CN111753615A

CN111753615A - Variable spraying method and device, electronic equipment and storage medium

Info

Publication number: CN111753615A
Application number: CN201911077610.0A
Authority: CN
Inventors: 吴奔; 王瑞成
Original assignee: Guangzhou Xaircraft Technology Co Ltd
Current assignee: Guangzhou Xaircraft Technology Co Ltd
Priority date: 2019-11-06
Filing date: 2019-11-06
Publication date: 2020-10-09

Abstract

The application relates to the technical field of plant protection unmanned aerial vehicles, and provides a variable spraying method and device, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring a multispectral image of a land parcel to be operated; processing the multispectral image to generate a prescription map of the land to be operated, wherein the prescription map is used for representing the crop health information in the land to be operated; and obtaining the actual spraying amount of each reference point on the operation route based on the prescription chart and the operation route planned in advance for the plot to be operated so that the unmanned aerial vehicle carries out variable spraying on the plot to be operated according to the actual spraying amount of each reference point. That is, make unmanned aerial vehicle spray the in-process according to waiting to operate the crop health information in the plot and carry out the variable and spray, like this after spraying, can effectively improve the crop growth condition, make the crop increase production bumper harvest.

Description

Variable spraying method and device, electronic equipment and storage medium

Technical Field

The application relates to the technical field of unmanned aerial vehicle plant protection, in particular to a variable spraying method and device, electronic equipment and a storage medium.

Background

Generally, farmland plant protection includes that traditional artifical laxative and unmanned aerial vehicle spray two kinds of modes, and traditional artifical laxative mode intensity of labour is big, the operating efficiency is low, and cause the heavy spray easily and leak and spout, and unmanned aerial vehicle sprays the mode and indicates that unmanned aerial vehicle evenly sprays along the air route that plans, the problem that exists in the artifical laxative mode of overcoming that can be fine. However, the growth of crops in agricultural fields may be different due to the influence of weeds, diseases and insect pests, and the like, and even spraying cannot meet the requirement for improving the growth of crops.

Disclosure of Invention

An object of the application is to provide a variable spraying method and device, electronic equipment and storage medium, which are used for solving the problem that the existing unmanned aerial vehicle spraying mode cannot carry out variable spraying according to the actual conditions of crops.

In order to achieve the above purpose, the embodiments of the present application employ the following technical solutions:

in a first aspect, the present application provides a variable spray method, the method comprising: acquiring a multispectral image of a land parcel to be operated; processing the multispectral image to generate a prescription map of the land parcel to be operated, wherein the prescription map is used for representing crop health information in the land parcel to be operated; and obtaining the actual spraying amount of each reference point on the operation route based on the square and the operation route planned in advance for the to-be-operated plot, so that the unmanned aerial vehicle carries out variable spraying on the to-be-operated plot according to the actual spraying amount of each reference point.

Further, the step of processing the multispectral image to generate a prescription map of the land parcel to be operated includes: acquiring the color value of each pixel point in the multispectral image; determining a color value interval to which the color value of each pixel point belongs according to a plurality of preset color value intervals; obtaining a health comparison value of each pixel point according to a one-to-one correspondence relationship between a plurality of preset color value intervals and a plurality of health comparison values; dividing the multispectral image into a plurality of grids, wherein each grid comprises a plurality of pixel points; and determining the health comparison value of the grid according to the health comparison value of each pixel point in the grid, wherein the health comparison values of all the grids form the prescription chart.

Further, the step of determining the health comparison value of the grid according to the health comparison value of each pixel point in the grid includes: counting the number of pixel points with the same health comparison value in the grid; and taking the health comparison value with the maximum number of the pixel points as the health comparison value of the grid.

Further, the step of obtaining the actual spraying amount of each reference point on the operation route based on the prescription chart and the operation route planned in advance for the to-be-operated plot comprises: acquiring the operation route and determining each reference point on the operation route, wherein the setting of the reference points is associated with the number of the grids; and based on each reference point, obtaining the actual spraying amount of each reference point on the operation route according to the health comparison values of all grids in the coverage area of the preset spraying amplitude.

Further, the plurality of healthy control values comprises a first healthy control value, the first healthy control value being indicative of the crop health information being unhealthy; the step of obtaining the actual spraying amount of each reference point on the operation route according to the health comparison values of all grids in the coverage area of the preset spraying amplitude based on each reference point comprises the following steps: and when the health comparison values of all grids in the coverage area of the preset spraying amplitude comprise the first health comparison value, increasing a first spraying amount on the basis of a preset spraying amount to obtain the actual spraying amount.

Further, the plurality of health control values further comprises a second health control value, the second health control value being indicative of the crop health information being sub-healthy; the step of obtaining the actual spraying amount of each reference point on the operation route according to the health comparison values of all grids in the coverage area of the preset spraying amplitude based on each reference point comprises the following steps: and when the health control values of all grids in the preset spray amplitude coverage area do not comprise the first health control value and comprise the second health control value, increasing a second spraying amount on the basis of the preset spraying amount to obtain the actual spraying amount, wherein the second spraying amount is smaller than the first spraying amount.

Further, the plurality of health control values further includes a third health control value and a fourth health control value, the third health control value indicates that the crop health information is healthy, and the fourth health control value indicates that the crop health information is good; the step of obtaining the actual spraying amount of each reference point on the operation route according to the health comparison values of all grids in the coverage area of the preset spraying amplitude based on each reference point comprises the following steps: and when the healthy control values of all grids in the preset spray amplitude coverage area do not comprise the first healthy control value and the second healthy control value, comprise the third healthy control value and the fourth healthy control value, and the grid number corresponding to the third healthy control value is larger than the grid number corresponding to the fourth healthy control value, taking the preset spray amount as the actual spray amount.

