A method for monitoring electronic fences for forest protection

Abstract

The present invention discloses an electronic fence monitoring method for forest protection, which belongs to the technical field of forest protection. The method comprises the following steps: S1, M electronic boundary stakes are set around the forest, and the M electronic boundary stakes form an electronic fence to surround the forest; S2, a drone moves to the corresponding positions of the M electronic boundary stakes in turn to take pictures of the forest, and a second camera is provided on the drone, and the multiple pictures taken are used as basic pictures; S3, after a stage time, the drone moves to the corresponding positions of the M electronic boundary stakes in turn to take pictures of the forest for evidence collection, and the pictures taken are used as evidence pictures; S4, the evidence pictures are compared with the basic pictures of the corresponding electronic boundary stakes, and an alarm is issued if there is any damage to the forest or change in ground vegetation. The drone of the present invention cooperates with the electronic boundary stakes, has accurate positioning, and has high accuracy in direct comparison of pictures, which is convenient for staff to grasp the damage to the forest or change in ground vegetation; and improves the accuracy of forest protection monitoring alarm.

Description

Technical Field

[0001] The invention belongs to the technical field of forest protection, and in particular relates to an electronic fence monitoring method for forest protection. Background Art

[0002] Driven by economic interests, some areas have deforestation for tea planting, destroying forest resources to expand tea planting areas. In order to reduce this phenomenon, the existing methods, in addition to manual monitoring, generally set up electronic fences for forests, use GPS and other technologies to set a virtual boundary, and use satellite monitoring, drone monitoring or camera monitoring to monitor the forest conditions within the electronic fence. These monitoring methods still have some problems. Satellite monitoring is relatively lagging. Camera monitoring sets up monitoring poles at the virtual boundary of the electronic fence, equipped with visible light cameras and laser thermal imaging cameras, to take photos of forest damage in the tea forest junction area for evidence collection, and compare the evidence photos with the original photos. The recognition accuracy is relatively high, but the height of the monitoring pole is limited (usually more than ten meters) and it is impossible to set up multiple super-high monitoring poles. Drone monitoring uses drones to cruise within electronic fences to collect evidence and take photos of forests, and then compare the photos with the original photos. However, the flight position of the drone is determined by GPS. Due to the problems of GPS positioning accuracy (generally at the meter level) and weak signals (interference in some areas), it cannot guarantee that the flight route and altitude are exactly the same every time. The photos taken by drones are very different from the original photos due to different positions and altitudes. The photos taken by drones need to be processed to form orthophoto images, and then the orthophoto images collected are compared with the original orthophoto images to find out the damage to the forest or changes in ground vegetation. This method requires a large amount of image data to be processed, and the orthophoto images cannot reflect elevation information, and the on-site images are distorted. Summary of the invention

[0003] In view of the above problems existing in the prior art, the technical problem to be solved by the present invention is to provide an electronic fence monitoring method for forest protection, which uses a drone to take high-precision photos at the same monitoring position to monitor the forest.

[0004] Technical solution: In order to solve the above technical problems, the technical solution adopted by the present invention is as follows:

[0005] A method for monitoring an electronic fence for forest protection comprises the following steps:

[0006] S1, setting M electronic boundary stakes around the forest land, the M electronic boundary stakes forming an electronic fence surrounding the forest land, and a first camera is arranged on the electronic boundary stakes;

[0007] S2, the drone moves to the corresponding positions of M electronic boundary stakes in turn to take pictures of the forest land. The drone is equipped with a second camera, and the multiple pictures taken are used as basic pictures;

[0008] S3, after the stage time, the drone moves to the corresponding positions of M electronic boundary stakes in turn to take photos of the forest land for evidence collection, and the photos taken are used as evidence pictures;

[0009] S4. Compare the evidence-collected image with the basic image of the corresponding electronic boundary stake. If there is any destruction of the forest or change in the ground vegetation, and the difference value exceeds the threshold through image comparison, an alarm is issued.

[0010] Preferably, when the drone moves to the position corresponding to the electronic boundary stake in step S2, the drone takes photos at N height positions above the electronic boundary stake, and the photos taken include N basic pictures corresponding to the N height positions;

[0011] Preferably, when the drone moves to the position corresponding to the electronic boundary stake in step S3, the drone takes evidence photos at the same N height positions and angles above the electronic boundary stake as in step S2, and the photos taken include N evidence photos corresponding to the N height positions. In step S4, the N evidence photos are compared with N basic photos at the same height positions of the corresponding electronic boundary stakes.

