CN111279284A - Control method and apparatus - Google Patents
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- CN111279284A CN111279284A CN201880069355.2A CN201880069355A CN111279284A CN 111279284 A CN111279284 A CN 111279284A CN 201880069355 A CN201880069355 A CN 201880069355A CN 111279284 A CN111279284 A CN 111279284A
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- 238000005507 spraying Methods 0.000 claims abstract description 240
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
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- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
Abstract
A control method and apparatus, the method comprising: acquiring and displaying a two-dimensional map (S401) of a target area on a display device, wherein the target area comprises a target crop, and the two-dimensional map is acquired according to a shooting image acquired when a surveying and mapping unmanned aerial vehicle flies in the target area; determining a target map area corresponding to a target crop in a two-dimensional map (S402), wherein the target map area is used for determining spraying control information, and the spraying control information is used for controlling a spraying unmanned aerial vehicle to spray the target crop; the identifier is displayed on a target map area in a two-dimensional map displayed by a display device (S403). The user can rapidly and intuitively determine the target map area in the two-dimensional map through the identification identifier, and the target map area is an area needing spraying operation, so that spraying control information can be obtained more intelligently and rapidly, the spraying effect is improved, and the spraying efficiency is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of unmanned aerial vehicles, in particular to a control method and control equipment.
Background
With the increasing popularization of consumption-level unmanned aerial vehicles, industrial-level application unmanned aerial vehicles also begin to completely reveal the corner, and for the agricultural industry, agricultural unmanned aerial vehicles occupy an important position as industrial-level application unmanned aerial vehicles, and can perform plant protection operation on farmland, such as spraying operation (spraying moisture, pesticides, seeds and the like), so that great convenience is brought to the agricultural field, such as saving user time, improving operation efficiency, increasing operation income, improving utilization efficiency of agricultural machinery and the like.
However, the existing spraying operation mode is not high in intelligent degree and not convenient enough, for example, an operator needs to observe a target crop through naked eyes, and manually controls the unmanned aerial vehicle to spray the target crop, so that the spraying efficiency is low.
Disclosure of Invention
The embodiment of the invention provides a control method and control equipment, which can rapidly and intuitively help a user to observe a target crop to be sprayed in an environment so as to rapidly generate spraying control information and improve spraying efficiency.
In a first aspect, an embodiment of the present invention provides a control method, including:
acquiring and displaying a two-dimensional map of a target area on display equipment, wherein the target area comprises a target crop, and the two-dimensional map is acquired according to a shooting image acquired when a surveying and mapping unmanned aerial vehicle flies in the target area;
determining a target map area corresponding to the target crop in the two-dimensional map, wherein the target map area is used for determining spraying control information, and the spraying control information is used for controlling a spraying unmanned aerial vehicle to spray the target crop;
displaying an identifier on a target map area in a two-dimensional map displayed by the display device.
In a second aspect, an embodiment of the present invention provides a control apparatus, including: a processor and a display device;
the processor is used for acquiring a two-dimensional map of a target area, wherein the target area comprises a target crop, and the two-dimensional map is acquired according to a shooting image acquired when the surveying and mapping unmanned aerial vehicle flies in the target area;
the display device is used for displaying the two-dimensional map acquired by the processor;
the processor is further configured to determine a target map area corresponding to the target crop in the two-dimensional map, where the target map area is used to determine spraying control information used to control spraying of the target crop by a spraying unmanned aerial vehicle;
the display device is further configured to display the identifier on a target map area in the displayed two-dimensional map.
In a third aspect, the present invention provides a computer-readable storage medium, where a computer program is stored, where the computer program includes at least one code segment that is executable by a computer to control the computer to execute the control method according to the first aspect.
In a fourth aspect, an embodiment of the present invention provides a computer program, which is used to implement the control method according to the embodiment of the present invention in the first aspect when the computer program is executed by a computer.
