Rice lodging area real-time calculation device and method

Abstract

The application aims to provide a rice lodging area real-time calculation device and method, which is based on unmanned aerial vehicle remote sensing images, uses digital means to splice regional images, and calculates the rice lodging area through a GPS positioning, laser ranging and horizontal data collection and analysis auxiliary background system. The remote sensing camera can be adjusted in parallel according to the ground flatness of the crop region, and a free rotation and angle adjustment driving structure is provided to strengthen the unmanned aerial vehicle high-altitude operation not affected by the environment and ensure the stability of the remote sensing photography structure.

Description

Technical Field

[0001] This invention relates to the field of crop detection, and more specifically to a device and method for real-time calculation of lodging area in rice. Background Technology

[0002] With the rapid development of modern industry, many applications of existing technologies have been implemented in agriculture.

[0003] For example, CN114674823B discloses a detection system for the influence of light on rice seedling cultivation and growth. This system includes a mounting frame with a controller fixedly mounted at the bottom. One end of the controller is connected to a mounting base via a data cable. A rice ear swaying detection mechanism is located at the top of the mounting frame. This invention utilizes an image scanner to monitor and record the swaying of rice ears in the wind, determining the amplitude of the sway. A drive motor rotates a lead screw, allowing the lifting block and image scanner to move up and down, adjusting their height as the rice grows, ensuring the image scanner is always aligned with the top of the rice ear. When the wind blows, the swaying plate is also moved, compressing the bending spring and causing the swaying plate to be squeezed by the wind. The rotating cylinder and swaying plate rotate simultaneously, causing the drive rod and its bottom marker to sway. The marker leaves a swaying trajectory on the marking plate, which represents the angle of rotation of the swaying plate. The detection area for rice lodging detection described in this invention is limited, the investment cost is relatively high, the information collection requires the deployment of a large number of base stations, and the structural type is also a common structure in this field.

[0004] For example, CN108169138A discloses a method for monitoring rice lodging using thermal infrared images. This invention discloses a method for monitoring rice lodging using thermal infrared images. The method involves: acquiring farmland images by using a drone equipped with a thermal infrared imaging device for fixed-point acquisition; extracting feature values ​​by using the image analysis tool Matlab to extract color, texture, and temperature feature values ​​of the target area; constructing a lodging area discrimination model by training the rice lodging recognition model using the feature values ​​extracted in step two and known lodging conditions; calibrating the lodging monitoring model by collecting a large number of lodged and non-lodged rice samples to calibrate the model trained in step three; and validating the lodging model by using independent samples to validate the calibrated model in step four. This invention utilizes thermal infrared images to identify the differences between lodged and non-lodged rice areas, providing an effective means for monitoring rice lodging. However, this method is only suitable for a single planting environment. When the terrain of the planting area is sloping, remote sensing images captured directly overhead will produce significant deviations. Summary of the Invention

[0005] The purpose of this invention is to provide a device and method for real-time calculation of rice lodging area. Based on UAV remote sensing images, it uses digital means to stitch regional images together. The system calculates the rice lodging area by summarizing and analyzing GPS positioning, laser ranging, and horizontal data. It can adjust the remote sensing camera in parallel according to the flatness of the crop area. It also provides a drive structure that allows free rotation and angle adjustment to enhance the UAV's high-altitude operation and ensure the stability of the remote sensing photography structure.

[0006] The objective of this invention is achieved through the following technical solution:

[0007] A device and method for real-time calculation of lodging area in rice, characterized in that: it includes a drone, a first driving device, and a second driving device, wherein the drone is connected to the first driving device, and the first driving device is connected to the second driving device.

[0008] As a further optimization of this technical solution, the present invention provides a real-time calculation device and method for rice lodging area. The drone includes a drone body A, a body connecting plate, a drone body B, a battery assembly, an electronic component assembly, a protective cover, flight assembly A, flight assembly B, flight assembly C, and flight assembly D. The body connecting plate, drone body B, electronic component assembly, flight assembly A, flight assembly B, flight assembly C, and flight assembly D are all fixedly connected to the drone body A. The battery assembly is fixedly connected to the body connecting plate. The drone body A, body connecting plate, and drone body B are all fixedly connected to the protective cover.

