Unmanned aerial vehicle-mounted intelligent seed-production corn laser castration device and method

Abstract

The invention discloses an unmanned aerial vehicle-mounted intelligent seed production corn laser castration device which comprises an unmanned aerial vehicle platform, a visual aid decision recognition system, a three-axis video tracking holder system, a laser system, a power supply module and a matched supporting module. Setting a maintenance base station, and planning and designing an unmanned aerial vehicle operation path; controlling the unmanned aerial vehicle to cruise over the to-be-detected corn field according to a set track; the visual recognition system receives and processes image data in real time, recognizes tassels which are not removed in the view field of the high-resolution camera and marks the tassels, and when a plurality of tassels which are not removed exist in the view field, an algorithm marks the tassels according to a certain sequence and processes the tassels one by one. The three-dimensional holder adopts the real-time tracking and aiming technology based on deep learning, real-time tracking and aiming can be achieved according to the marked position, the center of a lens continuously tracks the marked tassel, the aiming accuracy is ensured, the technology applies an inter-frame prediction intelligent tracking and aiming algorithm, tracking and aiming jitter can be reduced, energy consumption can be reduced, and efficiency can be improved.

Description

Technical Field

[0001] The invention relates to agricultural machinery, and in particular to an unmanned aerial vehicle-mounted intelligent seed corn laser demassage device and method. Background Art

[0002] Corn detasseling refers to the removal of the top male ear (i.e., the crown) during the growth of corn to promote the growth of the female ear and the development of corn kernels. In seed production field management, timely detasseling can increase corn production by 5-10%. This technology can significantly increase corn yield and quality.

[0003] At present, the industry mainly relies on manual and mechanical emasculation, which leads to a high error rate, low efficiency, and difficulty, and easily increases the risk of corn lodging and damage, resulting in economic losses. Therefore, it is necessary to develop a new emasculation technology for seed corn.

[0004] In the prior art, the main solution is to rely on manual detasseling, that is, to arrange staff to enter the corn field, find the tassels one by one, and remove or cut off the tassels manually or by operating a special detasseling machine.

[0005] Another solution is to use robots or unmanned vehicles to realize automated inspection and detasseling, such as:

[0006] Chinese patent CN116098056A proposes a corn detasseling inspection robot, which obtains plant images through an image acquisition module installed on the robot, identifies the plant, and then removes the tassel with a blade extended by the robot;

[0007] Chinese patent CN114847156A proposes an unmanned corn detasseling vehicle, which adopts a structure that spans across the plants and adjusts the height of the cutting knife according to the image collected by the camera to achieve the removal of the male ears.

[0008] Disadvantages of existing technology:

[0009] Artificial emasculation has the following disadvantages:

[0010] First of all, manual detasseling requires a lot of labor. Even if more convenient detasseling equipment is used, the overall workload is still very heavy, especially in large-scale planting, the labor intensity is extremely high; at the same time, the efficiency of manual detasseling is low, and it is difficult to meet the needs of fast and large-scale planting; high labor intensity and low efficiency will also lead to high labor costs and time costs, making it difficult to reduce planting costs; in addition, manual operation is very likely to cause omissions or incomplete detasseling due to negligence or immature technology, affecting the purity of hybrid seeds; since manual operation requires personnel to go deep into the fields, it is easier to cause accidental injuries to plants due to collisions, scrapes, etc.; the working conditions are relatively poor, and the corn leaves have small thorns on both sides, which can easily scratch the operators. At the same time, the large temperature difference during operation and the narrow field of vision and movement space will affect the physical and mental health of the operators.

[0011] Existing automated emasculation solutions have the following disadvantages:

[0012] First, the terrain of corn fields is relatively complex, and existing automated detasseling equipment is difficult to adapt to complex terrain changes; second, the above scheme will inevitably cause additional mechanical damage to the corn plants, including additional cutting damage during the detasseling process and damage caused by machine collisions and scrapes, such as broken stems or branches, affecting the growth and yield of the plants; in addition, due to the different growth heights and planting densities of corn, the detasseling rate is not high, and there are problems of wrong detasseling and missed detasseling, so multiple detasseling operations are required, and each operation will cause secondary damage to the plants to varying degrees; in addition, the above equipment cannot effectively remove the male tassels that have not yet grown, and achieve advanced "touch the bag" detasseling, which is not conducive to further improving the quality and yield of seed corn; finally, the complete operation path still needs to be repeated during re-inspection, and the operation efficiency is low, which cannot meet the needs of low cost and high efficiency.

