CN113492981B - Broadcasting control method, broadcasting control device, terminal equipment, unmanned equipment and medium - Google Patents

Broadcasting control method, broadcasting control device, terminal equipment, unmanned equipment and medium Download PDF

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Publication number
CN113492981B
CN113492981B CN202010261318.0A CN202010261318A CN113492981B CN 113492981 B CN113492981 B CN 113492981B CN 202010261318 A CN202010261318 A CN 202010261318A CN 113492981 B CN113492981 B CN 113492981B
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vegetation
index
unit area
growth
image
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CN113492981A (en
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文飞
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Guangzhou Xaircraft Technology Co Ltd
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Guangzhou Xaircraft Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/222—Studio circuitry; Studio devices; Studio equipment
    • H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
    • H04N5/265—Mixing

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Image Processing (AREA)

Abstract

The embodiment of the invention discloses a broadcasting control method, a broadcasting control device, terminal equipment, unmanned equipment and a medium. The method comprises the following steps: acquiring a growth state image of a region to be scattered, wherein the growth state image comprises a plurality of unit regions; acquiring sowing information respectively associated with each unit area according to the description information of vegetation growth states contained in each unit area, and generating sowing tasks; the sowing task is sent to unmanned equipment; the broadcasting task is used for indicating the unmanned equipment to conduct broadcasting operation on each unit area by adopting broadcasting information respectively associated with each unit area. The embodiment of the invention can realize variable broadcasting in one broadcasting task and reduce broadcasting cost.

Description

Broadcasting control method, broadcasting control device, terminal equipment, unmanned equipment and medium
Technical Field
The embodiment of the invention relates to a data processing technology, in particular to a broadcasting control method, a broadcasting control device, terminal equipment, unmanned equipment and a medium.
Background
Along with development of science and technology, traditional agricultural production mode is gradually replaced by mechanized, informationized modes, for example, unmanned aerial vehicle is adopted to carry out low-altitude operation, and the intelligent agricultural vegetation flying operation device has the characteristics of flexible use, small size, low cost and the like, and can greatly improve the efficiency and the accuracy of agricultural vegetation flying operation.
The existing unmanned equipment sowing technology firstly plans an entire operation area, then performs one-time large-scale operation on the operation area, and can only perform fixed amount sowing in one operation area. Usually, after the seed or fertilizer spreading task is completed, vegetation on the working area is not uniform, for example, some local areas grow normally, some local areas grow too poorly, and re-spreading is required.
The existing solution is to configure a plurality of sowing tasks with different sowing amounts respectively corresponding to vegetation growth conditions, and execute the sowing tasks for a plurality of times through unmanned equipment or directly perform manual sowing. The two modes are difficult and inefficient, and accurate sowing cannot be realized. Meanwhile, in the first mode, if more plants grow, the number of plant protection times is increased linearly correspondingly.
Disclosure of Invention
The embodiment of the invention provides a broadcasting control method, a broadcasting control device, terminal equipment, unmanned equipment and a medium, which can realize variable broadcasting in one broadcasting task and reduce broadcasting cost.
In a first aspect, an embodiment of the present invention provides a broadcasting control method, including:
Acquiring a growth state image of a region to be scattered, wherein the growth state image comprises a plurality of unit regions;
acquiring sowing information respectively associated with each unit area according to the description information of vegetation growth states contained in each unit area, and generating sowing tasks;
the sowing task is sent to unmanned equipment;
the broadcasting task is used for indicating the unmanned equipment to conduct broadcasting operation on each unit area by adopting broadcasting information respectively associated with each unit area.
In a second aspect, an embodiment of the present invention further provides a broadcasting control method, including:
acquiring a growth state image of a region to be scattered, wherein the growth state image comprises a plurality of unit regions;
acquiring broadcasting information respectively associated with each unit area according to the description information of vegetation growth states contained in each unit area, and generating broadcasting tasks;
and performing a broadcasting operation on each unit area by using broadcasting information respectively associated with each unit area.
In a third aspect, an embodiment of the present invention further provides a broadcasting control apparatus, including:
the growth state image acquisition module is used for acquiring a growth state image of the region to be scattered, wherein the growth state image comprises a plurality of unit regions;
The sowing task generating module is used for acquiring sowing information respectively associated with each unit area according to the description information of vegetation growth states contained in each unit area and generating sowing tasks;
the broadcasting task sending module is used for sending the broadcasting task to unmanned equipment; the broadcasting task is used for indicating the unmanned equipment to conduct broadcasting operation on each unit area by adopting broadcasting information respectively associated with each unit area.
In a fourth aspect, an embodiment of the present invention further provides a broadcasting control apparatus, including:
the growth state image acquisition module is used for acquiring a growth state image of the region to be scattered, wherein the growth state image comprises a plurality of unit regions;
the sowing task generating module is used for acquiring sowing information respectively associated with each unit area according to the description information of vegetation growth states contained in each unit area and generating sowing tasks;
and the broadcasting task execution module is used for carrying out broadcasting operation on each unit area by adopting broadcasting information respectively associated with each unit area.
In a fifth aspect, an embodiment of the present invention further provides a terminal device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, where the processor executes the program to implement the broadcasting control method according to the embodiment of the present invention.
In a sixth aspect, an embodiment of the present invention further provides an unmanned device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, where the processor implements the broadcasting control method according to the embodiment of the present invention when executing the program.
