CN105159319A - Spraying method of unmanned plane and unmanned plane - Google Patents
Spraying method of unmanned plane and unmanned plane Download PDFInfo
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- CN105159319A CN105159319A CN201510641122.3A CN201510641122A CN105159319A CN 105159319 A CN105159319 A CN 105159319A CN 201510641122 A CN201510641122 A CN 201510641122A CN 105159319 A CN105159319 A CN 105159319A
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Abstract
The invention, which relates to the technical field of the unmanned plane, discloses a spraying method of an unmanned plane and an unmanned plane. With the method and the unmanned plane, liquid pesticide can be sprayed uniformly in farmland at a target working area. According to the specific scheme, the method comprises: obtaining an image of a target working area and carrying out image segmentation to obtain a coordinate of an edge pixel of an image corresponding to a to-be-sprayed area; obtaining an actual flight height of the unmanned plane relative to the ground when collecting the image corresponding to the to-be-sprayed area by the unmanned plane at a constant height relative to a horizontal plane; according to the coordinate of the edge pixel, a shooting focus, and the actual flight height, calculating an actual navigation coordinate corresponding to the edge point of the to-be-sprayed area; and planning a navigation route based on the actual navigation coordinate and spraying liquid pesticide on operated objects at the to-be-sprayed area according to the navigation route. The method can be applied to the liquid pesticide spraying process by the unmanned plane.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, particularly relate to a kind of spray method and unmanned plane of unmanned plane.
Background technology
Unmanned spacecraft is called for short unmanned plane, and (English: UnmannedAerialVehicle, being called for short: UAV), is a kind of not manned aircraft utilizing radio robot to handle with the presetting apparatus provided for oneself.Unmanned plane of many uses, is often applied to the industries such as city management, agricultural, geology, meteorology, electric power, rescue and relief work, video capture.Such as, unmanned plane can be applied in agricultural, for agricultural product spray insecticide (or fertilizer).
Concrete, flusher for spraying insecticide can be installed on unmanned plane, then be this unmanned plane planning navigation way according to the position in region to be sprayed (farmland that needs are sprayed insecticide) and size, then being flown at overlying regions to be sprayed according to the navigation way of planning by the unmanned plane installing flusher, is that crops in region to be sprayed are sprayed insecticide by the flusher be arranged on unmanned plane.
Unmanned plane of the prior art spray regimen can complete large area and the agricultural spraying medicine task of the smooth plains region of landform efficiently.But the farmland great majority in south China area are all positioned at non-plains region (as terraced fields and mountain region), these farmland out-of-flatnesses (namely not contour), out-of-shape, even may be also discontinuous between farmland.Spray insecticide in the region to be sprayed being above-mentioned non-plains region according to existing unmanned plane spray regimen, then may due to the actual landform for reckoning without region to be sprayed during regional planning navigation way to be sprayed, navigation way is caused not to be suitable for the actual landform in region to be sprayed, and then it is uneven to cause region to be sprayed Pesticides to spray, then can affect the growth of crops in region to be sprayed.
Summary of the invention
Embodiments of the invention provide a kind of spray method and unmanned plane of unmanned plane, in order to solve prior art use unmanned plane be the farmland of non-plains region spray insecticide or fertilizer time, owing to reckoning without the actual landform in region to be sprayed during planning navigation way, and cause the navigation way planned not to be suitable for the actual landform in region to be sprayed, and then region to be sprayed Pesticides is caused to spray uneven problem.
For achieving the above object, embodiments of the invention adopt following technical scheme:
The first aspect of the embodiment of the present invention, provides a kind of spray method of unmanned plane, comprising:
Obtain the image in target job region, comprise at least one region to be sprayed in described target job region, the image in described target job region is that unmanned plane collects in constant flying height with respect to the horizontal plane;
Iamge Segmentation is carried out to the image in described target job region, to obtain the coordinate of the edge pixel of the image corresponding to described region to be sprayed;
Obtain described unmanned plane when described constant flying height gathers the image in described target job region, described unmanned plane is relative to the practical flight height on ground;
According to focal length and the described practical flight height of the camera of carry on the coordinate of described edge pixel, described unmanned plane, calculate the actual navigation coordinate corresponding to marginal point in described region to be sprayed;
According to described actual navigation coordinate planning navigation way, and spray insecticide according to the manipulating object that described navigation way is described region to be sprayed.
The second aspect of the embodiment of the present invention, provides a kind of unmanned plane, comprising:
Image collection module, for obtaining the image in target job region, comprises at least one region to be sprayed in described target job region, the image in described target job region is that unmanned plane collects in constant flying height with respect to the horizontal plane;
Image segmentation module, the image for the described target job region obtained described image collection module carries out Iamge Segmentation, to obtain the coordinate of the edge pixel of the image corresponding to described region to be sprayed;
Height acquisition module, for obtaining described unmanned plane when described constant flying height gathers the image in described target job region, described unmanned plane is relative to the practical flight height on ground;
Navigation computing module, on the coordinate according to described edge pixel, described unmanned plane, the focal length of the camera of carry and described practical flight height, calculate the actual navigation coordinate corresponding to marginal point in described region to be sprayed;
Flight course planning module, for the described actual navigation coordinate planning navigation way calculated according to described navigation computing module;
Spraying control module, for being that the manipulating object in described region to be sprayed is sprayed insecticide according to the described navigation way of described flight course planning module planning.
