CN109446955A - A kind of image processing method, device, unmanned plane and server - Google Patents
A kind of image processing method, device, unmanned plane and server Download PDFInfo
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- CN109446955A CN109446955A CN201811208671.1A CN201811208671A CN109446955A CN 109446955 A CN109446955 A CN 109446955A CN 201811208671 A CN201811208671 A CN 201811208671A CN 109446955 A CN109446955 A CN 109446955A
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- image
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Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/188—Vegetation
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The application provides a kind of image processing method, device, unmanned plane and server, for solving the problems, such as that unmanned plane can not judge whether the region needs to spray according to the image in sub-goal region in the prior art.This method is applied to unmanned plane, comprising: divides to the target area received, obtains at least one sub-goal region；Each selection Image Acquisition coordinate from least one described sub-goal region obtains multiple images coordinate acquisition；Each of described multiple images coordinate acquisition Image Acquisition coordinate shooting image is successively flown to, and adds identity for the corresponding sub-goal region of the Image Acquisition coordinate；The image taken is sent to server with the identity in corresponding sub-goal region.
Description
Technical field
This application involves the technical field of unmanned plane and image recognition, it is related to a kind of image processing method, device, unmanned plane
And server.
Background technique
The unmanned fog machine of more rotors traditional in industry generates corresponding torque by different motor blades at present, and control flies
Machine advances, and turning is climbed, the movement such as roll.Unmanned fog machine carries pesticide spraying device, is generated using aircraft blade strong
Pesticide liquid grain is uniformly and effectively sprayed onto crop surface by strong downdraught.However the unmanned fog machine function list of tradition
One, pesticide spraying can only be provided, the function of crops disaster detection is unable to complete.Therefore, nothing exists in the prior art
It is man-machine to judge whether the region needs the problem of spraying according to the image in sub-goal region.
Summary of the invention
In view of this, the application provides a kind of image processing method, device, unmanned plane and server, it is existing for solving
Unmanned plane can not judge whether the region needs the problem of spraying according to the image in sub-goal region in technology.
This application provides a kind of image processing method, be applied to unmanned plane, described image processing method include: docking
The target area received is divided, at least one sub-goal region is obtained；From every at least one described sub-goal region
A selection Image Acquisition coordinate obtains multiple images coordinate acquisition；It successively flies to each in described multiple images coordinate acquisition
A Image Acquisition coordinate shoots image, and adds identity for the corresponding sub-goal region of the Image Acquisition coordinate；It will shooting
To image be sent to server with the identity in corresponding sub-goal region.
Optionally, in the embodiment of the present application, the target area received at described Dui divides, and obtains at least one
Before sub-goal region, further includes: the target area that satellite receiver is sent.
Optionally, in the embodiment of the present application, in the identity of the image that will be taken and corresponding sub-goal region
Mark is sent to after server, further includes: receives the sub-goal that at least one needs that the server is sent are sprayed insecticide
The identity in region；It flies sub-goal region corresponding to the identity, liquid is sprayed to by this by flusher
Sub-goal region.
Optionally, in the embodiment of the present application, the described pair of target area received divides, and obtains at least one son
Target area, comprising: according to the height of the visual angle angle of the unmanned plane and the unmanned plane, calculated, obtained using Pythagorean theorem
Obtain the area of target area；If the area of target area is greater than preset area, the target area is marked off into an area
No more than the first area of preset area, as the sub-goal region；If the area of target area is less than preset area,
Then using the target area as sub-goal region.
Present invention also provides a kind of image processing methods, are applied to server, and described image processing method includes: to receive
The image and corresponding identity that unmanned plane is sent；The image in the corresponding sub-goal region of the identity is preset
Processing, obtains the status information in the sub-goal region；If the status information meets preset condition, by the sub-goal region
As sprinkling region；The identity at least one sprinkling region is sent to the unmanned plane.
Optionally, in the embodiment of the present application, the image in the sub-goal region is the image that crops grow in the ground,
The image by the corresponding sub-goal region of the identity carries out default processing, obtains the state letter in the sub-goal region
Breath, comprising: the first color space of described image is converted into the second color space, to obtain the first image；Described in removal
The first disturbing factor in first image obtains the second image；Crops distribution of color in second image is counted
It calculates, the status information for reflecting the crop growth situation is obtained according to the crops color.
