CN111982097A

CN111982097A - Method and device for generating target route of unmanned operation equipment and plant protection system

Info

Publication number: CN111982097A
Application number: CN201910436260.6A
Authority: CN
Inventors: 吴奔; 冼嘉晖
Original assignee: Guangzhou Xaircraft Technology Co Ltd
Current assignee: Guangzhou Xaircraft Technology Co Ltd
Priority date: 2019-05-23
Filing date: 2019-05-23
Publication date: 2020-11-24

Abstract

The application discloses a method and a device for generating a target route of unmanned operation equipment. Wherein, the method comprises the following steps: acquiring image data and ground elevation model data of a plant protection area; determining the outline of the crop growing area according to the acquired image data, and determining a working route of the unmanned working equipment when the unmanned working equipment works in a working range indicated by the outline of the crop growing area based on the central line of the outline of the crop growing area; determining the working height of the unmanned working equipment in the working range indicated by the profile according to the profile and the ground elevation model data; and generating a target route when the unmanned operation equipment performs operation within the operation range indicated by the outline according to the operation route and the operation height. The application solves the technical problems that in the prior art, the unmanned aerial vehicle is operated to limit the plant protection operation range, the spraying precision is difficult to guarantee, and when the RTK positioning technology is used for plant protection operation, coordinate information data need to be manually taken, so that the efficiency is low.

Description

Method and device for generating target route of unmanned operation equipment and plant protection system

Technical Field

The application relates to the field of plant protection, in particular to a method and a device for generating a target route of unmanned operation equipment.

Background

At present, plant protection is generally implemented by traditional manual pesticide spraying, pesticide spraying by a pesticide spraying machine, pesticide spraying by a manually operated plant protection unmanned aerial vehicle and pesticide spraying by the plant protection unmanned aerial vehicle according to a Real-time Kinematic (RTK) fixed-point route pesticide spraying technology.

The traditional manual pesticide spraying is generally that operators carry pesticide boxes and spray pesticides on crops while walking, and is the most common pesticide application mode at present, however, because the pesticides have great harm to human bodies, fewer and fewer people willing to manually operate are needed, and the traditional manual pesticide spraying has the defects of labor shortage, low operation efficiency, high cost and high management difficulty; the pesticide sprayer is various in variety, and the pesticide sprayer has the advantages of good atomization effect and large influence by wind power, the effect is poorer when the wind power is larger, and the pesticide sprayer cannot enter due to the influence of terrain and steep slope of hilly land; the situation of a crop planting area is complex, the sight line is easily shielded when the unmanned aerial vehicle is manually operated, and the flight safety of the unmanned aerial vehicle is seriously influenced, so that the unmanned aerial vehicle is generally kept in a smaller sight distance range when the unmanned aerial vehicle is manually operated to spray pesticide, and the plant protection operation efficiency is greatly reduced; plant protection unmanned aerial vehicle is high according to artifical laxative of RTK fixed point course laxative high efficiency, compares that laxative machine laxative is more accurate, and the shortcoming needs artifical handheld RTK equipment to get the coordinate information data in the crops planting area, carries out the laxative according to coordinate information data instruction plant protection unmanned aerial vehicle again, to the big region of scope, needs to consume a large amount of labours and gets the coordinate information data to the crops planting area.

Aiming at the problems that in the prior art, in plant protection service and agricultural related service, a manually operated unmanned aerial vehicle is limited in plant protection operation range, spraying accuracy is difficult to guarantee, spraying is missed and the like, when the RTK positioning technology is used for plant protection operation, coordinate information data need to be manually taken, so that the efficiency is low and the like, and an effective solution is not provided at present.

Disclosure of Invention

The embodiment of the application provides a method and a device for generating a target air route of unmanned operation equipment, and the method and the device are used for at least solving the technical problems that in the prior art, the range of plant protection operation performed by operating an unmanned aerial vehicle is limited, the spraying accuracy is difficult to guarantee, and the efficiency is low because coordinate information data need to be manually fetched when plant protection operation is performed by using an RTK positioning technology.

According to an aspect of an embodiment of the present application, there is provided a method for generating a target route of an unmanned aerial vehicle, including: acquiring image data of a plant protection area and ground elevation model data of the plant protection area; determining the outline of a crop growing area in the plant protection area according to the image data of the plant protection area, and determining an operation route of the unmanned operation equipment when the unmanned operation equipment operates in an operation range indicated by the outline of the crop growing area based on the central line of the outline of the crop growing area; determining the working height of the unmanned working equipment in the working range indicated by the contour of the crop growth area according to the contour of the crop growth area and the ground elevation model data; and generating a target route of the unmanned operation equipment when the unmanned operation equipment operates in the operation range indicated by the outline of the crop growth area according to the operation route and the operation height.

Optionally, before determining the working route of the unmanned working equipment when working in the working range indicated by the contour of the crop growth area based on the center line of the contour of the crop growth area, the method further comprises: comparing the width of the outline of the crop growing area with the operation amplitude of the unmanned operation equipment; if the width of the outline of the crop growing area is smaller than the working amplitude of the unmanned working equipment, triggering to determine a working route of the unmanned working equipment when the unmanned working equipment works in a working range indicated by the outline of the crop growing area based on the center line of the outline of the crop growing area; if the width of the outline of the crop growing area is larger than the operation amplitude of the unmanned operation equipment, dividing the crop growing area into a plurality of sub-areas according to the operation amplitude, wherein the width of the outline of any one of the sub-areas is smaller than or equal to the operation amplitude; and determining a working route of the unmanned working equipment when the unmanned working equipment works in the working range indicated by the contour of any one of the sub-areas based on the center line of the contour of any one of the sub-areas.

Optionally, the centerline of the contour of the crop growing area is determined by: determining a plurality of center points of a crop growth area; connecting the plurality of center points, a centerline of the contour of the crop growing area is determined.

