CN109446959B - Target area dividing method and device and medicine spraying control method - Google Patents
Target area dividing method and device and medicine spraying control method Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 73
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- 241000196324 Embryophyta Species 0.000 claims description 41
- 239000007921 spray Substances 0.000 claims description 32
- 241000607479 Yersinia pestis Species 0.000 claims description 10
- 229940079593 drug Drugs 0.000 claims description 10
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- 241000190633 Cordyceps Species 0.000 abstract description 3
- 239000002689 soil Substances 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
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- 239000010914 pesticide waste Substances 0.000 description 2
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- 240000006698 Spigelia anthelmia Species 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
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Abstract
The application discloses a target area dividing method and device. Wherein, the method comprises the following steps: acquiring an image of a target area; identifying an image of a target area based on an image identification model obtained by training to obtain density information of at least one target object in the target area; and dividing the target area according to the density information of at least one target object to obtain at least one connected area. The application solves the technical problems that the damage to plants which are not suffered from the cordyceps disaster is caused, the pesticide is wasted, and the soil is polluted because the traversing spraying to the whole plant growth area is adopted when the pesticide spraying operation is carried out.
Description
Technical Field
The application relates to the field of intelligent agriculture, in particular to a target area dividing method and device.
Background
At the present stage, unmanned aerial vehicle is by the wide application in intelligent agriculture field, all adopt the mode of traversing to spray when utilizing unmanned aerial vehicle to spray the operation of pesticide to the plant at present, all evenly spray the whole growing region of plant usually, adopt the method that above-mentioned pesticide was sprayed not only can lead to the fact the harm to the plant that does not receive the worm grass calamity, still can cause the waste to the pesticide, also can cause the pollution to the soil to pesticide residue is also more serious.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the application provides a target area dividing method and device, and the method and device at least solve the technical problems that when pesticide spraying operation is carried out, the whole plant growth area is sprayed in a traversing mode, so that not only are plants which are not subjected to a cordyceps disaster damaged, but also pesticide is wasted, and soil is polluted.
According to an aspect of an embodiment of the present application, there is provided a method for dividing a target area, including: acquiring an image of a target area; identifying an image of a target area based on the image identification model obtained through training to obtain density information of at least one target object in the target area; and dividing the target area according to the density information of at least one target object to obtain at least one connected area.
Optionally, before the image of the target region is identified based on the trained image identification model, and density information of at least one target object in the target region is obtained, the method further includes: acquiring an image recognition model, wherein the steps comprise: marking the massive sample images according to the density level; clustering the sample images marked with the density grades to obtain the density grades corresponding to the sample images of different types; and carrying out sample training based on the density grades corresponding to the different types of sample images to generate an image recognition model.
Optionally, recognizing an image of the target region based on the trained image recognition model, and obtaining density information of at least one target object in the target region, including: inputting the image of the target area into an image recognition model, and marking density information of different positions in the image; and obtaining density information of different areas in the image based on the density information of different positions in the image.
Optionally, dividing the target area according to at least one target object density information to obtain at least one connected area, including: dividing to obtain at least one density interval based on the density information of at least one target object; and dividing the image according to different density intervals to obtain a communication area corresponding to each density interval in the image.
Optionally, after identifying the image of the target region based on the trained image recognition model and obtaining density information of at least one target object in the target region, the method further includes: dividing the image of the target area into a plurality of sub-target areas; determining the maximum value and the average value of the pesticide spraying amount of a plurality of sub-target areas according to the density information; and spraying pesticide to the subdirectory area containing the weeds, wherein the pesticide spraying amount is the maximum value or the average value of the pesticide spraying amount.
Optionally, the density information comprises: information on distribution density of weeds in the target area, and information on distribution density of pests in the target area.
According to another aspect of the embodiments of the present application, there is also provided a method for controlling spraying of a medicine, including: receiving a spray strategy, wherein the spray strategy is determined according to the following manner: dividing the target area according to the density information of at least one target object in the target area to obtain at least one connected area; determining a spraying strategy according to the density information of the communicated area; and controlling the medicine spraying to the target area according to the spraying strategy.
