CN212515849U - A UAV crop planting density remote sensing monitoring system - Google Patents
A UAV crop planting density remote sensing monitoring system Download PDFInfo
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- CN212515849U CN212515849U CN202021436407.6U CN202021436407U CN212515849U CN 212515849 U CN212515849 U CN 212515849U CN 202021436407 U CN202021436407 U CN 202021436407U CN 212515849 U CN212515849 U CN 212515849U
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Abstract
本实用新型公开了一种无人机作物种植密度遥感监测系统，包括无人机组件、可见光遥感传感器组件、无线通信模块和总控识别装置，可见光遥感传感器组件和无线通信模块均搭载于无人机组件，可见光遥感传感器组件用于获取作物图像信息，可见光遥感传感器组件与无线通信模块电性连接并能将获取的作物图像信息传送给无线通信模块，无线通信模块与总控识别装置无线连接并能将作物图像信息传送给总控识别装置，总控识别装置用于识别物图像信息并计算出作物种植密度。采用无人机在飞行高500米以下获取所需的遥感数据，不受多云天气影响，成像精度高，可极大提高工作效率。
The utility model discloses an unmanned aerial vehicle (UAV) crop planting density remote sensing monitoring system, which comprises an UAV component, a visible light remote sensing sensor component, a wireless communication module and a master control identification device. The visible light remote sensing sensor assembly is used to obtain crop image information. The visible light remote sensing sensor assembly is electrically connected to the wireless communication module and can transmit the obtained crop image information to the wireless communication module. The wireless communication module is wirelessly connected to the master control identification device. The crop image information can be transmitted to the master control identification device, and the master control identification device is used to identify the object image information and calculate the crop planting density. UAVs are used to obtain the required remote sensing data at a height of less than 500 meters, which is not affected by cloudy weather and has high imaging accuracy, which can greatly improve work efficiency.
Description
Technical Field
The utility model relates to a remote sensing monitoring field, in particular to unmanned aerial vehicle crop planting density remote sensing monitoring system.
Background
The planting density refers to the number of the seeds in a unit area of crops, and is an important index for adjusting agricultural layout in agricultural investigation. The reasonable planting density can keep the good development of a single plant while obtaining the full development of the group, coordinate and process the relationship between individuals, the group and the growth environment, make the individuals strong and the group reasonable, fully utilize the moisture, the nutrients and the light energy, and finally obtain high yield. When the planting density is small, each individual has enough nutrient area, light and air, but large land and light energy waste is caused, and the unit yield is not high. On the contrary, when the planting density is too large, the water, nutrients and sunlight on the soil in unit area are fully utilized, but the nutrient area of each individual is reduced, the ventilation and light transmission conditions in the field are poor, the individual development is limited, and the yield in unit area is not high.
Therefore, how to efficiently and accurately acquire information of the planted planting density to achieve the purpose of evaluating and adjusting the structure of the agricultural industry is a technical problem which needs to be solved urgently at present. In the past, the vegetation planting density information is obtained by manual measurement, and the method is time-consuming, labor-consuming and slow in progress. With the development of remote sensing technology, the satellite remote sensing monitoring method and model are gradually applied to crop planting density monitoring, but have major problems: firstly, the data precision is difficult to guarantee, the satellite data with low precision is difficult to match and study, and the satellite data with high precision is difficult to obtain; secondly, the influence of the terrain, the landform and the climate is large, and the application in mountainous areas and cloudy and rainy areas is greatly limited. Thirdly, the data processing procedure in the later period is complicated, and the waste of human resources is caused.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an unmanned aerial vehicle crop planting density remote sensing monitoring system that the precision is high, the operation is easy, fast, do not receive many cloud weather influences.
According to the utility model discloses an aspect provides an unmanned aerial vehicle crop planting density remote sensing monitoring system, including unmanned aerial vehicle subassembly, visible light remote sensing sensor subassembly, wireless communication module and total accuse recognition device, visible light remote sensing sensor subassembly and wireless communication module all carry the unmanned aerial vehicle subassembly, the visible light remote sensing sensor subassembly is used for acquireing crop image information, visible light remote sensing sensor subassembly and wireless communication module electric connection and can convey the crop image information who acquirees to wireless communication module, wireless communication module and total accuse recognition device wireless connection and can convey crop image information to total accuse recognition device, total accuse recognition device is used for discernment thing image information and calculates crop planting density.