Optionally, after determining the working route when the unmanned working device performs the work within the working range indicated by the outline of the crop growth area, the method further comprises: and determining a specific operation range when the unmanned operation equipment operates according to the operation route according to the size of the unmanned operation equipment and the safety distance reserved around the unmanned operation equipment when the unmanned operation equipment operates, wherein the specific operation range is the safety operation range of the unmanned operation equipment.

Optionally, before determining the working height of the unmanned aerial vehicle when working within the working range indicated by the contour of the crop growth area according to the contour of the crop growth area and the ground elevation model data, the method further comprises: and superposing the outline of the crop growth area and the ground elevation model data to obtain the maximum elevation value of the specific operation range in the outline of the crop growth area, wherein the maximum elevation value is the highest point of the crop in the specific operation range.

Optionally, determining the working height of the unmanned aerial vehicle when working within the working range indicated by the contour of the crop growth area according to the contour of the crop growth area and the ground elevation model data comprises: determining the difference value of the maximum elevation values in the adjacent specific operation ranges in the specific operation range; and if the difference value is larger than the preset threshold value, adjusting the operation height of the unmanned operation equipment during operation according to the operation route.

Optionally, if the difference is greater than the preset threshold, adjusting the working height of the unmanned working equipment when working according to the working route includes: if the maximum elevation value in the current specific operation range of the unmanned operation equipment for operation is lower than the maximum elevation value in the next adjacent specific operation range, and the difference value between the maximum elevation value and the adjacent maximum elevation value is larger than a preset threshold value, increasing the operation height of the unmanned operation equipment to the operation height in the next specific operation range; and if the maximum elevation value in the current specific operation range of the unmanned operation equipment for operation is higher than the maximum elevation value in the next adjacent specific operation range, and the difference value between the maximum elevation value and the adjacent maximum elevation value is larger than a preset threshold value, reducing the operation height of the unmanned operation equipment to the operation height in the next specific operation range.

Optionally, after adjusting the working height of the unmanned aerial vehicle when working along the working route, the method further includes: and controlling the unmanned operation equipment to translate to the next specific operation range according to the operation route to perform operation.

Optionally, after generating a target route for the unmanned aerial vehicle to work within the work area indicated by the profile according to the work route and the work height, the method further comprises: and sending the target air route to a controller of the unmanned operation equipment, wherein the controller is used for controlling the unmanned operation equipment to operate according to the target air route.

Optionally, the image data of the plant area comprises a digital orthophotomap DOM of the plant area and the ground elevation model data comprises a digital surface model DSM of the plant area.

According to another aspect of the embodiments of the present application, there is provided another method for generating a target route of an unmanned aerial vehicle, including: acquiring image data of a plant protection area and ground elevation model data of the plant protection area; determining the outline of a crop growth area in the plant protection area according to the image data of the plant protection area, comparing the width of the outline with the operation amplitude of the unmanned operation equipment, and determining an operation route of the unmanned operation equipment when the unmanned operation equipment operates in an operation range indicated by the outline of the crop growth area according to the comparison result; determining the working height of the unmanned working equipment in the working range indicated by the contour of the crop growth area according to the contour of the crop growth area and the ground elevation model data; and generating a target route of the unmanned operation equipment when the unmanned operation equipment operates in the operation range indicated by the outline of the crop growth area according to the operation route and the operation height.

According to still another aspect of the embodiments of the present application, there is provided a target route generation apparatus for an unmanned aerial vehicle, including: the acquisition module is used for acquiring image data of a plant protection area and ground elevation model data of the plant protection area; the first determining module is used for determining the outline of a crop growing area in the plant protection area according to the image data of the plant protection area, and determining an operation route of the unmanned operation equipment when the unmanned operation equipment operates in an operation range indicated by the outline of the crop growing area based on the central line of the outline of the crop growing area; the second determining module is used for determining the working height of the unmanned working equipment in the working range indicated by the outline of the crop growing area according to the outline of the crop growing area and the ground elevation model data; and the generating module is used for generating a target route when the unmanned operation equipment operates in the operation range indicated by the outline of the crop growth area according to the operation route and the operation height.

According to still another aspect of the embodiments of the present application, there is provided a plant protection system, including: the server is used for acquiring image data of a plant protection area and ground elevation model data of the plant protection area; determining the outline of a crop growing area in the plant protection area according to the image data of the plant protection area, and determining an operation route of the unmanned operation equipment when the unmanned operation equipment operates in an operation range indicated by the outline of the crop growing area based on the central line of the outline of the crop growing area; determining the working height of the unmanned working equipment in the working range indicated by the contour of the crop growth area according to the contour of the crop growth area and the ground elevation model data; generating a target route of the unmanned operation equipment when the unmanned operation equipment operates in an operation range indicated by the outline of the crop growth area according to the operation route and the operation height; sending the target route to a controller of the unmanned operation equipment; and the unmanned operation equipment is in communication connection with the server and is used for performing plant protection operation according to the target route.

According to still another aspect of an embodiment of the present application, there is also provided a storage medium including a stored program, wherein the program when executed controls an apparatus on which the storage medium is located to perform the above method for generating a target route of an unmanned aerial vehicle.

According to still another aspect of the embodiments of the present application, there is also provided a processor for executing a program, wherein the program executes the above method for generating a target route of an unmanned aerial vehicle when the program is executed.