The spray method of the unmanned plane that the embodiment of the present invention provides and unmanned plane, can be partitioned into region to be sprayed (i.e. farmland), and get the coordinate of the edge pixel of the corresponding image in this farmland from the image in target job region; Shooting focal length when gathering image relative to the practical flight height on ground and unmanned plane when then adopting unmanned plane to gather image, according to the image-forming principle of camera, then can obtain the actual navigation coordinate corresponding to coordinate of this edge pixel, be the actual navigation coordinate corresponding to marginal point in this farmland; According to actual navigation coordinate planning navigation way, and spray insecticide according to the manipulating object that navigation way is region to be sprayed.
Compared with prior art, pass through this programme, region to be sprayed (i.e. farmland) can be partitioned into from the image in target job region, then for each block region to be sprayed (i.e. farmland), actual navigation coordinate corresponding to its marginal point is this farmland planning navigation way, the navigation way planned is corresponding with the concrete landform in this farmland, and for one piece of farmland, its landform is relatively smooth, and therefore unmanned plane then can comparatively uniformly for the crops in each the block farmland in target job region be sprayed insecticide.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
The schematic flow sheet of the spray method of a kind of unmanned plane that Fig. 1 provides for the embodiment of the present invention;
The example schematic in a kind of target job region that Fig. 2 provides for the embodiment of the present invention;
The example schematic of the image in a kind of target job region that Fig. 3 provides for the embodiment of the present invention;
The image of the segmentation object operating area that Fig. 4 provides for the embodiment of the present invention obtains the example schematic of the image in region to be sprayed;
The schematic flow sheet of the spray method of the another kind of unmanned plane that Fig. 5 provides for the embodiment of the present invention;
The transfer principle schematic diagram of a kind of image coordinate that Fig. 6 provides for the embodiment of the present invention and ground coordinate;
The example schematic of a kind of image coordinate system that Fig. 7 provides for the embodiment of the present invention and earth axes;
A kind of example schematic surrounding the rectangle in region to be sprayed that Fig. 8 provides for the embodiment of the present invention;
The example schematic of the navigation way in the region a kind of to be sprayed that Fig. 9 provides for the embodiment of the present invention;
The structure composition schematic diagram of a kind of unmanned plane that Figure 10 provides for the embodiment of the present invention;
The structure composition schematic diagram of the another kind of unmanned plane that Figure 11 provides for the embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
In addition, term " system " and " network " are often used interchangeably in this article herein.Term "and/or" herein, being only a kind of incidence relation describing affiliated partner, can there are three kinds of relations in expression, and such as, A and/or B, can represent: individualism A, exists A and B simultaneously, these three kinds of situations of individualism B.In addition, character "/" herein, general expression forward-backward correlation is to the relation liking a kind of "or".
Unmanned plane in the embodiment of the present invention is that (English: UnmannedAerialVehicle, be called for short: abbreviation UAV), be the unmanned vehicle utilizing radio robot to handle with the presetting apparatus provided for oneself to unmanned spacecraft.From technical standpoint definition, unmanned plane can be divided into: depopulated helicopter, unmanned fixed-wing aircraft, unmanned multi-rotor aerocraft, unmanned airship, unmanned parasol etc.Such as, the unmanned plane in the embodiment of the present invention can be four rotor wing unmanned aerial vehicles.
Please refer to Fig. 1, it illustrates the process flow diagram of the spray method of a kind of unmanned plane that the embodiment of the present invention provides, as shown in Figure 1, the spray method of this unmanned plane, comprising:
S101, unmanned plane obtain the image in target job region, and comprise at least one region to be sprayed in target job region, the image in target job region is that unmanned plane collects in constant flying height with respect to the horizontal plane.
Target job region in the embodiment of the present invention can comprise the region to be sprayed that at least one needs is sprayed insecticide, and the region to be sprayed in the embodiment of the present invention is the farmland needing to spray insecticide.
Exemplary, as shown in Figure 2, be the example schematic in the target job region that the embodiment of the present invention provides.Target job region as shown in Figure 2 comprises multiple mutually discontinuous and region to be sprayed (farmland) in irregular shape, as region 1 to be sprayed, region to be sprayed 2, region to be sprayed 3, sprays region 4 and sprays region 5.
Optionally, the image in target job region can be formed by unmanned plane at least one image mosaic in constant flying height collection with respect to the horizontal plane.Such as, as shown in Figure 3, the image in target job region is by 9 secondary block images (block image 1, block image 2 ... block image 9) seamless splicedly to form.Wherein, unmanned plane gathers above-mentioned 9 secondary block images respectively, and the method being spliced into the image in target job region can with reference to the subsequent descriptions of the embodiment of the present invention, and the present embodiment repeats no more here.
S102, unmanned plane carry out Iamge Segmentation to the image in target job region, to obtain the coordinate of the edge pixel of the image corresponding to region to be sprayed.
Unmanned plane can carry out Iamge Segmentation to the image in target job region, with the Iamge Segmentation corresponding to the region to be sprayed will comprised in the image in target job region out, and obtains the coordinate of the edge pixel of the image corresponding to region to be sprayed be partitioned into.