The unmanned aerial vehicle crop planting density remote sensing monitoring system is a preferred scheme, the total control identification device comprises an automatic planting density identification component, a band identification module, a green index calculation module, a mixed green index calculation module, a difference index calculation module, a ratio index calculation module, an image area calculation module and a planting density calculation module, wherein the band identification module is used for identifying R, G, B band data of RGB three-color images in crop image information and transmitting the data to the green index calculation module, the mixed green index calculation module, the difference index calculation module and the ratio index calculation module, the green index calculation module, the mixed green index calculation module, the difference index calculation module and the ratio index calculation module are used for calculating vegetation data and transmitting the data to the planting density calculation module, the image area calculation module calculates the total area of images according to the crop image information and transmits the data to the planting density calculation module, and the planting density calculation module calculates the planting density of crops according to the vegetation data and the total image area.
As an optimal scheme, the unmanned aerial vehicle crop planting density remote sensing monitoring system has the advantages that the vegetation data comprise green index VegGreenGreen mixing index VegmaxDifferential index VegDAnd the ratio index VegrThe image area calculation module comprises a grid resolution calculation module and a grid quantity statistics module, wherein the grid resolution calculation module is used for calculating the single grid resolution RP of the image, and the grid quantity statistics module is used for counting the grid quantity N of the imageS。
Foretell unmanned aerial vehicle crop planting density remote sensing monitoring system, as an preferred scheme, total accuse recognition device still includes signal reception antenna, liquid crystal display, power key, manual remote sensing, operating keyboard and operating button of controlling, signal reception antenna, liquid crystal display, power key, manual remote sensing, operating keyboard and operating button of controlling respectively with planting density automatic identification subassembly electric connection.
Foretell unmanned aerial vehicle crop planting density remote sensing monitoring system as an preferred scheme, the unmanned aerial vehicle subassembly includes fuselage, forearm, postbrachium, undercarriage, rotor, motor, battery and flight control subassembly, the forearm sets up to two and installs in the front end of fuselage, the postbrachium sets up to two and installs in the rear end of fuselage, the downside in the fuselage is installed to the undercarriage, rotor and motor set up to a plurality of and install respectively in the tip of forearm and the tip of postbrachium, flight control subassembly and motor, visible light remote sensing sensor subassembly and wireless communication module electric connection, the visible light remote sensing sensor subassembly is fixed in the front end of fuselage, the rear portion of the fixed fuselage of flight control subassembly and wireless communication module.
As an optimal scheme, the unmanned aerial vehicle crop planting density remote sensing monitoring system comprises a flight control assembly, a central control submodule, a GPS positioning system submodule and a wireless communication submodule, wherein the central control submodule is electrically connected with the GPS positioning system submodule and the wireless communication submodule, the GPS positioning system submodule is used for acquiring GPS positioning information and transmitting the GPS positioning information to the central control submodule, and the wireless communication submodule is wirelessly connected with a master control identification device.
The utility model has the advantages that: the flight height of the unmanned aerial vehicle is usually below 500 meters to obtain required remote sensing data, so that the unmanned aerial vehicle is not influenced by cloudy weather and has high imaging precision; the device is convenient to take off and land, does not need an airport, and has superior maneuverability and safety; the remote sensing device is particularly suitable for monitoring key and hot spot areas, time is tight, and tasks are heavy, and is an effective supplement for satellite remote sensing in remote sensing monitoring of the crop planting density, and the work efficiency can be greatly improved by using the unmanned aerial vehicle to implement remote sensing monitoring of the crop planting density.
Drawings
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle assembly of an unmanned aerial vehicle crop planting density remote sensing monitoring system according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a right-view structure of an unmanned aerial vehicle assembly of the unmanned aerial vehicle crop planting density remote sensing monitoring system shown in fig. 1;
fig. 3 is a schematic structural diagram of a general control recognition device of an unmanned aerial vehicle crop planting density remote sensing monitoring system according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an automatic plant density identification assembly of the master control identification device shown in fig. 3.
Detailed Description
The following describes the present invention in further detail with reference to the accompanying drawings.
Example 1
Fig. 1-4 schematically show an unmanned aerial vehicle crop planting density remote sensing monitoring system according to an embodiment of the utility model.
Referring to fig. 1-4, an unmanned aerial vehicle crop planting density remote sensing monitoring system comprises an unmanned aerial vehicle assembly 1, a visible light remote sensing sensor assembly 2, a wireless communication module 3 and a master control identification device 4. The visible light remote sensing sensor assembly 2 and the wireless communication module 3 are both carried on the unmanned aerial vehicle assembly 1, and the master control recognition device 4 is a ground workstation and is arranged on the ground so as to be convenient to operate. The visible light remote sensing sensor assembly 2 is used for obtaining crop image information, the visible light remote sensing sensor assembly 2 is electrically connected with the wireless communication module 3 and can transmit the obtained crop image information to the wireless communication module 3, the wireless communication module 3 is wirelessly connected with the master control identification device 4 and can transmit the crop image information to the master control identification device 4, and the master control identification device 4 is used for identifying the object image information and calculating the crop planting density.
