阅读说明：本技术 基于无人机和边缘矫正模块的林业面积测量装置 (Forestry area measurement device based on unmanned aerial vehicle and edge correction module ) 是由 张英 于 2020-07-27 设计创作，主要内容包括：本发明属于林业设备技术领域,具体涉及一种基于无人机和边缘矫正模块的林业面积测量装置,包括无人机、定位模块、边缘矫正模块、无人机控制器和终端处理模块；所述边缘矫正模块用于检测无人机的位置,由所述终端处理模块根据位置信息判断无人机是否处于林地边缘；所述无人机控制器用于根据边缘矫正模块的判断结果控制无人机调整位置,使无人机处在林地边缘；所述定位模块用于无人机处在林地边缘时获取无人机的位置信息；所述终端处理模块还用于位置信息绘制无人机飞行轨迹,然后计算林地面积。本发明利用林地边缘树木与地面的存在高度差的原理,利用雷达技术能精确的区分林地边缘,提高了林地面积测量的精准度。(The invention belongs to the technical field of forestry equipment, and particularly relates to a forestry area measuring device based on an unmanned aerial vehicle and an edge correction module, which comprises the unmanned aerial vehicle, a positioning module, the edge correction module, an unmanned aerial vehicle controller and a terminal processing module; the edge correction module is used for detecting the position of the unmanned aerial vehicle, and the terminal processing module judges whether the unmanned aerial vehicle is positioned at the edge of the forest land or not according to the position information; the unmanned aerial vehicle controller is used for controlling the unmanned aerial vehicle to adjust the position according to the judgment result of the edge correction module, so that the unmanned aerial vehicle is positioned at the edge of the forest land; the positioning module is used for acquiring the position information of the unmanned aerial vehicle when the unmanned aerial vehicle is positioned at the edge of the forest land; the terminal processing module is also used for drawing the flight track of the unmanned aerial vehicle according to the position information and then calculating the area of the forest land. The invention utilizes the principle that trees at the edge of the forest land have height difference with the ground and utilizes the radar technology to accurately distinguish the edge of the forest land and improve the accuracy of measuring the area of the forest land.)

1. A forestry area measurement device based on an unmanned aerial vehicle and an edge correction module is characterized by comprising the unmanned aerial vehicle, a positioning module, the edge correction module, an unmanned aerial vehicle controller and a terminal processing module, wherein the positioning module and the edge correction module are mounted on the unmanned aerial vehicle;

the edge correction module is used for detecting the position of the unmanned aerial vehicle, and the terminal processing module judges whether the unmanned aerial vehicle is positioned at the edge of the forest land or not according to the position information;

the unmanned aerial vehicle controller is used for controlling the unmanned aerial vehicle to adjust the position according to the judgment result of the edge correction module, so that the unmanned aerial vehicle is positioned at the edge of the forest land;

the positioning module is used for acquiring the position information of the unmanned aerial vehicle when the unmanned aerial vehicle is positioned at the edge of the forest land;

the terminal processing module is also used for drawing the flight track of the unmanned aerial vehicle according to the position information acquired by the positioning module, and then calculating the forest land area according to the flight track.

2. A forestry area measurement device based on an unmanned aerial vehicle and an edge correction module according to claim 1, wherein the edge correction module is two radars respectively installed at both sides of the bottom of the unmanned aerial vehicle, and the positioning module is located at a midpoint between the two radars.

3. The forestry area measurement device based on the unmanned aerial vehicle and the edge correction module according to claim 2, wherein the unmanned aerial vehicle controller controls the unmanned aerial vehicle to fly to a position close to the edge of the forest land to be measured;

the unmanned aerial vehicle control radar L1 and the radar L2 vertically transmit electromagnetic waves to the ground through transmitting antennas respectively, meanwhile, receiving antennas of the radar L1 and the radar L2 receive the electromagnetic waves returned from the ground respectively, the time taken by the radar L1 from transmitting the electromagnetic waves to receiving the electromagnetic waves is T1, the time taken by the radar L2 from transmitting the electromagnetic waves to receiving the electromagnetic waves is T2, and the unmanned aerial vehicle transmits time data T1 and T2 to the terminal processing module;

the unmanned aerial vehicle controller controls the unmanned aerial vehicle to hover and rotate in the horizontal direction, and the terminal processing module judges whether the unmanned aerial vehicle is located at the edge of a forest land or not according to time data T1 and T2 and a preset critical time value T0; if so, the positioning module acquires the current position information of the unmanned aerial vehicle and transmits the current position information to the terminal processing module for displaying and recording; if the unmanned aerial vehicle is not located at the edge of the forest land, the unmanned aerial vehicle controller controls the unmanned aerial vehicle to adjust the position, then the unmanned aerial vehicle hovers and rotates in the horizontal direction until the terminal processing module determines that the unmanned aerial vehicle is located at the edge of the forest land;

the unmanned aerial vehicle controller controls the unmanned aerial vehicle to fly around the forest land to obtain n forest land edge position information, the terminal processing module draws a closed flight track according to the position information, and then the forest land area is calculated according to the flight track.

