WO2021207977A1 - Movable platform operation method, movable platform and electronic device - Google Patents

Abstract

A movable platform operation method, a movable platform and an electronic device. Said method comprises: acquiring a multi-spectral image of a target area by means of a multi-spectral camera apparatus, so as to acquire a vegetation index map of the target area, the vegetation index map indicating vegetation indexes of several plants in the target area (S101); acquiring a first mapping relationship between the vegetation index and plant growth and a second mapping relationship between the plant growth and fertilization amounts (S102); generating an operation prescription map of the target area according to the vegetation index map, the first mapping relationship and the second mapping relationship, the operation prescription map indicating the fertilizing amount corresponding to each plant in the target area; and controlling, according to the operation prescription map, operation of a dispersal system of a movable platform of a movable device (S105). The method enables a user to use a vegetation index to better assist crop management without understanding the meaning represented by the vegetation index.

Description

Operation method of movable platform, movable platform and electronic equipment Technical field

This application relates to the field of equipment operation, and in particular to an operation method of a movable platform, a movable platform and an electronic device.

Background technique

At present, multi-spectral images have been widely used in the agricultural field. Multi-spectral images can be used to derive vegetation indices for analyzing various ecology, so that users can manage crops, soil, fertilization and irrigation more effectively. However, ordinary farmers are not familiar with the meaning represented by the vegetation index, and they cannot know the relationship between the vegetation index and the specific growth conditions of the crops, and thus cannot make good use of the vegetation index to assist in crop management.

Summary of the invention

In view of this, one of the objectives of the embodiments of the present application is to provide a working method of a movable platform, a movable platform, and an electronic device.

First of all, according to the first aspect of the embodiments of the present application, there is provided a method for operating a movable platform, the method including:

Acquiring a multi-spectral image of a target area by a multi-spectral camera device to obtain a vegetation index map of the target area; the vegetation index map indicating the vegetation indices of several plants in the target area;

Obtain the first mapping relationship between vegetation index and plant growth, and the second mapping relationship between plant growth and fertilization amount;

Determining the growth status of several plants in the target area according to the vegetation index map and the first mapping relationship;

Generating a work prescription map of the target area according to the growth status of several plants in the target area and the second mapping relationship; the work prescription map indicates the fertilization amount corresponding to each plant in the target area;

Control the spreading system of the movable platform to perform operations according to the operation prescription map.

According to a second aspect of the embodiments of the present application, a movable platform is provided, including:

body;

The power system is arranged inside the fuselage and is used to drive the movable platform to move;

The first processor is located inside the fuselage and is used for:

Acquiring a multi-spectral image of a target area by a multi-spectral camera device to obtain a vegetation index map of the target area; the vegetation index map indicating the vegetation indices of several plants in the target area;

Obtain the first mapping relationship between vegetation index and plant growth, and the second mapping relationship between plant growth and fertilization amount;

Determining the growth status of several plants in the target area according to the vegetation index map and the first mapping relationship;

Generating a work prescription map of the target area according to the growth status of several plants in the target area and the second mapping relationship; the work prescription map indicates the fertilization amount corresponding to each plant in the target area;

Control the spreading system of the movable platform to perform operations according to the operation prescription map.

According to a third aspect of the embodiments of the present application, an electronic device is provided, including a communication module, a memory, a second processor, and a computer program stored on the memory and running on the second processor;

Wherein, the communication module is used to receive the multispectral image of the target area collected by the multispectral camera device;

The second processor calls the computer program, and when the computer program is executed, it is used to perform the following operations:

Acquiring a vegetation index map of the target area according to the multispectral image;

Obtain the first mapping relationship between vegetation index and plant growth, and the second mapping relationship between plant growth and fertilization amount;

Generating a work prescription map for the target area according to the first mapping relationship, the second mapping relationship, and the vegetation index map;

Control the spreading system of the movable platform to perform operations according to the operation prescription map. The embodiments of the present application have the following beneficial effects:

In the embodiments of the present application, it is realized that users can also use the vegetation index to better assist crop management based on the first mapping relationship and the mapping relationship without understanding the meaning represented by the vegetation index, so as to efficiently carry out operations , Further convenient for users to use.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the application.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings that need to be used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained from these drawings without creative labor.

Fig. 1 is a schematic flowchart of a method for operating a movable platform according to an exemplary embodiment of the present application.

Fig. 2 is a schematic diagram of obtaining target positions of plants with different growth conditions according to an exemplary embodiment of the present application.

Fig. 3 is a schematic diagram showing fertilizer application amounts for obtaining different growth conditions of plants according to an exemplary embodiment of the present application.