In a seventh aspect, an embodiment of the present invention further provides a computer-readable storage medium having stored thereon a computer program that, when executed by a processor, implements the broadcasting control method according to any one of the embodiments of the present invention.
According to the embodiment of the invention, the growth state image of the area to be scattered is acquired, a plurality of unit areas are divided in the growth state image, each unit area contains the description information of the vegetation growth state, meanwhile, the scattering information of each unit area is acquired, the scattering task is correspondingly generated and is sent to unmanned equipment to execute the scattering operation, so that the unmanned equipment can perform the scattering operation on each unit area in the area to be scattered according to different growth state information pertinently, the problem that the cost for performing the scattering again is high due to the fact that only one operation area can be used for performing fixed quantity of scattering in the prior art is solved, the scattering task can be adaptively adjusted according to the growth state of the area to be scattered, excessive or too little scattering is avoided, the scattering efficiency is improved, and the scattering cost is reduced.
Drawings
Fig. 1a is a flowchart of a method for controlling sowing according to a first embodiment of the present invention;
FIG. 1b is a schematic view of a region to be sprayed according to a first embodiment of the present invention;
fig. 2 is a flowchart of a broadcasting control method according to a second embodiment of the present invention;
fig. 3 is a block diagram of a broadcasting control device according to a third embodiment of the present invention;
fig. 4 is a block diagram of a broadcasting control device according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of a computer device according to a fifth embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Example 1
Fig. 1a is a flowchart of a broadcasting control method according to a first embodiment of the present invention, where the method may be applied to a case of controlling unmanned equipment to perform broadcasting operations, and the method may be performed by a broadcasting control device according to the embodiment of the present invention, where the device may be implemented in a software and/or hardware manner, and may be generally integrated into an electronic device, for example, a terminal device, which provides a communication function with the unmanned equipment. As shown in fig. 1a, the method in this embodiment specifically includes:
S110, acquiring a growth state image of a region to be scattered, wherein the growth state image comprises a plurality of unit regions.
The to-be-scattered area may be an area where unmanned equipment performs the scattering operation. Specifically, the entire region of the vegetation in the geographical space, that is, the actual geographical range region, may be included, or only a partial region including the vegetation that needs to be sown again may be included. The actual geographical range area may be determined according to the reclamation of vegetation, or may be determined according to the area surrounded by the vegetation fences. The shape of the actual geographical area is usually an irregular shape, but not a standard polygon, and the actual geographical area can be intercepted to form a standard-shaped area as the area to be scattered.
The growth state image is used to describe the growth state of vegetation in the area to be sown. The growth state image comprises a plurality of unit areas, and the unit areas belong to the range of the to-be-scattered area, namely, each unit area is positioned in the to-be-scattered area. Meanwhile, the unit area contains descriptive information of vegetation growth state. Furthermore, the description information of vegetation growth states contained in different unit areas may be the same or different. In practice, the region to be scattered is divided according to the growth state, and the division result is a plurality of unit regions included in the growth state image.
The description information of the vegetation growing state is used for describing the growing state of the vegetation, and specifically can include the type of the vegetation and the growing level of the vegetation.
Optionally, the acquiring a growth state image of the region to be scattered includes: acquiring vegetation data matched with the region to be sown, wherein the vegetation data comprises standard image data and/or spectrum data; identifying a vegetation index in the vegetation data, and generating a vegetation growth index image according to an identification result; dividing the vegetation growth index image into areas according to the index division information, and determining at least one unit area in the vegetation growth index image; and generating a growth state image according to the vegetation growth index image and each divided unit area, wherein the vegetation index range associated with the unit area is used as descriptive information of the vegetation growth state contained in the unit area.
Vegetation data may refer to growth data of vegetation, and distinguishing by type may include: image data, and/or spectral data. The red, green and blue (RGB) image data of vegetation can be acquired by a color camera, or the color image data, and/or the multispectral data of crops can be acquired by a multispectral camera. The multispectral camera can expand towards the infrared light and the ultraviolet light on the basis of visible light, and can simultaneously and respectively receive information radiated or reflected by the same target on different narrow spectral bands through the combination of various optical filters or optical splitters and various photosensitive films, so that the spectral data of a plurality of different spectral bands of the target are obtained. Because the reflection of the light filters of the multispectral camera is different for the plants with different colors, an effect map obtained by multispectral shooting can be generated, namely, the effect of different colors in vegetation data is displayed, and the plants with different types are represented respectively.
The vegetation index is used to evaluate the growth status of vegetation and may be an indicator of the condition of the land cover vegetation, for example. Specifically, the vegetation index includes a normalized vegetation index (Normalized Difference Vegetation Index, NDVI) or a normalized red Edge index (Normalized Difference Red-Edge index, NDRE), etc., wherein NDVI is equal to the quotient of the difference in near infrared channel and visible light channel reflectivities and the sum thereof. In addition, the vegetation index may further include a ratio vegetation index, an interpolation vegetation index, or a soil adjustment vegetation index, which may be set according to the needs, and the embodiment of the present invention is not limited in particular.
The vegetation index includes NDVI, and accordingly, identifies the vegetation index in the vegetation data, and generates a vegetation growth index image according to the identification result, specifically, converts the collected spectrum data into pixel image data, and obtains pixel points corresponding to a near infrared band and a visible light band respectively, divides the pixel image data into grid areas, cuts out the pixel points of the two different bands respectively, and calculates the NDVI according to the pixel points of the two different bands.
The vegetation index image contains vegetation indexes of elements such as each pixel point or each pixel group (comprising a plurality of pixel points) and the like.
