WO2020093497A1

WO2020093497A1 - Precision operation system and method for plant protection unmanned aerial vehicle, and computer-readable storage medium

Info

Publication number: WO2020093497A1
Application number: PCT/CN2018/119052
Authority: WO
Inventors: 朱秋阳; 索高宇; 陈方杰; 关家豪; 刘祖富
Original assignee: 深圳市翔农创新科技有限公司
Priority date: 2018-11-06
Filing date: 2018-12-04
Publication date: 2020-05-14
Also published as: CN109343567A

Abstract

A precision operation system and method for a plant protection unmanned aerial vehicle, and a storage medium. The system comprises a cloud server (10), a ground control terminal (20) and at least one plant protection unmanned aerial vehicle (30), which are in communication connection with each other, wherein the ground control terminal (20) comprises an acquisition module (21), a route generation module (22) and a control module (23); according to the current plant protection operation requirement, the cloud server (10) sends preset plot boundary data and plot barrier data corresponding to the plant protection operation requirement to the acquisition module (21); the acquisition module (21) sends the received plot boundary data and plot barrier data to the route generation module (22); the route generation module (22) sets, according to a preset route setting rule, route information based on the plot boundary data and the plot barrier data, and sends the route information to the control module (23); and the plant protection unmanned aerial vehicle (30) carries out a plant protection operation according to the route information received by the control module (23). The spraying accuracy of a plant protection operation of an unmanned aerial vehicle is improved, and the waste of resources, such as pesticides and chemical fertilizers, is avoided.

Description

Plant protection UAV precision operation system, method and computer readable storage medium The

Technical field

The present application relates to the technical field of unmanned aerial vehicles, in particular to a plant protection unmanned aerial vehicle precision operating system, method and computer-readable storage medium.

Background technique

With the development of the drone industry, its application fields are becoming wider and wider. Plant protection drones are mainly used for agricultural and forestry plant protection operations, such as spraying operations through plant protection drones, such as spraying of drugs and powders. .

At present, when plant protection drones are operated, it is common to manually control the drone flight through the ground station to spray the land, and some ground stations set the flight path of the drone according to the existing commercial map. The drone executes the spraying operation according to the set flight route; the existing problems are: during manual control, due to the presence of visual errors and other interference, the operator cannot accurately control the spraying operation of the drone on the boundary of the working block However, because the commercial map is not completely consistent with the actual topography of the field, the ground station cannot accurately identify the actual accurate boundary of the operation plot and the field obstacles when generating the route. The above will cause the plant protection drone spraying operation to be unsatisfactory. It will also waste resources such as pesticides and fertilizers.

Application content

The main purpose of this application is to propose a precision operation system, method and computer-readable storage medium for planting and protecting drones, aiming to realize the ground station based on preset boundary information and field obstacle information matching with the operation plot to set the precision The plant protection drone spraying operation route improves the spraying accuracy of the drone plant protection operation, and avoids the waste of resources such as pesticides and fertilizers.

In order to achieve the above purpose, the present application provides a plant protection drone precision operation system, including a cloud server connected to a communication, a ground control terminal and at least one plant protection drone Module

The cloud server is used to send preset parcel boundary data and parcel obstacle data corresponding to current plant protection operation requirements to the acquisition module;

The acquiring module is configured to send the received parcel boundary data and parcel obstacle data to the route generation module;

The route generating module is configured to set route information based on the parcel boundary data and the parcel obstacle data according to a preset route setting rule, and send the route information to the control module;

The plant protection drone is used for plant protection operations according to the route information received by the control module.

Optionally, the acquisition module includes an identification unit and a calling unit, and the plant protection operation requirements include a plant protection plot;

The identification unit is used to obtain plot mark information corresponding to the plot to be protected based on current plant protection operation requirements; the plot mark information includes at least one of the following: plot number, plot name, plot The coordinates of the preset point;

The calling unit is configured to call preset parcel boundary data and parcel obstacle data corresponding to the parcel marking information from the cloud server according to the parcel marking information, and transfer the land Block boundary data and the block obstacle data are sent to the route generation module.

Optionally, the plant protection UAV precision operation system further includes a mapping UAV and an image processing module;

The surveying and mapping drone is used for performing aerial survey on the target plot according to the received surveying instruction for the target plot, and sending the image data obtained by the aerial survey to the image processing module; the target plot Including the plots requiring plant protection;

The image processing module is configured to receive the image data and send the image data processed according to preset image processing rules to the cloud server; the processed image data includes information related to the parcel mark Corresponding parcel boundary data and parcel obstacle data.