[0012] Preferably, when the difference values ​​of more than A evidence pictures among N evidence pictures corresponding to a certain electronic boundary marker exceed a threshold, all evidence pictures corresponding to the electronic boundary marker are determined to be out of tolerance, wherein A≥0.5N.

[0013] Preferably, when the evidence photos of B or more electronic boundary markers among M electronic boundary markers are out of tolerance, it is determined that there is forest damage or ground vegetation change, and an alarm is issued, where B≥0.2M.

[0014] Preferably, the drone is provided with an ultrasonic sensor, and the drone is positioned above the electronic boundary stake via the ultrasonic sensor.

[0015] Preferably, the electronic boundary stake includes an MCU main control unit, an infrared sensor, a storage module and a working communication module. The infrared sensor is connected to the MCU main control unit. When the infrared sensor detects human intrusion, the MCU main control unit controls the first camera to take pictures.

[0016] Preferably, the photos taken by the first camera are stored in the storage module, and when the second camera of the drone takes photos above the electronic boundary stake, the photos taken by the second camera are stored in the storage module of the electronic boundary stake below through the working communication module.

[0017] Preferably, the working communication module includes a first communication module and a second communication module, the first communication module is a WIFI module, a Bluetooth module or a ZigBee module, and the second communication module is a 4G module, a 5G module or a wired communication module.

[0018] Beneficial effects: Compared with the prior art, the present invention has the following advantages:

[0019] 1. By setting up electronic boundary stakes around the forest land, the electronic boundary stakes enclose and form an electronic fence. The electronic boundary stakes are provided with a first camera and an infrared sensor, which can take pictures of the surrounding area of ​​the forest land, store them and send them to an external terminal;

[0020] 2. The drone cooperates with the electronic boundary stake. The drone moves to the top of the electronic boundary stake to take photos and transmits the photos to the corresponding electronic boundary stake. This is equivalent to adding a camera with adjustable height to the electronic boundary stake. The electronic boundary stake is no longer restricted by the height limit. When patrol personnel go around the electronic boundary stake, they can connect to the electronic boundary stake through handheld terminals via WIFI and other methods to view and process the stored photos.

[0021] 3. As the drone uses the fixed position of the electronic boundary stake for positioning, the positioning accuracy can reach the millimeter level. Compared with the original drone GPS meter-level positioning, the positioning accuracy is improved, and it no longer relies on GPS positioning. It can be positioned normally even in places such as valleys where the GPS signal is weak and the signal is easily lost;

[0022] 4. The drone uses electronic boundary stakes to determine its altitude, no longer relying on the drone's GPS signal and barometer, and the altitude accuracy reaches the millimeter level;

[0023] 5. The cooperation between drones and electronic boundary stakes ensures that the original photo location and the evidence photo location taken during the later inspection are in the same position and highly consistent. There is no need to perform orthophoto processing on the photos, which reduces the amount of data processing and the difficulty of processing. The direct comparison of photos is highly accurate, which makes it easier for staff to understand the damage to forest land or changes in ground vegetation.

[0024] 6. Only when the difference values ​​of a certain number of evidence photos corresponding to each electronic boundary marker exceed the threshold will all the evidence photos corresponding to the electronic boundary marker be judged to be out of tolerance, thereby reducing misjudgments caused by errors in a single evidence photo. Only when a certain number of electronic boundary markers among multiple electronic boundary markers are out of tolerance will it be determined that there is forest damage or ground vegetation changes, thereby reducing misjudgments caused by errors in a single electronic boundary marker and improving the accuracy of forest protection monitoring and alarms. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of constructing an electronic fence according to an embodiment of the present invention;

[0026] Figure 2Schematic diagram of the electronic boundary stake and the UAV structure of the embodiment;

[0027] Figure 3 It is a block diagram of the internal structure of the electronic boundary stake in the embodiment. DETAILED DESCRIPTION

[0028] The present invention is further illustrated below in conjunction with specific examples. The examples are implemented based on the technical solutions of the present invention. It should be understood that these examples are only used to illustrate the present invention and are not used to limit the scope of the present invention.

