The invention provides a method and device for beating a Korean pine cone based on an unmanned aerial vehicle and airborne equipment. The method comprises the following steps: acquiring a high-definition image of a Korean pine mountain forest; processing the high-definition image, and planning a flight path of the unmanned aerial vehicle; acquiring a binocular image of the Korean pine cone based on the planned flight path; determining the position of the pine cone relative to the unmanned aerial vehicle based on the binocular image, and further determining the position deviation of the pine cone relative to striking equipment; eliminating position deviation; beating the Korean pine cone, obtaining binocular images of the Korean pine cone in the beating process, judging whether the pine cone is completely beaten off or not, and after the pine cone is completely beaten off, the unmanned aerial vehicle flies to the next pine cone and continues to work. The device comprises the unmanned aerial vehicle and the airborne equipment carried on the unmanned aerial vehicle, the airborne equipment comprises a high-resolution camera, a binocular camera, an image processor, the striking equipment and a supporting rod; according to the technical scheme, the cone cone can be effectively knocked down, and people are liberated from high-risk labor for picking the pine cones.
本发明提供一种基于无人机以及机载设备击打红松松塔的方法及装置。本发明方法,包括:获取红松山林的高清图像;对高清图像进行处理,规划无人机的飞行路径;基于规划的飞行路径,获取红松松塔的双目图像;基于双目图像确定松塔相对于无人机的位置,进而确定松塔相对击打设备的位置偏差;消除位置偏差;对红松松塔进行击打,获取击打过程中红松松塔的双目图像,判断松塔是否被完全打掉,松塔被完全打掉后,无人机飞往下一棵红松,继续作业。本发明装置,包括:无人机以及搭载在无人机上的机载设备;机载设备包括高分相机、双目摄像头、图像处理器、击打设备以及支撑杆;本发明的技术方案能够有效击落松塔,且将人从采摘松塔的高危劳动中解放出来。
Method and device for beating Korean pine cone based on unmanned aerial vehicle and airborne equipment
一种基于无人机以及机载设备击打红松松塔的方法及装置
2020-10-30
Patent
Elektronische Ressource
Chinesisch
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