According to still another aspect of the embodiments of the present application, there is provided another method for controlling spraying of a medicine, including: acquiring an image of a target area; identifying an image of a target area based on an image identification model obtained by training to obtain density information of at least one target object in the target area; dividing a target area according to the density information of at least one target object to obtain at least one connected area; and determining the spraying strategy of the medicine according to the density information of at least one communication area obtained by division.
Optionally, the spraying strategy comprises: a spray path; the spray path is determined by at least one of: the method comprises the steps of sequentially traversing according to position information of different communication areas for spraying, sequentially traversing according to size information of the different communication areas for spraying, determining spraying paths according to the pesticide damage degrees of the different communication areas, determining spraying paths according to the pesticide damage types of the different communication areas, and determining spraying paths according to priorities of the different communication areas.
Optionally, spraying according to the priority of different connected areas includes: when spraying is carried out on a plurality of connected areas with the same density information, the shortest path is adopted to connect the traversal paths of the connected areas with the same density information, and the connected areas with the same density information are sprayed according to the connected paths, wherein different density information corresponds to different priorities.
Optionally, the spraying strategy further comprises at least one of: determining a drug spray volume for at least one connected region; adjusting the spraying amount of the medicine at the junction of different communication areas; and opening or closing the spray head for spraying the medicine at the intersection of the area outside the at least one communication area and the at least one communication area.
According to another aspect of the embodiments of the present application, there is also provided a target area dividing apparatus, including: the acquisition module is used for acquiring an image of a target area; the recognition module is used for recognizing the image of the target area based on the image recognition model obtained by training to obtain the density information of at least one target object in the target area; and the dividing unit is used for dividing the target area according to the density information of at least one target object to obtain at least one connected area.
According to yet another aspect of embodiments of the present application, there is also provided a medication spraying system including: the image acquisition device is used for acquiring an image of the target area; the processor is connected with the image acquisition device and used for identifying the image of the target area based on the image identification model obtained by training to obtain the density information of at least one target object in the target area; dividing a target area according to the density information of at least one target object to obtain at least one connected area; determining a spraying strategy of the medicine according to at least one communication area obtained by division; and the unmanned aerial vehicle is used for spraying the medicine to the target area according to the spraying strategy.
According to still another aspect of the embodiments of the present application, there is provided a storage medium including a stored program, wherein the program controls an apparatus in which the storage medium is located to perform the above dividing method of the target area and the spraying control method of the medicine when the program is executed.
According to still another aspect of the embodiments of the present application, there is provided a processor for executing a program, wherein the program executes the above method for dividing a target area and the method for controlling spraying of a medicine.
In the embodiment of the application, the method comprises the steps of obtaining an image of a target area; identifying an image of a target area based on the image identification model obtained by training to obtain density information of at least one target object in the target area; the method comprises the steps of dividing a target area according to density information of at least one target object to obtain at least one communicated area, identifying graphs of a plant growth area through a machine learning model, dividing the plant growth area into a plurality of communicated areas according to the density information obtained through identification, controlling spraying of pesticides according to the divided communicated areas, and therefore achieving the technical effects of avoiding pesticide waste, reducing pesticide residues and improving pesticide spraying operation effects.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a flowchart of a target area dividing method according to an embodiment of the present application;
FIG. 2 is a flow chart of a method of obtaining an image recognition model according to an embodiment of the present application;
FIG. 3 is a flow chart of another method for dividing a target area according to an embodiment of the present application;
FIG. 4a is a schematic illustration of a weed density line according to an embodiment of the present application;
FIG. 4b is a schematic diagram of a target area grid partitioning according to an embodiment of the present application;
FIG. 5 is a flow chart of a method of controlling the spraying of a medication according to an embodiment of the present application;
FIG. 6 is a flow chart of another method of controlling the spraying of a medication according to an embodiment of the present application;
fig. 7 is a block diagram of a target area dividing apparatus according to an embodiment of the present application;
FIG. 8 is a block diagram of a medication spray system according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In accordance with an embodiment of the present application, there is provided an embodiment of a method of controlling the spraying of a pesticide, it being noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system, such as a set of computer-executable instructions, and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than presented herein.