[0013] In view of this, the present invention is proposed. Summary of the invention

[0014] The purpose of the present invention is to provide an unmanned aerial vehicle-mounted intelligent seed corn laser detasseling device and method to solve the above-mentioned technical problems existing in the prior art.

[0015] The objective of the present invention is achieved through the following technical solutions:

[0016] The unmanned aerial vehicle-mounted intelligent seed corn laser emasculation device of the present invention comprises an unmanned aerial vehicle platform 1, a visual auxiliary decision recognition system 2, a three-axis video tracking pan-tilt system 4, a laser system 3, a power supply module 5 and a matching support module;

[0017] The UAV platform 1 is equipped with a flight control system and a navigation system, and can automatically perform flight operation tasks according to the set program;

[0018] The visual aid decision recognition system 2 includes a high-resolution camera and an image processing unit, which can clearly obtain the image of the area to be inspected, and quickly process the image data to identify and locate the position and state of the male spike;

[0019] The three-axis video tracking PTZ system 4 can realize high-precision rotation with three degrees of freedom, and can realize target locking and tracking, and can ensure that the optical components are accurately aligned with the target;

[0020] The laser system 3 includes a laser and a transmitting lens, which are used to generate lasers with sufficient power and converge the energy to the target position to achieve long-distance non-contact laser emasculation. The laser energy parameters can be set and modulated according to the needs;

[0021] The power supply module 5 is used to supply energy to the PTZ system and the laser;

[0022] The supporting module includes a charging device and a remote control device.

[0023] The method for realizing the unmanned aerial vehicle-borne intelligent seed corn laser emasculation device by the above-mentioned unmanned aerial vehicle-borne intelligent seed corn laser emasculation device comprises:

[0024] The visual aided decision recognition system collects image data through a high-resolution camera and processes and analyzes it, marking the information of the male spike within the field of view, and providing target information for the tracking and aiming system of the gimbal. The three-axis tracking gimbal uses a high-precision tracking and aiming algorithm to achieve real-time tracking of the aiming target;

[0025] If the target does not leave the aiming range for a certain period of time, the system will determine that the tracking and aiming system is stable;

[0026] At this time, a power-on signal is sent to the laser system, and the laser is emitted to ablate the target tassel. The ablation duration is a fixed time obtained through multiple tests.

[0027] After ablation is complete, the system moves on to process the next target.

[0028] Compared with the prior art, the drone-mounted intelligent seed corn laser emasculation device and method provided by the present invention combines precise tracking and aiming technology, intelligent remote sensing technology and laser long-distance male spike removal technology, and solves the problem that the prior art easily causes secondary damage to plants during emasculation operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 Schematic diagram of the structure of the intelligent seed corn laser detasseling device carried by an unmanned aerial vehicle according to an embodiment of the present invention Figure 1 .

[0030] Figure 2 Schematic diagram of the structure of the intelligent seed corn laser detasseling device carried by an unmanned aerial vehicle according to an embodiment of the present invention Figure 2 .

[0031] Figure 3 A flow chart of a method for intelligent corn seed production laser emasculation carried out by an unmanned aerial vehicle provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0032] The following is a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention; it is obvious that the described embodiments are only part of the embodiments of the present invention, not all of the embodiments, which does not constitute a limitation of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the protection scope of the present invention.

[0033] First, the terms that may be used in this article are explained as follows:

[0034] The term “and / or” means that either or both of them can be realized at the same time. For example, X and / or Y means both “X” or “Y” and “X and Y”.

[0035] The terms "include", "comprises", "contains", "has" or other descriptions with similar semantics should be interpreted as non-exclusive inclusion. For example, including certain technical feature elements (such as raw materials, components, ingredients, carriers, dosage forms, materials, dimensions, parts, components, mechanisms, devices, steps, procedures, methods, reaction conditions, processing conditions, parameters, algorithms, signals, data, products or products, etc.) should be interpreted as including not only certain technical feature elements explicitly listed, but also other technical feature elements known in the art that are not explicitly listed.

