CN112987793B - Spraying method and device based on unmanned aerial vehicle, electronic equipment and medium - Google Patents
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Abstract
Description
技术领域technical field
本公开涉及无人机技术领域,尤其涉及一种基于无人机的喷雾方法、装置、电子设备和介质。The present disclosure relates to the technical field of drones, in particular to a drone-based spraying method, device, electronic equipment and media.
背景技术Background technique
植保无人飞机作为新型施药装备,发展十分迅速。植保无人机作业时会产生向下的旋翼风场,会对作物冠层产生扰动作用,处于冠层涡旋内的植株常常发生摆动、叶片翻转现象,这对雾滴穿透性有很大影响。As a new type of pesticide application equipment, plant protection unmanned aerial vehicles are developing very rapidly. When the plant protection UAV is operating, it will generate a downward rotor wind field, which will disturb the crop canopy. The plants in the canopy vortex often swing and the leaves turn over, which has a great impact on the penetration of droplets. Influence.
无人机在作业过程中快速前进时,雾滴流沉积区域和作物冠层涡旋区域均会滞后,不同作业速度下,由于不同粒子的运动速度衰减程度不同,所以气流和雾滴到达作物冠层处时的位置不一样,导致旋翼风场使叶片翻转过来后雾滴难以及时沉积在冠层涡旋区域,因此严重影响喷雾效果;从而使得植保无人机的作业效率大大下降。When the UAV advances rapidly during the operation, both the droplet flow deposition area and the crop canopy vortex area will lag behind. At different operating speeds, due to the different degrees of attenuation of the movement speed of different particles, the airflow and fog droplets reach the crop canopy. The positions of the layers are different, which causes the rotor wind field to make it difficult for the droplets to deposit in the canopy vortex area in time after the blades are turned over, which seriously affects the spray effect; thus greatly reducing the operating efficiency of the plant protection drone.
发明内容Contents of the invention
为了解决上述技术问题或者至少部分地解决上述技术问题,本公开提供了一种基于无人机的喷雾方法、装置、电子设备和介质。In order to solve the above technical problems or at least partly solve the above technical problems, the present disclosure provides a drone-based spraying method, device, electronic equipment and media.
第一方面,本公开提供了一种基于无人机的喷雾方法,所述方法包括:In a first aspect, the present disclosure provides a drone-based spraying method, the method comprising:
确定无人机作业过程中的第一特征区域和第二特征区域;其中,所述第一特征区域包括作物冠层涡旋区域,所述第二特征区域包括雾滴沉积区域;Determining a first characteristic area and a second characteristic area during the operation of the drone; wherein, the first characteristic area includes a crop canopy vortex area, and the second characteristic area includes a droplet deposition area;
确定所述第一特征区域的中心点和所述第二特征区域的中心点的距离,以及确定所述第一特征区域的面积和所述第二特征区域的面积的面积差;determining a distance between a center point of the first characteristic region and a center point of the second characteristic region, and determining an area difference between an area of the first characteristic region and an area of the second characteristic region;
根据所述距离和所述面积差调整所述无人机的作业参数。Adjusting the operating parameters of the drone according to the distance and the area difference.
可选地,所述确定无人机作业过程中的第一特征区域和第二特征区域,包括:Optionally, the determination of the first characteristic area and the second characteristic area during the operation of the UAV includes:
获取无人机在作业过程中的作业参数和气象参数;其中,所述作业参数包括飞行速度、飞行高度、雾滴粒径和机型中的至少一种;所述气象参数包括空气温度、湿度、风速和风向中的至少一种;Obtain the operating parameters and meteorological parameters of the unmanned aerial vehicle during the operation; wherein, the operating parameters include at least one of flight speed, flight height, droplet size and model; the meteorological parameters include air temperature, humidity , at least one of wind speed and wind direction;
将所述作业参数输入预先训练得到的第一识别模型中,并根据所述第一识别模型的输出确定第一特征区域;其中,所述第一识别模型是根据第一历史特征区域和历史作业参数训练得到;inputting the job parameters into the pre-trained first recognition model, and determining the first characteristic region according to the output of the first recognition model; wherein, the first recognition model is based on the first historical characteristic region and the historical job The parameters are trained;
将所述气象参数输入预先训练得到的第二识别模型中,并根据所述第二识别模型的输出确定第二特征区域;其中,所述第二识别模型是根据第二历史特征区域和历史气象参数训练得到。Inputting the meteorological parameters into the pre-trained second recognition model, and determining the second characteristic region according to the output of the second recognition model; wherein, the second recognition model is based on the second historical characteristic region and the historical weather The parameters are trained.
可选地,所述确定无人机作业过程中的第一特征区域和第二特征区域,包括:Optionally, the determination of the first characteristic area and the second characteristic area during the operation of the UAV includes:
获取无人机作业时的作业图像;Obtain the operation image when the drone is operating;
将所述作业图像进行分割处理,得到第一特征区域和第二特征区域;其中,所述分割处理包括光流法、帧间差分法和背景减法中的至少一种。Segmenting the operation image to obtain a first feature area and a second feature area; wherein, the segmentation process includes at least one of an optical flow method, an inter-frame difference method, and a background subtraction method.
可选地,所述确定所述第一特征区域的中心点和所述第二特征区域的中心点的距离,包括:Optionally, the determining the distance between the center point of the first feature area and the center point of the second feature area includes:
对所述第一特征区域进行轮廓提取,得到所述第一特征区域的包围区域;以及,对所述第二特征区域进行轮廓提取,得到所述第二特征区域的包围区域;performing contour extraction on the first feature area to obtain an enclosing area of the first feature area; and performing contour extraction on the second feature area to obtain an enclosing area of the second feature area;
根据所述第一特征区域的包围区域确定所述第一特征区域的中心点的坐标;根据所述第二特征区域的包围区域确定所述第二特征区域的中心点的坐标;determining the coordinates of the center point of the first feature area according to the enclosing area of the first feature area; determining the coordinates of the center point of the second feature area according to the enclosing area of the second feature area;
计算所述第一特征区域的中心点的坐标和所述第二特征区域的中心点的坐标之间的距离。calculating the distance between the coordinates of the center point of the first feature area and the coordinates of the center point of the second feature area.
