CN115542938A

CN115542938A - Crop canopy measurement system, method, storage medium, and computer program product

Info

Publication number: CN115542938A
Application number: CN202211057431.2A
Authority: CN
Inventors: 徐新刚; 许思喆; 杨贵军; 孟炀; 徐波; 冯海宽; 杨小冬; 宋晓宇; 杨浩; 龙慧灵; 李贺丽; 胡海棠; 王聪聪
Original assignee: Research Center of Information Technology of Beijing Academy of Agriculture and Forestry Sciences
Current assignee: Research Center of Information Technology of Beijing Academy of Agriculture and Forestry Sciences
Priority date: 2022-08-31
Filing date: 2022-08-31
Publication date: 2022-12-30

Abstract

The invention provides a crop canopy measuring system, method, storage medium and computer program product, comprising: the system comprises an unmanned aerial vehicle, a lifting mechanism, a crop canopy perception measuring device and a control module; one end of the lifting mechanism is connected with the body of the unmanned aerial vehicle, and the other end of the lifting mechanism is connected with the crop canopy perception measuring device; the unmanned aerial vehicle is provided with a laser ranging device; the unmanned aerial vehicle is used for flying to the position above the measuring position in the field to be measured under the control of the control module; the laser distance measuring device is used for measuring distance information between the crop canopy perception measuring device and a crop canopy at a measuring position below the crop canopy perception measuring device; the control module is used for controlling the lifting mechanism to drive the crop canopy perception measuring device to lift to a target measuring height based on the distance information, and controlling the crop canopy perception measuring device to measure the crop canopy at the target measuring height. The invention can realize the crop canopy measurement which is not limited by the field region space environment condition, and has high measurement efficiency.

Description

Crop canopy measurement system, method, storage medium, and computer program product

Technical Field

The present invention relates to the field of agricultural technologies, and in particular, to a crop canopy measurement system, method, storage medium, and computer program product.

Background

Various crop canopy perception measuring devices (instruments or equipment) are utilized to carry out real-time, rapid and dynamic monitoring and diagnosis on the growth condition of crops in the field, and the device is an important content for realizing digital, informatization and intelligent management and decision making of modern planting agriculture.

At present, the use of the current crop canopy perception measuring device depends on a platform on the ground, such as a locomotive or a manual work, however, the mode of carrying the crop canopy perception measuring device by the locomotive or the manual work for measurement is often limited by field region space environmental conditions, such as inconvenient field road passing conditions, possible damp, muddy and even paddy fields, and the like, so that the measurement work needs to consume a large amount of manpower and time cost, and the measurement efficiency is low. In addition, the locomotive or the measuring staff can cause damage to crops to various degrees when passing through the field.

Therefore, how to better perform the sensing measurement of the crop canopy has become an urgent technical problem to be solved in the industry.

Disclosure of Invention

The invention provides a crop canopy measurement system, a method, a storage medium and a computer program product, which are used for better performing perception measurement of crop canopy.

The invention provides a crop canopy measuring system, comprising:

the system comprises an unmanned aerial vehicle, a lifting mechanism, a crop canopy perception measuring device and a control module;

one end of the lifting mechanism is connected with the unmanned aerial vehicle body, and the other end of the lifting mechanism is connected with the crop canopy perception measuring device; the unmanned aerial vehicle is provided with a laser ranging device;

the unmanned aerial vehicle is used for flying to the position above the measuring position in the field to be measured under the control of the control module;

the laser ranging device is used for measuring distance information of the crop canopy at the measuring position below the crop canopy perception measuring device and the crop canopy perception measuring device under the condition that the unmanned aerial vehicle flies above the measuring position in the field to be measured, and sending the distance information to the control module;

the control module is used for controlling the lifting mechanism to drive the crop canopy perception measuring device to lift to a target measuring height based on the distance information, and controlling the crop canopy perception measuring device to measure the crop canopy at the target measuring height.

According to the present invention, there is provided a crop canopy measuring system, the lifting mechanism comprising:

the device comprises a support, a base, a rotating shaft, a traction rope and a carrying platform;

one end of the support is connected with the base, and the other end of the support is connected with the unmanned aerial vehicle body; one end of the traction rope is wound on the rotating shaft, and the other end of the traction rope is connected with the carrying platform; the rotating shaft is used for rotating clockwise or anticlockwise under the control of the control module; the hauling rope enables the carrying platform to descend or ascend under the rotation of the rotating shaft; the carrying platform is used for arranging the crop canopy perception measuring device;

the rotating shaft is arranged in the base, a small hole is formed in the lower surface of the base and used for the traction rope to pass through, and the carrying platform is arranged below the base.

According to the present invention there is provided a crop canopy measurement system, the system comprising:

two of the lifting mechanisms;

each set of the crop canopy perception measuring device is arranged on the erection platform of each lifting mechanism;

two among the elevating system with the one end that unmanned aerial vehicle's organism is connected, with unmanned aerial vehicle's organism axis is the symmetry axis, and the symmetry sets up on unmanned aerial vehicle's the organism.

According to the crop canopy measuring system provided by the invention, the unmanned aerial vehicle is also provided with an image acquisition device;

the image acquisition device is used for acquiring a target monitoring image of the field to be detected under the condition that the unmanned aerial vehicle flies above the field to be detected, wherein the target monitoring image comprises boundary information of the field to be detected;

the control module is further specifically used for determining growth space distribution information of crops in the field to be detected based on the target monitoring image of the field to be detected; determining a target measuring position in the field to be measured based on the growth space distribution information of the crops; the measurement location comprises the target measurement location.

The invention also provides a crop canopy measuring method applied to the crop canopy measuring system, which comprises the following steps:

responding to a first target input, and controlling the unmanned aerial vehicle to fly above a measurement position in the field to be measured;

under the condition that the unmanned aerial vehicle is determined to fly above the measurement position in the field to be measured, controlling the laser ranging device to measure the distance information between the crop canopy perception measurement device and the crop canopy at the measurement position below the crop canopy perception measurement device;

and controlling the lifting mechanism to drive the crop canopy perception measuring device to lift to a target measuring height based on the distance information, and controlling the crop canopy perception measuring device to measure the crop canopy at the target measuring height.