4. A forestry area measurement device according to claim 3, wherein the critical time value T0 is determined by the terminal processing module according to the propagation speed of electromagnetic waves and the average height of trees in the forest land, and when the difference between the received time data T1 and T2 is greater than or equal to T0, the data processing terminal considers that two radars are located at two sides of the forest land edge and the unmanned aerial vehicle is located at the forest land edge;

when the difference value between the received time data T1 and T2 is smaller than T0, the data processing terminal considers that the two radars are not positioned on two sides of the edge of the forest land and the unmanned aerial vehicle is not positioned on the edge of the forest land.

5. A forestry area measurement device based on an unmanned aerial vehicle and an edge correction module according to claim 3, wherein the positioning module is a GPS locator or a beidou locator, and the terminal processing module is a computer or a smart phone.

6. A forestry area measurement device based on a drone and an edge correction module according to claim 3, wherein the distance between the radar L1 and the radar L2 is 30-100 centimeters.

7. A forestry area measurement device based on an unmanned aerial vehicle and an edge correction module according to claim 6, wherein detachable wings are symmetrically installed on the unmanned aerial vehicle, and each wing is correspondingly provided with a radar.

8. A forestry area measurement device based on an unmanned aerial vehicle and an edge correction module according to claim 6, wherein the unmanned aerial vehicle has a flight height of 50-150 m.

9. A forestry area measurement device based on an unmanned aerial vehicle and an edge correction module according to claim 3, wherein the forest land to be measured is a broadleaf forest or a forest land mixed by broadleaf trees and coniferous trees.

Technical Field

The invention belongs to the technical field of forestry equipment, and particularly relates to a forestry area measuring device based on an unmanned aerial vehicle and an edge correction module.

Background

The equipment for land area detection comprises a handheld GPS measuring instrument, an unmanned aerial vehicle aerial photography device and the like, the handheld GPS measuring instrument drives the GPS measuring instrument to walk depending on measuring personnel, the land area is measured and calculated by utilizing the generated GPS track, and the equipment is limited in manpower and energy and only suitable for small-area land measurement. Unmanned aerial vehicle ware of taking photo by plane after the formation of image people control the ware of taking photo by plane and fly in taking the measurement land boundary, then calculate the land area through the flight orbit, can carry out the land survey of large tracts of land, practice thrift the manpower. But contain a large amount of trees in the geographic environment that forest land area measurement relates to, trees height is high and the area is big, and unmanned aerial vehicle ware of taking photo by plane need fly to a take a photograph to certain height just can make a video recording, at this moment because high influence, artificially judge behind the formation of image of making a video recording that the land border that awaits measuring easily produces visual error, lead to measuring accuracy to reduce. Therefore, it is necessary to develop a device with higher accuracy suitable for forest land area measurement.

Disclosure of Invention

In order to solve the technical problem, the invention provides a forestry area measuring device based on an unmanned aerial vehicle and an edge correction module.

The invention aims to provide a forestry area measuring device based on an unmanned aerial vehicle and an edge correction module, which comprises the unmanned aerial vehicle, a positioning module, the edge correction module, an unmanned aerial vehicle controller and a terminal processing module, wherein the positioning module and the edge correction module are carried on the unmanned aerial vehicle;

the edge correction module is used for detecting the position of the unmanned aerial vehicle, and the terminal processing module judges whether the unmanned aerial vehicle is positioned at the edge of the forest land or not according to the position information;

the unmanned aerial vehicle controller is used for controlling the unmanned aerial vehicle to adjust the position according to the judgment result of the edge correction module, so that the unmanned aerial vehicle is positioned at the edge of the forest land;

the positioning module is used for acquiring the position information of the unmanned aerial vehicle when the unmanned aerial vehicle is positioned at the edge of the forest land;

the terminal processing module is also used for drawing the flight track of the unmanned aerial vehicle according to the position information acquired by the positioning module, and then calculating the forest land area according to the flight track.

Preferably, above-mentioned forestry area measurement device based on unmanned aerial vehicle and edge correction module, edge correction module is two radars, installs respectively in unmanned aerial vehicle's bottom both sides, orientation module is located two midpoint department between the radar.

