Multifunctional unmanned aerial vehicle forestry data acquisition device

Abstract

The utility model discloses a multifunctional unmanned aerial vehicle forestry data acquisition device, and relates to the technical field of forestry information acquisition. An unmanned aerial vehicle is arranged to carry a camera assembly comprising a multi-band lens group, and a forest height acquisition module is arranged at the same time; when the unmanned aerial vehicle flies, the camera assembly is triggered to shoot the forest at the same time, the unmanned aerial vehicle can shoot multiband photos and measure the height of the tree at the same time, and the working efficiency of the unmanned aerial vehicle is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of forestry information collection, in particular to a multifunctional forestry data collection device with unmanned aerial vehicle airborne multi-spectral camera and laser ranging. BACKGROUND

[0002] Since China proposed the development goal of achieving carbon peak and carbon neutrality, higher requirements have been put forward for data investigation and fine management of forest resources. In order to realize the sustainable utilization of forest resources and maximize economic benefits, precision forestry is a modern forestry management mode that uses information technology such as remote sensing and geographic information system to realize the precise monitoring, evaluation, planning and management of forest resources. Precision forestry plays an important role in the scientificity, delicacy and sustainability of forest resource management. Unmanned aerial vehicle technology integrates advanced unmanned aerial vehicle technology, which can carry different types of sensors to quickly collect high spatiotemporal resolution ground feature information, and then complete data processing, analysis modeling and practical application. Compared with traditional forestry monitoring and management methods, unmanned aerial vehicle technology has the advantages of miniaturization, high precision, high mobility, convenient operation and the ability to perform high-difficulty tasks, and plays an irreplaceable role in the development of precision forestry.

[0003] However, the traditional unmanned aerial vehicle cannot take multi-band photos and tree height measurement at the same time when flying, which is not comprehensive enough and reduces the working efficiency of the unmanned aerial vehicle. CONTENT OF THE INVENTION

[0004] The purpose of the present application is to provide a multifunctional unmanned aerial vehicle forestry data collection device, so that the unmanned aerial vehicle can take multi-band photos and tree height measurement at the same time when flying, and improve the working efficiency of the unmanned aerial vehicle.

[0005] To achieve the above purpose, the present application provides the following solutions:

[0006] A multifunctional unmanned aerial vehicle forestry data collection device, comprising:

[0007] an unmanned aerial vehicle main body, a camera assembly, a gimbal and a forest height collection module;

[0008] The unmanned aerial vehicle main body is connected with the camera assembly through the gimbal, and the gimbal is used to adjust the shooting angle of the camera assembly;

[0009] The forest height collection module is used to collect forest height;

[0010] The camera assembly comprises a blue band lens, a green band lens, a red band lens, a red edge 1 band lens, a red edge 2 band lens and a near-infrared band lens;

[0011] The blue wave band lens, the green wave band lens, the red wave band lens, the red edge 1 wave band lens, the red edge 2 wave band lens and the near infrared wave band lens are located in front of a shell of the camera assembly, wherein a direction in which the camera assembly faces a collected object is defined as the front of the shell;

[0012] The camera assembly is used for photographing the forest when the forest height collecting module collects the forest height.

[0013] Optionally, the forest height collecting module comprises a height collecting assembly and a forest height calculating unit, and the height collecting assembly comprises a barometer and a laser ranging unit.

[0014] The barometer is installed on the unmanned aerial vehicle body, and is used for measuring an atmospheric pressure value of a current position of the unmanned aerial vehicle and sending the atmospheric pressure value to the forest height calculating unit.

[0015] The laser ranging unit is installed in front of a shell of the camera assembly, and is used for measuring a first height between the current position of the unmanned aerial vehicle and a top end of a tree crown and sending the first height to the forest height calculating unit.

[0016] The forest height calculating unit is connected with the barometer and the laser ranging unit respectively.

[0017] Optionally, the holder comprises a first container, a second container, a third container, a rear shaft arm and a side shaft arm.

[0018] The first container is connected with one side of the rear shaft arm and a first shaft brushless motor on the unmanned aerial vehicle body respectively.