Visible light remote sensing sensor subassembly 2 is fixed in unmanned aerial vehicle subassembly 1 downside and perpendicular downwards through the cloud platform including stabilizing cloud platform and visible light sensor 4K camera.
The total control identification device 4 comprises a planting density automatic identification component 41, which comprises a wave band identification module 411, a green index calculation module 412, a mixed green index calculation module 413, a difference index calculation module 414, a ratio index calculation module 415, an image area calculation module 416 and a planting density calculation module 417, wherein the wave band identification module 411 is used for identifying R, G, B wave band data of RGB three-color images in crop image information and transmitting the data to the green index calculation module 412, the mixed green index calculation module 413, the difference index calculation module 414 and the ratio index calculation module 415, the green index calculation module 412, the mixed green index calculation module 413, the difference index calculation module 414 and the ratio index calculation module 415 are used for calculating vegetation data and transmitting the vegetation data to the planting density calculation module 417, the image area calculation module 416 calculates the total area of the images according to the crop image information and transmits the image total area to the planting density calculation module 417, the planting density calculation module 417 calculates the crop planting density according to the vegetation data and the total image area.
The vegetation data includes green index VegGreenGreen mixing index VegmaxDifferential index VegDAnd the ratio index VegrThe image area calculation module 416 includes a grid resolution calculation module 419 and a grid number statistics module 418, the grid resolution calculation module 419 is used for calculating the resolution RP of each grid of the image, and the grid number statistics module 418 is used for counting the number N of grids of the imageS。
The master control identification device 4 further comprises a signal receiving antenna 42, a liquid crystal display screen 43, a power key 44, a manual remote control 45, an operation keyboard 46 and an operation button 47, wherein the signal receiving antenna 42, the liquid crystal display screen 43, the power key 44, the manual remote control 45, the operation keyboard 46 and the operation button 47 are respectively electrically connected with the planting density automatic identification component 41. The signal receiving antenna 42 is used for information sent by the wireless communication module 3, the liquid crystal display 43 is used for displaying an operation interface and an unmanned aerial vehicle receiving operation button 47 which can comprise an execution/method switching button, a result output button and a one-key takeoff/return flight button, can execute planning flight, one-key takeoff and landing, manual control, automatic crop extraction and automatic calculation of crop planting density kinetic energy, and can execute real-time image transmission between the aircraft and a ground station through the wireless communication module 3.
The drone assembly 1 includes a fuselage 11, forearms 12, rear arms 13, landing gear 14, rotors 15, motors 16, batteries and flight control assembly 17. The front arms 12 are provided in two and mounted to the front end of the body 11, and the rear arms 13 are provided in two and mounted to the rear end of the body 11. Landing gear 14 is mounted to the underside of fuselage 11, and rotor 15 and motor 16 are provided in plurality and mounted to the ends of front arm 12 and rear arm 13, respectively. Fuselage 11 and undercarriage 14 adopt the preparation of sending out the carbon fiber material, and the undercarriage bottom sets up the rubber foot pad, and each part can adopt quick assembly structure, and convenient the dismantlement does benefit to the transportation.
The flight control assembly is electrically connected with the motor 16, the visible light remote sensing sensor assembly 2 and the wireless communication module 3, the visible light remote sensing sensor assembly 2 is fixed at the front end of the machine body 11, and the flight control assembly and the wireless communication module 3 are fixed at the rear part of the machine body 11. The battery adopts a high-capacity rechargeable lithium battery.
The flight control assembly comprises a central control submodule, a GPS positioning system submodule and a wireless communication submodule, wherein the central control submodule is electrically connected with the GPS positioning system submodule and the wireless communication submodule, the GPS positioning system submodule is used for acquiring GPS positioning information and transmitting the GPS positioning information to the central control submodule, and the wireless communication submodule is in wireless connection with the master control recognition device 4.
