CN104320607A - Method for monitoring growth of farmland crops based on drone - Google Patents
Method for monitoring growth of farmland crops based on drone Download PDFInfo
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- CN104320607A CN104320607A CN201410383250.8A CN201410383250A CN104320607A CN 104320607 A CN104320607 A CN 104320607A CN 201410383250 A CN201410383250 A CN 201410383250A CN 104320607 A CN104320607 A CN 104320607A
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Abstract
The present invention discloses a method for monitoring growth of farmland crops based on a drone. The method for monitoring the growth of the farmland crops mainly completes the operation of monitoring the growth of the crops through orientation cruise of the drone and fixed point shooting of the imaging device carried by the drone. The present invention saves a large amount of costs for recruiting and using the work force and time through combining the drone remote sensing system with the modern agricultural detecting techniques without observing growth conditions of the crops in the farmland by the farmer regarding large scale integration farmlands in the modern agriculture. Meanwhile, it can be convenient to check and compare the image data recorded by the computer at any time, thereby more accurately analyzing actual growth conditions of the crops in the farmland, and facilitating unified planning and management on the farmland.
Description
Technical field
The present invention relates to production and the detection field of automation agricultural, particularly relate to a kind of method that monitoring field-crop based on unmanned plane grows.
Background technology
The formation of modern machines system and farming machine extensive use, agricultural is produced by manual animal-drawn farm implements and changes production of machinery into, tractor as excellent in technical and economic performance, cultivator, united reaper, agricultural automobile, agricultural aircraft and woods, herd, various machines in fishery, become the main tool of production of agricultural, the energy of input agricultural is significantly increased, and electronics, atomic energy, laser, remote sensing technology and artificial satellite etc. also start to apply to agricultural.
Experiment of UAV remote sensing system many uses Miniature digital camera (or scanner) is as airborne sensory equipment, compared with traditional boat sheet, there is the problems such as film size is less, image quantity is many, for the attitude data when feature of its remote sensing image and camera Calibration parameter, shooting (or scanning) with about geometrical model, geometry and radiant correction are carried out to image, also have image automatically identify and splice software fast simultaneously, realize the quality of image, the quick inspection of flight reappearance and the fast processing of data, with meet whole system in real time, technical requirement fast.
In the production of traditional agriculture, in farmland, the upgrowth situation of crop carries out Real Time Observation under needing peasant in farmland, obtain the growth conditions of crops reality, but for peasant when observing, only can observe the upgrowth situation of the crops of farmland week side, upgrowth situation for the crop in the middle part of farmland cannot be observed, mainly because crops fill up whole farmland, peasant cannot enter in farmland smoothly and observe, simultaneously along with the popularization of large scale integration modern agriculture, the extensive farmland of formula of contracting is promoted, the manpower and materials that the granting adopting traditional peasant to go to the field observation needs waste a large amount of, complex operation, be inconvenient to record and unified management.
Summary of the invention
For above-mentioned Problems existing, the monitoring farmland of the extruding unmanned plane the invention provides and be a kind ofly applicable to large scale integration farmland, facilitating unified management and control is as the method for growth.
In order to achieve the above object, the technical solution used in the present invention is as follows: a kind of method that monitoring field-crop based on unmanned plane grows, the fixed point shooting of the imaging device that method is mainly cruised by the orientation of unmanned plane and unmanned plane carries of described monitoring field-crop growth, being data analysis to complete the work of the growth of monitoring crops by computer software by collecting, comprising following step:
1) by the real area in manual detection farmland, passed through computer project, formulated the pre-flight path that the orientation of unmanned plane cruises;
2) according to the pre-flight path that computer is formulated, be communicated with unmanned plane and take a flight test, take a flight test in process, UAV flight's imaging device, the farmland situation in the flight range of omnidistance shooting unmanned plane;
3) according to the video recording produced in process of taking a flight test, taken photo by plane by unmanned plane multiple images of obtaining or picture import in three-dimensional artificial software, carry out manpower comparing to and software screening method, determine the unmanned plane hovering shooting point in practical flight process and shooting time;
4) according to the video recording taken in pre-flight course and the unmanned plane determined hovering shooting point, by computer project and the actual flight route formulating unmanned plane;
5) unmanned plane flies along actual flight route, and after arriving the shooting point formulated, unmanned plane hovering flight, carries out fixed point shooting by airborne imaging equipment.
6) by the view data entry information process computer that step 5) obtains, the upgrowth situation of crops after carrying out modeling and united analysis, is obtained.
The present invention is in practical flight process, the positional information that the positioning equipment that unmanned plane carries obtains unmanned plane current passes to data handling machine, the position of the point of this information and setting compares by data handling machine, if unmanned plane position predetermined detection point longitude and latitude ± 1m within the scope of, then unmanned plane hovering is carried out 360 ° to this point to surrounding environment and is taken pictures.