Optionally, the image processing module includes an image splicing unit and an editing unit;

The image splicing unit is configured to receive the image data and send the image data spliced according to a preset splicing rule to the editing unit;

The editing unit is configured to edit parcel boundary data and parcel obstacle data for the spliced image data based on preset conditions, and send the edited image data to the cloud server.

Optionally, the surveying and mapping unmanned aerial vehicle is equipped with a multi-channel and multi-spectral aerial survey camera for aerial survey.

Optionally, the image stitching unit includes a three-dimensional stitching subunit and a conversion subunit;

The 3D splicing subunit is used to receive the image data, and splice the image data into 3D stereoscopic image data to output the 3D stereoscopic image data to the editing unit, or output the 3D stereoscopic image data to all The conversion subunit;

The conversion subunit is configured to convert the received three-dimensional stereoscopic image data into two-dimensional orthophoto image data and output the two-dimensional orthophoto image data to the editing unit.

The present application also provides a plant protection drone precision operation method using the system described above. The method includes the following steps:

Based on the current plant protection operation requirements, the ground control terminal calls preset block boundary data and block obstacle data corresponding to the plant protection operation requirements from the cloud server;

According to a preset route setting rule, the ground control terminal sets route information based on the parcel boundary data and the parcel obstacle data;

The ground control terminal controls the plant protection drone to perform plant protection operations according to the route information.

Optionally, the plant protection operation requirements include plant protection plots, and based on the current plant protection operation requirements, the ground control terminal invokes a preset lot boundary corresponding to the plant protection operation requirements from the cloud server The steps of data and block obstacle data include:

Based on the current plant protection operation requirements, the ground control terminal obtains plot marking information corresponding to the plot to be protected; the plot marking information includes at least one of the following: plot number, plot name, plot preset Point coordinates

According to the parcel marking information, the ground control terminal calls preset parcel boundary data and parcel obstacle data corresponding to the parcel marking information from the cloud server.

Optionally, based on the current plant protection operation requirements, before the step of the ground control terminal acquiring the plot marking information corresponding to the plot to be plant protected, the method further includes:

In response to the received surveying instruction for the target plot, the surveying drone performs aerial survey on the target plot to obtain image data; the target plot includes the plot to be plant protected;

The image processing module processes the image data according to a preset image processing rule, and sends the processed image data to the cloud server; the processed image data includes information corresponding to the parcel mark information Parcel boundary data and parcel obstacle data.

Optionally, the image processing module includes an image splicing unit and an editing unit. The image processing module processes the image data according to a preset image processing rule, and sends the processed image data to the cloud server The steps include:

According to a preset stitching rule, the image stitching unit stitches the image data, and sends the stitched image data to the editing unit;

Based on preset conditions, the editing unit edits the parcel boundary data and parcel obstacle data for the stitched image data, and sends the edited image data to the cloud server.

The one or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

The plant protection drone precision operation system of the present application includes a cloud server, a ground control terminal and at least one plant protection drone connected by communication. The ground control terminal includes an acquisition module, a route generation module and a control module; when there is a plant protection operation demand, The cloud server sends preset parcel boundary data and parcel obstacle data corresponding to the plant protection operation requirements to the acquisition module, and the acquisition module transmits the received parcel boundary data and the Block obstacle data is sent to the route generation module; the route generation module sets the operation route of the plant protection drone based on the preset route setting rules based on the block boundary data and the block obstacle data Information and send the route information to the control module, the plant protection drone performs plant protection operations according to the route information received by the control module; this solves the problem that the operator cannot accurately control the plant protection drone operation manually Controlled the problem of drone spraying operations at the boundary of the operation plot, which solved the problem of when the ground station generated a route based on a commercial map It can accurately identify the problem of the unsatisfactory effect of spraying operations caused by the boundaries of the operation plots and field obstacles, and waste of resources such as pesticides and fertilizers. This application realizes the accuracy of the ground control terminal according to the preset matching with the operation plots Boundary information and field obstacle information, set up accurate plant protection drone spraying operation routes for the drone to perform plant protection operations, thereby improving the accuracy of drone plant protection operation spraying, avoiding pesticides, fertilizers and other resources waste.

BRIEF DESCRIPTION

In order to more clearly explain the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, so they are not It should be regarded as a limitation on the scope. For those of ordinary skill in the art, without paying any creative work, other related drawings can be obtained based on these drawings.