In the embodiment of the application, the method comprises the steps of obtaining image data of a plant protection area and ground elevation model data of the plant protection area; determining the outline of a crop growing area in the plant protection area according to the image data of the plant protection area, and determining an operation route of the unmanned operation equipment when the unmanned operation equipment operates in an operation range indicated by the outline of the crop growing area based on the central line of the outline of the crop growing area; determining the working height of the unmanned working equipment in the working range indicated by the contour of the crop growth area according to the contour of the crop growth area and the ground elevation model data; generating a target route for the unmanned aerial vehicle to perform work within a work area indicated by the outline of the crop growth area, based on the work route and the work height, by the outline of the crop growth area in the image data of the plant area, then overlapping the identified outline of the crop growth area and the ground elevation model data of the plant protection area to obtain the ground elevation model data of the plant protection target height of the plant protection area, further planning a corresponding plant protection route of the intelligent unmanned aerial vehicle, thereby realizing the technical effects of improving the spraying precision of the plant protection operation of the plant protection unmanned aerial vehicle and improving the efficiency of the plant protection operation, and then solved among the prior art operation unmanned aerial vehicle carry out plant protection operation scope limitation, spray the precision and be difficult to guarantee, need the manual work to get coordinate information data when utilizing RTK positioning technology to carry out plant protection operation and lead to the technical problem of inefficiency.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

FIG. 1 is a flow chart of a method of generating a target course for an unmanned aerial vehicle according to an embodiment of the present application;

FIG. 2 is a schematic representation of DOM data for a plant protection area in accordance with an embodiment of the present application;

FIG. 3 is a schematic illustration of DSM data for a plant protection area in accordance with an embodiment of the application;

FIG. 4 is a schematic view of a centerline of a peripheral contour of a ridge in accordance with an embodiment of the present application;

FIGS. 5 a-5 c are schematic views of the peripheral profile of a crop growing area (tea ridge) according to an embodiment of the present application;

FIG. 6 is a schematic view of the centerline of the peripheral outline of a crop growing area (tea ridge) according to an embodiment of the present application;

fig. 7 is a schematic view of a drone operating range according to an embodiment of the present application;

FIG. 8 is a flow chart of another method of generating a target flight path for an unmanned aerial vehicle according to an embodiment of the present application;

fig. 9 is a block diagram of another apparatus for generating a target route of unmanned aerial vehicle according to an embodiment of the present application;

Fig. 10 is a block diagram of a plant protection system according to an embodiment of the present application.

Detailed Description

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In accordance with an embodiment of the present application, there is provided a method embodiment of a method for generating a target flight path for an unmanned aerial vehicle, where the steps illustrated in the flowchart of the figures may be performed in a computer system, such as a set of computer-executable instructions, and where a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.

First, some terms or terms appearing in the description of the embodiments of the present application are applicable to the following explanations:

DOM (Digital orthophotomap, DOM for short): the digital orthophoto map is a digital orthophoto image set generated by performing digital differential correction and mosaic on an aviation (or aerospace) photo and cutting the photo according to a certain image range, and has the advantages of high precision, rich information, intuition, vividness, quickness in acquisition and the like.

DSM (Digital Surface Model, DOM for short): the digital surface model is a ground elevation model including the heights of ground surface buildings, bridges, trees and the like. Compared with a Digital Elevation Model (DEM), the DEM only contains the Elevation information of the terrain and does not contain other land surface information, and the DSM further contains the Elevation of other land surface information except the ground on the basis of the DEM.

Image recognition: refers to a technique for processing, analyzing and understanding images with a computer to recognize various different patterns of objects and objects.

Fig. 1 is a flowchart of a method for generating a target route of an unmanned aerial vehicle according to an embodiment of the present application, as shown in fig. 1, the method including the steps of:

step S102, acquiring image data of a plant protection area and ground elevation model data of the plant protection area.

According to an alternative embodiment of the present application, the plant protection area in step S102 includes, but is not limited to, a tea garden planting area, an orchard planting area, a cotton planting area, a wheat planting area, a rice planting area, and other crop planting areas.

Optionally, the image data of the plant protection area includes a digital orthographic image DOM of the plant protection area, the ground elevation model data includes a digital surface model DSM of the plant protection area, and the elevation model data may also be point cloud data. Before step S102 is performed, DOM data and DSM data of a plant protection area may be collected in advance by a surveying drone or other surveying equipment. Fig. 2 is a schematic diagram of acquired DOM data of a plant protection area, and fig. 3 is a schematic diagram of acquired DSM data of the plant protection area.

And step S104, determining the outline of the crop growth area in the plant protection area according to the image data of the plant protection area, and determining the operation route of the unmanned operation equipment when the unmanned operation equipment operates in the operation range indicated by the outline of the crop growth area based on the central line of the outline of the crop growth area.

According to an alternative embodiment of the present application, the centerline of the contour of the crop growing area is determined by: determining a plurality of center points of a crop growth area; connecting the plurality of center points, a centerline of the contour of the crop growing area is determined. One method of center point determination is applied to a strip-shaped tea garden area: firstly, determining two opposite long edges in the strip; then sequentially taking a preset number of points from the first long side according to a preset interval; then symmetrically, uniformly taking the same number of points on a second long side opposite to the first long side according to the sequence, wherein the distance can be determined according to the number of the points and the actual length of the second long side; then the first point on the first long side is mapped with the first point on the second long side, and the first center point is determined according to the two opposite points, for example, a method of respectively obtaining the median of the abscissa and the ordinate, that is, the abscissa of the first point on the first long side is averaged with the abscissa of the first point on the second long side, and the ordinate of the first point on the first long side is averaged with the ordinate of the first point on the second long side, for example, the first point coordinate is (3,7), the first point coordinate on the second long side is (5,9), the abscissa of the first center point is (3+5)/2 ═ 4, the ordinate is (7+9)/2 ═ 8, and thus the first center coordinate is (4,8), and the plurality of center points in the strip-shaped work area are sequentially determined according to the method, and then determining a target route by the central point connecting lines. For the non-strip area, according to the outline of the longest side, a plurality of auxiliary lines parallel to the longest side are determined according to the unmanned aerial vehicle operation width, so that the non-strip area is divided into a plurality of sub-strip-shaped areas, and then the operation route of each sub-strip-shaped area is determined according to the method. Another embodiment of the present invention is to identify a turning point or a point with a large change in curvature of a strip region, divide the strip region into a plurality of short strip regions by using the points as dividing points, and determine the center point of each short strip region according to the above method.

