CN111191505A - Automatic garden trimming method and system based on smart community - Google Patents
Automatic garden trimming method and system based on smart community Download PDFInfo
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- CN111191505A CN111191505A CN201911172594.3A CN201911172594A CN111191505A CN 111191505 A CN111191505 A CN 111191505A CN 201911172594 A CN201911172594 A CN 201911172594A CN 111191505 A CN111191505 A CN 111191505A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/40—Scenes; Scene-specific elements in video content
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
- G06Q50/10—Services
- G06Q50/26—Government or public services
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
Abstract
The invention provides a garden automatic trimming method based on an intelligent community, which comprises the following steps: the method comprises the following steps that a server calls video frame images uploaded by cameras, the cameras are arranged beside plants to be trimmed, and at least three cameras are arranged beside each plant to be trimmed so as to cover images of all sides of the plants to be trimmed; the server receives the video frame images uploaded by the camera, and constructs a first model of the plant to be trimmed according to each side image in the video frame images; obtaining a plurality of first extension areas in the first model by using the first model of the plant to be modified and the preset second model; and analyzing to obtain a trimming path according to the plurality of first extension areas, and sending the trimming path to a trimmer so that the trimmer trims the plant to be trimmed. The method provided by the invention can reduce the cost caused by manually trimming gardens.
Description
Technical Field
The embodiment of the invention relates to the field of image detection, in particular to a garden automatic trimming method, a garden automatic trimming system, computer equipment and a storage medium based on an intelligent community.
Background
Along with the development of society, people attach more and more importance to the environment, afforestation is the important means of reforming transform environment, in present afforestation equipment, pruning equipment is one of indispensable equipment, wherein in present ornamental trees and shrubs pruning equipment most all be simple scissors formula's pruning equipment, need artifically to accomplish at the in-process of pruning, in present ornamental trees and shrub's pruning and the plastic of trees, all need artifically to accomplish, though utilize the manual work to accomplish, in order to reach the purpose of pruning trees, but still have following problem:
because the pruning modeling of trees needs to be finished manually, the workload is greatly increased under the condition that the garden trees are planted in too many quantities, and the pruning speed cannot keep up with the tree growth speed due to the too high tree growth speed, the working efficiency is further reduced, and the garden tree planting cost is further increased.
Disclosure of Invention
In order to solve the above problems, an embodiment of the present invention provides an automatic garden trimming method based on an intelligent community, including the following steps:
the method comprises the following steps that a server calls video frame images uploaded by cameras, the cameras are arranged beside plants to be trimmed, and at least three cameras are arranged beside each plant to be trimmed so as to cover images of all sides of the plants to be trimmed;
the server receives the video frame images uploaded by the camera, and constructs a first model of the plant to be trimmed according to each side image in the video frame images;
obtaining a plurality of first extension areas in the first model by using the first model of the plant to be modified and the preset second model;
and analyzing to obtain a trimming path according to the plurality of first extension areas, and sending the trimming path to a trimmer so that the trimmer trims the plant to be trimmed.
Preferably, the server receives the video frame images uploaded by the camera, and constructs a first model of the plant to be trimmed according to each side image in the video frame images:
the server receives the video frame images uploaded by the cameras, a mapping relation is built for the video frame images uploaded by the cameras according to the relative angle between the cameras, the video frame image uploaded by one camera is taken as a reference image according to the mapping relation, and the reference image is complemented on a three-dimensional structure by the image content in the video frame images uploaded by the other cameras according to the mapping relation.
Preferably, the step of obtaining a plurality of first extension regions in the first model by using the first model of the plant to be modified and the preset second model comprises:
comparing the first model of the plant to be modified with the preset second model, covering the second model image on the first model, calculating the approximation value of each area by using an approximation algorithm, and judging which areas are the first extension areas according to the approximation value.
Preferably, the step of analyzing the trimming path according to the plurality of first extension regions includes:
and scanning the first extension area again with high precision, and taking the contour edge of the first extension area, which is coincident with the second model, as a trimming path.
The embodiment of the invention provides a garden automatic trimming system based on an intelligent community, which comprises:
the system comprises a video frame module, a video frame module and a control module, wherein the video frame module is used for calling video frame images uploaded by cameras by a server, the cameras are arranged beside plants to be trimmed, and at least three cameras are arranged beside each plant to be trimmed so as to cover all side images of the plants to be trimmed;
the extraction module is used for receiving the video frame images uploaded by the camera by the server and constructing a first model of the plant to be trimmed according to each side image in the video frame images;
the comparison module is used for comparing the first model of the plant to be modified with the preset second model to obtain a plurality of first extension areas in the first model;
and the path module is used for analyzing and obtaining a trimming path according to the plurality of first extension areas and sending the trimming path to the trimmer so that the trimmer trims the plant to be trimmed.