And the index division information is used for dividing the vegetation growth index image into areas. Specific index dividing information may include the number of regions and/or vegetation index range, etc. The index dividing information may be preset by the user or may be set by the user in real time. In addition, the exponential partitioning information may also include artificial intelligence algorithms (Artificial Intelligence, AI). Specifically, the AI algorithm may train the machine learning model by using growth state images of each unit area labeled in advance, generate a unit area identification model, and input a vegetation growth index image to the unit area identification model to obtain an identification result of the unit area in the vegetation growth index image.
The division result of the vegetation growth index image is at least one unit area. The unit region may be an irregularly shaped region or a regularly shaped region. In general, the vegetation index of the element covered by one unit area belongs to a vegetation index range, and the vegetation index range is determined according to index division information, and can be directly set or indirectly calculated and determined according to other data (the number of areas).
And a vegetation growth index image including the division result as a growth state image. The unit area may display a vegetation index range formed by the vegetation indexes of the elements in the area as description information of the vegetation growth state in the unit area.
The vegetation index is calculated according to the vegetation data to form a vegetation growth index image, the areas are divided according to index division information to form a growth state image, so that the area to be scattered is divided into a plurality of unit areas with different growth states, and then the scattering of different scattering modes is realized for different unit areas in the area to be scattered.
Optionally, the acquiring vegetation data matched with the to-be-sown area includes: acquiring at least one piece of local shooting image data matched with the region to be scattered, wherein the local shooting image data comprises shooting of the unmanned equipment; and splicing and synthesizing the partial shooting image data to form vegetation data.
The local photographed image data includes a local image of the region to be scattered, and in practice, when photographing the region to be scattered, one image cannot cover the region to be scattered in order to clearly photograph the vegetation condition. Multiple partial images of the region to be scattered can be acquired and spliced to form vegetation data of the region to be scattered, and the vegetation data cover the region to be scattered. The local shooting image can be obtained by shooting by unmanned equipment or by shooting by other aerial shooting equipment, and particularly, the aerial shooting equipment with a common camera or a multispectral camera is used for carrying out flying shooting on the area to be scattered.
By shooting the region to be sowed and splicing the shot partial shooting image data to synthesize vegetation data, the actual vegetation condition is accurately acquired, and therefore follow-up accurate sowing is achieved.
Optionally, the vegetation growth index image is divided into areas according to the index division information, and at least one unit area is determined in the vegetation growth index image, including: acquiring at least one alternative vegetation index range input by a user aiming at the vegetation growth index image; and respectively determining unit areas matched with the alternative vegetation index ranges in the vegetation growth index image, and taking the alternative vegetation index ranges as vegetation index ranges associated with the matched unit areas.
The alternative vegetation index range is used to determine the cell area in the vegetation growth index image. Specifically, a closed region formed by a plurality of pixel points belonging to one alternative vegetation index range is used as a unit region.
In a specific example, the vegetation index of the vegetation growth index image ranges from-1 to 1. The alternative vegetation index ranges are configured as-1 to 0, 0 to 0.5, and 0.5 to 1, respectively, and the vegetation growth index image may be divided into three areas, respectively, a first unit area, a second unit area, and a third unit area, respectively. In general, the higher the vegetation growth index, the better the vegetation growth. Thus, the growth state of the first cell region (-1 to 0) is worst, the growth state of the second cell region (0 to 0.5) is medium, and the growth state of the third cell region (0.5 to 1) is best.
In addition, the alternative vegetation index range can be randomly adjusted and is not limited to only three areas, and the alternative vegetation index range can be divided into more groups corresponding to more unit areas;
the unit area is determined in the vegetation growth index image by acquiring the configurable alternative vegetation index range, so that the range of the unit area can be flexibly configured, the sowing mode of the area to be sowed is flexibly configured, and the sowing flexibility of the area to be sowed is increased.
S120, acquiring broadcasting information associated with each unit area, and generating broadcasting tasks, wherein the broadcasting information is associated with vegetation growth states in the unit areas.
The broadcasting information is used for determining broadcasting data corresponding to each unit area, namely, specific broadcasting content of each unit area. There is associated broadcast information for each cell area. Specifically, the sowing information associated with the unit area can be determined according to the description information containing the vegetation growth state in the unit area.
Optionally, the sowing information comprises sowing type and sowing amount, and the sowing type comprises crop seeds and/or fertilizer.
Crop seeds and/or fertilizers are used to enhance the growth state of vegetation in the unit area. The sowing can be to sow the unit area or to fertilize the vegetation of the unit area, or to fertilize to promote the growth. The amount of spread is used to determine the improvement degree of the vegetation growth state in the cell area. The improvement degree of the vegetation state can be generally improved by increasing the sowing quantity. If the amount of the spread is excessively increased, the improvement degree of the vegetation state may be reduced. In this regard, the setting is performed according to the actual situation, and the embodiment of the present invention is not particularly limited.
Through configuring the information of scattering into type of scattering and volume of scattering, can accurate configuration broadcast content to accurate realization improves the growth state of vegetation.
The broadcasting task is used for being executed by the unmanned equipment so as to realize broadcasting of the area to be broadcasted by the unmanned equipment. Specifically, the spreading task is used for realizing that unmanned equipment spreads each unit area in the area to be spread, wherein the spreading amount of the unit area is 0.