Fig. 4A is a schematic structural diagram of a first movable platform according to an exemplary embodiment of the present application.

Fig. 4B is a schematic structural diagram of a second movable platform according to an exemplary embodiment of the present application.

Fig. 4C is a schematic structural diagram of a third movable platform according to an exemplary embodiment of the present application.

Fig. 4D is a schematic structural diagram of a fourth movable platform according to an exemplary embodiment of the present application.

Fig. 4E is a schematic structural diagram of a fifth movable platform according to an exemplary embodiment of the present application.

Fig. 5 is a schematic structural diagram of an unmanned system according to an exemplary embodiment of the present application.

Fig. 6A is a schematic structural diagram of an electronic device according to an exemplary embodiment of the present application.

Fig. 6B is a schematic structural diagram of another electronic device according to an exemplary embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

In response to problems in related technologies, an embodiment of the present application provides a mobile device operating method, which can obtain the first mapping relationship between vegetation index and plant growth and plant growth after obtaining the vegetation index map of the target area. The second mapping relationship between the growth trend and the fertilization amount, and then according to the vegetation index map, the first mapping relationship, and the second mapping relationship, the work prescription map of the target area is obtained, so that the work can be performed. In this embodiment, the growth of plants in the target area may be determined directly based on the first mapping relationship between the vegetation index and the growth of plants, and the growth of the plants in the target area may be determined based on the second mapping relationship between the growth of plants and the amount of fertilizer applied. The amount of fertilization of the plants allows the user to use the vegetation index to better assist crop management without understanding the meaning of the vegetation index, so that the user can use the vegetation index to efficiently perform operations, which is further convenient for the user to use.

Correspondingly, please refer to Fig. 1, which is a schematic flowchart of a method for operating a movable platform according to an exemplary embodiment of the present application. The method includes:

In step S101, a multispectral image of a target area is acquired by a multispectral camera device to obtain a vegetation index map of the target area; the vegetation index map indicates the vegetation indices of several plants in the target area.

In step S102, a first mapping relationship between vegetation index and plant growth and a second mapping relationship between plant growth and fertilization amount are acquired.

In step S103, the growth of several plants in the target area is determined according to the vegetation index map and the first mapping relationship.

In step S104, a work prescription map of the target area is generated according to the growth status of several plants in the target area and the second mapping relationship; the work prescription map indicates the corresponding plant in the target area Fertilization amount.

In step S105, the broadcasting system of the movable platform is controlled to perform operations according to the operation prescription map. In one embodiment, the operation method includes a spreading operation and a fertilizing operation. In addition, the amount of sowing and fertilizing of the sowing operation and the fertilizing operation can be adjusted according to the content of the operation prescription map. In one embodiment, the sowing amount and the fertilizing amount of the sowing operation and the fertilizing operation can be adjusted in real time.

Wherein, the method can be executed by a movable platform equipped with a multi-spectral camera and a broadcasting system; or, the method can also be executed by a movable platform equipped with a multi-spectral camera, and the multi-spectral camera is installed. After the movable platform of the camera device generates the work prescription map of the target area, it controls the movable platform installed with the spreading system to perform operations according to the work prescription map; or, the method can also be performed by the movable platform with the spreading system installed. It is executed by a mobile platform, and the movable platform installed with the spreading system receives the multi-spectral image sent by the movable platform equipped with the multi-spectral camera device, and then executes the operation method of the movable platform; or, the method can also be It is executed by an electronic device communicatively connected with a mobile platform. The electronic device receives a multispectral image sent by a mobile platform equipped with a multispectral camera device, and then the terminal device executes the method to generate a job prescription map, and then according to The operation prescription map controls the movable platform installed with the spreading system to perform operations. Wherein, the spreading system supports the spreading of solid fertilizers and also supports the spreading of liquid fertilizers.

Further, the movable platform includes, but is not limited to, unmanned aerial vehicles, unmanned vehicles, unmanned boats, or mobile robots, etc., and electronic devices that are communicatively connected to the movable platform include, but are not limited to, mobile phones, tablets, and computers. , Personal Digital Assistant (PDA) or wearable devices, etc.

In an embodiment, a multi-spectral image of a target area can be collected by a multi-spectral camera device. There are several plants in the target area, and the surface of each plant can reflect some of the light it receives, with different surface characteristics. Plants reflect or absorb solar radiation in different ways, and the multi-spectral camera device can obtain corresponding multi-spectral images according to the characteristics of the reflected light and incident light of the plant.