According to the crop canopy measuring method provided by the invention, the controlling the unmanned aerial vehicle to fly above the measuring position in the field to be measured in response to the first target input comprises the following steps:

responding to a first target input, and controlling the unmanned aerial vehicle to fly above a target measurement position in the field to be measured; the measuring position comprises the target measuring position, the target measuring position is determined based on growth space distribution information of crops in the field to be measured, and the growth space distribution information of the crops in the field to be measured is determined based on monitoring image data of the field to be measured, which is acquired by the image acquisition device.

According to the crop canopy measuring method provided by the invention, before the responding to the first target input and controlling the unmanned aerial vehicle to fly above the target measuring position in the field to be measured, the method further comprises the following steps:

under the condition that the unmanned aerial vehicle is determined to fly above the field to be detected, controlling the image acquisition device to acquire a target monitoring image of the field to be detected, wherein the target monitoring image comprises boundary information of the field to be detected;

determining growth space distribution information of crops in the field to be detected based on the target monitoring image of the field to be detected;

and determining a target measurement position in the field to be measured based on the growth space distribution information of the crops, and generating the first target input based on the target measurement position in the field to be measured.

According to the invention, the crop canopy measuring method further comprises the following steps:

responding to a second target input, and controlling the unmanned aerial vehicle to carry out uniform-speed circular flight above the measurement position in the field piece to be measured;

and in the process of uniform-speed circumferential flight of the unmanned aerial vehicle, controlling the crop canopy perception measuring device to measure crop canopies at the measuring position one by one.

The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of crop canopy measurement as described in any of the above.

The invention also provides a computer program product comprising a computer program which, when executed by a processor, implements a method of crop canopy measurement as described in any one of the above.

The invention provides a crop canopy measuring system, a method, a storage medium and a computer program product, wherein the system comprises an unmanned aerial vehicle, a lifting mechanism, a crop canopy perception measuring device and a control module; one end of the lifting mechanism is connected with the body of the unmanned aerial vehicle, and the other end of the lifting mechanism is connected with the crop canopy perception measuring device; the unmanned aerial vehicle is provided with a laser ranging device; by introducing the unmanned aerial vehicle technology into the crop canopy perception measurement work, the problem that the conventional locomotive or manual portable ground measurement mode is easily limited by the complex growth environment of crops is solved by using the advantages of hovering and quick movement of the unmanned aerial vehicle, the crop canopy can be measured in a nondestructive manner, and the unmanned aerial vehicle is controlled to fly above the measurement position in the field to be measured; make laser rangefinder measure the distance information of crop canopy perception measuring device and crop canopy perception measuring device below measuring position department crop canopy, control module is based on this distance information, can control elevating system drive crop canopy perception measuring device and go up and down to the target measurement height, when guaranteeing that crop canopy perception measuring device can carry out effective nondestructive perception measurement, it can fly at suitable height to have guaranteed unmanned aerial vehicle, the phenomenon that the air current that produces when avoiding unmanned aerial vehicle rotor work probably causes the crop canopy to take place to lodge, and then can control crop canopy perception measuring device and measure the crop canopy in target measurement height department, the crop canopy that has not been restricted by field region space environmental condition is measured to the realization, manpower and time cost have greatly been saved, measurement efficiency is high.

Drawings

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

FIG. 1 is a schematic diagram of a crop canopy measurement system according to the present invention;

FIG. 2 is a schematic structural diagram of a lifting mechanism in the crop canopy measuring system provided by the present invention;

FIG. 3 is a second schematic view of the structure of the crop canopy measurement system provided by the present invention;

FIG. 4 is a schematic flow chart of a crop canopy measurement method provided by the present invention;

fig. 5 is a schematic view of a crop canopy measurement method provided by the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.

In the description of the invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The crop canopy measurement system, method, storage medium and computer program product of the present invention are described below in conjunction with fig. 1-5.

In the prior art, the using modes of the crop canopy perception measuring device can be generally divided into a fixed type, a vehicle-mounted type and a portable type. The fixed use mode generally refers to that a perception measuring device is installed at a certain fixed space position in the field through a support to carry out fixed-point long-time, continuous and dynamic observation on crop canopies, the mode is often adopted for specific observation targets such as scientific researches, and measured data are limited and are not common in conventional agricultural production application. The vehicle-mounted use mode refers to that the crop canopy perception measuring device is carried on a mobile locomotive platform to carry out multipoint and continuous measurement on the crop canopy in the field, and the mode can obtain richer sample data, but lacks maneuverability, and the locomotive is often limited to measurement along the ridge direction of the crop, and particularly in the middle and later stages of crop growth, dense ridge rows have great influence on the movement of the locomotive. In addition, the complex farmland environmental conditions of moisture, mud and even paddy fields limit the use of the locomotive, and the factors cause that the application of crop canopy perception measurement based on the mobile locomotive is also greatly restricted. Therefore, for the application of the crop canopy perception measuring device, currently, the crop canopy perception measuring device is mostly portable, that is, the crop canopy perception measuring device is carried by people to carry out measurement in the field.

The crop canopy perception measuring device has the advantages of being convenient, fast, flexible and flexible to operate and use, but still has a plurality of problems. For example, large labor and time costs are often incurred when the field is large in space due to the need for personnel to carry into the crop field to make measurements in the field. In particular, for some crops in critical growth stages or in non-dry farming growth environments, it is difficult to use the crop canopy perception measuring device in the field by manually carrying the crop canopy perception measuring device. For example, for corn plants, the height of the corn in the tasseling period generally reaches about 2 meters, at the moment, the sensing and measuring device is used for field measurement of corn canopies, auxiliary lifting facilities such as a folding ladder and a lifting rod are often required to be carried, and crop canopies sensing and measuring equipment is carried. For another example, the sensing measurement of the canopy of a non-dry-farming rice crop is difficult to walk in the field due to the wet and muddy environmental conditions of the paddy field, and requires great effort and time, so that the measurement work becomes very difficult.