According to the control method and the control device provided by the embodiment of the invention, the two-dimensional map of the target area is obtained and displayed on the display device, wherein the target area comprises the target crop, and the two-dimensional map is obtained according to the shooting image obtained when the surveying and mapping unmanned aerial vehicle flies in the target area; determining a target map area corresponding to the target crop in the two-dimensional map, wherein the target map area is used for determining spraying control information, and the spraying control information is used for controlling a spraying unmanned aerial vehicle to spray the target crop; displaying an identifier on a target map area in a two-dimensional map displayed by the display device. Therefore, the user can quickly and intuitively determine the target map area in the two-dimensional map through the identification identifier, and the target map area is an area needing spraying operation, so that spraying control information can be obtained more intelligently and quickly, the spraying effect is improved, and the spraying efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic diagram of a mapping drone for mapping a target crop area according to an embodiment of the present invention;
fig. 2 is a schematic view of an application scenario provided in the embodiment of the present invention;
fig. 3 is a schematic diagram of a spraying unmanned aerial vehicle provided in an embodiment of the present invention spraying a plurality of target crops;
FIG. 4 is a flowchart of a control method according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a two-dimensional map displayed by a display device according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of displaying identifiers on a two-dimensional map according to an embodiment of the present invention;
FIG. 7 is a diagram illustrating editing an initial map area according to an embodiment of the present invention;
FIG. 8 is another diagram illustrating editing an initial map area according to an embodiment of the present invention;
FIG. 9 is a schematic view of a selected spray application area according to an embodiment of the present invention;
FIG. 10 is a diagram illustrating a three-dimensional scene according to an embodiment of the present invention;
FIG. 11 is a diagram illustrating displaying identifiers in a three-dimensional scene according to an embodiment of the present invention;
FIG. 12 is a schematic diagram illustrating a three-dimensional scene displaying spraying control information according to an embodiment of the present invention;
FIG. 13 is a schematic diagram of displaying spray control information in a three-dimensional scene with displayed identifiers according to an embodiment of the present invention;
fig. 14 is a schematic structural diagram of a control device according to an embodiment of the present invention;
fig. 15 is a schematic structural diagram of a control system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present 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.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The control method and device, the surveying and mapping unmanned aerial vehicle and the spraying unmanned aerial vehicle provided by the embodiment of the invention can be applied to a scene that the spraying unmanned aerial vehicle performs spraying control on a plurality of target crops in a crop area. Fig. 1 is a schematic diagram of a surveying and mapping unmanned aerial vehicle provided by an embodiment of the present invention for surveying and mapping a target object area, and as shown in fig. 1, the surveying and mapping unmanned aerial vehicle 101 flies over the target area, and the target area is photographed by using a photographing device configured to the surveying and mapping unmanned aerial vehicle 101, so as to obtain a two-dimensional map. In which a target map area is included in the two-dimensional map, and a plurality of target crops are marked in the target map area, in some cases, the target crops may be any agricultural crops, further, the target crops may include trees, further, the trees may include fruit trees, tea trees, rubber trees, and the like, but the embodiments of the present invention are not limited thereto. Fig. 2 is a schematic view of an application scenario provided by an embodiment of the present invention, as shown in fig. 2, fig. 2 shows a mapping drone 101, a control device 102, a spraying drone 103, and a ground control terminal 104. The control device 102 is any device that can determine the spraying control information according to the two-dimensional map of the target area as described above, for example, the control device 102 may be a terminal device with a display screen, for example, one or more of a smart phone, a desktop computer, a laptop computer, and a wearable device (watch, bracelet), and the control device 102 is a computer for illustrative purposes, but the present invention is not limited thereto. The ground control terminal 104 of the spraying drone 103 may be one or more of a remote control, a smartphone, a desktop computer, a laptop computer, a wearable device (watch, bracelet). The embodiment of the present invention takes the ground control terminal 104 as the remote controller 1041 and the terminal device 1042 as an example for schematic illustration. The terminal device 1042 is, for example, a smart phone, a wearable device, a tablet computer, etc., but the embodiment of the present invention is not limited thereto. In some embodiments, the control device 102 and the terminal device 1042 may be the same device.
The surveying and mapping unmanned aerial vehicle 101 can acquire an image output by a shooting device, and acquire a two-dimensional map of a target area according to the image, wherein the two-dimensional map of the target area is used for determining spraying control information of the spraying unmanned aerial vehicle for spraying the target crops. The control device 102 may obtain a two-dimensional map of the target area from the mapping drone 101 through direct or indirect, wired communication, or wireless communication, and determine spraying control information according to the two-dimensional map, where the spraying control information is used to control spraying of the plurality of target crops in the target area by the spraying drone 103. In some cases, the control device 102 may acquire a two-dimensional map of the target area from other approaches than mapping the drone 101. The spraying drone 103 may obtain the spraying control information from the control device 102 by direct or indirect, wired or wireless communication, and perform spraying control on each target crop in the target crop area according to the spraying control information. In some embodiments, the control device 102 may send the spraying control information to the ground control terminal 104 of the spraying unmanned aerial vehicle 103, and the spraying unmanned aerial vehicle 103 is controlled by the ground control terminal 104 of the spraying unmanned aerial vehicle 103 to perform spraying control on the target crop according to the information for controlling the spraying unmanned aerial vehicle 103 to perform spraying operation. In certain embodiments, the control device 102 may send the spray control information to the spraying drone 103, and the spraying drone 103 may spray the target crop according to the spray control information, as shown in fig. 3.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Fig. 4 is a flowchart of a control method according to an embodiment of the present invention, and as shown in fig. 4, the method according to the embodiment may be applied to a control device, for example, and the method according to the embodiment may include:
s401, acquiring and displaying a two-dimensional map of the target area on a display device.
In this embodiment, the control device may obtain a two-dimensional map of a target area, where the target area may be an area specified by a user as needed, and the target area includes a target crop, optionally, the target crop is, for example, a tree, optionally, the tree is, for example, a fruit tree. The target crop of the present embodiment is not limited thereto.
The two-dimensional map of the target area is obtained from a captured image acquired while the mapping drone is flying over the target area. Wherein, survey and drawing unmanned aerial vehicle is last to be configured with the shooting device, and survey and drawing unmanned aerial vehicle is at the in-process of target area flight, and the shooting device that the survey and drawing unmanned aerial vehicle was last to be configured can shoot target area to obtain the shooting image of shooting device output. Alternatively, the mapping drone may fly within the target area following a pre-planned route. Wherein, this shooting device can be when surveying and drawing unmanned aerial vehicle flight, equidistant shooting or shoot with equal time.