[0009] As a further optimization of this technical solution, the present invention provides a real-time calculation device and method for rice lodging area. The first driving device includes a shaft support bracket, a gear ring, a shaftless motor, a gear shaft, a triangular non-standard gear A, a fork A, a slide shaft A, a triangular non-standard gear B, a fork B, a slide shaft B, a triangular non-standard gear C, a fork C, a slide shaft C, a ring-shaped three-axis bracket, a three-link shaft, a connecting flange, and a bottom connecting plate. The gear ring is fixedly connected to the shaft support bracket, and the output end of the shaftless motor is fixedly connected to the gear shaft body. The gear shaft is connected to the triangular non-standard gear A, triangular non-standard gear B, and triangular non-standard gear C. The gears are meshed together: triangular non-standard gear A and fork A are rotatably connected to slide shaft A; triangular non-standard gear B and fork B are rotatably connected to slide shaft B; triangular non-standard gear C and fork C are rotatably connected to slide shaft C; triangular non-standard gear A, triangular non-standard gear B, and triangular non-standard gear C are meshed with the gear ring; slide shaft A, slide shaft B, and slide shaft C are all connected to the ring-shaped three-axis bracket; the gear shaft, ring-shaped three-axis bracket, and three-link shaft are all rotatably connected to the shaft seat bracket; fork A, fork B, and fork C are all rotatably connected to the three-link shaft; and the three-link shaft and bottom connecting plate are fixedly connected to the connecting flange.

[0010] As a further optimization of this technical solution, the present invention provides a real-time calculation device and method for rice lodging area. The second driving device includes a top connecting assembly, universal joint assembly A, universal joint assembly B, universal joint assembly C, universal joint assembly D, universal joint assembly E, universal joint assembly F, electric cylinder A, electric cylinder B, electric cylinder C, electric cylinder D, electric cylinder E, electric cylinder F, universal joint assembly G, universal joint assembly H, universal joint assembly I, universal joint assembly J, universal joint assembly K, universal joint assembly L, bottom support assembly, horizontal sensor, laser positioning sensor, and remote sensing camera assembly. Universal joint assembly A, universal joint assembly B, universal joint assembly C, universal joint assembly D, universal joint assembly E, and universal joint assembly F are all fixedly connected to the top connecting assembly. Then, universal joint assemblies A, B, C, D, E, and F are rotatably connected to electric cylinders A, B, C, D, E, and F respectively in sequence. Electric cylinders A, B, C, D, E, and F are rotatably connected to universal joint assemblies G, H, I, J, K, and L respectively in sequence. Universal joint assemblies G, H, I, J, K, and L are all rotatably connected to the bottom support assembly. The horizontal sensor, laser positioning sensor, and remote sensing camera assembly are all fixedly connected to the bottom support assembly.

[0011] The beneficial effects of the real-time calculation device and method for lodging area of ​​rice according to the present invention are as follows:

[0012] The present invention provides a real-time rice lodging area calculation device and method, the beneficial effects of which are: 1. Based on UAV remote sensing images, regional images are stitched together using digital means, and the background system is assisted in calculating the rice lodging area through GPS positioning, laser ranging, and the summary analysis of horizontal data; 2. The remote sensing camera can be adjusted in parallel according to the ground flatness of the crop area, and a drive structure with free rotation and angle adjustment is provided to enhance the UAV's high-altitude operation without being affected by the environment, and to ensure the stability of the remote sensing photography structure. Attached Figure Description

[0013] The present invention will now be described in further detail with reference to the accompanying drawings and specific implementation methods.

[0014] Figure 1 This is a schematic diagram of the overall structure of the present invention. Figure 1 ;

[0015] Figure 2 This is a schematic diagram of the overall structure of the present invention. Figure 2 ;

[0016] Figure 3 This is a schematic diagram of the UAV structure of the present invention. Figure 1 ;

[0017] Figure 4 This is a schematic diagram of the UAV structure of the present invention. Figure 2 ;

[0018] Figure 5 This is a schematic diagram of the first driving device structure of the present invention. Figure 1 ;

[0019] Figure 6 This is a schematic diagram of the first driving device structure of the present invention. Figure 2 ;