The broadcast information is associated with vegetation growth status in the cell area, indicating that the broadcast information in the cell area matches the vegetation growth status in the cell area. Illustratively, when the vegetation growth state of the unit area is poor, the sowing information may be to perform sowing of the corresponding vegetation seeds or fertilizers; when the vegetation growth state of the unit area is good, the sowing information may not be performed.
And S130, sending the broadcasting task to unmanned equipment so that the unmanned equipment can carry out flying operation according to the broadcasting task, and broadcasting each unit area in the to-be-broadcasted area according to broadcasting information associated with each unit area.
The unmanned equipment is used for executing the broadcasting task, broadcasting the area to be broadcasted, and more specifically, broadcasting each unit area in different broadcasting modes according to broadcasting information related to the unit area. The unmanned device may be an unmanned aerial vehicle (e.g., an unmanned aerial vehicle), an unmanned traveling device (e.g., an unmanned vehicle), an unmanned navigation device (e.g., an unmanned ship), or the like.
And broadcasting the unit areas in the area to be broadcasted according to broadcasting information related to the unit areas, wherein broadcasting is performed on the unit areas in the area to be broadcasted according to different broadcasting modes, so that accurate and differential broadcasting of one area is realized.
On the basis of the above embodiment, optionally, after acquiring the growth state image of the area to be scattered, the method further includes: displaying the growth state image and the broadcasting information setting items respectively corresponding to the unit areas; the acquiring the broadcasting information respectively associated with the unit areas includes: and acquiring the broadcasting information associated with each unit area input by the user aiming at each broadcasting information setting item.
The broadcast information setting item is used for displaying to a user in a display screen and receiving broadcast information input by the user. Each unit area corresponds to one broadcasting information setting item, and broadcasting information setting items corresponding to different unit areas can be the same or different. Each broadcasting information setting item is matched with at least one unit area, and data input by a user aiming at one broadcasting information setting item is used as broadcasting information associated with at least one unit area corresponding to the broadcasting information setting item.
More specifically, a broadcast information setting item is used to select a broadcast type, and a broadcast amount. Specifically, the sowing type may include a vegetation type in the unit area corresponding to the sowing information setting item and a fertilizer corresponding to the vegetation type in the corresponding unit area.
Illustratively, as shown in fig. 1b, the upper image of the terminal interface is a growth status image, the middle area is a flight parameter setting area, and the lower area is a broadcast information setting item. Illustratively, each unit area is provided with broadcast information corresponding to one broadcast information setting item. For example, the first unit area (worst growth state) may be configured to have the largest spreading amount in the first spreading information setting item; the second unit area (growth state, etc.) may be configured with a half of the maximum value of the second broadcast amount, etc. in the second broadcast information setting item; the third unit area (growth state is preferably) may be configured such that the amount of scattering in the third scattering information setting item is smallest, e.g., 0.
By displaying the broadcasting information setting items to the user, broadcasting information set by the user for any unit area can be obtained, so that different broadcasting modes in the area to be broadcasted can be flexibly configured.
Optionally, the generating the broadcasting task includes: acquiring flight parameters input by a user; and generating a broadcasting task according to broadcasting information and the flight parameters associated with each unit area.
The unmanned aerial vehicle is unmanned aerial vehicle, and flight parameter is used for controlling unmanned aerial vehicle's flight mode, and flight parameter can include unmanned aerial vehicle's fly height and/or flight speed. Default preset flight parameters may be employed if not entered by the user.
The flight parameters of each unit area in the area to be scattered can be the same or different. That is, one flight parameter may be set for each unit area.
By configuring the broadcasting information and the flight parameters of the unit areas, the flight mode and the broadcasting mode of the unmanned equipment can be determined, so that broadcasting tasks are generated, the broadcasting and the flight of the unmanned equipment are accurately controlled, and the operation precision and the flexibility of the unmanned equipment are improved.
According to the embodiment of the invention, the growth state image of the area to be scattered is acquired, a plurality of unit areas are divided in the growth state image, each unit area contains the description information of the vegetation growth state, meanwhile, the scattering information of each unit area is acquired, the scattering task is correspondingly generated and is sent to unmanned equipment to execute flying operation, so that the unmanned equipment can scatter each unit area in the area to be scattered according to different growth state information pertinently, the problem that the cost for scattering again is high because fixed quantity scattering can be executed in one operation area in the prior art is solved, the scattering task can be adaptively adjusted according to the growth state of the area to be scattered, excessive or too little scattering is avoided, the scattering efficiency is improved, and the scattering cost is reduced.
Example two
Fig. 2 is a flowchart of a broadcasting control method provided in the second embodiment of the present invention, where the present embodiment is applicable to a case where unmanned equipment generates a broadcasting task and performs a broadcasting operation, and the method may be performed by a broadcasting control device provided in the embodiment of the present invention, where the device may be implemented in a software and/or hardware manner, and may be generally integrated into an electronic device that provides a communication function with the unmanned equipment, for example, the unmanned equipment. The method of the embodiment specifically comprises the following steps:
s210, acquiring a growth state image of a region to be scattered, wherein the growth state image comprises a plurality of unit regions.
It should be noted that, in this embodiment, description information of the area to be sown, the growth state image, the unit area, the vegetation growth state, the sowing information, the sowing task, and the spraying amount may refer to the description of the above embodiments.
S220, acquiring broadcasting information respectively associated with each unit area according to the description information of vegetation growth states contained in each unit area, and generating broadcasting tasks.