The work route in step S104 is a route of the flight direction of the unmanned aerial vehicle when the unmanned aerial vehicle performs the plant protection work. The contour of the crop growing area refers to the peripheral contour of the ridge in which the crop is growing. Fig. 4 is a schematic diagram of a center line of a peripheral contour of a ridge according to an embodiment of the present application, and as shown in fig. 4, a center point of a corresponding contour is determined in the peripheral contour of the ridge, and the determined center points are connected together to serve as the center line of the contour. A work route near the centerline is then generated, which may be a parallel route to the centerline.

And S106, determining the working height of the unmanned working equipment in the working range indicated by the contour of the crop growth area according to the contour of the crop growth area and the ground elevation model data.

And overlapping the peripheral outline of the ridge for crop growth with a digital surface model DSM of the plant protection area to obtain a ground elevation model of the plant protection area, and further determining the flight height of the unmanned operation equipment in the plant protection area according to the ground elevation model of the plant protection area.

For example, the elevations of a plurality of sampling points can be obtained according to an elevation model, then an average value of the elevations is obtained, and the flying height of the unmanned aerial vehicle in the plant protection area is determined by referring to the average value, wherein in one embodiment, the flying height of the unmanned aerial vehicle in actual operation is obtained by adding a preset height to the average value; and a point with the maximum height in the area can be obtained as the height value of the area, and then the flying height of the unmanned aerial vehicle during actual operation can be obtained by adding the height value to the preset height.

And step S108, generating a target route when the unmanned operation equipment operates in the operation range indicated by the outline of the crop growth area according to the operation route and the operation height.

And taking the flight path of the unmanned operation equipment during plant protection operation and the flight height of the unmanned operation equipment during plant protection operation as the target route of the unmanned operation equipment during plant protection operation.

Through the steps, the outline of the crop growing area is identified through the image data of the plant protection area, and the operation route of the unmanned operation equipment during operation is determined based on the central line of the outline; then overlapping the identified outline of the crop growth area with the ground elevation model data of the plant protection area, acquiring the ground elevation model data of the plant protection target height of the plant protection area, and determining the operation height of the unmanned operation equipment during operation; and then plan corresponding intelligent unmanned aerial vehicle plant protection course according to operation route and operation height, can realize improving the technical effect that plant protection unmanned aerial vehicle carries out the spraying precision of plant protection operation, improves the efficiency of plant protection operation.

In some embodiments of the present application, after obtaining the DOM data of the plant protection area, an outline of a crop growth area in the plant protection area, such as a peripheral outline of a tea ridge, is identified through an image recognition technology. Fig. 5a to 5c are schematic diagrams of the peripheral outline of the crop growing region (tea ridge) identified by the image identification technology. Then, the central line of the peripheral outline of the tea ridge is obtained through calculation, and the central line is used as a flight path of the plant protection unmanned aerial vehicle during plant protection operation in the outline indication range of the crop growth area. As shown in fig. 6, fig. 6 is a schematic view of the center line of the peripheral outline of the crop growing area (tea ridge) calculated by a program.

In some embodiments of the present application, before performing step S104, before determining the working route of the unmanned aerial vehicle when working within the working range indicated by the contour of the crop growth area based on the center line of the contour of the crop growth area, the method further includes: comparing the width of the outline of the crop growing area with the operation amplitude of the unmanned operation equipment; if the width of the outline of the crop growing area is smaller than the working amplitude of the unmanned working equipment, triggering to determine a working route of the unmanned working equipment when the unmanned working equipment works in a working range indicated by the outline of the crop growing area based on the center line of the outline of the crop growing area; if the width of the outline of the crop growing area is larger than the operation amplitude of the unmanned operation equipment, dividing the crop growing area into a plurality of sub-areas according to the operation amplitude, wherein the width of the outline of any one of the sub-areas is smaller than or equal to the operation amplitude; and determining a working route of the unmanned working equipment when the unmanned working equipment works in the working range indicated by the contour of any one of the sub-areas based on the center line of the contour of any one of the sub-areas.

The operation range of unmanned aerial vehicle operation equipment means when unmanned aerial vehicle carries out the medicament and sprays the operation, sprays the maximum width in the region that the medicament can cover. And comparing the width of the outline of the crop growing area with the operation amplitude of the unmanned operation equipment, and if the width of the outline of the crop growing area is smaller than the operation amplitude of the unmanned operation equipment, indicating that the unmanned operation equipment can work in the growing area, spraying the pesticide to cover the whole growing area by one-time operation, and directly determining the operation route of the unmanned operation equipment according to the central line of the growing area to complete the operation task.

If the width of the outline of the crop growing area is larger than the operation amplitude of the unmanned operation equipment, the unmanned operation equipment can not spray the pesticide to the whole growing area by only one operation when operating in the growing area, and the pesticide can be leaked. At this time, the crop growth area needs to be divided into a plurality of sub-areas, and it should be noted that the width of the outline of any one of the divided sub-areas is smaller than the operation range of the unmanned operation equipment, so that when the unmanned operation equipment operates in any one of the sub-areas, the sprayed pesticide can cover the whole range of the sub-area only by one-time operation, and the pesticide is prevented from being leaked to be sprayed.

According to an alternative embodiment of the present application, after step S104 is executed, a specific working range when the unmanned aerial vehicle works according to the working route needs to be determined according to the size of the unmanned aerial vehicle and the safety distance reserved around the unmanned aerial vehicle when the unmanned aerial vehicle works, and the specific working range is the safety working range of the unmanned aerial vehicle. Fig. 7 is a schematic diagram of obtaining the operation range of the plant protection unmanned aerial vehicle according to the size of the body of the plant protection unmanned aerial vehicle and the reserved safety distance around, and setting the operation range as a specific range.