1 is a schematic structural view of a preferred embodiment of a plant protection drone precision operation system of the present application;

FIG. 2 is a schematic flow chart of the first embodiment of the plant protection drone precision operation method of the application;

3 is a schematic flowchart of a second embodiment of a plant protection drone precision operation method of the application;

4 is a schematic flow chart of a third embodiment of the plant protection drone precision operation method of the application;

FIG. 5 is a schematic diagram of the detailed steps of step S102 in FIG. 4.

Icons: 10, cloud server; 20, ground control terminal; 21, acquisition module; 22, route generation module; 23, control module; 30, plant protection UAV; 40, surveying and mapping UAV; 50, image processing module; 51 , Video splicing unit; 52, editing unit.

The implementation, functional characteristics and advantages of the present application will be further described in conjunction with the embodiments and with reference to the drawings.

detailed description

To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of this application, but not all the embodiments. The components of the embodiments of the present application that are generally described and illustrated in the drawings herein can be arranged and designed in various configurations.

Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

It should be noted that similar reference numerals and letters indicate similar items in the following drawings, therefore, once an item is defined in one drawing, there is no need to further define and explain it in subsequent drawings.

The terms "first", "second", "third", "fourth", etc. are only used to distinguish descriptions, and cannot be understood as indicating or implying relative importance.

This application proposes a planting protection UAV precision operating system.

Referring to FIG. 1, FIG. 1 is a schematic structural diagram of a preferred embodiment of a plant protection drone precision operation system proposed in this application.

The precision operation system for plant protection drones proposed in this application includes a cloud server 10, a ground control terminal 20 and at least one plant protection drone 30 that are connected to the ground. The ground control terminal 20 includes an acquisition module 21, a route generation module 22 and control Module 23;

The cloud server 10 is configured to send preset parcel boundary data and parcel obstacle data corresponding to current plant protection operation requirements to the acquisition module 21;

The acquiring module 21 is configured to send the received parcel boundary data and parcel obstacle data to the route generation module 22;

The route generating module 22 is configured to set route information based on the parcel boundary data and the parcel obstacle data according to preset route setting rules, and send the route information to the control module 23;

The plant protection drone 30 is used to perform plant protection operations according to the route information received by the control module 23.

In plant protection drone operations, in the prior art, it is common to manually control the drone flight through the ground station to spray the land, and some ground stations set the drone flight according to the existing commercial map. Routes, plant protection drones perform spraying operations according to the set flight routes; the existing problems are: during manual control, due to visual errors and other interference, the operator cannot accurately control the drone to the boundary of the operation plot Spraying operations, and commercial maps are not completely consistent with the actual topography of the field. When the ground station generates a route based on the commercial map, it cannot accurately identify the boundaries of the operation plot and field obstacles. All of the above will result in unsatisfactory spraying operations. It will also waste resources such as pesticides and fertilizers.

In this embodiment, the plant protection drone precision operation system includes a cloud server 10, a ground control terminal 20, and at least one plant protection drone 30. The ground control terminal 20 may be a ground station or a control application installed on a ground terminal. This embodiment does not make specific restrictions; the ground control terminal 20 includes an acquisition module 21, a route generation module 22, and a control module 23; when there is a plant protection operation requirement, the plant protection operation requirement includes the land requiring crop protection and the crops in the land Type, plant protection type, spraying operation time and other information, the cloud server 10 according to the current plant protection operation needs, specifically according to the current plant protection operation needs of the plant protection plots, the cloud server 10 is preset with the current plant protection operation The parcel boundary data and parcel obstacle data corresponding to the parcels requiring plant protection in the demand are sent to the acquiring module 21, and the acquiring module 21 sends the parcel boundary data and the parcel obstacle data to the route generation module 22 is used to generate routes.

Specifically, as an embodiment, first, for a plant protection target area set by a user, such as a target farm, the user sets a fixed-wing or multi-rotor mapping drone 40 for aerial survey height, overlap rate, speed, etc. according to needs. After the index, the surveying and mapping UAV 40 maps the target area and obtains aerial survey image data of the target area. The aerial survey image data has a higher degree of agreement with the actual terrain of the target area. The aerial survey image data undergoes specific processing, such as after stitching The topographic map of the target area can be obtained; further, according to the topographic map obtained after stitching, the user can mark the land boundary on the image that has been successfully stitched according to the actual needs of plant protection operations in the target area and the actual ground conditions of the target area. Obstacles, add or delete edit vertices to accurately mark the area that needs plant protection. It is understandable that the land boundary can be a natural terrain boundary or a user-defined boundary according to plant protection needs. The obstacle can be an actual field Obstacles can also be marked by users without plant protection Areas: When planning a route, the ground station will automatically avoid obstacles or areas that do not require plant protection according to the obstacles marked by the user, thereby improving the accuracy of plant protection operations. The marked image data is uploaded to the cloud server 10.