[0020] Figure 7 This is a schematic diagram of the first driving device structure of the present invention. Figure 3 ;

[0021] Figure 8 This is a schematic diagram of the first driving device structure of the present invention. Figure 4 ;

[0022] Figure 9 This is a schematic diagram of the second driving device structure of the present invention. Figure 1 ;

[0023] Figure 10 This is a schematic diagram of the second driving device structure of the present invention. Figure 2 ;

[0024] Figure 11 This is a schematic diagram of the second driving device structure of the present invention. Figure 3 ;

[0025] In the diagram: UAV 1; UAV fuselage A101; fuselage connecting plate 102; UAV fuselage B103; battery assembly 104; electronic component assembly 105; protective cover 106; flight assembly A107; flight assembly B108; flight assembly C109; flight assembly D110; first drive unit 2; shaft seat bracket 201; gear ring 202; shaftless motor 203; gear shaft 204; triangular non-standard gear A205; fork A206; slide shaft A207; triangular non-standard gear B208; fork B209; slide shaft B210; triangular non-standard gear C211; fork C212; slide shaft C213; ring-shaped three-axis bracket 214; three-link shaft 215; connecting flange 21 6; Bottom connecting plate 217; Second drive device 3; Top connecting assembly 301; Universal joint assembly A302; Universal joint assembly B303; Universal joint assembly C304; Universal joint assembly D305; Universal joint assembly E306; Universal joint assembly F307; Electric cylinder A308; Electric cylinder B309; Electric cylinder C310; Electric cylinder D311; Electric cylinder E312; Electric cylinder F313; Universal joint assembly G314; Universal joint assembly H315; Universal joint assembly I316; Universal joint assembly J317; Universal joint assembly K318; Universal joint assembly L319; Bottom support assembly 320; Horizontal sensor 321; Laser positioning sensor 322; Remote sensing camera assembly 323. Specific Implementation

[0026] The present invention will now be described in further detail with reference to the accompanying drawings. Specific Implementation Example 1:

[0028] The following is combined Figure 1-11 This embodiment describes a real-time calculation device and method for rice lodging area, comprising a drone 1, a first drive device 2, and a second drive device 3. The drone 1 is connected to the first drive device 2, and the first drive device 2 is connected to the second drive device 3. Specific Implementation Example 2:

[0030] The following is combined Figure 1-11This embodiment further describes Example 1. The drone 1 includes a drone body A101, a body connecting plate 102, a drone body B103, a battery assembly 104, an electronic component assembly 105, a protective cover 106, a flight assembly A107, a flight assembly B108, a flight assembly C109, and a flight assembly D110. The body connecting plate 102, drone body B103, electronic component assembly 105, flight assembly A107, flight assembly B108, flight assembly C109, and flight assembly D110 are all fixedly connected to the drone body A101. The battery assembly 104 is fixedly connected to the body connecting plate 102. The drone body A101, body connecting plate 102, and drone body B103 are all fixedly connected to the protective cover 106. Specific Implementation Example 3:

[0032] The following is combined Figure 1-11 This embodiment further describes Example 1. The first driving device 2 includes a shaft support 201, a gear ring 202, a shaftless motor 203, a gear shaft 204, a triangular non-standard gear A205, a fork A206, a slide shaft A207, a triangular non-standard gear B208, a fork B209, a slide shaft B210, a triangular non-standard gear C211, a fork C212, a slide shaft C213, a ring-shaped three-axis support 214, a three-link shaft 215, a connecting flange 216, and a bottom connecting plate 217. The gear ring 202 is fixedly connected to the shaft support 201. The output end of the shaftless motor 203 is fixedly connected to the shaft body of the gear shaft 204. The gear shaft 204 meshes with the triangular non-standard gears A205, B208, and C211. Gear A205 and fork A206 are rotatably connected to slide shaft A207; triangular non-standard gear B208 and fork B209 are rotatably connected to slide shaft B210; triangular non-standard gear C211 and fork C212 are rotatably connected to slide shaft C213; triangular non-standard gears A205, B208, and C211 are meshed with gear ring 202; slide shafts A207, B210, and C213 are connected to ring-shaped three-axis bracket 214; gear shaft 204, ring-shaped three-axis bracket 214, and three-link shaft 215 are rotatably connected to shaft seat bracket 201; fork A206, B209, and C212 are rotatably connected to three-link shaft 215; and three-link shaft 215 and bottom connecting plate 217 are fixedly connected to connecting flange 216. Specific Implementation Example 4:

[0034] The following is combined Figure 1-11This embodiment further describes Example 1. The second drive device 3 includes a top connection assembly 301, universal joint assemblies A302, B303, C304, D305, E306, and F307, electric cylinders A308, B309, C310, D311, E312, and F313, and universal joint assemblies G314 and H315. 315, Universal joint assembly I, 316, J317, K318, L319, bottom support assembly 320, level sensor 321, laser positioning sensor 322, remote sensing camera assembly 323, wherein universal joint assemblies A302, B303, C304, D305, E306, and F307 are all fixedly connected to the top connection assembly 301, and universal joint assembly A302... Universal joint assemblies B303, C304, D305, E306, and F307 are sequentially rotatably connected to electric cylinders A308, B309, C310, D311, E312, and F313, respectively. Electric cylinders A308, B309, C310, D311, E312, and F313 are sequentially connected to universal joint assembly G314, universal joint... Components H315, I316, J317, K318, and L319 are rotatably connected, while universal joint assemblies G314, H315, I316, J317, K318, and L319 are all rotatably connected to the bottom support assembly 320. The horizontal sensor 321, laser positioning sensor 322, and remote sensing camera assembly 323 are all fixedly connected to the bottom support assembly 320.

[0035] This invention discloses a real-time calculation device and method for rice lodging area. The working principle is as follows: the entire device is powered by a battery assembly 104, and its normal flight functions are provided by flight assemblies A107, B108, C109, and D110. The electronic component assembly 105 is the core of the entire device, integrating the control circuit board and networking components. This invention achieves precise capture of the correct size of the rice lodging area by modularizing and regionalizing the rice planting area for imaging. Compared with traditional UAV remote sensing equipment, this invention focuses on increasing the stability of the remote sensing camera assembly 323 while adapting to the environment. Through real-time altitude transmission and horizontal adjustment of the shooting area, the device's remote sensing capabilities are enhanced. The camera assembly 323 is kept parallel to the terrain of the rice planting area, ensuring that the longitudinal and lateral directions of the remote sensing camera assembly 323 are always parallel to the boundary of the planting area. This allows for better segmentation of images and subsequent compositing. When the UAV 1 hovers at high altitude to prepare to photograph the rice area below, unstable airflow or crosswinds of varying intensities may occur due to the high-altitude environment. These phenomena can directly cause the UAV 1 to rotate or become unbalanced, thus affecting the shooting accuracy of the remote sensing camera assembly 323. To enable the device to adapt to the aforementioned environment, when airflow causes the UAV 1 to rotate or tilt, the horizontal sensor 321 detects this and activates the shaftless motor 203 via the electronic component assembly 105. The output of the motor drives the gear shaft 204 to rotate. When gear shaft 204 rotates, it simultaneously drives triangular non-standard gears A205, B208, and C211 to rotate along gear ring 202. When triangular non-standard gear A205 rotates, it drives fork A206 to rotate via slide shaft A207. When triangular non-standard gear B208 rotates, it drives fork B209 to rotate via slide shaft B210. When triangular non-standard gear C211 rotates, it drives fork C212 to rotate via slide shaft C213. Simultaneously, the rotation of fork A206, fork B209, and fork C212 drives the three-link shaft 215 to rotate. When slide shafts A207, B210, and C213 rotate with their respective triangular non-standard gears, they simultaneously drive the annular three-axis support 214. The shaft rotates along the bearing support 201, forming a planetary gear mechanism that increases its torque. This mechanism protects the shaftless motor 203 while ensuring smooth drive of the second drive unit 3 in various environments. When the three-link shaft 215 rotates, it drives the second drive unit 3 through the connecting flange 216 and the bottom connecting plate 217. The shaftless motor 203 stops when it reaches the angle measured by the horizontal sensor 321. Subsequently, based on the original data of the rice paddy terrain or during the equipment's straight-line flight, the laser positioning sensor 322 continuously positions the rice paddy