CN112613477A - Crop height determination method and device, storage medium and equipment - Google Patents
Crop height determination method and device, storage medium and equipment Download PDFInfo
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Abstract
The invention discloses a crop height determination method, a crop height determination device, a storage medium and equipment. Wherein, the method comprises the following steps: acquiring point cloud data of a target area; acquiring first position information of at least one vegetation coverage area in a target area, wherein each vegetation coverage area corresponds to a crop; for each vegetation coverage area, determining vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data based on first position information of the vegetation coverage area and second position information of the point cloud data; and for each vegetation coverage area, determining the height of the corresponding crop based on a plurality of elevation values corresponding to the vegetation point cloud data. The invention solves the technical problem of low efficiency in determining the height of crops.
Description
Technical Field
The invention relates to the field of computers, in particular to a crop height determining method, a crop height determining device, a storage medium and equipment.
Background
At present, crop height is one of the important markers for measuring the growth state of crops. In determining the crop height of a crop, it is common to make measurements manually using a measuring device. However, if the number of sampling points to be measured is large, a measuring person is required to walk into the planting area and erect a measuring device for measurement, so that the workload for determining the height of the crop is huge, the crop is affected, the operation is troublesome, and the technical problem of low crop height determination efficiency is solved.
Aiming at the technical problem of low efficiency in determining the height of the crops, no effective solution is provided at present.
Disclosure of Invention
The embodiment of the invention provides a crop height determining method, a crop height determining device, a storage medium and equipment, and aims to at least solve the technical problem of low crop height determining efficiency.
According to an aspect of an embodiment of the present invention, there is provided a method of determining a height of a crop. The method can comprise the following steps: acquiring point cloud data of a target area; acquiring point cloud data of a target area; acquiring first position information of at least one vegetation coverage area in a target area, wherein each vegetation coverage area corresponds to a crop; for each vegetation coverage area, determining vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data based on first position information of the vegetation coverage area and second position information of the point cloud data; and for each vegetation coverage area, determining the height of the corresponding crop based on a plurality of elevation values corresponding to the vegetation point cloud data.
Optionally, determining vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data based on the first location information of the vegetation coverage area and the second location information of the point cloud data, including: determining target position information which is the same as the first position information from the second position information; and determining the point cloud data corresponding to the target position information as vegetation point cloud data.
Optionally, determining vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data based on the first location information of the vegetation coverage area and the second location information of the point cloud data, including: displaying a point cloud layer presented by the point cloud data; marking and displaying a target position corresponding to second position information which is the same as the first position information in the point cloud picture layer; obtaining an updated target position based on the deviation rectifying operation of the target position by the user; and determining the point cloud data corresponding to the updated target position as vegetation point cloud data.
Optionally, after obtaining the updated target position based on the user's deviation rectifying operation on the target position, the method further includes: determining the position deviation correction amount of the corresponding target position based on the deviation correction operation; updating other target positions except the target position corresponding to the deviation rectifying operation based on the position deviation rectifying amount; and regarding each vegetation coverage area, taking the corresponding and updated target position as vegetation point cloud data corresponding to the vegetation coverage area.
Optionally, determining vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data based on the first location information of the vegetation coverage area and the second location information of the point cloud data, including: displaying a point cloud layer presented by the point cloud data and a vegetation layer corresponding to the vegetation coverage area; respectively marking and displaying alignment reference points corresponding to the set reference positions in the point cloud layer and the vegetation layer; updating the displayed point cloud layer and the vegetation layer based on an instruction for indicating that the alignment reference points in the point cloud layer and the alignment reference points in the vegetation layer are overlapped; and determining point cloud data corresponding to an area which is overlapped with the vegetation layer in the point cloud layer as vegetation point cloud data corresponding to a vegetation coverage area.
Optionally, before determining the vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data, the method further includes: displaying a point cloud layer presented by the point cloud data and a vegetation layer corresponding to the vegetation coverage area; outputting prompt information for prompting a user whether to adopt the point cloud layer and the vegetation layer; and determining whether to execute the step of determining vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data according to an instruction fed back by the user aiming at the prompt information.
Optionally, determining the height of the corresponding crop based on a plurality of elevation values corresponding to the vegetation point cloud data includes: displaying a point cloud layer presented by the point cloud data; displaying a plurality of height values corresponding to the target position at the target position corresponding to second position information which is the same as the first position information in the point cloud layer; determining two elevation values from the plurality of elevation values based on the selection operation of the user on the plurality of elevation values; and taking the absolute value of the difference value of the two elevation values as the height of the crop.
Optionally, determining the height of the corresponding crop based on a plurality of elevation values corresponding to the vegetation point cloud data includes: and selecting a maximum elevation value and a minimum elevation value from the plurality of elevation values, and determining the difference between the maximum elevation value and the minimum elevation value as the height of the crop.
Optionally, the plurality of elevation values are absolute elevations of different parts in the crop; the maximum elevation value is the absolute elevation of the canopy of the crop, and the minimum elevation value is the absolute elevation of the ground on which the crop is growing.