[0036] The term "consisting of..." means excluding any technical feature elements not explicitly listed. If this term is used in a claim, it will make the claim closed, so that it does not contain technical feature elements other than the technical feature elements explicitly listed, except for the conventional impurities related to them. If this term only appears in a clause of a claim, it only limits the elements explicitly listed in the clause, and the elements recorded in other clauses are not excluded from the overall claim.

[0037] The contents not described in detail in the examples of the present invention belong to the prior art known to professionals in the field. If no specific conditions are specified in the examples of the present invention, the conditions are carried out according to the conventional conditions in the field or the conditions recommended by the manufacturer. If the manufacturer is not specified in the reagents or instruments used in the examples of the present invention, they are all conventional products that can be purchased commercially.

[0038] The unmanned aerial vehicle-mounted intelligent seed corn laser emasculation device of the present invention comprises an unmanned aerial vehicle platform 1, a visual auxiliary decision recognition system 2, a three-axis video tracking pan-tilt system 4, a laser system 3, a power supply module 5 and a matching support module;

[0039] The UAV platform 1 is equipped with a flight control system and a navigation system, and can automatically perform flight operation tasks according to the set program;

[0040] The visual aid decision recognition system 2 includes a high-resolution camera and an image processing unit, which can clearly obtain the image of the area to be inspected, and quickly process the image data to identify and locate the position and state of the male spike;

[0041] The three-axis video tracking PTZ system 4 can realize high-precision rotation with three degrees of freedom, and can realize target locking and tracking, and can ensure that the optical components are accurately aligned with the target;

[0042] The laser system 3 includes a laser and a transmitting lens, which are used to generate lasers with sufficient power and focus the energy on the target position to achieve long-distance non-contact laser emasculation. The main parameters such as laser energy can be set and modulated according to the needs;

[0043] The power supply module 5 is used to supply energy to the PTZ system and the laser;

[0044] The supporting module includes a charging device and a remote control device.

[0045] The three-axis video tracking gimbal system 4 is directly installed on the UAV platform 1, and the generation lens of the visual auxiliary decision recognition system 2 and the laser system 3 is installed on the three-axis video tracking gimbal system 4 and rotates with the gimbal;

[0046] The power supply module 5 is installed on the UAV platform 1 .

[0047] The method for realizing the unmanned aerial vehicle-borne intelligent seed corn laser emasculation device by the above-mentioned unmanned aerial vehicle-borne intelligent seed corn laser emasculation device comprises:

[0048] The visual aided decision recognition system collects image data through a high-resolution camera and processes and analyzes it, marking the information of the male spike within the field of view, and providing target information for the tracking and aiming system of the gimbal. The three-axis tracking gimbal uses a high-precision tracking and aiming algorithm to achieve real-time tracking of the aiming target;

[0049] If the target does not leave the aiming range for a certain period of time, the system will determine that the tracking and aiming system is stable;

[0050] At this time, a power-on signal is sent to the laser system, and the laser is emitted to ablate the target tassel. The ablation duration is a fixed time obtained through multiple tests.

[0051] After ablation is complete, the system moves on to process the next target.

[0052] The specific steps include:

[0053] A. Set up maintenance base stations and plan and design the UAV operation path;

[0054] B. Control the drone to cruise at an altitude of about 3 to 5 meters above the corn field to be inspected according to the predetermined trajectory;

[0055] C. The visual recognition system receives and processes image data in real time, identifies the tassels that are not removed within the field of view of the high-resolution camera, and marks them;

[0056] D. After finding the unremoved tassels, the drone receives the command and maintains a stable hover. At the same time, the 3D gimbal automatically turns to aim the lens at the marked tassels. When there are multiple unremoved tassels in the field of view, the algorithm will mark them in a certain order and process them one by one.

[0057] Since the UAV platform and the tassel cannot remain absolutely still, the tassel will continue to sway slightly in the lens. The 3D gimbal uses real-time tracking and aiming technology based on deep learning to achieve real-time tracking and aiming according to the position of the mark, so that the center of the lens continues to track the marked tassel to ensure the accuracy of aiming. This technology uses an inter-frame prediction intelligent tracking and aiming algorithm to reduce tracking and aiming jitter, reduce energy consumption, and improve efficiency.

