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A method and system for real-time recognition of spraying fan angle of UAV

A recognition method and unmanned aerial vehicle technology, applied in the control/adjustment system, image analysis, image enhancement, etc., can solve the problems of time-consuming calculation, difficult time limit, and inability to meet real-time performance, so as to meet real-time processing and obvious The effect of the speed advantage

Active Publication Date: 2020-05-22
BEIJING RES CENT OF INTELLIGENT EQUIP FOR AGRI
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Problems solved by technology

[0003] The disadvantage of the current sector angle recognition method is that the calculation is time-consuming and cannot meet the real-time requirements
However, this time limit is difficult to achieve in the current identification methods

Method used

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  • A method and system for real-time recognition of spraying fan angle of UAV

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Embodiment Construction

[0012] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0013] The principle of the present invention will be described in further detail below with reference to the accompanying drawings. The main difference between the present invention and the fan angle recognition method proposed by previous researchers is that the position of the nozzle of the spraying UAV and the image acquisition device mounted ...

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Abstract

The invention provides a real-time identification method and a real-time identification system for a pesticide spraying sector angle of an unmanned aerial vehicle. The method comprises the steps of acquiring a real-time image which comprises a pesticide applying nozzle and a pesticide applying spraying sector; extracting a green component in the real-time image, and using the green component as an objective image; acquiring a central pixel of the objective image; according to the central pixel, acquiring a pixel a and a pixel b which are separated from the central pixel by m pixel distances in a vertical line which passes through the central pixel; acquiring a first horizontal line which passes through the pixel a and a second horizontal line that passes through the pixel b; acquiring a right upper side boundary point, a right lower side boundary point, a left upper boundary point and a left lower side boundary point; and acquiring the sector angle of the pesticide spraying sector according to the right upper boundary point, the right lower side boundary point, the left upper boundary point and the left lower side boundary point. The real-time identification method and the real-time identification system can realize quick identification for the pesticide spraying sector angle and furthermore satisfy a requirement for real-time performance.

Description

technical field [0001] The invention relates to the technical field of agricultural production, in particular to a method and system for real-time identification of fan angles of spraying by drones. Background technique [0002] Accurately obtaining the size of the fan angle sprayed by the spray nozzle of the operational aerial plant protection drone has an important impact on evaluating the spraying width of the drug and the operating efficiency. There are many ways to obtain the size of the fan angle at this stage. For example, the camera system is used to collect the image of the sprayer, and the image is denoised and smoothed, histogram equalized, optimal threshold value extraction, binarization, edge detection and edge thin line processing are performed, and the detected spray edge line is detected using the minimum Calculate the spray cone angle by the square method to obtain the spray cone angle. In the research on the performance of pesticide nozzles, Deng Wei et a...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08G06T7/90G06T3/60G06T7/60
CPCG05D1/0808G06T3/608G06T7/60G06T2207/30188
Inventor 夏浪张瑞瑞陈立平伊铜川
Owner BEIJING RES CENT OF INTELLIGENT EQUIP FOR AGRI
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