Optionally, before obtaining the first position information of at least one vegetation coverage area in the target area, the method further comprises: determining the area which meets the target condition in the target area as a vegetation coverage area; wherein the target condition comprises any one of: the vegetation coverage index is greater than a first threshold value, and the leaf area index is greater than a second threshold value; or identifying the area where the crop is located based on the image of the target area to obtain the vegetation coverage area.
According to another aspect of the embodiment of the invention, a device for determining the height of the crop is also provided. The device includes: the first acquisition unit is used for acquiring point cloud data of a target area; the second acquisition unit is used for acquiring first position information of at least one vegetation coverage area in the target area, wherein each vegetation coverage area corresponds to a crop; the first determining unit is used for determining vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data based on the first position information of the vegetation coverage area and the second position information of the point cloud data for each vegetation coverage area; and the second determining unit is used for determining the height of the corresponding crop based on a plurality of elevation values corresponding to the vegetation point cloud data for each vegetation coverage area.
According to another aspect of the embodiments of the present invention, there is also provided a computer storage medium. The computer storage medium includes a stored program, wherein the program, when executed by the processor, controls the apparatus in which the computer storage medium is located to perform the crop height determination method of an embodiment of the present invention.
According to another aspect of the embodiments of the present invention, there is also provided an electronic device including a processor and a memory for storing a program; the processor, when executing the program, implements the steps of the crop height determination method of an embodiment of the present invention.
In the embodiment of the invention, point cloud data of a target area is obtained; acquiring first position information of at least one vegetation coverage area in a target area, wherein each vegetation coverage area corresponds to a crop; for each vegetation coverage area, determining vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data based on first position information of the vegetation coverage area and second position information of the point cloud data; and for each vegetation coverage area, determining the height of the corresponding crop based on a plurality of elevation values corresponding to the vegetation point cloud data. That is to say, this application is to every vegetation coverage area, determine the vegetation point cloud data that vegetation coverage area corresponds from the point cloud data of target area, through a plurality of height values that this vegetation point cloud data correspond, confirm the height of the crops in vegetation coverage area to avoided measuring equipment through the manual work and measured the crops and obtain the crops height, also avoided influencing crops itself, thereby solved the technical problem that the definite inefficiency of crops, reached the technological effect that improves the definite efficiency of crops.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a flow chart of a method of determining crop height according to an embodiment of the present invention;
FIG. 2 is a schematic view of a crop height gauge according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a high-precision point cloud data distribution of a target area according to an embodiment of the invention;
FIG. 4 is a schematic illustration of an NDVI index data distribution that survives high accuracy in accordance with an embodiment of the invention;
FIG. 5 is a graphical illustration of a plurality of elevation values at a same location in accordance with an embodiment of the present invention; and
fig. 6 is a schematic view of a crop height determining apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, 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 only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
In accordance with an embodiment of the present invention, there is provided an embodiment of a method for crop height determination, it being noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system, such as a set of computer-executable instructions, and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than presented herein.
Fig. 1 is a flow chart of a method for determining crop height according to an embodiment of the present invention. As shown in fig. 1, the method may include the steps of:
step S102, point cloud data of a target area is obtained.
In the technical solution provided in step S102 of the present invention, the target area may be a certain range of area where crops are planted, and the point cloud data of the target area may be collected and calculated by a point cloud data collection device, where the point cloud data collection device may be an unmanned aerial vehicle, and the point cloud data of the target area may also be collected by a radar, and the point cloud data may be a set of vectors in a three-dimensional coordinate system and expressed in the form of (X, Y, Z) three-dimensional coordinates, so that the point cloud data of the target area in this embodiment has high-precision coordinate information. The crop of this embodiment is a growing plant comprising roots, stems, leaves, and the like.
Step S104, acquiring first position information of at least one vegetation coverage area in the target area.
In the technical solution provided in step S104 of the present invention, after point cloud data of a target area is acquired, first position information of at least one vegetation coverage area in the target area is acquired, where each vegetation coverage area corresponds to a crop.
In this embodiment, the target area includes at least one vegetation coverage area, each of which is planted with a crop of which the crop height is to be determined. Optionally, at least one vegetation coverage area in the target area constitutes a ultragreen area portion of the target area.
The embodiment obtains first position information of at least one vegetation coverage area in the target area, and the first position information can be data of pixel positions, such as pixel coordinates, and is used for indicating the position of the vegetation coverage area.
And S106, for each vegetation coverage area, determining vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data based on the first position information of the vegetation coverage area and the second position information of the point cloud data.
In the technical solution provided in step S106 of the present invention, after the first position information of at least one vegetation coverage area in the target area is obtained, for each vegetation coverage area, vegetation point cloud data corresponding to the vegetation coverage area is determined from the point cloud data based on the first position information of the vegetation coverage area and the second position information of the point cloud data.
In this embodiment, the point cloud data includes vegetation point cloud data corresponding to first location information of a vegetation covered area. The first position information of the vegetation coverage area and the second position information of the point cloud data of the embodiment have high-precision coordinate information, and for each vegetation coverage area, the first position information of the vegetation coverage area and the second position information of the point cloud data can be aligned first, and then the vegetation point cloud data corresponding to the vegetation coverage area is determined from the point cloud data. Optionally, in a case where the first position information is data of a pixel position, the first position information may be converted into an earth coordinate, and then the earth coordinate is aligned with the second position information of the point cloud data, so as to determine vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data.
