2)位于无人机本体(1)下方，所述无人机本体(1)的每个旋翼上分别设有防扰动装置(3)，所述防扰动装置(3)包括集流罩(31)、多个导流板(32)和出风导流孔(33)；所述导流板(32)布置在集流罩(31)内、且位于旋翼的下方；所述集流罩(31)的底部外侧均匀等距设有多个出风导流孔(33)；
    所述切割系统(4)包括展开折叠机构和切割机构；所述展开折叠机构包括第一电机(411)、第二电机(412)和第一连杆(421)、第二连杆(422)，所述第一电机(411)与联结机构(2)和第一连杆(421)的一端连接，第一连杆(421)的另一端与第二电机(412)连接，第二电机(412)还与第二连杆(422)的一端连接，所述第二连杆(422)的另一端与切割机构连接；所述切割机构包括切割电机(43)和割刀(44)，所述切割电机(43)与割刀(44)连接；
    所述图像采集装置(5)位于无人机本体(1)的前方；所述控制单元分别与无人机本体(1)、切割系统(4)和图像采集装置(5)连接；所述控制单元对图像采集装置(5)采集的图像进行分析处理，识别目标作业烟草植株上的烟花以及定位，确定目标作业烟草植株上的烟花的打顶位置信息，控制无人机本体(1)带动切割系统(4)移到相应的位置，并控制切割系统(4)对目标作业烟草植株顶端进行切割。
  2. 根据权利要求1所述的烟草飞行打顶机器人，其特征在于，所述联结机构(2)包括平台连杆和连接平台(22)，所述连接平台(22)通过平台连杆与无人机本体(1)的底部连接；
    所述连接平台(22)设有延伸段(24)，延伸段(24)上设有支架(23)，所述支架(23)与防扰动装置(3)连接。
  3. 根据权利要求1所述的烟草飞行打顶机器人，其特征在于，所述集流罩(31)为圆环形、且上部直径大于下部直径。
  4. 根据权利要求3所述的烟草飞行打顶机器人，其特征在于，所述出风导流孔(33)向下倾斜安装。
  5. 根据权利要求4所述的烟草飞行打顶机器人，其特征在于，所述割刀(44)为锯片式一字型割刀。
  6. 根据权利要求1所述的烟草飞行打顶机器人，其特征在于，所述图像采集装置(5)包括摄像装置(51)；所述摄像装置(51)包括双目摄像头(511)和云台(512)；所述云台(512)与无人机本体(1)连接，所述双目摄像头(511)与云台(512)连接。
  7. 根据权利要求1所述的烟草飞行打顶机器人，其特征在于，所述无人机本体(1)为多旋翼无人机。
  8. 根据权利要求1所述的烟草飞行打顶机器人，其特征在于，还包括无人机控制站；所述无人机控制站与无人机本体(1)的飞行控制器和控制单元连接。
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