When there is a plant protection operation requirement in the target area, such as the target farm, the acquisition module 21 is called from the cloud server 10 according to the current plant protection operation needs of the plot protection, specifically from the boundary of the plot as described above In the image data completed by information marking such as obstacles, call the parcel boundary data and parcel obstacle data corresponding to the parcel requiring plant protection, and send the parcel boundary data and parcel obstacle data to the Route generation module 22.

The route generating module 22 is configured to set route information based on the parcel boundary data and the parcel obstacle data according to a preset route setting rule, and send the route information to the control module 23.

In this embodiment, the route generation module 22 avoids obstacles marked by the user according to the parcel boundary data sent by the acquisition module 21, and generates a plant protection drone 30 operation route according to preset route setting rules, and will target The operation route of the plant protection drone 30 generated based on the current plant protection operation requirements is sent to the control module 23, and the route setting rules are based on the actual plant protection operation requirements, for example, the number of reciprocations of the plant protection drone 30 is determined according to the spray demand.

The plant protection drone 30 is used for plant protection operations according to the route information received by the control module 23, the user sets the flight height and speed of the plant protection drone 30, and the ground station controls the plant protection drone 30 according to the Route information for precise application of fertilizers and fertilization in the field. Therefore, through the above-mentioned plant protection drone precision operation system, the problem that the operator cannot accurately control the spraying operation of the drone on the boundary of the work lot when manually controlling the plant protection drone operation is solved, and the ground is solved The station could not accurately identify the boundaries of the operation plot and field obstacles when the route was generated from the commercial map. The spraying operation was not ideal and wasted resources such as pesticides and fertilizers. This application implemented the ground control terminal 20 according to the preset Accurate boundary information and field obstacle information of the operation plots, set up precise plant protection drone 30 spraying operation route for the drone to execute plant protection operation, thereby improving the spraying accuracy of drone plant protection operation, avoiding In addition, waste of resources such as pesticides and fertilizers has been eliminated.

Preferably, the acquisition module 21 includes an identification unit and a calling unit, and the plant protection operation requirements include a plot to be plant protected;

The calling unit is configured to call preset parcel boundary data and parcel obstacle data corresponding to the parcel marking information from the cloud server 10 according to the parcel marking information, and transfer the Parcel boundary data and parcel obstacle data are sent to the route generation module 22.

The plant protection operation requirements include information on the plots requiring plant protection, the types of crops in the plots, plant protection types, and spraying operation time. When there is a plant protection operation requirement, the identification unit recognizes and obtains the characteristic information of the plant protection plots and calls the unit According to the feature information of the plot to be protected, call the boundary data and the obstacle data of the plot that match the feature information from the cloud service. The feature information of the plot to be protected can be the number of the plot, the name of the plot, The coordinates of the preset point of the parcel can distinguish the identification information of the parcel. The preset point of the parcel is preferably the center point of the parcel. In case of special circumstances, the user can also set it according to actual needs. In this embodiment, there is no specific limitation for setting the recall point.

Preferably, the plant protection drone precision operation system further includes a surveying and mapping drone 40 and an image processing module 50;

The surveying and mapping drone 40 is used for performing aerial survey on the target plot according to the received surveying instruction for the target plot, and sending the aerial survey image data to the image processing module 50; the target Land parcels include the land parcels requiring plant protection;

The image processing module 50 is configured to receive the image data and send the image data processed according to preset image processing rules to the cloud server 10; the processed image data includes the parcel The parcel boundary data and the parcel obstacle data corresponding to the marker information.

In this embodiment, the surveying and mapping drone 40 may be a fixed-wing or multi-rotor aerial survey drone, which is not specifically limited in this embodiment; for plant protection target plots, based on the information such as the set overlap rate, altitude and speed, Use the surveying and mapping drone 40 to carry out aerial survey on it. After the surveying and mapping, save the aerial survey image of the target plot and upload the aerial survey image of the target plot to the image processing module 50 for processing. Further, as a preferred embodiment, the The image processing module 50 includes an image splicing unit 51 and an editing unit 52; the image splicing unit 51 is configured to receive the image data and send the image data spliced according to a preset splicing rule to the editing unit 52 The editing unit 52 is used to edit parcel boundary data and parcel obstacle data for the stitched image data based on preset conditions, and send the edited image data to the cloud server 10.