And S108, determining the height of the corresponding crop based on a plurality of elevation values corresponding to the vegetation point cloud data for each vegetation coverage area.
In the technical solution provided in step S108 of the present invention, after determining the vegetation point cloud number corresponding to the vegetation coverage area from the point cloud data, for each vegetation coverage area, the height of the corresponding crop is determined based on a plurality of elevation values corresponding to the vegetation point cloud data.
In this embodiment, for each vegetation-covered area, a plurality of elevation values corresponding to the vegetation point cloud data may be obtained, i.e., for a crop in each vegetation-covered area. Optionally, an elevation list corresponding to the vegetation point cloud data is obtained, where the elevation list includes the multiple elevations, for example, elevation 1, elevation 2 … …, elevation M, and elevation N. The embodiment can sequence the plurality of elevation values from large to small, determine the maximum elevation value and the minimum elevation value from the sequenced plurality of elevation values, and further determine the crop height of the crop according to the maximum elevation value and the minimum elevation value from the crop base to the top of the main stem (main stem growing point), that is, the height between the crop canopy and the ground in the vegetation coverage area can reflect the growth state of the crop.
It should be noted that, the method for determining the height of the crop in this embodiment is for one crop, and the heights of other crops may also be determined by the method, and at least one vegetation coverage area may be traversed, and the height of the crop in each vegetation coverage area may be determined by the method, so that the height of the crop may be measured quickly, widely and automatically, and when the number of crops is large, the problems that the efficiency of determining the height of the crop is low and the height of the crop is affected by manually measuring the height of the crop may be avoided, so that all the heights of the crop in the target area may be determined.
The method includes the steps of S102 to S108, obtaining point cloud data of a target area; acquiring first position information of at least one vegetation coverage area in a target area, wherein each vegetation coverage area corresponds to a crop; for each vegetation coverage area, determining vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data based on first position information of the vegetation coverage area and second position information of the point cloud data; and for each vegetation coverage area, determining the height of the corresponding crop based on a plurality of elevation values corresponding to the vegetation point cloud data. That is to say, for each vegetation coverage area, the vegetation point cloud data corresponding to the vegetation coverage area is determined from the point cloud data of the target area, and the height of crops in the vegetation coverage area is determined through a plurality of height values corresponding to the vegetation point cloud data, so that the condition that the heights of the crops are obtained by manually measuring the crops by using measuring equipment is avoided, the influence on the crops is also avoided, the technical problem of low determining efficiency of the crops is solved, and the technical effect of improving the determining efficiency of the crops is achieved.
The above-described method of this embodiment is further described below.
As an optional implementation manner, in step S106, determining vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data based on the first position information of the vegetation coverage area and the second position information of the point cloud data, including: determining target position information which is the same as the first position information from the second position information; and determining the point cloud data corresponding to the target position information as vegetation point cloud data.
In this embodiment, the second position information of the point cloud data and the first position information of the vegetation coverage area may have the same target position information, for example, have the same coordinate information, and the point cloud data corresponding to the target position information may be determined as the vegetation point cloud data in the point cloud data of the target area. Alternatively, the embodiment may determine vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data according to the target position information by using Real-Time Kinematic (RTK).
As an optional implementation manner, in step S106, determining vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data based on the first position information of the vegetation coverage area and the second position information of the point cloud data, including: displaying a point cloud layer presented by the point cloud data; marking and displaying a target position corresponding to second position information which is the same as the first position information in the point cloud picture layer; obtaining an updated target position based on the deviation rectifying operation of the target position by the user; and determining the point cloud data corresponding to the updated target position as vegetation point cloud data.
In this embodiment, the point cloud data may be embodied by a point cloud layer, which may display the point cloud layer presented by the point cloud data, where the point cloud layer may be used to indicate a specific position, and a target position corresponding to second position information that is the same as the first position information may be marked in the point cloud layer, where the target position is also a mapping position of the first position information in the point cloud data, and may be displayed by mark information, where the mark information may include, but is not limited to, a character, an icon, a symbol, and the like.
Alternatively, the embodiment allows the user to perform a correction operation on the target position since the target position may have a certain deviation. In this embodiment, the deviation correcting operation of the user on the target position is obtained, for example, the dragging operation of the user on the point corresponding to the target position is obtained, and the adjusting operation of the input frame or the sliding control in the x-axis and y-axis directions displayed in the interface may also be obtained. The target position is updated in response to the deviation rectifying operation, that is, the target position is adjusted, and the point cloud data corresponding to the updated target position in the point cloud data can be determined as vegetation point cloud data, so that the precision of the vegetation point cloud data is improved.
As an optional implementation manner, after obtaining the updated target position based on the user's deviation rectifying operation on the target position, the method further includes: determining the position deviation correction amount of the corresponding target position based on the deviation correction operation; updating other target positions except the target position corresponding to the deviation rectifying operation based on the position deviation rectifying amount; and regarding each vegetation coverage area, taking the corresponding and updated target position as vegetation point cloud data corresponding to the vegetation coverage area.