Such as, unmanned plane can carry out Iamge Segmentation to the image in the target job region shown in figure left in Fig. 4, by the Iamge Segmentation corresponding to the region to be sprayed that comprises in the image in the target job region shown in figure left in Fig. 4 out, obtain the image corresponding to region multiple to be sprayed as shown in right in Figure 4, the edge pixel then obtaining the image corresponding to region each to be sprayed as shown in right in Figure 4 with the pixel in the upper left corner of the image in target job region for initial point O
timage coordinate system in coordinate.
Wherein, P can be adopted
t (i, j)(x
t, y
t) represent the coordinate of the jth pixel in the edge pixel of image corresponding to i-th region to be sprayed in the image in target job region.As shown in Figure 4, for a pixel in the edge pixel of the image in region 1 to be sprayed, the coordinate of the jth pixel in the edge pixel of the image in region 1 to be sprayed can be P
t (1, j)(x
t, y
t).
It should be noted that, the edge pixel of the image corresponding to region to be sprayed can be sampled the image being enough to encircle a city corresponding to this region to be sprayed obtained for unmanned plane from all edge pixels of the image corresponding to region to be sprayed, embodies the edge pixel sampled point of the shape of this image corresponding to region to be sprayed.
S103, unmanned plane obtain unmanned plane when constant flying height gathers the image in target job region, and unmanned plane is relative to the practical flight height on ground.
Wherein, the image in target job region is that unmanned plane collects in constant flying height with respect to the horizontal plane; Or the image in target job region is formed by unmanned plane at least one image mosaic in constant flying height collection with respect to the horizontal plane.Unmanned plane, can real time record when gathering each image when at least one image that constant flying height with respect to the horizontal plane gathers, and unmanned plane is relative to the practical flight height on ground.
Exemplary, in the invention process, when unmanned plane gathers the image in target job region, at the downward vertical of unmanned plane, a distance measuring equipment (as ultrasound wave, TOF etc.) can be installed, be used for measuring the practical flight height of unmanned plane relative to ground.TOP is femtosecond range finding (TimeOfFlight).
S104, unmanned plane, according to the focal length of the camera of carry on the coordinate of edge pixel, unmanned plane and practical flight height, calculate the actual navigation coordinate corresponding to marginal point in region to be sprayed.
Unmanned plane according to the focal length of the camera of carry on the coordinate of edge pixel, unmanned plane, practical flight height, can calculate the ground coordinate of the marginal point in region to be sprayed; Then according to the ground coordinate corresponding with pixel arbitrary in edge pixel, the navigation coordinate of the ground coordinate corresponding with arbitrary pixel is obtained; The ground coordinate corresponding according to each pixel in the navigation coordinate obtained and described edge pixel, determines the actual navigation coordinate corresponding to marginal point in region to be sprayed.
S105, unmanned plane according to actual navigation coordinate planning navigation way, and are sprayed insecticide according to the manipulating object that navigation way is region to be sprayed.
Optionally, in the process that the unmanned plane manipulating object that is region to be sprayed is sprayed insecticide, spray insecticide uniformly to ensure further to spray insecticide for the manipulating object in region to be sprayed, unmanned plane can control unmanned plane according to navigation way, adopt the pre-set flight altitude relative to ground, for the manipulating object in region to be sprayed is sprayed insecticide.
The spray method of the unmanned plane that the embodiment of the present invention provides, can be partitioned into region to be sprayed (i.e. farmland), and get the coordinate of the edge pixel of the corresponding image in this farmland from the image in target job region; Shooting focal length when gathering image relative to the practical flight height on ground and unmanned plane when then adopting unmanned plane to gather image, according to the image-forming principle of camera, then can obtain the actual navigation coordinate corresponding to coordinate of this edge pixel; According to actual navigation coordinate planning navigation way, and spray insecticide according to the manipulating object that navigation way is region to be sprayed.
Compared with prior art, pass through this programme, region to be sprayed (i.e. farmland) can be partitioned into from the image in target job region, then for each block region to be sprayed (i.e. farmland), actual navigation coordinate corresponding to its marginal point is this farmland planning navigation way, the navigation way planned is corresponding with the concrete landform in this farmland, and for one piece of farmland, its landform is relatively smooth, and therefore unmanned plane then can comparatively uniformly for the crops in each the block farmland in target job region be sprayed insecticide.
Please refer to Fig. 5, it illustrates the process flow diagram of the spray method of the another kind of unmanned plane that the embodiment of the present invention provides, as shown in Figure 5, the spray method of this unmanned plane, comprising:
S201, unmanned plane obtain the image in target job region, and comprise at least one region to be sprayed in target job region, the image in target job region is that unmanned plane collects in constant flying height with respect to the horizontal plane.
Wherein, the embodiment of the present invention can by installing image capture device (as camera), in order to carry out the collecting work of the image in target job region on unmanned plane.Unmanned plane at the flying overhead in target job region, can gather the image in target job region.