可选地,所述确定所述第一特征区域的面积和所述第二特征区域的面积的面积差,包括:Optionally, the determining the area difference between the area of the first characteristic region and the area of the second characteristic region includes:
根据所述第一特征区域的中心点的坐标和所述第二特征区域的中心点的坐标,计算所述第一特征区域的面积和所述第二特征区域的面积的面积差。calculating an area difference between the area of the first characteristic region and the area of the second characteristic region according to the coordinates of the center point of the first characteristic region and the coordinates of the center point of the second characteristic region.
可选地,所述确定所述第一特征区域的中心点和所述第二特征区域的中心点的距离,包括:Optionally, the determining the distance between the center point of the first feature area and the center point of the second feature area includes:
根据所述作业图像,确定所述第一特征区域的第一飞行夹角和所述第二特征区域的第二飞行夹角;determining a first flight angle of the first characteristic area and a second flight angle of the second characteristic area according to the operation image;
根据所述第一飞行夹角和所述无人机的飞行高度确定第一滞后距离;根据所述第二飞行夹角和所述无人机的飞行高度确定第二滞后距离;Determine the first lag distance according to the first flight angle and the flying height of the drone; determine the second lag distance according to the second flight angle and the flying height of the drone;
将所述第一滞后距离与所述第二滞后距离的距离差作为所述第一特征区域的中心点和所述第二特征区域的中心点的距离。A distance difference between the first hysteresis distance and the second hysteresis distance is used as the distance between the center point of the first feature area and the center point of the second feature area.
可选地,所述根据所述距离和所述面积差调整所述无人机的作业参数,包括:Optionally, the adjusting the operating parameters of the UAV according to the distance and the area difference includes:
检测所述面积差是否大于预设阈值,且所述距离是否等于所述预设阈值;Detecting whether the area difference is greater than a preset threshold, and whether the distance is equal to the preset threshold;
若否,则调整所述无人机的飞行速度、飞行高度和雾滴粒径中的至少一种,以使得所述面积差大于预设阈值,且所述距离等于所述预设阈值。If not, at least one of the flying speed, flying height and droplet size of the drone is adjusted so that the area difference is greater than a preset threshold and the distance is equal to the preset threshold.
第二方面,本公开还提供了一种基于无人机的喷雾装置,包括:In a second aspect, the present disclosure also provides a drone-based spraying device, including:
第一确定模块,用于确定无人机作业过程中的第一特征区域和第二特征区域;其中,所述第一特征区域包括作物冠层涡旋区域,所述第二特征区域包括雾滴沉积区域;The first determination module is used to determine the first characteristic area and the second characteristic area during the operation of the drone; wherein, the first characteristic area includes the crop canopy vortex area, and the second characteristic area includes fog droplets deposition area;
第二确定模块,用于确定所述第一特征区域的中心点和所述第二特征区域的中心点的距离,以及确定所述第一特征区域的面积和所述第二特征区域的面积的面积差;A second determination module, configured to determine the distance between the center point of the first feature area and the center point of the second feature area, and determine the difference between the area of the first feature area and the area of the second feature area area difference;
参数调整模块,用于根据所述距离和所述面积差调整所述无人机的作业参数。A parameter adjustment module, configured to adjust the operating parameters of the drone according to the distance and the area difference.
可选地,第一确定模块,具体用于:Optionally, the first determination module is specifically used for:
获取无人机在作业过程中的作业参数和气象参数;其中,所述作业参数包括飞行速度、飞行高度、雾滴粒径和机型中的至少一种;所述气象参数包括空气温度、湿度、风速和风向中的至少一种;Obtain the operating parameters and meteorological parameters of the unmanned aerial vehicle during the operation; wherein, the operating parameters include at least one of flight speed, flight height, droplet size and model; the meteorological parameters include air temperature, humidity , at least one of wind speed and wind direction;
将所述作业参数输入预先训练得到的第一识别模型中,并根据所述第一识别模型的输出确定第一特征区域;其中,所述第一识别模型是根据第一历史特征区域和历史作业参数训练得到;inputting the job parameters into the pre-trained first recognition model, and determining the first characteristic region according to the output of the first recognition model; wherein, the first recognition model is based on the first historical characteristic region and the historical job The parameters are trained;
将所述气象参数输入预先训练得到的第二识别模型中,并根据所述第二识别模型的输出确定第二特征区域;其中,所述第二识别模型是根据第二历史特征区域和历史气象参数训练得到。Inputting the meteorological parameters into the pre-trained second recognition model, and determining the second characteristic region according to the output of the second recognition model; wherein, the second recognition model is based on the second historical characteristic region and the historical weather The parameters are trained.
可选地,第一确定模块,具体用于:Optionally, the first determination module is specifically used for:
获取无人机作业时的作业图像;Obtain the operation image when the drone is operating;
将所述作业图像进行分割处理,得到第一特征区域和第二特征区域;其中,所述分割处理包括光流法、帧间差分法和背景减法中的至少一种。Segmenting the operation image to obtain a first feature area and a second feature area; wherein, the segmentation process includes at least one of an optical flow method, an inter-frame difference method, and a background subtraction method.
可选地,第二确定模块,具体用于:Optionally, the second determining module is specifically used for:
对所述第一特征区域进行轮廓提取,得到所述第一特征区域的包围区域;以及,对所述第二特征区域进行轮廓提取,得到所述第二特征区域的包围区域;performing contour extraction on the first feature area to obtain an enclosing area of the first feature area; and performing contour extraction on the second feature area to obtain an enclosing area of the second feature area;
根据所述第一特征区域的包围区域确定所述第一特征区域的中心点的坐标;根据所述第二特征区域的包围区域确定所述第二特征区域的中心点的坐标;determining the coordinates of the center point of the first feature area according to the enclosing area of the first feature area; determining the coordinates of the center point of the second feature area according to the enclosing area of the second feature area;
计算所述第一特征区域的中心点的坐标和所述第二特征区域的中心点的坐标之间的距离。calculating the distance between the coordinates of the center point of the first feature area and the coordinates of the center point of the second feature area.