Specifically, as an embodiment, the user logs in the splicing unit, creates a project, adds a description of the parcel information, sets the parcel to which it belongs, uploads the image data obtained by the aerial survey of the UAV 40 to the current project, and the user can define it according to his own needs Project naming and description of project information. The stitching unit stitches aerial survey images according to the image data. The stitching unit can stitch multi-spectral, hyperspectral, and visible light images. The output result can be a 2D orthophoto or a 3D stereoscopic image according to user needs.

Further, according to the aerial survey splicing results and actual plant protection operation requirements, the user will edit and edit the aerial survey image file with the plot and obstacle information by adding and deleting the precise boundary information of the plot point to mark the plot and marking the obstacle. , Upload to the cloud server 10. When there is a plant protection operation requirement based on the plant protection target plot, the ground control terminal 20 directly obtains the preset user-edited plot boundary data and obstacle data from the cloud server 10, and generates plant protection in combination with the actual operation requirements The operation route of the drone 30 realizes that the ground control terminal 20 sets an accurate plant protection drone 30 to spray the operation route for the drone to perform the plant protection operation according to the accurate boundary information and the field obstacle information of the preset operation plots Thus, the accuracy of spraying plant protection operations of the drone is improved, the waste of resources such as pesticides and fertilizers is avoided, and the precise operation of the plant protection drone 30 is realized.

Preferably, the surveying and mapping drone 40 is equipped with a multi-channel multi-spectral aerial survey camera for aerial survey, which improves the fit between the aerial survey results and the actual terrain, which is helpful for users to accurately mark the plant protection work area based on the highly consistent aerial survey images, and improve plant protection The accuracy of the operation.

Preferably, the image stitching unit 51 includes a three-dimensional stitching subunit and a conversion subunit;

The 3D splicing subunit is used to receive the image data, and splice the image data into 3D stereoscopic image data to output the 3D stereoscopic image data to the editing unit 52, or output the 3D stereoscopic image data to The conversion subunit; the conversion subunit is configured to convert the received 3D stereoscopic image data into 2D orthophoto image data and output the 2D orthophoto image data to the editing unit 52 as In one embodiment, the image splicing unit 51 has a three-dimensional splicing subunit and a conversion subunit. If the user needs three-dimensional stereoscopic image data, the aerial survey image data is directly output after being spliced by the three-dimensional splicing subunit. If the user needs the two-dimensional orthophoto image data , Then the aerial survey image data is spliced by the three-dimensional splicing subunit, and then converted into two-dimensional orthophoto image data by the conversion subunit, and then output.

In summary, this application of the plant protection drone precision operation system solves the problem that when the plant protection drone operation is manually controlled, the operator cannot accurately control the spraying operation of the drone on the boundary of the operation plot, and solves the problem When the ground station generates a route based on a commercial map, it cannot accurately identify the boundary of the operation plot and the field obstacles. The effect of the spraying operation is not ideal, and the problem of wasting pesticides, fertilizers and other resources. The ground control terminal sets an accurate plant protection drone spraying operation route for the drone to perform plant protection operations according to the accurate boundary information of the preset operation plots and the field obstacle information, thereby improving the drone plant protection operations. Spray accuracy, save resources such as pesticides and fertilizers.

The present application also proposes a planting and maintenance drone precision operation method. The method uses the system in the above embodiments. Since all the technical solutions of all the above embodiments are adopted, it has at least all the benefits brought by the technical solutions of the above embodiments. The effect will not be repeated here.

Referring to FIG. 2, FIG. 2 is a schematic flowchart of a first embodiment of a plant protection drone precision operation method proposed in this application.

Specifically, the plant protection drone precision operation method includes the following steps:

Step S100, based on the current plant protection operation requirements, the ground control terminal calls preset land boundary data and block obstacle data corresponding to the plant protection operation requirements from the cloud server;

When there is a plant protection operation requirement, the plant protection operation requirement includes information such as the plot to be plant protected, the type of crop in the plot, the plant protection type, and the spraying operation time. The acquisition module is based on the current plant protection operation requirements, specifically based on the current plant protection operation For the plots requiring plant protection in the demand, call the preset plot boundary data and plot obstacle data corresponding to the plots requiring plant protection in the current plant protection operation requirement from the cloud server, and transfer the plot boundary data and The block obstacle data is sent to the route generating module for generating a route.

Step S200: According to a preset route setting rule, the ground control terminal sets route information based on the parcel boundary data and the parcel obstacle data;

The route generation module avoids obstacles marked by users according to the parcel boundary data sent by the acquisition module, generates plant protection drone operation routes according to preset route setting rules, and generates plant protection for current plant protection operation requirements The drone operation route is sent to the control module, and the route setting rules are based on the actual plant protection operation requirements, such as determining the number of reciprocations of the plant protection drone according to the spray demand.