Therefore, no matter the using mode of the crop canopy perception measuring device is fixed, vehicle-mounted or mostly portable, in actual measurement application, the crop canopy perception measuring device is often influenced by a plurality of field crop growth environment condition restriction factors, and the problems of low using efficiency, high time cost and the like are caused.

Therefore, the invention provides a crop canopy measuring system for solving the technical defects of low use efficiency, high time cost and the like of the crop canopy perception measuring device in the prior art.

Fig. 1 is a schematic structural diagram of a crop canopy measurement system provided by the present invention, as shown in fig. 1, including:

the system comprises an unmanned aerial vehicle 1, a lifting mechanism 2, a crop canopy perception measuring device 3 and a control module;

one end of the lifting mechanism 2 is connected with the body of the unmanned aerial vehicle 1, and the other end of the lifting mechanism 2 is connected with the crop canopy perception measuring device 3; the unmanned aerial vehicle 1 is provided with a laser ranging device 4;

the unmanned aerial vehicle 1 is used for flying to the position above the measurement position in the field to be measured under the control of the control module;

the laser ranging device 4 is used for measuring the distance information of the crop canopy at the measuring position below the crop canopy perception measuring device 3 and the crop canopy perception measuring device 3 under the condition that the unmanned aerial vehicle flies above the measuring position in the field to be measured, and sending the distance information to the control module;

the control module is used for controlling the lifting mechanism 2 to drive the crop canopy perception measuring device 3 to lift to a target measuring height based on the distance information, and controlling the crop canopy perception measuring device 3 to measure the crop canopy at the target measuring height.

It should be noted that, the unmanned aerial vehicle has been gradually applied to various operations in the agricultural field, for example, operations such as emasculation of crops, pesticide spraying and seed sowing, due to advantages such as convenient operation and high working efficiency.

Specifically, the field to be measured described in the embodiments of the present invention refers to the field area where the surveying staff needs to perform crop canopy survey.

The measurement position described in the embodiment of the present invention refers to a position area where a measurement sample point for crop canopy measurement in a field to be measured is located, and may be a measurement position selected by a measurement person according to personal experience, a measurement point position on a flight path of an unmanned aerial vehicle that is default for a system, or a measurement position obtained by analyzing and calculating based on an image obtained by a system background on the field to be measured.

The crop canopy perception measuring device described in the embodiment of the invention is an instrument or equipment which can carry out nondestructive perception measurement and data acquisition on crop canopy parameter indexes in a handheld and portable manner in a field to be measured, and has wireless remote transmission and control functions.

The target measurement height described in the embodiment of the invention refers to a reasonable measurement height required by the crop canopy perception measurement device when performing crop canopy nondestructive perception measurement. The target measurement height of the crop canopy perception measurement device can be obtained by dynamically adjusting the distance information of the crop canopy perception measurement device measured by the laser ranging device and the crop canopy at the measurement position below the crop canopy perception measurement device. Specifically, the target measured height may be obtained by measuring the height relative to the ground when the desired measurement distance is achieved between the crop canopy perception measurement device and the crop canopy.

The required measurement distance between the crop canopy perception measurement device and the crop canopy can be set according to the type of the crop to be actually measured, and can be generally set to be 1.5 meters, that is, when the crop canopy perception measurement device is used for perception measurement, the distance between the crop canopy perception measurement device and the crop canopy needs to be ensured to be 1.5 meters.

In the embodiment of the invention, the control module can be divided into a flight control module for controlling the flight of the unmanned aerial vehicle and a measurement control module for background measurement and calculation according to the functions of the control module. It can set up inside the unmanned aerial vehicle organism, also can carry out alone setting as an independent module, and the invention does not do specifically to this and limits.

In an embodiment of the invention, a crop canopy measurement system includes an unmanned aerial vehicle, a lifting mechanism, a crop canopy perception measurement device, and a control module. By adopting the unmanned aerial vehicle, one end of the lifting mechanism is connected with the body of the unmanned aerial vehicle, and the other end of the lifting mechanism is connected with the crop canopy perception measuring device; unmanned aerial vehicle carries on there is laser range unit, can be through control module's control, makes unmanned aerial vehicle fly to the measuring position top in the field that awaits measuring, through the crop canopy perception measuring device of elevating system one end installation, implements to measure the crop canopy of measuring position department.

In the embodiment of the invention, the other end of the lifting mechanism is connected with the crop canopy perception measuring device, and the crop canopy perception measuring device can be vertically lifted through the action of the lifting mechanism. The lifting mechanism can adopt the structural form of an electric telescopic rod and also can adopt the structural form of a rotary winding rope, and is used for driving the crop canopy perception measuring device to lift to a target measuring height so as to effectively measure the crop canopy.

It should be noted that, under the assistance that does not have elevating system, if use unmanned aerial vehicle direct mount crop canopy perception measuring device to measure, the produced air current of unmanned aerial vehicle rotor during operation can cause the crop canopy to take place the phenomenon of lodging, and likewise, because the air current acts on the reverse air current of crop canopy and can produce the vortex wind field, also can influence unmanned aerial vehicle's normal flight.

Therefore, in the embodiment of the invention, the crop canopy sensing and measuring device adopts the lifting mechanism, and the measuring height of the crop canopy sensing and measuring device is dynamically adjusted, so that the crop canopy is ensured to be effectively sensed and measured, and the phenomenon that the crop canopy falls down and is not beneficial to the crop sensing and measuring due to the overlow flying height of the unmanned aerial vehicle can be effectively avoided.

