CN113804201A - Navigation method and device for operation object containing target characteristics and electronic equipment - Google Patents

Abstract

The invention provides a navigation method and a navigation device for a working object containing target characteristics, wherein the navigation method comprises the following steps: acquiring a map containing a work land; acquiring an image of a working object containing target characteristics in a working land, and determining a map coordinate range of the target characteristics in a map; acquiring column channels formed by operation objects in a map, and taking a region which extends transversely in a map coordinate range and is overlapped with an adjacent column channel as an alternative coordinate region pair comprising two alternative coordinate regions; and determining a connecting line formed by any candidate coordinate contained in any candidate coordinate area in the candidate coordinate area pair in the same row of channels according to the aggregation degree, and determining a path formed by sequentially connecting the connecting line and any candidate coordinate in any isolated candidate coordinate area in the isolated candidate coordinate area pair as an operation path. The invention realizes reasonable specification and accurate navigation of the operation path in the operation land, and has the advantages of high operation efficiency and low damage.

Description

Navigation method and device for operation object containing target characteristics and electronic equipment

Technical Field

The present invention relates to the field of image processing technologies, and in particular, to a navigation method, a navigation apparatus, and an electronic device for a job object including a target feature.

Background

For hermaphroditic crops (e.g., corn), in order to increase the need for pollination and the cultivation of high purity seeds, the tassel on the female parent plant needs to be removed to ensure that the tassel of the male parent plant crosses the tassel of the female parent plant. The female parent plant and the male parent plant are usually planted on ridges of a plot in a planned way according to biological properties, and ridge intervals (namely, row channels in the application) with the width of about half a meter are formed between adjacent ridges. At present, the female parent tassel is usually removed by a large cutting machine, and the residual tassel or the tassel which does not grow out needs to be manually removed due to difficult recognition and positioning. Therefore, how to accurately determine the geographical position of the residual and grown tassels to remove the female parent tassels has important significance for improving the operation efficiency and the seed purity.

Because the distribution of the sporadic tassels or the plants with residual fruits on the female parent plant has randomness, the crops grow more vigorously and are difficult to walk through, and the crops are easy to damage when the crops walk through, how to determine and guide manual work or operation equipment to enter the accurate position of the plot in the most reasonable and efficient mode and how to plan the people or the operation equipment to walk in the plot and execute the corresponding removal of the tassels of the female parent plant or the harvesting of the plants with the residual fruits is a problem to be solved urgently.

Disclosure of Invention

The invention aims to disclose a navigation method, a navigation device and electronic equipment for an operation object containing target characteristics, which can realize the operation of removing tassels or harvesting fruits and the like on the operation object such as female parent plants of sporadic tassels or plants with residual fruits and the like, can accurately determine the entering position entering a land block for planting plants to execute the operation, and reasonably and accurately plan the operation path for executing the operation in the land block, so as to overcome the defects that the operation path is inaccurate, accurate navigation cannot be realized, the operation path is complex, the operation efficiency is low, and the operation path is unreasonable, so that the operation object is easily damaged.

In order to achieve one of the above objects, the present invention provides a navigation method for a work object including a target feature, comprising the steps of:

acquiring a map containing a work land;

acquiring an image of a working object containing a target feature in a working land, and determining a map coordinate range of the target feature in a map;

acquiring column channels formed by operation objects in a map, and taking an area, which extends transversely in the coordinate range of the map and is overlapped with an adjacent column channel, as an alternative coordinate area pair comprising two alternative coordinate areas;

counting the number of the alternative coordinate areas falling into the same row of channels to determine the concentration degree of the alternative coordinate areas in the row of channels, determining a connecting line formed by any alternative coordinate included in any alternative coordinate area in an alternative coordinate area pair in the same row of channels according to the concentration degree, eliminating the other alternative coordinate area in the alternative coordinate area pair to which the alternative coordinate area belongs and included in the extending direction of the row of channels to which the connecting line belongs to obtain an isolated alternative coordinate area pair, and determining a path formed by sequentially connecting the connecting line and any alternative coordinate in any isolated alternative coordinate area in the isolated alternative coordinate area pair as an operation path.

As a further improvement of the present invention, the navigation method comprises:

extracting a map coordinate corresponding to the target feature in a map;

acquiring a column channel formed by a working object in a map, and taking a line segment of the map coordinate, which transversely extends along the direction perpendicular to the column channel and is overlapped with an adjacent column channel, as an alternative coordinate line segment pair comprising two alternative coordinate line segments, wherein the alternative coordinate is a coordinate determined by any pixel point of an image in the alternative coordinate line segment;

counting the number of alternative coordinate line segments falling into the same row of channels to determine the concentration degree of the alternative coordinate line segments in the row of channels, determining a straight line segment formed by any alternative coordinate included in any alternative coordinate line segment in an alternative coordinate line segment pair in the same row of channels according to the concentration degree, removing another alternative coordinate line segment in the alternative coordinate line segment pair to which the alternative coordinate line segment included in the extension direction of the row of channels to which the straight line segment belongs to obtain an isolated alternative coordinate line segment pair, and determining a path formed by sequentially connecting the straight line segment and any alternative coordinate included in any isolated alternative coordinate line segment in the isolated alternative coordinate line segment pair as an operation path.

As a further improvement of the invention, the working path is roundly planned along the length of the row channel, and a part of the working path formed when the row channel is switched is positioned outside the working land.

As a further improvement of the invention, the method also comprises the following steps:

when the execution terminal is located outside the operation plot, determining the current position coordinate formed by the execution terminal, planning an entry path entering the operation plot from the current position coordinate, calculating the shortest path formed by connecting the current position coordinate with the operation path as the entry path, and visually displaying the entry path in a visual interface embedded in the terminal equipment, wherein the entry path is a track from the current position coordinate to the endpoint coordinate of the operation path.

As a further improvement of the invention, when the execution terminal is located in the job land block and finds the first target feature, the positioning system of the execution terminal is triggered to obtain the real-time position coordinate in response to the determination operation of the user, and the absolute difference value between the real-time position coordinate and the corresponding candidate coordinate on the constituted job path is compared, so that the remaining candidate coordinate in the constituted job path is corrected by the absolute difference value to correct the job path.

As a further improvement of the invention, the method also comprises the following steps: and judging whether the current position coordinate is positioned in an operation plot, if so, planning a track from the current position coordinate to the end point coordinate of the operation path, and confirming the row channel interval through the map so as to determine the number of row channels required to pass through between the current position coordinate and the end point coordinate of the operation path.

As a further improvement of the present invention, the image of the work object containing the target feature is an image of a female parent plant containing the target feature, and the target feature includes one or any several features of tassel, bud, stump and fruit in the female parent plant.