It should be noted that, because the scope (area) in target job region may be larger, unmanned plane then cannot complete the collecting work of the image in target job region by single shot, therefore, unmanned plane can gather the image in target job region by piecemeal, then the image collected by piecemeal carries out seamless spliced, obtains the image in target job region.As shown in Figure 3, unmanned plane can gather 9 block images (block image 1, block image 2 by piecemeal ... block image 9), then carry out seamless spliced to these 9 block images, obtain the image in target job region.
It is emphasized that, in order to ensure piecemeal collection, then splice the image in the target job region obtained and conform to the distribution situation in landform in target job region and region to be sprayed, unmanned plane can gather block image a constant flying height with respect to the horizontal plane.
Wherein, the unmanned plane in the embodiment of the present invention can be the flight controller in unmanned plane, also can for the central processor CPU for carrying out pesticide spraying control configured in unmanned plane.The concrete form of the embodiment of the present invention to unmanned plane does not limit.
S202, the unmanned plane image to described target job region carries out Iamge Segmentation, to obtain the coordinate of the edge pixel of the image corresponding to region to be sprayed.
It should be noted that, in the embodiment of the present invention unmanned plane method of Iamge Segmentation is carried out to the image in target job region can with reference to image partition method of the prior art, the embodiment of the present invention repeats no more here.
S203, unmanned plane obtain unmanned plane when described constant flying height gathers the image in target job region, and unmanned plane is relative to the practical flight height on ground.
Exemplary, as shown in Figure 39 secondary block images are that unmanned plane is at constant flying height H with respect to the horizontal plane
hgather.Unmanned plane when gathering 9 secondary block image as shown in Figure 3 respectively, can real time record when gathering in 9 secondary block images arbitrary secondary block image unmanned plane relative to the practical flight height on ground.Such as, during unmanned plane collection 9 secondary block image, unmanned plane is respectively relative to the practical flight height on ground: H
d-1, H
d-2, H
d-3, H
d-4, H
d-5, H
d-6, H
d-7, H
d-8, H
d-9.
Wherein, the image majority corresponding to region 1 to be sprayed is positioned at the region at block image 1 place, and therefore unmanned plane then can obtain this unmanned plane at constant altitude H with respect to the horizontal plane
h, when gathering the image in the image in target job region corresponding to region 1 to be sprayed, unmanned plane is relative to the practical flight height H on ground
i=1equal H
d-1; Image majority corresponding to region 2 to be sprayed is positioned at the region at block image 7 place, and therefore unmanned plane then can obtain this unmanned plane at constant altitude H with respect to the horizontal plane
h, when gathering the image in the image in target job region corresponding to region 2 to be sprayed, unmanned plane is relative to the practical flight height H on ground
i=2equal H
d-7.
Wherein, H
irepresent that unmanned plane is at constant altitude H with respect to the horizontal plane
h, when gathering the image in the image in target job region corresponding to i-th region to be sprayed, unmanned plane is relative to the practical flight height on ground.
Unmanned plane when the coordinate of edge pixel and unmanned plane that get the image corresponding to region to be sprayed gather the image corresponding to region to be sprayed relative to the practical flight height on ground after, then according to the focal length of the camera of carry on the coordinate of described edge pixel, described unmanned plane and described practical flight height, the actual navigation coordinate corresponding to marginal point in described region to be sprayed can be calculated.The method of the navigation coordinate of the marginal point in concrete calculating region to be sprayed can comprise S204-S206:
S204, unmanned plane gather focal length and the practical flight height of the camera of carry on unmanned plane according to the coordinate of pixel each in edge pixel, unmanned plane, calculate the ground coordinate corresponding with pixel each in edge pixel respectively.
Wherein, unmanned plane according to the image-forming principle during image of unmanned plane by camera acquires target job region, can calculate the ground coordinate that in the edge pixel of the image corresponding to region to be sprayed, each pixel is corresponding.
As shown in Figure 6, the coordinate P of a jth pixel in image coordinate system in the edge pixel of the image in the image that r is target job region corresponding to i-th region to be sprayed is supposed
t (1, j)the initial point O of range image coordinate system
tdistance, f is the focal length of the camera of carry on unmanned plane, H
ifor unmanned plane is at constant altitude H with respect to the horizontal plane
h, when gathering the image in the image in target job region corresponding to i-th region to be sprayed, unmanned plane is relative to the practical flight height on ground; Unmanned plane can according to following formula:
Calculating take any point as the initial point O of earth axes
dtime, the coordinate P in image coordinate system
t (1, j)coordinate P in earth axes
d (1, j)the initial point O of range image coordinate system
ddistance R.Wherein,
Exemplary, unmanned plane can the coordinate P of a jth pixel in the edge pixel of image corresponding to i-th region to be sprayed
t (i, j)(x
t, y
t), shooting focal length f and when gathering image corresponding to i-th region to be sprayed, unmanned plane is relative to the practical flight height H on ground
i, adopt formula:
Calculate the ground coordinate P that a jth pixel in the edge pixel of the image corresponding to i-th region to be sprayed is corresponding
d (i, j)(x
d, y
d).
Wherein, i for region to be sprayed described in described target job region numbering; J is the numbering of described edge pixel.