Preferably, in the forestry area measuring device based on the unmanned aerial vehicle and the edge correction module, the unmanned aerial vehicle controller controls the unmanned aerial vehicle to fly to a position, close to the edge, of the forest land to be measured;

the unmanned aerial vehicle control radar L1 and the radar L2 vertically transmit electromagnetic waves to the ground through transmitting antennas respectively, meanwhile, receiving antennas of the radar L1 and the radar L2 receive the electromagnetic waves returned from the ground respectively, the time taken by the radar L1 from transmitting the electromagnetic waves to receiving the electromagnetic waves is T1, the time taken by the radar L2 from transmitting the electromagnetic waves to receiving the electromagnetic waves is T2, and the unmanned aerial vehicle transmits time data T1 and T2 to the terminal processing module;

the unmanned aerial vehicle controller controls the unmanned aerial vehicle to hover and rotate in the horizontal direction, and the terminal processing module judges whether the unmanned aerial vehicle is located at the edge of a forest land or not according to time data T1 and T2 and a preset critical time value T0; if so, the positioning module acquires the current position information of the unmanned aerial vehicle and transmits the current position information to the terminal processing module for displaying and recording; if the unmanned aerial vehicle is not located at the edge of the forest land, the unmanned aerial vehicle controller controls the unmanned aerial vehicle to adjust the position, then the unmanned aerial vehicle hovers and rotates in the horizontal direction until the terminal processing module determines that the unmanned aerial vehicle is located at the edge of the forest land;

the unmanned aerial vehicle controller controls the unmanned aerial vehicle to fly around the forest land to obtain n forest land edge position information, the terminal processing module draws a closed flight track according to the position information, and then the forest land area is calculated according to the flight track.

Preferably, in the forestry area measurement apparatus based on the unmanned aerial vehicle and the edge correction module, the critical time value T0 is determined by the terminal processing module according to the propagation speed of the electromagnetic wave and the average height of trees in the forest land, and when the difference between the received time data T1 and T2 is greater than or equal to T0, the data processing terminal considers that the two radars are located on two sides of the edge of the forest land and the unmanned aerial vehicle is located on the edge of the forest land;

when the difference value between the received time data T1 and T2 is smaller than T0, the data processing terminal considers that the two radars are not positioned on two sides of the edge of the forest land and the unmanned aerial vehicle is not positioned on the edge of the forest land.

Preferably, the forestry area measurement device based on unmanned aerial vehicle and edge correction module, the orientation module is GPS locator or big dipper locator, terminal processing module is computer or smart mobile phone.

Preferably, in the forestry area measuring device based on the unmanned aerial vehicle and the edge correction module, the distance between the radar L1 and the radar L2 is 30-100 cm.

Preferably, above-mentioned forestry area measurement device based on unmanned aerial vehicle and edge correction module, the symmetry installation detachable wing on the unmanned aerial vehicle, every it has a radar to correspond to carry on the wing.

Preferably, above-mentioned forestry area measurement device based on unmanned aerial vehicle and edge correction module, unmanned aerial vehicle's flight height is 50-150 meters.

Preferably, the forestry area measurement device based on unmanned aerial vehicle and edge correction module, the woodland that awaits measuring is the broadleaf forest, or the woodland of broadleaf trees and coniferous trees mixed planting.

Compared with the prior art, the forestry area measuring device based on the unmanned aerial vehicle and the edge correction module, provided by the invention, has the following beneficial effects:

the device can distinguish the edge of the forest land by utilizing the principle that the height difference exists between trees at the edge of the forest land and the ground and utilizing the radar technology without using a camera or visually observing the edge of the forest land; the unmanned aerial vehicle technology reduces the workload of manual walking; the device has improved unmanned aerial vehicle at the marginal accuracy in woodland, has improved woodland area measurement's precision.

Drawings

Fig. 1 is a schematic structural diagram of a forestry area measuring device based on an unmanned aerial vehicle and an edge correction module;

fig. 2 is a flight trajectory displayed by a terminal processing module of the forestry area measuring device based on the unmanned aerial vehicle and the edge correction module according to the invention;

fig. 3 is a working principle diagram of the forestry area measuring device based on the unmanned aerial vehicle and the edge correction module.

Detailed Description

In order that those skilled in the art will better understand the technical solutions of the present invention to be implemented, the present invention will be further described with reference to the following specific embodiments and accompanying drawings. The following examples, as well as test methods not specifically identified in the summary of the invention, were conducted according to methods and conditions conventional in the art.

The invention provides a forestry area measuring device based on an unmanned aerial vehicle and an edge correction module, which comprises the unmanned aerial vehicle, a positioning module, the edge correction module, an unmanned aerial vehicle controller and a terminal processing module, wherein the positioning module and the edge correction module are loaded on the unmanned aerial vehicle;

the edge correction module is used for detecting the position of the unmanned aerial vehicle, and the terminal processing module judges whether the unmanned aerial vehicle is positioned at the edge of the forest land or not according to the position information; the edge correction die is a radar;

the unmanned aerial vehicle controller is used for controlling the unmanned aerial vehicle to adjust the position according to the judgment result of the edge correction module, so that the unmanned aerial vehicle is positioned at the edge of the forest land;

the positioning module is used for acquiring the position information of the unmanned aerial vehicle when the unmanned aerial vehicle is positioned at the edge of a forest land, and the positioning module is a GPS (global positioning system) positioner or a Beidou positioner;

the terminal processing module is also used for drawing the flight track of the unmanned aerial vehicle according to the position information acquired by the positioning module, and then calculating the forest land area according to the flight track. The terminal processing module is a computer or a smart phone,