Further, based on each reference point, obtaining the actual spraying amount of each reference point on the operation route according to the health comparison values of all grids in the coverage area of the preset spraying range, wherein the step comprises the following steps: and when the healthy control values of all grids in the preset spray amplitude coverage area do not comprise the first healthy control value and the second healthy control value, comprise the third healthy control value and the fourth healthy control value, and the number of grids corresponding to the fourth healthy control value is larger than that of grids corresponding to the third healthy control value, reducing a third spray amount on the basis of the preset spray amount to obtain the actual spray amount, wherein the third spray amount is smaller than the first spray amount.

In a second aspect, the present application also provides a variable spray device, the device comprising: the acquisition module is used for acquiring a multispectral image of a land parcel to be operated; the processing module is used for processing the multispectral image to generate a prescription map of the land parcel to be operated, wherein the prescription map is used for representing the crop health information in the land parcel to be operated; and the execution module is used for obtaining the actual spraying amount of each reference point on the operation air route based on the prescription chart and the operation air route planned in advance for the to-be-operated plot so as to enable the unmanned aerial vehicle to carry out variable spraying on the to-be-operated plot according to the actual spraying amount of each reference point.

Further, the processing module is specifically configured to: acquiring the color value of each pixel point in the multispectral image; determining a color value interval to which the color value of each pixel point belongs according to a plurality of preset color value intervals; obtaining a health comparison value of each pixel point according to a one-to-one correspondence relationship between a plurality of preset color value intervals and a plurality of health comparison values; dividing the multispectral image into a plurality of grids, wherein each grid comprises a plurality of pixel points; and determining the health comparison value of the grid according to the health comparison value of each pixel point in the grid, wherein the health comparison values of all the grids form the prescription chart.

Further, the processing module executes the manner of determining the health comparison value of the grid according to the health comparison value of each pixel point in the grid, including: counting the number of pixel points with the same health comparison value in the grid; and taking the health comparison value with the maximum number of the pixel points as the health comparison value of the grid.

Further, the execution module is specifically configured to: acquiring the operation route and determining each reference point on the operation route, wherein the setting of the reference points is associated with the number of the grids; and based on each reference point, obtaining the actual spraying amount of each reference point on the operation route according to the health comparison values of all grids in the coverage area of the preset spraying amplitude.

Further, the plurality of healthy control values comprises a first healthy control value, the first healthy control value being indicative of the crop health information being unhealthy; the execution module executes the mode of obtaining the actual spraying amount of each reference point on the operation route according to the health comparison values of all grids in the preset spraying range coverage area based on each reference point, and the mode comprises the following steps: and when the health comparison values of all grids in the coverage area of the preset spraying amplitude comprise the first health comparison value, increasing a first spraying amount on the basis of a preset spraying amount to obtain the actual spraying amount.

Further, the plurality of health control values further comprises a second health control value, the second health control value being indicative of the crop health information being sub-healthy; the execution module executes the mode of obtaining the actual spraying amount of each reference point on the operation route according to the health comparison values of all grids in the preset spraying range coverage area based on each reference point, and the mode comprises the following steps: and when the health control values of all grids in the preset spray amplitude coverage area do not comprise the first health control value and comprise the second health control value, increasing a second spraying amount on the basis of the preset spraying amount to obtain the actual spraying amount, wherein the second spraying amount is smaller than the first spraying amount.

Further, the plurality of health control values further includes a third health control value and a fourth health control value, the third health control value indicates that the crop health information is healthy, and the fourth health control value indicates that the crop health information is good; the execution module executes the mode of obtaining the actual spraying amount of each reference point on the operation route according to the health comparison values of all grids in the preset spraying range coverage area based on each reference point, and the mode comprises the following steps: and when the healthy control values of all grids in the preset spray amplitude coverage area do not comprise the first healthy control value and the second healthy control value, comprise the third healthy control value and the fourth healthy control value, and the grid number corresponding to the third healthy control value is larger than the grid number corresponding to the fourth healthy control value, taking the preset spray amount as the actual spray amount.

Further, the executing module executes the manner of obtaining the actual spraying amount of each reference point on the working route according to the health comparison values of all grids in the coverage area of the preset spraying amplitude based on each reference point, and the manner comprises the following steps: and when the healthy control values of all grids in the preset spray amplitude coverage area do not comprise the first healthy control value and the second healthy control value, comprise the third healthy control value and the fourth healthy control value, and the number of grids corresponding to the fourth healthy control value is larger than that of grids corresponding to the third healthy control value, reducing a third spray amount on the basis of the preset spray amount to obtain the actual spray amount, wherein the third spray amount is smaller than the first spray amount.

In a third aspect, the present application further provides an electronic device, including: one or more processors; a memory for storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the variable spraying method described above.

In a fourth aspect, the present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the variable spraying method described above.

Compared with the prior art, the variable spraying method and device, the electronic equipment and the storage medium provided by the application have the advantages that the multispectral image of the land to be operated is obtained and processed into the prescription chart representing the crop health information in the land to be operated; and then based on the square chart and the operation route, the actual spraying amount of each reference point on the operation route is obtained, and the unmanned aerial vehicle carries out variable spraying on the land to be operated according to the actual spraying amount of each reference point, namely, the variable spraying is carried out according to the crop health information in the land to be operated in the spraying process, so that the growth condition of crops can be effectively improved after the spraying, and the yield of the crops is increased.

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 shows a schematic flow chart of a variable spraying method provided in an embodiment of the present application.

Fig. 2 shows another schematic flow chart of a variable spraying method provided in an embodiment of the present application.