Preferably, the comparison module is further configured to:
comparing the first model of the plant to be modified with the preset second model, covering the second model image on the first model, calculating the approximation value of each area by using an approximation algorithm, and judging which areas are the first extension areas according to the approximation value.
Preferably, the path module is further configured to:
and the trimming path is analyzed and obtained according to the plurality of first extension areas, and the trimming path is sent to a trimmer so that the trimmer trims the plant to be trimmed.
Preferably, the guiding module is further configured to:
and the service generates path data according to owner position information in the guide request uploaded by the client, wherein the owner position information is based on the world coordinate system, and the path data is generated and returned to the client for displaying by combining the calculated idle charging pile coordinate information and a preset path planning algorithm. The embodiment of the present invention further provides a computer device, which includes a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the computer program is executed by the processor to implement the intelligent community-based garden automatic trimming method as described above.
An embodiment of the present invention further provides a computer storage medium, wherein the computer storage medium stores a computer program, and the computer program can be executed by at least one processor, so as to implement the method for automatically trimming gardens based on intelligent communities
The intelligent community-based automatic garden trimming method, the intelligent community-based automatic garden trimming system, the intelligent community-based automatic garden trimming computer device and the intelligent community-based automatic garden trimming storage medium reduce the cost caused by manual garden trimming.
Drawings
FIG. 1 is a flow chart illustrating steps of a garden automatic trimming method based on a smart community according to the present invention;
FIG. 2 is a schematic diagram of a procedure module of an intelligent community-based automatic garden trimming system according to the present invention;
fig. 3 is a schematic diagram of a hardware structure of the computer device of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. 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 invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
It should be understood that although the terms first, second, etc. may be used to describe the designated key in embodiments of the present invention, the designated key should not be limited to these terms. These terms are only used to distinguish specified keywords from each other. For example, the first specified keyword may also be referred to as the second specified keyword, and similarly, the second specified keyword may also be referred to as the first specified keyword, without departing from the scope of embodiments of the present invention.
The word "if" as used herein may be interpreted as referring to "at … …" or "when … …" or "corresponding to a determination" or "in response to a detection", depending on the context. Similarly, the phrase "if determined" or "if detected (a stated condition or time)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.
Referring to fig. 1, an embodiment of the present invention provides an automatic garden trimming method based on an intelligent community, including:
s100, a server calls video frame images uploaded by cameras, the cameras are arranged beside plants to be trimmed, and at least three cameras are arranged beside each plant to be trimmed so as to cover all side images of the plants to be trimmed;
s200, the server receives video frame images uploaded by the camera, and a first model of the plant to be trimmed is constructed according to each side image in the video frame images;
step S300, combining the first model of the plant to be modified and the preset second model to obtain a plurality of first extension areas in the first model;
step S400 analyzes a trimming path according to the plurality of first extension areas, and sends the trimming path to a trimmer so that the trimmer trims the plant to be trimmed.
Particularly, due to the consideration of the labor cost of garden pruning, the expenditure caused by the pruning of most community gardens with higher greening rate is very high, and in order to reduce the expenditure of the labor cost, the invention aims to realize the automatic garden pruning by utilizing the linkage of image detection and pruning equipment.
Specifically, a camera device is arranged beside each garden plant and used for collecting image data of the garden plants, the server constructs a garden plant model by using the image data to obtain a first model, secondly, the technician places standard garden plant model data in the local storage of the server at the initial stage of system operation, the model data is a model of each garden plant to be trimmed and formed, the standard garden plant model is compared with the first model to obtain the first model, that is, which part of the garden plant needs to be trimmed at present, then, the server performs high-precision analysis on the part needing to be trimmed, detects which contour section of the part to be trimmed is a superposition edge of the two models, collects points on the superposition edge to form array data, sends the array data as path data to a trimming device, and the trimming device executes the path data to perform trimming movement. The method provided by the invention can reduce the cost caused by manually trimming gardens.
Optionally, the server receives the video frame images uploaded by the camera, and constructs a first model of the plant to be trimmed according to each side image in the video frame images:
the server receives the video frame images uploaded by the cameras, a mapping relation is built for the video frame images uploaded by the cameras according to the relative angle between the cameras, the video frame image uploaded by one camera is taken as a reference image according to the mapping relation, and the reference image is complemented on a three-dimensional structure by the image content in the video frame images uploaded by the other cameras according to the mapping relation.