Alternatively, the mapping drone, after obtaining the captured image, may generate a two-dimensional map of the target area from the captured image. The control device then obtains the two-dimensional map, and in one possible implementation, the control device receives the two-dimensional map sent by the surveying and mapping drone through a wireless communication connection or a wired communication connection, where the wired communication connection or the wireless communication connection communication may be direct communication, that is, point-to-point communication, or indirect communication, that is, communication through an intermediate device (for example, a ground control end of the surveying and mapping drone). In another possible implementation manner, the surveying and mapping drone stores the two-dimensional map in a storage device, and the control device acquires the two-dimensional map from the storage device. The storage device is, for example, a Secure Digital Memory Card (SD Card), but the present embodiment is not limited thereto, and the surveying and mapping drone may store the obtained two-dimensional map in the SD Card, and then the user pulls out the SD Card from the surveying and mapping drone and inserts the SD Card into the control device, and the control device obtains the two-dimensional map from the SD Card inserted therein.
Alternatively, after the mapping drone obtains the captured image, the control device may acquire the captured image, and then the control device generates a two-dimensional map of the target area from the captured image. How to acquire the shot image by the control device may refer to a description about how to acquire the two-dimensional map by the control device, which is not described herein again.
In this embodiment, the control device has a display device, and after the control device obtains the two-dimensional map of the target area, the two-dimensional map of the target area is displayed on the display device, so that a user can know the two-dimensional map of the target area through the display device. The two-dimensional map of the target area displayed on the display device is shown in fig. 5, and it should be noted that the two-dimensional map shown in fig. 5 is black and white, but in practical applications, the two-dimensional map displayed by the display device may be in color.
S402, determining a target map area corresponding to the target crop in the two-dimensional map.
In this embodiment, the control device may determine a target map area corresponding to the target crop in the two-dimensional map, where the target map area may be a map area where the target crop is planted in the two-dimensional map. The position information of the target map area corresponding to the target crop in the two-dimensional map may represent the position information of the target crop, and the size of the target map area may represent the horizontal size of the target crop.
The target map area is used for determining spraying control information, and the spraying control information is used for controlling spraying of the target crops by the spraying unmanned aerial vehicle. Optionally, the spraying control information includes a flight path between the target crops of the spraying unmanned aerial vehicle, the flight path is, for example, a broken line type air route, if the target crops are dense, the spraying unmanned aerial vehicle may not close the spray head on the flight path between the target crops, if the target crops are sparse, the spraying unmanned aerial vehicle may close the spray head on the flight path between the target crops, and open the spray head at the target crops. Optionally, the spraying control information includes a spraying mode of the spraying drone when spraying on each of the plurality of target crops. Optionally, the spraying control information includes a flight path between the target crops of the spraying drone and a spraying mode of the spraying drone when spraying each of the plurality of target crops.
Optionally, the spray pattern comprises one or more of a flight path, a spray amplitude, a flight speed, a spray density, a flight speed.
In some embodiments, one possible implementation manner of the foregoing S402 is: inputting the two-dimensional map into a preset recognition model to determine the target map area. The preset recognition model may be configured to recognize a target map area corresponding to the target crop, and the control device may input the two-dimensional map obtained in S401 into the preset recognition model, and may recognize the target map area corresponding to the target crop in the two-dimensional map to determine the target map area.
Optionally, the control device of this embodiment further acquires height information of the target area, where the height information is determined according to the captured image. Accordingly, one possible implementation manner of inputting the two-dimensional map into a preset recognition model to determine the target map area is as follows: inputting the height information and the two-dimensional map into the preset recognition model to determine the target map area. In this embodiment, the parallax information may be determined from the captured image, and then the height information of the target region, that is, the height map of the target region may be determined from the parallax information. The accuracy of determining the target map area in the two-dimensional map can be improved because the height information of the target area is also used when the target map area is identified.
And S403, displaying the identifier on the target map area in the two-dimensional map displayed by the display device.
In this embodiment, after determining the target map area, the control device displays an identifier on the target map area in the two-dimensional map displayed by the display device, where the identifier is any symbol that serves as an identifier, and may be one or more of a tile, a grid, a dot matrix, a number, and a letter. The user can quickly and intuitively determine which map areas in the two-dimensional map are target map areas through the identifiers displayed by the display device, as shown in fig. 6, a fruit tree is used as a target object, wherein the target map areas corresponding to the fruit tree display darker tiles, and in some embodiments, the identifiers are grids on the target map areas, and are not specifically limited herein.
In the embodiment, a two-dimensional map of a target area is acquired and displayed on a display device, wherein the target area comprises a target crop, and the two-dimensional map is acquired according to a shooting image acquired when a surveying and mapping unmanned aerial vehicle flies in the target area; determining a target map area corresponding to the target crop in the two-dimensional map, wherein the target map area is used for determining spraying control information, and the spraying control information is used for controlling a spraying unmanned aerial vehicle to spray the target crop; displaying an identifier on a target map area in a two-dimensional map displayed by the display device. Therefore, the user can quickly and intuitively determine the target map area in the two-dimensional map through the identification identifier, and the target map area is an area needing spraying operation, so that spraying control information can be obtained more intelligently and quickly, the spraying effect is improved, and the spraying efficiency is improved.