Such as, the present invention is here with the coordinate P of the 1st pixel in the edge pixel of the image corresponding to region 1 to be sprayed
t (1,1)(x
t, y
t), shooting focal length f and when gathering corresponding to region 1 to be sprayed image, unmanned plane is relative to the practical flight height H on ground
1, calculate the ground coordinate P that the 1st pixel in the edge pixel of the image corresponding to region 1 to be sprayed is corresponding
d (1,1)(x
d, y
d) be example, the method calculating ground coordinate corresponding to pixel according to the coordinate of pixel is described:
As shown in Figure 7, in image coordinate system, the coordinate of the 1st pixel in the edge pixel of the image corresponding to region 1 to be sprayed is P
t (1,1)(x
t, y
t), unmanned plane can adopt formula:
Calculate the ground coordinate P that the 1st pixel in the edge pixel of the image corresponding to region 1 to be sprayed is corresponding
d (1,1)(x
d, y
d).
It should be noted that, the ratio scale of the earth axes in the embodiment of the present invention is consistent with the ratio scale of actual navigation (geography) coordinate system in region to be sprayed (i.e. farmland).
S205, unmanned plane, according to the ground coordinate corresponding with pixel arbitrary in edge pixel, obtain the navigation coordinate of the ground coordinate corresponding with arbitrary pixel.
The ground coordinate that S206, unmanned plane are corresponding according to each pixel in the navigation coordinate obtained and edge pixel, determines the actual navigation coordinate corresponding to marginal point in region to be sprayed.
Wherein, unmanned plane can get the navigation coordinate of the ground coordinate corresponding with arbitrary pixel as navigational reference point, then according to the navigation coordinate of the position relationship between this ground coordinate and other ground coordinatees and navigational reference point, the navigation coordinate of all ground coordinatees in region to be sprayed (i.e. the ground coordinate that in the marginal point in region to be sprayed, each pixel is corresponding) is determined.
Exemplary, unmanned plane can obtain the initial point O of earth axes
dnavigation coordinate as navigational reference point, the initial point O of the ground coordinate that in the marginal point then according to region to be sprayed, each pixel is corresponding and earth axes
dposition relationship and navigational reference point O
dnavigation coordinate, determine the navigation coordinate of the ground coordinate that each pixel is corresponding in the marginal point in region to be sprayed.Wherein, navigation (geography) coordinate in the embodiment of the present invention can be that (English: GlobalPositioningSystem is called for short: GPS) GPS.
S207, unmanned plane, according to actual navigation coordinate, plan the navigation way of unmanned plane.
Wherein, because the shape in region to be sprayed (farmland) is irregular, therefore unmanned plane is after the navigation coordinate of marginal point getting region to be sprayed, can each region to be sprayed be surrounded respectively with a minimized rectangle or with a whole target job region of minimized rectangles encompass, then obtain the navigation coordinate surrounding the key point of this rectangular area; According to the navigation coordinate of key point surrounding this rectangular area, for each regional planning navigation way to be sprayed.
Exemplary, in a kind of application scenarios of the embodiment of the present invention, S207 specifically can comprise S207a-S207c:
S207a, unmanned plane determine at least one first rectangular area, and each first rectangular area at least one first rectangular area is the minimum rectangular area of the actual navigation coordinate in a covering region to be sprayed.
As shown in Figure 8, for region 1 to be sprayed, unmanned plane, after the navigation coordinate of marginal point getting region 1 to be sprayed, can surround region 1 to be sprayed with a minimized rectangle (thick dashed line as shown in Figure 8).
S207b, unmanned plane obtain the navigation coordinate surrounding the key point of the first rectangular area.
Wherein, the key point surrounding the first rectangular area comprises four summits of the first rectangular area.Unmanned plane can calculate the navigation coordinate of the key point of the first rectangular area according to the navigation coordinate of the marginal point in region to be sprayed.
S207c, unmanned plane according to the navigation coordinate of key point surrounding described first rectangular area, for each regional planning navigation way to be sprayed.
Exemplary, unmanned plane can according to pre-set flight height H
y, the angle [alpha] of shower nozzle that unmanned plane is sprayed insecticide, adopt formula:
calculate the cover width L that unmanned plane is sprayed insecticide,
then the cover width L that the unmanned plane calculated according to this is sprayed insecticide, utilizes serpentine path planing method to plan the navigation way of unmanned plane.As shown in Figure 9, the example schematic of the bar navigation route utilizing serpentine path planing method to plan for unmanned plane.
Further alternative, in the another kind of application scenarios of the embodiment of the present invention, S207 specifically can comprise S207d-S207f:
S207d, unmanned plane determine the second rectangular area, and the second rectangular area is the minimum rectangular area of the actual navigation coordinate of coverage goal operating area.
S207e, unmanned plane obtain the navigation coordinate surrounding the key point of described second rectangular area;
Wherein, the key point surrounding described second rectangular area described in comprises four summits of described minimum rectangular area.
S207f, unmanned plane according to the navigation coordinate of key point surrounding described second rectangular area, for target job regional planning navigation way.
It should be noted that, unmanned plane adopts and surrounds whole target job region with a minimized rectangle (the second rectangular area), then obtains the navigation coordinate surrounding the key point of this rectangular area; According to the navigation coordinate of key point surrounding this rectangular area, similar for the method for each regional planning navigation way to be sprayed in the method for whole target job regional planning navigation way and above-mentioned S207a-S207c, the embodiment of the present invention repeats no more here.