The multi-spectral camera device includes at least one of the following components: a visible light camera, a red-side camera, a near-infrared camera, a blue light camera, a green light camera, or a red light camera. The visible light camera is used to obtain RGB images of several plants in the target area, the red-edge camera is used to obtain images of several plants in the target area in the infrared spectral band, and the near-infrared camera is used to Acquire images of several plants in the target area in the near-infrared spectral band, the blue light camera is used to obtain images of several plants in the target area in the blue spectral band, and the green light camera is used to obtain the target Images of several plants in the area in the green spectral band, and the red light camera is used to acquire the images of several plants in the target area in the red spectral band. Obviously, multi-spectral imaging technology can use green, red, blue, infrared or near-infrared to capture visible and invisible images of crops and vegetation. Observing the health of soil and crops with the naked eye is very limited, and multi-spectral images can be better than farmers. The naked eye sees more things and plays an important role in assessing soil productivity and analyzing plant health.

After acquiring the multispectral image, the movable platform (in the case where the movable platform is the execution subject) or the electronic device communicatively connected with the movable platform (in the case where the electronic device is the execution subject) ) One or more vegetation index maps can be obtained from the multispectral image, the multispectral image reflects the light reflected and absorbed by several plants in the target area, that is, the multispectral image reflects all According to the spectral characteristics of several plants in the target area, the movable platform or electronic device can combine the visible light and near-infrared bands to form various vegetation indices according to the spectral characteristics of several plants in the target area. A corresponding vegetation index map is generated based on various vegetation indexes, that is, the vegetation index map indicates the vegetation indexes of several plants in the target area. In this embodiment, the vegetation index can be used to perform a simple, effective and empirical measurement of the surface vegetation status.

In an example, the vegetation index pointed to by the vegetation index map includes but is not limited to: normalized vegetation index, normalized difference red edge index, green channel vegetation index, ratio vegetation index, difference vegetation index, atmospheric impedance Vegetation index, soil regulation vegetation index or enhanced vegetation index, etc. It should be noted that the above is only an example of the vegetation index and does not constitute a limitation on the vegetation index.

It is understandable that a vegetation index map can be generated according to one of the vegetation indices, or a vegetation index map can be generated by fusion of multiple vegetation indices, and the embodiment of the present application does not impose any limitation on this.

In this embodiment, after the vegetation index map of the target area is obtained, the growth status of several plants in the target area can be determined directly according to the obtained first mapping relationship between the vegetation index and the plant growth and the vegetation index map. , And according to the second mapping relationship between plant growth and fertilization amount and the growth of several plants in the target area, determine the fertilization amount corresponding to each plant in the target area, and generate a work prescription map for the target area, thereby Instruct the spreading system to perform operations. In this embodiment, the user can also use the vegetation index to better assist crop management based on the first mapping relationship and the second mapping relationship without understanding the meaning of the vegetation index, so that the user can use the The Vegetation Index performs operations efficiently and further facilitates the use of users.

In some embodiments, the growth of plants can be reflected by the nitrogen content of the plants. In related technologies, after obtaining the vegetation index map based on multispectral images, it is necessary to go to the laboratory to measure the nitrogen content of the plants in detail. , So that the vegetation index and plant growth (nitrogen content) can be mapped. However, most users do not have the conditions for chemical measurement in the laboratory, and it is difficult to map vegetation index and plant growth (nitrogen content) through chemical measurement during field operations.

In the embodiment of the present application, the first mapping relationship between the vegetation index and the growth of the plant can be obtained in the following manner: the user can specify at least two different growths of the plant, so that the movable platform or the The electronic device can determine at least two different growths of the plants, and obtain the target position of each growing plant in the target area, and then obtain the vegetation index value pointed to by the target position in the vegetation index map, Finally, according to at least two different growth conditions of the plants and the corresponding vegetation index value of each growth condition, a first mapping relationship between the vegetation index and the plant growth condition is generated. In this embodiment, the user only needs to specify the different growth conditions of plants based on his own agricultural knowledge, such as designating plants with good growth, medium growth, and poor growth by the movable platform or the electronic The device establishes a first mapping relationship between vegetation index and plant growth based on the determined positions of at least two different growths of the plants and the obtained vegetation index map, so as to realize the use of vegetation index to better assist crop management and further facilitate user use.

Wherein, at least two different growths of the plant can be determined through the following several implementation methods, and the target position of each growth of the plant in the target area can be obtained:

In the first implementation manner, a user can carry an electronic device with a positioning function to the target area to specify at least two different growth trends of the plant, and the user can specify the electronic device in the target area. The growth of the plant is marked on the electronic device at the same time. At this time, the electronic device can determine the position at this time as the target position of the growing plant in the target area based on its own positioning function, thereby Corresponding the growth of the plant to its target position in the target area.