area using rays, thus generating a linear rice paddy terrain trend map. The data is then sent to the backend system via the electronic component assembly 105, which calculates the absolute plane angle of the rice paddy area.The second drive device 3 is adjusted accordingly based on this angle until the remote sensing camera assembly 323 is parallel to the terrain of the rice paddy area. The parallelism adjustment is driven by the electronic component assembly 105, with the horizontal sensor 321 providing real-time data. Electric cylinders A308, B309, C310, D311, E312, and F313 provide structural adjustment. Since this device achieves universal adjustment through parallel connection, this paper will not describe in detail how electric cylinders A308, B309, C310, D311, E312, and F313 are driven to a certain angular plane. This paper will describe in detail how electric cylinders A308, B309, C310, D311, E312, and F313 are driven to a certain angular plane. The motion process and coordination relationship of electric cylinders D311, E312, and F313 during operation: When electric cylinder A308 starts, its output shaft begins linear motion, extending and retracting forward and backward under the constraints of its stroke and those of other electric cylinders. During extension and retraction, it drives the bottom support assembly 320 to rotate via the universal joint assembly G314. At this time, the tail end of electric cylinder A308 rotates along the universal joint assembly A302. When electric cylinder B309 starts, its output shaft begins linear motion, extending and retracting forward and backward under the constraints of its stroke and those of other electric cylinders. During extension and retraction, it drives the bottom support assembly 320 to rotate via the universal joint assembly H315. At this time, the tail end of electric cylinder B309 rotates along the universal joint assembly B303. When electric cylinder C310 ... Under the constraint of other electric cylinders, it extends and retracts forward and backward. During extension and retraction, the bottom support assembly 320 rotates via the universal joint assembly I316. At this time, the tail end of electric cylinder C310 rotates along the universal joint assembly C304. When electric cylinder D311 starts, its output shaft begins linear motion. Under the constraint of other electric cylinders, it extends and retracts forward and backward. During extension and retraction, the bottom support assembly 320 rotates via the universal joint assembly J317. At this time, the tail end of electric cylinder D311 rotates along the universal joint assembly D305. When electric cylinder E312 starts, its output shaft begins linear motion. Under the constraint of other electric cylinders, it extends and retracts forward and backward. During extension and retraction, the bottom support assembly 320 rotates via the universal joint assembly K318. At this time, the tail end of electric cylinder E312 rotates along the universal joint assembly E306. When the electric cylinder F313 starts rotating, its output shaft begins linear motion, extending and retracting under the constraints of its stroke and other electric cylinders. During extension and retraction, the bottom support assembly 320 rotates via the universal joint assembly L319. At this time, the tail end of the electric cylinder F313 rotates along the universal joint assembly F307. When the bottom support assembly 320 is adjusted to the required parallelism, electric cylinders A308, B309, C310, D311, E312, and F313 all stop operating. Subsequently, the remote sensing camera assembly 323 begins to capture remote sensing images, and the laser positioning sensor 322 also sends real-time GPS coordinates to the system to ensure that subsequent images are always taken along the same coordinate direction, ensuring modular segmentation of the rice planting area.The laser positioning sensor 322 sends real-time ground elevation data from the remote sensing camera assembly 323 to the backend system. The system then calculates the planar area of ​​the captured image based on this elevation data and the maximum lens range of the remote sensing camera assembly 323. After calculating the area of ​​a single rice paddy region, the lodged rice area in the remote sensing image can be accurately calculated.

[0036] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the examples given above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present invention are also within the protection scope of the present invention.