Specifically, the server starts to construct a three-dimensional model for the uploaded video frame images, wherein one image is selected as a basis, if three cameras are taken as an example, images acquired by the other two cameras are bonded to the basis image to form the three-dimensional model, the images need to be deformed during bonding, and the deformation ratio is set according to the relative positions and angles of the cameras.
Optionally, the step of obtaining a plurality of first extension regions in the first model by using the first model of the plant to be modified and the preset second model includes:
comparing the first model of the plant to be modified with the preset second model, covering the second model image on the first model, calculating the approximation value of each area by using an approximation algorithm, and judging which areas are the first extension areas according to the approximation value.
Specifically, after the two models are compared, the similarity of each region is calculated by using a similarity calculation method, wherein each unit region can be set to be large or small, the adjustment is performed according to the required execution precision, the similarity of each region is calculated, and the region where the similarity calculation value does not pass is defined as the region needing to be trimmed.
Optionally, the step of analyzing the trimming path according to the plurality of first extension regions includes:
and scanning the first extension area again with high precision, and taking the contour edge of the first extension area, which is coincident with the second model, as a trimming path.
The embodiment of the invention also provides a garden automatic trimming system based on the intelligent community, which comprises:
the video frame module 100 is used for a server to call video frame images uploaded by cameras, the cameras are arranged beside plants to be trimmed, and at least three cameras are arranged beside each plant to be trimmed so as to cover all side images of the plants to be trimmed;
an extraction module 200, configured to receive the video frame images uploaded by the camera by the server, and construct a first model of the plant to be trimmed according to each side image in the video frame images;
a comparison module 300, configured to compare the first model of the plant to be modified with the preset second model to obtain a plurality of first extension regions in the first model;
a path module 400, configured to analyze a trimming path according to the plurality of first extension areas, and send the trimming path to a trimmer so that the trimmer trims the plant to be trimmed.
Optionally, the comparison module 300 is further configured to:
comparing the first model of the plant to be modified with the preset second model, covering the second model image on the first model, calculating the approximation value of each area by using an approximation algorithm, and judging which areas are the first extension areas according to the approximation value.
Optionally, the comparison module 300 is further configured to:
and the trimming path is analyzed and obtained according to the plurality of first extension areas, and the trimming path is sent to a trimmer so that the trimmer trims the plant to be trimmed.
Optionally, the path module 400 is further configured to:
and the service generates path data according to owner position information in the guide request uploaded by the client, wherein the owner position information is based on the world coordinate system, and the path data is generated and returned to the client for displaying by combining the calculated idle charging pile coordinate information and a preset path planning algorithm.
Please refer to fig. 3, which is a schematic diagram of a hardware architecture of a computer device according to an embodiment of the present invention. In the present embodiment, the computer device 2 is a device capable of automatically performing numerical calculation and/or information processing in accordance with a preset or stored instruction. The computer device 2 may be a personal computer, a tablet computer, a mobile phone, a smartphone, or a rack server, a blade server, a tower server, or a cabinet server (including an independent server or a server cluster composed of a plurality of servers), and the like, and is configured to provide a virtual client. As shown, the computer device 2 includes, but is not limited to, at least a memory 21, a processor 22, a network interface 23, and a smart community-based garden automatic trimming system 20, which are communicatively connected to each other through a system bus, wherein:
in this embodiment, the memory 21 includes at least one type of computer-readable storage medium including a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a Programmable Read Only Memory (PROM), a magnetic memory, a magnetic disk, an optical disk, and the like. In some embodiments, the storage 21 may be an internal storage unit of the computer device 2, such as a hard disk or a memory of the computer device 2. In other embodiments, the memory 21 may also be an external storage device of the computer device 2, such as a plug-in hard disk, a Smart Media Card (SMC), a secure digital (secure digital) SD card, a flash card (FlashCard) or the like provided on the computer device 20, and of course, the memory 21 may also include both an internal storage unit and an external storage device of the computer device 2. In this embodiment, the memory 21 is used for storing an operating system installed on the computer device 2 and various application software, such as program codes of the intelligent community-based garden automatic trimming system 20. Further, the memory 21 may also be used to temporarily store various types of data that have been output or are to be output.
the network interface 23 may comprise a wireless network interface or a limited network interface, and the network interface 23 is typically used for establishing a communication connection between the computer device 2 and other electronic apparatuses. For example, the network interface 23 is used to connect the computer device 2 with an external terminal necklace, establish a data transmission channel and a communication connection between the computer device 2 and an external interrupt, and the like via a network. The network may be a wireless or wired network such as an Intranet (Intranet), the Internet (Internet), a global system for mobile communications (GSM), Wideband Code Division Multiple Access (WCDMA), a 4G network, a 5G network, Bluetooth (Bluetooth), or Wi-Fi.