Step S300: The ground control terminal controls the plant protection drone to perform plant protection operations according to the route information.

The user sets the flight height and speed of the plant protection drone, and the ground station controls the plant protection drone to perform precise application and fertilization in the field according to the route information, thereby realizing the accuracy of the ground control terminal according to the preset operation plots Boundary information and field obstacle information, set up accurate plant protection drone spraying operation routes for the drone to perform plant protection operations, thereby improving the accuracy of drone plant protection operation spraying, avoiding pesticides, fertilizers and other resources waste.

Referring to FIG. 3, FIG. 3 is a schematic flowchart of a second embodiment of the plant protection drone precision operation method proposed by the present application. Based on the embodiment shown in FIG. 2 above, the plant protection operation requirements include the need for plant protection plots, step S100, Based on the current plant protection operation requirements, the step of the ground control terminal invoking preset block boundary data and block obstacle data corresponding to the plant protection operation requirements from the cloud server includes:

Step S110: Based on the current plant protection operation requirements, the ground control terminal obtains the plot marking information corresponding to the plot requiring plant protection; the plot marking information includes at least one of the following: plot number, plot name, plot The coordinates of the preset point of the block;

The plant protection operation requirements include information on the plots requiring plant protection, the types of crops in the plots, plant protection types, and spraying operation time. When there is a plant protection operation requirement, the ground control terminal recognizes and obtains the characteristic information of the plant protection plots , The feature information of the plot to be protected may be the plot number, the plot name, the coordinates of the plot preset point and other identification information that can distinguish the plot, wherein the plot preset point is preferably For the central point of the land parcel, in case of special circumstances, the user can also set the retrieval point according to actual needs, and this embodiment does not make specific restrictions.

Step S120: According to the parcel marking information, the ground control terminal calls preset parcel boundary data and parcel obstacle data corresponding to the parcel marking information from the cloud server.

According to the acquired feature information of the plant protection plot required from the cloud service, the plot boundary data and plot obstacle data matching the feature information are used to generate a plant protection drone precise operation route, which improves the drone plant protection operation. The accuracy of spraying avoids the waste of pesticides, fertilizers and other resources.

Referring to FIG. 4, FIG. 4 is a schematic flowchart of a third embodiment of a plant protection drone precision operation method proposed in this application, based on the embodiment shown in FIG. 3 above, step S110, based on current plant protection operation requirements, the ground control The step of the terminal acquiring the mark information of the plot corresponding to the plant protection plot further includes: Step S101, in response to the received surveying instruction for the target plot, the surveying drone performs aerial survey on the target plot to obtain Image data; the target plot includes the plot to be plant protected;

For plant protection target plots, based on the set overlap rate, altitude, speed and other information, use surveying and mapping drones to carry out aerial surveys. After the surveying and mapping, save the aerial survey images of the target plots and send the aerial survey images to the target plot Image processing module for processing.

Step S102, the image processing module processes the image data according to a preset image processing rule, and sends the processed image data to the cloud server; the processed image data includes the parcel The parcel boundary data and the parcel obstacle data corresponding to the marker information.

Further, referring to FIG. 5, FIG. 5 is step S102. The image processing module processes the image data according to a preset image processing rule, and sends the processed image data to the thinning step of the cloud server Block diagram, the image processing module includes an image splicing unit and an editing unit, and step S102 includes:

Step S1021: According to a preset stitching rule, the image stitching unit stitches the image data, and sends the stitched image data to the editing unit;

The splicing unit splices aerial survey images according to the image data. The splicing unit can splice multi-spectral, hyper-spectral, and visible images, and the output result can be a two-dimensional orthophoto or a three-dimensional stereoscopic image according to user needs.

Step S1022: Based on preset conditions, the editing unit edits parcel boundary data and parcel obstacle data for the stitched image data, and sends the edited image data to the cloud server.

According to the aerial survey splicing result and actual plant protection operation requirements, the user adds, deletes and edits the precise boundary information of the plot to mark the plot, marks the obstacle, and uploads the edited plot to the cloud server. When there is a plant protection operation requirement based on the plant protection target plot, the ground control terminal directly obtains the preset user-edited plot boundary data and obstacle data from the cloud server, and generates plant protection unmanned based on the actual operation requirements Machine's operating route.