In the embodiment of the present invention, the number of the lifting mechanisms may be arranged according to actual measurement requirements, and may be one, or may be multiple, such as 2. Through being connected a plurality of elevating system and unmanned aerial vehicle and setting, when unmanned aerial vehicle carries out crop canopy and measures, crop canopy perception measuring device that an elevating system connects can regard as a measuring point, can increase a plurality of measuring points from this in measurement process, is favorable to improving the efficiency that crop canopy perception was measured.

Further, in the embodiment of the invention, the unmanned aerial vehicle can be controlled to fly above the measurement position in the field to be measured through the control module, the distance information between the crop canopy perception measurement device and the crop canopy at the measurement position below the crop canopy perception measurement device is measured through the laser ranging device carried by the unmanned aerial vehicle, and the distance information is sent to the control module; the control module controls the lifting mechanism to drive the crop canopy perception measuring device to lift to a target measuring height based on the distance information, for example, the distance information that the crop canopy perception measuring device and a crop canopy at a measuring position below the crop canopy perception measuring device are measured by the laser ranging device is 5 meters, the required measuring distance between the crop canopy perception measuring device and the crop canopy is set to be 1.5 meters, and then the lifting mechanism is controlled to drive the crop canopy perception measuring device to descend by 3.5 meters to the target measuring height.

Further, in embodiments of the present invention, the control module may control the crop canopy perception measurement device to perform effective nondestructive perception measurement of the crop canopy at the target measurement height.

The crop canopy measuring system provided by the embodiment of the invention comprises an unmanned aerial vehicle, a lifting mechanism, a crop canopy perception measuring device and a control module; one end of the lifting mechanism is connected with the body of the unmanned aerial vehicle, and the other end of the lifting mechanism is connected with the crop canopy perception measuring device; the unmanned aerial vehicle is provided with a laser ranging device; by introducing the unmanned aerial vehicle technology into the crop canopy perception measurement work, the advantages of hovering and quick movement of the unmanned aerial vehicle are utilized, the problem that the conventional locomotive or manual portable ground measurement mode is easily limited by the complex growing environment of crops is solved, the crop canopy can be measured in a nondestructive mode, and the unmanned aerial vehicle is controlled to fly above the measurement position in the field to be measured; the device comprises a laser distance measuring device, a control module, an elevating mechanism, a target measuring device and a control module, wherein the laser distance measuring device is used for measuring the distance information of a crop canopy at a measuring position below the crop canopy perception measuring device, the control module is based on the distance information and can control the elevating mechanism to drive the crop canopy perception measuring device to ascend and descend to a target measuring height, the crop canopy perception measuring device can be used for carrying out effective nondestructive perception measurement, the unmanned aerial vehicle can fly at a proper height, the phenomenon that the crop canopy is prone to collapse due to air flow generated when the unmanned aerial vehicle rotor works is avoided, the crop canopy can be measured at the target measuring height by the crop canopy perception measuring device, crop canopy measurement which is not limited by field, region, space and environmental conditions is achieved, labor and time costs are greatly saved, and the measuring efficiency is high.

Fig. 2 is a schematic structural diagram of an elevator mechanism in the crop canopy measuring system provided by the present invention, and as shown in fig. 2, the elevator mechanism 2 may include:

a support 21, a base 22, a rotating shaft 23, a pulling rope 24 and a carrying table 25;

one end of the support 21 is connected with the base 22, and the other end of the support 21 is connected with the unmanned aerial vehicle 1; one end of a traction rope 24 is wound on the rotating shaft 23, and the other end of the traction rope 24 is connected with a carrying platform 25; the rotating shaft 23 is used for rotating clockwise or anticlockwise under the control of the control module; the pull rope 24 lowers or raises the mounting table 25 by the rotation of the rotating shaft 23; the lapping platform 25 is used for arranging the crop canopy perception measuring device 3;

the rotating shaft 23 is arranged in the base 22, a small hole is arranged on the lower surface of the base 22 for the pulling rope 24 to pass through, and the lapping table 25 is arranged below the base.

Specifically, in the embodiment of the present invention, the lifting mechanism may adopt a structure form of rotating the winding rope, and may specifically include a support, a base, a rotating shaft, a pulling rope, and a mounting platform.

In the embodiment of the invention, the rotating shaft can rotate in a motor driving mode under the control of the control module.

In the embodiment of the invention, one end of the support in the lifting mechanism is connected with the body of the unmanned aerial vehicle, and the lifting mechanism can be sent to the position above the measuring position in the field to be measured by the flight of the unmanned aerial vehicle. Through installing crop canopy perception measuring device on elevating system's the platform of carrying, utilize control module to drive rotation axis clockwise rotation or anticlockwise rotation, make the haulage rope under the rotation of rotation axis, the haulage rope passes through the aperture of base lower surface, makes the platform of carrying descend or rise, and then makes the crop canopy perception measuring device who sets up on carrying the bench descend or rise to the target measurement height, carries out the perception to the crop canopy that awaits measuring field measurement position department and measures.

According to the system provided by the embodiment of the invention, the lifting mechanism is manufactured by using the support, the base, the rotating shaft, the traction rope and the carrying platform, so that the manufacturing cost is low, meanwhile, the measurement height of the crop canopy perception measurement device can be effectively adjusted by using the manufactured lifting mechanism, and the operation method is simple.

Based on the content of the foregoing embodiments, as an alternative embodiment, the system includes:

two lifting mechanisms;

a set of crop canopy perception measuring device is arranged on the erection platform of each lifting mechanism;

the one end of being connected with unmanned aerial vehicle's organism in two elevating system to unmanned aerial vehicle's organism axis is the symmetry axis, and the symmetry sets up on unmanned aerial vehicle's organism.

In particular, with continued reference to fig. 1, in an embodiment of the present invention, the crop canopy measurement system may include two lifting mechanisms, the two lifting mechanisms are symmetrically disposed on two sides of the unmanned aerial vehicle, and are symmetrically disposed on the body of the unmanned aerial vehicle through one end of the two lifting mechanisms connected to the body of the unmanned aerial vehicle, taking a central axis of the body of the unmanned aerial vehicle as a symmetry axis,

through with elevating system symmetrical arrangement in unmanned aerial vehicle's both sides, the elevating system of every side can carry on one set of crop canopy perception measuring device, can carry on two sets of crop canopy perception measuring device altogether. According to the field environment and the operation requirements, the control module can automatically select one set of device for measurement or automatically select two sets of devices for cooperative measurement.