In this embodiment, the point cloud layer may include a plurality of target positions corresponding to second position information respectively identical to different first position information, that is, the number of the target positions may be multiple, and this embodiment may adaptively adjust all the target positions based on a user's deviation rectifying operation on one of the target positions. Optionally, the embodiment may determine a position deviation correction amount of the corresponding target position based on the deviation correction operation, and the position deviation correction amount may include at least one of the following: a lateral position offset on the x-axis, a longitudinal position offset on the y-axis. Then, other target positions other than the target position corresponding to the deviation rectifying operation may be updated based on the position deviation rectifying amount, that is, the embodiment may adaptively update all the target positions based on the deviation rectifying operation of the user on one target position. For each vegetation coverage area, the corresponding and updated point cloud data corresponding to the target position can be used as the vegetation point cloud data corresponding to the vegetation coverage area, so that the problems that the operation is complicated and the calculation efficiency of the crop height is affected due to the fact that the deviation correction operation is carried out on each target position by a user are solved.
As an optional implementation manner, in step S106, determining vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data based on the first position information of the vegetation coverage area and the second position information of the point cloud data, including: displaying a point cloud layer presented by the point cloud data and a vegetation layer corresponding to the vegetation coverage area; respectively marking and displaying alignment reference points corresponding to the set reference positions in the point cloud layer and the vegetation layer; updating the displayed point cloud layer and the vegetation layer based on an instruction for indicating that the alignment reference points in the point cloud layer and the alignment reference points in the vegetation layer are overlapped; and determining point cloud data corresponding to an area which is overlapped with the vegetation layer in the point cloud layer as vegetation point cloud data corresponding to a vegetation coverage area.
In this embodiment, the point cloud data may be embodied by a point cloud layer, and the vegetation coverage area may be embodied by a vegetation layer. The embodiment can display the point cloud image layer presented by the point cloud data and the vegetation image layer corresponding to the vegetation coverage area on the interface, can mark and display the alignment datum point corresponding to the set datum position in the point cloud image layer, marking and displaying an alignment reference point corresponding to a set reference position in the vegetation layer, then acquiring an instruction triggered by a user and used for indicating that the alignment reference point in the point cloud layer is superposed with the alignment reference point in the vegetation layer, responding to the instruction, updating and displaying the point cloud layer and the vegetation layer, namely, this embodiment can align the first position information and the second position information already displayed in the interface directly based on the user operation without prior alignment, which can reduce a certain amount of alignment calculation, and further determining point cloud data corresponding to an area, which is overlapped with the updated vegetation map layer, in the updated point cloud map layer as vegetation point cloud data corresponding to a vegetation coverage area.
As an optional implementation manner, before determining vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data in step S106, the method further includes: displaying a point cloud layer presented by the point cloud data and a vegetation layer corresponding to the vegetation coverage area; outputting prompt information for prompting a user whether to adopt the point cloud layer and the vegetation layer; and determining whether to execute the step of determining vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data according to an instruction fed back by the user aiming at the prompt information.
In this embodiment, prior to determining the vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data, the point cloud layer presented by the point cloud data and the vegetation layer corresponding to the vegetation coverage area can be displayed on the interface, then prompt information can be output on the interface, the prompt information is used for prompting whether the point cloud layer and the vegetation layer are adopted or not to a user, the user can trigger a first feedback instruction for adopting the point cloud layer and the vegetation layer, then in response to the first feedback instruction, determining to execute the step of determining vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data, the user may also trigger a second feedback instruction not to adopt the point cloud layer and the vegetation layer, and responding to the second feedback instruction, and determining that the step of determining vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data is not executed, so that the situation that the point cloud layer and the vegetation layer do not meet the actual requirement is avoided.
As an optional implementation, in step S108, determining the height of the corresponding crop based on the plurality of elevation values corresponding to the vegetation point cloud data includes: displaying a point cloud layer presented by the point cloud data; displaying a plurality of height values corresponding to the target position at the target position corresponding to second position information which is the same as the first position information in the point cloud layer; determining two elevation values from the plurality of elevation values based on the selection operation of the user on the plurality of elevation values; and taking the absolute value of the difference value of the two elevation values as the height of the crop.
In this embodiment, when determining the height of the corresponding crop based on the multiple elevation values corresponding to the vegetation point cloud data, the point cloud layer presented by the point cloud data may be displayed on the interface, the target position corresponding to the second position information that is the same as the first position information may be determined in the point cloud layer, and then the multiple elevation values corresponding to the target position may be displayed at the target position, for example, a list of elevation values corresponding to the target position is displayed. The method comprises the steps of obtaining selection operation of a user on the plurality of elevation values, responding to the selection operation, selecting two elevation values from the plurality of elevation values, carrying out difference on the two elevation values, determining the absolute value of the obtained difference value as the height of crops, determining the height of the crops by selecting the elevation values by the user, and playing a certain role in assisting deviation rectification.