[0019] The first container is used as a rotor shell of the first shaft brushless motor, and a connection part of the unmanned aerial vehicle body and the first shaft brushless motor is used as a stator base of the first shaft brushless motor.

[0020] The first shaft brushless motor is used for driving the rear shaft arm to rotate around a rotation center of the first shaft brushless motor.

[0021] The other side of the rear shaft arm and one side of the side shaft arm are connected with the second container respectively, and a connection part of the other side of the rear shaft arm and the second container is used as a stator base of a second shaft brushless motor.

[0022] The second shaft brushless motor is installed on the other side of the rear shaft arm.

[0023] The second container is used for accommodating the second shaft brushless motor and is used as a rotor shell of the second shaft brushless motor.

[0024] The second shaft brushless motor is used to drive the side shaft arm to rotate around the rotation center of the second shaft brushless motor;

[0025] The other side of the side shaft arm is connected with the third container, and the third container is connected with the camera assembly;

[0026] A third shaft brushless motor is installed on the side of the camera assembly, and the connecting part between the camera assembly and the third shaft brushless motor is used as a stator base of the third shaft brushless motor;

[0027] The third container is used to accommodate the third shaft brushless motor and as a rotor shell of the third shaft brushless motor;

[0028] The third shaft brushless motor is used to drive the camera assembly to rotate around the rotation center of the third shaft brushless motor.

[0029] Optionally, the multifunctional unmanned aerial vehicle forestry data acquisition device further comprises:

[0030] A positioning module is installed on the unmanned aerial vehicle body and used to measure the current position of the unmanned aerial vehicle.

[0031] Optionally, the multifunctional unmanned aerial vehicle forestry data acquisition device further comprises:

[0032] An obstacle sensing module is arranged on the unmanned aerial vehicle body and used to give an early warning of obstacles when the unmanned aerial vehicle is flying.

[0033] Optionally, the multifunctional unmanned aerial vehicle forestry data acquisition device further comprises:

[0034] A memory card slot is arranged on the unmanned aerial vehicle body.

[0035] Optionally, the multifunctional unmanned aerial vehicle forestry data acquisition device further comprises:

[0036] A parameter adjustment interface is arranged on the unmanned aerial vehicle body.

[0037] Optionally, the multifunctional unmanned aerial vehicle forestry data acquisition device further comprises:

[0038] A heat dissipation hole is arranged on the shell of the camera assembly.

[0039] Optionally, the shooting mode of the camera assembly comprises external triggering, timing triggering and cascade triggering.

[0040] According to the specific embodiments provided in the application, the following technical effects are disclosed:

[0041] The application provides a multifunctional unmanned aerial vehicle forestry data acquisition device, which comprises a camera assembly including a multi-band lens group carried by the unmanned aerial vehicle, and a forest height acquisition module. BRIEF DESCRIPTION OF DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0043] Figure 1 It is a whole front view of the multifunctional unmanned aerial vehicle forestry data acquisition device in the embodiments of the present application.

[0044] Figure 2 It is a bottom view of the unmanned aerial vehicle when the camera assembly is not carried in the multifunctional unmanned aerial vehicle forestry data acquisition device in the embodiments of the present application.

[0045] Figure 3 It is a structural schematic view of the camera assembly in the embodiments of the present application.

[0046] Figure 4 It is a structural schematic view of the gimbal in the embodiments of the present application.

[0047] Figure 5 It is a schematic view of the aerial photograph part information of the unmanned aerial vehicle in the embodiments of the present application.

[0048] Figure 6 It is a demonstration diagram of calculating the height of the forest when the unmanned aerial vehicle is located directly above the forest in the embodiments of the present application.

[0049] Figure 7 It is a demonstration diagram of calculating the height of the forest when the unmanned aerial vehicle is located obliquely above the forest in the embodiments of the present application.

[0050] Figure 8 It is a brief diagram of the remote controller of the unmanned aerial vehicle in the embodiments of the present application.