Example 2
The remote sensing monitoring method for the crop planting density of the unmanned aerial vehicle applied to the remote sensing monitoring system for the crop planting density of the unmanned aerial vehicle comprises the following steps:
s1, carrying out aerial photography on the crop by carrying the visible light remote sensing sensor assembly 2 on the unmanned aerial vehicle assembly 1 so as to acquire crop image information and transmitting the crop image information to the master control identification device 4 through the wireless communication module 3;
s2, the main control identification device 4 receives the crop image information through the signal receiving antenna 42 and transmits the crop image information to the planting density automatic identification component 41;
and S3, the planting density automatic identification component 41 automatically identifies and calculates the planting density of the crops.
Step S3 further includes the steps of:
s3-1, the wave Band identification module 411 identifies R, G, B wave Band data Band of RGB three-color image in crop image informationRed wine、BandGreen、BandBlue (B)And transmits the green index to a green index calculation module 412, a mixed green index calculation module 413, a difference index calculation module 414 and a ratio index calculation module 415, wherein the green index calculation module 412, the mixed green index calculation module 413, the difference index calculation module 414 and the ratio index calculation module 415 respectively calculate a green index VegGreenGreen mixing index VegmaxDifferential index VegDAnd the ratio index VegrAnd transmitted to the planting density calculation module 417;
s3-2, the image area calculation module 416 calculates the total image area according to the crop image information and transmits the total image area to the planting density calculation module 417;
s3-3, the planting density calculation module 417 calculates the planting density of the crops according to the vegetation data and the total area of the image.
In step S3-1:
green index VegGreen＝BandGreen
Mixed green index Vegmax＝2*BandGreen-BandRed wine-BandBlue (B)
Difference index VegD＝(2BandGreen-BandBlue (B)-BandRed wine)/(2BandGreen+BandBlue (B)+BandRed wine)
Index of ratio Vegr＝BandRed wine/BandGreen
In step S3-2, the total area of the image is calculated as:
A＝RP2*NS
in the formula: a represents the total area of the image obtained by calculation, RP represents the resolution of the grids, and NS represents the number of the grids;
in S3-3, the formula for calculating the planting density of the species is as follows:
ρp＝Ap/A
in formula 6,. rhopRepresenting the crop planting density, Ap representing the vegetation area, and a representing the total image area.
Operation the utility model provides an unmanned aerial vehicle crop planting density remote sensing monitoring devices during, should open ground station workstation total accuse recognition device 4 earlier, press power key 44 and start the ground station, later start unmanned aerial vehicle, unmanned aerial vehicle will pass through wireless communication module, automatic wireless connection ground station.
The unmanned aerial vehicle crop planting density remote sensing monitoring devices that this patent of operation provided will be according to flight mission region, required precision, through ground station operating keyboard (16) to mission region, flight area quantity, flight altitude isoparametric design flight mission.
According to the flight mission area and the precision requirement, the flight mission is designed for parameters such as the mission area, the number of flight bands, the flight altitude and the like by operating the keyboard 46 through the ground station.
The unmanned aerial vehicle crop planting density remote sensing monitoring devices that this patent of operation provided will carry out/method switching button switches over the crop through ground station crop automatic extraction according to the task demand and draws function (G, RGRI, VDVI, CCVI, EXG etc.).
Before taking off, an operator needs to check the conditions of all parts of the airplane and take off the protective cover of the visible light sensor 4K camera. The one-key takeoff/return flight button can take off to execute tasks, and the airplane can return to the flight by clicking the one-key takeoff/return flight button again. When the electric quantity of the airplane is less than 20%, the airplane can automatically return. During the flight, the flight mission execution status can be observed through the liquid crystal display video 43 at any time. And after the flight task is finished, clicking a result output button (11) to output a result in a format of txt.
The utility model provides a pair of unmanned aerial vehicle crop planting density remote sensing monitoring system, this system comprises unmanned aerial vehicle and ground satellite station, and the transportation is convenient, and the operation is succinct. Unlike most fixed wing remote sensing monitoring unmanned aerial vehicles in the prior art, the unmanned aerial vehicle generally needs a catapult take-off device with a large size, is not limited by a field in taking off and landing, and has a wide application range. The ground station software realizes the automatic extraction of ground crops, the statistics of the area of the map and the automatic calculation of the crop planting density based on visible light images, and greatly saves the later data processing time of task execution personnel. Compared with the traditional crop planting density monitoring method based on a manual method and satellite remote sensing, the device has the advantages of saving personnel processing time, being high in efficiency and precision, being not affected by cloudy weather and the like. The monitoring efficiency of the crop planting density can be greatly improved, and the monitoring task which is difficult to complete by the traditional monitoring means is completed.
What has been described above are only some embodiments of the invention. For those skilled in the art, without departing from the inventive concept, several modifications and improvements can be made, which are within the scope of the invention.
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