As an optional implementation, in step S108, determining the height of the corresponding crop based on the plurality of elevation values corresponding to the vegetation point cloud data includes: and selecting a maximum elevation value and a minimum elevation value from the plurality of elevation values, and determining the difference between the maximum elevation value and the minimum elevation value as the height of the crop.
In this embodiment, the plurality of elevation values may be sorted in descending order, a maximum elevation value and a minimum elevation value may be determined from the sorted plurality of elevation values, a difference may be made between the maximum elevation value and the minimum elevation value, and the difference may be determined as a crop height of the crop.
In an alternative embodiment, the plurality of elevations are absolute elevations of different portions of the crop; the maximum elevation value is the absolute elevation of the canopy of the crop, and the minimum elevation value is the absolute elevation of the ground on which the crop is growing.
In this embodiment, each elevation value corresponding to a crop is the absolute elevation of the corresponding portion of the crop, i.e., the distance from a point of the crop along the vertical to the ground level. Wherein, the maximum elevation value of the embodiment can be the absolute elevation of the canopy of the crop, that is, the distance (height) from the canopy of the crop to the ground level surface along the vertical direction; the minimum elevation value is an absolute elevation of a ground on which the crop is grown, that is, a distance (height) from the ground on which the crop is grown to a ground level surface along a vertical direction.
As an optional implementation manner, before acquiring the first position information of at least one vegetation coverage area in the target area in step S104, the method further includes: determining the area which meets the target condition in the target area as a vegetation coverage area; wherein the target condition comprises any one of: the vegetation coverage index is greater than a first threshold value, and the leaf area index is greater than a second threshold value; or identifying the area where the crop is located based on the image of the target area to obtain the vegetation coverage area.
In this embodiment, before obtaining the first position information of at least one vegetation coverage area in the target area, the target area may be detected, and an area meeting a target condition is determined as the vegetation coverage area, where the target condition is a determination condition for determining whether the area is the vegetation coverage area from the target area, which is further described below.
As an optional implementation, the method further comprises: acquiring a vegetation coverage index of a target area; and determining the area with the vegetation coverage index larger than the first threshold value in the target area as the area meeting the target condition.
In this embodiment, the target condition may be a determination condition of whether the Vegetation coverage Index in the target area is greater than the first threshold, and a Vegetation coverage Index (NDVI) of the target area may be obtained, which may indicate a crown distribution in the target area and have high-precision coordinate information. Optionally, the embodiment uses the unmanned aerial vehicle device with the multispectral camera to collect and calculate the vegetation coverage index of the target area, which may also be referred to as an ultragreen index, and the value of the vegetation coverage index ranges from-1 to 1, and the value of the vegetation coverage index may be in positive correlation with the amount of chlorophyll in the corresponding area, that is, the larger the value of the vegetation coverage index is, the more chlorophyll is in the corresponding area.
The vegetation coverage area can be extracted from the target area by setting a first threshold, for example, the first threshold may be 0.5, and it may be determined whether the collected vegetation coverage index is greater than the first threshold, and if the vegetation coverage index is greater than the first threshold, it is determined that the target condition is met, and then the area meeting the target condition is determined as the vegetation coverage area, that is, as an ultragreen area in the target area.
As an optional implementation, the method further comprises: acquiring a leaf area index of a target region; and determining the area of the target area, in which the leaf area index is larger than the second threshold value, as the area meeting the target condition.
In this embodiment, the target condition may be a determination condition of whether the Leaf Area Index in the target region is greater than the second threshold, and the Leaf Area Index (Leaf Area Index, abbreviated as LAI) of the target region may be obtained as a multiple of the total Area of the plant leaves in a unit land Area, which may indicate the crown distribution of the target region. Optionally, the higher the leaf area index is, the more vigorous the vegetation in the corresponding region can be illustrated, and the more the corresponding position has a crown. The vegetation coverage area can be extracted from the target area by setting the second threshold, whether the collected leaf area index is larger than the second threshold can be judged, if the leaf area index is larger than the second threshold, the target condition is determined to be met, and then the area meeting the target condition is determined to be the vegetation coverage area.
As an optional implementation, the method further comprises: identifying a vegetation image from the image of the target area; and determining the area corresponding to the vegetation image in the target area as the area meeting the target condition.
In this embodiment, the image of the target area is acquired by the image acquisition device, and a vegetation image including an image of a crop whose height is to be determined can be identified from the image of the target area by using an Artificial Intelligence (AI) technique. Optionally, in this embodiment, a large number of image samples including vegetation coverage areas may be acquired in advance, a certain range of vegetation coverage areas in the image samples may be manually labeled, the labeling result is set as a label of the image sample, and then the sub-neural network model is trained through the image sample and the corresponding label to obtain a target neural network model, where the target neural network model is an image to be recognized as an input, and the output is a result of a vegetation image in the image. After a target neural network model is trained, inputting an image of a target area into the target neural network model, identifying the image of the target area through the target neural network model so as to output a vegetation image in the target area, determining an area corresponding to the vegetation image in the target area as an area meeting the target condition, and determining the area as a vegetation coverage area.