Fig. 1 is a flowchart of a target area dividing method according to an embodiment of the present application, and as shown in fig. 1, the method includes the following steps:
step S102, acquiring an image of the target area.
In some optional embodiments of the present application, the acquiring of the image of the plant growth area is specifically acquired by using a device with a positioning device, such as a surveying and mapping drone of RTK (Real-time Kinematic, RTK for short) high-precision positioning; or a mobile imaging device (camera, mobile phone) supporting high-precision positioning. Specific position information of the plant growing area can be determined through position mapping.
Step S104, identifying the image of the target area based on the image identification model obtained by training to obtain the density information of at least one target object in the target area;
in some optional embodiments of the present application, before performing step S104, the method further includes obtaining an image recognition model, and fig. 2 is a flowchart of a method for obtaining an image recognition model according to an embodiment of the present application, as shown in fig. 2, the method includes the following steps:
step S202, marking the massive sample images according to the density levels.
Step S204, clustering the plurality of sample images marked with the density grades to obtain the density grades corresponding to the sample images of different types.
And S206, performing sample training based on the density grades corresponding to the different types of sample images to generate an image recognition model.
According to an alternative embodiment of the present application, the density information comprises: information on distribution density of weeds in the target area, and information on distribution density of pests in the target area.
The artificial intelligence recognition algorithm specifically includes that density grades of a large number of pictures are marked, in step S204, a plurality of sample images marked with the density grades are clustered, and obtaining the density grades corresponding to different types of sample images means that a plurality of sample images are clustered to obtain sample images corresponding to weed density grades and images corresponding to pest density grades. And then training the sample image corresponding to the weed density grade and the image corresponding to the pest density grade to obtain an image recognition model.
According to an alternative embodiment of the present application, step S104 is implemented by: inputting the image of the target area into an image recognition model, and marking density information of different positions in the image; and obtaining density information of different areas in the image based on the density information of different positions in the image.
Inputting the obtained image of the plant growth area into a trained image recognition model for recognition, recognizing the density grades of different positions in the image, and determining the density grades of different positions in the plant growth area according to the density grades of different positions in the recognized image.
Fig. 3 is a flowchart of another target area dividing method according to an embodiment of the present application, and as shown in fig. 3, the method includes:
step S302, the image of the target area is divided into a plurality of sub-target areas.
And S304, determining the maximum value and the average value of the pesticide spraying amount of the plurality of sub-target areas according to the density information.
And S306, spraying pesticide to the sub-target area containing the weeds, wherein the pesticide spraying amount is the maximum value or the average value of the pesticide spraying amounts.
In some alternative embodiments of the present application, the plant growth area is divided into a plurality of grids, only the grids containing weeds are subjected to path planning, for example, spraying can be performed according to the route of the unmanned plane to and fro, then the spraying amount of pesticide is determined, the maximum spraying amount of pesticide to be sprayed in the divided grids is determined through the density information of the identified weeds, and mean calculation is performed on the density of the weeds in each grid to determine the average spraying amount of pesticide to be sprayed in the divided grids. When the unmanned aerial vehicle is used for spraying the pesticide, only the path planning is carried out on the grids containing the weeds, and only the grids containing the weeds are sprayed, so that the pesticide can be sprayed according to the maximum spraying amount of the pesticide needing to be sprayed in the grids, and the pesticide can also be sprayed according to the average spraying amount of the pesticide needing to be sprayed in the grids.
And step S106, dividing the target area according to the density information of at least one target object to obtain at least one connected area.
According to an alternative embodiment of the present application, step S106 is implemented by: dividing to obtain at least one density interval based on the density information of at least one target object; and dividing the image according to different density intervals to obtain a communication area corresponding to each density interval in the image.
The above method is explained below by taking density information of weeds as an example: the areas with the weed density of 0 are not marked, the areas with the weed density of 1-5 per square meter are marked as first connected areas, the areas with the weed density of 6-10 per square meter are marked as second connected areas, and the like, so that a plurality of connected areas are determined, and the dosages of pesticides sprayed in different connected areas are different.