可选地,第二确定模块,具体用于:Optionally, the second determining module is specifically used for:
根据所述第一特征区域的中心点的坐标和所述第二特征区域的中心点的坐标,计算所述第一特征区域的面积和所述第二特征区域的面积的面积差。calculating an area difference between the area of the first characteristic region and the area of the second characteristic region according to the coordinates of the center point of the first characteristic region and the coordinates of the center point of the second characteristic region.
可选地,第二确定模块,具体用于:Optionally, the second determining module is specifically used for:
根据所述作业图像,确定所述第一特征区域的第一飞行夹角和所述第二特征区域的第二飞行夹角;determining a first flight angle of the first characteristic area and a second flight angle of the second characteristic area according to the operation image;
根据所述第一飞行夹角和所述无人机的飞行高度确定第一滞后距离;根据所述第二飞行夹角和所述无人机的飞行高度确定第二滞后距离;Determine the first lag distance according to the first flight angle and the flying height of the drone; determine the second lag distance according to the second flight angle and the flying height of the drone;
将所述第一滞后距离与所述第二滞后距离的距离差作为所述第一特征区域的中心点和所述第二特征区域的中心点的距离。A distance difference between the first hysteresis distance and the second hysteresis distance is used as the distance between the center point of the first feature area and the center point of the second feature area.
可选地,参数调整模块,具体用于:Optionally, the parameter adjustment module is specifically used for:
检测所述面积差是否大于预设阈值,且所述距离是否等于所述预设阈值;Detecting whether the area difference is greater than a preset threshold, and whether the distance is equal to the preset threshold;
若否,则调整所述无人机的飞行速度、飞行高度和雾滴粒径中的至少一种,以使得所述面积差大于预设阈值,且所述距离等于所述预设阈值。If not, at least one of the flying speed, flying height and droplet size of the drone is adjusted so that the area difference is greater than a preset threshold and the distance is equal to the preset threshold.
第三方面,本公开还提供了一种电子设备,该电子设备包括:In a third aspect, the present disclosure also provides an electronic device, which includes:
一个或多个处理器;one or more processors;
存储装置,用于存储一个或多个程序,storage means for storing one or more programs,
当所述一个或多个程序被所述一个或多个处理器执行,使得所述一个或多个处理器实现本发明实施例中的任一种所述的基于无人机的喷雾方法。When the one or more programs are executed by the one or more processors, the one or more processors implement any one of the drone-based spraying methods in the embodiments of the present invention.
第四方面,本公开还提供了一种计算机可读存储介质,其上存储有计算机程序,该程序被处理器执行时实现本发明实施例中的任一种所述的基于无人机的喷雾方法。In a fourth aspect, the present disclosure also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the drone-based spray described in any one of the embodiments of the present invention is realized method.
本公开实施例提供的技术方案与现有技术相比具有如下优点:在作业过程中能够调整无人机的作业参数以使得作物冠层涡旋区域和雾滴沉积区域重叠,且冠层涡旋区域主动包含雾滴沉积区域,从而提高喷雾精准度,获得最佳的作业效果。Compared with the prior art, the technical solution provided by the embodiments of the present disclosure has the following advantages: the operating parameters of the UAV can be adjusted during the operation so that the crop canopy vortex area and the droplet deposition area overlap, and the canopy vortex The area actively includes the droplet deposition area, so as to improve the spray accuracy and obtain the best operation effect.
附图说明Description of drawings
此处的附图被并入说明书中并构成本说明书的一部分,示出了符合本公开的实施例,并与说明书一起用于解释本公开的原理。The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description serve to explain the principles of the disclosure.
为了更清楚地说明本公开实施例或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,对于本领域普通技术人员而言,在不付出创造性劳动性的前提下,还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, In other words, other drawings can also be obtained from these drawings without paying creative labor.
图1是本公开实施例提供的一种基于无人机的喷雾方法的流程示意图;Fig. 1 is a schematic flow chart of a drone-based spraying method provided by an embodiment of the present disclosure;
图2是本公开实施例提供的另一种基于无人机的喷雾方法的流程示意图;2 is a schematic flow diagram of another drone-based spraying method provided by an embodiment of the present disclosure;
图3是本公开实施例提供的又一种基于无人机的喷雾方法的流程示意图;3 is a schematic flow diagram of another drone-based spraying method provided by an embodiment of the present disclosure;
图4是无人机的工作示意图;Fig. 4 is the working diagram of unmanned aerial vehicle;
图5是本公开实施例提供的一种基于无人机的喷雾装置的结构示意图;Fig. 5 is a schematic structural diagram of a spraying device based on a drone provided by an embodiment of the present disclosure;
图6是本公开实施例提供的一种电子设备的结构示意图。Fig. 6 is a schematic structural diagram of an electronic device provided by an embodiment of the present disclosure.
具体实施方式Detailed ways
为了能够更清楚地理解本公开的上述目的、特征和优点,下面将对本公开的方案进行进一步描述。需要说明的是,在不冲突的情况下,本公开的实施例及实施例中的特征可以相互组合。In order to more clearly understand the above objects, features and advantages of the present disclosure, the solutions of the present disclosure will be further described below. It should be noted that, in the case of no conflict, the embodiments of the present disclosure and the features in the embodiments can be combined with each other.
在下面的描述中阐述了很多具体细节以便于充分理解本公开,但本公开还可以采用其他不同于在此描述的方式来实施;显然,说明书中的实施例只是本公开的一部分实施例,而不是全部的实施例。In the following description, many specific details are set forth in order to fully understand the present disclosure, but the present disclosure can also be implemented in other ways than described here; obviously, the embodiments in the description are only some of the embodiments of the present disclosure, and Not all examples.
图1是本公开实施例提供的一种基于无人机的喷雾方法的流程示意图。本实施例可适用于利用无人机进行植保作业的情况。本实施例方法可由基于无人机的喷雾装置来执行,该装置可采用硬件/或软件的方式来实现,并可配置于电子设备中。可实现本申请任意实施例所述的基于无人机的喷雾方法。如图1所示,该方法具体包括如下:Fig. 1 is a schematic flow chart of a drone-based spraying method provided by an embodiment of the present disclosure. This embodiment is applicable to the situation of utilizing drones for plant protection operations. The method of this embodiment can be executed by a spraying device based on a drone, which can be implemented in hardware/or software, and can be configured in electronic equipment. The drone-based spraying method described in any embodiment of the present application can be realized. As shown in Figure 1, the method specifically includes the following:
S110、确定无人机作业过程中的第一特征区域和第二特征区域;其中,第一特征区域包括作物冠层涡旋区域,第二特征区域包括雾滴沉积区域。S110. Determine a first characteristic area and a second characteristic area during the operation of the drone; wherein, the first characteristic area includes a crop canopy vortex area, and the second characteristic area includes a droplet deposition area.