In some embodiments of the present application, before performing step S106, the profile of the crop growth area is further overlapped with the ground elevation model data to obtain a maximum elevation value of a specific operation range within the profile of the crop growth area, where the maximum elevation value is a highest point of the crop within the specific operation range, and the actual flying height is determined on the basis of the highest point.

According to an alternative embodiment of the present application, the step S106 is performed by: determining the difference value of the maximum elevation values in the adjacent specific operation ranges in the specific operation range; and if the difference value is larger than the preset threshold value, adjusting the operation height of the unmanned operation equipment during operation according to the operation route.

According to an optional embodiment of the present application, after adjusting the working height of the unmanned aerial vehicle when working along the working route, the method further comprises: and controlling the unmanned operation equipment to translate to the next specific operation range according to the operation route to perform operation.

Superposing the peripheral outline of the identified tea ridges or other vegetation with the obtained DSM data or point cloud data to obtain the maximum elevation value (namely the highest point of the tea trees in the set range) of each specific range in the outline, then calculating the maximum elevation value fall in the adjacent specific range by a setting program to be not beyond the set meter number, and when the maximum elevation value of the next operation range is higher than the current operation elevation value and exceeds the set value, vertically raising the maximum elevation value to the plant protection operation height of the next operation range and then translating the maximum elevation value to the next operation position according to a route (the central line of the peripheral outline) for plant protection; when the maximum elevation value of the next working range is lower than the elevation value of the current working range and exceeds the set elevation value, the next working range is entered, then the height of the plant protection working range is vertically lowered to the height of the plant protection working range, and then the operation is carried out. And by analogy, the plant protection route and the operation height of the tea ridges in the whole aerial survey range are obtained.

It should be noted that, when the maximum elevation value in the current specific operation range where the unmanned operation device performs the operation is lower than the maximum elevation value in the next adjacent specific operation range, and the difference between the maximum elevation value and the maximum elevation value is greater than the preset threshold, if the operation height of the unmanned operation device is increased to be too high and exceeds the operation height in the next specific operation range, the operation height of the unmanned operation device needs to be reduced to the operation height in the next specific operation range after the unmanned operation device reaches the next specific operation range.

The above steps are described below with a specific example: and setting the adjacent highest elevation value not to be more than or equal to 2 meters. The tea ridge a has 8 specific ranges in the outline, the highest points in the specific ranges 1-4 are all 2 meters, the highest points in the specific ranges 5-8 are all 5 meters, and the unmanned aerial vehicle for plant protection generally operates on the crops at the positions of 1-2 meters, so the specific ranges 1-4 in the tea ridge a are set to operate at the positions of 2 meters on the crops, the plant protection operation height in the specific ranges 1-4 in the tea ridge a is 2m +2 m-4 m, and the plant protection operation height in the specific ranges 5-8 is 5m +2 m-7 m. The actual operation scene is that the plant protection unmanned aerial vehicle takes the altitude of 4 meters as the plant protection in the specific range 1-4 in the tea ridge a, the plant protection unmanned aerial vehicle ascends vertically to the position of 7 meters (namely the specific range 5-8 operation altitudes obtained by the calculation) after the plant protection unmanned aerial vehicle finishes the operation, and then the plant protection unmanned aerial vehicle translates to the position of the specific range 5-8 according to the route (namely the contour central line of the tea ridge) to perform the plant protection operation.

In some embodiments of the present application, after the step S108 is completed, the target route needs to be sent to the controller of the unmanned aerial vehicle, and the controller is used for controlling the unmanned aerial vehicle to work according to the target route.

And uploading all the obtained preset air routes to a control panel of the unmanned aerial vehicle or a remote control terminal of the unmanned aerial vehicle through a network or other modes. The control panel of the unmanned aerial vehicle or the remote control terminal of the unmanned aerial vehicle can automatically acquire the contour positioning, the height information and the corresponding effective and safe plant protection operation route of the crop to be protected.

The method for generating the target route of the unmanned operation equipment has the advantages that under the condition that influence of other factors is avoided, by combining DOM (document object model), DSM (digital document model) data and an image recognition technology, the contour positioning and height information of crops needing plant protection in a tea garden plant protection range can be accurately acquired, and a corresponding effective and safe plant protection operation route is generated. The plant protection task can be smoothly completed, and the efficiency is improved.

FIG. 8 is a flow chart of another method for generating a target flight path for an unmanned aerial vehicle according to an embodiment of the present application, as shown in FIG. 8, the method comprising the steps of:

step S802, image data of a plant protection area and ground elevation model data of the plant protection area are obtained.

According to an alternative embodiment of the present application, the plant protection area in step S802 includes, but is not limited to, a tea garden planting area, an orchard planting area, a cotton planting area, and other crop planting areas.

Optionally, the image data of the plant protection area includes a digital orthographic image DOM of the plant protection area, the ground elevation model data includes a digital surface model DSM of the plant protection area, and the elevation model data may also be point cloud data. Before step S802 is executed, DOM data and DSM data of a plant protection area need to be acquired in advance by a surveying drone or other surveying equipment. Fig. 2 is a schematic diagram of acquired DOM data of a plant protection area, and fig. 3 is a schematic diagram of acquired DSM data of the plant protection area.

Step S804, determining the contour of the crop growth area in the plant protection area according to the image data of the plant protection area, comparing the width of the contour with the operation amplitude of the unmanned operation equipment, and determining the operation route of the unmanned operation equipment when the unmanned operation equipment operates in the operation range indicated by the contour of the crop growth area according to the comparison result.

The work route in step S804 is a route of the flight direction of the unmanned aerial vehicle when the unmanned aerial vehicle performs the plant protection work. The contour of the crop growing area refers to the peripheral contour of the ridge in which the crop is growing.