In an example, the target area is a piece of farmland with several plants planted in the farmland. The user can bring an electronic device with a positioning function to the farmland. Please refer to Figure 2. The electronic device with a positioning function can A mark page is provided. When the user walks to the location of one of the growing plants, the user can specify the growth of the plant on the mark page of the electronic device, for example, input the growth of the plant on the mark page For good, please refer to Figure 2, and then the electronic device responds to the growth of the plant specified by the user (input of the growth of the plant), and obtains the growth of the plant in the farmland through its own positioning function. The target location in and is displayed on the marking page, or the longitude and latitude information of the target location can also be displayed.

Further, in order to improve the accuracy of the first mapping relationship between the generated vegetation index and the growth of plants, the user can mark the plants in the same growth at least twice at different positions in the target area, so that the electronic device can obtain Plants of the same growth are in at least two target positions in the target area, so as to avoid the error between the vegetation index and the vegetation index caused by only determining one target position, which may cause the vegetation index value corresponding to the growth of the species to be inconsistent. Accurately, this embodiment ensures the accuracy of the first mapping relationship by determining at least two target positions of the same growing plants, and realizes more accurate guidance of operations based on the first mapping relationship.

In an example, in a farmland where corn is planted, the same growing corn, such as good-growing corn, may be distributed in various positions in the farmland, and users can be in different positions (such as 3 or 5 different locations), the electronic device is used to designate good-growing corn, that is, the electronic device is used to mark, so that the electronic device can obtain different targets of the marked good-growing corn based on its own positioning function Location.

Wherein, the positioning technology applied by the positioning function includes, but is not limited to, GPS (Global Positioning System) positioning technology, RTK (Real-time kinematic, real-time dynamic) positioning technology or GNSS (Global Navigation Satellite System). Satellite navigation system) positioning technology, this embodiment does not impose any restrictions on this.

In a second implementation manner, the movable platform or the electronic device has a display, and the display is used to display an interactive interface, and the movable platform or the electronic device displays and photographs the The first image obtained by the target area; wherein, the first image may be obtained by real-time shooting. In an example, a photographing device is installed on the movable platform, which may be photographed by the photographing device, such as The visible light camera in the multispectral camera device is obtained by photographing the target area; or, the first image may be obtained from a third-party platform. In one example, the first image may be obtained from a third-party map application. The first image shows several plants in the target area, and then the movable platform or the electronic device can determine at least two different growths of the plants based on the user's operations on the first image, and then based on The position of each growing plant in the first image determines the target position of the growing plant in the target area.

In one example, the user can specify at least two growths of the plant in the first image by operating on the first image and determine the position of each growth of the plant in the first image, wherein, The user's operations on the first image include, but are not limited to, click, long-press, double-click, or frame selection. For example, the user clicks on the location of the plant in the first image that represents the plant that is growing well, and the electronic device can acquire the plant that is growing well and the location of the plant in the first image.

Further, in order to improve the accuracy of the first mapping relationship between the generated vegetation index and the growth of plants, for plants of the same growth, the user can operate on the first image multiple times, and the multiple operations are used to determine whether the plants of the same growth are in the same condition. At least two different positions in the first image, so that the movable platform or the electronic device can acquire the same growing plant in the first image based on the same growing plant at least two different positions in the first image At least two target positions in the target area, thereby ensuring the accuracy of the first mapping relationship, and achieving more accurate guidance of the work based on the first mapping relationship.

In a third implementation manner, the user can set at least two specific markers in the target area, and the specific markers are set on the corresponding growing plants to identify the growing status of the plants. Acquire a second image obtained by photographing the target area. In one example, the second image is acquired by a movable platform equipped with a photographing device, for example, the target area may be photographed by a visible light camera in a multispectral camera device. When photographing the target area, and also photographing the specific marker set by the user, the movable platform or the electronic device can identify the specific marker in the second image, thereby determining the At least two different growths of plants, and then the target position of the growing plant in the target area can be determined based on the position of the specific marker in the second image.

Further, in order to improve the accuracy of the first mapping relationship between the generated vegetation index and the growth of plants, for plants of the same growth, the number of corresponding specific markers is at least two. The specific markers are respectively set at different positions of the target area, so that at least two target positions of the same vegetation in the target area can be obtained, which ensures the accuracy of the first mapping relationship and realizes The first mapping relationship guides the work more accurately.