GPS navigation system selected by positioning equipment of the present invention.The general principle of GPS navigation system is the distance between the satellite of measuring known location to receiver user, and then the data of comprehensive multi-satellite just can know the particular location of receiver; Select the object of this technology to be the precise positioning facilitating unmanned plane and farmland, facilitate microcomputer modelling and unified planning, location is accurate, facilitates unified standardization to manage.
Choosing of the middle unmanned plane hovering shooting point of step of the present invention (3), the farmland according to plantation Different Crop different in monitoring range is determined, is provided with a hovering shooting point in every block farmland;
The hovering shooting point in monolithic farmland of the present invention is determined according to the shape in farmland, and the hovering shooting point in the farmland of class rectangle to be arranged in farmland on the intersection point of two most long-diagonals, and the hovering shooting in the farmland of similar round is arranged on the center of circle, farmland.
Unmanned plane of the present invention carries out 360 ° in hover point to surrounding environment and takes pictures, and a single point takes 4 photos, and shooting angle is with " due east ", " due south " of the sensing of compass, " just west ", " just north " four direction; Be owing to bearing the illumination of Different periods on a direction, its crop is that the temperature and humidity factor of growth is also different, and conveniently can be observed the upgrowth situation of crop in whole farmland by four photos, observation and analysis is comprehensive.
Unmanned aerial vehicle onboard imaging device of the present invention is arranged on external fuselage, pixel >=1,800 ten thousand of camera installation, and it has optical anti-vibration device.
Unmanned aerial vehicle onboard imaging device of the present invention is movably arranged on bottom unmanned plane, and the vertical anglec of rotation of described unmanned aerial vehicle onboard imaging device is-90 ° ~ 20 °; According to the practical production status of crops, regulate the angle of imaging device on unmanned plane, the convenient shooting angle finding the best, improves the observing effect of overall crop.
The invention has the advantages that: the present invention is by combining the detection technique of experiment of UAV remote sensing system and modern agriculture, for the large scale integration farmland of modern agriculture, carry out going to the field without the need to peasant and observe crop growth situation, save a large amount of recruitment costs and time, simultaneously through the image data of computer recording, conveniently check at any time and front and back contrast, analyze the actual upgrowth situation of crop in farmland more accurately, conveniently unified planning and management are carried out to farmland.
Accompanying drawing explanation
Fig. 1 is that unmanned plane during flying of the present invention presets figure.
Wherein, zero is the hovering shooting point of physical planning;
be denoted as the flight path of unmanned plane planning.
Embodiment
Below in conjunction with embodiment, the present invention is described in further detail.
embodiment 1:the method that a kind of monitoring field-crop based on unmanned plane as shown in Figure 1 grows:
1) by the real area in manual detection farmland, passed through computer project, formulated the pre-flight path that the orientation of unmanned plane cruises;
2) according to the pre-flight path that computer is formulated, be communicated with unmanned plane and take a flight test, take a flight test in process, UAV flight's imaging device, the farmland situation in the flight range of omnidistance shooting unmanned plane;
3) according to the video recording produced in process of taking a flight test, taken photo by plane by unmanned plane multiple images of obtaining or picture import in three-dimensional artificial software, carry out manpower comparing to and software screening method, determine the unmanned plane hovering shooting point in practical flight process and shooting time;
4) according to the video recording taken in pre-flight course and the unmanned plane determined hovering shooting point, by computer project and the actual flight route formulating unmanned plane;
Unmanned plane hovering the choosing of shooting point in the present invention, the farmland according to plantation Different Crop different in monitoring range is determined, is provided with a hovering shooting point (in figure mono-shown in zero) in every block farmland; The hovering shooting point stating monolithic farmland is determined according to the shape in farmland, on the intersection point that the hovering shooting point in the farmland of class rectangle to be arranged in farmland two most long-diagonals (ginseng is made shown in Fig. 1).
5) unmanned plane flies along actual flight route, after arriving the shooting point formulated, the positional information that the positioning equipment that unmanned plane carries obtains unmanned plane current passes to data handling machine, the position of the point of this information and setting compares by data handling machine, if unmanned plane position predetermined detection point longitude and latitude ± 1m within the scope of, then unmanned plane hovering is carried out 360 ° to this point to surrounding environment and is taken pictures, and carries out fixed point take by airborne imaging equipment.
Unmanned plane of the present invention carries out 360 ° in hover point to surrounding environment and takes pictures, and a single point takes 4 photos, and shooting angle is with " due east ", " due south " of the sensing of compass, " just west ", " just north " four direction; Be owing to bearing the illumination of Different periods on a direction, its crop is that the temperature and humidity factor of growth is also different, and conveniently can be observed the upgrowth situation of crop in whole farmland by four photos, observation and analysis is comprehensive.