In some embodiments, the target area includes multiple types of target objects, including, for example: fruit trees, buildings, floors, water surfaces, utility poles, and the like. Wherein the plurality of types of target objects include the target crop. One possible implementation manner of the foregoing S402 is: and identifying multiple types of target objects in the two-dimensional map to determine a map area corresponding to the multiple types of target objects in the two-dimensional map. In this embodiment, multiple types of target objects in the two-dimensional map may be identified, so that map areas corresponding to the various types of target objects in the two-dimensional map may be determined. Alternatively, one possible implementation of identifying multiple types of target objects in a two-dimensional map is: and inputting the two-dimensional map into a preset recognition model to recognize multiple types of target objects in the two-dimensional map. Further, the height information of the target area and the two-dimensional map may also be input into a preset recognition model to recognize a plurality of types of target objects in the two-dimensional map.
Accordingly, one possible implementation manner of the above S403 is: and displaying identifiers corresponding to each type of target objects in the two-dimensional map displayed by the display equipment on a map area corresponding to the target objects, wherein different types of target objects adopt different kinds of identifiers. In this embodiment, after identifying multiple types of target objects in the two-dimensional map to determine map areas corresponding to the various types of target objects in the two-dimensional map, identifiers corresponding to each type of target object are displayed on the map area corresponding to each type of target object in the two-dimensional map displayed by the display device, for example: the identifier corresponding to the fruit tree is displayed in the map area corresponding to the fruit tree in the two-dimensional map displayed by the display device, the identifier corresponding to the building is displayed in the map area corresponding to the building in the two-dimensional map displayed by the display device, and the identifier corresponding to the water surface is displayed in the map area corresponding to the water surface in the two-dimensional map displayed by the display device. Because different types of target objects adopt different type identifiers, the user can quickly determine the map areas corresponding to the different types of target objects in the two-dimensional map by the different type identifiers displayed in the two-dimensional map in the display interface, as shown in fig. 6, for example.
Wherein the different category identifiers may comprise identifiers differing in at least one of color, shape, transparency, linearity, and dot pattern, for example. For example: different category identifiers may be distinguished by different colors or shapes or transparency, etc.
Optionally, the control device of this embodiment further detects an identifier display operation input by the user before displaying an identifier corresponding to each type of target object on a map area corresponding to the type of target object in the two-dimensional map displayed by the display device. Then, the control device displays, according to the identifier display operation, the identifier corresponding to each type of target object on the map area corresponding to each type of target object in the two-dimensional map displayed by the display device.
The control device detecting identifier display operation may be, for example: the control apparatus detects an identifier display operation through the interaction means. The interactive device can be an important component of the control terminal and is an interface for interacting with a user, and the user can control the control equipment by operating the interactive device; in this embodiment, when the user wants to display the identifier, the user performs an identifier display operation on the interaction device, and the interaction device detects the identifier display operation, so that the control terminal can detect the identifier display operation of the user through the interaction device. In some embodiments, the interaction device and the display device described above may be integrated into a touch display screen.
In some embodiments, one possible implementation manner of determining the target map area corresponding to the target crop in the two-dimensional map is as follows: determining an initial map area corresponding to the target crop in the two-dimensional map, displaying the initial target map area, and detecting a region editing operation of a user, wherein the editing operation is used for editing the initial map area; and determining a target map area according to the detected editing operation.
The control device of this embodiment may determine an initial map area corresponding to the target crop in the two-dimensional map, for example, the two-dimensional map may be input into a preset recognition model to determine the map area corresponding to the target crop, where the map area may be referred to as an initial map area; further, the height information of the target area and the two-dimensional map can be input into a preset identification model to determine a map area (i.e., an initial map area) corresponding to the target crop. The initial map area is displayed by the display device after the initial map area is determined. If the user needs to edit the initial map area, for example, the user considers that some target crops are not identified or some non-target crops are identified as target crops, the control device of this embodiment may detect the area editing operation by the user, and then determine the target map area according to the area editing operation, for example, as shown in fig. 7 or fig. 8. The area editing operation is, for example, an area adding operation, and the determined target map area includes an initial map area and is larger than the initial map area; the area editing operation is, for example, an area deleting operation, and the determined target map area is included in the initial map area and is smaller than the initial map area; the area editing operation is, for example, an area correction operation, and the specified target map area corrects an erroneous map area in the initial map area.
In some embodiments, the control device of the present embodiment further detects a calibration point determination operation input by the user; and determining the position information of the index point according to the index point determining operation, and sending the position information of the index point to the spraying unmanned aerial vehicle, wherein the position information of the index point is used for correcting the position of the spraying unmanned aerial vehicle when spraying.
In this embodiment, the control device may detect a position information determination operation input by the user based on the displayed two-dimensional map, and since each pixel point in the two-dimensional map may represent the position information of the corresponding position, the position information of the position may be determined according to the position information determination operation, as shown in fig. 9, and then the position information of the position is sent to the unmanned aerial vehicle. After spraying unmanned aerial vehicle and receiving the positional information of index point, can revise the position according to the positional information of this index point when spraying, revise the position of spraying the positioning device output in unmanned aerial vehicle according to the positional information of this index point promptly and in order to acquire the accurate position of spraying unmanned aerial vehicle to guarantee to spray the accuracy of spraying of unmanned aerial vehicle when spraying.
