阅读说明：本技术 一种基于无人机以及机载设备击打红松松塔的方法及装置 (Method and device for striking Korean pine pinecone based on unmanned aerial vehicle and airborne equipment ) 是由 周文雅 李哲 吴立志 王冠珺 于 2020-07-16 设计创作，主要内容包括：本发明提供一种基于无人机以及机载设备击打红松松塔的方法及装置。本发明方法,包括：获取红松山林的高清图像；对高清图像进行处理,规划无人机的飞行路径；基于规划的飞行路径,获取红松松塔的双目图像；基于双目图像确定松塔相对于无人机的位置,进而确定松塔相对击打设备的位置偏差；消除位置偏差；对红松松塔进行击打,获取击打过程中红松松塔的双目图像,判断松塔是否被完全打掉,松塔被完全打掉后,无人机飞往下一棵红松,继续作业。本发明装置,包括：无人机以及搭载在无人机上的机载设备；机载设备包括高分相机、双目摄像头、图像处理器、击打设备以及支撑杆；本发明的技术方案能够有效击落松塔,且将人从采摘松塔的高危劳动中解放出来。(The invention provides a method and a device for striking a pine cone of Korean pine based on an unmanned aerial vehicle and airborne equipment. The method comprises the following steps: acquiring a high-definition image of a Korean pine mountain forest; processing the high-definition image, and planning a flight path of the unmanned aerial vehicle; acquiring a binocular image of the pine cone of the Korean pine based on the planned flight path; determining the position of the pine cone relative to the unmanned aerial vehicle based on the binocular image, and further determining the position deviation of the pine cone relative to the striking equipment; eliminating the position deviation; beating the pine cone of the Korean pine, acquiring a binocular image of the pine cone of the Korean pine in the beating process, judging whether the pine cone is completely beaten, and after the pine cone is completely beaten, flying the next Korean pine by the unmanned aerial vehicle to continue operation. The device of the invention comprises: the unmanned aerial vehicle comprises an unmanned aerial vehicle and airborne equipment carried on the unmanned aerial vehicle; the airborne equipment comprises a high resolution camera, a binocular camera, an image processor, striking equipment and a supporting rod; the technical scheme of the invention can effectively knock down the pine cones and release people from high-risk labor of picking the pine cones.)

1. A method for striking Pinus koraiensis turrets based on an unmanned aerial vehicle and airborne equipment is characterized by comprising the following steps:

acquiring a high-definition image of a Korean pine mountain forest;

processing the acquired high-definition image, and planning a flight path of the unmanned aerial vehicle;

acquiring a binocular image of the pine cone of the Korean pine based on the planned flight path;

determining the position of the pine cone relative to the unmanned aerial vehicle based on the obtained binocular image, and further determining the position deviation of the pine cone relative to the striking equipment;

eliminating the position deviation;

beating the pine cone of the Korean pine, acquiring a binocular image of the pine cone of the Korean pine in the beating process, judging whether the pine cone is completely beaten, and after the pine cone is completely beaten, flying the next Korean pine by the unmanned aerial vehicle to continue operation.

2. The method for striking Pinus koraiensis turrets based on unmanned aerial vehicles and airborne equipment according to claim 1, wherein the processing of the acquired high-definition images to plan the flight path of the unmanned aerial vehicles comprises:

high-definition shooting is carried out on a mountain forest in a task area through an oblique shooting method by using a high-resolution camera carried by an unmanned aerial vehicle, and a mountain forest high-definition digital map is constructed through an image processing method;

in the high-definition digital map, the geographical position and the height of each Korean pine are marked by adopting a manual searching or image recognition method by taking Korean pine leaf characteristics or Korean pine cones as targets to form a three-dimensional position coordinate (x) of a Korean pine tip part_n，y_n，z_n) Wherein the subscript n represents a pine tree designation.

3. The method for hitting the pine cone of the Korean pine based on the unmanned aerial vehicle and the airborne equipment as claimed in claim 1, wherein the obtaining of the binocular image of the pine cone of the Korean pine based on the planned flight path comprises:

loading the flight path information of the unmanned aerial vehicle in the unmanned aerial vehicle flight control assembly, and tracking the unmanned aerial vehicle to fly according to the planned path;

when the unmanned aerial vehicle reaches the top of the Korean pine, the pine cone is identified by using a binocular camera and a target identification and positioning algorithm.