Further, this application also provides a plant protection drone precision operation device. In the embodiment of this application, the plant protection drone precision operation device may include a processor (such as a central processing unit), a communication bus, an input port, and an output port, Memory. Among them, the communication bus is used to realize the connection and communication between these components; the input port is used for data input; the output port is used for data output, the memory can be a high-speed RAM memory, or a stable memory, such as a disk memory, the memory is optional It may also be a storage device independent of the aforementioned processor.

The memory as a computer-readable storage medium may include an operating system, a network communication module, an application program module, and computer-readable instructions. The network communication module is mainly used to connect to the server and perform data communication with the server; and the processor can call computer-readable instructions stored in the memory and perform the steps of the plant protection drone precision operation method provided by the embodiments of the present application:

In addition, the embodiments of the present application also provide a computer-readable storage medium that stores computer-readable instructions stored on the storage medium, and the computer-readable instructions are implemented by the processor to implement the plant protection drone precision operation method as described above The computer-readable storage medium may be a non-volatile readable storage medium.

The method for implementing the computer readable instructions can be referred to the embodiments of the plant protection drone precision operation method of the present application, which will not be repeated here.

In the embodiments provided in this application, it should be understood that the disclosed device and method may also be implemented in other ways. The device embodiments described above are only schematic. For example, the flowcharts and block diagrams in the drawings show possible implementation architectures, functions, and functions of devices, methods, and computer program products according to multiple embodiments of the present application. operating. In this regard, each block in the flowchart or block diagram may represent a module, program segment, or part of code that contains one or more of the Executable instructions. It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two consecutive blocks can actually be executed substantially in parallel, and sometimes they can also be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented with dedicated hardware-based systems that perform specified functions or actions Or, it can be realized by a combination of dedicated hardware and computer instructions.

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

If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application essentially or part of the contribution to the existing technology or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to enable a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disks or optical disks and other media that can store program codes. It should be noted that in this article, terms such as "include", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those , And also include other elements that are not explicitly listed, or include elements inherent to this process, method, article, or equipment. Without more restrictions, the element defined by the sentence "include one ..." does not exclude that there are other identical elements in the process, method, article or equipment that includes the element.

Although the preferred embodiments of the present application have been described, those skilled in the art can make additional changes and modifications to these embodiments once they learn the basic inventive concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. In this way, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these modifications and variations. The

Claims

A plant protection drone precision operation system, which is characterized by comprising a cloud server connected to communication, a ground control terminal and at least one plant protection drone, and the ground control terminal includes an acquisition module, a route generation module and a control module;

The cloud server is used to send preset parcel boundary data and parcel obstacle data corresponding to current plant protection operation requirements to the acquisition module;

The acquiring module is configured to send the received parcel boundary data and parcel obstacle data to the route generation module;

The route generating module is configured to set route information based on the parcel boundary data and the parcel obstacle data according to a preset route setting rule, and send the route information to the control module;

The plant protection drone is used for plant protection operations according to the route information received by the control module.
The plant protection unmanned aerial vehicle precision operation system according to claim 1, wherein the acquisition module includes an identification unit and a calling unit, and the plant protection operation requirement includes a plant protection plot;

The identification unit is used to obtain plot mark information corresponding to the plot to be protected based on current plant protection operation requirements; the plot mark information includes at least one of the following: plot number, plot name, plot The coordinates of the preset point;

The calling unit is configured to call preset parcel boundary data and parcel obstacle data corresponding to the parcel marking information from the cloud server according to the parcel marking information, and transfer the land Block boundary data and the block obstacle data are sent to the route generation module.
The plant protection drone precision operation system according to claim 2, wherein the plant protection drone precision operation system further comprises a surveying and mapping drone and an image processing module;

The surveying and mapping drone is used for performing aerial survey on the target plot according to the received surveying instruction for the target plot, and sending the image data obtained by the aerial survey to the image processing module; the target plot Including the plots requiring plant protection;

The image processing module is configured to receive the image data and send the image data processed according to preset image processing rules to the cloud server; the processed image data includes information related to the parcel mark Corresponding parcel boundary data and parcel obstacle data.
The plant protection drone precision operation system according to claim 3, wherein the image processing module includes an image splicing unit and an editing unit;

The image splicing unit is configured to receive the image data and send the image data spliced according to a preset splicing rule to the editing unit;

The editing unit is configured to edit parcel boundary data and parcel obstacle data for the spliced image data based on preset conditions, and send the edited image data to the cloud server.
The plant protection drone precision operation system according to claim 4, wherein the surveying and mapping drone is equipped with a multi-channel multi-spectrum aerial survey camera for aerial survey.
The plant protection UAV precision operation system according to claim 4, wherein the image stitching unit includes a three-dimensional stitching subunit and a conversion subunit;