As a further improvement of the invention, the method also comprises the following steps: and traversing the aggregation degree from the rest of the candidate coordinate area pairs or the candidate coordinate line segment pairs to determine a connecting line formed by connecting a plurality of candidate coordinate areas or candidate coordinate line segments in the same row of channels, and sequentially connecting the connecting line and any point candidate coordinate contained in a plurality of isolated candidate coordinate area pairs or isolated candidate coordinate line segment pairs until the aggregation degree in the same row of channels is 1 so as to determine the shortest path as the operation path.

As a further improvement of the invention, when the aggregation degrees of alternative coordinate areas or alternative coordinate line segments in adjacent row channels in the same map coordinate range are the same, the side with the shorter connecting line is selected as a determined straight line segment, the straight line segment which is determined according to the aggregation degrees and is positioned in the same row channel and formed by the alternative coordinates is formed, and the shortest path formed by connecting the straight line segments end to end is used as a working path.

As a further improvement of the invention, the method also comprises the following steps:

and judging whether the map coordinate range is overlapped with the row channel or not, and if so, taking an overlapped area overlapped with the row channel as an alternative coordinate area.

Meanwhile, based on the same invention idea, the invention also discloses a navigation device for navigating the operation object containing the target characteristic,

the navigation device includes:

a map acquisition unit that acquires a map including a work parcel;

the image acquisition unit is used for acquiring an image of a work object containing target characteristics in a work land and extracting a map coordinate range of the target characteristics in a map;

the path planning unit is used for acquiring column channels formed by the operation objects in a map, and taking the area of the map coordinate range which extends transversely and is overlapped with the adjacent column channels as an alternative coordinate area pair comprising two alternative coordinate areas; determining the concentration degree of the candidate coordinate regions in the row channels based on the number of the candidate coordinate regions which are counted to fall into the same row of channels, determining a connecting line formed by any candidate coordinate included in any candidate coordinate region in a candidate coordinate region pair in the same row of channels according to the concentration degree, eliminating the other candidate coordinate region in the candidate coordinate region pair to which the candidate coordinate region pair included in the extending direction of the row channels to which the connecting line belongs, obtaining an isolated candidate coordinate region pair, and determining that the connecting line and any candidate coordinate in any isolated candidate coordinate region in the isolated candidate coordinate region pair are sequentially connected to form an operation path;

the navigation device controls at least one execution terminal, the execution terminal executes operation on an operation object containing target characteristics in the land parcel according to the operation path determined by the navigation device, and the execution terminal comprises ground operation equipment or people.

Finally, the invention also discloses an electronic device comprising:

a processor, a memory, and

a communication bus establishing a communication connection between the processor and the memory;

the processor is used for executing one or more programs stored in the memory to realize the navigation method for the job object containing the target characteristic as disclosed in any invention creation of the invention;

the electronic equipment is embedded to form a visual interface so as to display the operation path output by the navigation method of the operation object containing the target characteristics through the visual interface.

Compared with the prior art, the invention has the beneficial effects that:

the navigation method and the navigation device for the operation object containing the target characteristics can reasonably and accurately plan the operation path which traverses the target characteristics in the plot to execute the operation matched with the target characteristics, so as to realize high-efficiency and low-damage operation, and effectively solve the technical problems that the operation path is inaccurate and accurate navigation cannot be realized, the operation efficiency is low due to the complex operation path, and the operation object is easy to be damaged due to the unreasonable operation path.

Drawings

FIG. 1 is a general flow chart of a method for navigating a work object including target features according to the present invention;

fig. 2 is a schematic diagram of a female parent region containing a female parent plant and a male parent region containing a male parent plant in a plot, the female parent plant planted on the plot in the female parent region is an operation object, a tassel in the female parent plant is a typical feature of a target feature, and a square frame in fig. 2 is the target feature;

fig. 3 is an exemplary diagram of a plurality of vertically arranged row lanes formed when the planting area of the female parent plant and the planting area of the male parent plant are alternately arranged in a plot of an arbitrary shape, a square frame in fig. 3 is a target feature formed on the female parent plant, a single-dot dashed line located in the plot in fig. 3 is an operation path determined by the navigation device, a double-dot dashed line is an entry path of the execution terminal entering the plot along the periphery of the plot with a current position coordinate a, and a solid line is an entry path of the execution terminal entering the plot along the periphery of the plot with a front position coordinate a;

fig. 4 is a schematic diagram of a working path formed by the remaining working objects located in the parcel after first performing corresponding operations on target features included in an isolated working object through any one of candidate coordinates included in an isolated candidate coordinate area pair, and the working path is roundly planned along the length of the row of channels and the working path is entirely located in the parcel;

FIG. 5 is a schematic diagram of a human being as a working terminal, switching a row channel in a manner of transversely crossing the row channel under the guidance of a navigation device, and planning a working path along the extending direction of the row channel for a part of the working path;

fig. 6 is a schematic diagram of a part of the operation path which is roundly planned along the length of the row of channels under the guidance of the navigation device and is formed when the row of channels is switched and is positioned outside the land parcel, wherein the ground operation device is used as an operation terminal;

fig. 7 is a schematic diagram of two candidate coordinate regions formed by regions, between two adjacent rows of channels, where the target features on two mother plants extend laterally and overlap with the adjacent rows of channels to form a pair of candidate coordinate regions, and the direction of the lateral extension of the target features in fig. 7 is perpendicular to the direction of the extension of the rows of channels, and one or more pixel points included in any one of the candidate coordinate regions can be selected and used as a part of a connecting line of a land parcel forming a final operation path;

FIG. 8 is a schematic representation of a target feature on a maternal plant between two adjacent column channels located in the column channels and forming an alternative coordinate region;

FIG. 9 is a schematic illustration of a target feature on a mother plant between two adjacent row channels extending laterally in an oblique attitude and forming an alternate coordinate region with the row channel on the right;

fig. 10 is a schematic diagram of a candidate coordinate region in a column channel including a plurality of candidate coordinates, where each small black dot in fig. 10 is a certain candidate coordinate or a set representing several candidate coordinates;

FIG. 11 is a schematic diagram of a connection line formed by selecting any one of two candidate coordinates in the same row of channels, where the connection line of a black bold arrow is a part of a working path formed in a block;

FIG. 12 is a topological diagram of a navigation device that performs navigation of a job object including a target feature;

fig. 13 is a topological diagram of a navigation device in a modification for performing navigation on a work object including a target feature;

FIG. 14 is a topology diagram of an electronic device of the present invention.

Detailed Description

The present invention is described in detail with reference to the embodiments shown in the drawings, but it should be understood that these embodiments are not intended to limit the present invention, and those skilled in the art should understand that functional, methodological, or structural equivalents or substitutions made by these embodiments are within the scope of the present invention.