4. The method for striking the pine cone of the Korean pine based on the unmanned aerial vehicle and the airborne equipment according to claim 1, wherein the determining the position of the pine cone relative to the unmanned aerial vehicle and further the position deviation of the pine cone relative to the striking equipment based on the acquired binocular images comprises:

determining coordinates of pine cone of Korean pine in unmanned aerial vehicleIs the position (x) in Oxyz₁，y₁，z₁)；

Determining a position (x) of a striking device in a coordinate system of an unmanned aerial vehicle₂，y₂，z₂)；

Determining the position deviation between the pine cone of the Korean pine and the beating equipment, wherein the position deviation is delta x ═ x₁-x₂，Δy＝y₁-y₂，Δz＝z₁-z₂。

5. The method for striking pinecone of Pinus koraiensis based on unmanned aerial vehicle and airborne equipment according to claim 1, wherein the eliminating the position deviation comprises:

and forming a control instruction for fine adjustment of the hovering position of the unmanned aerial vehicle by using the position deviation, and adjusting the hovering position of the unmanned aerial vehicle until the unmanned aerial vehicle stops maneuvering when the position deviation is delta x → 0, delta y → 0 and delta z → 0.

6. The utility model provides a device based on unmanned aerial vehicle and airborne equipment hit and hit Korean pine tower, its characterized in that: the unmanned aerial vehicle comprises an unmanned aerial vehicle and airborne equipment carried on the unmanned aerial vehicle;

the unmanned aerial vehicle adopts a multi-rotor unmanned aerial vehicle;

the airborne equipment comprises a high resolution camera, a binocular camera, an image processor, striking equipment and a supporting rod; the high resolution camera is connected to a holder of the unmanned aerial vehicle; the binocular camera is connected with the image processor, and the binocular camera and the image processor are both arranged on the frame of the unmanned aerial vehicle; hit beat equipment with through bracing piece rigid connection between the unmanned aerial vehicle.

7. The device of claim 6, based on that unmanned aerial vehicle and airborne equipment hit pine cone of Korean pine, characterized in that, hit equipment and include: stick-type striking devices and propeller blade striking devices.

8. The device for beating the pine cone of Korean pine based on the unmanned aerial vehicle and the airborne equipment thereof as claimed in claim 6, wherein the binocular camera and the image processor are kept stationary relative to the unmanned aerial vehicle.

9. A computer-readable storage medium having a set of computer instructions stored therein; the set of computer instructions, when executed by a processor, implement the method of any one of claims 1-5 based on striking pine cones from drones and airborne equipment.

Technical Field

The invention relates to the technical field of design and application of unmanned aerial vehicles, in particular to a method and a device for striking a pine cone of Korean pine based on an unmanned aerial vehicle and airborne equipment.

Background

China has wide distribution and huge quantity of Korean pine trees. The pine cone of the Korean pine is a favorite food for people, and the price is high for many years. In order to obtain the income brought by the pine cone of Korean pine, farmers pick the pine cone from the middle of 9 to the middle of 10 months every year. The current means for picking the pine cones of Korean pine is to climb trees by people and then hit the pine cones with long rods or forks. Since the pine cone of the Korean pine is entirely grown at the position of the tip of the tree, a person must climb near the tip of the tree to hit the pine cone. Due to the factors of narrow operation space, more obstacles formed by branches, thinner trunk at the top of the tree and the like, people are difficult to stably operate on the tree and have the risk of falling off by accident. Casualty accidents caused by picking pines are frequent every year. Meanwhile, the mechanical operation cannot be carried out in the forest area due to the factors of high tree density, complex terrain, longitudinal and transverse dry branches on the ground and the like in the forest area. At present, no special equipment is used for picking the pine cones of the Korean pine at home and abroad, and the picking of the pine cones belongs to high-risk operation and has the problem that people cannot be hired. Therefore, it is necessary to develop a special equipment for picking pine cones of Korean pine.

Disclosure of Invention

According to the technical problem, a method and a device for striking the pine cone of the Korean pine based on an unmanned aerial vehicle and airborne equipment are provided. The pine cone picking machine mainly utilizes the unmanned aerial vehicle and airborne equipment thereof to pick pine cones, and has the advantages of high efficiency, low cost, small risk and the like.

The technical means adopted by the invention are as follows:

a method of hitting pinus koraiensis turrets based on an unmanned aerial vehicle and an airborne device, the method comprising:

acquiring a high-definition image of a Korean pine mountain forest;

processing the acquired high-definition image, and planning a flight path of the unmanned aerial vehicle;

acquiring a binocular image of the pine cone of the Korean pine based on the planned flight path;

determining the position of the pine cone relative to the unmanned aerial vehicle based on the obtained binocular image, and further determining the position deviation of the pine cone relative to the striking equipment;

eliminating the position deviation;

beating the pine cone of the Korean pine, acquiring a binocular image of the pine cone of the Korean pine in the beating process, judging whether the pine cone is completely beaten, and after the pine cone is completely beaten, flying the next Korean pine by the unmanned aerial vehicle to continue operation.