由于无人机在作业时,忽略自然风力因素,当无人机处于悬停时,旋翼风场会对作物冠层造成一定扰动,出现作物冠层旋涡区域,从而会影响到雾滴的穿透性。作物冠层旋涡区域和雾滴沉积区域进均处于无人机的下方,若在喷雾过程中,作物冠层旋涡区域和雾滴沉积区域处于重叠且作物冠层旋涡区域主动包含雾滴沉积区域时,雾滴才能有效的沉积在植株中下层和叶片背面,实现喷雾的有效吸收。Since the UAV ignores natural wind factors when the UAV is in operation, when the UAV is hovering, the rotor wind field will cause certain disturbances to the crop canopy, and the vortex area of the crop canopy will appear, which will affect the penetration of fog droplets sex. Both the crop canopy vortex area and the droplet deposition area are under the drone, if during the spraying process, the crop canopy vortex area and the droplet deposition area overlap and the crop canopy vortex area actively includes the droplet deposition area , the mist droplets can be effectively deposited on the middle and lower layers of the plant and the back of the leaves to achieve effective absorption of the spray.
在本实施例中,第一特征区域和第二特征区域为无人机作业时在作物上形成的两个区域;对这两个区域进行有效分析,能够使得第一特征区域和第二特征区域在垂直面上趋近于重叠,以提高无人机的作业效率。In this embodiment, the first characteristic region and the second characteristic region are two regions formed on the crop when the drone is operating; effective analysis of these two regions can make the first characteristic region and the second characteristic region It tends to overlap on the vertical plane to improve the operating efficiency of the drone.
S120、确定第一特征区域的中心点和第二特征区域的中心点的距离,以及确定第一特征区域的面积和第二特征区域的面积的面积差。S120. Determine the distance between the center point of the first feature area and the center point of the second feature area, and determine the area difference between the area of the first feature area and the area of the second feature area.
在本实施例中,第一特征区域的中心点和第二特征区域的中心点的距离能够有效反映出第一特征区域与第二特征区域的位置偏差;第一特征区域的面积和第二特征区域的面积的面积差能够直接反映出这两个区域的大小之分,从而有效的判断出第一特征区域和第二特征区域的覆盖关系。In this embodiment, the distance between the center point of the first feature area and the center point of the second feature area can effectively reflect the position deviation between the first feature area and the second feature area; the area of the first feature area and the second feature area The area difference of the areas of the regions can directly reflect the size difference between the two regions, so as to effectively determine the coverage relationship between the first characteristic region and the second characteristic region.
S130、根据距离和面积差调整无人机的作业参数。S130. Adjust the operating parameters of the drone according to the distance and the area difference.
由于无人机在作业时产生的作物冠层旋涡区域和雾滴沉积区域的过程是动态的,很难直接测量其位置;因此,本实施例通过在无人机作业过程中基于两区域的距离和面积偏差实时进行作业参数的调整,以使得作物冠层旋涡区域和雾滴沉积区域重叠,且作物冠层旋涡区域主动包含雾滴沉积区域,从而提高喷雾精度,使得无人机的作业效果达到最佳。Since the process of the crop canopy vortex area and the droplet deposition area generated by the drone during operation is dynamic, it is difficult to directly measure its position; therefore, this embodiment uses the distance between the two areas during the drone operation Adjust the operation parameters in real time according to the area deviation, so that the crop canopy vortex area and the droplet deposition area overlap, and the crop canopy vortex area actively includes the droplet deposition area, thereby improving the spraying accuracy and making the drone's operation effect reach optimal.
本公开实施例确定无人机作业过程中的第一特征区域和第二特征区域;其中,第一特征区域包括作物冠层涡旋区域,第二特征区域包括雾滴沉积区域;确定第一特征区域的中心点和第二特征区域的中心点的距离,以及确定第一特征区域的面积和第二特征区域的面积的面积差;根据距离和面积差调整无人机的作业参数。本公开实施例在作业过程中能够调整无人机的作业参数以使得作物冠层涡旋区域和雾滴沉积区域重叠,且冠层涡旋区域主动包含雾滴沉积区域,从而提高喷雾精准度,获得最佳的作业效果。The embodiment of the present disclosure determines the first characteristic region and the second characteristic region during the operation of the drone; wherein, the first characteristic region includes the crop canopy vortex region, and the second characteristic region includes the droplet deposition region; the first characteristic is determined The distance between the center point of the area and the center point of the second feature area, and the area difference between the area of the first feature area and the area of the second feature area are determined; the operating parameters of the drone are adjusted according to the distance and the area difference. The embodiment of the present disclosure can adjust the operating parameters of the drone during the operation so that the crop canopy vortex area and the droplet deposition area overlap, and the canopy vortex area actively includes the droplet deposition area, thereby improving the spraying accuracy. Get the best job results.
图2是本公开实施例提供的另一种基于无人机的喷雾方法的流程示意图。本实施例是在上述实施例的基础上进一步扩展与优化,并可与上述技术方案中任意可选方案组合。如图2所示,该方法包括:Fig. 2 is a schematic flowchart of another drone-based spraying method provided by an embodiment of the present disclosure. This embodiment is further expanded and optimized on the basis of the above embodiments, and can be combined with any optional solution in the above technical solutions. As shown in Figure 2, the method includes:
S210、获取无人机在作业过程中的作业参数和气象参数。S210. Obtain operating parameters and meteorological parameters of the UAV during the operation process.
在本实施例中,作业参数包括飞行速度、飞行高度、雾滴粒径和机型中的至少一种;气象参数包括空气温度、湿度、风速和风向中的至少一种。In this embodiment, the operating parameters include at least one of flight speed, flight altitude, droplet size and aircraft type; the meteorological parameters include at least one of air temperature, humidity, wind speed and wind direction.