Present invention also provides a kind of image processing apparatus, are applied to unmanned plane, comprising: target area obtains module, uses
It is divided in the target area received, obtains at least one sub-goal region；Coordinate acquisition obtains module, is used for from institute
Each selection Image Acquisition coordinate at least one sub-goal region is stated, multiple images coordinate acquisition is obtained；Image identification obtains
Module is obtained, for successively flying to each of described multiple images coordinate acquisition Image Acquisition coordinate shooting image, and to be somebody's turn to do
Add identity in the corresponding sub-goal region of Image Acquisition coordinate；Image identification sending module, the image for will take
Server is sent to the identity in corresponding sub-goal region.
Present invention also provides a kind of image processing apparatus, are applied to server, comprising: image identification receiving module is used
In the image and corresponding identity that receive unmanned plane transmission；Status information obtains module, is used for the identity pair
The image in the sub-goal region answered carries out default processing, obtains the status information in the sub-goal region；It sprays region and obtains module,
For using the sub-goal region as sprinkling region；Identity sending module is used at least one sprinkling region
Identity be sent to the unmanned plane.
Present invention also provides a kind of unmanned plane, the unmanned plane includes: that first processor, first memory and first are logical
Believe that interface, the first memory are stored with the executable machine readable instructions of the first processor, first communication connects
Mouth executes as described above for being communicated with external equipment, when the machine readable instructions are executed by the first processor
Method.
Present invention also provides a kind of server, the server includes: that second processor, second memory and second are logical
Believe that interface, the second memory are stored with the executable machine readable instructions of the second processor, second communication connects
Mouth executes as described above for being communicated with external equipment, when the machine readable instructions are executed by the second processor
Method.
The application provides a kind of image processing method, device, unmanned plane and server, is drawn target area by unmanned plane
It is divided at least one sub-goal region, and acquires image and the addition identity at least one sub-goal region, then will adopts
The image and identity collected is sent to server, and server is after receiving image and identity, by carrying out to image
It is default to handle to judge whether the sub-goal region is sprinkling region, at least one sprinkling region is obtained, and at least one is sprayed
The identity for spilling region is sent to unmanned plane.The sub-goal region for needing to spray has been efficiently identified in this way, from
And solve the problems, such as that unmanned plane can not judge whether the region needs to spray according to the image in sub-goal region in the prior art.
To enable the above object and advantages of the application to be clearer and more comprehensible, preferred embodiment is cited below particularly, and appended by cooperation
Attached drawing is described in detail below.
Detailed description of the invention
Illustrate the technical solutions in the embodiments of the present application or in the prior art in order to clearer, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of application for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 shows the image processing method flow diagram of unmanned generator terminal provided by the embodiments of the present application；
Fig. 2 shows the signals of the process of the image processing method step S110 of unmanned generator terminal provided by the embodiments of the present application
Figure；
Fig. 3 shows the complete flow diagram of image processing method of unmanned generator terminal provided by the embodiments of the present application；
Fig. 4 shows the image processing method flow diagram of server end provided by the embodiments of the present application；
Fig. 5 shows the process signal of the image processing method step S220 of server end provided by the embodiments of the present application
Figure；
Fig. 6 shows image processing apparatus structural schematic diagram provided by the embodiments of the present application；
Fig. 7 shows the structural schematic diagram of unmanned plane and server provided by the embodiments of the present application.
Icon: 101- image processing apparatus；100- unmanned plane；The target area 110- obtains module；120- coordinate acquisition obtains
Obtain module；130- image identification obtains module；140- image identification sending module；150- first processor；160- first is stored
Device；The first communication interface of 170-；200- server；210- image identification receiving module；220- status information obtains module；230-
It sprays region and obtains module；240- identity sending module；250- second processor；260- second memory；270- second
Communication interface.
Specific embodiment
In the description of the present application, it should be noted that the instruction such as term " on ", "lower", "left", "right", "inner", "outside"
Orientation or positional relationship be based on the orientation or positional relationship shown in the drawings or the product using when the side usually put
Position or positional relationship are merely for convenience of description the application and simplify description, rather than the device or member of indication or suggestion meaning
Part must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as the limitation to the application.