Fig. 3 shows an example diagram of a color value interval provided in an embodiment of the present application.

Fig. 4 shows an exemplary diagram of a grid provided by an embodiment of the present application.

FIG. 5 illustrates an example diagram of reference points provided by embodiments of the present application.

Fig. 6 shows another schematic flow chart of a variable spraying method provided in the embodiment of the present application.

FIG. 7 illustrates another example diagram of reference points provided by embodiments of the present application.

Fig. 8 is a diagram illustrating an example of a preset spray coverage area provided by an embodiment of the present application.

Fig. 9 is a diagram illustrating another example of a preset spray width coverage area provided by an embodiment of the present application.

Fig. 10 is a diagram illustrating another example of a preset spray pattern coverage area provided by an embodiment of the present application.

Fig. 11 is a diagram illustrating another example of a preset nozzle coverage area provided by an embodiment of the present application.

Fig. 12 is a block diagram illustrating a variable spraying apparatus provided in an embodiment of the present application.

Fig. 13 shows a block schematic diagram of an electronic device provided in an embodiment of the present application.

Icon: 10-an electronic device; 11-a processor; 12-a memory; 13-a bus; 100-variable spray device; 101-an acquisition module; 102-a processing module; 103-execution module.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.

In agricultural production, pest and weed problems greatly affect crop yield, and thus, in order to secure and promote crop growth, pesticides are generally used to kill or weed. At present, the most common pesticide application mode in China is traditional manual pesticide spraying, namely, pesticide is sprayed to crops while walking by carrying a pesticide box on the back of people, the pesticide has great harm to human bodies, meanwhile, the manual pesticide spraying is high in labor intensity and low in operation efficiency, the use dosage of the pesticide cannot be effectively controlled, and re-spraying and leaking spraying are easily caused.

Along with the promotion of agricultural modernization, unmanned aerial vehicle is carried out the plant protection operation by more and more application in the agricultural, for example, sprays insecticide etc. and unmanned aerial vehicle sprays the problem that exists in overcoming artifical laxative that can be fine. Generally, unmanned aerial vehicle can spray according to the volume of spraying of predetermineeing per mu accurately, also evenly sprays along the operation route that plans to spray the pesticide evenly in the farmland.

However, due to the influence of weeds, diseases and insect pests, the growth conditions of crops in farmlands may be different, for example, the diseases and insect pests are serious in a certain area, the crops grow unhealthy, and the spraying amount of pesticides needs to be increased to kill insects; while another area is not affected by the pest, the crop is healthy, it is necessary to reduce the amount of pesticide sprayed to avoid abuse of the pesticide, etc. Therefore, even spraying cannot meet the requirement of improving the growth condition of crops, namely, variable spraying cannot be carried out on corresponding areas according to different conditions of crop growth or plant diseases and insect pests.

In order to solve the above problems, in the embodiment of the present application, a multispectral image of a to-be-operated land is obtained, the multispectral image is processed into a prescription map representing crop health information in the to-be-operated land, then, based on the prescription map and an operation route, actual spraying amounts of various reference points on the operation route are obtained, and an unmanned aerial vehicle is enabled to perform variable spraying on the to-be-operated land according to the actual spraying amounts of the various reference points, that is, variable spraying is performed according to the crop health information in the to-be-operated land in a spraying process, so that a crop growth condition is improved, and crops are increased in yield and harvest, which is described in detail below.

Referring to fig. 1, fig. 1 is a schematic flow chart illustrating a variable spraying method according to an embodiment of the present disclosure. The variable spraying method is applied to electronic equipment, the electronic equipment can be a terminal, a server, a ground workstation, an unmanned aerial vehicle and the like, the terminal can be a smart phone, a tablet personal computer, a portable notebook computer, a desktop computer and the like, and the variable spraying method comprises the following steps:

and S101, acquiring a multispectral image of the land to be operated.

In this embodiment, the to-be-operated land is a land which needs to be sprayed by the unmanned aerial vehicle, and the to-be-operated land can be obtained by plant protection operators through clicking or selecting corresponding areas in the electronic map in a frame mode.

Generally, the spectral response interval of a common color camera is the visible light interval that can be recognized by human eyes, and includes 3 bands of blue (400-. The conventional multispectral camera has 4 bands, namely blue (400-. Meanwhile, the vegetation has strong green light reflectivity and weak red light and blue light reflectivity in a visible light waveband, and has stronger reflection characteristics in a near infrared waveband compared with the visible light waveband, the spectral difference of most of the vegetation in the visible light waveband is small, the spectral difference in the near infrared waveband is large, the spectral difference is larger, and the vegetation is also favorably classified, so that a multispectral camera is usually selected for vegetation extraction and classification.

For example, taking green plants as an example, the plants with good growth are green, and the plants with poor growth are yellowish, if the plants are shot by a color camera, the green and yellowish colors in the obtained image are not obvious, and the plants with good growth and the plants with poor growth can not be classified according to the image; and by adopting the multispectral camera, the well-grown plants reflect green light and near infrared light and absorb blue light and red light, and the poorly-grown plants do not reflect the green light and the near infrared light any more, so that the well-grown plants and the poorly-grown plants in the obtained multispectral image can show obviously different colors.

The multispectral image is obtained by firstly adopting a multispectral camera carried by a surveying and mapping unmanned aerial vehicle to carry out aerial survey on a land to be operated to obtain multispectral data, and sending the multispectral data to a server/ground workstation, and then processing the multispectral data by software through the server/ground workstation. Generally, the server/ground workstation may process the multispectral data into two-color or multi-color multispectral images, such as red-green two-color, blue-green two-color, and the like, and the specific color mode may be flexibly selected by the plant protection operator according to the actual crop of the land parcel to be operated, which is not limited herein.