其中,无人机的作业参数可预先进行人为设置,在获取作业参数时,可通过无人机的控制系统读取无人机预设的作业参数;并基于云端服务器获取本地的气象数据。Among them, the operating parameters of the drone can be manually set in advance. When obtaining the operating parameters, the preset operating parameters of the drone can be read through the control system of the drone; and the local meteorological data can be obtained based on the cloud server.
S220、将作业参数输入预先训练得到的第一识别模型中,并根据第一识别模型的输出确定第一特征区域;其中,第一识别模型是根据第一历史特征区域和历史作业参数训练得到。S220. Input operation parameters into the pre-trained first recognition model, and determine the first characteristic region according to the output of the first recognition model; wherein, the first recognition model is trained according to the first historical characteristic region and historical operation parameters.
在本实施例中,预先训练得到的第一识别模型可为用过试验、计算流体动力学方法(Computational Fluid Dynamics,CFD)研究得到无人机作业参数与作物冠层旋涡区域的数学模型。In this embodiment, the pre-trained first recognition model may be a mathematical model of the operating parameters of the drone and the vortex area of the crop canopy obtained through experiments and computational fluid dynamics (Computational Fluid Dynamics, CFD) research.
S230、将气象参数输入预先训练得到的第二识别模型中,并根据第二识别模型的输出确定第二特征区域;其中,第二识别模型是根据第二历史特征区域和历史气象参数训练得到。S230. Input meteorological parameters into the pre-trained second recognition model, and determine the second characteristic region according to the output of the second recognition model; wherein, the second recognition model is obtained by training according to the second historical characteristic region and historical meteorological parameters.
在本实施例中,预先训练得到的第二识别模型可为用过试验、计算流体动力学方法(Computational Fluid Dynamics,CFD)研究得到无人机作业参数与雾滴沉积区域的数学模型。In this embodiment, the pre-trained second recognition model may be a mathematical model of the drone's operating parameters and droplet deposition area obtained through experiments and computational fluid dynamics (Computational Fluid Dynamics, CFD) research.
本实施例通过预先训练好的识别模型,根据模型的输入信息有效快速的确定出作物冠层旋涡区域和雾滴沉积区域,解决了人工难以直接获取准确区域的问题。In this embodiment, the pre-trained recognition model is used to effectively and quickly determine the crop canopy vortex area and the droplet deposition area according to the input information of the model, which solves the problem that it is difficult to directly obtain the accurate area manually.
S240、对第一特征区域进行轮廓提取,得到第一特征区域的包围区域;以及,对第二特征区域进行轮廓提取,得到第二特征区域的包围区域。S240. Perform contour extraction on the first feature area to obtain an enclosing area of the first feature area; and perform contour extraction on the second feature area to obtain an enclosing area of the second feature area.
在本实施例中,第一特征区域的包围区域为第一特征区域的边界点组成的边界形状;第二特征区域的包围区域为第二特征区域的边界点组成的边界形状。In this embodiment, the enclosing area of the first feature area is a boundary shape composed of boundary points of the first feature area; the enclosing area of the second feature area is a boundary shape composed of boundary points of the second feature area.
具体的,可通过轮廓提取法、边界跟踪法、区域增长法或者区域分裂合并法对第一特征区域和第二特征区域进行轮廓提取,以得到第一特征区域的边界形状和第二特征区域的边界形状。Specifically, contour extraction can be performed on the first feature region and the second feature region by the contour extraction method, boundary tracking method, region growing method or region splitting and merging method to obtain the boundary shape of the first feature region and the shape of the second feature region. border shape.
S250、根据第一特征区域的包围区域确定第一特征区域的中心点的坐标;根据第二特征区域的包围区域确定第二特征区域的中心点的坐标;计算第一特征区域的中心点的坐标和第二特征区域的中心点的坐标之间的距离。S250. Determine the coordinates of the central point of the first characteristic region according to the surrounding area of the first characteristic region; determine the coordinates of the central point of the second characteristic region according to the surrounding region of the second characteristic region; calculate the coordinates of the central point of the first characteristic region and the distance between the coordinates of the center point of the second feature area.
在本实施例中,可采用两点间的距离公式,计算第一特征区域的中心点的坐标和第二特征区域的中心点的坐标之间的距离;具体可参见如下公式(1)。In this embodiment, a distance formula between two points can be used to calculate the distance between the coordinates of the center point of the first feature area and the coordinates of the center point of the second feature area; for details, refer to the following formula (1).
其中,xa为第一特征区域的中心点的横坐标;ya为第一特征区域的中心点的纵坐标;xb为第二特征区域的中心点的横坐标;yb为第二特征区域的中心点的纵坐标。Among them, x a is the abscissa of the center point of the first feature area; y a is the ordinate of the center point of the first feature area; x b is the abscissa of the center point of the second feature area; y b is the second feature The ordinate of the center point of the region.
S260、根据第一特征区域的中心点的坐标和第二特征区域的中心点的坐标,计算第一特征区域的面积和第二特征区域的面积的面积差。S260. Calculate an area difference between the area of the first feature area and the area of the second feature area according to the coordinates of the center point of the first feature area and the coordinates of the center point of the second feature area.
在本实施例中,若第一特征区域和第二特征区域为规则图形,则可根据规则图形的面积计算方式进行第一特征区域和第二特征区域的面积计算,并得到两者的面积差;若第一特征区域和第二特征区域为非规则图形,则可对其面积进行预测,以求出两者的面积差。In this embodiment, if the first characteristic region and the second characteristic region are regular figures, the area calculation of the first characteristic region and the second characteristic region can be performed according to the area calculation method of the regular figure, and the area difference between the two can be obtained ; If the first feature area and the second feature area are irregular figures, their areas can be predicted to find the area difference between them.
本实施例根据第一特征区域的中心点的坐标和第二特征区域的中心点的坐标,能够准确计算出第一特征区域的中心点的坐标和第二特征区域的中心点的坐标之间的距离,和第一特征区域的面积和第二特征区域的面积的面积差。In this embodiment, according to the coordinates of the center point of the first feature area and the coordinates of the center point of the second feature area, the distance between the coordinates of the center point of the first feature area and the coordinates of the center point of the second feature area can be accurately calculated. The distance, and the area difference between the area of the first characteristic region and the area of the second characteristic region.