The 3D splicing subunit is used to receive the image data, and splice the image data into 3D stereoscopic image data to output the 3D stereoscopic image data to the editing unit, or output the 3D stereoscopic image data to all The conversion subunit;

The conversion subunit is configured to convert the received three-dimensional stereoscopic image data into two-dimensional orthophoto image data and output the two-dimensional orthophoto image data to the editing unit.
A method for precise operation of a plant protection drone using the system according to claim 6, characterized in that the method includes the following steps:

Based on the current plant protection operation requirements, the ground control terminal calls preset block boundary data and block obstacle data corresponding to the plant protection operation requirements from the cloud server;

According to a preset route setting rule, the ground control terminal sets route information based on the parcel boundary data and the parcel obstacle data;

The ground control terminal controls the plant protection drone to perform plant protection operations according to the route information.
The precise operation method for plant protection drones according to claim 7, wherein the plant protection operation requirements include plant protection plots, the ground control terminal is based on the current plant protection operation requirements from the cloud server The steps of calling preset block boundary data and block obstacle data corresponding to the plant protection operation requirements include:

Based on the current plant protection operation requirements, the ground control terminal obtains plot marking information corresponding to the plot to be protected; the plot marking information includes at least one of the following: plot number, plot name, plot preset Point coordinates

According to the parcel marking information, the ground control terminal calls preset parcel boundary data and parcel obstacle data corresponding to the parcel marking information from the cloud server.
The method for precise operation of a plant protection drone according to claim 8, characterized in that, based on the current plant protection operation requirements, the step of the ground control terminal acquiring the marking information of the plot corresponding to the plot to be protected further includes:

In response to the received surveying instruction for the target plot, the surveying drone performs aerial survey on the target plot to obtain image data; the target plot includes the plot to be plant protected;

The image processing module processes the image data according to a preset image processing rule, and sends the processed image data to the cloud server; the processed image data includes information corresponding to the parcel mark information Parcel boundary data and parcel obstacle data.
The precise operation method for a plant protection drone according to claim 9, wherein the image processing module includes an image splicing unit and an editing unit, and the image processing module performs the image data according to a preset image processing rule The steps of processing and sending the processed image data to the cloud server include:

According to a preset stitching rule, the image stitching unit stitches the image data, and sends the stitched image data to the editing unit;

Based on preset conditions, the editing unit edits the parcel boundary data and parcel obstacle data for the stitched image data, and sends the edited image data to the cloud server.
A computer-readable storage medium, characterized in that computer-readable instructions are stored on the computer-readable storage medium, and when the computer-readable instructions are executed by a processor, the following steps are implemented:

Based on the current plant protection operation requirements, the ground control terminal calls preset block boundary data and block obstacle data corresponding to the plant protection operation requirements from the cloud server;

According to a preset route setting rule, the ground control terminal sets route information based on the parcel boundary data and the parcel obstacle data;

The ground control terminal controls the plant protection drone to perform plant protection operations according to the route information.
The computer-readable storage medium according to claim 11, wherein the plant protection operation requirements include plant protection plots required, and based on the current plant protection operation requirements, the ground control terminal calls a pre-allocation from the cloud server The steps of setting the parcel boundary data and parcel obstacle data corresponding to the plant protection operation requirements include:

Based on the current plant protection operation requirements, the ground control terminal obtains plot marking information corresponding to the plot to be protected; the plot marking information includes at least one of the following: plot number, plot name, plot preset Point coordinates

According to the parcel marking information, the ground control terminal calls preset parcel boundary data and parcel obstacle data corresponding to the parcel marking information from the cloud server.
The computer-readable storage medium according to claim 12, wherein the step of acquiring, based on the current plant protection operation requirements, the ground control terminal obtaining the land marking information corresponding to the plant protection land requires:

In response to the received surveying instruction for the target plot, the surveying drone performs aerial survey on the target plot to obtain image data; the target plot includes the plot to be plant protected;

The image processing module processes the image data according to a preset image processing rule, and sends the processed image data to the cloud server; the processed image data includes information corresponding to the parcel mark information Parcel boundary data and parcel obstacle data.
The computer-readable storage medium according to claim 13, wherein the image processing module includes an image splicing unit and an editing unit, and the image processing module processes the image data according to preset image processing rules, The step of sending the processed image data to the cloud server includes:

According to a preset stitching rule, the image stitching unit stitches the image data, and sends the stitched image data to the editing unit;

Based on preset conditions, the editing unit edits the parcel boundary data and parcel obstacle data for the stitched image data, and sends the edited image data to the cloud server. The