Briefly, the navigation method, the navigation device and the electronic device for a job object including a target feature disclosed in the embodiments of the present application are used to implement a job adapted to the target feature on a plant in a plot. For example, when the target feature is a tassel on a female parent plant, the work performed by the target feature is an operation of picking off the tassel by a human or a robot having a power mechanism; when the target feature is a fruit, the operation executed by the target feature is to collect the part of the missing fruit which remains on the fruit tree after the first fruit collection operation by a human or a robot with a power mechanism (i.e. a lower concept of "execution terminal" in the present application). The working objects disclosed in the embodiments of the present application include, but are not limited to, corn, fruit trees, tea trees, and the like. In the present application, the term "plot" has the technical meaning equivalent to the term "work plot".

In the prior art, a path is usually directly planned by directly adopting coordinates of target features, difficulties caused by crop growth and movement of people or ground operation equipment by an operation environment are ignored, the planned path can be prevented from being realized, and accurate operation aiming at a plurality of target features cannot be realized. The work path may also include work to perform an adaptation of one or more target features (e.g., tassel, bud, stump, fruit) on work objects planted along one or both sides of the column corridor in the plot, starting from a location within the plot having random coordinates. The plurality of column channels in the plot in the present application may be linearly arranged in parallel with each other, or may be arranged in a curve (for example, S-shaped) in a regular manner, and the technical solution disclosed in the present invention may be applied as long as the operation objects planted in the plot are regularly planted along the rows.

The first embodiment is as follows:

referring to fig. 1 to 5 and 7 to 11, the present embodiment discloses a specific implementation of a navigation method (hereinafter referred to as "navigation method") for a job object including a target feature according to the present invention.

For simplicity of description, referring to fig. 2, in this embodiment, a male parent plant area composed of a plurality of male parent plants arranged in parallel and a female parent plant area composed of a plurality of female parent plants arranged in parallel are planted in the working land. The male parent plant and the female parent plant both form plant planting rows, a row channel for a robot or a person (i.e., a lower concept of the execution terminal 50 in fig. 12 and 13) to move is formed between adjacent plant planting rows, after the execution terminal 50 moves to an operation capability range (i.e., an operation range in which the person or the robot can perform removal of a tassel on the female parent plant) capable of being executed by the execution terminal 50 to perform an operation adapted to a target feature, the execution terminal stays for a certain time and executes a corresponding operation, and after the operation performed for one operation object is completely completed, the execution terminal continues to move to a next candidate coordinate to perform an operation corresponding to a next target feature. The execution terminal 50 is moved to the position where the operation is performed on the candidate coordinates as long as it can surely remove the adventitious tassel or the remaining fruit on the female parent plant. According to the navigation method, target feature coordinates are abandoned, and paths are planned through alternative coordinates near each target feature, so that the execution terminal 50 can move continuously between plant planting rows to execute operation conveniently, the accuracy of the operation paths is improved, and the operation efficiency is greatly improved.

Referring to fig. 1, 3, 4 and 7, the navigation method disclosed in the present embodiment includes the following steps S1 to S4.

And step S1, acquiring a map containing a job land, wherein the map is a high-definition map and contains a job object in the job land, image information of a job growth condition and geographic information, the image information can be used for image recognition of a subsequent column channel, and the geographic information is used for configuring a job path. Furthermore, after the map is obtained, the on-site actual coordinates and the image coordinates are calibrated to improve the map positioning precision and improve the planning precision of the operation path. The map can also be a map obtained by mapping a working land, so that the accuracy of image information and geographic information of a working object and a working growth condition is improved, and the planning of a subsequent working path and the execution of the working matched with the target characteristics are facilitated.

Step S2, an image of a work object including a target feature in a work parcel is acquired, and a map coordinate range of the target feature in a map is determined. Specifically, the image of the work object containing the target characteristics is the image of the work object containing the female parent plant, and the target characteristics include one or more of tassel, bud, twig and fruit in the female parent plant. The images can be captured at a vertical or substantially vertical angle by an imaging device such as a camera or a video camera through an unmanned aerial vehicle or a remote sensing satellite, or can be imported or captured from a background (such as a cloud server or a database of a computing cluster) through a monitoring device through any existing wireless/wired transmission device. Further, based on the acquired image, the target feature is identified by using the target feature model, a target feature range (for example, a box for identifying the target feature) is determined, the target feature range is an image coordinate range in the acquired image, and based on a geometric relationship between the image coordinate range in the acquired image and known image coordinates (preset), and a conversion model of the known image coordinates and map coordinates (determined by the known image coordinates and the position coordinates of the acquired image), a map feature range corresponding to the target feature range on the map can be determined. That is, the identified target feature range is mapped onto the map to form a map feature range (refer to a block in fig. 2).

Step S3 is to acquire a column lane formed by the work object in the map, and to set an area where the map coordinate range extends laterally and overlaps with an adjacent column lane as a candidate coordinate area pair including two candidate coordinate areas. Column channels can be formed on the map through identification of the acquired high-definition map so as to indicate the optimal moving route, therefore, the coordinate range of the map extends transversely to form an alternative coordinate area with the adjacent column channels, the moving range can be limited to be near the target feature, the operation path finally determined by the navigation method disclosed in this embodiment is only required to connect the candidate coordinates corresponding to one pixel (or sub-pixel) in any one candidate coordinate region (or candidate coordinate line segment), thereby, the algorithm has stronger selectivity in the process of generating the access path and/or the working path, the working path can be more optimal, and particularly, the method realizes that in the working capacity range of a person or a robot, a connecting line formed by connecting one optional coordinate can be selected in the optional coordinate area to form an operation path, so that the operation path is easier to output. Meanwhile, the navigation method disclosed by the invention also reduces the performance requirement of a hardware device for operating the navigation method.

Referring to fig. 7, the map coordinate ranges may be laterally and perpendicularly aligned with one or both adjacent column lanes to form one or both areas overlapping with the adjacent column lanes. Specifically, the width d2 of the map coordinate range formed by a target feature (a generic concept of tassel of female parent plant) included in the upper female parent plant forms an alternative coordinate region pair defined by the alternative coordinate region Q11 and the alternative coordinate region Q12 in the adjacent two column channels. Two target features (which may partially overlap) contained by one parent plant located below, the map coordinate range may be transverse and perpendicular to the column channels to form two areas overlapping the adjacent column channels, i.e., alternative coordinate area Q21 and alternative coordinate area Q22, to form an alternative coordinate area pair, and the width d1 of the alternative coordinate area pair is formed by two partially overlapping target features F2 and target feature F3.