S270、根据距离和面积差调整无人机的作业参数。S270. Adjust the operating parameters of the drone according to the distance and the area difference.
图3是本公开实施例提供的又一种基于无人机的喷雾方法的流程示意图。本实施例是在上述实施例的基础上进一步扩展与优化,并可与上述技术方案中任意可选方案组合。如图3所示,该方法包括:Fig. 3 is a schematic flowchart of another drone-based spraying method provided by an embodiment of the present disclosure. This embodiment is further expanded and optimized on the basis of the above embodiments, and can be combined with any optional solution in the above technical solutions. As shown in Figure 3, the method includes:
S310、获取无人机作业时的作业图像。S310. Obtain an operation image during the operation of the drone.
在本实施例中,可通过在无人机上安装图像信息采集组件,在无人机作业时采集第一特征区域和第二特征区域的图像信息并返回给无人机;具体的,图形信息采集组件可安装在无人机正上方和正侧方以采集图像信息。In this embodiment, by installing an image information collection component on the UAV, the image information of the first characteristic area and the second characteristic area can be collected and returned to the UAV during the operation of the UAV; specifically, the image information collection The components can be installed directly above and beside the UAV to collect image information.
本实施例中获取到的作业图像的图形种类可包括红绿蓝(GRB)图像、全色图像、深度图像、热红外图像、高光谱图像、多光谱图像和点云图像。The graphic types of the operation images acquired in this embodiment may include red-green-blue (GRB) images, panchromatic images, depth images, thermal infrared images, hyperspectral images, multispectral images, and point cloud images.
S320、将作业图像进行分割处理,得到第一特征区域和第二特征区域;其中,分割处理包括光流法、帧间差分法和背景减法中的至少一种。S320. Perform segmentation processing on the job image to obtain a first feature area and a second feature area; wherein, the segmentation process includes at least one of an optical flow method, an inter-frame difference method, and a background subtraction method.
在本实施例中,可基于作业图像中的边界点对其进行分割处理,以区分第一特征区域和第二特征区域。In this embodiment, the operation image may be segmented based on the boundary points in it, so as to distinguish the first feature area from the second feature area.
本实施例还提供了一种可以根据无人机的作业图像确定第一特征区域和第二特征区域,为第一特征区域和第二特征区域的确定提供更多的识别方法。This embodiment also provides a method that can determine the first characteristic area and the second characteristic area according to the operation image of the drone, and provides more identification methods for determining the first characteristic area and the second characteristic area.
S330、根据作业图像,确定第一特征区域的第一飞行夹角和第二特征区域的第二飞行夹角。S330. Determine a first flight angle of the first feature area and a second flight angle of the second feature area according to the operation image.
在本实施例中,第一特征区域的第一飞行夹角为无人机以垂直于地面的方向为参考线,和第一特征区域的夹角;第二特征区域的第二飞行夹角为无人机以垂直于地面的方向为参考线,和第二特征区域的夹角;具体可参见图4,图4为无人机的工作示意图;图4中,第一飞行夹角为α;第二飞行夹角为β。In this embodiment, the first flight angle of the first characteristic area is the angle between the drone and the first characteristic area with the direction perpendicular to the ground as the reference line; the second flight angle of the second characteristic area is The UAV takes the direction perpendicular to the ground as the reference line, and the angle between the second characteristic area; for details, please refer to Figure 4, which is a schematic diagram of the operation of the UAV; in Figure 4, the first flight angle is α; The second flight angle is β.
S340、根据第一飞行夹角和无人机的飞行高度确定第一滞后距离;根据第二飞行夹角和无人机的飞行高度确定第二滞后距离;将第一滞后距离与第二滞后距离的距离差作为第一特征区域的中心点和第二特征区域的中心点的距离。S340. Determine the first lag distance according to the first flight angle and the flight height of the drone; determine the second lag distance according to the second flight angle and the flight height of the drone; combine the first lag distance with the second lag distance The distance difference of is taken as the distance between the center point of the first feature area and the center point of the second feature area.
在本实施例中,参见图4;无人机的飞行高度为预先设定好的参数值H;第一滞后距离为L;第二滞后距离为B;则第一特征区域的中心点和第二特征区域的中心点的距离可参见如下公式(2)。In this embodiment, referring to Fig. 4; the flight height of the drone is a preset parameter value H; the first lag distance is L; the second lag distance is B; then the center point of the first feature area and the second lag distance The distance between the center points of the two feature regions can be referred to the following formula (2).
d=L-B=tanα·H-tanβ·H (2)d=L-B=tanα·H-tanβ·H (2)
本实施例还提供了可以根据作业图像计算与特征区域的夹角,以此求出两特征区域间中心点的距离,增加了第一特征区域的中心点和第二特征区域的中心点的距离计算的可选方法。This embodiment also provides that the angle between the feature area and the calculation of the operation image can be used to calculate the distance between the center points of the two feature areas, and the distance between the center point of the first feature area and the center point of the second feature area is increased. An optional method for calculation.
S350、根据第一特征区域的中心点的坐标和第二特征区域的中心点的坐标,计算第一特征区域的面积和第二特征区域的面积的面积差。S350. Calculate an area difference between the area of the first feature area and the area of the second feature area according to the coordinates of the center point of the first feature area and the coordinates of the center point of the second feature area.
S360、根据距离和面积差调整无人机的作业参数。S360. Adjust the operating parameters of the drone according to the distance and the area difference.
在本实施例中,可选地,根据距离和面积差调整无人机的作业参数,包括:In this embodiment, optionally, the operating parameters of the drone are adjusted according to the distance and area difference, including:
检测面积差是否大于预设阈值,且距离是否等于预设阈值;Detecting whether the area difference is greater than a preset threshold, and whether the distance is equal to a preset threshold;
若否,则调整无人机的飞行速度、飞行高度和雾滴粒径中的至少一种,以使得面积差大于预设阈值,且距离等于预设阈值。If not, at least one of the flight speed, flight height and droplet size of the drone is adjusted so that the area difference is greater than the preset threshold and the distance is equal to the preset threshold.