6) by the view data entry information process computer that step 5) obtains, the upgrowth situation of crops after carrying out modeling and united analysis, is obtained.
embodiment 2:as shown in Figure 1, in physical record process, the picture recorded of single flight is depicted as form, (example form is as follows)
The growth conditions drawing each farmland implants in large scale integration farmland can be clearly analyzed by above table, convenient checking at any time contrasts with front and back, analyze the actual upgrowth situation of crop in farmland more accurately, conveniently unified planning and management are carried out to farmland, provide theoretical foundation to the growth of next year or next batch crops; Substantially increase the production efficiency of modern agriculture.
It should be noted that, above-mentioned is only preferred embodiment of the present invention, is not used for limiting protection scope of the present invention, and equivalents done on the basis of above-described embodiment all belongs to protection scope of the present invention.
Claims (8)
1. the method that grows of the monitoring field-crop based on unmanned plane, it is characterized in that, the fixed point shooting of the imaging device that method is mainly cruised by the orientation of unmanned plane and unmanned plane carries of described monitoring field-crop growth, being data analysis to complete the work of the growth of monitoring crops by computer software by collecting, comprising following step:
1) by the real area in manual detection farmland, passed through computer project, formulated the pre-flight path that the orientation of unmanned plane cruises;
2) according to the pre-flight path that computer is formulated, be communicated with unmanned plane and take a flight test, take a flight test in process, UAV flight's imaging device, the farmland situation in the flight range of omnidistance shooting unmanned plane;
3) according to the video recording produced in process of taking a flight test, taken photo by plane by unmanned plane multiple images of obtaining or picture import in three-dimensional artificial software, carry out manpower comparing to and software screening method, determine the unmanned plane hovering shooting point in practical flight process and shooting time;
4) according to the video recording taken in pre-flight course and the unmanned plane determined hovering shooting point, by computer project and the actual flight route formulating unmanned plane;
5) unmanned plane flies along actual flight route, and after arriving the shooting point formulated, unmanned plane hovering flight, carries out fixed point shooting by airborne imaging equipment;
6) by the view data entry information process computer that step 5) obtains, the upgrowth situation of crops after carrying out modeling and united analysis, is obtained.
2. the method that grows of the monitoring field-crop based on unmanned plane according to claim 1, it is characterized in that, in described practical flight process, the positional information that the positioning equipment that unmanned plane carries obtains unmanned plane current passes to data handling machine, the position of the point of this information and setting compares by data handling machine, if unmanned plane position predetermined detection point longitude and latitude ± 1m within the scope of, then unmanned plane hovering is carried out 360 ° to this point to surrounding environment and is taken pictures.
3. the method that grows of the monitoring field-crop based on unmanned plane according to claim 1, it is characterized in that, GPS navigation system selected by described positioning equipment.
4. the method that grows of the monitoring field-crop based on unmanned plane according to claim 1, it is characterized in that, choosing of the middle unmanned plane hovering shooting point of described step (3), the farmland according to plantation Different Crop different in monitoring range is determined, is provided with a hovering shooting point in every block farmland.
5. the method that grows of the monitoring field-crop based on unmanned plane according to claim 4, it is characterized in that, the hovering shooting point in described monolithic farmland is determined according to the shape in farmland, the hovering shooting point in the farmland of class rectangle to be arranged in farmland on the intersection point of two most long-diagonals, and the hovering shooting in the farmland of similar round is arranged on the center of circle, farmland.
6. the method that grows of the monitoring field-crop based on unmanned plane according to claim 2, it is characterized in that, described unmanned plane carries out 360 ° in hover point to surrounding environment and takes pictures, a single point takes 4 photos, and shooting angle is with " due east ", " due south " of the sensing of compass, " just west ", " just north " four direction.
7. the method that grows of the monitoring field-crop based on unmanned plane according to claim 1, it is characterized in that, described unmanned aerial vehicle onboard imaging device is arranged on external fuselage, pixel >=1,800 ten thousand of camera installation, and it has optical anti-vibration device.
8. the method that grows of the monitoring field-crop based on unmanned plane according to claim 7, it is characterized in that, described unmanned aerial vehicle onboard imaging device is movably arranged on bottom unmanned plane, and the vertical anglec of rotation of described unmanned aerial vehicle onboard imaging device is-90 ° ~ 10 °.
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| CN105258735A (en) * | 2015-11-12 | 2016-01-20 | 杨珊珊 | Environmental data detection method and device based on unmanned aerial vehicle |
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| CN105574482A (en) * | 2015-08-31 | 2016-05-11 | 中国烟草总公司广东省公司 | Field tobacco growth status monitoring method |
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