According to the system provided by the embodiment of the invention, the lifting mechanisms are symmetrically arranged on the two sides of the unmanned aerial vehicle, and each lifting mechanism is provided with the crop canopy perception measuring device, so that the measurement coverage of the crop canopy perception measuring device can be enlarged in the measurement process, and the measurement efficiency of crop canopy perception measurement can be effectively improved.

Based on the content of the above embodiment, as an optional embodiment, the unmanned aerial vehicle is further provided with an image acquisition device 5;

the image acquisition device 5 is used for acquiring a target monitoring image of the field to be detected under the condition that the unmanned aerial vehicle 1 flies above the field to be detected, wherein the target monitoring image comprises boundary information of the field to be detected;

the control module is specifically used for determining growth space distribution information of crops in the field to be detected based on the target monitoring image of the field to be detected; determining a target measuring position in the field to be measured based on the growth space distribution information of the crops; the measurement locations include target measurement locations.

The basic requirement of crop field measurement is that a measurement position needs to be representative or typical, at present, when measurement is carried out in the field in a mode of manually carrying a crop canopy perception measurement device, the selection of the position of a measurement sample point is often determined based on manual experience observation in the field, and due to the fact that crop growth in the same field and among different fields has space growth difference, when a field space area is large, when the measurement position is selected by manual observation, trees are often only seen and forest is not seen, randomness is strong, and whether the crop growth level of the selected measurement position has enough measurement representativeness or typicality cannot be guaranteed.

Therefore, the unmanned aerial vehicle is also provided with an image acquisition device so as to solve the technical defects existing in the prior art in an image processing mode.

Specifically, the target monitoring image described in the embodiment of the present invention refers to a monitoring image that is acquired by an image acquisition device and includes boundary information of a field to be detected, and the monitoring image includes image information of the entire field to be detected.

The growth space distribution information of the crops described in the embodiment of the invention refers to the growth space distribution difference information of all the crops in the field to be detected. The spatial distribution range of the crops with different growth levels in the field to be measured can be determined through the growth spatial distribution information of the crops, and the spatial distribution range can be used as a basis for measuring position selection and sample quantity calculation.

The target measurement position described in the embodiment of the present invention refers to a measurement position region selected according to growth space distribution information of crops in a field to be measured, and specifically may be a position region of a crop sample point representing a high growth level, a medium growth level, or a low growth level in the field to be measured.

In the embodiment of the invention, the growth space distribution information of the crops in the field to be detected can be preliminarily evaluated based on the existing crop growth recognition method according to the target monitoring image of the field to be detected.

Optionally, in the embodiment of the present invention, remote sensing image data of a field to be measured may also be acquired, from two angles of crop individual traits and crop group traits, a crop leaf area index is selected as a monitoring index of crop group growth vigor, a crop canopy nitrogen concentration is selected as a monitoring index of individual growth vigor, a remote sensing technology is used to monitor the crop group index, the individual index and phenology, influence on growth vigor monitoring caused by phenology difference is eliminated in combination with phenology monitoring, group characteristics and individual characteristics are combined, remote sensing quantitative evaluation is performed on large-range crop growth vigor, and growth spatial distribution information of crops in the field to be measured is evaluated.

Further, in the embodiment of the invention, the control module can evaluate the growth space distribution information of the crops in the field to be detected based on the target monitoring image of the field to be detected; and determining the spatial distribution range of the crops with different growth levels in the field to be measured based on the growth spatial distribution information of the crops, thereby selecting a target measurement position in the field to be measured.

According to the system provided by the embodiment of the invention, the image acquisition device is used for acquiring the whole image of the field of the ground crop, the growth space distribution difference information of the field crop in a large range is evaluated, a data basis is provided for the selection of the sample measurement position points and the calculation of the number of samples, and the problem of insufficient data representativeness or typicality caused by the randomness of the selection of the field measurement positions can be effectively solved.

Fig. 3 is a second schematic structural diagram of the crop canopy measuring system provided by the present invention, and as shown in fig. 3, in an embodiment of the present invention, the crop canopy measuring system may include an unmanned aerial vehicle, a top view system, a lifting mechanism, a crop canopy sensing and measuring device, and a control module.

The overlooking observation system comprises a laser ranging device 4, such as a two-dimensional laser scanning ranging device, and an image acquisition device 5; the image acquisition device 5 at least comprises a set of global image sensors and a set of local image sensors.

Control module 8 sets up in the unmanned aerial vehicle organism, and it includes flight control module and measurement control module.

Crop canopy measurement system still contains GPS orientation module 9, data transmission system 7 and battery 6, and wherein, GPS orientation module is used for unmanned aerial vehicle's location, and data transmission system is used for and ground computer between the communication, and the battery is installed in the unmanned aerial vehicle frame, provides power for whole crop canopy measurement system.

The global image sensor included in the overlooking observation system is used for collecting the whole image information of a large-scale crop in a field to be detected, namely collecting a target monitoring image of the field to be detected, preliminarily evaluating the growth condition space distribution information of the crop in the field to be detected by using the target monitoring image, and taking the growth condition space distribution information of the crop as the basis for selecting the number and the position of sample measuring points, so that the target measuring positions with different growth condition levels can be selected for measurement according to the growth condition space distribution information of the crop in the field to be detected; the local image sensor included in the overlooking observation system is used for acquiring crop image information of each crop measurement sample point at a target measurement position, providing background reference for fixed point parameter measurement of the crop canopy perception measurement device, and serving the crop image and measurement index parameters acquired by the crop canopy perception measurement device as finally acquired data for the agricultural production planting management process. When the imaging quality of the image sensor is influenced by mutual shielding of field ground objects, the two-dimensional laser scanning distance measuring device can assist the local image sensor to acquire image information.