In the description of the present application, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.
With reference to the accompanying drawing, it elaborates to some embodiments of the application.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
Unmanned plane provided by the present application includes but is not limited to equipment for plant protection, will be said below with equipment for plant protection
It is bright:
Equipment for plant protection mainly by flight controller, image processing system, flusher, motor, mechanical structure and
The major parts such as ground system are constituted.
First embodiment
Referring to Figure 1, Fig. 1 shows the image processing method process signal of unmanned generator terminal provided by the embodiments of the present application
Figure.This application provides a kind of image processing method, be applied to unmanned plane, image processing method includes:
Step S110: dividing the target area received, obtains at least one sub-goal region.
Wherein, Fig. 2 is referred to, Fig. 2 shows the image processing method steps of unmanned generator terminal provided by the embodiments of the present application
The flow diagram of S110.Optionally, in the embodiment of the present application, the target area received is divided, is obtained at least
One sub- target area, comprising:
Step S111: according to the visual angle angle of unmanned plane and the height of unmanned plane, being calculated using Pythagorean theorem, obtains target
The area in region.
It should be noted that step S111 can be divided into two steps: the first step, according to the visual angle angle of unmanned plane and unmanned plane
Highly, the length of target area is calculated using Pythagorean theorem.Such as: according to the visual angle range b=120 degree of unmanned plane, visual angle
H=10 meters of height of one half angle of view angle a=60 degree of range and unmanned plane, according to the trigonometric function tan a in Pythagorean theorem
=x/h, wherein x is that the calculating formula of length of the target area is a=10*2.144=21.44 meters of x=h*tan.Second
Step, according to the Aspect Ratio for example 4:3 of the airborne camera of unmanned plane, then it can be concluded that the width calculation formula of target area is
X:y=4:3=21.44:y obtains y=16.08 meters, then the area of the target area finally calculated is flat for s=x*y=344.75
Square rice.
Step S112: if the area of target area is greater than preset area, it is little that target area is marked off into an area
In the first area of preset area, as sub-goal region.
Wherein, such as the area of target area is s=x*y=21.44*16.08=344.75 square metres, predeterminable area face
Such as s1=10*8=80 square metres of product, then target area can be divided into roundup (21.44/10) * roundup
(16.08/8)=9 sub- target area, wherein roundup expression rounds up, and certainly in the specific implementation process, needs
It is adjusted according to the actual situation.
Step S113: if the area of target area is less than preset area, using target area as sub-goal region.
Wherein, continue to illustrate with above example, such as the area of first and second sub- target area is s1=10*8=80
Square metre, then the area of the sub- target area of third is then s3=(21.44-2*10) * (16.08-8*2)=0.1152 square
Rice.
Step S120: from each selection Image Acquisition coordinate at least one sub-goal region, multiple images is obtained and are adopted
Collect coordinate.
In the specific implementation process, Image Acquisition coordinate is usually the coordinate position for choosing the central point in sub-goal region
As Image Acquisition coordinate, naturally it is also possible to be adjusted according to situations such as specific landform and weather.
Step S130: each of multiple images coordinate acquisition Image Acquisition coordinate shooting image is successively flown to, and is
Add identity in the corresponding sub-goal region of the Image Acquisition coordinate.
Wherein, such as successively each of multiple images coordinate acquisition Image Acquisition coordinate shooting image, shooting are flown to
Identity of the image addition timestamp as the image afterwards, also can be used location coordinates position as identity, tool
For body, the longitude and latitude of coordinate can be, be also possible to relative position of the coordinate with respect to Mr. Yu's point.
Step S140: the image taken is sent to server with the identity in corresponding sub-goal region.
Wherein, the image taken is sent to server with the identity in corresponding sub-goal region, it here can be with
It is first to store image in caching, caching here can be the cloud storage platform of third party's tool offer, then by third party
The cloud storage platform of offer is sent to server, is handled by server.The cloud storage platform that third party provides provides reality
When store-service, server with Asynchronous Reception and can handle these images, this not only accelerates the speed of image procossing, also saves
The resource of server.