[0058] E. After the tracking and aiming system is basically stable, the remote control laser is used to emit laser to ablate the targeted tassel, thus realizing long-distance contactless emasculation. This process is fast, accurate, environmentally friendly and flexible, and can efficiently complete the task of removing the tassel;

[0059] F. After detecting that all tassels within the field of view have been removed, the drone continues the patrol process and returns to the maintenance base station after completing the task or the power consumption reaches the threshold;

[0060] The entire detasseling process is fully automated, reducing workload and improving work efficiency;

[0061] G. Repeat the previous path or set a new path for re-inspection as appropriate.

[0062] Step C includes:

[0063] The raw image data collected by the high-resolution camera is preprocessed by removing noise and enhancing contrast, and then multi-dimensional information features are extracted from the perspectives of color, shape, texture or spectrum to perform full-stack feature recognition;

[0064] Based on deep learning technology, a large number of labeled tassel image samples are used offline to train a classification neural network model. The extracted features are input into the trained model. The model will output the identification information of the tassel, complete target recognition, and mark the position information of the tassel within the field of view.

[0065] Step D includes:

[0066] The 3D PTZ uses high-precision sensors and high-precision transmission devices to ensure that the PTZ has high motion resolution and accuracy;

[0067] The PTZ is controlled by combining the prediction algorithm with the feedback control algorithm;

[0068] Based on the historical motion trajectory data of the target, the Kalman filter algorithm is used to optimally estimate the target position and speed state, and the improved PID algorithm is used to perform high-precision fine-tuning of the pointing position, thereby achieving continuous and high-precision tracking of the target tassel.

[0069] In summary, the drone-mounted intelligent corn laser emasculation device and method of the embodiment of the present invention is a device based on an intelligent visual system of a drone platform, combined with precise tracking technology, intelligent remote sensing technology and laser long-distance male tassel removal technology; it solves the problem of large workload and high difficulty of corn emasculation under current technology; it solves the problem that the prior art requires personnel or machines to go deep into the field, which affects the land or damages the plants; it solves the problem that the prior art cannot achieve advanced "touch the bag" emasculation; it solves the problem that the efficiency and cost of corn emasculation re-inspection operations are low under the prior art; it solves the problem that the prior art is prone to secondary damage to the plants during emasculation operations.

[0070] In order to more clearly demonstrate the technical solution and technical effects provided by the present invention, the embodiments of the present invention are described in detail with specific embodiments below.

[0071] Example 1

[0072] like Figure 1 , Figure 2 As shown:

[0073] 1. The drone-mounted intelligent seed corn laser emasculation device proposed by the present invention comprises:

[0074] UAV platform 1, visual aid decision recognition system 2, three-axis video tracking gimbal system 4, laser system 3, power supply module 5 and supporting support modules, etc.

[0075] Among them, the UAV platform is equipped with a flight control system and a navigation system, which can automatically perform flight operations according to the set program; the visual assisted decision-making recognition system includes a high-resolution camera and an image processing unit, which can clearly obtain images of the inspection area, and quickly process the image data to identify and locate the position and status of the male spike; the three-axis video tracking gimbal system can achieve high-precision rotation in three degrees of freedom, and can achieve target locking and tracking, and can ensure that the optical components are accurately aligned with the target; the laser system includes a laser and an emitting lens, which are used to generate lasers of sufficient power and converge the energy to the target position to achieve long-distance non-contact laser detasseling. The main parameters such as laser energy can be set and modulated according to needs; the power supply module is used to supply power to the gimbal system and the laser; the supporting support module includes charging equipment, remote control equipment and other components.

