Network monitoring laser weeding unmanned aerial vehicle command system

Abstract

The invention provides a network monitoring laser weeding unmanned aerial vehicle command system, which relates to the technical field of unmanned aerial vehicles and comprises an unmanned aerial vehicle body, a camera arranged on the unmanned aerial vehicle body and a laser emission part arranged at the bottom of the unmanned aerial vehicle body. A plurality of connecting shafts are arranged on the periphery of the unmanned aerial vehicle body, and rotors are arranged at the tops of the connecting shafts; a connecting hanging plate is arranged at the bottom of the unmanned aerial vehicle body, a bearing plate is arranged at the bottom of one side of the connecting hanging plate, and the bearing plate is connected with the laser emitting part; through the arrangement of the first laser emitting device and the second laser emitting device, the weeding coverage range is increased, large-area weeds can be rapidly and accurately removed, and the weeding efficiency is improved; the center command module is operated through the man-machine interaction module to control the unmanned aerial vehicle to stably and accurately fly to a designated operation area, the position of weeds is confirmed according to the image recognition module, and efficient weeding operation is achieved in cooperation with the laser emission module.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned aerial vehicles, and in particular to a network monitoring laser weeding unmanned aerial vehicle command system. Background Art

[0002] In the process of agricultural modernization, weed control has always been a key issue; traditional weed control methods, usually manual weeding, are inefficient and labor-intensive. With the advancement of science and technology, the application of drone technology in the agricultural field has gradually increased.

[0003] Among traditional drone weeding, the most common ones are drones that spray herbicides. However, they have problems such as uneven distribution of the pesticide and easy drift of the pesticide due to environmental factors such as wind speed, which leads to unstable weeding effect and environmental pollution. Drones that use mechanical devices for weeding often have complex structures and heavy weights, which affect the flight performance and endurance of the drones. In addition, it is difficult to accurately identify and remove weeds in complex farmland environments, which can easily cause damage to crops. In addition, the existing drone weeding systems are not intelligent and networked enough in terms of monitoring and command, and lack real-time and accurate image transmission and data analysis, which makes it difficult for operators to fully understand the situation in the operation area and make accurate decisions and adjustments in a timely manner. Summary of the invention

[0004] The purpose of the present invention is to provide a network monitoring laser weeding drone command system to solve the technical problems existing in the prior art.

[0005] In order to achieve the above-mentioned object of the invention, the technical solution adopted by the present invention is:

[0006] A network-monitored laser weeding drone command system, characterized in that it includes: a drone body, a camera arranged on the drone body, and a plurality of laser emitting components arranged at the bottom of the drone body; a plurality of connecting shafts are arranged around the drone body, and a rotor is arranged on the top of the connecting shaft; a connecting hanging plate is arranged at the bottom of the drone body, and a bearing plate is arranged at the bottom of one side of the connecting hanging plate, and the bearing plate is connected to the laser emitting component.

[0007] Furthermore, the laser emitting component comprises: a first laser emitting device and a second laser emitting device; the first laser emitting device and the second laser emitting device are arranged opposite to each other.

[0008] Furthermore, the first laser emitting device includes: a first driving motor, a coupling connected to the output end of the first driving motor, a transmission shaft passing through the connecting plate and a first laser emitter; the first driving motor is arranged on the top of the connecting plate; one end of the coupling is connected to one end of the first anti-shake gimbal; both ends of the transmission shaft are respectively connected to the first rotating arm and the second rotating arm; the other end of the first anti-shake gimbal is connected to the first rotating arm; one end of the second rotating arm is connected to the first laser emitter through the second anti-shake gimbal; the first laser emitter is rotatably connected to the supporting plate through a movable joint.

[0009] Furthermore, the second laser emitting device includes: a second driving motor and a second laser emitter, the second driving motor is arranged inside the supporting plate, and an output end of the second driving motor is connected to the second laser emitter.

[0010] Furthermore, a landing gear is provided at the bottom of the drone body.