Fig. 3 is referred to, Fig. 3 shows the complete process of image processing method of unmanned generator terminal provided by the embodiments of the present application
Schematic diagram.Optionally, in the embodiment of the present application, it is divided to the target area received, obtains at least one specific item
Before mark region, further includes:
Step S100: the target area that satellite receiver is sent.
Wherein, earth station here can be the target area that the server of ground control centre is sent, and be also possible to ground
Unmanned aerial vehicle (UAV) control device in the staff's hand of face station, such as the flight controller of unmanned plane, model STM32F427, work frequency
Rate is up to 168MHz, and arithmetic speed is fast, and system power dissipation is low.Fly control and passes through 3 axis gyroscopes, 3 axis accelerators and the earth magnetism of integration
Sensor acquires attitude data and takes the Process flowchart of optimization, and modulated signal exports different duty cycle signals driving nothings
Brushless motor, to control flight attitude.Therefore, specific sending method and sending device should not be construed as to this Shen here
Limitation please.
Fig. 3 is referred to, optionally, in the embodiment of the present application, by the image taken and corresponding sub-goal region
Identity be sent to after server, further includes:
Step S150: the identity in the sub-goal region that at least one needs that server is sent are sprayed insecticide is received.
Step S160: the corresponding sub-goal region of identity is arrived in flight, and liquid is sprayed to the son by flusher
Target area.
Wherein, path planning is carried out according to the identity in sub-goal region, can arrives again at and need to spray region, beats
Flusher is opened and adjusted, makes it that pesticide are uniformly and effectively sprayed to crops using aircraft downward strong and powerful air-flow
Surface.
Second embodiment
Fig. 4 is referred to, Fig. 4 shows the image processing method process signal of server end provided by the embodiments of the present application
Figure.This application provides a kind of image processing method, be applied to server, image processing method includes:
Step S210: the image and corresponding identity that unmanned plane is sent are received.
Wherein, as described in first embodiment, unmanned plane can first be sent to third-party cloud storage platform, third-party
Cloud storage platform is then forwarded to server and is handled.Therefore, it can use third-party cloud storage platform, such as seven Niu Yun
Local synchronization tool is easily checked and more new photo, and more new photo is saved in the specific position of server.Here
Identity can be transmitted directly to server, can also be sent to server by third-party cloud storage platform, therefore, this
In image and the received concrete mode of corresponding identity and object should not be construed as the limitation to the application.
Step S220: the image in the corresponding sub-goal region of identity is subjected to default processing, obtains the sub-goal area
The status information in domain.
Wherein, Fig. 5 is referred to, Fig. 5 shows the image processing method step of server end provided by the embodiments of the present application
The flow diagram of S220.Optionally, in the embodiment of the present application, the image in sub-goal region is what crops grew in the ground
The image in the corresponding sub-goal region of identity is carried out default processing, obtains the status information in the sub-goal region by image,
Include:
Step S221: being converted to the second color space for the first color space of image, to obtain the first image.
Wherein, after program load image, by OPENCV, (OpenCV is the cross-platform computer vision of an open source
Library) input picture is converted into HSV space from RGB (a kind of color standard that rgb color mode is industry) color space
(HSV (Hue, Saturation, Value) is a kind of face created by A.R.Smith in 1978 according to the intuitive nature of color
The colour space).HSV (being also HSB) is two kinds of related expressions to rgb color space midpoint, they attempt description more than RGB
Accurately perception color connection.
For example, H refers to that (form and aspect), S refer to that (saturation degree), L refer to that (brightness), V refer to that (tone), B refer to (lightness).Program is by 8
The image of locating depth is that (0 to 255) do the quantity statistics with 0 to 255 baselines, and chromatic graph picture uneven for one will necessarily go out
The now data and curves histogram of figure.So program is just divided according to the valley value between two wave crests, takes two peak values
Between average value calculate an approximate ideal threshold value.Just become 255 lower than this value higher than just retaining for this value.This
Sample can effectively avoid soil and light bring from influencing.Therefore, the first image after being converted to HSV space, can be more quasi-
Really perceive color connection.
Step S222: the first disturbing factor in the first image of removal obtains the second image.