Taking a green plant as an example, the green color seems to be green because human eyes receive green light reflected by the green plant, meanwhile, near infrared light can not provide enough energy for photosynthesis, so the plant also reflects near infrared light, therefore, healthy plants reflect green light and near infrared light and absorb blue light and red light, and when the plant is sick, the green light and the near infrared light are not reflected any more.

And S102, processing the multispectral image to generate a prescription map of the land to be operated, wherein the prescription map is used for representing the crop health information in the land to be operated.

In this embodiment, due to the influence of crop growth, color values of each pixel point in the multispectral image may be different, for example, the color value of the pixel point a is (G:60, R:240), the color value of the pixel point B is (G:180, R:180), and the like, and many pixel points with different color values may display the same color, and meanwhile, in practical application, the set spray width of the unmanned aerial vehicle is in meters (e.g., 3m), and it is obviously unreasonable to determine the spray amount according to the color value of a single pixel point. Therefore, each pixel point in the multispectral image can be classified according to the color displayed in the multispectral image, and the pixel points displaying the same color are divided into one pixel area, so that a prescription map of the land to be operated is obtained, that is, the prescription map can comprise a plurality of pixel areas, each pixel area comprises the pixel points displaying the same color, and the colors can be used for representing the crop health information in the land to be operated, for example, the multispectral image with red and green colors is taken as an example, the red, orange, yellow and green colors displayed by the multispectral image sequentially represent that the crop health information is unhealthy, sub-healthy, healthy and high-quality.

As an embodiment, in order to facilitate the determination of the subsequent actual spraying amount, the prescription chart may include a plurality of grids with equal sizes, each grid includes a plurality of pixel points, and the colors of most of the pixel points in the grids are the same, for example, taking a multispectral image with two colors of red and green as an example, the color of most of the pixel points in the grids is red, or orange, or yellow, or green, so, referring to fig. 2, step S102 may include:

and a substep S1021, obtaining the color value of each pixel point in the multispectral image.

In this embodiment, the color value of the pixel refers to a color value corresponding to the color value of the pixel in a specific color mode, for example, if the multispectral image is red-green, the color value of the pixel includes a G value and an R value in the red-green color mode, such as (G:60, R: 240).

In the substep S1022, the color value interval to which the color value of each pixel belongs is determined according to a plurality of preset color value intervals.

In this embodiment, the crop health information in the land to be worked may include unhealthy, sub-healthy, and quality, and for convenience of calculation, a plurality of health control values may be set in advance, and one health control value is used to represent one crop health information, for example, a plurality of health control values including 1, 2, 3, and 4 are set to represent the crop health information as unhealthy, sub-healthy, and quality, respectively.

Because many pixel points with different color values in the multispectral image can display the same color, namely the growth conditions of crops are similar, therefore, the color values of each pixel point in the multispectral image can be divided into color value intervals, one color value interval corresponds to one type of color, and the color value interval can be determined by a plant protection operator according to the color mode of the multispectral image, for example, the multispectral image is red and green, see fig. 3, representing 4 color value intervals by 1, 2, 3 and 4, respectively corresponding to red, orange, yellow and green, further determining 4 color value interval ranges according to the division result, and the like, such as 1(G < 85, R < 255, and G: R < 5:17), 2(G < 170, R < 255, and 5:17 < G: R < 1:1), 3(G > 170, R < 170), 4(G < 255, R < 170, and G: R < 1:1), and the like.

Meanwhile, in order to obtain the health control value of each pixel point in the multispectral image, a health control value corresponding to a color value interval needs to be preset, for example, the color value intervals corresponding to the

health control values

1, 2, 3 and 4 are sequentially set to be 1(G is less than 85, R is less than 255, and G is R is less than 5:17), 2(G is less than 170, R is less than 255, and 5:17 is less than G: R is 1:1), 3(G is 170, R is 170), 4(G is less than 255, R is less than 170, and G is R is greater than 1:1), and for convenience of understanding, the corresponding relationship among the color value interval, the health control value and the health crop information is given as shown in the following table 1:

TABLE 1

Color value interval	Healthy control value	Crop health information
			G ≦ 85, R ≦ 255, and G: R ≦ 5:17	1	Unhealthy
G < 170 >, R < 255, and 5:17 < G: R < 1:1	2	Sub-health
			G﹥170,R﹥170	3	Health care
G ≦ 255, R ≦ 170, and G: R ≧ 1:1	4	High quality

Based on the above setting, after the color value of each pixel point is obtained, the color value interval to which the color value of each pixel point belongs can be determined according to a plurality of preset color value intervals, for example, if the color value of the pixel point a is (G:60, R:240), the color value interval to which the color value of the pixel point a belongs can be determined to be 1(G ≦ 85, R ≦ 255, and G: R ≦ 5: 17).

And a substep S1023 of obtaining the health comparison value of each pixel point according to the one-to-one correspondence relationship between the preset color value intervals and the health comparison values.

In this embodiment, after obtaining the color value interval to which the color value of each pixel belongs, the health comparison value of each pixel can be further determined according to the preset corresponding relationship between the color value interval and the health comparison value, for example, if the color value interval to which the color value of the pixel a belongs is 1(G ≦ 85, R ≦ 255, and G: R ≦ 5:17), then according to table 1, it can be determined that the health comparison value of the pixel a is 1, and the corresponding crop health information is unhealthy.

And a substep S1024 of dividing the multispectral image into a plurality of grids, wherein each grid comprises a plurality of pixel points.