Further, the processing the acquired high-definition image to plan the flight path of the unmanned aerial vehicle includes:

High-definition shooting is carried out on a mountain forest in a task area through an oblique shooting method by using a high-resolution camera carried by an unmanned aerial vehicle, and a mountain forest high-definition digital map is constructed through an image processing method;

in the high-definition digital map, the geographical position and the height of each Korean pine are marked by adopting a manual searching or image recognition method by taking Korean pine leaf characteristics or Korean pine cones as targets to form a three-dimensional position coordinate (x) of a Korean pine tip part_n，y_n，z_n) Wherein the subscript n represents a pine tree designation.

Further, the obtaining of the binocular image of the pine cone of the Korean pine based on the planned flight path includes:

loading the flight path information of the unmanned aerial vehicle in the unmanned aerial vehicle flight control assembly, and tracking the unmanned aerial vehicle to fly according to the planned path;

when the unmanned aerial vehicle reaches the top of the Korean pine, the pine cone is identified by using a binocular camera and a target identification and positioning algorithm.

Further, the determining the position of the pine cone relative to the unmanned aerial vehicle based on the obtained binocular image, and further determining the position deviation of the pine cone relative to the striking device, includes:

determining the position (x) of the pine cone of Korean pine in the coordinate system Oxyz of unmanned plane₁，y₁，z₁)；

Determining a position (x) of a striking device in a coordinate system of an unmanned aerial vehicle₂，y₂，z₂)；

Determining the position deviation between the pine cone of the Korean pine and the beating equipment, wherein the position deviation is delta x ═ x ₁-x₂，Δy＝y₁-y₂，Δz＝z₁-z₂。

Further, the eliminating the position deviation includes:

and forming a control instruction for fine adjustment of the hovering position of the unmanned aerial vehicle by using the position deviation, and adjusting the hovering position of the unmanned aerial vehicle until the unmanned aerial vehicle stops maneuvering when the position deviation is delta x → 0, delta y → 0 and delta z → 0.

The invention also provides a device for striking the pine cone of the Korean pine based on the unmanned aerial vehicle and airborne equipment, which comprises the unmanned aerial vehicle and the airborne equipment carried on the unmanned aerial vehicle;

the unmanned aerial vehicle adopts a multi-rotor unmanned aerial vehicle;

the airborne equipment comprises a high resolution camera, a binocular camera, an image processor, striking equipment and a supporting rod; the high resolution camera is connected to a holder of the unmanned aerial vehicle; the binocular camera is connected with the image processor, and the binocular camera and the image processor are both arranged on the frame of the unmanned aerial vehicle; hit beat equipment with through bracing piece rigid connection between the unmanned aerial vehicle.

Further, the striking apparatus includes: stick-type striking devices and propeller blade striking devices.

Further, the relative positions of the binocular camera and the image processor and the unmanned aerial vehicle are kept still.

A computer-readable storage medium having a set of computer instructions stored therein; the set of computer instructions, when executed by the processor, implement the above method for striking the pine cone of Pinus koraiensis based on the unmanned aerial vehicle and the airborne equipment.

Compared with the prior art, the invention has the following advantages:

according to the method and the device for beating the pine cone of the Korean pine based on the unmanned aerial vehicle and the airborne equipment, the pine cone is picked mainly by the unmanned aerial vehicle and the airborne equipment, people are liberated from high-risk operation of picking the pine cone, and meanwhile, the labor cost for picking the pine cone is reduced.

Based on the reason, the unmanned aerial vehicle can be widely popularized in the fields of unmanned aerial vehicle design, application and the like.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a flow chart of the operation of picking pine cones of Korean pine provided by the embodiment of the invention.

Fig. 2 is a schematic diagram of target positioning achieved based on a binocular camera according to an embodiment of the present invention.

FIG. 3 is a block diagram of the apparatus of the present invention.

Fig. 4 is a schematic structural view of the unmanned aerial vehicle of the device of the invention.

Fig. 5 is a schematic diagram of two onboard striking devices provided by the embodiment of the invention.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The embodiments of the present invention will be described in detail with reference to the accompanying drawings.