[0076] 2. The main process of intelligent seed corn detasseling is as follows: Figure 3 As shown, the steps include:

[0077] 1. Set up maintenance base stations and plan and design the UAV operation path;

[0078] 2. Control the drone to cruise at an altitude of about 3 to 5 meters above the corn field to be inspected according to the predetermined trajectory;

[0079] 3. The visual recognition system receives and processes image data in real time, identifies the tassels that are not removed within the field of view of the high-resolution camera, and marks them;

[0080] 4. After finding the unremoved tassels, the drone receives the command and maintains a stable hover. At the same time, the 3D gimbal automatically turns to aim the lens at the marked tassels. When there are multiple unremoved tassels in the field of view, the algorithm will mark them in a certain order and process them one by one. Since the drone platform and the tassels cannot remain absolutely still, the tassels will continue to swing slightly in the lens. The 3D gimbal uses real-time tracking and aiming technology based on deep learning, which can achieve real-time tracking and aiming according to the position of the mark, so that the center of the lens continues to track the marked tassels to ensure the accuracy of aiming. This technology uses an inter-frame prediction intelligent tracking and aiming algorithm to reduce tracking and aiming jitter, reduce energy consumption, and improve efficiency.

[0081] 5. After the tracking and aiming system is basically stable, the remote control laser is used to emit laser to ablate the aimed tassel, realizing long-distance contactless emasculation. This process is fast, accurate, environmentally friendly and flexible, and can efficiently complete the task of removing the tassel;

[0082] 6. After detecting that all the tassels within the field of view have been removed, the drone continues the patrol process. After completing the task or when the power consumption reaches the threshold, it returns to the maintenance base station. The entire tassel removal process can be fully automated, reducing the workload of personnel and improving work efficiency;

[0083] 7. Repeat the previous path or set a new path as appropriate for re-inspection.

[0084] 3. The key points of this application are:

[0085] 1. Laser-based long-distance non-contact tassel removal technology;

[0086] 2. Highly adaptable, highly maneuverable, and highly efficient automated inspection technology based on UAV platforms;

[0087] 3. Aiming at the dynamic characteristics of the male spike target under complex background, an inter-frame information prediction position enhancement algorithm for accurate tracking and aiming of the male spike was developed;

[0088] 4. Full-stack intelligent male spike recognition algorithm for UAV-based platforms based on deep learning.

[0089] 4. This application has the following beneficial effects:

[0090] 1. The present invention uses drones as a platform, which can quickly cover a large area of ​​farmland, reduce the workload, and greatly improve the efficiency of corn detasseling;

[0091] 2. This technical solution can realize highly automated corn detasseling, saving a lot of manpower and material resources and reducing operating costs;

[0092] 3. This equipment can adapt to different terrain and climatic conditions and has strong adaptability;

[0093] 4. The present invention uses non-contact long-distance laser to accurately locate the emasculation, without the need for personnel or machines to go deep into the farmland, and without the need to worry about the equipment affecting the land or accidentally injuring the plants. It also avoids the problem of multiple operations of automated equipment under existing solutions, which causes secondary damage to corn.

[0094] 5. The recognition function of this equipment can be adjusted according to specific needs. It can identify the male spike before it matures, and achieve precise point ablation through laser to achieve advanced "touch and feel" emasculation.

[0095] 6. Due to the high maneuverability of drones, the re-inspection process can simplify the path according to the specific situation and improve the efficiency of re-inspection.

[0096] 5. In specific implementation, this application may adopt the following alternatives:

[0097] 1. Use balloons, airships and other aerostats instead of drone platforms;

[0098] 2. Use a manually controlled drone to manually identify the male spike or manually aim at the target.

[0099] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed in the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims. The information disclosed in the background technology section of this article is only intended to deepen the understanding of the overall background technology of the present invention, and should not be regarded as an admission or in any form that the information constitutes prior art known to those skilled in the art.

Claims

1. An unmanned aerial vehicle-mounted intelligent seed corn laser emasculation device, characterized in that: It includes a UAV platform (1), a visual aid decision recognition system (2), a three-axis video tracking gimbal system (4), a laser system (3), a power supply module (5) and a supporting support module; The unmanned aerial vehicle platform (1) is equipped with a flight control system and a navigation system, and can automatically perform flight operation tasks according to a set program; The visual aid decision-making and recognition system (2) includes a high-resolution camera and an image processing unit, which can clearly obtain the image of the area to be inspected, and quickly process the image data to identify and locate the position and state of the male spike; The three-axis video tracking pan-tilt system (4) can realize high-precision rotation with three degrees of freedom, and can realize target locking and tracking, and can ensure that the optical component is accurately aligned with the target; The laser system (3) comprises a laser and a transmitting lens, which are used to generate laser light of sufficient power and converge the energy to a target position, thereby realizing long-distance non-contact laser emasculation. The laser energy parameters can be set and modulated according to requirements. The power supply module (5) is used to supply energy to the pan / tilt system and the laser; The supporting module includes a charging device and a remote control device.