And step S806, determining the working height of the unmanned working equipment when working in the working range indicated by the outline of the crop growing area according to the outline of the crop growing area and the ground elevation model data.

And step S806 is executed, the peripheral outline of the ridge where the crops grow is superposed with the digital surface model DSM of the plant protection area to obtain a ground elevation model of the plant protection area, and then the flying height of the unmanned operation equipment in the plant protection area during operation is determined according to the ground elevation model of the plant protection area.

And step S808, generating a target route when the unmanned operation equipment operates within the operation range indicated by the outline of the crop growth area according to the operation route and the operation height.

Through the steps, the contour of the crop growth area is identified through the image data of the plant protection area, then the identified contour of the crop growth area and the ground elevation model data of the plant protection area are superposed, the ground elevation model data of the plant protection target height of the plant protection area are obtained, and then the corresponding intelligent unmanned aerial vehicle plant protection route is planned, so that the technical effects of improving the spraying precision of the plant protection operation of the plant protection unmanned aerial vehicle and improving the efficiency of the plant protection operation can be realized.

Steps S802 to S808 provide another method for generating a target route of an unmanned aerial vehicle, and it should be noted that, reference may be made to the related description of the embodiment shown in fig. 1 for a preferred implementation of the embodiment shown in fig. 8, and details are not repeated here.

Fig. 9 is a block diagram of another apparatus for generating a target route of unmanned aerial vehicle according to an embodiment of the present application, as shown in fig. 9, the apparatus including:

an obtaining module 90 is configured to obtain image data of a plant protection area and ground elevation model data of the plant protection area.

The plant protection area includes but is not limited to tea garden planting area, orchard planting area, cotton planting area and other crop planting areas.

Optionally, the image data of the plant protection area includes a digital orthographic image DOM of the plant protection area, the ground elevation model data includes a digital surface model DSM of the plant protection area, and the elevation model data may also be point cloud data. DOM data and DSM data of a plant protection area need to be acquired in advance by a surveying unmanned aerial vehicle or other surveying equipment.

The first determining module 92 is used for determining the outline of a crop growing area in the plant protection area according to the image data of the plant protection area, and determining a working route of the unmanned working equipment when the unmanned working equipment works in a working range indicated by the outline of the crop growing area based on the central line of the outline of the crop growing area.

Optionally, the first determining module 92 further comprises a first determining unit for determining a plurality of center points of the crop growing area; and the setting unit is used for connecting the plurality of central points and determining the central line of the outline of the crop growing area.

The working route refers to a route in the flight direction of the unmanned working equipment when the unmanned working equipment performs plant protection work. The contour of the crop growing area refers to the peripheral contour of the ridge in which the crop is growing.

In some embodiments of the present application, the generating means of the target course further comprises a comparing module for comparing a width of the outline of the crop growing area with a working amplitude of the unmanned working device; if the width of the outline of the crop growing area is smaller than the working amplitude of the unmanned working equipment, triggering to determine a working route of the unmanned working equipment when the unmanned working equipment works in a working range indicated by the outline of the crop growing area based on the center line of the outline of the crop growing area; if the width of the outline of the crop growing area is larger than the operation amplitude of the unmanned operation equipment, dividing the crop growing area into a plurality of sub-areas according to the operation amplitude, wherein the width of the outline of any one of the sub-areas is smaller than or equal to the operation amplitude; and determining a working route of the unmanned working equipment when the unmanned working equipment works in the working range indicated by the contour of any one of the sub-areas based on the center line of the contour of any one of the sub-areas.

A second determining module 94 for determining a working height of the unmanned aerial vehicle for working within the working range indicated by the contour of the crop growing area based on the contour of the crop growing area and the ground elevation model data.

The second determining module 94 is configured to superimpose the peripheral contour of the ridge where the crop grows and the peripheral contour of the crop with the digital surface model DSM of the plant protection area to obtain a ground elevation model of the plant protection area, and then determine the flight height of the unmanned aerial vehicle when the unmanned aerial vehicle operates in the plant protection area according to the ground elevation model of the plant protection area.

In some embodiments of the present application, the apparatus for generating a target route of the unmanned aerial vehicle further includes: and the setting module is used for superposing the outline of the crop growth area and the ground elevation model data to obtain the maximum elevation value of the specific operation range in the outline of the crop growth area, wherein the maximum elevation value is the highest point of the crop in the specific operation range.

Optionally, the second determining module 94 includes: the second determining unit is used for determining the difference value of the maximum elevation values in the adjacent specific operation ranges in the specific operation range; and the adjusting unit is used for adjusting the operation height of the unmanned operation equipment when the unmanned operation equipment operates according to the operation route under the condition that the difference value is larger than the preset threshold value.

The adjusting unit includes: the first adjusting subunit is used for increasing the operation height of the unmanned operation equipment to the operation height in the next specific operation range when the maximum elevation value in the current specific operation range in which the unmanned operation equipment performs operation is lower than the maximum elevation value in the next adjacent specific operation range and the difference value between the maximum elevation value and the adjacent maximum elevation value is greater than a preset threshold value; and the second adjusting subunit is used for reducing the operation height of the unmanned operation equipment to the operation height in the next specific operation range under the condition that the maximum elevation value in the current specific operation range for the unmanned operation equipment to operate is higher than the maximum elevation value in the next adjacent specific operation range, and the difference value between the maximum elevation value and the maximum elevation value is larger than a preset threshold value.

In some embodiments of the application, the apparatus for generating the target route of the unmanned aerial vehicle further includes a control module, configured to control the unmanned aerial vehicle to translate to a next specific working range for working according to the working route after adjusting the working height of the unmanned aerial vehicle when the unmanned aerial vehicle performs working according to the working route.

And a generating module 96 for generating a target route for the unmanned aerial vehicle to work within the working range indicated by the outline of the crop growing area according to the working route and the working height.