[0051] Reference signs:

[0052] High-speed motor-1, unmanned aerial vehicle body-2, positioning module-3, propeller-4, obstacle perception module-5, support-6, indicator light-7, parameter adjustment interface-9, first shaft brushless motor-8, storage card slot-10, heat dissipation hole-11, blue wave band lens-12, green wave band lens-13, red wave band lens-14, red edge 1 wave band lens-15, red edge 2 wave band lens-16, near-infrared wave band lens-17, laser emitting unit-18, laser receiving unit-19, first storage compartment-20, third storage compartment-21, side shaft arm-22, second storage compartment-23, rear shaft arm-24. DETAILED DESCRIPTION

[0053] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0054] The above purposes, features and advantages of the present application can be more obvious and easy to understand. The present application will be further described in detail below with reference to the drawings and specific embodiments.

[0055] Embodiment 1

[0056] When conducting forest inventory, NVDI (normalized vegetation index), LAI (leaf area index), and tree height are common indicators for fine forest inventory. However, when using traditional unmanned aerial vehicles for forestry investigation and photography, only one high-definition lens or a lens with a small spectral range (such as infrared spectral range) is used. This can only take natural light photos or small spectral range photos of the forest land, and calculating NVDI index requires not only infrared spectral range but also near-infrared spectral range image data. This necessitates multiple flights with lens changes or the use of multi-spectral cameras. Moreover, tree height cannot be measured simultaneously during unmanned aerial vehicle flight, making it impossible to calculate tree diameter from tree height and tree species information, and estimate tree biomass. To measure tree height, manual field investigation, shadow estimation, and angle estimation are commonly used, which need to be matched with the tree. This measurement method is very inefficient, and the gimbal design of traditional unmanned aerial vehicles is not flexible enough to efficiently capture images from multiple angles during flight.

[0057] As can be seen, the traditional forestry investigation camera has many defects:

[0058] 1. The traditional shooting device carries a lens involving few wave bands, cannot shoot multiple wave band images at the same time when flying, needs to change the lens frequently, and has low efficiency; 2. When measuring the height of forestry trees, traditional manual measurement is needed, which is time-consuming and laborious and has low precision; 3. The unmanned aerial vehicle cannot simultaneously shoot multiple wave band photos and measure the distance when flying, and is not comprehensive enough; 4. The traditional unmanned aerial vehicle adopts a two-axis gimbal camera, which is not flexible enough.

[0059] Therefore, in view of the above defects, the embodiment provides a multifunctional unmanned aerial vehicle forestry data acquisition device, which combines Figures 1-4 The device comprises:

[0060] a high-speed motor 1, an unmanned aerial vehicle body 2, a positioning module 3, a propeller 4, an obstacle perception module 5, a support 6, an indicator light 7, a parameter adjustment interface 9, a first-axis brushless motor 8, a storage card slot 10, a camera assembly, a forest height acquisition module, a gimbal, and a heat dissipation hole 11.

[0061] The heat dissipation hole is located on the camera body.

[0062] As shown in Figure 1 The high-speed motor 1 is connected to the four arms of the unmanned aerial vehicle body 2, and each high-speed motor 1 is linked to the propeller 4. The high-speed motor 1 and the propeller 4 are the power device of the unmanned aerial vehicle. When the unmanned aerial vehicle starts, the rotation of the high-speed motor 1 causes the propeller 4 to generate lift and fly up. When the ascending force generated by the rotation of the four propellers 4 of the unmanned aerial vehicle is greater than the weight of the unmanned aerial vehicle, the unmanned aerial vehicle takes off.

[0063] The unmanned aerial vehicle body 2 has a positioning module 3 in the center of the upper surface. When the unmanned aerial vehicle reaches the aerial photography target area, the positioning module 3 is used to obtain the latitude and longitude information of the unmanned aerial vehicle, so as to determine its own position.

[0064] The unmanned aerial vehicle body 2 is provided with an obstacle perception module 5 in front. When the unmanned aerial vehicle is flying, it can timely warn objects that are too close to avoid the unmanned aerial vehicle from colliding with other objects.