As shown in fig. 9, the target feature F1 formed by the tassel formed on the upper one of the female parent plants extends laterally in an inclined posture and forms an alternative coordinate region Q42 and an alternative coordinate region Q41 shaped as parallelograms with the adjacent two row channels to form an alternative coordinate region pair. Referring to fig. 8 and 9, the navigation method further includes: and judging whether the map coordinate range is overlapped with the row channel or not, and if so, taking a part of overlapped area overlapped with the row channel as an alternative coordinate area. The map coordinate range corresponding to the target feature F4 formed by the sporadic tassel on the leaf of the female parent plant (for example, corn) in fig. 8 is located in the row channel, then only the partially overlapped region Q23 of the leaf of the female parent plant and the row channel may be used as the candidate coordinate region at this time, of course, the rectangular region Q24 formed by the target feature F4 and the row channel located at the left side in the vertical and horizontal posture may also be used as the candidate coordinate region (see fig. 9), and the width d3 of the candidate coordinate region is the width of the target feature F4; meanwhile, the rectangular region Q25 formed by the target feature F4 and the column channel located on the right side in the vertical lateral attitude serves as a candidate coordinate region, so that the rectangular region Q24 and the rectangular region Q25 form a candidate coordinate region pair.

The shape, length, and width of the candidate coordinate region are not limited to these, and may be set in the adjacent row lane of the map coordinate range. The alternative coordinate area can be used for planning a path conveniently, realizing an optimal path and reducing the difficulty of path planning. Further, the candidate coordinate area is also required to be within the operation capability range of the execution terminal, so as to facilitate the execution of the operation of adapting the target feature when the terminal reaches the candidate coordinate area.

And step S4, counting the number of the candidate coordinate areas falling into the same column channel to determine the concentration degree of the candidate coordinate areas in the column channel. After obtaining a plurality of map coordinate ranges, the number of candidate coordinate regions in each column channel may be counted based on the map coordinate ranges in the map to determine the aggregation of the candidate coordinate regions in the column channel. As shown in fig. 3, a plurality of dotted frames arranged in parallel are row channels formed between the female parent plants (i.e., row channels between the female parent plants), and at the same time, a male parent plant row channel formed between two adjacent rows of duplicate plants are shown in detail in the areas indicated by gray rectangular boxes in fig. 3 to 6. The corresponding map coordinate range of the target feature formed by the female parent plant in the map is represented by a square. Thus, in fig. 3 the female parent plants comprise a map coordinate range with concentrations of 1, 2, 5, 3, 4, 5, 2 from left to right of female parent plant row channels formed between the female parent plants (the male parent plant rows are not within the statistical range of concentrations). Therefore, the concentration of the row channel of the third female parent plant from the left and the concentration of the row channel of the sixth female parent plant from the left are the highest, i.e. the concentrations are both 5. Therefore, the paths of the row channel of the third female parent plant from the left and the row channel of the sixth female parent plant from the left are preferably planned, so that a plurality of operations matched with the target characteristics can be executed in the same row channel, the path change times are reduced by optimizing the paths, and the operation efficiency is improved. It should be noted that each square block in fig. 3 to fig. 6 is a map coordinate range, end points of both ends of a transverse line extending transversely into adjacent rows of channels both fall into candidate coordinate regions (or candidate coordinate line segments), and the two end points of the transverse line are candidate coordinates, and the candidate coordinates may be map coordinates corresponding to any one or several candidate coordinate regions (or candidate coordinate line segments) in the map. Meanwhile, it should be noted that, in this embodiment, the candidate coordinate regions (or candidate coordinate line segments) do not need to extend completely laterally into the adjacent column channels, and as long as a circular operation capability range region formed by the reference point (or reference region) and the target feature represented by the square frame is partially overlapped with the adjacent column channels and a candidate coordinate region (or candidate coordinate line segment, or candidate coordinate) is formed with each column channel, it may be ensured that the operation path planned by the finally formed connecting line can perform the operation adapted to the target feature on the one or more target features close to the line.

Further, a connecting line formed by any one candidate coordinate contained in any one candidate coordinate area in the candidate coordinate area pair in the same row of channels is determined according to the aggregation degree, the other candidate coordinate area in the candidate coordinate area pair to which the candidate coordinate area contained in the extending direction of the row of channels to which the connecting line belongs is removed to obtain an isolated candidate coordinate area pair, and a path formed by sequentially connecting the connecting line and any one candidate coordinate in any one isolated candidate coordinate area in the isolated candidate coordinate area pair is determined to be used as an operation path. As shown in fig. 10 and 11, for the same column channel, when the human or the robot moves in the column channel, any one of the candidate coordinates Qi may be selected for a certain candidate coordinate region Q. For example, for the same column channel, the candidate coordinate area Q5 selects the candidate coordinate Qa, and the adjacent or non-adjacent candidate coordinate area Q6 selects the candidate coordinate Qb, so as to connect the candidate coordinate Qa and the candidate coordinate Qb by a connecting line and make a part of the work path. It should be noted that the shape of the connection line between the alternative coordinate Qa and the alternative coordinate Qb is not limited at all, and the connection line may be a curved line, an arc line, or a connection line of a straight line and an arc line, and may be freely planned or adjusted in real time according to the terrain of the column channel, the obtained obstacle information, and the like. Preferably, the connecting line between the channels in the same row is set to be a straight line segment, so that the operation efficiency can be improved. The work path of the present application can be adjusted based on the real-time environment information, thereby improving the applicability of the work path. Specifically, based on the acquired real-time environment information, the operation path is adjusted in the range of an alternative coordinate area or an alternative coordinate line segment to which an alternative coordinate determined by the operation path belongs, so that ground or air obstacles existing in the operation environment are avoided; the real-time environment information may be obstacle information sensed by a sensor included in ground working equipment such as a robot, or obstacle information sensed by a person during real-time movement. When the person shifts the working path based on the obstacle information, the working path is calibrated according to the alternative coordinate area or the alternative coordinate line segment to which the determined coordinates belong in the working path, so that the person can be ensured to be in the working capacity range, and the person is prevented from being incapable of working when reaching the alternative coordinate position.

Referring to fig. 7, specifically, the step of rejecting another candidate coordinate region in the candidate coordinate region pair to which the candidate coordinate region included in the extension direction of the channel to which the connection line belongs specifically includes: if one candidate coordinate is selected from the candidate coordinate area Q11, the candidate coordinate is not selected from the candidate coordinate area Q12 in the candidate coordinate area pair, and vice versa, and the other candidate coordinate areas are executed by referring to the foregoing method, so that the path can be prevented from being repeatedly planned until the planning of all target features is completed.

Further preferably, the navigation method includes the following steps S10 to S40.

Step S10, a map including the work parcel is acquired.

And step S20, extracting the map coordinates corresponding to the target features in the map.