[0011] Furthermore, the following modules are included: a flight control module, which is used to control the flight path and flight status of the drone body; a monitoring module, which is arranged on the drone and is used to shoot the flight area and transmit the picture to the image recognition module in real time; an image recognition module, which uses preset visual technology, machine learning algorithm and big data to identify and distinguish the pictures transmitted by the monitoring module; a central command module, which is used to control the flight status of the drone body and process the images recognized and distinguished by the image recognition module, generate control instructions according to a preset decision algorithm, and send the instructions to the laser emission module; the laser emission module, after receiving the instructions from the central command module, controls the laser emission component to generate a laser beam, and locks and irradiates the weeds through the aiming system; a navigation module, which is used to provide position guidance for the drone body; a human-computer interaction module, which has a login interface and an operation interface, through which the weeding process is operated and displayed; a communication module, which organizes and encodes the data required to be output by each module, and outputs it to the drone body and peripheral devices through wireless communication technology; a power supply module, which provides power support for the drone body and each module.

[0012] Furthermore, the flight control module includes: a data acquisition module, which collects the flight status of the drone body through a number of sensors; a data receiving module, which is used to receive instructions from the central command module and transmit the instructions to the execution module; an execution module, which performs corresponding flight actions according to the instructions of the central command module; a status monitoring module, which is used to monitor the status and parameters of the drone body in real time and feed back real-time data to the central command module; an intelligent obstacle avoidance module, which checks the surrounding obstacles, extracts relevant features of the obstacles, and adjusts the flight status of the drone body according to a preset obstacle avoidance algorithm.

[0013] Furthermore, the image recognition module includes: an image acquisition and transmission module, which acquires and transmits the images transmitted by the monitoring module; an image processing module, which denoises, enhances and corrects the images transmitted by the image acquisition and transmission module, and extracts features from the content in the images; a target recognition and classification module, which recognizes and classifies weeds in the images based on the visual technology, machine learning algorithm and big data, and transmits the recognized and classified data to the central command module.

[0014] Furthermore, after receiving the data transmitted by the target recognition and classification module, the central command module processes the data, generates strategies according to the preset path planning algorithm, task allocation algorithm, decision tree algorithm and fuzzy logic algorithm, and transmits the instructions to the corresponding module through the communication module.

[0015] The human-computer interaction module further includes: an encryption module for encrypting the system and performing authority management on different operators; a login interface for inputting preset encrypted information to log into the website; an operation interface for observing the working parameters, distribution and working status of the drone body; and controlling the weeding operation and flight mode of the drone body through command input; and a management module for opening corresponding operation interfaces according to the authority levels of different operators and recording each operation step.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] (I) The present invention increases the coverage of weeding by setting up the first laser emitting device and the second laser emitting device, can quickly and accurately remove weeds in a large area, and improve the weeding efficiency;

[0018] (ii) The present invention enables the first laser emitter and the second laser emitter to flexibly adjust the emission angle and direction through the arrangement of the first drive motor, the coupling, the first rotating arm, the second rotating arm, the first anti-shake gimbal, the second anti-shake gimbal, the movable joint and the second drive motor, so as to adapt to different terrains and weed distribution conditions, thereby ensuring the comprehensiveness and accuracy of weeding;

[0019] (III): The present invention, through the setting of a flight control module, an image recognition module, a central command module, a laser emission module, a navigation module and a human-computer interaction module, operates the central command module through the human-computer interaction module to control the UAV to fly stably and accurately to a designated operation area, confirms the location of weeds according to the image recognition module, and cooperates with the laser emission module to achieve fast, accurate and efficient weeding operations, thereby reducing harm to crops and the environment; through the setting of the central command module, each module can be comprehensively analyzed and processed, so that the operator can fully understand the situation in the operation area, thereby achieving overall coordination and collaboration, and improving weeding efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A three-dimensional diagram of the novel type of the present invention;

[0021] Figure 2 This is a three-dimensional diagram of the novel laser emitting component of the present invention;

[0022] Figure 3 This is a stereoscopic view of the novel laser emitting component of the present invention from another perspective;

[0023] Figure 4 is a flow chart of the present invention;