Fig. 4a is a schematic diagram of a weed density line according to an embodiment of the present application, as shown in fig. 4a, an isopycnic map of weeds can be determined according to the obtained weed density of a target area, areas with the same weed density are connected to generate an isopycnic map, connected areas can be generated according to the divided isopycnic maps, and a pesticide spraying operation is performed on weeds according to the generated connected areas.
Route planning can be performed only for the areas with insect pests and weeds according to the determined connected areas, for example, route planning and then operation can be performed on the connected areas with the density of 1, and route planning and then operation can be performed on the second connected areas with the density of 2 by continuously changing the operation dosage in the first connected areas with the density of 1 after operation.
The boundary line for changing the spraying amount can be formed according to the determined communicated area, when the position information of the operation equipment is superposed with the position information of the interface, the operation dosage is changed, the operation dosage of the area with much damage is ensured to be large, the operation dosage of the area with little damage is ensured to be small, or the spraying dosage of the area with high blade density is ensured to be large when the leaves fall, and the spraying dosage of the area with low blade density is ensured to be large.
Fig. 4b is a schematic diagram of grid division of a target area according to an embodiment of the present application, and as shown in fig. 4b, the target area may be grid-divided according to the obtained weed density of the target area, for example, a region where no weeds are identified, that is, the weed density is 0, is not labeled, grid data with the weed density of 1-5 per square meter is labeled as 1, is labeled as a first connected region, grid data with the weed density of 6-10 per square meter is labeled as 2, is labeled as a second connected region, and so on, grid data of all grids are determined, a plurality of connected regions are formed, and different connected regions adopt different operation amounts (spraying amounts).
Route planning can be performed only for the area with the insect pests according to the determined connected area, for example, route planning and then operation can be performed on the connected area with the grid data of 1, and route planning and then operation can be performed on the second connected area with the grid data of 2 by continuously changing the operation dosage in the first connected area with the operation completion density of 1.
The boundary line for changing the spraying amount can be formed according to the determined communicated area, when the position information of the operation equipment is superposed with the position information of the interface, the operation dosage is changed, the operation dosage of the area with much damage is ensured to be large, the operation dosage of the area with little damage is ensured to be small, or the spraying dosage of the area with high blade density is ensured to be large when the leaves fall, and the spraying dosage of the area with low blade density is ensured to be large.
Through the steps, the technical effects of avoiding pesticide waste, reducing pesticide residues and improving the pesticide spraying operation effect can be achieved.
Fig. 5 is a flowchart of a method for controlling spraying of a medicine according to an embodiment of the present application, as shown in fig. 5, the method including the steps of:
step S502, receiving a spraying strategy, wherein the spraying strategy is determined according to the following manner: dividing the target area according to the density information of at least one target object in the target area to obtain at least one connected area; and determining a spraying strategy according to the density information of the communication area.
And step S504, controlling the medicine spraying to the target area according to the spraying strategy.
It should be noted that reference may be made to the description of the embodiment shown in fig. 1 to 2 for a preferred implementation of the embodiment shown in fig. 5, and details are not repeated here.
Fig. 6 is a flow chart of another method for controlling the spraying of a medicine according to an embodiment of the present application, as shown in fig. 6, the method comprising the steps of:
step S602, an image of the target area is acquired.
Step S604, recognizing the image of the target area based on the trained image recognition model, and obtaining the density information of at least one target object in the target area.
Step S606, dividing the target area according to the density information of at least one target object to obtain at least one connected area.
Step S608, determining a spraying strategy of the medicine according to the density information of the at least one divided communication area.
In some optional embodiments of the present application, the spray strategy in step S508 includes a spray path; the spray path is determined by at least one of: the method comprises the steps of sequentially traversing according to position information of different communication areas for spraying, sequentially traversing according to size information of the different communication areas for spraying, determining spraying paths according to the pesticide damage degrees of the different communication areas, determining spraying paths according to the pesticide damage types of the different communication areas, and determining spraying paths according to priorities of the different communication areas.
The method for planning the pesticide spraying path according to the communication area comprises any one of the following methods: planning a path according to the position information of the connected region, for example, planning a path of a second connected region after traversing the first connected region, and so on, so that the advantage of this is that the unit pesticide spraying amount does not need to be frequently switched; path planning can also be performed according to the size information of the communicated region, for example, pesticide spraying operation is performed according to the size of the communicated region; spraying according to the pesticide damage degree of different communication areas, for example, spraying the communication areas with serious disease and cordyceps disaster; spraying according to the types of weeds or pests in different connected areas.