In some embodiments, the control device of this embodiment further generates, according to the target map area, spraying control information for spraying the target crop by the spraying drone; and displaying the spray control information. In this embodiment, the control device may generate, according to the determined target map area in the two-dimensional map, the spraying control information that the spraying unmanned aerial vehicle sprays the target crop in the target map area, and then display the spraying control information through the display device, for example, the spraying control information may be displayed on the target map area of the two-dimensional map displayed by the display device, which is not limited thereto in this embodiment.
In some embodiments, the control device of the present embodiment also acquires altitude information of the target area, which is determined from the captured image of the mapping drone described above. And then the control equipment inputs the height information of the target area and the two-dimensional map of the target area into the preset identification model, so that not only the target map area of the target crop can be determined, but also the height information of the target crop can be determined.
Accordingly, one possible implementation manner of the above-mentioned generation of the spraying control information is: and generating spraying control information for spraying the target crops by the spraying unmanned aerial vehicle according to the determined height information of the target crops and the target map area. If there is great difference in the height between the target crop, then the control information that sprays that generates can make spray unmanned aerial vehicle fly and spray with higher safe flying height.
In some embodiments, the control device further detects a spray work area selection operation by a user, and determines a spray area in the two-dimensional map according to the spray work area selection operation. Correspondingly, one possible implementation manner of generating the spraying control information that the spraying unmanned aerial vehicle sprays the target crop according to the target map area is as follows: and generating spraying control information for spraying the target crops by the spraying unmanned aerial vehicle according to the target map area in the spraying area.
In some application scenarios, for example, a user needs to spray a target object in a partial region of the target region, and thus the user can plan the spraying region. Accordingly, the control apparatus may detect a spray work area selection operation by the user, and determine a spray area in the two-dimensional map according to the spray work area operation, for example, as shown in fig. 9. After the spraying area is determined, the spraying control information generated by the control equipment is generated according to the target map area in the spraying area, and the spraying unmanned aerial vehicle sprays the target crops in the target map area in the spraying area according to the spraying control information.
In some embodiments, the control terminal of this embodiment further generates and displays a three-dimensional scene according to the two-dimensional map and the height information of the target area; accordingly, one possible implementation manner of displaying the spraying control information is as follows: displaying the spray control information in the three-dimensional scene. In this embodiment, after obtaining the height information of the target area, the control device may further generate a three-dimensional scene of the target area according to the height information of the target area and the two-dimensional map, and then display the three-dimensional scene through the display device, for example, as shown in fig. 10, and in some embodiments, may further display the identifier in the displayed three-dimensional scene, for example, as shown in fig. 11.
The control device may then, after determining the spray control information, also display the spray control information in a three-dimensional scene, for example as shown in fig. 12, so that the user knows how the spraying drone sprays the target crop. In some embodiments, the spray control information may also be displayed in a three-dimensional scene with an identifier displayed, for example, as shown in FIG. 13.
In some embodiments, the control device of the present embodiment further detects a spray control information adjustment operation of the user; and adjusting the spraying control information according to the spraying control information adjusting operation. In this embodiment, after the control device displays the spraying control information, if the user considers that the spraying control information is not appropriate, the control device may further adjust the spraying control information, and accordingly, the control device may detect a spraying control information adjustment operation of the user, and adjust the spraying control information according to the spraying control information adjustment operation. The control information that sprays after the adjustment can be so that spray unmanned aerial vehicle safer when spraying, perhaps consuming time the shortest, perhaps power consumption is the minimum, great improvement spray unmanned aerial vehicle spray efficiency.
In conclusion, a two-dimensional map of a target area is acquired and displayed on a display device, wherein the target area comprises a target crop, and the two-dimensional map is acquired according to a shooting image acquired when a surveying and mapping unmanned aerial vehicle flies on the target area; determining a target map area corresponding to the target crop in the two-dimensional map, wherein the target map area is used for determining spraying control information, and the spraying control information is used for controlling a spraying unmanned aerial vehicle to spray the target crop; displaying an identifier on a target map area in a two-dimensional map displayed by the display device. Therefore, the user can quickly and intuitively determine the target map area in the two-dimensional map through the identification identifier, and the target map area is an area needing spraying operation, so that spraying control information can be obtained more intelligently, the spraying effect is improved, and the spraying efficiency is improved. And after generating spraying control information, can also show this spraying control information for the user can learn the flight that sprays unmanned aerial vehicle rapidly and spray the route, in addition, can also adjust the spraying control information that shows as required, spray the effect in order to further improve, improve and spray efficiency, the guarantee sprays the operation security.
The embodiment of the present invention further provides a computer storage medium, in which program instructions are stored, and when the program is executed, the program may include some or all of the steps of the control method in fig. 4 and its corresponding embodiment.
Fig. 14 is a schematic structural diagram of a control device according to an embodiment of the present invention, and as shown in fig. 14, the control device 1400 of this embodiment may include: a processor 1401, and a display device 1402. The processor 1401 and the display device 1402 are connected via a bus. Optionally, the control device 1400 may further comprise an interaction means 1403, and the interaction means 1403 may be connected with the above components through a bus. Optionally, the control device 1400 may further include a communication means 1404, and the communication means 1404 may be connected to the above components through a bus.