The apparatus for generating a target route of the unmanned aerial vehicle further includes: and the sending module is used for sending the target air route to a controller of the unmanned operation equipment, and the controller is used for controlling the unmanned operation equipment to operate according to the target air route. And uploading all the obtained preset air routes to a control panel of the unmanned aerial vehicle or a remote control terminal of the unmanned aerial vehicle through a network or other modes. The control panel of the unmanned aerial vehicle or the remote control terminal of the unmanned aerial vehicle can automatically acquire the contour positioning, the height information and the corresponding effective and safe plant protection operation route of the crop to be protected.

Through the device, the outline in the crop growth area is identified through the image data in the plant protection area, then the outline in the identified crop growth area and the ground elevation model data in the plant protection area are superposed, the ground elevation model data of the plant protection target height in the plant protection area are acquired, and then the corresponding intelligent unmanned aerial vehicle plant protection route is planned, so that the technical effects of improving the spraying precision of the plant protection operation of the plant protection unmanned aerial vehicle and improving the efficiency of the plant protection operation can be realized.

It should be noted that, reference may be made to the description related to the embodiment shown in fig. 1 for a preferred implementation of the embodiment shown in fig. 9, and details are not repeated here.

Fig. 10 is a block diagram of a plant protection system according to an embodiment of the present application, as shown in fig. 10, the system comprising:

a server 100, configured to obtain image data of a plant protection area and ground elevation model data of the plant protection area; determining the outline of a crop growing area in the plant protection area according to the image data of the plant protection area, and determining an operation route of the unmanned operation equipment when the unmanned operation equipment operates in an operation range indicated by the outline of the crop growing area based on the central line of the outline of the crop growing area; determining the working height of the unmanned working equipment in the working range indicated by the contour of the crop growth area according to the contour of the crop growth area and the ground elevation model data; generating a target route of the unmanned operation equipment when the unmanned operation equipment operates in an operation range indicated by the outline of the crop growth area according to the operation route and the operation height; and sending the target route to a controller of the unmanned operation equipment.

The work route indicates a route for indicating a flight direction of the unmanned aerial vehicle when the unmanned aerial vehicle performs plant protection work. The contour of the crop growing area refers to the peripheral contour of the ridge in which the crop is growing. And overlapping the peripheral outline of the ridge for crop growth with a digital surface model DSM of the plant protection area to obtain a ground elevation model of the plant protection area, and further determining the flight height of the unmanned operation equipment in the plant protection area according to the ground elevation model of the plant protection area. And taking the flight path of the unmanned operation equipment during plant protection operation and the flight height of the unmanned operation equipment during plant protection operation as the target route of the unmanned operation equipment during plant protection operation.

And the unmanned operation equipment 102 is in communication connection with the server and is used for performing plant protection operation according to the target route.

According to an alternative embodiment of the present application, unmanned aerial vehicle 102 includes, but is not limited to, a drone.

It should be noted that, reference may be made to the description related to the embodiment shown in fig. 1 for a preferred implementation of the embodiment shown in fig. 10, and details are not repeated here.

The embodiment of the application also provides a storage medium which comprises a stored program, wherein when the program runs, the device where the storage medium is located is controlled to execute the method for generating the target route of the unmanned working device.

The storage medium stores a program for executing the following functions: acquiring image data of a plant protection area and ground elevation model data of the plant protection area; determining the outline of a crop growing area in the plant protection area according to the image data of the plant protection area, and determining an operation route of the unmanned operation equipment when the unmanned operation equipment operates in an operation range indicated by the outline of the crop growing area based on the central line of the outline of the crop growing area; determining the working height of the unmanned working equipment in the working range indicated by the contour of the crop growth area according to the contour of the crop growth area and the ground elevation model data; and generating a target route of the unmanned operation equipment when the unmanned operation equipment operates in the operation range indicated by the outline of the crop growth area according to the operation route and the operation height.

The embodiment of the application also provides a processor which is used for running the program, wherein the program runs to execute the method for generating the target flight path of the unmanned operation equipment.

The processor is used for running a program for executing the following functions: acquiring image data of a plant protection area and ground elevation model data of the plant protection area; determining the outline of a crop growing area in the plant protection area according to the image data of the plant protection area, and determining an operation route of the unmanned operation equipment when the unmanned operation equipment operates in an operation range indicated by the outline of the crop growing area based on the central line of the outline of the crop growing area; determining the working height of the unmanned working equipment in the working range indicated by the contour of the crop growth area according to the contour of the crop growth area and the ground elevation model data; and generating a target route of the unmanned operation equipment when the unmanned operation equipment operates in the operation range indicated by the outline of the crop growth area according to the operation route and the operation height.

The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.

In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.

The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.

Claims

1. A method for generating a target route of Unmanned Aerial Vehicle (UAV), comprising:

acquiring image data of a plant protection area and ground elevation model data of the plant protection area;

determining the outline of a crop growing area in the plant protection area according to the image data of the plant protection area, and determining an operation route of the unmanned operation equipment when the unmanned operation equipment operates in an operation range indicated by the outline of the crop growing area based on the central line of the outline of the crop growing area;

determining the working height of the unmanned working equipment in the working range indicated by the contour of the crop growth area according to the contour of the crop growth area and the ground elevation model data;

and generating a target route of the unmanned operation equipment when the unmanned operation equipment operates in the operation range indicated by the outline of the crop growing area according to the operation route and the operation height.

2. The method of claim 1, wherein prior to determining the work route for the unmanned aerial device to work within the work area indicated by the contour of the crop growth area based on the centerline of the contour of the crop growth area, the method further comprises:

comparing the width of the contour of the crop growing area with the working amplitude of the unmanned working equipment;

if the width of the outline of the crop growing area is smaller than the working amplitude of the unmanned working device, triggering to determine a working route of the unmanned working device when the unmanned working device works in a working range indicated by the outline of the crop growing area based on the central line of the outline of the crop growing area;

if the width of the outline of the crop growing area is larger than the working amplitude of the unmanned working equipment, dividing the crop growing area into a plurality of sub-areas according to the working amplitude, wherein the width of the outline of any one of the sub-areas is smaller than or equal to the working amplitude; and determining a working route of the unmanned working equipment when the unmanned working equipment works in the working range indicated by the contour of any one sub-area based on the center line of the contour of any one sub-area.