According to an optional embodiment of the application, spraying is performed according to priorities of different connected areas, when spraying is performed on a plurality of connected areas with the same density information, traversing paths of the plurality of connected areas with the same density information are connected by adopting a shortest path, and spraying is performed on the plurality of connected areas with the same density information according to the connected paths.
For example, a plurality of connected areas with the same weed density grade are contained in a plant growth area, and when a pesticide spraying path is planned, the connected areas with the same weed density grade can be connected through a shortest path, so that pesticide spraying operation on the connected areas with the same weed density grade can be completed at one time, and the pesticide spraying operation efficiency is improved.
In some optional embodiments of the present application, the spraying strategy in step S508 further comprises at least one of: determining the pesticide spray amount of at least one communicating zone; adjusting the pesticide spraying amount at the junction of different communicated areas; and opening or closing a spray head for spraying the pesticide at the junction of the area outside the at least one communication area and the at least one communication area.
Due to the fact that the densities of weeds or pests in different communicated areas are different, the unit pesticide spraying amount in different areas is different, after a spraying path is planned, the pesticide spraying amount is changed at the junction of different communicated areas when pesticide spraying is carried out, for example, the second spraying amount is adjusted at the junction where a first communicated area enters a second communicated area, and the third spraying amount is adjusted at the junction where a second communicated area enters a third communicated area. By adjusting the pesticide spraying amount according to different communicated areas in the steps, the pesticide can be saved, and the damage to plants which are not damaged by weeds or pests due to too much pesticide spraying can be avoided.
According to an alternative embodiment of the application, the spray head for spraying the pesticide is opened or closed at the intersection of the area outside the at least one communicating area and the at least one communicating area. For example, the spray head for spraying the pesticide is opened at the boundary of the area with the density of 0 entering the first communication area, and the spray head for spraying the pesticide is closed at the boundary of the area with the density of 0 entering the first communication area.
It should be noted that, reference may be made to the description related to the embodiment shown in fig. 1 and fig. 2 for a preferred implementation in step S602 to step S604, and details are not repeated here.
Fig. 7 is a block diagram of a target area dividing apparatus according to an embodiment of the present application, and as shown in fig. 7, the apparatus includes:
an acquiring module 70 is configured to acquire an image of the target area.
And the recognition module 72 is configured to recognize an image of the target area based on the trained image recognition model, and obtain density information of at least one target object in the target area.
And a dividing module 74, configured to divide the target area according to the density information of the at least one target object to obtain at least one connected area.
It should be noted that, reference may be made to the description of the embodiments shown in fig. 1 to fig. 2 for implementation of the preferred embodiment of the embodiment shown in fig. 7, and details are not repeated here.
FIG. 8 is a block diagram of a medication dispensing system according to an embodiment of the present application, as shown in FIG. 8, the system comprising:
and an image acquisition device 80 for acquiring an image of the target area.
The processor 82 is connected with the image acquisition device 70 and is used for identifying the image of the target area based on the trained image identification model to obtain the density information of at least one target object in the target area; dividing a target area according to the density information of at least one target object to obtain at least one connected area; and determining the spraying strategy of the medicine according to the at least one communication area obtained by division.
And the unmanned aerial vehicle 84 is used for spraying the medicine to the target area according to the spraying strategy.
It should be noted that, reference may be made to the description of the embodiments shown in fig. 1 to fig. 2 for implementation of the preferred embodiment of the embodiment shown in fig. 8, and details are not repeated here.
The embodiment of the application also provides a storage medium which comprises a stored program, wherein when the program runs, the device where the storage medium is located is controlled to execute the above target area dividing method and the medicine spraying control method.
The storage medium stores a program for executing the following functions: acquiring an image of a target area; identifying an image of a target area based on the image identification model obtained by training to obtain density information of at least one target object in the target area; and dividing the target area according to the density information of at least one target object to obtain at least one connected area. And/or
Receiving a spray strategy, wherein the spray strategy is determined according to the following manner: dividing the target area according to the density information of at least one target object in the target area to obtain at least one connected area; determining a spraying strategy according to the density information of the communicated area; and controlling the medicine spraying to the target area according to the spraying strategy.