2. The drone-mounted intelligent seed corn laser emasculation device according to claim 1 is characterized in that: The three-axis video tracking pan-tilt system (4) is directly mounted on the UAV platform (1), and the generating lens of the visual aid decision recognition system (2) and the laser system (3) are mounted on the three-axis video tracking pan-tilt system (4) and rotate with the pan-tilt; The power supply module (5) is installed on the UAV platform (1).

3. A method for implementing unmanned aerial vehicle-borne intelligent seed corn laser emasculation device according to claim 1 or 2, characterized in that: include: The visual aided decision recognition system collects image data through a high-resolution camera and processes and analyzes it, marking the information of the male spike within the field of view, and providing target information for the tracking and aiming system of the gimbal. The three-axis tracking gimbal uses a high-precision tracking and aiming algorithm to achieve real-time tracking of the aiming target; If the target does not leave the aiming range for a certain period of time, the system will determine that the tracking and aiming system is stable; At this time, a power-on signal is sent to the laser system, and the laser is emitted to ablate the target tassel. The ablation duration is a fixed time obtained through multiple tests. After ablation is complete, the system moves on to process the next target.

4. The method for laser emasculation of intelligent seed corn by drone according to claim 3, characterized in that: The specific steps include: A. Set up maintenance base stations and plan and design the UAV operation path; B. Control the drone to cruise at an altitude of about 3 to 5 meters above the corn field to be inspected according to the predetermined trajectory; C. The visual recognition system receives and processes image data in real time, identifies the tassels that are not removed within the field of view of the high-resolution camera, and marks them; D. After finding the unremoved tassels, the drone receives the command and maintains a stable hover. At the same time, the 3D gimbal automatically turns to aim the lens at the marked tassels. When there are multiple unremoved tassels in the field of view, the algorithm will mark them in a certain order and process them one by one. Since the UAV platform and the tassel cannot remain absolutely still, the tassel will continue to sway slightly in the lens. The 3D gimbal uses real-time tracking and aiming technology based on deep learning to achieve real-time tracking and aiming according to the position of the mark, so that the center of the lens continues to track the marked tassel to ensure the accuracy of aiming. This technology uses an inter-frame prediction intelligent tracking and aiming algorithm to reduce tracking and aiming jitter, reduce energy consumption, and improve efficiency. E. After the tracking and aiming system is basically stable, the remote control laser is used to emit laser to ablate the targeted tassel, thus realizing long-distance contactless emasculation. This process is fast, accurate, environmentally friendly and flexible, and can efficiently complete the task of removing the tassel; F. After detecting that all tassels within the field of view have been removed, the drone continues the patrol process and returns to the maintenance base station after completing the task or the power consumption reaches the threshold; The entire detasseling process is fully automated, reducing workload and improving work efficiency; G. Repeat the previous path or set a new path for re-inspection as appropriate.

5. The method for laser emasculation of intelligent seed corn by drone according to claim 4, characterized in that: Step C includes: The raw image data collected by the high-resolution camera is preprocessed by removing noise and enhancing contrast, and then multi-dimensional information features are extracted from the perspectives of color, shape, texture or spectrum to perform full-stack feature recognition; Based on deep learning technology, a large number of labeled tassel image samples are used offline to train a classification neural network model. The extracted features are input into the trained model. The model will output the identification information of the tassel, complete target recognition, and mark the position information of the tassel within the field of view.

6. The method for laser emasculation of intelligent seed corn by drone according to claim 5, characterized in that: Step D includes: The 3D PTZ uses high-precision sensors and high-precision transmission devices to ensure that the PTZ has high motion resolution and accuracy; The PTZ is controlled by combining the prediction algorithm with the feedback control algorithm; Based on the historical motion trajectory data of the target, the Kalman filter algorithm is used to optimally estimate the target position and speed state, and the improved PID algorithm is used to perform high-precision fine-tuning of the pointing position, thereby achieving continuous and high-precision tracking of the target tassel.

Images