In practical application, the set spray width of the unmanned aerial vehicle is in meters (for example, 3m), the spray amount is determined according to the health comparison value of a single pixel, the data amount is huge and unreasonable, therefore, in order to reduce the data amount for storage and processing, the multispectral image can be divided into a plurality of grids with equal size, the size of the grids can be determined by plant protection operators according to the set spray width of the unmanned aerial vehicle, for example, the set spray width of the unmanned aerial vehicle is 3m, the coverage of the single-side spray width is 1.5m, the side length of the grids can be set to be 0.5m, no limitation is made here, each grid comprises a plurality of pixels, and as shown in fig. 4, 2 grids are divided.

And a substep S1025 of determining the health comparison value of the grid according to the health comparison value of each pixel point in the grid, wherein the health comparison values of all the grids form a prescription chart.

In this embodiment, the health comparison values of the grid may be determined according to the health comparison values of all the pixels in the grid, and the health comparison values of all the grids form a prescription chart, for example, first, the average health comparison value of all the pixels in the grid, such as 2.15, is calculated according to the health comparison values of all the pixels in the grid; then, since the smaller the healthy control value is, the less the characterized crop health information is, the average healthy control value obtained can be rounded down to obtain the healthy control value of the grid, e.g., the healthy control value of the grid

A healthy control value of 2 was obtained for the grid.

As another embodiment, the process of determining the health comparison value of the grid according to the health comparison value of each pixel point in the grid may further include: firstly, counting the number of pixels having the same health comparison value in the grid, for example, 83 pixels having a health comparison value of 4 and 17 pixels having a health comparison value of 3 in the grid on the left side of fig. 4; then, the healthy comparison value with the largest number of pixels is used as the healthy comparison value of the grid, for example, the healthy comparison value of the left grid in fig. 4 is 4, and the healthy comparison value of the right grid is 2.

And S103, obtaining the actual spraying amount of each reference point on the operation route based on the prescription chart and the operation route planned in advance for the plot to be operated, so that the unmanned aerial vehicle performs variable spraying on the plot to be operated according to the actual spraying amount of each reference point.

In this embodiment, unmanned aerial vehicle sprays the in-process, can fly according to the operation route that plans in advance, and the operation route can cover whole the plot of waiting to operate usually, and in order to ensure that unmanned aerial vehicle can spray the pesticide to each corner of the plot of waiting to operate, just need set for each reference point in the plot of waiting to operate, and calculate the corresponding actual volume of spraying of each reference point, unmanned aerial vehicle just can treat the spraying of plot of operating according to the corresponding actual volume of spraying of each reference like this.

The reference points are usually set on the operation flight line, and a certain interval is provided between two adjacent reference points, the interval may be 1 meter, 0.5 meter, 0.1 meter, etc., and the size of the interval may be flexibly set by the user according to the actual situation of the land parcel to be operated, which is not limited herein, for example, please refer to fig. 5, and the black origin in fig. 5 is the set reference point.

In this embodiment, the actual spraying amount of each reference point on the working route may be the sum of the uniform spraying amount of each reference point and the spraying amount which needs to be increased or decreased of each reference point, and the sum is combined to the square, and since the square is used for representing the crop health information in the land to be worked, the actual spraying amount of each reference point on the working route may be determined according to the square, for example, when the crop health information is unhealthy or sub-healthy, the spraying amount is increased on the basis of the uniform spraying amount, and the increased spraying amount when the unhealthy is greater than the increased spraying amount when the unhealthy is; when the crop health information is healthy, the uniform spraying amount is kept unchanged; when the crop health information is good, the spraying amount is reduced on the basis of the uniform spraying amount.

The prescription chart includes a plurality of grids, each grid has a corresponding health comparison value, so that the spraying amount of each reference point on the working route can be determined according to the health comparison value of each grid and the pre-planned working route, referring to fig. 6, step S103 may include:

and a substep S1031 of obtaining a working route and determining each reference point on the working route, wherein the setting of the reference points is associated with the number of the grids.

In the present embodiment, to facilitate the subsequent determination of the actual spraying amount of each reference point, the interval between two adjacent reference points may be set to be associated with the number of grids, and the interval between two adjacent reference points may be set to be 1 or more grids, for example, please refer to fig. 7, where the interval between the reference point a and the reference point B is 1 grid.

And a substep S1032 of obtaining the actual spraying amount of each reference point on the operation route according to the health comparison values of all grids in the coverage area of the preset spraying amplitude based on each reference point.

In this embodiment, since the spraying ranges of the left and right sides of the unmanned aerial vehicle during spraying are symmetrical, for example, if the set spraying range of the unmanned aerial vehicle is 3m, the coverage ranges of the single-sided spraying ranges of the left and right sides are 1.5m, and if the length of the grid side is 0.5m, the left and right sides can respectively cover 3 or more grid areas, as shown in fig. 7, the right side covers grids a1, b1 and c1, and the left side covers grids a2, b2 and c 2.

Simultaneously, unmanned aerial vehicle's shower nozzle also is left and right sides symmetry setting, and the volume of spraying of shower nozzle about can independently adjusting in flight process, and the definite mode of the actual volume of spraying of the left and right sides is unanimous, consequently, this embodiment uses the unilateral as an example, describes the process of confirming the actual volume of spraying according to the healthy contrast value of all grids in the unilateral range of coverage. That is, the preset spraying swath coverage area refers to a single-side spraying swath coverage area of the unmanned aerial vehicle, for example, the right-side area in fig. 7, the coverage grids a1, b1, and c1, and the actual spraying amount of each reference point refers to a single-side spraying amount of each reference point, for example, the actual spraying amount on the right side of the reference point a in fig. 7.