It should be noted that, plan in the embodiment of the present invention method of navigation way include but not limited to above-mentioned listed by the serpentine path planing method enumerated, other planning navigation ways can with reference to the correlation technique planning navigation way in prior art, and the embodiment of the present invention repeats no more here.
S208, unmanned plane are according to navigation way, and the manipulating object being region to be sprayed at the pre-set flight height relative to ground is sprayed insecticide.
It should be noted that, in the process that unmanned plane is sprayed insecticide at the manipulating object according to navigation way being region to be sprayed, can be real-time unmanned plane be positioned, and judge whether unmanned plane flies in region to be sprayed according to the navigation coordinate of the marginal point in region to be sprayed; When unmanned plane during flying is in region to be sprayed, then open spray medicine valve, for crops are sprayed insecticide; When unmanned plane during flying is outside region to be sprayed, then closes spray medicine valve, stop as crops are sprayed insecticide.
The spray method of the unmanned plane that the embodiment of the present invention provides, can be partitioned into region to be sprayed (i.e. farmland), and get the coordinate of the edge pixel of the corresponding image in this farmland from the image in target job region; Shooting focal length when gathering image relative to the practical flight height on ground and unmanned plane when then adopting unmanned plane to gather image, according to the image-forming principle of camera, then can obtain the actual navigation coordinate corresponding to coordinate of this edge pixel; According to actual navigation coordinate planning navigation way, and spray insecticide according to the manipulating object that navigation way is region to be sprayed.
Compared with prior art, pass through this programme, region to be sprayed (i.e. farmland) can be partitioned into from the image in target job region, then for each block region to be sprayed (i.e. farmland), actual navigation coordinate corresponding to its marginal point is this farmland planning navigation way, the navigation way planned is corresponding with the concrete landform in this farmland, and for one piece of farmland, its landform is relatively smooth, and therefore unmanned plane then can comparatively uniformly for the crops in each the block farmland in target job region be sprayed insecticide.
Please refer to Figure 10, it illustrates a kind of unmanned plane that the embodiment of the present invention provides, as described in Figure 10, this unmanned plane 30 comprises: image collection module 31, image segmentation module 32, height acquisition module 33, navigation computing module 34, flight course planning module 35 and spraying control module 36.
Image collection module 31, for obtaining the image in target job region, comprises at least one region to be sprayed in described target job region, the image in described target job region is that unmanned plane collects in constant flying height with respect to the horizontal plane.
Image segmentation module 32, the image for the described target job region obtained described image collection module 31 carries out Iamge Segmentation, to obtain the coordinate of the edge pixel of the image corresponding to described region to be sprayed.
Height acquisition module 33, for obtaining described unmanned plane when described constant flying height gathers the image in described target job region, described unmanned plane is relative to the practical flight height on ground.
Navigation computing module 34, on the coordinate according to described edge pixel, described unmanned plane, the focal length of the camera of carry and described practical flight height, calculate the actual navigation coordinate corresponding to marginal point in described region to be sprayed.
Flight course planning module 35, for the described actual navigation coordinate planning navigation way calculated according to described navigation computing module 34.
Spraying control module 36, the described navigation way for planning according to described flight course planning module 35 is that the manipulating object in described region to be sprayed is sprayed insecticide.
Further, the image in target job region is formed by least two image mosaic of unmanned plane in described constant flying height collection.
Further, as shown in figure 11, described navigation computing module 34, can comprise: calculating sub module 341, obtain submodule 342 and determine submodule 343.
Calculating sub module 341, the focal length of the camera of carry and described practical flight height on the coordinate according to pixel each in described edge pixel, described unmanned plane, calculate the ground coordinate corresponding with each pixel in described edge pixel respectively.
Obtain submodule 342, for the ground coordinate corresponding with arbitrary pixel in described edge pixel calculated according to described calculating sub module 341, obtain the navigation coordinate of the ground coordinate corresponding with described arbitrary pixel.
Determine submodule 343, for the ground coordinate that each pixel in the navigation coordinate that obtains according to described acquisition submodule 342 and described edge pixel is corresponding, determine the actual navigation coordinate corresponding to marginal point in described region to be sprayed.
Further, described spraying control module 36, specifically for:
According to described navigation way, the manipulating object being described region to be sprayed at the pre-set flight height relative to ground is sprayed insecticide.
Further, in a kind of application scenarios of the embodiment of the present invention, described flight course planning module 35, specifically for:
Determine at least one first rectangular area, each first rectangular area at least one first rectangular area described is the minimum rectangular area of the actual navigation coordinate in a covering region to be sprayed;
Obtain the navigation coordinate surrounding the key point of described first rectangular area;
According to the described navigation coordinate surrounding the key point of described first rectangular area, for each described regional planning navigation way to be sprayed.
Wherein, the key point surrounding described first rectangular area described in comprises four summits of described first rectangular area.
Further, in the another kind of application scenarios of the embodiment of the present invention, described flight course planning module 35, specifically for:
Determine the second rectangular area, described second rectangular area is the minimum rectangular area of the actual navigation coordinate covering described target job region;
Obtain the navigation coordinate surrounding the key point of described second rectangular area;
According to the described navigation coordinate surrounding the key point of described second rectangular area, for described target job regional planning navigation way;
Wherein, the key point surrounding described second rectangular area described in comprises four summits of described minimum rectangular area.