Wherein, in the specific implementation process, the first disturbing factor in the first image is removed, for example, according to crops
Integral color distribution and the HSV situation of color calculate whether its color is in a healthy region.It is used in program
The pixel that block size (block_size) in adaptive threshold (adapativeThreshold) function is used to calculate threshold value is adjacent
Domain size: 3,5,7 ....
Step S223: the crops distribution of color in the second image is calculated, is reflected according to crops color
The status information of crop growth situation.
In the specific implementation process, in the detection of rice growing way, mainly passing through the main hue value of standard drawing for example, green
The hue value of color calculates the variance size of valid pixel hue value after adaptive threshold fuzziness, is normal 1000-2000
Growth, 2000-2500 are slight yellow seedling, and 2500-3500 is severe Huang seedling, remaining then reports an error for program.
Step S230: if status information meets preset condition, using sub-goal region as sprinkling region.
Step S240: the identity at least one sprinkling region is sent to unmanned plane.
Wherein, for above example, for example, being then spray by sub-goal zone marker when the region is severe Huang seedling
Region is spilt, the identity in the sprinkling region is then sent to unmanned plane.
3rd embodiment
Fig. 6 is referred to, Fig. 6 shows image processing apparatus structural schematic diagram provided by the embodiments of the present application.The application mentions
A kind of image processing apparatus 101 supplied is applied to unmanned plane 100, comprising:
Target area obtains module 110 and obtains at least one sub-goal for dividing to the target area received
Region.
Coordinate acquisition obtains module 120, for from each selection Image Acquisition coordinate at least one sub-goal region,
Obtain multiple images coordinate acquisition.
Image identification obtains module 130, sits for successively flying to each of multiple images coordinate acquisition Image Acquisition
Mark shooting image, and identity is added for the corresponding sub-goal region of the Image Acquisition coordinate.
Image identification sending module 140, for sending out the image taken with the identity in corresponding sub-goal region
It send to server 200.
Fourth embodiment
Refer to Fig. 6, this application provides a kind of image processing apparatus 101, be applied to server 200, comprising:
Image identification receiving module 210, for receiving the image and corresponding identity that unmanned plane 100 is sent.
Status information obtains module 220, for the image in the corresponding sub-goal region of identity to be carried out default processing,
Obtain the status information in the sub-goal region.
It sprays region and obtains module 230, for using sub-goal region as sprinkling region.
Identity sending module 240, for the identity at least one sprinkling region to be sent to unmanned plane 100.
5th embodiment
Fig. 7 is referred to, Fig. 7 shows the structural schematic diagram of unmanned plane and server provided by the embodiments of the present application.This Shen
A kind of unmanned plane 100 that please be provided, unmanned plane 100 include: that first processor 150, first memory 160 and the first communication connect
Mouth 170, first memory 160 are stored with the executable machine readable instructions of first processor 150, and the first communication interface 170 is used
It is communicated in external equipment, the method such as first embodiment is executed when machine readable instructions are executed by first processor 150.
Sixth embodiment
Refer to Fig. 7, this application provides a kind of server 200, server 200 includes: second processor 250,
Two memories 260 and the second communication interface 270, second memory 260 are stored with executable machine readable of second processor 250
Instruction, the second communication interface 270 with external equipment for being communicated, when machine readable instructions are executed by second processor 250
Execute the method such as second embodiment.
The application provides a kind of image processing method, device, unmanned plane and server, is drawn target area by unmanned plane
It is divided at least one sub-goal region, and acquires image and the addition identity at least one sub-goal region, then will adopts
The image and identity collected is sent to server, and server is after receiving image and identity, by carrying out to image
It is default to handle to judge whether the sub-goal region is sprinkling region, at least one sprinkling region is obtained, and at least one is sprayed
The identity for spilling region is sent to unmanned plane.The sub-goal region for needing to spray has been efficiently identified in this way, from
And solve the problems, such as that unmanned plane can not judge whether the region needs to spray according to the image in sub-goal region in the prior art.