[0024] Figure 5 This is a schematic diagram of the human-computer interaction module of the present invention;

[0025] In the figure: 1. UAV body; 2. landing gear; 3. laser emitting component; 4. camera; 5. connecting plate; 6. connecting shaft; 7. rotor; 8. bearing plate; 9. first driving motor; 10. coupling; 11. first anti-shake gimbal; 12. first rotating arm; 13. transmission shaft; 14. second rotating arm; 15. second anti-shake gimbal; 16. first laser emitter; 17. movable joint; 18. second laser emitter; 19. second driving motor. DETAILED DESCRIPTION

[0026] In order to make the content of the present invention more clearly understood, the technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. The same parts are represented by the same figure marks. It should be noted that the words "front", "rear", "left", "right", "up" and "down" used in the following description refer to the directions in the drawings, and the words "inside" and "outside" refer to the directions toward or away from the geometric center of a specific component, respectively.

[0027] like Figure 1 As shown, in this embodiment, a network monitoring laser weeding drone command system is provided, including: a drone body 1, a camera 4 arranged on the drone body 1, and a plurality of laser emitting components 3 arranged at the bottom of the drone body 1, wherein the laser emitting components 3 are multiple groups, and the specific number is not limited; the drone body 1 has a microcontroller inside, and the microcontroller is used to receive instructions from the central command module and convert them into specific control actions of the corresponding components of the drone body 1; the drone body 1 is provided with a plurality of connecting shafts 6 around, and the top of the connecting shaft 6 is provided with a rotor 7, and the number of the connecting shaft 6 and the rotor 7 is not limited; the bottom of the drone body 1 is provided with a landing gear 2; the bottom of the drone body 1 is provided with a connecting plate 5, and the connecting plate 5 is detachably connected to the bottom of the drone body 1, and a bearing plate 8 is provided at the bottom of one side of the connecting plate 5, and the bearing plate 8 is connected to the laser emitting component 3, and the laser emitting component 3 is located on both sides of the bearing plate 8.

[0028] like Figure 2-3As shown, the laser emitting component 3 includes: a first laser emitting device and a second laser emitting device; the first laser emitting device and the second laser emitting device are arranged opposite to each other; the first laser emitting device includes: a first driving motor 9, a coupling 10 connected to the output end of the first driving motor 9, a transmission shaft 13 passing through the connecting hanging plate 5 and a first laser emitter 16; the first driving motor 9 is arranged on the top of the connecting hanging plate 5 and does not contact the drone body 1; the coupling 10 is arranged vertically with the first driving motor 9 and meshes with each other, one end of the coupling 10 is connected to one end of the first anti-shake gimbal 11, and the arrangement of the coupling 10 can effectively transmit the torque of the first driving motor 9 and reduce the transmission error; when working, the first driving motor 9 drives the coupling 10 to rotate, and the coupling 10 rotates through the first anti-shake gimbal 11; the two ends of the transmission shaft 13 are respectively connected to the first rotating arm 12 and the second rotating arm 14; the other end of the first anti-shake gimbal 11 is connected to the first rotating arm 12; one end of the second rotating arm 14 is connected to the second anti-shake gimbal 11; The anti-shake platform 15 is connected to the first laser emitter 16; the first laser emitter 16 is rotatably connected to the carrying plate 8 through a movable joint 17. When working, the first drive motor 9 drives the first anti-shake platform 11 to rotate, the first anti-shake platform 11 drives the first rotating arm 12 to rotate, the first rotating arm 12 drives the second rotating arm 14 to rotate through the transmission shaft 13, and the second rotating arm 14 controls the first laser emitter 16 to rotate through the second anti-shake platform 15; the second laser emitting device includes: a second drive motor 19 and a second laser emitter 18, the second drive motor 19 is arranged inside the carrying plate 8, and the output end is connected to the second laser emitter 18. When working, the second drive motor 19 rotates, the second drive motor 19 drives the second laser emitter 18 to rotate, and the emission angle of the second laser emitter 18 is controlled by the rotation of the second drive motor 19; the first laser emitter 16 and the second laser emitter 18 are both composed of a laser gain medium, an excitation source, an optical resonant cavity, a cooling system and a control circuit, and are prior art, which will not be described in detail here.