[0029] like Figure 1 , Figure 2 and Figure 3 As shown, the electronic boundary stake 1 is a rectangular body as a whole. The electronic boundary stake 1 includes an MCU main control unit, a first camera 11, an infrared sensor 12, a storage module, a working communication module, a battery and a solar panel 13. The first camera 11 and the infrared sensor 12 are both connected to the MCU main control unit. The first camera 11 and the infrared sensor 12 are arranged at the upper end of the electronic boundary stake 1. A conical platform is arranged at the top of the electronic boundary stake 1. The four sides of the conical platform are solar panels 13 for receiving light and charging the battery. The battery adopts a lithium battery. In this embodiment, the infrared sensor 12 monitors a distance of 20m. When the infrared sensor 12 detects a person intruding, the MCU main control unit controls the first camera to work and take pictures. The first camera includes a visible light camera and an infrared thermal imaging camera. The pictures taken by the first camera are stored in the storage module. The working communication module includes a first communication module and a second communication module. The first communication module is a WIFI module, a Bluetooth module or a ZigBee module. In this embodiment, a WIFI module is used for short-distance communication. The second communication module is a 4G module, a 5G module or a wired communication module. In this embodiment, a 4G module is used for long-distance communication to send data to an external terminal. The external terminal can be a mobile phone, a tablet or a computer. In this embodiment, the electronic boundary stake 1 is vertically pre-buried at a designated location through GPS positioning. A posture sensor can also be set in the electronic boundary stake 1. When the electronic boundary stake 1 is tilted, moved or vibrated, an alarm signal can be issued. A temperature and humidity sensor can also be set to monitor the temperature and humidity of the location. The alarm signal data and temperature and humidity data are transmitted to the external terminal through the 4G module.

[0030] like Figure 2 As shown, the drone 2 adopts an existing four-rotor drone, and a second camera 21 and an ultrasonic sensor are provided on the drone 2. The second camera 21 is used for taking pictures, and the ultrasonic sensor is arranged downward for height control of the drone 2.

[0031] This embodiment provides a method for monitoring an electronic fence for forest protection, comprising the following steps:

[0032] S1, setting M electronic boundary stakes 1 around the forest land, the M electronic boundary stakes 1 forming an electronic fence surrounding the forest land, and a first camera 11 is provided on the electronic boundary stakes 1;

[0033] In this embodiment, the forest land is irregular in shape, M is a positive integer, M=10 in this embodiment, and 10 electronic boundary stakes 1 are set around the forest land. When the electronic boundary stakes 1 are set up, a high-precision GPS locator is used to locate the longitude and latitude coordinates of each electronic boundary stake 1, so that the longitude and latitude coordinates of each electronic boundary stake 1 are fixed, and the connecting line (virtual line) between two adjacent electronic boundary stakes 1 among the 10 electronic boundary stakes 1 is located outside the forest land. The circular line formed by the connecting lines of the 10 electronic boundary stakes 1 surrounds the forest land, and the connecting lines between the 10 electronic boundary stakes 1 are electronic fences (virtual fences).

[0034] S2, drone 2 moves to the corresponding positions of M electronic boundary stakes in sequence to take pictures of the forest land, and a second camera is provided on the drone, and the multiple pictures taken are used as basic pictures; when drone 2 moves to the corresponding position of electronic boundary stake 1 in step S2, drone 2 takes pictures at N height positions above electronic boundary stake 1, and the pictures taken include N basic pictures corresponding to the N height positions;

[0035] In this embodiment, when 10 electronic boundary stakes 1 are just set up, the drone 2 moves to the position directly above the electronic boundary stakes 1 and takes pictures towards the woodland. N is a positive integer. In this embodiment, N=4. The drone 2 takes pictures at 4 height positions above the electronic boundary stakes 1, which are 20 meters, 60 meters, 100 meters and 140 meters respectively, and takes pictures to form 4 basic pictures. After the drone 2 completes the task of taking pictures of 4 basic pictures for one electronic boundary stake 1, it moves to another adjacent electronic boundary stake 1, continues to take pictures of the woodland at 4 height positions to obtain another 4 basic pictures, and then moves to another adjacent electronic boundary stake 1 to continue taking pictures until the task of taking pictures of the 10 electronic boundary stakes 1 is completed.