Step S30, a column channel formed by the work object in the map is acquired, and a line segment of the map coordinate extending transversely in a direction perpendicular to the column channel and overlapping with an adjacent column channel is taken as a candidate coordinate line segment pair including two candidate coordinate line segments, where the candidate coordinate is a coordinate determined by a pixel point of the image in any one of the candidate coordinate line segments.

Step S40, counting the number of alternative coordinate line segments falling into the same row of channels to determine the concentration degree of the alternative coordinate line segments in the row of channels, determining a straight line segment formed by any alternative coordinate contained in any alternative coordinate line segment in the alternative coordinate line segment pair in the same row of channels according to the concentration degree, removing another alternative coordinate line segment in the alternative coordinate line segment pair to which the alternative coordinate line segment contained in the extension direction of the row of channels to which the straight line segment belongs to obtain an isolated alternative coordinate line segment pair, and determining a path formed by sequentially connecting the straight line segment and any alternative coordinate contained in any isolated alternative coordinate line segment in the isolated alternative coordinate line segment pair as an operation path. In this embodiment, the candidate coordinate line segments may be regarded as a subset of the aforementioned candidate coordinate regions formed by at least one candidate coordinate.

It should be noted that, in order to simplify the algorithm, the calculation of the concentration degree may also be implemented by directly using the alternative coordinates corresponding to the map coordinates. The optional point or the central point in the map coordinate range or the closest point of the map coordinate transversely extending and intersecting with the adjacent column channel can be used as the alternative coordinate to form an alternative coordinate pair, the alternative coordinate data in each column channel is counted to determine the aggregation, so that the path planning sequence is determined according to the aggregation, and the alternative coordinate in the column channel with the high aggregation preferentially plans the path to reduce the length of the operation path, reduce the number of line crossing times and improve the operation efficiency. The alternative coordinates are the closest points to the row channels, namely the edge points of the row channels, and can be directly connected with the alternative coordinates in the same row channels to form a straight line segment in the same row channels, so that the optimal path is realized, the operation efficiency is improved to the greatest extent, and the time for executing the terminal transformation path and passing through the plant rows is shortened.

According to the method and the device, the route planning range is arranged in the row channel directly through the alternative coordinate area/line segment/point near the map coordinate range, the route planning sequence is determined through the aggregation degree of the row channel, the times and time for crossing the plant rows are reduced to the maximum extent, and the operation efficiency and the operation adaptability are improved.

As shown in fig. 3, the navigation method further includes: when the execution terminal is located outside the operation plot, determining the current position coordinate formed by the execution terminal, planning an entry path entering the operation plot from the current position coordinate (i.e. position a), calculating the shortest path formed by the current position coordinate and the operation path as the entry path, and visually displaying the entry path in a visual interface 44 embedded in the terminal device, wherein the entry path is a track from the current position coordinate to an alternative coordinate corresponding to the endpoint of the operation path. The terminal device may be a display device (or a display interface) for showing the operation path to the user, and the terminal device may be a part of the navigation device 40(40 ') disclosed in the third embodiment below or directly as the navigation device 40 (40') for guiding the execution terminal 50 to move one by one to the vicinity of the row passage of the operation object including the target feature to perform the adaptive operation on the target feature (for example, the tassel removing operation of manually or automatically removing the tassel from the female parent plant by a mechanical arm).

For example, when the execution terminal is located outside the job site, the execution terminal is located at the a position, and the current position coordinates are formed. In fig. 3, the candidate coordinate D2 located at the leftmost position of the work route is used as a connection point connected to the entry route (where D is a map coordinate range formed by the target feature in the map, and D1 and D2 are each one of candidate coordinates in the candidate coordinate line segment), and the nearest entry route formed by moving from the a position to the connection D2 needs to be further screened out. The application scenario shown in fig. 3 is preferably an application scenario in which the execution terminal is a robot, and a path for moving from the current position coordinate to the connection D2 from outside the plot and along the column channel direction needs to be further planned. The dashed double-dotted line in fig. 3 is the entry path of the execution terminal into the work parcel along the parcel periphery with the current position coordinate a and forms the C position (parcel position-1), and the solid arrow is the entry path B position of the execution terminal into the work parcel along the parcel periphery with the front position coordinate a (parcel position-2). At this time, the shortest path between the sum of the path length of the position a moved to the position C and the path length of the position C moved to the isolated candidate coordinate D2 along the column channel and the sum of the path length of the position B moved to the position B and the path length of the position B moved to the isolated candidate coordinate D2 along the column channel is compared to determine the most reasonable entry path, and the entry parcel position is finally determined. In the present embodiment, the path that enters the land parcel from the C position and moves to the isolated candidate coordinate D2 is proved to be the shortest, thereby determining the entrance to the work parcel from the C position. By further optimizing the entry path, not only can the path length be reduced, but also the frequency of the path crossing the plant rows can be reduced, thereby reducing the operation difficulty.

In another embodiment, referring to fig. 5, the application scenario is preferably an application scenario in which the execution terminal is a person. The person can carry the navigation device to execute the operation, and the nearest end point coordinate from the current position coordinate A to the operation path is determined to be D2, and the operation path length can be reduced to the minimum according to the realization of planning the path from the point A to the point D2.

Extracting a map coordinate range corresponding to the target feature in a map, obtaining the map coordinate range through an obtained image of a working object containing the target feature, wherein the image carries accurate position information, and the map coordinate range can be calculated through the image so as to ensure the accuracy of path planning; preferably, the position information is determined by a positioning device calibrated, for example, based on RTK (Real-time kinematic). When the execution terminal navigates to the alternative coordinates corresponding to any one target feature according to the operation path, the positioning system of the execution terminal is triggered in response to the determination operation of the user to obtain the current position coordinates, and the remaining operation path is corrected by combining the alternative coordinates corresponding to the current position planned in the operation path, so that the operation path precision can be improved. Furthermore, when the execution terminal reaches the first target feature and the robot or the human confirms that the target feature is searched, a positioning system of the execution terminal is triggered to obtain the current position coordinates, the current position coordinates are matched with the planned alternative coordinates in the operation path, the remaining operation paths which are not moved yet are calibrated, the operation path can be calibrated continuously, and the operation path accuracy is improved.

As shown in fig. 5, in this embodiment, the navigation method further includes: and judging whether the current position coordinate (namely the point A in the graph 3 or the graph 4) is positioned in the operation plot, if so, planning a track from the current position coordinate to the end point coordinate reaching the operation path, and confirming the row channel interval through a map so as to determine the number of row channels required to pass through between the current position coordinate and the end point coordinate reaching the operation path, so that the movement of a person can be prompted according to the information, and the use experience of the person is improved. The column channel pitch is the lateral distance formed by the centerlines of two adjacent column channels.