其中,本实施例的预设阈值可趋近于零。当第一特征区域和第二特征区域的面积差大于零,且距离等于零时,才能使得雾滴沉积区域重叠在作物冠层旋涡区域之中,实现雾滴的有效穿透。Wherein, the preset threshold in this embodiment may be close to zero. When the area difference between the first characteristic area and the second characteristic area is greater than zero, and the distance is equal to zero, the droplet deposition area can be overlapped in the crop canopy vortex area to achieve effective penetration of the droplet.
本实施例通过在无人机的作业过程中实时监测第一特征区域和第二特征区域的面积差,以及第一特征区域的中心点到第二特征区域的中心点的距离是否满足预设条件,以此判断是否需要调整作业参数,从而在无人机的作业过程中实现有效监控。In this embodiment, the area difference between the first characteristic region and the second characteristic region is monitored in real time during the operation of the drone, and whether the distance from the center point of the first characteristic region to the center point of the second characteristic region satisfies the preset condition , so as to judge whether it is necessary to adjust the operation parameters, so as to realize effective monitoring during the operation of the UAV.
图5是本公开实施例提供的一种基于无人机的喷雾装置的结构示意图;该装置配置于电子设备中,可实现本申请任意实施例所述的基于无人机的喷雾方法。该装置具体包括如下:Fig. 5 is a schematic structural diagram of a drone-based spraying device provided by an embodiment of the present disclosure; the device is configured in an electronic device, and can implement the drone-based spraying method described in any embodiment of the present application. The device specifically includes the following:
第一确定模块510,用于确定无人机作业过程中的第一特征区域和第二特征区域;其中,所述第一特征区域包括作物冠层涡旋区域,所述第二特征区域包括雾滴沉积区域;The
第二确定模块520,用于确定所述第一特征区域的中心点和所述第二特征区域的中心点的距离,以及确定所述第一特征区域的面积和所述第二特征区域的面积的面积差;The
参数调整模块530,用于根据所述距离和所述面积差调整所述无人机的作业参数。A
在本实施例中,可选地,第一确定模块510,具体用于:In this embodiment, optionally, the first determining
获取无人机在作业过程中的作业参数和气象参数;其中,所述作业参数包括飞行速度、飞行高度、雾滴粒径和机型中的至少一种;所述气象参数包括空气温度、湿度、风速和风向中的至少一种;Obtain the operating parameters and meteorological parameters of the unmanned aerial vehicle during the operation; wherein, the operating parameters include at least one of flight speed, flight height, droplet size and model; the meteorological parameters include air temperature, humidity , at least one of wind speed and wind direction;
将所述作业参数输入预先训练得到的第一识别模型中,并根据所述第一识别模型的输出确定第一特征区域;其中,所述第一识别模型是根据第一历史特征区域和历史作业参数训练得到;inputting the job parameters into the pre-trained first recognition model, and determining the first characteristic region according to the output of the first recognition model; wherein, the first recognition model is based on the first historical characteristic region and the historical job The parameters are trained;
将所述气象参数输入预先训练得到的第二识别模型中,并根据所述第二识别模型的输出确定第二特征区域;其中,所述第二识别模型是根据第二历史特征区域和历史气象参数训练得到。Inputting the meteorological parameters into the pre-trained second recognition model, and determining the second characteristic region according to the output of the second recognition model; wherein, the second recognition model is based on the second historical characteristic region and the historical weather The parameters are trained.
在本实施例中,可选地,第一确定模块510,具体用于:In this embodiment, optionally, the first determining
获取无人机作业时的作业图像;Obtain the operation image when the drone is operating;
将所述作业图像进行分割处理,得到第一特征区域和第二特征区域;其中,所述分割处理包括光流法、帧间差分法和背景减法中的至少一种。Segmenting the operation image to obtain a first feature area and a second feature area; wherein, the segmentation process includes at least one of an optical flow method, an inter-frame difference method, and a background subtraction method.
在本实施例中,可选地,第二确定模块520,具体用于:In this embodiment, optionally, the
对所述第一特征区域进行轮廓提取,得到所述第一特征区域的包围区域;以及,对所述第二特征区域进行轮廓提取,得到所述第二特征区域的包围区域;performing contour extraction on the first feature area to obtain an enclosing area of the first feature area; and performing contour extraction on the second feature area to obtain an enclosing area of the second feature area;
根据所述第一特征区域的包围区域确定所述第一特征区域的中心点的坐标;根据所述第二特征区域的包围区域确定所述第二特征区域的中心点的坐标;determining the coordinates of the center point of the first feature area according to the enclosing area of the first feature area; determining the coordinates of the center point of the second feature area according to the enclosing area of the second feature area;
计算所述第一特征区域的中心点的坐标和所述第二特征区域的中心点的坐标之间的距离。calculating the distance between the coordinates of the center point of the first feature area and the coordinates of the center point of the second feature area.
在本实施例中,可选地,第二确定模块520,具体用于:In this embodiment, optionally, the
根据所述第一特征区域的中心点的坐标和所述第二特征区域的中心点的坐标,计算所述第一特征区域的面积和所述第二特征区域的面积的面积差。calculating an area difference between the area of the first characteristic region and the area of the second characteristic region according to the coordinates of the center point of the first characteristic region and the coordinates of the center point of the second characteristic region.
在本实施例中,可选地,第二确定模块520,具体用于:In this embodiment, optionally, the
根据所述作业图像,确定所述第一特征区域的第一飞行夹角和所述第二特征区域的第二飞行夹角;determining a first flight angle of the first characteristic area and a second flight angle of the second characteristic area according to the operation image;
根据所述第一飞行夹角和所述无人机的飞行高度确定第一滞后距离;根据所述第二飞行夹角和所述无人机的飞行高度确定第二滞后距离;Determine the first lag distance according to the first flight angle and the flying height of the drone; determine the second lag distance according to the second flight angle and the flying height of the drone;
将所述第一滞后距离与所述第二滞后距离的距离差作为所述第一特征区域的中心点和所述第二特征区域的中心点的距离。A distance difference between the first hysteresis distance and the second hysteresis distance is used as the distance between the center point of the first feature area and the center point of the second feature area.