[0036] In this embodiment, the drone 2 moves to the top of the electronic boundary stake 1 using the existing WIFI positioning method and the method of identifying infrared lamp beads. The drone 2 moves to the vicinity of the electronic boundary stake 1 through the WIFI of the WIFI module of the electronic boundary stake 1. An infrared beacon is provided on the top of the electronic boundary stake 1. The infrared beacon is composed of a matrix of 30 infrared LED lights with a wavelength of 900nm. The second camera 21 of the drone 2 tracks the infrared light source of the infrared beacon, so that it can move accurately to the top of the electronic boundary stake 1. Since the longitude and latitude coordinates of the electronic boundary stake 1 are accurate, the longitude and latitude of the drone 2 can be accurate. The height distance between the drone 2 and the electronic boundary stake 1 is measured by the ultrasonic sensor of the drone 2, so that the height of the drone 2 can be accurate to the millimeter level.

[0037] When the second camera 21 of the drone 2 takes pictures above the electronic boundary stake 1, the pictures taken by the second camera 21 are stored in the storage module of the corresponding electronic boundary stake 1 below through the WIFI module of the electronic boundary stake 1. In this embodiment, the storage module of each electronic boundary stake 1 stores 4 basic pictures. The picture transmission of the drone 2 can adopt the existing WiFi image transmission module. The drone 2 is provided with a WiFi image transmission module, such as the Feirui Intelligent CV5200 module, which adopts LR-WiFi technology. It can achieve kilometer-level wireless transmission while ensuring the data transmission rate, and can ensure stable transmission of 3 kilometers during the flight of the drone 2.

[0038] S3, after the stage time, the drone 2 moves to the corresponding positions of the M electronic boundary stakes 1 in sequence to take evidence photos of the forest land, and the taken photos are used as evidence photos; when the drone 2 moves to the corresponding position of the electronic boundary stake 1 in step S3, the drone 2 takes evidence photos at the same N height positions above the electronic boundary stake 1 as in step S2, and the taken photos include N evidence photos corresponding to the N height positions, and the N evidence photos are compared with the N basic photos at the same height positions of the corresponding electronic boundary stakes 1;

[0039] After the electronic boundary stakes 1 are set up, it is necessary to patrol the protected forest land regularly, with the stage time T = one week (in this embodiment, the patrol interval is set to one week). After one week, the drone 2 starts taking evidence photos from any one of the 10 electronic boundary stakes 1. The drone 2 takes photos at four height positions above the electronic boundary stake 1. The four height positions are the same as the heights in step S2 and the shooting angles are also the same. Four evidence photos are taken at heights of 20 meters, 60 meters, 100 meters and 140 meters. After completing the task of taking 4 evidence photos for one electronic boundary stake 1, the drone 2 moves to another adjacent electronic boundary stake 1, continues to take photos of the forest land at four height positions to obtain another four evidence photos, and then moves to another adjacent electronic boundary stake 1 to continue taking photos until the task of taking evidence photos for the 10 electronic boundary stakes 1 is completed.

[0040] S4. Compare the evidence pictures with the basic pictures of the corresponding electronic boundary stakes 1. If there is damage to the forest or change in the ground vegetation, the difference value exceeds the threshold through picture comparison, and an alarm feedback is given. When the difference value of more than A evidence pictures among the N evidence pictures corresponding to a certain electronic boundary stake 1 exceeds the threshold, it is determined that all the evidence pictures corresponding to the electronic boundary stake 1 are out of tolerance (outside the specified tolerance range), where A ≥ 0.5N; when the evidence pictures of more than B electronic boundary stakes 1 among M electronic boundary stakes 1 are out of tolerance, it is determined that there is damage to the forest or change in the ground vegetation, and an alarm is given, where B ≥ 0.2M.