Identifying an image of a target area based on the image identification model obtained by training to obtain density information of at least one target object in the target area; dividing a target area according to the density information of at least one target object to obtain at least one connected area; and determining the spraying strategy of the medicine according to the density information of at least one communication area obtained by division.
The embodiment of the application also provides a processor, which is used for running the program, wherein the division method of the target area and the spraying control method of the medicine are executed when the program runs.
The processor is configured to execute a program that implements the following functions: acquiring an image of a target area; identifying an image of a target area based on the image identification model obtained by training to obtain density information of at least one target object in the target area; and dividing the target area according to the density information of at least one target object to obtain at least one connected area.
And/or
Receiving a spray strategy, wherein the spray strategy is determined according to the following manner: dividing the target area according to the density information of at least one target object in the target area to obtain at least one connected area; determining a spraying strategy according to the density information of the communicated area; and controlling the medicine spraying to the target area according to the spraying strategy.
Identifying an image of a target area based on the image identification model obtained by training to obtain density information of at least one target object in the target area; dividing a target area according to the density information of at least one target object to obtain at least one connected area; and determining the spraying strategy of the medicine according to the density information of at least one communication area obtained by division.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.
Claims (13)
1. A method for dividing a target area, comprising:
acquiring an image of a target area;
identifying the image of the target area based on the image identification model obtained by training to obtain the density information of at least one target object in the target area;
dividing the target area according to the density information of the at least one target object to obtain at least one connected area;
dividing the target area according to the density information of the at least one target object to obtain at least one connected area, wherein the method comprises the following steps: dividing to obtain at least one density interval based on the density information of the at least one target object; dividing the image according to different density intervals to obtain a communication area corresponding to each density interval in the image;
identifying the image of the target area based on the trained image identification model to obtain the density information of at least one target object in the target area, wherein the method comprises the following steps: inputting the image of the target area into the image recognition model, and marking density information of different positions in the image; and obtaining density information of different areas in the image based on the density information of different positions in the image.
2. The method of claim 1, wherein before identifying the image of the target region based on the trained image recognition model and obtaining density information of at least one target object in the target region, the method further comprises:
obtaining the image recognition model, wherein the steps comprise:
marking the massive sample images according to the density level;
clustering the sample images marked with the density grades to obtain the density grades corresponding to the sample images of different types;
and carrying out sample training based on the density grades corresponding to the different types of sample images to generate the image recognition model.
3. The method of claim 1, wherein after identifying the image of the target region based on the trained image recognition model and obtaining density information of at least one target object in the target region, the method further comprises:
dividing the image of the target area into a plurality of sub-target areas;
determining the maximum value and the average value of the pesticide spraying amount of the plurality of sub-target areas according to the density information;
and spraying pesticide to the sub-target area containing the weeds, wherein the pesticide spraying amount is the maximum value or the average value of the pesticide spraying amount.
4. The method of any one of claims 1 to 3, wherein the density information comprises: information of distribution density of weeds in the target area, information of distribution density of pests in the target area.
5. A method of controlling the spraying of a medicament, comprising:
receiving a spray strategy, wherein the spray strategy is determined according to the following manner: dividing the target area according to the density information of at least one target object in the target area to obtain at least one connected area; determining the spraying strategy according to the density information of the communication area;
controlling the spraying of the medicine to the target area according to the spraying strategy;
dividing the target area according to the density information of at least one target object in the target area to obtain at least one connected area, wherein the method comprises the following steps: dividing to obtain at least one density interval based on the density information of the at least one target object; dividing the image according to different density intervals to obtain a communication area corresponding to each density interval in the image;
the density information of the at least one target object is determined by: inputting the image of the target area into an image recognition model, and marking density information of different positions in the image; and obtaining density information of different areas in the image based on the density information of different positions in the image.