[0029] like Figure 4-5 As shown, further, the present invention includes the following modules:

[0030] The flight control module is used to control the flight path and flight state of the drone body 1, specifically including the take-off speed, flight speed, cruising speed, flight attitude, route planning and other flight parameters of the drone body 1; the flight control module includes: a data acquisition module, which collects the flight state of the drone body 1 through a number of sensors, the sensors include: accelerometer, gyroscope, magnetometer, barometer, the accelerometer, gyroscope, magnetometer, barometer are all existing technologies, and no further description is given here. When working, the current flight parameters of the drone body 1 are calculated according to the sensors; a data receiving module, which is used to receive instructions from the central command module and transmit the instructions to the execution module, the instructions include: take-off location, weeding area, route; the execution module, which executes corresponding flight actions according to the instructions of the central command module. After receiving the instructions from the central command module, the execution module controls the drive motor of the drone body 1 to rotate, and changes the lift of each rotor and tail of the drone body 1 by adjusting the speed of the drive motor, thereby realizing ascent, descent, forward, backward, left and right translation and air The control module comprises a state monitoring module, which is used to monitor the state and parameters of the drone body 1 in real time, and feed back the real-time data to the central command module, including the monitoring of the flight altitude, flight speed, flight direction, battery power, the speed of the driving motor of the drone body 1, the steering gear angle, vibration level, communication quality, the humidity of the surrounding environment, temperature and light intensity. When the above-mentioned monitoring objects are in an emergency, the central command module can take emergency measures in the first time to ensure the safety of the drone body 1; an intelligent obstacle avoidance module, which is equipped with a laser radar to check the obstacles around the flight area and extract the relevant features of the obstacles, including the distance between the obstacles and the drone body 1 and the shape, size or moving speed of the obstacles; and adjust the flight state of the drone body 1 according to the preset obstacle avoidance algorithm, so as to achieve obstacle avoidance action, and quickly return to the original flight route after the obstacle avoidance is completed. The preset obstacle avoidance algorithm is a method based on safe adaptive reinforcement learning, which is an algorithm combining optimal control theory and reinforcement learning technology, so that the drone body 1 can generate a safe obstacle avoidance trajectory in real time in a complex environment.

[0031] A monitoring module, which is a high-definition camera and equipped with a radar, is arranged on the drone body 1 and is used to shoot the flight area. When shooting weeds, the radar locks the roots of the weeds and transmits the images to the image recognition module in real time. The monitoring module has a storage expansion unit, which is used to increase the data storage capacity and meet the needs of long-term monitoring and large-scale data storage;

[0032] An image recognition module, which uses preset visual technology, machine learning algorithms and big data to recognize and distinguish the images transmitted by the monitoring module; specifically, the image recognition module includes: an image acquisition and transmission module, which acquires and transmits the images transmitted by the monitoring module through a data transmission link; an image processing module, which denoises, enhances and corrects the images transmitted by the image acquisition and transmission module to improve the image quality, and extracts features from the content in the images; a target recognition and classification module, which recognizes and classifies the weeds in the images according to the visual technology, machine learning algorithms and big data, wherein the visual technology includes a combination of image processing technology and computer vision methods, and the machine learning algorithm is composed of one or more of a decision tree, a support vector machine, a naive leaf Bayes or a convolutional neural network, and transmits the recognized and classified data to the central command module, which converts the positions of the weeds in the images into actual geographic coordinates, thereby accurately locating the weeds;

[0033] The central command module is used to control the flight state of the UAV body 1 and process the images recognized and distinguished by the image recognition module, generate control instructions according to a preset decision algorithm, and send the instructions to the laser emission module; after receiving the data transmitted by the target recognition and classification module, the central command module processes the data to form an initial analysis report, and then generates strategies according to the preset path planning algorithm, task allocation algorithm, decision tree algorithm and fuzzy logic algorithm. The task allocation algorithm can control multiple UAV bodies 1 and reasonably allocate weeding tasks, thereby improving overall efficiency; the decision tree algorithm can formulate strategies according to weather conditions, terrain and weed growth density; finally, the instructions are transmitted to the corresponding modules through the communication module;