3. The method according to claim 1 or 2, wherein the centre line of the contour of the crop growing area is determined by:

determining a plurality of center points of the crop growth area;

connecting the plurality of center points, determining a centerline of the contour of the crop growing area.

4. The method of claim 1 or 2, wherein after determining a work route for when unmanned work equipment is performing work within a work area indicated by the contour of the crop growth area, the method further comprises:

and determining a specific operation range when the unmanned operation equipment operates according to the operation route according to the size of the unmanned operation equipment and the safety distance reserved around the unmanned operation equipment when the unmanned operation equipment operates, wherein the specific operation range is the safety operation range of the unmanned operation equipment.

5. The method of claim 4, wherein prior to determining a working height at which the unmanned aerial vehicle is operating within a working envelope indicated by the contour of the crop growth area from the contour of the crop growth area and the ground elevation model data, the method further comprises:

And superposing the contour of the crop growth area and the ground elevation model data to obtain a maximum elevation value of a specific operation range in the contour of the crop growth area, wherein the maximum elevation value is the highest point of the crop in the specific operation range.

6. The method of claim 5, wherein determining a working height at which the unmanned aerial device is working within a working envelope indicated by the contour of the crop growth area from the contour of the crop growth area and the ground elevation model data comprises:

determining the difference value of the maximum elevation values in the adjacent specific operation ranges in the specific operation ranges;

and if the difference value is larger than a preset threshold value, adjusting the operation height of the unmanned operation equipment during operation according to the operation route.

7. The method of claim 6, wherein if the difference is greater than a preset threshold, adjusting the working height of the unmanned aerial vehicle while working along the working route comprises:

if the maximum elevation value in the current specific operation range of the unmanned operation equipment for operation is lower than the maximum elevation value in the next adjacent specific operation range, and the difference value between the maximum elevation value and the adjacent maximum elevation value is larger than the preset threshold value, increasing the operation height of the unmanned operation equipment to the operation height in the next specific operation range;

And if the maximum elevation value in the current specific operation range of the unmanned operation equipment for operation is higher than the maximum elevation value in the next adjacent specific operation range, and the difference value between the maximum elevation value and the adjacent maximum elevation value is larger than the preset threshold value, reducing the operation height of the unmanned operation equipment to the operation height in the next specific operation range.

8. The method of claim 7, wherein after adjusting the working height at which the unmanned aerial vehicle is working along the working route, the method further comprises:

and controlling the unmanned operation equipment to translate to the next specific operation range according to the operation route to perform operation.

9. The method of claim 1, wherein after generating a target course for the unmanned aerial device to operate within an operating range indicated by a contour of the crop growth area as a function of the operating route and the operating height, the method further comprises:

and sending the target air route to a controller of the unmanned operation equipment, wherein the controller is used for controlling the unmanned operation equipment to operate according to the target air route.

10. A method according to claim 1, wherein the image data of the plant area comprises a digital orthophotomap DOM of the plant area and the ground elevation model data comprises a digital surface model DSM of the plant area.

11. A method for generating a target route of Unmanned Aerial Vehicle (UAV), comprising:

determining the outline of a crop growth area in the plant protection area according to the image data of the plant protection area, comparing the width of the outline with the operation amplitude of the unmanned operation equipment, and determining an operation route of the unmanned operation equipment when the unmanned operation equipment operates in an operation range indicated by the outline of the crop growth area according to the comparison result;

12. An apparatus for generating a target route of an unmanned working device, comprising:

the system comprises an acquisition module, a storage module and a display module, wherein the acquisition module is used for acquiring image data of a plant protection area and ground elevation model data of the plant protection area;

The first determining module is used for determining the outline of a crop growing area in the plant protection area according to the image data of the plant protection area, and determining an operation route of the unmanned operation equipment when the unmanned operation equipment operates in an operation range indicated by the outline of the crop growing area based on the center line of the outline of the crop growing area;

the second determination module is used for determining the working height of the unmanned working equipment in the working range indicated by the outline of the crop growth area according to the outline of the crop growth area and the ground elevation model data;

and the generating module is used for generating a target route of the unmanned operation equipment in operation within an operation range indicated by the outline of the crop growing area according to the operation route and the operation height.

13. A plant protection system, comprising:

the system comprises a server, a data processing unit and a data processing unit, wherein the server is used for acquiring image data of a plant protection area and ground elevation model data of the plant protection area; determining the outline of a crop growing area in the plant protection area according to the image data of the plant protection area, and determining an operation route of unmanned operation equipment when the unmanned operation equipment operates in an operation range indicated by the outline of the crop growing area based on the central line of the outline of the crop growing area; determining the working height of the unmanned working equipment in the working range indicated by the contour of the crop growth area according to the contour of the crop growth area and the ground elevation model data; generating a target route of the unmanned operation equipment when the unmanned operation equipment operates in an operation range indicated by the outline of the crop growth area according to the operation route and the operation height; sending the target route to a controller of the unmanned operation equipment;

And the unmanned operation equipment is in communication connection with the server and is used for performing plant protection operation according to the target route.

14. A storage medium comprising a stored program, wherein the program controls an apparatus on which the storage medium is located to execute a method of generating a target course of an unmanned aerial vehicle according to any one of claims 1 to 11 when executed.

15. A processor, characterized in that the processor is configured to run a program, wherein the program is configured to execute the method for generating a target route of an unmanned working equipment according to any one of claims 1 to 11 when the program is run.