Claims

1. A real-time calculation device for lodging area of ​​rice, characterized in that: It includes a drone (1), a first drive unit (2), and a second drive unit (3). The drone (1) is connected to the first drive unit (2), and the first drive unit (2) is connected to the second drive unit (3). The drone (1) includes a drone body A (101), a body connecting plate (102), a drone body B (103), a battery assembly (104), an electronic component assembly (105), a protective cover (106), a flight assembly A (107), a flight assembly B (108), a flight assembly C (109), and a flight assembly D (110). The body connecting plate (102), drone body B (103), electronic component assembly (105), flight assembly A (107), flight assembly B (108), flight assembly C (109), and flight assembly D (110) are all fixedly connected to the drone body A (101), the battery assembly (104) is fixedly connected to the body connecting plate (102), and the drone body A (101), body connecting plate (102), and drone body B (103) are all fixedly connected to the protective cover (106). The first drive device (2) includes a bearing support (201), a gear ring (202), a shaftless motor (203), a gear shaft (204), a triangular non-standard gear A (205), a fork A (206), a slide shaft A (207), a triangular non-standard gear B (208), a fork B (209), a slide shaft B (210), a triangular non-standard gear C (211), a fork C (212), a slide shaft C (213), and a ring-shaped three-axis support (214). ), three-link shaft (215), connecting flange (216), bottom connecting plate (217), wherein the gear ring (202) is fixedly connected to the shaft seat bracket (201), the output end of the shaftless motor (203) is fixedly connected to the shaft body of the gear shaft (204), the gear shaft (204) is meshed with triangular non-standard gear A (205), triangular non-standard gear B (208), triangular non-standard gear C (211), triangular non-standard gear A (205), fork A (208), and fork A (209) are connected to the shaft body of the shaft. 6) All are rotatably connected to slide shaft A (207), triangular non-standard gear B (208) and fork B (209) are rotatably connected to slide shaft B (210), triangular non-standard gear C (211) and fork C (212) are rotatably connected to slide shaft C (213), triangular non-standard gear A (205), triangular non-standard gear B (208), and triangular non-standard gear C (211) are meshed with gear ring (202), slide shaft A (207) and slide Shaft B (210) and slide shaft C (213) are both connected to the annular three-axis bracket (214). Gear shaft (204), annular three-axis bracket (214), and three-link shaft (215) are all rotatably connected to the shaft seat bracket (201). Fork A (206), fork B (209), and fork C (212) are all rotatably connected to the three-link shaft (215). The three-link shaft (215) and bottom connecting plate (217) are all fixedly connected to the connecting flange (216). The second drive unit (3) includes a top connection assembly (301), universal joint assembly A (302), universal joint assembly B (303), universal joint assembly C (304), universal joint assembly D (305), universal joint assembly E (306), universal joint assembly F (307), electric cylinder A (308), electric cylinder B (309), electric cylinder C (310), electric cylinder D (311), electric cylinder E (312), electric cylinder F (313), universal joint assembly G (314), universal joint assembly H (315), universal joint assembly I (316), and a universal joint group. Components J (317), universal joint assembly K (318), universal joint assembly L (319), bottom support assembly (320), level sensor (321), laser positioning sensor (322), and remote sensing camera assembly (323), wherein universal joint assembly A (302), universal joint assembly B (303), universal joint assembly C (304), universal joint assembly D (305), universal joint assembly E (306), and universal joint assembly F (307) are all fixedly connected to the top connection assembly (301), and universal joint assembly A (302), universal joint assembly B (303), and universal joint... Components C (304), D (305), E (306), and F (307) are sequentially connected to electric cylinders A (308), B (309), C (310), D (311), E (312), and F (313) in rotation. Electric cylinders A (308), B (309), C (310), D (311), E (312), and F (313) are sequentially connected to electric cylinders G (314) and H (313) in rotation. 15) Universal joint assembly I (316), universal joint assembly J (317), universal joint assembly K (318), and universal joint assembly L (319) are rotatably connected. Universal joint assembly G (314), universal joint assembly H (315), universal joint assembly I (316), universal joint assembly J (317), universal joint assembly K (318), and universal joint assembly L (319) are all rotatably connected to the bottom support assembly (320). Horizontal sensor (321), laser positioning sensor (322), and remote sensing camera assembly (323) are all fixedly connected to the bottom support assembly (320). The remote sensing camera assembly (323) begins to capture remote sensing images, and the laser positioning sensor (322) also sends real-time GPS coordinates to the system so that subsequent shooting will always follow the same coordinate direction, ensuring that the rice planting area is modularly divided. The laser positioning sensor (322) sends the real-time height data of the ground from the remote sensing camera assembly (323) to the background system. The system will calculate the planar area of ​​the captured image based on this height data and the maximum lens range captured by the remote sensing camera assembly (323). After calculating the area of ​​a single rice area, the lodging area of ​​rice in its remote sensing image can be accurately calculated.

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