As shown in fig. 1, the present invention provides a method for striking pinecone of pinus koraiensis based on an unmanned aerial vehicle and an airborne device, comprising:

step 1: acquiring a high-definition image of a Korean pine mountain forest; processing the acquired high-definition image, and planning a flight path of the unmanned aerial vehicle; in this embodiment, specifically:

high-definition shooting is carried out on a mountain forest in a task area through an oblique photography technology by using a high-resolution camera carried by an unmanned aerial vehicle, and a mountain forest high-definition digital map is constructed through an image processing method;

in the high-definition digital map, the geographical position and the height of each Korean pine are marked by adopting a manual searching or image recognition method by taking Korean pine leaf characteristics or Korean pine cones as targets to form a three-dimensional position coordinate (x) of a Korean pine tip part_n，y_n，z_n) Wherein the subscript n represents a pine tree designation. Then planning the flight path of the unmanned aerial vehicle (group) based on the distribution condition of the Korean pine by using a manual or optimization method;

in this embodiment, the image processing method and the image recognition method may be implemented by using open source software, and the present embodiment is not limited to a specific image processing method and a specific image recognition method.

Step 2: acquiring a binocular image of the pine cone of the Korean pine based on the planned flight path; in this embodiment, specifically:

loading the flight path information of the unmanned aerial vehicle in the unmanned aerial vehicle flight control assembly, and tracking the unmanned aerial vehicle to fly according to the planned path;

when the unmanned aerial vehicle reaches the top of the Korean pine, the pine cone is identified by using a binocular camera and a target identification and positioning algorithm.

In this embodiment, the path planning algorithm is not limited to a certain method, and specifically, a conventional algorithm (a simulated annealing method, an artificial potential field method, a fuzzy logic method, a tabu search method), a graphics method (a Voronoi diagram algorithm, a C space method, a grid method), an intelligent biomimetic algorithm (an ant colony algorithm, a neural network algorithm, a genetic algorithm), and the like, which are mature at present, may be used.

And step 3: determining the position of the pine cone relative to the unmanned aerial vehicle based on the obtained binocular image, and further determining the position deviation of the pine cone relative to the striking equipment; in this embodiment, specifically:

determining the position (x) of a pine cone of Korean pine in an unmanned aerial vehicle coordinate system Oxyz by a binocular ranging principle₁，y₁，z₁) (ii) a As shown in FIG. 2, P is the spatial position of the pine cone of Pinus koraiensis, which is imaged as P in the left and right eye cameras_LAnd P_R，O_L、O_RLeft and right apertures, square frame camera imaging plane, f focal length, b binocular camera baseline, u _LAnd u_RAre the coordinates of the imaging plane. According to Δ PP_LP_RAnd Δ PO_LO_RIn a similar relationship withNamely, it isx₁、y₁Can also be obtained by similar principles, and therefore, the detailed description is omitted here.

Determining a position (x) of a striking device in a coordinate system of an unmanned aerial vehicle₂，y₂，z₂)；

Determining the position deviation between the pine cone of the Korean pine and the beating equipment, wherein the position deviation is delta x ═ x₁-x₂，Δy＝y₁-y₂，Δz＝z₁-z₂。

And 4, step 4: eliminating the position deviation; in this embodiment, specifically:

and forming a control instruction for fine adjustment of the hovering position of the unmanned aerial vehicle by using the position deviation, and adjusting the hovering position of the unmanned aerial vehicle until the unmanned aerial vehicle stops maneuvering when the unmanned aerial vehicle is in the range of delta x → 0, delta y → 0 and delta z → 0.

And 5: beating the pine cone of the Korean pine, acquiring a binocular image of the pine cone of the Korean pine in the beating process, judging whether the pine cone is completely beaten, and after the pine cone is completely beaten, flying the next Korean pine by the unmanned aerial vehicle to continue operation.

As shown in fig. 3, the invention provides a device for striking a pine cone of Korean pine based on an unmanned aerial vehicle and airborne equipment, which comprises the unmanned aerial vehicle and the airborne equipment carried on the unmanned aerial vehicle; as shown in fig. 4, the drone employs a multi-rotor drone; the airborne equipment comprises a high resolution camera, a binocular camera, an image processor, striking equipment and a supporting rod; the high resolution camera is connected to a holder of the unmanned aerial vehicle; binocular camera connects image processor, binocular camera and image processor all set up in unmanned aerial vehicle's the frame, binocular camera and image processor and unmanned aerial vehicle relative position keep motionless, hit beat equipment with through bracing piece rigid connection between the unmanned aerial vehicle.