6. A method of controlling the spraying of a medicament, comprising:
acquiring an image of a target area;
identifying the image of the target area based on the image identification model obtained by training to obtain the density information of at least one target object in the target area;
dividing the target area according to the density information of the at least one target object to obtain at least one connected area;
determining a spraying strategy of the medicine according to the density information of at least one communication area obtained by division;
dividing the target area according to the density information of the at least one target object to obtain at least one connected area, wherein the method comprises the following steps: dividing to obtain at least one density interval based on the density information of the at least one target object; dividing the image according to different density intervals to obtain a communication area corresponding to each density interval in the image;
identifying the image of the target area based on the trained image identification model to obtain the density information of at least one target object in the target area, wherein the method comprises the following steps: inputting the image of the target area into the image recognition model, and marking density information of different positions in the image; and obtaining density information of different areas in the image based on the density information of different positions in the image.
7. The method of claim 6, wherein the spray strategy comprises:
a spray path; the spray path is determined by at least one of: the method comprises the steps of sequentially traversing according to position information of different communication areas for spraying, sequentially traversing according to size information of the different communication areas for spraying, determining spraying paths according to the pesticide damage degrees of the different communication areas, determining spraying paths according to the pesticide damage types of the different communication areas, and determining spraying paths according to priorities of the different communication areas.
8. The method of claim 7, wherein spraying is performed according to priorities of different connected regions, comprising:
when spraying the plurality of connected areas with the same density information, connecting the traversal paths of the plurality of connected areas with the same density information by adopting the shortest path, and spraying the plurality of connected areas with the same density information according to the connected paths, wherein different density information corresponds to different priorities.
9. The method of claim 6, wherein the spray strategy further comprises at least one of:
determining a drug spray volume for the at least one connected region;
adjusting the drug spraying amount at the junction of different communication areas;
and opening or closing the spray head for spraying the medicine at the intersection of the area outside the at least one communication area and the at least one communication area.
10. An apparatus for dividing a target area, comprising:
the acquisition module is used for acquiring an image of a target area;
the recognition module is used for recognizing the image of the target area based on the trained image recognition model to obtain the density information of at least one target object in the target area;
the dividing module is used for dividing the target area according to the density information of the at least one target object to obtain at least one connected area;
the dividing module is further used for dividing to obtain at least one density interval based on the density information of the at least one target object; dividing the image according to different density intervals to obtain a communication area corresponding to each density interval in the image;
the identification module is also used for inputting the image of the target area into an image identification model and marking the density information of different positions in the image; and obtaining density information of different areas in the image based on the density information of different positions in the image.
11. A medication spray system, comprising:
the image acquisition device is used for acquiring an image of the target area;
the processor is connected with the image acquisition device and used for identifying the image of the target area based on the image identification model obtained by training to obtain the density information of at least one target object in the target area; dividing the target area according to the density information of the at least one target object to obtain at least one connected area; determining a spraying strategy of the medicine according to at least one communication area obtained by division;
an unmanned aerial vehicle for spraying a drug to the target area in accordance with the spraying strategy;
the processor is further configured to obtain at least one density interval by dividing based on the density information of the at least one target object; dividing the image according to different density intervals to obtain a communication area corresponding to each density interval in the image;
the processor is further used for inputting the image of the target area into an image recognition model and marking density information of different positions in the image; and obtaining density information of different areas in the image based on the density information of different positions in the image.
12. A storage medium characterized by comprising a stored program, wherein the program executes the target area dividing method according to any one of claims 1 to 4 and the medicine spray control method according to any one of claims 5 to 9.
13. A processor, characterized in that the processor is configured to execute a program, wherein the program executes the division method of the target area according to any one of claims 1 to 4 and the spraying control method of the medicine according to any one of claims 5 to 9.
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| CN112948371A (en) * | 2019-12-10 | 2021-06-11 | 广州极飞科技股份有限公司 | Data processing method, data processing device, storage medium and processor |
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| CN112136637A (en) * | 2020-09-27 | 2020-12-29 | 安阳工学院 | Self-adaptive spraying method of cotton defoliant |
| CN112425328A (en) * | 2020-11-23 | 2021-03-02 | 广州极飞科技有限公司 | Multi-material spreading control method and device, terminal equipment, unmanned equipment and medium |
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