In this embodiment, the crop health information in the to-be-worked area may include unhealthy, sub-healthy, and high quality, and for convenience of calculation, a plurality of health control values are preset, where the plurality of health control values include a first health control value, a second health control value, a third health control value, and a fourth health control value, that is, the

health control values

1, 2, 3, and 4 described above, the first health control value indicates that the crop health information is unhealthy, the second health control value indicates that the crop health information is sub-healthy, the third health control value indicates that the crop health information is healthy, and the fourth health control value indicates that the crop health information is high quality, and the following description will be given by taking an example of determining an actual spraying route of any one reference point on the work.

In one embodiment, when the health control values of all the grids in the coverage area of the preset spraying amplitude include a first health control value, the first spraying amount is increased on the basis of the preset spraying amount to obtain the actual spraying amount.

That is, if the health comparison values of all the grids in the coverage area of the preset spraying width include the health comparison value 1, it indicates that the corresponding area needs to be protected in a critical manner, the actual spraying amount is equal to the sum of the preset spraying amount and the first spraying amount, the first spraying amount may be 50% of the preset spraying amount, and the preset spraying amount refers to the spraying amount of each reference point under the condition of uniform spraying. For example, referring to fig. 8, if there are 3 grids in the coverage of the single-side spraying swath and the corresponding health control values are 4, 1, and 3, respectively, the spraying swath is kept unchanged, and 50% of spraying amount is increased on the basis of uniform spraying amount, thereby achieving the important protection for this area.

As another embodiment, when the healthy control values of all the grids in the coverage area of the preset spraying amplitude do not include the first healthy control value and include the second healthy control value, the second spraying amount is increased on the basis of the preset spraying amount to obtain the actual spraying amount, wherein the second spraying amount is smaller than the first spraying amount.

That is, if the healthy control value of all the grids in the coverage area of the preset spraying width does not include the healthy control value 1 and includes the healthy control value 2, it indicates that the corresponding area needs to be properly protected, the actual spraying amount is equal to the sum of the preset spraying amount and the second spraying amount, and the second spraying amount is smaller than the first spraying amount, for example, the second spraying amount may be 25% of the preset spraying amount. For example, referring to fig. 9, if there are 3 grids in the coverage of the single-side spraying swath and the corresponding health control values are 2, and 3, respectively, the spraying swath is kept unchanged, and 25% of spraying amount is increased on the basis of uniform spraying amount, so as to achieve proper protection enhancement for this area.

As another embodiment, when the healthy control values of all the grids in the preset spray width coverage area do not include the first healthy control value and the second healthy control value, include the third healthy control value and the fourth healthy control value, and the number of grids corresponding to the third healthy control value is greater than the number of grids corresponding to the fourth healthy control value, the preset spray amount is used as the actual spray amount.

That is, if the healthy control values of all the grids in the preset spray width coverage area do not include the

healthy control values

1 and 2, include the

healthy control values

3 and 4, and the number of the grids corresponding to the healthy control value 3 is greater than the number of the grids corresponding to the healthy control value 4, it indicates that the corresponding area needs normal protection, i.e. the uniform spray amount of the area is maintained. For example, referring to fig. 10, if there are 3 grids in the coverage of the single-side spraying swath and the corresponding health control values are 3, 4, and 3, respectively, the normal spraying amount in the area is maintained, so as to achieve the normal protection for the area.

As another embodiment, when the healthy control values of all the grids in the preset spray width coverage area do not include the first healthy control value and the second healthy control value, include the third healthy control value and the fourth healthy control value, and the number of grids corresponding to the fourth healthy control value is greater than the number of grids corresponding to the third healthy control value, the third spray amount is reduced on the basis of the preset spray amount to obtain the actual spray amount, wherein the third spray amount is smaller than the first spray amount.

That is, if the healthy control values of all the grids in the coverage area of the preset spraying width do not include the

healthy control values

1 and 2, the

healthy control values

3 and 4 are included, and the number of the grids corresponding to the healthy control value 4 is greater than the number of the grids corresponding to the healthy control value 3, it indicates that the corresponding area needs to be protected less, the actual spraying amount is equal to the difference between the preset spraying amount and a third spraying amount, the third spraying amount is less than the first spraying amount, and for example, the second spraying amount may be 25% of the preset spraying amount. For example, referring to fig. 11, if there are 3 grids in the coverage of the single-side spraying swath and the corresponding health control values are 3, 4, and 4, respectively, the spraying swath is kept unchanged, and the spraying amount is reduced by 25% on the basis of the uniform spraying amount, so as to achieve the reduction protection of the area.

In this embodiment, after determining the actual volume of spraying of each reference point on the operation route, send the actual volume of spraying of each reference point to unmanned aerial vehicle's flight control unit, after plant protection operating personnel started unmanned aerial vehicle, unmanned aerial vehicle can treat the operation parcel according to the actual volume of spraying of each reference point on operation route and the operation route and carry out the variable and spray.

In order to perform the corresponding steps in the above method embodiments and in each possible embodiment, an implementation of the variable spraying device is given below. Referring to fig. 12, fig. 12 is a block diagram illustrating a variable spraying apparatus 100 according to an embodiment of the present disclosure. The variable spray device 100 is applied to an electronic apparatus, and the variable spray device 100 includes: an acquisition module 101, a processing module 102 and an execution module 103.

The acquisition module 101 is configured to acquire a multispectral image of a land parcel to be operated.

The processing module 102 is configured to process the multispectral image to generate a prescription map of the to-be-operated land, where the prescription map is used to represent the crop health information in the to-be-operated land.