[0034] The laser emission module controls the laser emission component 3 to generate a laser beam after receiving the instruction from the central command module, specifically controls the first laser emitter 16 and the second laser emitter 18 to generate a laser, and locks and irradiates the weeds through the aiming system. The laser emission module can emit a high-energy laser beam, so as to accurately remove the weeds and avoid damage to crops near the weeds. It does not need to directly contact the weeds, reducing the risk of pollution and the spread of pests and diseases caused by physical contact; and the laser emission module can adjust the energy and emission parameters of the laser according to the type of weeds, and flexibly complete the weeding process;

[0035] A navigation module uses GPS, Beidou navigation system and inertial navigation system to provide position guidance for the drone body 1;

[0036] The human-computer interaction module has a login interface and an operation interface, through which the weeding process is operated and displayed; the operation interface can show the operator the position of the drone body 1, the flight speed, the flight altitude, the battery power, the working conditions of the electronic components in the drone body 1 and the relevant data of the weeding operation, providing the operator with an intuitive and simple operation interface, and can make timely adjustments when problems are found; the human-computer interaction module includes: an encryption module, which encrypts the system and manages the authority of different operators. The operator needs to log in when using the present invention; a login interface, inputting the preset encryption information to log in to the website; an operation interface, The working parameters, distribution and working status of the human-machine body 1 are observed, and when abnormal situations occur, such as failure of the drone body 1, low battery of the drone body 1, or bad weather, prompts and warnings are issued to the operator; the weeding operation and flight mode of the drone body 1 are controlled by command input. When in use, the operator inputs the crop type, planting density, terrain characteristics and special requirements of the required weeding area through the operation interface, and the drone body 1 is scheduled according to the production cycle of the crops to provide regional guidance according to the growth characteristics of the weeds; the management module opens the corresponding operation interface according to the authority level of different operators, and records each step of the operation;

[0037] The communication module organizes and encodes the data to be output by each module, and outputs it to the drone body 1 and peripheral devices through wireless communication technology;

[0038] The power module provides power support for the drone body 1 and various modules. The power source is a lithium-ion battery, which has a high energy density and a light weight.

[0039] When weeding farmland, the operator deploys multiple drone bodies 1 to weed the field. The operator enters the preset encrypted information and logs into the webpage, and finds the flight control module through the operation interface. At this time, the operator sets the flight path and flight status of the multiple drone bodies 1 through the flight control module, and then controls the multiple drone bodies 1 to take off at the same time. The drone body 1 transmits the farmland situation to the image recognition module through the monitoring module, and the image recognition module transmits the picture to the central command module. The central command module generates corresponding instructions after identifying and distinguishing the picture, and then the central command module transmits the instructions to the laser emission module on the drone body 1 through the communication module. The laser emission module emits the corresponding high-energy laser beam to remove weeds according to the instructions of the central command module.

[0040] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A network monitoring laser weeding drone command system, characterized by: include: A drone body (1), a camera (4) arranged on the drone body (1), and a plurality of laser emitting components (3) arranged at the bottom of the drone body (1); a plurality of connecting shafts (6) are arranged around the drone body (1), and a rotor (7) is arranged on the top of the connecting shaft (6); a connecting plate (5) is arranged at the bottom of the drone body (1), and a bearing plate (8) is arranged at the bottom of one side of the connecting plate (5), and the bearing plate (8) is connected to the laser emitting components (3).

2. The network monitoring laser weeding drone command system according to claim 1 is characterized by: The laser emitting component (3) comprises: a first laser emitting device and a second laser emitting device; the first laser emitting device and the second laser emitting device are arranged opposite to each other.