It should be noted that the method for determining vegetation coverage area through the vegetation coverage index, the leaf area index and the AI image recognition is only a preferred implementation of the embodiment of the present invention, and any method that can be used for determining vegetation coverage area from the target area is within the scope of the embodiment, and is not illustrated here.
The crop height determination method of the embodiment may be a method of sensing crop height distribution of crop groups by obtaining point cloud data of a target area; acquiring first position information of at least one vegetation coverage area in a target area, wherein each vegetation coverage area corresponds to a crop; for each vegetation coverage area, determining vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data based on first position information of the vegetation coverage area and second position information of the point cloud data; for each vegetation coverage area, the height of the corresponding crop is determined based on a plurality of elevation values corresponding to the vegetation point cloud data, so that the condition that the crop height is obtained by manually measuring the crop by using measuring equipment is avoided, the influence on the crop is also avoided, the technical problem of low crop determining efficiency is solved, and the technical effect of improving the crop determining efficiency is achieved.
Example 2
The technical solutions of the embodiments of the present invention will be illustrated below with reference to preferred embodiments.
The crop height of the crop is one of the important indicators for measuring the growth state of the crop, and usually the crop height to be measured of the crop is measured manually by using a measuring device, such as a crop height measuring instrument X shown in fig. 2, wherein fig. 2 is a schematic diagram of a crop height measuring instrument according to an embodiment of the present invention, the crop height is measured by aligning the bottom of the measuring instrument X with the bottommost portion of the crop, vertically placing the measuring instrument X, and then reading the highest reading of the crop.
However, measuring crop height using a crop height gauge or other conventional devices can be inefficient. If the number of sampling points to be measured is large, the workload is huge, measuring personnel need to walk into a planting area, a crop measuring instrument is erected for measurement, the crop itself is affected, the operation is troublesome, and the technical problem of low crop determination efficiency is caused.
In this embodiment, the high-precision point cloud data of the target area may be acquired and calculated by using an unmanned aerial vehicle and other devices. Fig. 3 is a schematic diagram of a high-precision point cloud data distribution of a target area according to an embodiment of the present invention. As shown in fig. 3, the high-precision point cloud data includes a crop, such as a tree, whose height is to be determined. The point cloud data may be a set of vectors in a three-dimensional coordinate system, represented in the form of (X, Y, Z) three-dimensional coordinates.
Fig. 4 is a schematic diagram of NDVI index data distribution for high accuracy survival according to an embodiment of the present invention. As shown in fig. 4, high-precision NDVI index data (such as the light color part Y in fig. 4) of the target area can be acquired and calculated by using the unmanned aerial vehicle device equipped with the multispectral camera, and the ultragreen part (vegetation coverage area) can be extracted from the target area by using the NDVI index data. The range of the NDVI index data of this embodiment is-1 to 1, wherein the more chlorophyll that is represented closer to the maximum value, the more can be extracted by setting a threshold, for example, setting a threshold of 0.5, and the partial region of the target region where the NDVI index data >0.5 can be determined as the ultragreen region part of the crop, which is determined as the vegetation coverage region.
In this embodiment, since the point cloud data and the NDVI index data have high-precision coordinate information, the point cloud data and the NDVI index data can be calculated by superposition. Calculating by superimposing the positions of all the ultragreen portions extracted from the target area onto the point cloud image layer, where multiple elevation values may exist at the same position of the point cloud image layer, as shown in fig. 5, where fig. 5 is a schematic diagram of multiple elevation values at the same position according to an embodiment of the present invention, a black vertical line Z is used to represent the same position of the point cloud image layer), a maximum elevation value 1 is used to represent the height of a canopy of a crop, a minimum elevation value M is used to represent the ground height, performing subtraction operation on the maximum elevation value 1 and the minimum elevation value M, and determining an obtained difference value as the crop height of the crop.
The crop height of all crops in the target area can be measured by the method, so the crop determination method can be a method for sensing the crop height distribution of crop groups, the image layers corresponding to the point cloud data of the target area and the image layers corresponding to the vegetation coverage areas are overlapped and aligned, the pixel positions of all the vegetation coverage areas are traversed, the elevation list of the point cloud data corresponding to the pixel positions is calculated, the maximum elevation value and the minimum elevation value in the elevation list are calculated, wherein the maximum elevation value is the canopy height of the crops, the minimum elevation value is the height of the ground, the difference value between the maximum elevation value and the minimum elevation value is determined as the height from the canopy to the ground of the crops in the vegetation coverage areas, the crop height of the crops can be measured rapidly, in a large range and automatically, and the crop height obtained by manually measuring the crops by using a measuring device is avoided, the influence on crops is avoided, so that the technical problem of low crop determination efficiency is solved, and the technical effect of improving the crop determination efficiency is achieved.
Example 3
The embodiment of the invention also provides a device for determining the height of the crops. It should be noted that the crop height determining apparatus of this embodiment may be used to execute the crop height determining method of the embodiment of the present invention.
Fig. 6 is a schematic view of a crop height determining apparatus according to an embodiment of the present invention. As shown in fig. 6, the crop height determining apparatus 60 may include: a first acquisition unit 61, a second acquisition unit 62, a first determination unit 63, and a second determination unit 64.