As shown in fig. 4, after completing the job to which target feature D is adapted at isolated candidate coordinate D2, plant rows are crossed to position S1 in the row lane of the third maternal plant from the left in fig. 4. After performing the fitting operation on the target characteristics contained in the operation object on the right side of the position S1, the operation is continuously performed downwards along the third female parent plant row channel from the left to the position S2, and after the operation at the position S2 is completed, the operation transversely spans a plurality of female parent plant row channels and a male parent plant row channel and reaches the position S3 in the figure 4. After the job at position S3 is completed, the job continues to move up the maternal plant row lane to position S4 and then laterally across to the right maternal plant row lane and to position S5. Then moves down the row path of the female parent plant at position S5 to position S6. Then laterally across the row of plants to position S7 so that after the job at position S7 is completed, it finally moves up the rightmost maternal plant row lane to position S8 near the candidate coordinates determined by the last job object containing the target feature. After the job at position S8 is completed, it is moved laterally out of the job site (i.e., position E is clear of the site) or continues to move up the rightmost maternal plant row lane and out of the job site. The example shown in fig. 4 is more suitable for ground operation equipment with a robot as an execution terminal, and the robot has a shorter span distance in the transverse plant spanning row relative to the oblique plant spanning row, so that the damage to crops such as plants caused by the robot in the row spanning process is further reduced.

Referring to fig. 5, when the execution terminal is a human, it is possible to directly span a plurality of plant rows and all reach the isolated candidate coordinates D2, while ensuring the shortest operation path. After completing the job to which target feature D was adapted at isolated candidate coordinate D2, plant row was continued to be spanned to position S1 in the row lane of the third maternal plant from the left in fig. 5. After performing the fitting work on the target characteristics included in the work object on the right side of the position S1, the work object moves down along the third maternal plant row passage from the left to the position S2, and after the work on the position S2 is completed, the work object continues to move in a manner of obliquely crossing the plant rows to the position S3. Then moves down the row path of the female parent plant at position S3 and reaches position S4. Then traverse across the rows of plants and reach position S5 and finally move up the rightmost maternal plant row lane to position S6 near the candidate coordinates determined by the last work object containing the target feature to move out of the work plot laterally (i.e., position E leaves the plot) or continue moving up and out of the work plot along the rightmost maternal plant row lane after the work is completed.

In this embodiment, the navigation method further includes: and traversing the aggregation degrees from the rest of the candidate coordinate area pairs or the candidate coordinate line segment pairs to determine a connecting line formed by connecting a plurality of candidate coordinates in the same row of channels, and sequentially connecting the connecting line and any point candidate coordinate in a plurality of isolated candidate coordinate area pairs or a plurality of isolated candidate coordinate line segment pairs or any point candidate coordinate in an isolated candidate coordinate pair until the aggregation degree in the same row of channels is 1 so as to determine the shortest path as the operation path. By continuously determining the connection, the maximum operation times can be executed in the same channel to the maximum extent, the times of crossing the plant rows by the operation path are reduced, and the operation applicability is improved.

And when the concentration degrees of alternative coordinate areas or alternative coordinate line segments or alternative coordinates falling into adjacent rows of channels in the same map coordinate range are the same, selecting one side with the shorter connecting line as a determined straight line segment, determining the straight line segment which is positioned in the same row of channels and formed by the alternative coordinates according to the concentration degree, and connecting the head and the tail of the straight line segment to form the shortest path which is used as an operation path. When the aggregation degrees of the adjacent row channels in the same map coordinate range are the same, the side with the shorter connecting line is preferably determined as the operation path, the path length can be further reduced, and the operation efficiency is further improved.

The navigation method disclosed by the embodiment can avoid the technical problems that the accurate coordinate position of the operation object containing the target characteristic is determined by using the characteristic learning of a significant image space or the AI algorithm based on the complex computer algorithm such as image recognition, and the calculation cost of the finally formed operation path is too high and the hardware of the calculation device is too high, can only identify the image of the operation object containing the target characteristic to obtain the map coordinate range, further realize the most reasonable operation path through the alternative coordinates near the map coordinate range, thoroughly solve the technical problems that the traditional operation equipment cannot accurately reach the target characteristic due to the complex environment of the operation land block and cannot continuously operate due to the difficulty in crossing the plant row in the operation land block, and has the advantages of accurate navigation path, short navigation path and small number of crossing plant rows, and can remarkably reduce the operation difficulty, The working efficiency is improved, and particularly, the technical problem that the working object is easy to be damaged when a row (namely a plant row) formed by the working object is crossed is solved while a short or shortest working path is planned.

Example two:

referring to fig. 6, based on the navigation method disclosed in the first embodiment, a second embodiment of the navigation method is also disclosed in the present embodiment.

In the present embodiment, the operation path is roundly planned along the length of the row channel, and a part of the operation path formed when the row channel is switched is located outside the operation land. Referring to fig. 6, the person or robot moves from the E position as a land-entering position along the rightmost row lane and first moves to a position S6 and then moves to a position S5 below the row lane of the mother plants with a gathering degree of 5 on the left, thereby completing the first row lane switching operation. Then continues to move up the maternal plant column channel along position S5 and reaches position S4, and then continues to move left to position S3, thereby completing the second column channel switching operation. Then continuing to move down the maternal plant train path along position S3 to position S2. And then moves on to the left to position S1 to complete the column channel switching operation for the third time. Finally, the human or robot moves up along the leftmost maternal plant row path and after completing the last job matching the target feature performed on the isolated candidate coordinate D2 (shown in fig. 3) formed on the right side of the leftmost job object, completes the entire job flow and finally moves up along the leftmost maternal plant row path to leave the job plot from position B as the plot-out position. It should be noted that the person or robot can also take position B as a land-entering position and move in the opposite direction along the work path shown by the dashed line in fig. 6 and finally leave the work land from position E. The navigation method disclosed by the embodiment is particularly suitable for an application scene that the robot moves in the female parent plant row channel, the robot is positioned outside the operation land when the row channel is switched, and the robot does not damage crops such as plants when moving along the female parent plant row channel, and the navigation method is easier to realize.

The navigation method disclosed in this embodiment and the first embodiment is based on the same technical solution, which is described in the first embodiment and is not described herein again.

Example three:

with reference to fig. 12 and 13, in combination with the technical solutions of the navigation methods disclosed in the first and/or second embodiments, this embodiment further discloses a navigation device (hereinafter referred to as "navigation device") for performing navigation on a job object including a target feature. The navigation device 40 (40') performs the steps and aspects of the navigation method disclosed in the first embodiment and/or the second embodiment.

As shown in fig. 12, a navigation device 40 performs navigation on a work object including a target feature, and determines an entry route or a work route or determines both the entry route and the work route. Specifically, the navigation device 40 includes: a map acquisition unit 41, an image acquisition unit 43, and a path planning unit 42.