The processor 1401 is configured to obtain a two-dimensional map of a target area, where the target area includes a target crop, and the two-dimensional map is obtained according to a captured image obtained when the mapping drone flies over the target area.
The display device 1402 is configured to display the two-dimensional map obtained by the processor 1401.
The processor 1401 is further configured to determine a target map area corresponding to the target crop in the two-dimensional map, where the target map area is used to determine spraying control information, and the spraying control information is used to control spraying of the target crop by a spraying unmanned aerial vehicle.
The display device 1402 is further configured to display the identifier on a target map area in the displayed two-dimensional map.
In some embodiments, the processor 1401, when determining the target map region corresponding to the target crop in the two-dimensional map, is specifically configured to: inputting the two-dimensional map into a preset recognition model to determine the target map area.
In some embodiments, the processor 1401 is further configured to obtain height information of the target area, wherein the height information is determined according to the captured image.
When the processor 1401 is configured to input the two-dimensional map into a preset recognition model to determine the target map region, specifically, to: inputting the height information and the two-dimensional map into the preset recognition model to determine the target map area.
In some embodiments, a plurality of types of target objects are included in the target area, wherein the plurality of types of target objects include the target crop.
When determining the target map area corresponding to the target crop in the two-dimensional map, the processor 1401 is specifically configured to: and identifying multiple types of target objects in the two-dimensional map to determine a map area corresponding to the multiple types of target objects in the two-dimensional map.
When the display device 1402 displays the identifier on the target map area in the displayed two-dimensional map, the display device is specifically configured to: and displaying identifiers corresponding to each type of target objects in the displayed two-dimensional map on a map area corresponding to the target objects, wherein different types of target objects adopt different type identifiers.
In some embodiments, the processor 1401, when determining the target map region corresponding to the target crop in the two-dimensional map, is specifically configured to:
determining an initial map area corresponding to the target crop in the two-dimensional map;
displaying the initial target map area;
determining a target map area according to the detected area editing operation of the user, wherein the area editing operation is used for editing the initial map area;
wherein the interaction means 1403 is used for detecting the region editing operation of the user.
In some embodiments, the interaction means 1403 is configured to detect a calibration point determination operation input by a user.
The processor 1401 is further configured to determine position information of the index point according to the index point determining operation.
The communication device 1404 is configured to send the position information of the index point to the spraying unmanned aerial vehicle, where the position information of the index point is used for correcting the position of the spraying unmanned aerial vehicle when spraying.
In some embodiments, the processor 1401 is further configured to generate, according to the target map area, spraying control information for spraying the target crop by a spraying drone.
The display device 1402 is configured to display the spraying control information.
In some embodiments, the processor 1401 is further configured to obtain height information of the target area, wherein the height information is determined according to the captured image.
When determining the target map area corresponding to the target crop in the two-dimensional map, the processor 1401 is specifically configured to: inputting the height information and the two-dimensional map into the preset recognition model to determine the height information of the target map area and the target crop.
When the processor 1401 is configured to generate, according to the target map area, spraying control information for spraying the target crop by the spraying unmanned aerial vehicle, specifically: and generating spraying control information for spraying the target crops by the spraying unmanned aerial vehicle according to the target map area and the height information of the target crops.
In some embodiments, the processor 1401 is further configured to generate a three-dimensional scene from the two-dimensional map and the height information of the target area.
The display device 1402 is further configured to display the three-dimensional scene.
When the display device 1402 displays the spraying control information, it is specifically configured to: displaying the spray control information in the three-dimensional scene.
In some embodiments, the interaction means 1403 is configured to detect a spraying operation area selection operation of a user, and determine a spraying area in the two-dimensional map according to the spraying operation area selection operation;
when the processor 1401 is configured to generate, according to the target map area, spraying control information for spraying the target crop by the spraying unmanned aerial vehicle, specifically: and generating spraying control information for spraying the target crops by the spraying unmanned aerial vehicle according to the target map area in the spraying area.
In some embodiments, the interaction means 1403 is used for detecting the spraying control information adjustment operation of the user.
The processor 1401 is further configured to adjust the spraying control information according to the spraying control information adjusting operation.
In some embodiments, the spray control information includes a flight path between spraying drones and the target crop.
In some embodiments, the spray control information includes a spray pattern of the spraying drone as it sprays each of the plurality of target crops.
In some embodiments, the spray pattern comprises one or more of a flight path, a spray amplitude, a flight speed, a spray density, a flight speed.
In some embodiments, the target crop is a tree.
In some embodiments, the tree is a fruit tree.
Optionally, the control device 1400 of this embodiment may further include: a memory (not shown) for storing program code, the control device 1400 being adapted to implement the above-mentioned solutions when the program code is executed.
The control device of this embodiment may be configured to execute the technical solution of the control device in each of the above method embodiments of the present invention, and the implementation principle and the technical effect are similar, which are not described herein again.
Fig. 15 is a schematic structural diagram of a control system according to an embodiment of the present invention, and as shown in fig. 15, the control system 1500 of this embodiment may include: surveying drone 1501, control device 1502 and spraying drone 1503.