A first acquiring unit 61, configured to acquire point cloud data of a target area.
The second obtaining unit 62 is configured to obtain first position information of at least one vegetation coverage area in the target area, where each vegetation coverage area corresponds to a crop.
A first determining unit 63, configured to determine, for each vegetation coverage area, vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data based on the first position information of the vegetation coverage area and the second position information of the point cloud data.
And the second determining unit 64 is used for determining the height of the corresponding crop based on a plurality of elevation values corresponding to the vegetation point cloud data for each vegetation coverage area.
Optionally, the first determining unit 63 includes: the first determining module is used for determining target position information which is the same as the first position information from the second position information; and the second determining module is used for determining the point cloud data corresponding to the target position information as vegetation point cloud data.
Optionally, the first determining unit 63 includes: the first display module is used for displaying the point cloud layer presented by the point cloud data; the first marking module is used for marking and displaying a target position corresponding to second position information which is the same as the first position information in the point cloud picture layer; the correction module is used for obtaining an updated target position based on the correction operation of the target position by the user; and the third determining module is used for determining the point cloud data corresponding to the updated target position as vegetation point cloud data.
Optionally, the apparatus further comprises: the third determining unit is used for determining the position deviation correction amount of the corresponding target position based on the deviation correction operation after the updated target position is obtained based on the deviation correction operation of the user on the target position; the first updating unit is used for updating other target positions except the target position corresponding to the deviation rectifying operation based on the position deviation rectifying amount; and the fourth determining unit is used for taking the corresponding and updated target position of each vegetation coverage area as vegetation point cloud data corresponding to the vegetation coverage area.
Optionally, the first determining unit 63 includes: the second display module is used for displaying the point cloud image layer presented by the point cloud data and the vegetation image layer corresponding to the vegetation coverage area; the second marking module is used for respectively marking and displaying alignment reference points corresponding to the set reference positions in the point cloud layer and the vegetation layer; the second updating module is used for updating and displaying the point cloud layer and the vegetation layer based on an instruction for indicating that the alignment datum points in the point cloud layer and the alignment datum points in the vegetation layer are overlapped; and the fourth determining module is used for determining point cloud data corresponding to an area which is overlapped with the vegetation map layer in the point cloud map layer as vegetation point cloud data corresponding to a vegetation coverage area.
Optionally, the apparatus further comprises: the display unit is used for displaying a point cloud layer presented by the point cloud data and a vegetation layer corresponding to the vegetation coverage area before vegetation point cloud data corresponding to the vegetation coverage area is determined from the point cloud data; the output unit is used for outputting prompt information for prompting whether the user adopts the point cloud layer and the vegetation layer; and the fifth determining unit is used for determining whether to execute the step of determining the vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data according to the instruction fed back by the user aiming at the prompt information.
Optionally, the second determining unit 64 includes: the third display module is used for displaying the point cloud layer presented by the point cloud data; the fourth display module is used for displaying a plurality of elevation values corresponding to the target position at the target position corresponding to the second position information which is the same as the first position information in the point cloud layer; the selection module is used for determining two elevation values from the plurality of elevation values based on the selection operation of the user on the plurality of elevation values; and the fifth determining module is used for taking the absolute value of the difference value of the two elevation values as the height of the crop.
Optionally, the second determining unit 64 includes: and the selecting module is used for selecting the maximum elevation value and the minimum elevation value from the plurality of elevation values and determining the difference value between the maximum elevation value and the minimum elevation value as the height of the crop.
Optionally, the plurality of elevation values are absolute elevations of different parts in the crop; the maximum elevation value is the absolute elevation of the canopy of the crop, and the minimum elevation value is the absolute elevation of the ground on which the crop is growing.
Optionally, the apparatus further comprises: a sixth determining unit, configured to determine, as a vegetation coverage area, an area in the target area that meets a target condition before acquiring first position information of at least one vegetation coverage area in the target area; wherein the target condition comprises any one of: the vegetation coverage index is greater than a first threshold value, and the leaf area index is greater than a second threshold value; or identifying the area where the crop is located based on the image of the target area to obtain the vegetation coverage area.
In the crop height determining device of the embodiment, for each vegetation coverage area, the vegetation point cloud data corresponding to the vegetation coverage area is determined from the point cloud data of the target area, and the heights of crops in the vegetation coverage area are determined through a plurality of height values corresponding to the vegetation point cloud data, so that the condition that the heights of the crops are obtained by measuring the crops through manual measurement equipment is avoided, influence on the crops is also avoided, the technical problem of low crop determining efficiency is solved, and the technical effect of improving the crop determining efficiency is achieved.
Example 4
The embodiment of the invention also provides a computer storage medium. The computer storage medium includes a stored program, wherein the program, when executed by the processor, controls the apparatus in which the computer storage medium is located to perform the crop height determination method of an embodiment of the present invention.