Further, described calculating sub module 341, specifically for:
The coordinate P of the jth pixel in the edge pixel of the image corresponding to i-th region to be sprayed
t (i, j)(x
t, y
t), shooting focal length f and when gathering corresponding to described i-th region to be sprayed image, described unmanned plane is relative to the practical flight height H on ground
i, adopt formula:
Calculate the ground coordinate P that a described jth pixel is corresponding
d (i, j)(x
d, y
d).
Wherein, i for region to be sprayed described in described target job region numbering; J is the numbering of described edge pixel.
Further, described spraying control module 36, specifically for:
Control described unmanned plane according to described navigation way, adopt the pre-set flight altitude relative to ground, for the manipulating object in described region to be sprayed is sprayed insecticide.
It should be noted that, in the unmanned plane that the embodiment of the present invention provides, the specific descriptions of part functional module can corresponding content in reference method embodiment, and the present embodiment is no longer described in detail here.
The unmanned plane that the embodiment of the present invention provides, can be partitioned into region to be sprayed (i.e. farmland), and get the coordinate of the edge pixel of the corresponding image in this farmland from the image in target job region; Shooting focal length when gathering image relative to the practical flight height on ground and unmanned plane when then adopting unmanned plane to gather image, according to the image-forming principle of camera, then can obtain the actual navigation coordinate corresponding to coordinate of this edge pixel; According to actual navigation coordinate planning navigation way, and spray insecticide according to the manipulating object that navigation way is region to be sprayed.
Compared with prior art, pass through this programme, region to be sprayed (i.e. farmland) can be partitioned into from the image in target job region, then for each block region to be sprayed (i.e. farmland), be this farmland planning navigation way according to the navigation coordinate of its marginal point, the navigation way planned is corresponding with the concrete landform in this farmland, and for one piece of farmland, its landform is relatively smooth, and therefore unmanned plane then can comparatively uniformly for the crops in each the block farmland in target job region be sprayed insecticide.
Through the above description of the embodiments, those skilled in the art can be well understood to, for convenience and simplicity of description, only be illustrated with the division of above-mentioned each functional module, in practical application, can distribute as required and by above-mentioned functions and be completed by different functional modules, the inner structure by device is divided into different functional modules, to complete all or part of function described above.The system of foregoing description, the specific works process of device and unit, with reference to the corresponding process in preceding method embodiment, can not repeat them here.
In several embodiments that the application provides, should be understood that, disclosed system, apparatus and method, can realize by another way.Such as, device embodiment described above is only schematic, such as, the division of described module or unit, be only a kind of logic function to divide, actual can have other dividing mode when realizing, such as multiple unit or assembly can in conjunction with or another system can be integrated into, or some features can be ignored, or do not perform.Another point, shown or discussed coupling each other or direct-coupling or communication connection can be by some interfaces, and the indirect coupling of device or unit or communication connection can be electrical, machinery or other form.
The described unit illustrated as separating component or can may not be and physically separates, and the parts as unit display can be or may not be physical location, namely can be positioned at a place, or also can be distributed in multiple network element.Some or all of unit wherein can be selected according to the actual needs to realize the object of the present embodiment scheme.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, also can be that the independent physics of unit exists, also can two or more unit in a unit integrated.Above-mentioned integrated unit both can adopt the form of hardware to realize, and the form of SFU software functional unit also can be adopted to realize.
If described integrated unit using the form of SFU software functional unit realize and as independently production marketing or use time, can be stored in a computer read/write memory medium.Based on such understanding, the part that technical scheme of the present invention contributes to prior art in essence in other words or all or part of of this technical scheme can embody with the form of software product, this computer software product is stored in a storage medium, comprising some instructions in order to make a computer equipment (can be personal computer, server, or the network equipment etc.) or processor (processor) perform all or part of step of method described in each embodiment of the present invention.And aforesaid storage medium comprises: USB flash disk, portable hard drive, ROM (read-only memory) (ROM, Read-OnlyMemory), random access memory (RAM, RandomAccessMemory), magnetic disc or CD etc. various can be program code stored medium.
The above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; change can be expected easily or replace, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of described claim.
Claims (12)
1. a spray method for unmanned plane, is characterized in that, comprising:
Obtain the image in target job region, comprise at least one region to be sprayed in described target job region, the image in described target job region is that unmanned plane collects in constant flying height with respect to the horizontal plane;
Iamge Segmentation is carried out to the image in described target job region, to obtain the coordinate of the edge pixel of the image corresponding to described region to be sprayed;
Obtain described unmanned plane when described constant flying height gathers the image in described target job region, described unmanned plane is relative to the practical flight height on ground;
According to focal length and the described practical flight height of the camera of carry on the coordinate of described edge pixel, described unmanned plane, calculate the actual navigation coordinate corresponding to marginal point in described region to be sprayed;
According to described actual navigation coordinate planning navigation way, and spray insecticide according to the manipulating object that described navigation way is described region to be sprayed.
2. method according to claim 1, is characterized in that, the image in described target job region is formed by least two image mosaic of unmanned plane in described constant flying height collection.