Optionally, the acquiring the broadcasting information respectively associated with each unit area includes: sending the growth state image to a terminal device, so that the terminal device displays the growth state image and broadcasting information setting items respectively corresponding to the unit areas; and receiving broadcasting information associated with each unit area and input by a user aiming at each broadcasting information setting item and transmitted by the terminal equipment.
And sending the growth state image to the terminal equipment, constructing broadcasting information setting items corresponding to the unit areas respectively, and displaying the broadcasting information setting items so that a user can set broadcasting information of the unit areas through the terminal equipment, and acquiring broadcasting information set by the user for any unit area, thereby realizing flexible configuration of different broadcasting modes in the to-be-broadcasted area.
Optionally, the sowing information comprises sowing type and sowing amount, and the sowing type comprises crop seeds and/or fertilizer.
S230, performing a sowing operation on each unit area by using sowing information respectively associated with each unit area.
Optionally, the acquiring a growth state image of the region to be scattered includes: acquiring vegetation data matched with the region to be sown, wherein the vegetation data comprises standard image data and/or spectrum data; identifying a vegetation index in the vegetation data, and generating a vegetation growth index image according to an identification result; dividing the vegetation growth index image into areas according to the index division information, and determining at least one unit area in the vegetation growth index image; and generating a growth state image according to the vegetation growth index image and each divided unit area, wherein the vegetation index range associated with the unit area is used as descriptive information of the vegetation growth state.
Specifically, the index dividing information may include at least one of: the number of local areas stored, the vegetation index range, and the AI algorithm transmitted by the terminal device, and the like. The number of the local areas and the vegetation index range can be set by a user through terminal equipment.
Optionally, the dividing the vegetation growth index image according to the index dividing information, determining at least one unit area in the vegetation growth index image includes: acquiring at least one alternative vegetation index range input by a user aiming at the vegetation growth index image; and respectively determining unit areas matched with the alternative vegetation index ranges in the vegetation growth index image, and taking the alternative vegetation index ranges as vegetation index ranges associated with the matched unit areas.
The alternative vegetation index range can be set by a user through terminal equipment and sent to unmanned equipment by the terminal equipment.
Optionally, the acquiring vegetation data matched with the to-be-sown area includes: acquiring at least one piece of local shooting image data matched with the region to be scattered, wherein the local shooting image data comprises shooting of the unmanned equipment; and splicing and synthesizing the partial shooting image data to form vegetation data.
The local shooting image data may be image data obtained by direct shooting by unmanned equipment, or may also be image data obtained by shooting by other aerial equipment, and the image data is sent to the unmanned equipment.
Optionally, the generating the broadcasting task includes: acquiring flight parameters input by a user; and generating a broadcasting task according to broadcasting information and the flight parameters associated with each unit area.
Specifically, the unmanned aerial vehicle is an unmanned aerial vehicle, and the flight parameters can be set by a user through terminal equipment and sent to the unmanned aerial vehicle by the terminal equipment.
According to the embodiment of the invention, the unmanned equipment directly acquires the growth state image of the area to be scattered, the growth state image is divided into a plurality of unit areas, each unit area contains the description information of the vegetation growth state, meanwhile, the scattering information of each unit area is acquired, the scattering task is correspondingly generated and sent to the unmanned equipment to execute flying operation, so that the unmanned equipment can scatter each unit area in the area to be scattered according to different growth state information pertinently, the problem that the cost of scattering again is high due to the fact that fixed quantity scattering can only be executed in one operation area in the prior art is solved, the scattering task can be adaptively adjusted according to the growth state of the area to be scattered, excessive or too little scattering is avoided, the scattering efficiency is improved, the scattering cost is reduced, meanwhile, the scattering task can be shortened and the time for executing the scattering task can be directly completed by the unmanned equipment, and the precise scattering efficiency is improved.
Example III
Fig. 3 is a schematic diagram of a sowing control device according to a third embodiment of the present invention. The third embodiment is a corresponding device for implementing the broadcasting control method provided by the above embodiment of the present invention.
Accordingly, the apparatus of this embodiment may include:
a growth state image acquisition module 310, configured to acquire a growth state image of an area to be scattered, where the growth state image includes a plurality of unit areas;
a broadcasting task generating module 320, configured to obtain broadcasting information respectively associated with each of the unit areas according to the description information of the vegetation growth states included in each of the unit areas, and generate a broadcasting task;
a broadcasting task sending module 330, configured to send the broadcasting task to an unmanned device; the broadcasting task is used for indicating the unmanned equipment to conduct broadcasting operation on each unit area by adopting broadcasting information respectively associated with each unit area.
According to the embodiment of the invention, the growth state image of the area to be scattered is acquired, a plurality of unit areas are divided in the growth state image, each unit area contains the description information of the vegetation growth state, meanwhile, the scattering information of each unit area is acquired, the scattering task is correspondingly generated and is sent to unmanned equipment to execute flying operation, so that the unmanned equipment can scatter each unit area in the area to be scattered according to different growth state information pertinently, the problem that the cost for scattering again is high because fixed quantity scattering can be executed in one operation area in the prior art is solved, the scattering task can be adaptively adjusted according to the growth state of the area to be scattered, excessive or too little scattering is avoided, the scattering efficiency is improved, and the scattering cost is reduced.
Further, the sowing control device further comprises: the broadcasting information setting item display module is used for displaying the growth state image and broadcasting information setting items corresponding to the unit areas respectively after acquiring the growth state image of the area to be broadcasted; the broadcasting task generating module 320 includes: and a broadcast information acquisition unit configured to acquire broadcast information associated with each of the unit areas, which is input by a user for each of the broadcast information setting items.