Optionally, the processing module 102 is specifically configured to: acquiring the color value of each pixel point in the multispectral image; determining a color value interval to which the color value of each pixel point belongs according to a plurality of preset color value intervals; obtaining a health comparison value of each pixel point according to a one-to-one correspondence relationship between a plurality of preset color value intervals and a plurality of health comparison values; dividing the multispectral image into a plurality of grids, wherein each grid comprises a plurality of pixel points; and determining the health comparison value of the grid according to the health comparison value of each pixel point in the grid, wherein the health comparison values of all the grids form a prescription chart.

Optionally, the processing module 102 executes a manner of determining the health comparison value of the grid according to the health comparison value of each pixel point in the grid, including: counting the number of pixel points with the same health comparison value in the grid; and taking the health comparison value with the maximum number of pixel points as the health comparison value of the grid.

And the execution module 103 is used for obtaining the actual spraying amount of each reference point on the operation route based on the prescription chart and the operation route planned in advance for the to-be-operated plot, so that the unmanned aerial vehicle performs variable spraying on the to-be-operated plot according to the actual spraying amount of each reference point.

Optionally, the execution module 103 is specifically configured to: acquiring an operation route and determining each reference point on the operation route, wherein the setting of the reference points is associated with the number of grids; and based on each reference point, obtaining the actual spraying amount of each reference point on the operation route according to the health comparison values of all grids in the coverage area of the preset spraying amplitude.

Optionally, the plurality of healthy control values comprises a first healthy control value, the first healthy control value being indicative of the crop health information being unhealthy; the execution module 103 executes a mode of obtaining the actual spraying amount of each reference point on the operation route according to the health comparison values of all grids in the coverage area of the preset spraying range based on each reference point, and the mode comprises the following steps: and when the health comparison values of all the grids in the coverage area of the preset spraying amplitude comprise the first health comparison value, increasing the first spraying amount on the basis of the preset spraying amount to obtain the actual spraying amount.

Optionally, the plurality of health control values further comprises a second health control value, the second health control value being indicative of the crop health information being sub-healthy; the execution module 103 executes a mode of obtaining the actual spraying amount of each reference point on the operation route according to the health comparison values of all grids in the coverage area of the preset spraying range based on each reference point, and the mode comprises the following steps: and when the health control values of all grids in the coverage area of the preset spraying amplitude do not comprise the first health control value and comprise the second health control value, increasing the second spraying amount on the basis of the preset spraying amount to obtain the actual spraying amount, wherein the second spraying amount is smaller than the first spraying amount.

Optionally, the plurality of health control values further includes a third health control value and a fourth health control value, the third health control value indicates that the crop health information is healthy, and the fourth health control value indicates that the crop health information is good; the execution module 103 executes a mode of obtaining the actual spraying amount of each reference point on the operation route according to the health comparison values of all grids in the coverage area of the preset spraying range based on each reference point, and the mode comprises the following steps: and when the health control values of all grids in the preset spray amplitude coverage area do not comprise the first health control value and the second health control value, comprise the third health control value and the fourth health control value, and the number of the grids corresponding to the third health control value is larger than the number of the grids corresponding to the fourth health control value, taking the preset spray amount as the actual spray amount.

Optionally, the executing module 103 executes a manner of obtaining the actual spraying amount of each reference point on the working route according to the health comparison values of all grids in the preset spraying width coverage area based on each reference point, including: and when the health control values of all grids in the preset spray amplitude coverage area do not comprise the first health control value and the second health control value, comprise the third health control value and the fourth health control value, and the number of the grids corresponding to the fourth health control value is larger than that of the grids corresponding to the third health control value, reducing the third spraying amount on the basis of the preset spraying amount to obtain the actual spraying amount, wherein the third spraying amount is smaller than the first spraying amount.

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the variable spraying device 100 described above may refer to the corresponding process in the foregoing method embodiment, and will not be described herein again.

Referring to fig. 13, fig. 13 is a block diagram illustrating an electronic device 10 according to an embodiment of the present disclosure. The electronic device 10 includes a processor 11, a memory 12, and a bus 13, and the processor 11 is connected to the memory 12 through the bus 13.

The memory 12 is used for storing a program, such as the variable spraying device 100 shown in fig. 12, the variable spraying device 100 includes at least one software function module which can be stored in the memory 12 in the form of software or firmware (firmware) or is solidified in an Operating System (OS) of the electronic device 10, and the processor 11 executes the program to implement the variable spraying method disclosed in the above embodiment after receiving an execution instruction.

The Memory 12 may include a Random Access Memory (RAM) and may also include a non-volatile Memory (NVM).

The processor 11 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 11. The processor 11 may be a general-purpose processor, and includes a Central Processing Unit (CPU), a Micro Control Unit (MCU), a Complex Programmable Logic Device (CPLD), a Field Programmable Gate Array (FPGA), and an embedded ARM.

The embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by the processor 11, implements the variable spraying method disclosed in the above embodiment.

In summary, the present application provides a variable spraying method and apparatus, an electronic device, and a storage medium, where the method includes: acquiring a multispectral image of a land parcel to be operated; processing the multispectral image to generate a prescription map of the land to be operated, wherein the prescription map is used for representing the crop health information in the land to be operated; and obtaining the actual spraying amount of each reference point on the operation route based on the prescription chart and the operation route planned in advance for the plot to be operated so that the unmanned aerial vehicle carries out variable spraying on the plot to be operated according to the actual spraying amount of each reference point. That is, make unmanned aerial vehicle spray the in-process according to waiting to operate the crop health information in the plot and carry out the variable and spray, like this after spraying, can effectively improve the crop growth condition, make the crop increase production bumper harvest.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes. It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

Claims

1. A variable spray method, the method comprising:

acquiring a multispectral image of a land parcel to be operated;

processing the multispectral image to generate a prescription map of the land parcel to be operated, wherein the prescription map is used for representing crop health information in the land parcel to be operated;

and obtaining the actual spraying amount of each reference point on the operation route based on the square and the operation route planned in advance for the to-be-operated plot, so that the unmanned aerial vehicle carries out variable spraying on the to-be-operated plot according to the actual spraying amount of each reference point.