Example 5
The embodiment of the invention also provides the electronic equipment. The electronic device includes a processor and a memory for storing a program; the processor implements the crop height determination method of the embodiment of the present invention when executing the program.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (13)
1. A method of determining crop height, comprising:
acquiring point cloud data of a target area;
acquiring first position information of at least one vegetation coverage area in the target area, wherein each vegetation coverage area corresponds to a crop;
for each vegetation coverage area, determining vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data based on first position information of the vegetation coverage area and second position information of the point cloud data;
and for each vegetation coverage area, determining the height of the corresponding crop based on a plurality of elevation values corresponding to the vegetation point cloud data.
2. The method of claim 1, wherein determining from the point cloud data, vegetation point cloud data corresponding to the vegetation coverage area based on the first location information for the vegetation coverage area and the second location information for the point cloud data comprises:
determining target position information which is the same as the first position information from the second position information;
and determining point cloud data corresponding to the target position information as the vegetation point cloud data.
3. The method of claim 1, wherein determining from the point cloud data, vegetation point cloud data corresponding to the vegetation coverage area based on the first location information for the vegetation coverage area and the second location information for the point cloud data comprises:
displaying a point cloud layer presented by the point cloud data;
marking and displaying a target position corresponding to the second position information which is the same as the first position information in the point cloud layer;
obtaining an updated target position based on the deviation rectifying operation of the target position by the user;
and determining the point cloud data corresponding to the updated target position as the vegetation point cloud data.
4. The method of claim 3, wherein after obtaining the updated target position based on a user's corrective action on the target position, the method further comprises:
determining the position deviation correcting amount of the corresponding target position based on the deviation correcting operation;
updating other target positions except the target position corresponding to the deviation rectifying operation based on the position deviation rectifying amount;
and regarding each vegetation coverage area, taking the corresponding and updated target position as the vegetation point cloud data corresponding to the vegetation coverage area.
5. The method of claim 1, wherein determining from the point cloud data, vegetation point cloud data corresponding to the vegetation coverage area based on the first location information for the vegetation coverage area and the second location information for the point cloud data comprises:
displaying a point cloud layer presented by the point cloud data and a vegetation layer corresponding to the vegetation coverage area;
respectively marking and displaying alignment reference points corresponding to set reference positions in the point cloud layer and the vegetation layer;
updating and displaying the point cloud layer and the vegetation layer based on an instruction for indicating that an alignment reference point in the point cloud layer and an alignment reference point in the vegetation layer are overlapped;
and determining point cloud data corresponding to an area in the point cloud layer which is overlapped with the vegetation layer as vegetation point cloud data corresponding to the vegetation coverage area.
6. The method of claim 1, wherein prior to determining from the point cloud data, vegetation point cloud data corresponding to the vegetation coverage area, the method further comprises:
displaying a point cloud layer presented by the point cloud data and a vegetation layer corresponding to the vegetation coverage area;
outputting prompt information for prompting a user whether to adopt the point cloud layer and the vegetation layer;
and determining whether to execute the step of determining vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data according to an instruction fed back by a user aiming at the prompt information.
7. The method of claim 1, wherein determining the height of the corresponding crop based on a plurality of elevation values corresponding to the vegetation point cloud data comprises:
displaying a point cloud layer presented by the point cloud data;
displaying a plurality of height values corresponding to the target position at the target position corresponding to the second position information which is the same as the first position information in the point cloud layer;
determining two elevation values from the plurality of elevation values based on the selection operation of the user on the plurality of elevation values;
and taking the absolute value of the difference value of the two elevation values as the height of the crop.
8. The method of claim 1, wherein determining the height of the corresponding crop based on a plurality of elevation values corresponding to the vegetation point cloud data comprises:
and selecting a maximum elevation value and a minimum elevation value from the plurality of elevation values, and determining the difference between the maximum elevation value and the minimum elevation value as the height of the crop.
9. The method of claim 8, wherein the plurality of elevation values are absolute elevations at different locations in the crop; the maximum elevation value is the absolute elevation of the canopy of the crop, and the minimum elevation value is the absolute elevation of the ground on which the crop grows.
10. The method of claim 1, wherein prior to obtaining the first location information for at least one vegetation coverage area in the target area, the method further comprises:
determining a region meeting target conditions in the target region as the vegetation coverage region; wherein the target condition comprises any one of: the vegetation coverage index is greater than a first threshold value, and the leaf area index is greater than a second threshold value;
or identifying the area where the crops are located based on the image of the target area to obtain the vegetation coverage area.
11. An apparatus for determining the height of a crop, comprising:
the first acquisition unit is used for acquiring point cloud data of a target area;
the second acquisition unit is used for acquiring first position information of at least one vegetation coverage area in the target area, wherein each vegetation coverage area corresponds to a crop;
a first determining unit, configured to determine, for each vegetation coverage area, vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data based on the first position information of the vegetation coverage area and second position information of the point cloud data;
and the second determining unit is used for determining the height of the corresponding crop based on a plurality of elevation values corresponding to the vegetation point cloud data for each vegetation coverage area.
12. A computer storage medium, comprising a stored program, wherein the program, when executed by a processor, controls an apparatus in which the computer storage medium is located to perform the method of any one of claims 1 to 10.
13. An electronic device comprising a processor and a memory for storing a program; the processor, when executing the program, performs the steps of the method of any one of claims 1 to 10.
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