Further, the growth state image acquisition module 310 includes: the vegetation data analysis unit is used for acquiring vegetation data matched with the to-be-sown area, wherein the vegetation data comprises standard image data and/or spectrum data; identifying a vegetation index in the vegetation data, and generating a vegetation growth index image according to an identification result; dividing the vegetation growth index image into areas according to the index division information, and determining at least one unit area in the vegetation growth index image; and generating a growth state image according to the vegetation growth index image and each divided unit area, wherein the vegetation index range associated with the unit area is used as descriptive information of the vegetation growth state contained in the unit area.
Further, the vegetation data analysis unit includes: the unit area dividing subunit is used for acquiring at least one alternative vegetation index range input by a user aiming at the vegetation growth index image; and respectively determining unit areas matched with the alternative vegetation index ranges in the vegetation growth index image, and taking the alternative vegetation index ranges as vegetation index ranges associated with the matched unit areas.
Further, the vegetation data analysis unit includes: the local image stitching unit is used for acquiring at least one local shooting image data matched with the region to be scattered, and the local shooting image data comprise shooting results of the unmanned equipment; and splicing and synthesizing the partial shooting image data to form vegetation data.
Further, the sowing information comprises sowing types and sowing amounts, and the sowing types comprise crop seeds and/or fertilizers.
Further, the broadcasting task generating module 320 includes: the flight parameter acquisition unit is used for acquiring flight parameters input by a user; and generating a broadcasting task according to broadcasting information and the flight parameters associated with each unit area.
The device can execute the method provided by the embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example IV
Fig. 4 is a schematic diagram of a sowing control device according to a fourth embodiment of the present invention. The fourth embodiment is a corresponding device for implementing the broadcasting control method provided by the above embodiment of the present invention.
Accordingly, the apparatus of this embodiment may include:
a growth state image acquisition module 410, configured to acquire a growth state image of an area to be scattered, where the growth state image includes a plurality of unit areas;
a broadcasting task generating module 420, configured to obtain broadcasting information respectively associated with each of the unit areas according to the description information of the vegetation growth states included in each of the unit areas, and generate a broadcasting task;
and a broadcasting task execution module 430, configured to perform broadcasting operations on each of the unit areas by using broadcasting information associated with each of the unit areas.
According to the embodiment of the invention, the unmanned equipment directly acquires the growth state image of the area to be scattered, the growth state image is divided into a plurality of unit areas, each unit area contains the description information of the vegetation growth state, meanwhile, the scattering information of each unit area is acquired, the scattering task is correspondingly generated and sent to the unmanned equipment to execute flying operation, so that the unmanned equipment can scatter each unit area in the area to be scattered according to different growth state information pertinently, the problem that the cost of scattering again is high due to the fact that fixed quantity scattering can only be executed in one operation area in the prior art is solved, the scattering task can be adaptively adjusted according to the growth state of the area to be scattered, excessive or too little scattering is avoided, the scattering efficiency is improved, the scattering cost is reduced, meanwhile, the scattering task can be shortened and the time for executing the scattering task can be directly completed by the unmanned equipment, and the precise scattering efficiency is improved.
Further, the broadcasting task generating module 420 includes: a broadcast information receiving unit, configured to send the growth status image to a terminal device, so that the terminal device displays the growth status image and broadcast information setting items corresponding to the unit areas respectively; and receiving broadcasting information associated with each unit area and input by a user aiming at each broadcasting information setting item and transmitted by the terminal equipment.
The device can execute the method provided by the embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example five
Fig. 5 is a schematic structural diagram of a computer device according to a fifth embodiment of the present invention. Fig. 5 illustrates a block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present invention. The computer device 12 shown in fig. 5 is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present invention. Wherein the computer device comprises: a terminal device or an unmanned device.
As shown in FIG. 5, the computer device 12 is in the form of a general purpose computing device. Components of computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, a bus 18 that connects the various system components, including the system memory 28 and the processing units 16. Computer device 12 may be a device that is attached to a bus.
Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, and a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include industry standard architecture (Industry Standard Architecture, ISA) bus, micro channel architecture (Micro Channel Architecture, MCA) bus, enhanced ISA bus, video electronics standards association (Video Electronics Standards Association, VESA) local bus, and peripheral component interconnect (PerIPheral Component Interconnect, PCI) bus.
Computer device 12 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by computer device 12 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 30 and/or cache memory 32. The computer device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from or write to non-removable, nonvolatile magnetic media (not shown in FIG. 5, commonly referred to as a "hard disk drive"). Although not shown in fig. 5, a disk drive for reading from and writing to a removable nonvolatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from and writing to a removable nonvolatile optical disk (e.g., a compact disk Read Only Memory (CD-ROM), digital versatile disk (Digital Video Disc-Read Only Memory, DVD-ROM), or other optical media) may be provided. In such cases, each drive may be coupled to bus 18 through one or more data medium interfaces. The system memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of the embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored in, for example, system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 42 generally perform the functions and/or methods of the embodiments described herein.
The computer device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), one or more devices that enable a user to interact with the computer device 12, and/or any devices (e.g., network card, modem, etc.) that enable the computer device 12 to communicate with one or more other computing devices. Such communication may be via an Input/Output (I/O) interface 22. The computer device 12 may also communicate with one or more networks such as a local area network (Local Area Network, LAN), a wide area network (Wide Area Network, WAN) via the network adapter 20, as shown, the network adapter 20 communicates with other modules of the computer device 12 via the bus 18. It should be understood that, although not shown in FIG. 5, other hardware and/or software modules may be used in connection with the computer device 12, including but not limited to microcode, device drivers, redundant processing units, external disk drive array (Redundant Arrays of Inexpensive Disks, RAID) systems, tape drives, data backup storage systems, and the like.