The crop canopy measuring system comprises two lifting structures, the two lifting structures are symmetrically arranged on two sides of a wing of the unmanned aerial vehicle, the lifting mechanism on each side can carry one set of crop canopy perception measuring device and can carry two sets of crop canopy perception measuring devices, and the measurement control module automatically selects one set or two sets of devices to carry out measurement according to the field environment and operation requirements.

The crop canopy perception measuring device is arranged on a carrying platform in the lifting mechanism and can vertically lift up and down along with the rotation of the rotating shaft.

When the crop canopy perception measuring device measures crops in the field, the unmanned aerial vehicle can be controlled to carry out circumferential flight, and the crop canopy perception measuring device is controlled by the measurement control module to carry out uniform and repeated perception measurement on the crops in the measurement position area.

The system provided by the embodiment of the invention takes the unmanned aerial vehicle as the platform, and the crop canopy perception measurement device is carried on the unmanned aerial vehicle to carry out near-field perception measurement on the crop canopy, so that the problems that the crop canopy perception measurement device is easily limited by field region space environment conditions and insufficient data representativeness or typicality is caused by random selection of field measurement positions when the crop canopy perception measurement device is used on a ground platform can be effectively solved.

The present invention provides a method for measuring crop canopy, which can be referred to in correspondence with the above-described crop canopy measuring system.

Fig. 4 is a schematic flow chart of a crop canopy measuring method provided by the present invention, and as shown in fig. 4, the method is applied to the aforementioned crop canopy measuring system, it is understood that the executing body of the method may be a control module, and the method includes: step 410, step 420 and step 430.

Step 410, responding to the first target input, controlling the unmanned aerial vehicle to fly above a measurement position in the field to be measured;

step 420, under the condition that the unmanned aerial vehicle is determined to fly above the measurement position in the field to be measured, controlling the laser ranging device to measure the distance information between the crop canopy perception measurement device and the crop canopy at the measurement position below the crop canopy perception measurement device;

and 430, controlling the lifting mechanism to drive the crop canopy perception measuring device to lift to a target measuring height based on the distance information, and controlling the crop canopy perception measuring device to measure the crop canopy at the target measuring height.

Specifically, the first target input described in the embodiment of the present invention refers to an input for controlling the unmanned aerial vehicle to fly above the measurement position in the field to be measured, and may be an input for controlling the unmanned aerial vehicle to fly by a measurement person or an input for controlling the unmanned aerial vehicle to fly generated inside the system.

In the embodiment of the invention, before the unmanned aerial vehicle is controlled to fly above the measurement position in the field to be measured in response to the first target input, preparation before use of the crop canopy perception measurement device is needed, for example, the crop canopy perception measurement device is correctly installed in a carrying platform in the lifting mechanism for measurement and standby; the crop canopy perception measurement device is required to be subjected to wireless debugging, whether the crop canopy perception measurement device can normally measure or not and whether data transmission is stable or not are checked.

Furthermore, an autonomous flight route of the unmanned aerial vehicle can be preset on the ground station, the unmanned aerial vehicle takes off under the control of the control module, and goes to the overhead hovering standby position of the preset measuring position in the field to be measured according to the positioning information provided by the GPS positioning module.

And further, responding to the first target input, and controlling the unmanned aerial vehicle to fly above the measurement position in the field to be measured.

Based on the content of the foregoing embodiment, as an optional embodiment, controlling the unmanned aerial vehicle to fly above the measurement position in the field to be measured in response to the first target input includes:

responding to the first target input, and controlling the unmanned aerial vehicle to fly above a target measurement position in the field to be measured; the measuring position comprises a target measuring position, the target measuring position is determined based on growth space distribution information of crops in the field to be measured, and the growth space distribution information of the crops in the field to be measured is determined based on monitoring image data of the field to be measured, wherein the monitoring image data are acquired by the image acquisition device.

Specifically, in the embodiment of the invention, the image acquisition device is used for acquiring the monitoring image of the field to be measured and sending the monitoring image to the control module, the control module is used for changing the height of the unmanned aerial vehicle relative to the ground, so that the image acquisition device acquires the monitoring image with a proper coverage range, the monitoring image is used for determining the growth space distribution information of crops in a large-range area in the field to be measured, and the growth space distribution information is used as the basis for selecting the target measurement position to determine the target measurement position in the field to be measured.

Further, in response to the first target input, the unmanned aerial vehicle is controlled to go to a position above the target measurement position in the field to be measured, and the sensing measurement of the crop canopy at the target measurement position is prepared to be started.

According to the method provided by the embodiment of the invention, the image acquisition device is used for acquiring the whole image of the field of the ground crop, the growth space distribution difference information of the field crop in a large range is evaluated, a data basis is provided for the selection of the sample measurement position points and the calculation of the number of samples, and the problem of insufficient data representativeness or typicality caused by the randomness of the selection of the field measurement positions can be effectively solved.

Further, under the condition that the unmanned aerial vehicle is determined to fly above the measurement position in the field to be measured, the laser ranging device is controlled to measure the distance information between the crop canopy perception measurement device and the crop canopy at the measurement position below the crop canopy perception measurement device; and based on the distance information, controlling the lifting mechanism to drive the crop canopy perception measuring device to lift to a target measuring height, and controlling the crop canopy perception measuring device to measure the crop canopy at the target measuring height.

The crop canopy measurement method described in this embodiment may be used to implement the embodiment of the crop canopy measurement system described above, and the principle and technical effect are similar, which are not described herein again.