[0041] In this embodiment, A and B are both positive integers, A=2, B=2, after taking 4 evidence pictures, the drone 2 stores the 4 evidence pictures in the storage module of the corresponding electronic boundary stake 1 below through the WiFi image transmission module and the WIFI module of the electronic boundary stake 1 below, and the MCU main control unit transmits the basic photos and evidence photos in the storage module to the external terminal through the 4G module, and the external terminal uses existing image comparison software for comparison, such as using image histogram comparison, or third-party professional software such as DiffImg, ImageComparer and BeyondCom pare, or use code to achieve picture comparison. When the difference value between the evidence photo at a certain height position in the electronic boundary stake 1 and the basic photo at the corresponding height position exceeds the threshold, it means that the photo is out of tolerance. When the difference value of more than two of the four evidence photos corresponding to an electronic boundary stake 1 exceeds the threshold, it is determined that all the evidence photos corresponding to the electronic boundary stake 1 are out of tolerance; when the evidence photos of more than two electronic boundary stakes 1 among 10 electronic boundary stakes 1 are out of tolerance, it is determined that there is forest damage or ground vegetation changes, and an alarm is issued. The external terminal notifies the staff of the alarm signal in the form of text, pictures, sound and light.

[0042] The power supply of the electronic boundary stake 1 can also be the mains electricity, which is connected to the mains electricity through a power cord, so that some high-power devices can be set up, such as flashing light warnings and tweeters, to warn and expel intruders. The second communication module can also use a wired communication module, which is connected to the external network through a network cable to ensure more stable data transmission. Due to the high flight speed of the drone 2, 10 electronic boundary stakes 1 can be completed within half an hour, and the forest inspection can also be set more frequently, for example, T = one day, that is, once a day. After the inspection, the drone 2 can be stored for maintenance, which increases the service life of the drone 2.

[0043] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for monitoring an electronic fence for forest protection, characterized in that: The following steps are involved: S1, setting M electronic boundary stakes around the forest land, the M electronic boundary stakes forming an electronic fence surrounding the forest land, and a first camera is arranged on the electronic boundary stakes; S2, the drone moves to the positions corresponding to the M electronic boundary stakes in sequence to take pictures of the forest land. The drone is provided with a second camera, and the multiple pictures taken are used as basic pictures. When the drone moves to the position corresponding to the electronic boundary stake, the drone takes pictures at N height positions above the electronic boundary stake. The pictures taken include N basic pictures corresponding to the N height positions. S3, after the stage time, the drone moves to the corresponding positions of the M electronic boundary stakes in turn to take evidence photos of the forest land, and the taken photos are used as evidence photos. When the drone moves to the corresponding position of the electronic boundary stake, the drone takes evidence photos at the same N height positions and the same angles as in step S2 above the electronic boundary stake, and the taken photos include N evidence photos corresponding to the N height positions; S4. Compare the N forensic images with the N basic images of the same height position of the corresponding electronic boundary stakes. If there is any destruction of the forest or change of the ground vegetation, the difference value found through the image comparison exceeds the threshold and an alarm is issued.

2. The method for monitoring the electronic fence for forest protection according to claim 1, characterized in that: When the difference values ​​of more than A forensic pictures among the N forensic pictures corresponding to a certain electronic boundary marker exceed the threshold, all the forensic pictures corresponding to the electronic boundary marker are judged to be out of tolerance, where A≥0.5N.

3. The method for monitoring the electronic fence for forest protection according to claim 2, characterized in that: When the evidence photos of more than B electronic boundary markers among M electronic boundary markers are out of tolerance, it is determined that there is forest damage or ground vegetation changes, and an alarm is issued, where B≥0.2M.

4. The method for monitoring the electronic fence for forest protection according to claim 1, characterized in that: The drone is provided with an ultrasonic sensor, and the drone is positioned above the electronic boundary stake through the ultrasonic sensor.

5. The method for monitoring the electronic fence for forest protection according to claim 1, characterized in that: The electronic boundary stake includes an MCU main control unit, an infrared sensor, a storage module and a working communication module. The infrared sensor is connected to the MCU main control unit. When the infrared sensor detects human intrusion, the MCU main control unit controls the first camera to take pictures.

6. The method for monitoring the electronic fence for forest protection according to claim 5, characterized in that: The photos taken by the first camera are stored in the storage module. When the second camera of the drone takes photos above the electronic boundary stake, the photos taken by the second camera are stored in the storage module of the electronic boundary stake below through the working communication module.

7. The method for monitoring the electronic fence for forest protection according to claim 5, characterized in that: The working communication module includes a first communication module and a second communication module, the first communication module is a WIFI module, a Bluetooth module or a ZigBee module, and the second communication module is a 4G module, a 5G module or a wired communication module.

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