In an example, for example, there are three types of specific markers. The first type of specific marker is a sign that states "good growth", the second type of specific marker is a sign that states "medium growth", and the third type is In a farm field where corn is planted, the user sets the three types of signs on the corresponding corn crops. When photographing the farmland, the user also sets the specific signs. The marker is photographed to obtain a second image, where the second image may be obtained by the movable platform equipped with a photographing device, for example, by photographing the target area by a visible light camera in a multispectral camera; if The operation method is executed by the movable platform, and the movable platform can recognize the specific marker in the second image, thereby determining the different growth of corn crops and the presence of each growing corn crop in the farmland If the operation method is executed by the electronic device, the movable platform equipped with the shooting device is required to transmit the acquired second image to the electronic device, and the electronic device recognizes the The specific markers in the second image are used to determine the different growth of corn and the target position of each growth of corn in the farmland.

Further, the number of each kind of sign is at least two, and the user can place the same kind of sign on the same kind of corn crops in different positions, so as to obtain at least two kinds of corn in the farmland. This target position ensures the accuracy of the first mapping relationship, and achieves more accurate guidance of operations based on the first mapping relationship.

In an embodiment, after determining the target positions of at least two plants with different growth conditions in the target area, the movable platform or the electronic device may obtain the target in the vegetation index map. The vegetation index value pointed to by the position, and the vegetation index value pointed to by the target position of each growing plant is the vegetation index value corresponding to each growing plant.

In an implementation manner, in order to improve the accuracy of the first mapping relationship between the generated vegetation index and plant growth, when obtaining the vegetation index value of each growing plant, the movable platform or the electronic device may obtain The statistical value of the vegetation index value in a specific range centered on the target position, and the statistical value is taken as the vegetation index value of the plant; wherein, the statistical value includes but not limited to the average value, the maximum value, and the minimum value. Value or median, etc.; in this embodiment, by obtaining the statistical value of the vegetation index value in a specific range centered on the target position, the occurrence of errors can be reduced, and the accuracy of the obtained first mapping relationship can be guaranteed .

The specific range can be specifically set according to actual application scenarios, and the embodiment of the present application does not impose any limitation on this. For example, the specific range can be determined according to the area of the target area, and the larger the area of the target area is , The greater the specific range. In an example, the specific range may be a circular area, a square area, or an area of other shapes.

In another implementation manner, in order to improve the accuracy of the first mapping relationship between the generated vegetation index and the growth of plants, the number of target positions of each growing plant in the target area is at least two, so that the number of target positions in the target area is at least two. For each growth of the plant, when obtaining the vegetation index value of each growth of the plant, the movable platform or the electronic device can obtain at least two statistical values of the vegetation index values pointed to by the target location, and compare all the vegetation index values. The statistical value is used as the vegetation index value of the growing plant; wherein, the statistical value includes, but is not limited to, the average value, the maximum value, the minimum value or the median, etc.; this embodiment obtains at least two of the target positions The statistical value of the pointed vegetation index value can avoid errors caused by a single vegetation index value as much as possible, and ensure the accuracy of the obtained first mapping relationship.

In the third implementation manner, in order to improve the accuracy of the first mapping relationship between the generated vegetation index and the growth of plants, the number of target positions of each growth plant in the target area is at least two, so that the number of target positions in the target area is at least two. For each growth of the plant, when obtaining the vegetation index value of each growth of the plant, the movable platform or the electronic device may first obtain the vegetation index value in a specific range centered on each of the target positions Then obtain the second statistical value according to the first statistical value of at least two of the target positions, and use the second statistical value as the vegetation index value of the growing plant, so as to avoid a single vegetation as much as possible The error caused by the index value ensures the accuracy of the acquired first mapping relationship.

Further, after obtaining the vegetation index value pointed to by the target position of each growing plant, the movable platform or the electronic device may be based on at least two different growing conditions of the plant and the vegetation corresponding to each growing condition. The index value generates a first mapping relationship between vegetation index and plant growth, and the first mapping relationship represents different vegetation index values corresponding to plants with different growth conditions.

In an implementation manner, the first mapping relationship between the vegetation index and the plant growth can be obtained by fitting according to at least two different growths of the plants and the vegetation index value corresponding to each growth. The first mapping relationship obtained by fitting in this embodiment can obtain different vegetation index values corresponding to plants of different growths, and is not limited to at least two different growths of the plants and the corresponding growth of each growth. Vegetation index value.

It can be understood that the embodiment of the present application does not impose any restriction on the representation form of the first mapping relationship, and specific settings can be made according to actual application scenarios. In an example, the first mapping relationship between the vegetation index and the growth of plants can be expressed as a function equation relationship, such as a function f(x), where x is the vegetation index value, so that f(x) is obtained, namely The growth of plants, of course, this embodiment does not impose any restrictions on the specific function representation form, and specific settings can be made according to actual application scenarios. In an example, please refer to Table 1. It can also be represented by the correspondence table between the vegetation index value and plant growth, where A, B, and C represent different vegetation index values, and a, b, and c represent Different growth of plants. In an example, it can also be represented by a change curve that reflects the mapping relationship between the plant index value and the plant growth.