The surveying and mapping unmanned aerial vehicle 1501 is used for acquiring a shot image during flying over a target area, and the shot image is used for determining a two-dimensional map of the target area;
the control device 1502 may adopt the structure of the embodiment shown in fig. 14, and accordingly, may execute the technical solution of the control device in each of the above method embodiments, and the implementation principle and the technical effect are similar, which are not described herein again.
The spraying unmanned aerial vehicle 1503 can acquire the spraying control information determined by the control device 1502 and spray the target crops according to the spraying control information. In one possible implementation, the spraying unmanned aerial vehicle 1503 receives the spraying control information sent by the control device 1502 through a wireless communication connection or a wired communication connection. In another possible implementation, the control device 1502 stores the spray control information in a storage device after determining the spray control information, and accordingly, the spray drone 1503 retrieves the spray control information from the storage device. The storage device is, for example, an SD card, and the control device may store the obtained spraying control information in the SD card, and then the user pulls out the SD card from the control device and inserts the SD card into the spraying drone 1503, and the spraying drone 1503 acquires the spraying control information from the SD card inserted therein.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: various media capable of storing program codes, such as a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, and an optical disk.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (32)
1. A control method, comprising:
acquiring and displaying a two-dimensional map of a target area on display equipment, wherein the target area comprises a target crop, and the two-dimensional map is acquired according to a shooting image acquired when a surveying and mapping unmanned aerial vehicle flies in the target area;
determining a target map area corresponding to the target crop in the two-dimensional map, wherein the target map area is used for determining spraying control information, and the spraying control information is used for controlling a spraying unmanned aerial vehicle to spray the target crop;
displaying an identifier on a target map area in a two-dimensional map displayed by the display device.
2. The method of claim 1, wherein the determining a target map area in the two-dimensional map corresponding to the target crop comprises:
inputting the two-dimensional map into a preset recognition model to determine the target map area.
3. The method of claim 2, further comprising:
acquiring height information of the target area, wherein the height information is determined according to the shot image;
the inputting the two-dimensional map into a preset recognition model to determine the target map area comprises:
inputting the height information and the two-dimensional map into the preset recognition model to determine the target map area.
4. The method according to any one of claims 1 to 3, wherein a plurality of types of target objects are included in the target area, wherein the plurality of types of target objects include the target crop;
the determining a target map area corresponding to the target crop in the two-dimensional map includes:
identifying multiple types of target objects in the two-dimensional map to determine map areas corresponding to the multiple types of target objects in the two-dimensional map;
displaying an identifier on a target map area in a two-dimensional map displayed by the display device, including:
and displaying identifiers corresponding to each type of target objects in the two-dimensional map displayed by the display equipment on a map area corresponding to the target objects, wherein different types of target objects adopt different kinds of identifiers.
5. The method according to any one of claims 1 to 4,
the determining a target map area corresponding to the target crop in the two-dimensional map comprises:
determining an initial map area corresponding to the target crop in the two-dimensional map;
displaying the initial target map area;
detecting a region editing operation of a user, wherein the region editing operation is used for editing the initial map region;
and determining a target map area according to the area editing operation.
6. The method of any one of claims 1-5, further comprising:
detecting a calibration point determination operation input by a user;
and determining the position information of the index point according to the index point determining operation, and sending the position information of the index point to the spraying unmanned aerial vehicle, wherein the position information of the index point is used for correcting the position of the spraying unmanned aerial vehicle when spraying.
7. The method of any one of claims 1-6, further comprising:
generating spraying control information for spraying the target crops by a spraying unmanned aerial vehicle according to the target map area;
and displaying the spraying control information.
8. The method of claim 7, further comprising:
acquiring height information of the target area, wherein the height information is determined according to the shot image;
the determining a target map area corresponding to the target crop in the two-dimensional map comprises:
inputting the height information and the two-dimensional map into a preset recognition model to determine the height information of the target map area and the target crop;
the generating of the spraying control information that the spraying unmanned aerial vehicle sprays the target crop according to the target map area comprises:
and generating spraying control information for spraying the target crops by the spraying unmanned aerial vehicle according to the target map area and the height information of the target crops.
9. The method of claim 8, further comprising:
generating and displaying a three-dimensional scene according to the two-dimensional map and the height information of the target area;
the displaying the spray control information includes:
displaying the spray control information in the three-dimensional scene.
10. The method of claim 8 or 9, further comprising:
detecting spraying operation area selection operation of a user, and determining a spraying area in the two-dimensional map according to the spraying operation area selection operation;
the generating of the spraying control information of the spraying unmanned aerial vehicle for spraying the target crop according to the target map area includes:
and generating spraying control information for spraying the target crops by the spraying unmanned aerial vehicle according to the target map area in the spraying area.
11. The method according to any one of claims 7-10, further comprising:
detecting a spraying control information adjusting operation of a user;
and adjusting the spraying control information according to the spraying control information adjusting operation.
12. The method of any one of claims 1-11, wherein the spray control information includes a flight path between spraying drones and the target crop.
13. The method of any one of claims 1-12, wherein the spray control information includes a spray pattern of the spraying drone when spraying each of the plurality of target crops.