A map acquisition unit 41 for acquiring a map containing a work parcel. The map acquisition unit 41 is configured as a wireless communication module capable of acquiring a map of a work parcel in an off-line manner or an on-line manner, and may also be configured as an imaging device that takes an aerial photograph of the work parcel. The map includes a job object in the job site, image information of the job growth situation, and geographic information. The map acquired by the map acquisition unit 41 is sent to the image acquisition unit 43 and the path planning unit 42 at the same time.

The image acquisition unit 43 acquires an image of a work object including a target feature in a work area, and extracts a map coordinate range corresponding to the target feature in a map.

And a path planning unit 42, configured to acquire column channels formed in the map by the work object, and set an area where the map coordinate range extends laterally and overlaps with an adjacent column channel as a candidate coordinate area pair including two candidate coordinate areas. Then, based on the number of candidate coordinate regions falling into the same column of channels statistically, the aggregation degree of the candidate coordinate regions in the column of channels is determined, a connecting line formed by any candidate coordinate included in any candidate coordinate region (or candidate coordinate line segment or candidate coordinate) in a candidate coordinate region pair (or candidate coordinate line segment or candidate coordinate) in the candidate coordinate region pair (or candidate coordinate line segment or candidate coordinate pair) in the same column of channels is determined according to the aggregation degree, another candidate coordinate region (or candidate coordinate line segment or candidate coordinate) in the candidate coordinate region pair (or candidate coordinate line segment pair or candidate coordinate pair) to which the candidate coordinate region pair included in the extending direction of the column of channels to which the connecting line belongs is eliminated, so as to obtain an isolated candidate coordinate region pair (or isolated candidate coordinate line segment pair or candidate coordinate pair), and any isolated candidate coordinate region (or isolated candidate coordinate line segment pair) in the connected connecting line and isolated candidate coordinate region pair (or isolated candidate coordinate line segment pair) is determined Alternative coordinates or alternative coordinates) form a work path. The finally formed entry path and operation path of the path planning unit 42 are finally displayed in real time on a visualization interface 44 communicated with the path planning unit 42. The candidate coordinates are one or more coordinates in a candidate coordinate area, or one or more coordinates in a candidate coordinate line segment, the candidate coordinates being located in a column channel.

The navigation device 40 controls at least one execution terminal 50, the execution terminal 50 executes the work on the work object including the target feature in the work area in the work path determined by the navigation device 40, and the execution terminal 50 includes ground work equipment (for example, an unmanned vehicle having a robot arm that removes sporadic tassels on maternal corn plants) or a person.

As a reasonable variation of the navigation device 40, the present embodiment also discloses a navigation device 40' as shown in fig. 13. The navigation device 40' further comprises: a correcting unit 45 for correcting the operation path. When the execution terminal is located in the job block and finds the first target feature, the current position coordinates are obtained according to the positioning system, and the remaining unexecuted job paths are corrected through the correction unit 45 in combination with the alternative coordinates corresponding to the first target feature planned in the job path. Specifically, when the execution terminal is located in the working area and finds the first target feature, a positioning system (for example, a GPS positioning system or GPS positioning software or a beidou positioning system or a positioning system calibrated by RTK, etc.) of the execution terminal is triggered in response to a determination operation of a user to obtain a real-time position coordinate, and an absolute difference between the real-time position coordinate and a corresponding candidate coordinate on the working path is compared, so as to correct the remaining candidate coordinate in the working path by the absolute difference to correct the working path.

As shown in connection with fig. 7, the region that is laterally extended by the predetermined map coordinate range and overlaps with the adjacent column channel serves as a candidate coordinate region pair including two candidate coordinate regions, i.e., candidate coordinate region Q11 and candidate coordinate region Q12. When the person moves from top to bottom along the already generated work path to within the candidate coordinate area Q11, if the target feature F1 is found not to be present on the mother plant (i.e., the first target feature) on the left side of the candidate coordinate area Q11, the person continues to walk downward. If the target feature F1 is found after the image is walked downwards for 5 meters, the real-time position coordinates are obtained through the positioning system, and the absolute difference between the real-time position coordinates and the corresponding alternative coordinates on the formed operation path is compared, so that the absolute difference formed along the column channel between the alternative coordinates determined based on the original image and the real-time position coordinates is determined. Such absolute difference may occur either early along the column path or late along the column path. Then, at this time, the actual coordinates formed by the candidate coordinates in the work path in the work area can be determined according to the absolute difference, and the most accurate candidate coordinates can be further determined.

Because each target feature in the operation land block does not change within a certain time, the operation path formed by alternative coordinates determined by other target features in the operation land block can be adaptively calibrated as long as the absolute difference formed by the first target feature is determined, and the continuous occurrence and the error accumulation of positioning errors are effectively prevented, thereby fundamentally solving the technical problems of unreasonable and inaccurate operation path planning caused by the error of the coordinate position. Of course, in this embodiment, the absolute difference between the real-time position coordinates formed by the second, third, or nth working object and the corresponding candidate coordinates on the constituent working path may also be moved by a person or by the ground working apparatus, so that the absolute difference formed along the column path between the candidate coordinates determined based on the original image and the real-time position coordinates is determined, and the error correction process may be continuously or intermittently performed to correct the working path.

The navigation device 40 (40') disclosed in the present embodiment and the navigation method disclosed in the first embodiment and/or the second embodiment have the same technical solutions, and refer to the description in the first embodiment and/or the second embodiment, which are not repeated herein.

Example four:

referring to fig. 14, the embodiment further discloses an embodiment of an electronic device 500.

The electronic device 500 includes: a processor 51, a memory 52, and a communication bus 53 establishing a communication connection between the processor 51 and the memory 52. The processor 51 is configured to execute one or more programs stored in the memory 52 to implement the steps of a method for navigating a job object including a target feature as disclosed in the first embodiment. The memory 52 is composed of a storage unit 521 to a storage unit 52j, and the parameter j is a positive integer greater than or equal to 1. The electronic device 500 may be understood as a computer, a cluster server or a cloud platform or as a mobile handheld electronic device. The electronic apparatus 500 may be considered as part of the navigation device 40(40 ') disclosed in the third embodiment or logically comprises the navigation device 40 (40') in its entirety; even more, the navigation device 40 (40') may be associated as part of a robot that walks autonomously in the row corridor or is able to perform a cross-row (or cross male and female parent plants).

Please refer to the first embodiment and/or the second embodiment for a specific technical solution of the navigation method for the job object including the target feature, which is relied on/included by the electronic device 500 according to the present embodiment, and is not described herein again. The electronic device 500 is embedded to form a visual interface 44, so as to display the operation path output by the navigation method of the operation object containing the target characteristic through the visual interface 44.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit. The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable medium. Based on this understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium, or in a part of or all of the technical solution that contributes to the prior art.