在本实施例中,可选地,参数调整模块530,具体用于:In this embodiment, optionally, the
检测所述面积差是否大于预设阈值,且所述距离是否等于所述预设阈值;Detecting whether the area difference is greater than a preset threshold, and whether the distance is equal to the preset threshold;
若否,则调整所述无人机的飞行速度、飞行高度和雾滴粒径中的至少一种,以使得所述面积差大于预设阈值,且所述距离等于所述预设阈值。If not, at least one of the flying speed, flying height and droplet size of the drone is adjusted so that the area difference is greater than a preset threshold and the distance is equal to the preset threshold.
通过本发明实施例的基于无人机的喷雾装置,在作业过程中能够调整无人机的作业参数以使得作物冠层涡旋区域和雾滴沉积区域重叠,且冠层涡旋区域主动包含雾滴沉积区域,从而提高喷雾精准度,获得最佳的作业效果。Through the spraying device based on the drone of the embodiment of the present invention, the operating parameters of the drone can be adjusted during the operation so that the crop canopy vortex area and the droplet deposition area overlap, and the canopy vortex area actively contains fog Droplet deposition area, thereby improving spray accuracy and obtaining the best operating results.
本发明实施例所提供的基于无人机的喷雾装置可执行本发明任意实施例所提供的基于无人机的喷雾方法,具备执行方法相应的功能模块和有益效果。The drone-based spraying device provided in the embodiments of the present invention can execute the drone-based spraying method provided in any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method.
图6是本公开实施例提供的一种电子设备的结构示意图。如图6所示,该电子设备包括处理器610、存储器620、输入装置630和输出装置640;电子设备中处理器610的数量可以是一个或多个,图6中以一个处理器610为例;电子设备中的处理器610、存储器620、输入装置630和输出装置640可以通过总线或其他方式连接,图6中以通过总线连接为例。Fig. 6 is a schematic structural diagram of an electronic device provided by an embodiment of the present disclosure. As shown in Figure 6, the electronic device includes a
存储器620作为一种计算机可读存储介质,可用于存储软件程序、计算机可执行程序以及模块,如本发明实施例中的基于无人机的喷雾方法对应的程序指令/模块。处理器610通过运行存储在存储器620中的软件程序、指令以及模块,从而执行电子设备的各种功能应用以及数据处理,即实现本发明实施例所提供的基于无人机的喷雾方法。The
存储器620可主要包括存储程序区和存储数据区,其中,存储程序区可存储操作系统、至少一个功能所需的应用程序;存储数据区可存储根据终端的使用所创建的数据等。此外,存储器620可以包括高速随机存取存储器,还可以包括非易失性存储器,例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实例中,存储器620可进一步包括相对于处理器610远程设置的存储器,这些远程存储器可以通过网络连接至电子设备。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。The
输入装置630可用于接收输入的数字或字符信息,以及产生与电子设备的用户设置以及功能控制有关的键信号输入,可以包括键盘、鼠标等。输出装置640可包括显示屏等显示设备。The
本公开实施例还提供了一种包含计算机可执行指令的存储介质,所述计算机可执行指令在由计算机处理器执行时用于实现本发明实施例所提供的基于无人机的喷雾方法。An embodiment of the present disclosure also provides a storage medium containing computer-executable instructions, and the computer-executable instructions are used to implement the drone-based spraying method provided by the embodiment of the present invention when executed by a computer processor.
当然,本发明实施例所提供的一种包含计算机可执行指令的存储介质,其计算机可执行指令不限于如上所述的方法操作,还可以执行本发明任意实施例所提供的基于无人机的喷雾方法中的相关操作。Certainly, a storage medium containing computer-executable instructions provided by an embodiment of the present invention, the computer-executable instructions are not limited to the method operations described above, and may also execute the UAV-based drone provided by any embodiment of the present invention. Relevant operations in the spray method.
通过以上关于实施方式的描述,所属领域的技术人员可以清楚地了解到,本发明可借助软件及必需的通用硬件来实现,当然也可以通过硬件实现,但很多情况下前者是更佳的实施方式。基于这样的理解,本发明的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来,该计算机软件产品可以存储在计算机可读存储介质中,如计算机的软盘、只读存储器(Read-Only Memory,ROM)、随机存取存储器(RandomAccess Memory,RAM)、闪存(FLASH)、硬盘或光盘等,包括若干指令用以使得一台计算机设备(可以是个人计算机,服务器,或者网络设备等)执行本发明各个实施例所述的方法。Through the above description about the implementation mode, those skilled in the art can clearly understand that the present invention can be realized by means of software and necessary general-purpose hardware, and of course it can also be realized by hardware, but in many cases the former is a better implementation mode . Based on this understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a floppy disk of a computer , read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), flash memory (FLASH), hard disk or optical disc, etc., including several instructions to make a computer device (which can be a personal computer, A server, or a network device, etc.) executes the methods described in various embodiments of the present invention.
值得注意的是,上述搜索装置的实施例中,所包括的各个单元和模块只是按照功能逻辑进行划分的,但并不局限于上述的划分,只要能够实现相应的功能即可;另外,各功能单元的具体名称也只是为了便于相互区分,并不用于限制本发明的保护范围。It is worth noting that in the embodiments of the search device above, the units and modules included are only divided according to functional logic, but are not limited to the above-mentioned divisions, as long as the corresponding functions can be realized; in addition, each function The specific names of the units are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the present invention.
需要说明的是,在本文中,诸如“第一”和“第二”等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来,而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且,术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含,从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素,而且还包括没有明确列出的其他要素,或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下,由语句“包括一个……”限定的要素,并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。It should be noted that in this article, relative terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these No such actual relationship or order exists between entities or operations. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.
以上所述仅是本公开的具体实施方式,使本领域技术人员能够理解或实现本公开。对这些实施例的多种修改对本领域的技术人员来说将是显而易见的,本文中所定义的一般原理可以在不脱离本公开的精神或范围的情况下,在其它实施例中实现。因此,本公开将不会被限制于本文所述的这些实施例,而是要符合与本文所公开的原理和新颖特点相一致的最宽的范围。The above descriptions are only specific implementation manners of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
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