According to the crop canopy measuring method, the unmanned aerial vehicle technology is introduced into the crop canopy sensing measurement work, and the advantages of hovering and quick movement of the unmanned aerial vehicle are utilized, so that the problem that a conventional locomotive or manual portable ground measuring mode is easily limited by a complex growing environment of crops is solved, the crop canopy can be measured in a nondestructive mode, and the unmanned aerial vehicle is controlled to fly above the measuring position in the field to be measured; make laser rangefinder measure the distance information of crop canopy perception measuring device and crop canopy perception measuring device below measuring position department crop canopy, control module is based on this distance information, can control elevating system drive crop canopy perception measuring device and go up and down to the target measurement height, when guaranteeing that crop canopy perception measuring device can carry out effective nondestructive perception measurement, it can fly at suitable height to have guaranteed unmanned aerial vehicle, the phenomenon that the air current that produces when avoiding unmanned aerial vehicle rotor work probably causes the crop canopy to take place to lodge, and then can control crop canopy perception measuring device and measure the crop canopy in target measurement height department, the crop canopy that has not been restricted by field region space environmental condition is measured to the realization, manpower and time cost have greatly been saved, measurement efficiency is high.

Based on the content of the foregoing embodiment, as an optional embodiment, before controlling the unmanned aerial vehicle to fly above the target measurement position in the field to be measured in response to the first target input, the method further includes:

determining growth space distribution information of crops in the field to be detected based on a target monitoring image of the field to be detected;

and determining a target measurement position in the field to be measured based on the growth space distribution information of the crops, and generating a first target input based on the target measurement position in the field to be measured.

Specifically, under the condition that the unmanned aerial vehicle is determined to fly above the field to be detected, the image acquisition device is controlled to acquire the monitoring image of the field to be detected, the acquired monitoring image is analyzed, the height of the unmanned aerial vehicle is continuously adjusted until a target monitoring image containing boundary information of the field to be detected is acquired, and then the whole image information of the field to be detected is obtained.

Further, in the embodiment of the invention, based on the existing crop growth condition identification method, the growth condition spatial distribution information of crops in the field to be detected can be preliminarily evaluated according to the target monitoring image of the field to be detected, and based on the growth condition spatial distribution information of the crops, the crop spatial distribution ranges of different growth condition levels of high, medium and low in the field to be detected are determined, so that the target measuring position in the field to be detected is selected; and generating a first target input based on the target measurement position in the field to be measured so as to control the unmanned aerial vehicle to fly to the target measurement position in the field to be measured for measurement.

According to the method provided by the embodiment of the invention, the monitoring image acquired by the image acquisition device is autonomously analyzed by the unmanned aerial vehicle to acquire the overall image information of the field to be measured, and the growth space distribution information of crops in the field to be measured is evaluated according to the overall image information of the field to be measured, so that representative target measurement positions are selected to generate first target input, and the crops autonomously go to the target measurement positions according to the control of the first target input, so that the intelligent and accurate control of crop canopy measurement by the unmanned aerial vehicle is improved.

Based on the content of the foregoing embodiment, as an optional embodiment, the method further includes:

responding to the input of a second target, and controlling the unmanned aerial vehicle to carry out uniform-speed circular flight above the measurement position in the field to be measured;

in the process of uniform-speed circumferential flight of the unmanned aerial vehicle, the crop canopy perception measuring device is controlled to measure crop canopies at the measuring position one by one.

Specifically, the second target input described in the embodiment of the present invention refers to a control input for controlling the unmanned aerial vehicle to perform uniform circumferential flight above the measurement position in the field to be measured, and may be an input for a measurement person to control the unmanned aerial vehicle to fly, or an input for controlling the unmanned aerial vehicle to fly by default in the system.

Further, responding to the input of a second target, and controlling the unmanned aerial vehicle to carry out uniform-speed circular flight above the measurement position in the field to be measured; in the process of carrying out uniform-speed circumferential flight on the unmanned aerial vehicle, controlling the crop canopy perception measuring device to measure crop canopies at the measuring position one by one according to the method for carrying out perception measurement on the crop canopies, so as to realize multi-point repeated measurement on the crop canopies at the measuring position area.

Fig. 5 is a scene schematic diagram of the crop canopy measurement method provided by the present invention, as shown in fig. 5, in fig. 5 (a), above the measurement position in the field to be measured, the control module controls the unmanned aerial vehicle to perform fixed-point uniform circumferential flight, so as to drive the lifting mechanisms on both sides of the unmanned aerial vehicle to operate, and further drive the two sets of crop canopy perception measurement devices mounted on the erection table to perform uniform circumferential motion; meanwhile, the distance between the crop canopy perception measuring device and the crop canopy is always kept at 1.5 m, and the crop canopy perception measuring device is controlled by the control module to conduct perception measurement on the crop canopies one by one. Fig. 5 (b) shows a top view of the trajectory of the unmanned aerial vehicle and the crop canopy perception measurement device performing uniform-speed circular flight.

According to the method provided by the embodiment of the invention, the unmanned aerial vehicle is controlled to perform uniform circular motion at the measurement position, so that the crop canopy perception measurement device can perform uniform and multiple measurements on the crop canopy, and the accuracy and objectivity of data measurement are further improved.

In an embodiment of the present invention, first, it is checked whether the crop canopy perception measurement device is correctly installed in the mounting table of the lifting mechanism, and the crop canopy perception measurement device is debugged and performance is checked. The control module comprises a flight control module and a measurement control module. An autonomous flight route of the unmanned aerial vehicle is preset on the ground station, the flight control module controls the unmanned aerial vehicle to take off, and the unmanned aerial vehicle goes to the overhead hovering waiting position of the set field to be measured according to the positioning information of the GPS positioning module.

Further, the image acquisition device comprises a global image sensor and a local image sensor. The monitoring image of the measuring position is collected by a global image sensor in an image collecting device, the monitoring image is sent to a measurement control module, the boundary outline information of the monitoring image is observed, the height of the unmanned aerial vehicle relative to the ground is changed, the global image sensor obtains the whole image of the ground crop field block in a proper range, the target monitoring image is obtained, the growth space distribution information of the crops in the field block to be measured is preliminarily evaluated by the target monitoring image, and the target measuring position is determined according to the growth space distribution information of the crops.