The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.

Claims (12)

1. A method for navigating a work object including a target feature, comprising the steps of:

acquiring a map containing a work land;

acquiring an image of a working object containing a target feature in a working land, and determining a map coordinate range of the target feature in a map;

acquiring column channels formed by operation objects in a map, and taking an area, which extends transversely in the coordinate range of the map and is overlapped with an adjacent column channel, as an alternative coordinate area pair comprising two alternative coordinate areas;

counting the number of the alternative coordinate areas falling into the same row of channels to determine the concentration degree of the alternative coordinate areas in the row of channels, determining a connecting line formed by any alternative coordinate included in any alternative coordinate area in an alternative coordinate area pair in the same row of channels according to the concentration degree, eliminating the other alternative coordinate area in the alternative coordinate area pair to which the alternative coordinate area belongs and included in the extending direction of the row of channels to which the connecting line belongs to obtain an isolated alternative coordinate area pair, and determining a path formed by sequentially connecting the connecting line and any alternative coordinate in any isolated alternative coordinate area in the isolated alternative coordinate area pair as an operation path.

2. The navigation method according to claim 1, characterized in that it comprises:

extracting a map coordinate corresponding to the target feature in a map;

acquiring a column channel formed by a working object in a map, and taking a line segment of the map coordinate, which transversely extends along the direction perpendicular to the column channel and is overlapped with an adjacent column channel, as an alternative coordinate line segment pair comprising two alternative coordinate line segments, wherein the alternative coordinate is a coordinate determined by any pixel point of an image in the alternative coordinate line segment;

counting the number of alternative coordinate line segments falling into the same row of channels to determine the concentration degree of the alternative coordinate line segments in the row of channels, determining a straight line segment formed by any alternative coordinate included in any alternative coordinate line segment in an alternative coordinate line segment pair in the same row of channels according to the concentration degree, removing another alternative coordinate line segment in the alternative coordinate line segment pair to which the alternative coordinate line segment included in the extension direction of the row of channels to which the straight line segment belongs to obtain an isolated alternative coordinate line segment pair, and determining a path formed by sequentially connecting the straight line segment and any alternative coordinate included in any isolated alternative coordinate line segment in the isolated alternative coordinate line segment pair as an operation path.

3. The navigation method according to claim 2, wherein the operation path is roundly planned along the length of the row passage, and a part of the operation path formed when the row passage is switched is located outside the operation land.

4. The navigation method of claim 2, further comprising:

when the execution terminal is located outside the operation plot, determining the current position coordinate formed by the execution terminal, planning an entry path entering the operation plot from the current position coordinate, calculating the shortest path formed by connecting the current position coordinate with the operation path as the entry path, and visually displaying the entry path in a visual interface embedded in the terminal equipment, wherein the entry path is a track from the current position coordinate to the endpoint coordinate of the operation path.

5. The navigation method according to claim 4, wherein when the execution terminal locates in the job site and finds the first target feature, the positioning system of the execution terminal is triggered in response to the determination operation of the user to obtain the real-time position coordinates, and the absolute difference between the real-time position coordinates and the corresponding candidate coordinates on the constituted job path is compared, so as to correct the remaining candidate coordinates in the constituted job path by the absolute difference to correct the job path.

6. The navigation method of claim 4, further comprising: and judging whether the current position coordinate is positioned in an operation plot, if so, planning a track from the current position coordinate to the end point coordinate of the operation path, and confirming the row channel interval through the map so as to determine the number of row channels required to pass through between the current position coordinate and the end point coordinate of the operation path.

7. The navigation method according to claim 1, wherein the image of the work object containing the target feature is an image of a female parent plant containing the target feature, and the target feature comprises one or any of tassel, bract, stump and fruit in the female parent plant.

8. The navigation method according to any one of claims 2 to 7, further comprising: and traversing the aggregation degree from the rest of the candidate coordinate area pairs or the candidate coordinate line segment pairs to determine a connecting line formed by connecting a plurality of candidate coordinate areas or candidate coordinate line segments in the same row of channels, and sequentially connecting the connecting line and any point candidate coordinate contained in a plurality of isolated candidate coordinate area pairs or isolated candidate coordinate line segment pairs until the aggregation degree in the same row of channels is 1 so as to determine the shortest path as the operation path.

9. The navigation method according to claim 8, wherein when the aggregation degrees of alternative coordinate areas or alternative coordinate line segments in the same map coordinate range in adjacent row channels are the same, the side with the shorter connecting line is selected as a determined straight line segment, and the shortest path formed by connecting the straight line segments end to end is used as the operation path according to the straight line segment determined by the aggregation degrees and located in the same row channel and formed by the alternative coordinates.

10. The navigation method of claim 8, further comprising:

and judging whether the map coordinate range is overlapped with the row channel or not, and if so, taking an overlapped area overlapped with the row channel as an alternative coordinate area.

11. A navigation device for performing navigation on a work object including a target feature,

characterized in that the navigation device comprises:

a map acquisition unit that acquires a map including a work parcel;

the image acquisition unit is used for acquiring an image of a work object containing target characteristics in a work land and extracting a map coordinate range of the target characteristics in a map;

the path planning unit is used for acquiring column channels formed by the operation objects in a map, and taking the area of the map coordinate range which extends transversely and is overlapped with the adjacent column channels as an alternative coordinate area pair comprising two alternative coordinate areas; determining the concentration degree of the candidate coordinate regions in the row channels based on the number of the candidate coordinate regions which are counted to fall into the same row of channels, determining a connecting line formed by any candidate coordinate included in any candidate coordinate region in a candidate coordinate region pair in the same row of channels according to the concentration degree, eliminating the other candidate coordinate region in the candidate coordinate region pair to which the candidate coordinate region pair included in the extending direction of the row channels to which the connecting line belongs, obtaining an isolated candidate coordinate region pair, and determining that the connecting line and any candidate coordinate in any isolated candidate coordinate region in the isolated candidate coordinate region pair are sequentially connected to form an operation path;

the navigation device controls at least one execution terminal, the execution terminal executes operation on an operation object containing target characteristics in the land parcel according to the operation path determined by the navigation device, and the execution terminal comprises ground operation equipment or people.

12. An electronic device, comprising:

a processor, a memory, and

a communication bus establishing a communication connection between the processor and the memory;

the processor is configured to execute one or more programs stored in the memory to implement the method of navigating a job object containing a target feature according to any one of claims 1 to 10;

the electronic equipment is embedded to form a visual interface so as to display the operation path output by the navigation method of the operation object containing the target characteristics through the visual interface.

Images