2. The method of claim 1, wherein said step of processing said multispectral image to generate a map of the area to be worked comprises:

acquiring the color value of each pixel point in the multispectral image;

determining a color value interval to which the color value of each pixel point belongs according to a plurality of preset color value intervals;

obtaining a health comparison value of each pixel point according to a one-to-one correspondence relationship between a plurality of preset color value intervals and a plurality of health comparison values;

dividing the multispectral image into a plurality of grids, wherein each grid comprises a plurality of pixel points;

and determining the health comparison value of the grid according to the health comparison value of each pixel point in the grid, wherein the health comparison values of all the grids form the prescription chart.

3. The method of claim 2, wherein said step of determining a healthy control value for said grid based on healthy control values for each pixel in said grid comprises:

counting the number of pixel points with the same health comparison value in the grid;

and taking the health comparison value with the maximum number of the pixel points as the health comparison value of the grid.

4. The method of claim 2, wherein the step of deriving actual spray levels at reference points on the working envelope based on the prescription map and a pre-planned working envelope for the parcel to be worked comprises:

acquiring the operation route and determining each reference point on the operation route, wherein the setting of the reference points is associated with the number of the grids;

and based on each reference point, obtaining the actual spraying amount of each reference point on the operation route according to the health comparison values of all grids in the coverage area of the preset spraying amplitude.

5. The method of claim 4, wherein the plurality of health control values comprises a first health control value, the first health control value being indicative of the crop health information being unhealthy;

the step of obtaining the actual spraying amount of each reference point on the operation route according to the health comparison values of all grids in the coverage area of the preset spraying amplitude based on each reference point comprises the following steps:

and when the health comparison values of all grids in the coverage area of the preset spraying amplitude comprise the first health comparison value, increasing a first spraying amount on the basis of a preset spraying amount to obtain the actual spraying amount.

6. The method of claim 5, wherein the plurality of health control values further comprises a second health control value, the second health control value being indicative of the crop health information being sub-healthy;

and when the health control values of all grids in the preset spray amplitude coverage area do not comprise the first health control value and comprise the second health control value, increasing a second spraying amount on the basis of the preset spraying amount to obtain the actual spraying amount, wherein the second spraying amount is smaller than the first spraying amount.

7. The method of claim 6, wherein the plurality of health control values further comprises a third health control value and a fourth health control value, the third health control value being indicative of the crop health information being healthy, the fourth health control value being indicative of the crop health information being good;

and when the healthy control values of all grids in the preset spray amplitude coverage area do not comprise the first healthy control value and the second healthy control value, comprise the third healthy control value and the fourth healthy control value, and the grid number corresponding to the third healthy control value is larger than the grid number corresponding to the fourth healthy control value, taking the preset spray amount as the actual spray amount.

8. The method of claim 7, wherein said step of obtaining actual spraying quantities of reference points on said working route from said healthy control values of all grids in a predetermined spray pattern coverage area based on each of said reference points comprises:

and when the healthy control values of all grids in the preset spray amplitude coverage area do not comprise the first healthy control value and the second healthy control value, comprise the third healthy control value and the fourth healthy control value, and the number of grids corresponding to the fourth healthy control value is larger than that of grids corresponding to the third healthy control value, reducing a third spray amount on the basis of the preset spray amount to obtain the actual spray amount, wherein the third spray amount is smaller than the first spray amount.

9. A variable spray device, the device comprising:

the acquisition module is used for acquiring a multispectral image of a land parcel to be operated;

the processing module is used for processing the multispectral image to generate a prescription map of the land parcel to be operated, wherein the prescription map is used for representing the crop health information in the land parcel to be operated;

and the execution module is used for obtaining the actual spraying amount of each reference point on the operation air route based on the prescription chart and the operation air route planned in advance for the to-be-operated plot so as to enable the unmanned aerial vehicle to carry out variable spraying on the to-be-operated plot according to the actual spraying amount of each reference point.

10. The apparatus of claim 9, wherein the processing module is specifically configured to:

acquiring the color value of each pixel point in the multispectral image;

11. The apparatus of claim 10, wherein the processing module performs the determining the health control value of the grid based on the health control value of each pixel point in the grid by:

12. The apparatus of claim 10, wherein the execution module is specifically configured to:

13. The apparatus of claim 12, wherein the plurality of health control values comprises a first health control value, the first health control value characterizing the crop health information as unhealthy;

the execution module executes the mode of obtaining the actual spraying amount of each reference point on the operation route according to the health comparison values of all grids in the preset spraying range coverage area based on each reference point, and the mode comprises the following steps:

14. The apparatus of claim 13, wherein the plurality of health control values further comprises a second health control value, the second health control value being indicative of the crop health information being sub-healthy;

15. The apparatus of claim 14, wherein the plurality of health control values further comprises a third health control value and a fourth health control value, the third health control value being indicative of the crop health information being healthy, the fourth health control value being indicative of the crop health information being good;

16. The apparatus of claim 15, wherein said execution module performs said deriving actual spraying amounts of respective reference points on said working path from said healthy control values of all grids in a predetermined swath coverage area based on each of said reference points by:

17. An electronic device, characterized in that the electronic device comprises:

one or more processors;

memory to store one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the variable spraying method of any of claims 1-8.

18. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the variable spraying method according to any one of claims 1 to 8.