14. The method of claim 13, wherein the spray pattern comprises one or more of a flight path, a spray amplitude, a flight speed, a spray density, a flight speed.
15. The method of any one of claims 1-14, wherein the target crop is a tree.
16. The method of claim 15, wherein the tree is a fruit tree.
17. A control apparatus, characterized by comprising: a processor and a display device;
the processor is used for acquiring a two-dimensional map of a target area, wherein the target area comprises a target crop, and the two-dimensional map is acquired according to a shooting image acquired when the surveying and mapping unmanned aerial vehicle flies in the target area;
the display device is used for displaying the two-dimensional map acquired by the processor;
the processor is further configured to determine a target map area corresponding to the target crop in the two-dimensional map, where the target map area is used to determine spraying control information used to control spraying of the target crop by a spraying unmanned aerial vehicle;
the display device is further configured to display the identifier on a target map area in the displayed two-dimensional map.
18. The control device according to claim 17, wherein the processor, when determining a target map area corresponding to the target crop in the two-dimensional map, is specifically configured to: inputting the two-dimensional map into a preset recognition model to determine the target map area.
19. The control apparatus of claim 18, wherein the processor is further configured to obtain height information of the target area, wherein the height information is determined from the captured image;
when the processor inputs the two-dimensional map into a preset recognition model to determine the target map area, the processor is specifically configured to: inputting the height information and the two-dimensional map into the preset recognition model to determine the target map area.
20. The control apparatus according to any one of claims 17 to 19, characterized in that a plurality of types of target objects are included in the target area, wherein the plurality of types of target objects include the target crop;
when determining the target map area corresponding to the target crop in the two-dimensional map, the processor is specifically configured to: identifying multiple types of target objects in the two-dimensional map to determine map areas corresponding to the multiple types of target objects in the two-dimensional map;
when the display device displays the identifier on the target map area in the displayed two-dimensional map, the display device is specifically configured to: and displaying identifiers corresponding to each type of target objects in the displayed two-dimensional map on a map area corresponding to the target objects, wherein different types of target objects adopt different type identifiers.
21. The control apparatus according to any one of claims 17 to 20,
when determining the target map area corresponding to the target crop in the two-dimensional map, the processor is specifically configured to:
determining an initial map area corresponding to the target crop in the two-dimensional map;
displaying the initial target map area;
and determining a target map area according to the detected area editing operation of the user, wherein the area editing operation is used for editing the initial map area.
22. The control apparatus according to any one of claims 17 to 21, characterized by further comprising: an interaction device and a communication device;
the interactive device is used for detecting the calibration point determination operation input by the user;
the processor is further configured to determine position information of the index point according to the detected index point determination operation;
the communication device is used for sending the position information of the index point to the spraying unmanned aerial vehicle, and the position information of the index point is used for correcting the position of the spraying unmanned aerial vehicle when spraying.
23. The control apparatus according to any one of claims 17 to 22,
the processor is further used for generating spraying control information for spraying the target crops by the spraying unmanned aerial vehicle according to the target map area;
the display device is used for displaying the spraying control information.
24. The control apparatus according to claim 23,
the processor is further configured to obtain height information of the target area, wherein the height information is determined according to the shot image;
when determining the target map area corresponding to the target crop in the two-dimensional map, the processor is specifically configured to: inputting the height information and the two-dimensional map into a preset recognition model to determine the height information of the target map area and the target crop;
when the processor generates the spraying control information for spraying the target crop by the spraying unmanned aerial vehicle according to the target map area, the processor is specifically configured to: and generating spraying control information for spraying the target crops by the spraying unmanned aerial vehicle according to the target map area and the height information of the target crops.
25. The control apparatus according to claim 24,
the processor is further used for generating a three-dimensional scene according to the two-dimensional map and the height information of the target area;
the display device is further used for displaying the three-dimensional scene;
when the display device displays the spraying control information, the display device is specifically configured to: displaying the spray control information in the three-dimensional scene.
26. The control apparatus according to claim 24 or 25, characterized by further comprising: an interaction device;
the interaction device is used for detecting the spraying operation area selection operation of a user and determining the spraying area in the two-dimensional map according to the spraying operation area selection operation;
when the processor generates the spraying control information for spraying the target crop by the spraying unmanned aerial vehicle according to the target map area, the processor is specifically configured to: and generating spraying control information for spraying the target crops by the spraying unmanned aerial vehicle according to the target map area in the spraying area.
27. The control apparatus according to any one of claims 23 to 25, characterized by further comprising: an interaction device;
the interaction device is used for detecting the spraying control information adjustment operation of a user;
the processor is further configured to adjust the spraying control information according to the spraying control information adjustment operation.
28. The control apparatus of any one of claims 17 to 27, wherein the spray control information comprises a flight path between spraying drones and the target crop.
29. The control apparatus of any one of claims 17-28, wherein the spray control information includes a spray pattern of the spraying drone when spraying each of the plurality of target crops.
30. The control apparatus of claim 29, wherein the spray pattern comprises one or more of a flight path, a spray amplitude, a flight speed, a spray density, a flight speed.
31. The control apparatus of any one of claims 17-30, wherein the target crop is a tree.
32. The control apparatus of claim 31, wherein the tree is a fruit tree.
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