[0065] The storage card slot 10 is arranged on the right side of the unmanned aerial vehicle body 2. The storage card slot 10 is used for inserting a storage card. The storage card can store aerial photography data. After aerial photography is completed, the storage card can be read by a card reader to quickly read the information of the aerial photography of the unmanned aerial vehicle, as shown in Figure 5

[0066] The parameter adjustment interface 9 is arranged on the unmanned aerial vehicle body 2 and can be connected to a computer in a wired manner.

[0067] The gimbal is connected to the unmanned aerial vehicle body 2 and the camera assembly and keeps the camera assembly stable during the flight of the unmanned aerial vehicle. After the camera assembly is installed on the gimbal, the angle of the camera assembly is adjusted by using the gimbal, and a wide range of shooting can be performed. ​

[0068] The holder comprises a first container 20, a rear shaft arm 24, a second container 23, a side shaft arm 22 and a third container 21 connected in sequence.

[0069] The first container 20 on the rear shaft arm 24 is connected with the first shaft brushless motor 8 on the unmanned aerial vehicle body 2, the first container 20 serves as a rotor shell of the first shaft brushless motor 8, the connection part of the unmanned aerial vehicle body 2 and the first shaft brushless motor 8 serves as a stator base of the first shaft brushless motor 8, and the first shaft brushless motor 8 can drive the rear shaft arm 24 to rotate around the rotation center axis of the first shaft brushless motor 8.

[0070] The rear shaft arm 8 is connected with the side shaft arm 22 through the second container 23, the second container 23 is provided with a second shaft brushless motor and serves as a rotor shell of the second shaft brushless motor, the second shaft brushless motor is installed on the rear shaft arm 8, the connection part of the rear shaft arm 8 and the second container 23 serves as a stator base of the second shaft brushless motor, and the second shaft brushless motor is used for driving the side shaft arm 22 to rotate around the rotation center axis of the second shaft brushless motor.

[0071] The third container 21 is provided with a third shaft brushless motor and serves as a rotor shell of the third shaft brushless motor, the third shaft brushless motor is installed on the side of the camera assembly, the connection part of the camera assembly and the third shaft brushless motor serves as a stator base of the third shaft brushless motor, and the third shaft brushless motor is used for driving the camera assembly to rotate around the rotation center axis of the third shaft brushless motor.

[0072] The holder for carrying the camera assembly in the embodiment adopts a three-axis design, and the flexibility of the camera is better than that of a general holder.

[0073] The camera assembly comprises a blue band lens 12, a green band lens 13, a red band lens 14, a red edge 1 band lens 15, a red edge 2 band lens 16 and a near-infrared band lens 17. Figure 3 As shown in the figure, the blue band lens 12, the green band lens 13, the red band lens 14, the red edge 1 band lens 15, the red edge 2 band lens 16 and the near-infrared band lens 17 are all located on the front shell of the camera assembly, and the shapes can be set as circular.

[0074] The camera assembly is further provided with a heat dissipation hole 11.

[0075] The camera assembly comprising the multi-band lens is designed in the embodiment, the unmanned aerial vehicle can simultaneously shoot images of multiple bands when flying, and the lens does not need to be frequently replaced, so the efficiency is higher.

[0076] The multifunctional unmanned aerial vehicle forestry data acquisition device provided in the embodiment further comprises a tree height acquisition module.

[0077] The forest height acquisition module comprises a height acquisition assembly and a forest height calculation unit.

[0078] The height acquisition assembly comprises a barometer and a laser ranging unit.

[0079] The barometer is installed below the UAV main body and is used to measure the atmospheric pressure value at the current position of the UAV. Since the atmospheric pressure gradually decreases with the increase of height, the change of the height of the position where the UAV is located can be calculated according to the change of the atmospheric pressure value.

[0080] The laser ranging unit is installed on the front shell of the camera assembly and comprises a laser emitting unit 18 and a laser receiving unit 19, and the shape can be circular. The laser ranging structure is used to measure the first height between the current position of the UAV and the top of the crown.

[0081] The forest height calculation unit is connected with the barometer and the laser ranging unit respectively, and is used to calculate the second height according to the atmospheric pressure value, calculate the forest height according to the second height and the first height, and record the forest height in the background information of each photographed photo.