The processing unit 16 executes various functional applications and data processing, such as the methods provided by any of the embodiments of the present invention, by running programs stored in the system memory 28.
Example six
A sixth embodiment of the present invention provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a page exception handling method as provided in all the embodiments of the present invention:
that is, the program, when executed by the processor, implements: acquiring a growth state image of a region to be scattered, wherein the growth state image comprises a plurality of unit regions; acquiring sowing information respectively associated with each unit area according to the description information of vegetation growth states contained in each unit area, and generating sowing tasks; the sowing task is sent to unmanned equipment; the broadcasting task is used for indicating the unmanned equipment to conduct broadcasting operation on each unit area by adopting broadcasting information respectively associated with each unit area.
Or realize: acquiring a growth state image of a region to be scattered, wherein the growth state image comprises a plurality of unit regions; acquiring broadcasting information respectively associated with each unit area according to the description information of vegetation growth states contained in each unit area, and generating broadcasting tasks; and performing a broadcasting operation on each unit area by using broadcasting information respectively associated with each unit area.
The computer storage media of embodiments of the invention may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a RAM, a Read-Only Memory (ROM), an erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), a flash Memory, an optical fiber, a portable CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, radio frequency (RadioFrequency, RF), etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a LAN or WAN, or may be connected to an external computer (for example, through the Internet using an Internet service provider).
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.

Claims (10)

1. A sowing control method, comprising:
acquiring a growth state image of a region to be scattered, wherein the growth state image comprises a plurality of unit regions;
acquiring sowing information respectively associated with each unit area according to the description information of vegetation growth states contained in each unit area, and generating sowing tasks;
the sowing task is sent to unmanned equipment;
the broadcasting task is used for indicating the unmanned equipment to conduct broadcasting operation on each unit area by adopting broadcasting information respectively associated with each unit area;
The acquiring the growth state image of the region to be scattered comprises the following steps:
acquiring vegetation data matched with the region to be sown, wherein the vegetation data comprises standard image data and/or spectrum data;
identifying a vegetation index in the vegetation data, and generating a vegetation growth index image according to an identification result;
dividing the vegetation growth index image into areas according to the index division information, and determining at least one unit area in the vegetation growth index image;
generating a growth state image according to the vegetation growth index image and each unit area obtained by dividing, wherein the vegetation index range associated with the unit area is used as descriptive information of vegetation growth states contained in the unit area; the description information of the vegetation growth state is used for describing the vegetation growth state, and comprises the following steps: vegetation type and vegetation growth level;
the method for determining the vegetation growth index image comprises the steps of dividing the vegetation growth index image into areas according to index division information, determining at least one unit area in the vegetation growth index image, and comprising the following steps:
acquiring at least one alternative vegetation index range input by a user aiming at the vegetation growth index image;
Determining unit areas matched with the alternative vegetation index ranges in the vegetation growth index image respectively, and taking the alternative vegetation index ranges as vegetation index ranges associated with the matched unit areas; the alternative vegetation index range is used for determining a unit area in the vegetation growth index image, and the unit area is a closed area formed by a plurality of pixel points belonging to one alternative vegetation index range;
wherein, after obtaining the growth state image of the region to be scattered, the method further comprises:
displaying the growth state image and the broadcasting information setting items respectively corresponding to the unit areas;
the acquiring the broadcasting information respectively associated with the unit areas includes:
and acquiring the broadcasting information which is input by the user for each broadcasting information setting item and is associated with each unit area.
2. The method of claim 1, wherein the acquiring vegetation data that matches the area to be sown comprises:
acquiring at least one piece of local shooting image data matched with the region to be scattered, wherein the local shooting image data comprises shooting of the unmanned equipment;
And splicing and synthesizing the partial shooting image data to form vegetation data.
3. The method of claim 1, wherein the broadcast information includes a broadcast type and a broadcast amount, the broadcast type including crop seeds and/or fertilizer.
4. The method of claim 1, wherein the generating the broadcast task comprises:
acquiring flight parameters input by a user;
and generating a broadcasting task according to broadcasting information and the flight parameters associated with each unit area.
5. A sowing control method, comprising:
acquiring a growth state image of a region to be scattered, wherein the growth state image comprises a plurality of unit regions;
acquiring broadcasting information respectively associated with each unit area according to the description information of vegetation growth states contained in each unit area, and generating broadcasting tasks;
performing a spreading operation on each of the unit areas by using spreading information respectively associated with each of the unit areas;
the acquiring the growth state image of the region to be scattered comprises the following steps:
acquiring vegetation data matched with the region to be sown, wherein the vegetation data comprises standard image data and/or spectrum data;
Identifying a vegetation index in the vegetation data, and generating a vegetation growth index image according to an identification result;
dividing the vegetation growth index image into areas according to the index division information, and determining at least one unit area in the vegetation growth index image;
generating a growth state image according to the vegetation growth index image and each unit area obtained by dividing, wherein the vegetation index range associated with the unit area is used as descriptive information of vegetation growth states contained in the unit area; the description information of the vegetation growth state is used for describing the vegetation growth state, and comprises the following steps: vegetation type and vegetation growth level;
the method for determining the vegetation growth index image comprises the steps of dividing the vegetation growth index image into areas according to index division information, determining at least one unit area in the vegetation growth index image, and comprising the following steps:
acquiring at least one alternative vegetation index range input by a user aiming at the vegetation growth index image;
determining unit areas matched with the alternative vegetation index ranges in the vegetation growth index image respectively, and taking the alternative vegetation index ranges as vegetation index ranges associated with the matched unit areas; the alternative vegetation index range is used for determining a unit area in the vegetation growth index image, and the unit area is a closed area formed by a plurality of pixel points belonging to one alternative vegetation index range;
The acquiring the broadcasting information respectively associated with the unit areas includes:
sending the growth state image to a terminal device, so that the terminal device displays the growth state image and broadcasting information setting items respectively corresponding to the unit areas;
and receiving broadcasting information which is input by the user aiming at each broadcasting information setting item and is associated with each unit area and is sent by the terminal equipment.