3. method according to claim 1 and 2, it is characterized in that, the focal length of the camera of carry and described practical flight height on the described coordinate according to described edge pixel, described unmanned plane, calculate the actual navigation coordinate corresponding to marginal point in described region to be sprayed, comprising:
Gather the focal length of the camera of carry on described unmanned plane and described practical flight height according to the coordinate of pixel each in described edge pixel, described unmanned plane, calculate the ground coordinate corresponding with each pixel in described edge pixel respectively;
According to the ground coordinate corresponding with arbitrary pixel in described edge pixel, obtain the navigation coordinate of the ground coordinate corresponding with described arbitrary pixel;
The ground coordinate corresponding according to each pixel in the navigation coordinate obtained and described edge pixel, determines the actual navigation coordinate corresponding to marginal point in described region to be sprayed.
4. method according to claim 1 and 2, is characterized in that, the described manipulating object being described region to be sprayed according to described navigation way is sprayed insecticide, and comprising:
According to described navigation way, the manipulating object being described region to be sprayed at the pre-set flight height relative to ground is sprayed insecticide.
5. method according to claim 1, is characterized in that, described according to described actual navigation coordinate planning navigation way, comprising:
Determine at least one first rectangular area, each first rectangular area at least one first rectangular area described is the minimum rectangular area of the actual navigation coordinate in a covering region to be sprayed;
Obtain the navigation coordinate surrounding the key point of described first rectangular area;
According to the described navigation coordinate surrounding the key point of described first rectangular area, for each described regional planning navigation way to be sprayed;
Wherein, the key point surrounding described first rectangular area described in comprises four summits of described first rectangular area.
6. method according to claim 1, is characterized in that, described according to described actual navigation coordinate planning navigation way, comprising:
Determine the second rectangular area, described second rectangular area is the minimum rectangular area of the actual navigation coordinate covering described target job region;
Obtain the navigation coordinate surrounding the key point of described second rectangular area;
According to the described navigation coordinate surrounding the key point of described second rectangular area, for described target job regional planning navigation way;
Wherein, the key point surrounding described second rectangular area described in comprises four summits of described minimum rectangular area.
7. a unmanned plane, is characterized in that, comprising:
Image collection module, for obtaining the image in target job region, comprises at least one region to be sprayed in described target job region, the image in described target job region is that unmanned plane collects in constant flying height with respect to the horizontal plane;
Image segmentation module, the image for the described target job region obtained described image collection module carries out Iamge Segmentation, to obtain the coordinate of the edge pixel of the image corresponding to described region to be sprayed;
Height acquisition module, for obtaining described unmanned plane when described constant flying height gathers the image in described target job region, described unmanned plane is relative to the practical flight height on ground;
Navigation computing module, on the coordinate according to described edge pixel, described unmanned plane, the focal length of the camera of carry and described practical flight height, calculate the actual navigation coordinate corresponding to marginal point in described region to be sprayed;
Flight course planning module, for the described actual navigation coordinate planning navigation way calculated according to described navigation computing module;
Spraying control module, for being that the manipulating object in described region to be sprayed is sprayed insecticide according to the described navigation way of described flight course planning module planning.
8. unmanned plane according to claim 7, is characterized in that, the image in described target job region is formed by least two image mosaic of unmanned plane in described constant flying height collection.
9. the unmanned plane according to claim 7 or 8, is characterized in that, described navigation computing module, comprising:
Calculating sub module, the focal length of the camera of carry and described practical flight height on the coordinate according to pixel each in described edge pixel, described unmanned plane, calculate the ground coordinate corresponding with each pixel in described edge pixel respectively;
Obtain submodule, for the ground coordinate corresponding with arbitrary pixel in described edge pixel calculated according to described calculating sub module, obtain the navigation coordinate of the ground coordinate corresponding with described arbitrary pixel;
Determine submodule, for the ground coordinate that each pixel in the navigation coordinate that obtains according to described acquisition submodule and described edge pixel is corresponding, determine the actual navigation coordinate corresponding to marginal point in described region to be sprayed.
10. the unmanned plane according to claim 7 or 8, is characterized in that, described spraying control module, specifically for:
According to described navigation way, the manipulating object being described region to be sprayed at the pre-set flight height relative to ground is sprayed insecticide.
11. unmanned planes according to claim 7, is characterized in that, described flight course planning module, specifically for:
Determine at least one first rectangular area, each first rectangular area at least one first rectangular area described is the minimum rectangular area of the actual navigation coordinate in a covering region to be sprayed;
Obtain the navigation coordinate surrounding the key point of described first rectangular area;
According to the described navigation coordinate surrounding the key point of described first rectangular area, for each described regional planning navigation way to be sprayed;
Wherein, the key point surrounding described first rectangular area described in comprises four summits of described first rectangular area.
12. unmanned planes according to claim 7, is characterized in that, described flight course planning module, specifically for:
Determine the second rectangular area, described second rectangular area is the minimum rectangular area of the actual navigation coordinate covering described target job region;
Obtain the navigation coordinate surrounding the key point of described second rectangular area;
According to the described navigation coordinate surrounding the key point of described second rectangular area, for described target job regional planning navigation way;
Wherein, the key point surrounding described second rectangular area described in comprises four summits of described minimum rectangular area.
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