Table 1

Vegetation index value	Plant growth
A	a
B	b
C	c

In one embodiment, after obtaining the first mapping relationship between the vegetation index and the plant growth, the first mapping relationship between the vegetation index and the plant growth can be saved. If the user has planting and plant growth in the vicinity of the target area For plants in the target area, considering that the soil and climate in the same area are basically the same, the growth of the same plant in the same area is basically the same or the difference is small, and the vegetation index can be mapped to the first mapping of plant growth The relationship is also applied in the vicinity of the target area to achieve operations in the vicinity of the target area. There is no need to repeatedly establish the first mapping relationship between the vegetation index and the growth of plants, and further reduce the number of at least two plants specified by the user. The different growth steps are convenient for users and also help to improve efficiency.

Further, the first mapping relationship between the vegetation index and the plant growth can also be uploaded to a designated service platform, so that other users do not need to use a mobile platform or electronic device to establish the first mapping relationship between the vegetation index and the plant growth. , The first mapping relationship between the vegetation index and the growth of plants can be obtained directly from the designated service platform, which is further convenient for users to use, and guides more farmers with inexperienced agronomy on related plant growth and other aspects; It is explained that due to different geographical locations, the same vegetation of the same plant may have different vegetation index values in different geographic locations; and for different types of plants, the mapping of plant growth and vegetation index is also different. Therefore, when uploading the first mapping relationship between the vegetation index and plant growth, it is also necessary to upload the geographic location of the target area and/or the type of plants in the target area at the same time, where and/or indicate both or Either of the two, so as to ensure the application accuracy of the first mapping relationship between the vegetation index and the plant growth.

In some embodiments, the user may obtain the type of plants in the target area and/or the geographic location of the target area, and then according to the type of plants in the target area and/or the location of the target area Management location, and obtain the first mapping relationship from a designated service platform. In this embodiment, there is no need to establish the first mapping relationship between the vegetation index and plant growth in the target area through the movable platform or the electronic device, considering that the growth of the same plant in the same area is basically the same or The difference is small, that is, the mapping relationship between the growth of the same plant and the vegetation index is roughly the same, the first mapping relationship of the same plant in the same area can be obtained from the designated service platform, so as to give more agronomic experience The less-rich farmers provide guidance on plant growth and other aspects, which also helps to improve efficiency.

In an example, the type of plants in the target area and the geographic location of the target area may be input by a user on the electronic device. In another example, the type of plants in the target area may be obtained by recognizing the image obtained by shooting the target area; the geographic location of the target area may be determined based on the positioning function of the electronic device.

In one embodiment, after obtaining the first mapping relationship between vegetation index and plant growth, it is also necessary to obtain a second mapping relationship between plant growth and fertilization amount, so that the vegetation index map and the first mapping relationship can be Relationship, determine the growth of several plants in the target area; and then determine the fertilization amount corresponding to each plant in the target area according to the growth of several plants in the target area and the second mapping relationship.

In an implementation manner, the fertilization amount corresponding to the at least two growth conditions of the plant set by the user can be obtained, and then the plant growth and fertilization amount are generated according to the fertilization amount corresponding to the at least two growth conditions of the plant. The second mapping relationship of the quantity. In one example, the fertilization amount corresponding to the at least two kinds of growth of the plant can be generated, and the second mapping relationship between the growth of the plant and the fertilization amount can be obtained by a fitting calculation method. In this embodiment, the second mapping relationship obtained by the fitting calculation method can indicate different fertilizer amounts corresponding to different plant growths, and is not limited to the fertilizer amounts corresponding to at least two growths of the plants.

In addition, in order to avoid that the determined amount of fertilizer is too much to damage the plant, or the amount of fertilizer is too small to be ineffective, it is also possible to set the fertilizer amount corresponding to at least two growth conditions of the plant set by the user, and the preset The fertilization amount range of this type of plant generates a second mapping relationship between the growth of the plant and the fertilization amount, and the second mapping relationship may indicate different fertilization amounts corresponding to different growth of the plants. The fertilization range of the plants can be specifically set according to actual application scenarios, and the embodiments of the present application do not make any restrictions on this.

In an example, please refer to FIG. 3, the electronic device provides an interactive page on which 3 types of plant growth conditions (good, medium, and poor) and the fertilizer amount corresponding to each growth condition to be input are displayed. The user inputs the fertilizer application amounts corresponding to the three growing plants on the interactive interface, and the interactive page displays at least two growing plants and the fertilizer application corresponding to each growing plant.