[0082] As shown in the forest height calculation process, Figure 6 The laser ranging structure is used to measure the distance from the UAV to the highest point of the crown directly below the UAV.

[0083] The height of the UAV measured by the barometer is H2, and the height of the UAV to the top of the crown measured by the laser ranging structure is H1, so the height of the forest H≈H2-H1.

[0084] As shown in the forest height calculation process, Figure 7 The angle of the laser emitted in the laser ranging structure is twisted, the distance S from the UAV to the highest point of the crown in the non-vertical direction is measured, and the twisting angle α is displayed, so the height of the tree H≈H2-S*COSα.

[0085] When the forest height acquisition module acquires the forest height, the camera assembly simultaneously takes photos.

[0086] The forest height acquisition module is arranged in the embodiment, so that the automatic measurement of the forest height can be realized, the forest height acquisition module can work day and night, and the precision is high.

[0087] The embodiment can retain the ranging image at the same time of ranging, so that the ranging image is convenient to record.

[0088] The embodiment comprises complete UAV multi-band shooting and forestry fine laser ranging functions, can measure six bands and laser ranging at the same time, and has integrity.

[0089] During filming, a remote control is manually used, such as... Figure 8 Turn on the power, issue flight commands via the joystick, and the drone will fly to the target area. You can observe the image in the lens on the screen. Use the drone flight joystick to control the drone's direction and altitude, and the lens joystick to control the lens and point it at the area you want to photograph. On the screen, you can select any one of the following wavelengths: visible light band, blue band (450nm±30nm), green band (555nm±27nm), red band (660nm±22nm), red edge 1 band (720nm±10nm), red edge 2 band (750nm±10nm), or near-infrared band (840nm±30nm). Press the shutter button on the screen to take a picture. Shooting can be triggered externally, by a timer, or by cascading. You can also select the ranging mode on the screen. Click on the object you want to measure to measure the distance. While measuring the distance, the cascading camera component will simultaneously take a picture. All these commands are transmitted to the drone via the remote controller's transmitter system using a 2.4G wireless signal, and the signal is received by the drone's receiver module. After the flight is over, click "Return Home," and the drone will automatically return to home. Remove the memory card and read the contents into your computer for further processing.

[0090] This embodiment of the multi-functional UAV forestry data acquisition device overcomes the shortcomings of existing UAV-based forestry fine-grained surveys, which require switching between cameras for different spectral bands when acquiring information on multiple spectral bands of forest land; the inability to simultaneously acquire tree height information in photographs; the need for manual on-site plot division and investigation when collecting tree height information; and the limitations of ordinary UAVs equipped with camera devices that estimate and record data during shooting. This device achieves the following:

[0091] Laser ranging while capturing images in six bands is more efficient than manual methods and traditional drones.

[0092] The three-axis gimbal designed in this embodiment allows the lens to rotate at multiple angles, providing greater flexibility and enabling more efficient aerial photography of multi-angle images.

[0093] The tree height acquisition module designed in this embodiment has a measurement accuracy and efficiency far superior to manual methods, and can operate day and night.

[0094] The cascading triggering function of the tree height acquisition module and camera component designed in this embodiment can retain the ranging image while measuring the distance, making the information easier to save and use.

[0095] The principles and implementation manners of the present application are described herein by using specific examples, and the above examples are only used to help understand the method of the present application and its core idea; meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation manners and application ranges will have changes. In conclusion, the content of the specification should not be understood as a limitation of the present application.

Claims

1. A multi-functional unmanned aerial vehicle forestry data collection device, characterized in that, The multifunctional unmanned aerial vehicle forestry data acquisition device comprises: an unmanned aerial vehicle body, a camera assembly, a holder and a forest height acquisition module; the unmanned aerial vehicle body is connected with the camera assembly through the holder, and the holder is used for adjusting the shooting angle of the camera assembly; the forest height acquisition module is used for acquiring the forest height; the camera assembly comprises a blue wave band lens, a green wave band lens, a red wave band lens, a red edge 1 wave band lens, a red edge 2 wave band lens and a near infrared wave band lens; the blue wave band lens, the green wave band lens, the red wave band lens, the red edge 1 wave band lens, the red edge 2 wave band lens and the near infrared wave band lens are located in front of the shell of the camera assembly, wherein the direction of the camera assembly facing the object to be acquired is defined as the front of the shell; the camera assembly is used for shooting the forest when the forest height acquisition module acquires the forest height.