In this embodiment, the intelligent community-based garden automatic trimming system 20 stored in the memory 21 may be further divided into one or more program modules, and the one or more program modules are stored in the memory 21 and executed by one or more processors (in this embodiment, the processor 22) to complete the present invention.
In addition, the present embodiment also provides a computer-readable storage medium, such as a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, an optical disk, a server, an App application store, etc., on which a computer program is stored, which when executed by a processor implements a corresponding function. The computer-readable storage medium of the embodiment is used for storing the intelligent community-based garden automatic trimming system 20, and when being executed by the processor, the intelligent community-based garden automatic trimming method of the invention is realized.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. An automatic garden trimming method based on a smart community is characterized by comprising the following steps:
the method comprises the following steps that a server calls video frame images uploaded by cameras, the cameras are arranged beside plants to be trimmed, and at least three cameras are arranged beside each plant to be trimmed so as to cover images of all sides of the plants to be trimmed;
the server receives the video frame images uploaded by the camera, and constructs a first model of the plant to be trimmed according to each side image in the video frame images;
obtaining a plurality of first extension areas in the first model by using the first model of the plant to be modified and the preset second model;
and analyzing to obtain a trimming path according to the plurality of first extension areas, and sending the trimming path to a trimmer so that the trimmer trims the plant to be trimmed.
2. The intelligent community-based automatic garden trimming method according to claim 1, wherein the server receives video frame images uploaded by the camera, and constructs a first model of the plant to be trimmed according to each side image in the video frame images:
the server receives the video frame images uploaded by the cameras, a mapping relation is built for the video frame images uploaded by the cameras according to the relative angle between the cameras, the video frame image uploaded by one camera is taken as a reference image according to the mapping relation, and the reference image is complemented on a three-dimensional structure by the image content in the video frame images uploaded by the other cameras according to the mapping relation.
3. The intelligent community-based garden automatic trimming method according to claim 1, wherein the step of obtaining a plurality of first extended areas in the first model by using the first model of the plant to be trimmed and the preset second model comprises:
comparing the first model of the plant to be modified with the preset second model, covering the second model image on the first model, calculating the approximation value of each area by using an approximation algorithm, and judging which areas are the first extension areas according to the approximation value.
4. The intelligent community-based garden automatic trimming method according to claim 1, wherein the step of analyzing a trimming path according to the plurality of first extension areas comprises:
and scanning the first extension area again with high precision, and taking the contour edge of the first extension area, which is coincident with the second model, as a trimming path.
5. The utility model provides an automatic system of trimming in gardens based on wisdom community which characterized in that includes:
the system comprises a video frame module, a video frame module and a control module, wherein the video frame module is used for calling video frame images uploaded by cameras by a server, the cameras are arranged beside plants to be trimmed, and at least three cameras are arranged beside each plant to be trimmed so as to cover all side images of the plants to be trimmed;
the extraction module is used for receiving the video frame images uploaded by the camera by the server and constructing a first model of the plant to be trimmed according to each side image in the video frame images;
the comparison module is used for comparing the first model of the plant to be modified with the preset second model to obtain a plurality of first extension areas in the first model;
and the path module is used for analyzing and obtaining a trimming path according to the plurality of first extension areas and sending the trimming path to the trimmer so that the trimmer trims the plant to be trimmed.
6. The intelligent community-based garden automatic trimming system according to claim 5, wherein the comparison module is further configured to:
comparing the first model of the plant to be modified with the preset second model, covering the second model image on the first model, calculating the approximation value of each area by using an approximation algorithm, and judging which areas are the first extension areas according to the approximation value.
7. The intelligent community-based garden automatic trimming system according to claim 5, wherein the path module is further configured to:
and the trimming path is analyzed and obtained according to the plurality of first extension areas, and the trimming path is sent to a trimmer so that the trimmer trims the plant to be trimmed.
8. The intelligent community-based garden automatic trimming system according to claim 5, wherein the path module is further configured to:
and the service generates path data according to owner position information in the guide request uploaded by the client, wherein the owner position information is based on the world coordinate system, and the path data is generated and returned to the client for displaying by combining the calculated idle charging pile coordinate information and a preset path planning algorithm.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the intelligent community based garden automatic trimming method according to any one of claims 1 to 4.
10. A computer storage medium storing a computer program capable of being executed by at least one processor according to claims 1 to 4, wherein the computer program is for performing an automatic garden trimming method based on intelligent communities.
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