It can be understood that the embodiment of the present application does not impose any restriction on the representation form of the second mapping relationship, and specific settings can be made according to actual application scenarios. In an example, the second mapping relationship can be expressed by a functional equation relationship; it can also be expressed by the correspondence table between the growth of the plant and the amount of fertilization; it can also be expressed by reflecting the relationship between the growth of the plant and the amount of fertilization. The change curve of the mapping relationship is expressed.

Further, after obtaining the second mapping relationship between the growth of the plant and the amount of fertilization, the second mapping relationship between the growth of the plant and the amount of fertilization can be saved. For plants in a region, considering that the growth of the same plant in the same region is basically the same or the difference is small, the second mapping relationship between the growth of the plant and the amount of fertilization can also be applied to the vicinity of the target region to achieve For operations in the vicinity of the target area, there is no need to repeat the establishment of the second mapping relationship between the growth of the plants and the amount of fertilization, which further reduces the steps for the user to set the amount of fertilization for plants of different growth, which is convenient for the user to use. Conducive to improving work efficiency.

Further, the second mapping relationship between the growth of the plant and the amount of fertilization can also be uploaded to a designated service platform, so that other users do not need to use the mobile platform or electronic device to establish the second mapping between the growth of the plant and the amount of fertilization. The mapping relationship can directly obtain the second mapping relationship between the growth of the plant and the amount of fertilization from the designated service platform, which is further convenient for users; The corresponding fertilization amount may be different in different geographic locations; and for different types of plants, the mapping between plant growth and fertilization amount is also different. Therefore, when uploading the second mapping relationship between plant growth and fertilization amount, It is also necessary to upload the geographic location of the target area and/or the species of the plants in the target area at the same time, where and/or indicate the two or one of the two, so as to ensure that the growth of the plant and the amount of fertilizer applied are the second Application accuracy of the mapping relationship.

In some embodiments, the type of plants in the target area and/or the geographic location of the target area may be obtained, and then the type of plants in the target area and/or the geographic location of the target area may be obtained. Location, the second mapping relationship is obtained from the designated service platform. In this embodiment, there is no need to establish the second mapping relationship between the growth of the plant and the amount of fertilization through the movable platform or the electronic device. Considering that the growth of the same plant in the same area is basically the same or the difference is small, that is, The mapping relationship between the growth of the same plant and the amount of fertilization is also roughly the same. The second mapping relationship of the same plant in the same area can be obtained from the designated service platform, so that more farmers with inexperienced agronomy can be Relevant guidance on growth and fertilization is also conducive to improving work efficiency.

Further, considering that the vegetation index is based on the first mapping relationship to obtain the different growth conditions of the plants, and then the corresponding fertilization amount is obtained based on the second mapping relationship, large errors may occur in the process of multiple mappings. Therefore, in some embodiments, the first mapping relationship between the vegetation index and plant growth and the second mapping relationship between plant growth and fertilization amount may be integrated to obtain the first mapping relationship between the vegetation index and the fertilization amount. Three mapping relationships, so that the mobile platform or the electronic device can directly generate the work prescription map of the target area based on the vegetation index map and the third mapping relationship; the work prescription map indicates the target area The amount of fertilization corresponding to each plant; in this embodiment, the one-time mapping process not only reduces the operation steps and is simpler to implement, but also avoids errors caused by multiple mappings, and ensures the accuracy of the determination result.

It can be understood that the embodiment of the present application does not impose any restriction on the representation form of the third mapping relationship, and specific settings can be made according to actual application scenarios. In an example, the third mapping relationship can be represented by a functional equation relationship; it can also be represented by a correspondence table between the plant index value and the amount of fertilization; it can also be represented by the relationship between the value of the plant index and the amount of fertilization. The change curve of the mapping relationship between.

In a possible implementation manner, the execution subject is an electronic device as an example for description. Considering that ordinary users are not familiar with the vegetation index, the third mapping relationship can be obtained as follows: the user specifies through the electronic device At least two different growths of the plants, and input the fertilizer amount corresponding to each growth of the plants, so that the electronic device determines the at least two different growths of the plants, and obtains that each growth of the plants is in the target area The target position of the plant and the corresponding fertilization amount for each growing plant; in the vegetation index map, the vegetation index value pointed to by the target position is obtained as the vegetation index value of the corresponding growing plant; finally according to the vegetation index value of each growing plant The vegetation index value and the fertilization amount corresponding to each growing plant form a third mapping relationship between the vegetation index and the fertilization amount. In this embodiment, the user only needs to specify the different growths of plants based on his own agronomic knowledge and input the fertilization amount corresponding to each growth, and the electronic device is based on at least two different growths and growths of the plants specified by the electronic device. The vegetation index map and the fertilization amount corresponding to each growth condition establish the third mapping relationship between the vegetation index and the fertilization amount, so as to realize the use of the vegetation index to better assist crop management and further facilitate the use of users.