2. The multi-functional unmanned aerial vehicle forestry data collection device of claim 1, wherein, The forest height acquisition module comprises a height acquisition assembly and a forest height calculation unit, and the height acquisition assembly further comprises a barometer and a laser ranging unit; the barometer is installed on the unmanned aerial vehicle body, and is used for measuring the atmospheric pressure value of the current position of the unmanned aerial vehicle and sending the atmospheric pressure value to the forest height calculation unit; the laser ranging unit is installed in front of the shell of the camera assembly, and is used for measuring the first height between the current position of the unmanned aerial vehicle and the top of the crown and sending the first height to the forest height calculation unit; the forest height calculation unit is connected with the barometer and the laser ranging unit respectively.

3. The multi-functional unmanned aerial vehicle forestry data collection device of claim 1, wherein, The holder comprises a first container, a second container, a third container, a rear shaft arm and a side shaft arm; the first container is connected with one side of the rear shaft arm and a first shaft brushless motor on the unmanned aerial vehicle body respectively; the first container is used as the rotor shell of the first shaft brushless motor, and the connection part of the unmanned aerial vehicle body and the first shaft brushless motor is used as the stator base of the first shaft brushless motor; the first shaft brushless motor is used to drive the rear shaft arm to rotate around the rotation center of the first shaft brushless motor; the other side of the rear shaft arm and one side of the side shaft arm are connected with the second container respectively, wherein the connection part of the other side of the rear shaft arm and the second container is used as the stator base of the second shaft brushless motor; the second shaft brushless motor is installed on the other side of the rear shaft arm; the second container is used for accommodating the second shaft brushless motor and is used as the rotor shell of the second shaft brushless motor; the second shaft brushless motor is used to drive the side shaft arm to rotate around the rotation center of the second shaft brushless motor; the other side of the side shaft arm is connected with the third container, and the third container is connected with the camera assembly; a third shaft brushless motor is installed on the side of the camera assembly, and the connection part of the camera assembly and the third shaft brushless motor is used as the stator base of the third shaft brushless motor; The third container is used for accommodating the third shaft brushless motor and serving as a rotor shell of the third shaft brushless motor; The third shaft brushless motor is used for driving the camera assembly to rotate around the rotation center of the third shaft brushless motor.

4. The multi-functional unmanned aerial vehicle forestry data collection device of claim 1, wherein, The multifunctional unmanned aerial vehicle forestry data acquisition device further comprises: A positioning module, which is arranged on the unmanned aerial vehicle body and is used for measuring the current position of the unmanned aerial vehicle.

5. The multi-functional unmanned aerial vehicle forestry data collection device of claim 1, wherein, The multifunctional unmanned aerial vehicle forestry data acquisition device further comprises: An obstacle sensing module, which is arranged on the unmanned aerial vehicle body and is used for warning obstacles when the unmanned aerial vehicle is flying.

6. The multi-functional unmanned aerial vehicle forestry data collection device of claim 1, wherein, The multifunctional unmanned aerial vehicle forestry data acquisition device further comprises: A memory card slot, which is arranged on the unmanned aerial vehicle body.

7. The multi-functional unmanned aerial vehicle forestry data collection device of claim 1, wherein, The multifunctional unmanned aerial vehicle forestry data acquisition device further comprises: A parameter adjustment interface, which is arranged on the unmanned aerial vehicle body.

8. The multi-functional unmanned aerial vehicle forestry data collection device of claim 1, wherein, The multifunctional unmanned aerial vehicle forestry data acquisition device further comprises: A heat dissipation hole, which is located on the shell of the camera assembly.

9. The multi-functional unmanned aerial vehicle forestry data collection device of claim 1, wherein, The shooting mode of the camera assembly comprises external triggering, timing triggering and cascade triggering.

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