3. The network monitoring laser weeding drone command system according to claim 2 is characterized by: The first laser emitting device comprises: a first driving motor (9), a coupling (10) connected to the output end of the first driving motor (9), a transmission shaft (13) passing through the connecting plate (5), and a first laser emitter (16); the first driving motor (9) is arranged on the top of the connecting plate (5); one end of the coupling (10) is connected to one end of the first anti-shake gimbal (11); two ends of the transmission shaft (13) are respectively connected to a first rotating arm (12) and a second rotating arm (14); the other end of the first anti-shake gimbal (11) is connected to the first rotating arm (12); one end of the second rotating arm (14) is connected to the first laser emitter (16) through a second anti-shake gimbal (15); and the first laser emitter (16) is rotationally connected to the supporting plate (8) through a movable joint (17).

4. The network monitoring laser weeding drone command system according to claim 1 is characterized by: The second laser emitting device comprises: a second driving motor (19) and a second laser emitter (18); the second driving motor (19) is arranged inside the carrying plate (8), and an output end is connected to the second laser emitter (18).

5. The network monitoring laser weeding drone command system according to claim 1 is characterized by: A landing gear (2) is provided at the bottom of the drone body (1).

6. The network monitoring laser weeding drone command system according to any one of claims 1 to 5, characterized in that: Includes the following modules: A flight control module, used to control the flight path and flight status of the drone body (1); A monitoring module, arranged on the drone body (1), used for photographing the flight area and transmitting the images to the image recognition module in real time; An image recognition module, which uses preset visual technology, machine learning algorithms and big data to recognize and distinguish the images transmitted by the monitoring module; A central command module, used to control the flight state of the drone body (1) and process the image recognized and distinguished by the image recognition module, generate control instructions according to a preset decision algorithm, and send the instructions to the laser emission module; The laser emission module controls the laser emission component (3) to generate a laser beam after receiving the instruction from the central command module, and locks and irradiates the weeds through the aiming system; A navigation module, used to provide position guidance for the drone body (1); A human-computer interaction module, which has a login interface and an operation interface, through which the weeding process is operated and displayed; A communication module, which organizes and encodes the data to be output by each module, and outputs the data to the drone body (1) and peripheral devices through wireless communication technology; A power supply module provides power support for the drone body (1) and various modules.

7. The network monitoring laser weeding drone command system according to claim 6 is characterized by: The flight control module includes: A data collection module, which collects the flight status of the drone body (1) through a number of sensors; A data receiving module, used to receive instructions from the central command module and transmit the instructions to the execution module; An execution module executes corresponding flight actions according to the instructions of the central command module; A status monitoring module, used for real-time monitoring of the status and parameters of the drone body (1), and feeding back real-time data to the central command module; The intelligent obstacle avoidance module checks surrounding obstacles, extracts relevant features of the obstacles, and adjusts the flight state of the drone body (1) according to a preset obstacle avoidance algorithm.

8. The network monitoring laser weeding drone command system according to claim 6 is characterized by: The image recognition module comprises: An image acquisition and transmission module is used to acquire and transmit the images transmitted by the monitoring module; An image processing module, which performs denoising, enhancement and correction on the image transmitted by the image acquisition and transmission module, and performs feature extraction on the content in the image; The target recognition and classification module recognizes and classifies the weeds in the picture according to the visual technology, machine learning algorithm and big data, and transmits the recognition and classification data to the central command module.

9. The network monitoring laser weeding drone command system according to claim 8 is characterized by: After receiving the data transmitted by the target recognition and classification module, the central command module processes the data, generates strategies according to the preset path planning algorithm, task allocation algorithm, decision tree algorithm and fuzzy logic algorithm, and transmits the instructions to the corresponding modules through the communication module.

10. The network monitoring laser weeding drone command system according to claim 6, characterized in that: The human-computer interaction module comprises: Encryption module, to encrypt the system and manage the permissions of different operators; Login interface, enter the preset encrypted information to log in to the website; An operation interface for observing the working parameters, distribution and working status of the drone body (1); and controlling the weeding operation and flight mode of the drone body (1) through command input; The management module opens the corresponding operation interface according to the authority levels of different operators and records each operation step.

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