6. A sowing control device, comprising:
the growth state image acquisition module is used for acquiring a growth state image of the region to be scattered, wherein the growth state image comprises a plurality of unit regions;
the sowing task generating module is used for acquiring sowing information respectively associated with each unit area according to the description information of vegetation growth states contained in each unit area and generating sowing tasks;
the broadcasting task sending module is used for sending the broadcasting task to unmanned equipment; the broadcasting task is used for indicating the unmanned equipment to conduct broadcasting operation on each unit area by adopting broadcasting information respectively associated with each unit area;
The broadcasting information setting item display module is used for displaying the growth state image and broadcasting information setting items corresponding to the unit areas respectively after acquiring the growth state image of the area to be broadcasted;
wherein, the broadcasting task generating module includes: a broadcast information acquisition unit configured to acquire broadcast information associated with each of the unit areas, the broadcast information being input by a user for each of the broadcast information setting items;
the growth state image acquisition module is specifically configured to:
acquiring vegetation data matched with the region to be sown, wherein the vegetation data comprises standard image data and/or spectrum data;
identifying a vegetation index in the vegetation data, and generating a vegetation growth index image according to an identification result;
dividing the vegetation growth index image into areas according to the index division information, and determining at least one unit area in the vegetation growth index image;
generating a growth state image according to the vegetation growth index image and each unit area obtained by dividing, wherein the vegetation index range associated with the unit area is used as descriptive information of vegetation growth states contained in the unit area; the description information of the vegetation growth state is used for describing the vegetation growth state, and comprises the following steps: vegetation type and vegetation growth level;
The method for determining the vegetation growth index image comprises the steps of dividing the vegetation growth index image into areas according to index division information, determining at least one unit area in the vegetation growth index image, and comprising the following steps:
acquiring at least one alternative vegetation index range input by a user aiming at the vegetation growth index image;
determining unit areas matched with the alternative vegetation index ranges in the vegetation growth index image respectively, and taking the alternative vegetation index ranges as vegetation index ranges associated with the matched unit areas; the alternative vegetation index range is used for determining a unit area in the vegetation growth index image, and the unit area is a closed area formed by a plurality of pixel points belonging to one alternative vegetation index range.
7. A sowing control device, comprising:
the growth state image acquisition module is used for acquiring a growth state image of the region to be scattered, wherein the growth state image comprises a plurality of unit regions;
the sowing task generating module is used for acquiring sowing information respectively associated with each unit area according to the description information of vegetation growth states contained in each unit area and generating sowing tasks;
The broadcasting task execution module is used for carrying out broadcasting operation on each unit area by adopting broadcasting information respectively associated with each unit area;
the growth state image acquisition module is specifically configured to:
acquiring vegetation data matched with the region to be sown, wherein the vegetation data comprises standard image data and/or spectrum data;
identifying a vegetation index in the vegetation data, and generating a vegetation growth index image according to an identification result;
dividing the vegetation growth index image into areas according to the index division information, and determining at least one unit area in the vegetation growth index image;
generating a growth state image according to the vegetation growth index image and each unit area obtained by dividing, wherein the vegetation index range associated with the unit area is used as descriptive information of vegetation growth states contained in the unit area; the description information of the vegetation growth state is used for describing the vegetation growth state, and comprises the following steps: vegetation type and vegetation growth level;
the method for determining the vegetation growth index image comprises the steps of dividing the vegetation growth index image into areas according to index division information, determining at least one unit area in the vegetation growth index image, and comprising the following steps:
Acquiring at least one alternative vegetation index range input by a user aiming at the vegetation growth index image;
determining unit areas matched with the alternative vegetation index ranges in the vegetation growth index image respectively, and taking the alternative vegetation index ranges as vegetation index ranges associated with the matched unit areas; the alternative vegetation index range is used for determining a unit area in the vegetation growth index image, and the unit area is a closed area formed by a plurality of pixel points belonging to one alternative vegetation index range;
wherein, the broadcasting task generating module includes: a broadcast information receiving unit, configured to send the growth status image to a terminal device, so that the terminal device displays the growth status image and broadcast information setting items corresponding to the unit areas respectively; and receiving broadcasting information which is input by the user aiming at each broadcasting information setting item and is associated with each unit area and is sent by the terminal equipment.
8. A terminal device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the broadcast control method according to any one of claims 1-4 when executing the program.
9. An unmanned device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the program when executed by the processor implements the seeding control method according to any one of claims 5.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements the broadcasting control method according to any one of claims 1-5.
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