Further, the flight control module controls the unmanned aerial vehicle to move horizontally, and the unmanned aerial vehicle goes to a target measurement position with representative sampling points of the position to be measured to prepare data measurement. Over the target measurement position, the laser ranging device acquires the height of the unmanned aerial vehicle relative to the ground in real time, and meanwhile, the measurement control module controls the rotation of the rotating shaft in the lifting mechanism according to the height of the unmanned aerial vehicle relative to the ground to vertically descend the crop canopy perception measurement device carried by the carrying platform until the height is reduced to the target measurement height which meets the requirement of the crop canopy perception measurement device and is far away from the crop canopy, and the measurement control module measures the crop canopy parameters at the moment.

The method for acquiring the target monitoring image of the field to be detected by the overlooking observation system of the unmanned aerial vehicle comprises the following steps:

the flight control module controls the unmanned aerial vehicle to fly to the position above a target measurement position, the measurement control module observes the boundary of the crop field monitoring image acquired by the global image sensor in real time, the relative ground height of the unmanned aerial vehicle is continuously adjusted until the monitoring image range covers the whole field to be detected, the unmanned aerial vehicle is suspended, the global image sensor in the overlooking observation system is utilized to acquire the whole image of the ground crop field in real time, and the target monitoring image of the field to be detected is obtained.

The crop sensing and measuring process of the unmanned aerial vehicle near-ground sensing and measuring system in the embodiment, namely the crop canopy measuring system, is as follows:

the method comprises the steps that a target monitoring image is collected by a global image sensor and sent to a measurement control module, the measurement control module plans an unmanned aerial vehicle operation path by performing scanning, fitting a contour, sampling and selecting points and the like, then the flight control module controls the unmanned aerial vehicle to hover over a target measurement position with representative points to be measured according to the planned operation path, at the moment, a local image sensor starts to work, earth surface background image information of the target measurement position is collected, and the earth surface background image information is transmitted to a measurement control module. According to the height of the unmanned aerial vehicle relative to the ground, which is measured by the aid of the laser ranging device, the measuring and controlling module controls the rotating shaft in the lifting mechanism to rotate clockwise, and the crop canopy perception and measuring device carried in the carrying platform slowly and vertically descends until the distance between the crop canopy perception and measuring device and the crop canopy on the ground is in accordance with the height required by the crop canopy perception and measuring device, and the height is stopped, for example, 1.5 meters. At the moment, the measurement control module controls the crop canopy perception and measurement device to start perceiving and measuring various parameter index data of the crop canopy.

In addition, the method for carrying out multipoint repeated measurement at the target measurement position in the crop canopy measurement system comprises the following steps:

at the target measurement position, the unmanned aerial vehicle is controlled to perform constant-speed circular motion at a fixed point, so that the object canopy perception measuring device carried in the carrying platform is driven to perform uniform circular motion, as shown in fig. 5, and the object perception measuring device is controlled by the measurement control module to perform data perception measurement on the crop canopies at the target measurement position one by one.

In another aspect, the present invention also provides a computer program product, the computer program product comprising a computer program, the computer program being stored on a non-transitory computer-readable storage medium, wherein when the computer program is executed by a processor, the computer is capable of executing the crop canopy measurement method provided by the above methods, the method comprising: responding to a first target input, and controlling the unmanned aerial vehicle to fly above a measurement position in the field to be measured; under the condition that the unmanned aerial vehicle is determined to fly above the measurement position in the field to be measured, controlling the laser ranging device to measure the distance information between the crop canopy perception measurement device and the crop canopy at the measurement position below the crop canopy perception measurement device; and controlling the lifting mechanism to drive the crop canopy perception measuring device to lift to a target measuring height based on the distance information, and controlling the crop canopy perception measuring device to measure the crop canopy at the target measuring height.

In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, the computer program being implemented by a processor to perform the crop canopy measurement method provided by the above methods, the method comprising: responding to a first target input, and controlling the unmanned aerial vehicle to fly above a measurement position in the field to be measured; under the condition that the unmanned aerial vehicle is determined to fly above the measurement position in the field to be measured, controlling the laser ranging device to measure the distance information between the crop canopy perception measurement device and the crop canopy at the measurement position below the crop canopy perception measurement device; and controlling the lifting mechanism to drive the crop canopy perception measuring device to lift to a target measuring height based on the distance information, and controlling the crop canopy perception measuring device to measure the crop canopy at the target measuring height.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment may be implemented by software plus a necessary general hardware platform, and may also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A crop canopy measurement system, comprising:

the laser ranging device is used for measuring the distance information between the crop canopy perception measuring device and the crop canopy at the measuring position below the crop canopy perception measuring device under the condition that the unmanned aerial vehicle flies to the position above the measuring position in the field to be measured, and sending the distance information to the control module;

2. The crop canopy measurement system of claim 1, wherein the lift mechanism comprises:

3. The crop canopy measurement system of claim 2, wherein the system comprises:

two of the lifting mechanisms;

4. The crop canopy measuring system according to any one of claims 1-3, wherein the unmanned aerial vehicle is further equipped with an image acquisition device;

5. A crop canopy measurement method applied to the crop canopy measurement system according to any of the claims 1-4, the method comprising:

6. The crop canopy measurement method of claim 5, wherein said controlling the drone to fly above a measurement location in the field to be measured in response to a first target input comprises:

7. The crop canopy measurement method of claim 6, prior to said controlling said drone to fly above a target measurement location in said field under test in response to a first target input, further comprising:

8. The crop canopy measurement method of any one of claims 5-7, further comprising:

and in the process of uniform-speed circumferential flight of the unmanned aerial vehicle, controlling the crop canopy perception measuring device to measure the crop canopies at the measuring position one by one.

9. A non-transitory computer-readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the crop canopy measurement method as claimed in any one of claims 5 to 8.

10. A computer program product comprising a computer program, wherein the computer program, when executed by a processor, implements a crop canopy measurement method as claimed in any one of claims 5 to 8.