The above is only preferred embodiment of the present application, are not intended to limit this application, for those skilled in the art
For member, various changes and changes are possible in this application.Within the spirit and principles of this application, it is made it is any modification,
Equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of image processing method, which is characterized in that be applied to unmanned plane, described image processing method includes:
The target area received is divided, at least one sub-goal region is obtained；
Each selection Image Acquisition coordinate from least one described sub-goal region obtains multiple images coordinate acquisition；
Each of described multiple images coordinate acquisition Image Acquisition coordinate shooting image is successively flown to, and is the Image Acquisition
Add identity in the corresponding sub-goal region of coordinate；
The image taken is sent to server with the identity in corresponding sub-goal region.
2. image processing method as described in claim 1, which is characterized in that drawn in the target area that described pair receives
Point, before obtaining at least one sub-goal region, further includes:
The target area that satellite receiver is sent.
3. image processing method as described in claim 1, which is characterized in that in the image that will be taken and corresponding son
The identity of target area is sent to after server, further includes:
Receive the identity in the sub-goal region that at least one needs that the server is sent are sprayed insecticide；
It flies sub-goal region corresponding to the identity, liquid is sprayed to by the sub-goal region by flusher.
4. image processing method as described in claim 1, which is characterized in that draw the described pair of target area received
Point, obtain at least one sub-goal region, comprising:
It according to the height of the visual angle angle of the unmanned plane and the unmanned plane, is calculated using Pythagorean theorem, obtains target area
Area；
If the area of target area is greater than preset area, the target area is marked off into an area no more than preset area
First area, as the sub-goal region；
If the area of target area is less than preset area, using the target area as sub-goal region.
5. a kind of image processing method, which is characterized in that be applied to server, described image processing method includes:
Receive the image and corresponding identity that unmanned plane is sent；
The image in the corresponding sub-goal region of the identity is subjected to default processing, obtains the state letter in the sub-goal region
Breath；
If the status information meets preset condition, using the sub-goal region as sprinkling region；
The identity at least one sprinkling region is sent to the unmanned plane.
6. image processing method as claimed in claim 5, which is characterized in that the image in the sub-goal region is that crops exist
The image grown in ground, the image by the corresponding sub-goal region of the identity carry out default processing, obtain the son
The status information of target area, comprising:
First color space of described image is converted into the second color space, to obtain the first image；
The first disturbing factor in the first image is removed, the second image is obtained；
Crops distribution of color in second image is calculated, is obtained according to the crops color and reflects the agriculture
The status information of crop growth conditions.
7. a kind of image processing apparatus, which is characterized in that be applied to unmanned plane, comprising:
Target area obtains module and obtains at least one sub-goal region for dividing to the target area received；
Coordinate acquisition obtains module, for obtaining from each selection Image Acquisition coordinate at least one described sub-goal region
Obtain multiple Image Acquisition coordinates；
Image identification obtains module, claps for successively flying to each of described multiple images coordinate acquisition Image Acquisition coordinate
Image is taken the photograph, and adds identity for the corresponding sub-goal region of the Image Acquisition coordinate；
Image identification sending module, for the image taken to be sent to service with the identity in corresponding sub-goal region
Device.
8. a kind of image processing apparatus, which is characterized in that be applied to server, comprising:
Image identification receiving module, for receiving the image and corresponding identity that unmanned plane is sent；
Status information obtains module, for the image in the corresponding sub-goal region of the identity to be carried out default processing, obtains
Obtain the status information in the sub-goal region；
It sprays region and obtains module, for using the sub-goal region as sprinkling region；
Identity sending module, for the identity at least one sprinkling region to be sent to the unmanned plane.
9. a kind of unmanned plane, which is characterized in that the unmanned plane includes: that first processor, first memory and the first communication connect
Mouthful, the first memory is stored with the executable machine readable instructions of the first processor, and first communication interface is used
It is communicated in external equipment, such as claim 1-4 is executed when the machine readable instructions are executed by the first processor
Any method.
10. a kind of server, which is characterized in that the server includes: that second processor, second memory and the second communication connect
Mouthful, the second memory is stored with the executable machine readable instructions of the second processor, and second communication interface is used
It is communicated in external equipment, such as claim 5-6 is executed when the machine readable instructions are executed by the second processor
Any method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811208671.1A CN109446955B (en) | 2018-10-17 | 2018-10-17 | Image processing method and device, unmanned aerial vehicle and server |
Applications Claiming Priority (1)
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