Wherein, the determination of at least two different growths of the plant and the realization of the acquisition of the target position of each growth of the plant in the target area can be referred to the relevant description in the foregoing embodiment, which will not be repeated here.

Further, in order to ensure the accuracy of the acquired third mapping relationship, at least two target positions of each kind of growing plants should be acquired, for example, to acquire 3 or 5 different target positions of the growing plants in the target area, Avoid the inaccurate mapping of the third mapping relationship caused by too little data.

In another possible implementation manner, the execution subject is an electronic device as an example. The third mapping relationship can also be obtained in this way: the user can input at least two of the target areas on the electronic device. The fertilization amount corresponding to the plants at the target location, so that the electronic device can obtain the fertilization amount corresponding to the plants at the at least two target locations in the target area; in the vegetation index map, the at least two The vegetation index values pointed to by the two target locations respectively; finally, a third mapping relationship between the vegetation index and the fertilizer amount is generated according to the vegetation index values pointed to by the at least two target locations and the corresponding fertilization amount respectively. In this embodiment, the user can determine the amount of fertilizer corresponding to a plant in a certain position in the target area according to his own agronomic knowledge, and the electronic device is based on the at least two target positions and the The corresponding fertilization amount and vegetation index map of plants establishes the third mapping relationship between vegetation index and fertilization amount, so as to realize the use of vegetation index to better assist crop management, which is further convenient for users.

Wherein, the at least two target positions may be obtained based on a user's marking operation on the electronic device, the electronic device has a positioning function, and the user is at the target position when marking, and the electronic device responds to The user's marking operation uses the current position obtained through the positioning function as the target position. Alternatively, the at least two target positions are obtained based on a user's operation on a first image obtained by shooting the target area.

Further, in order to ensure the accuracy of the obtained third mapping relationship, for plants with the same fertilization amount, multiple target positions (such as 3 or 5) in the target area should be determined to avoid too little data. This leads to inaccurate mapping of the third mapping relationship.

Correspondingly, please refer to FIG. 4A. An embodiment of the present application also provides a structural diagram of a movable platform 20, and the movable platform 20 includes a fuselage 23;

The power system 22 is arranged inside the fuselage 23 for driving the movable platform 20 to move;

The first processor 21 is arranged inside the body 23 and is used for:

Acquiring a multi-spectral image of a target area by a multi-spectral camera device to obtain a vegetation index map of the target area; the vegetation index map indicating the vegetation indices of several plants in the target area;

Obtain the first mapping relationship between vegetation index and plant growth, and the second mapping relationship between plant growth and fertilization amount;

Determining the growth status of several plants in the target area according to the vegetation index map and the first mapping relationship;

Generating a work prescription map of the target area according to the growth status of several plants in the target area and the second mapping relationship; the work prescription map indicates the fertilization amount corresponding to each plant in the target area;

The spreading system of the movable platform 20 is controlled to perform operations according to the operation prescription map.

In one embodiment, referring to FIG. 4B, the movable platform 20 further includes the multi-spectral camera device 24 arranged on the body 23, and the multi-spectral camera device 24 is used to collect multiple data of the target area. Spectral image.

In one embodiment, referring to FIG. 4C, the mobile platform 20 is also provided with a communication system 25; the communication system 25 is used to send the work prescription map to a mobile device equipped with a spreading system 26. The platform 20 enables the spreading system 26 to perform operations according to the operation prescription map.

The communication technology applied by the communication system 25 includes but is not limited to: short-range wireless communication technology or mobile communication protocol technology. The short-range wireless communication technology may be infrared technology, WiFi technology, Bluetooth technology, UWB technology, or ZigBee technology, etc. The mobile communication protocol technology may be 3G communication technology, 4G communication technology, GSM communication technology or GPRS communication technology.

In one embodiment, referring to FIG. 4D, the movable platform 20 further includes a spreading system 26 arranged on the fuselage 23, and the spreading system 26 is used to perform operations according to the work prescription map.

In an embodiment, referring to FIG. 4E, the movable platform 20 further includes a communication system 25.

The communication system 25 is used to receive the multispectral image of the target area collected by the multispectral camera 24.

In an embodiment, when obtaining the first mapping relationship between vegetation index and plant growth, the first processor 21 is specifically configured to: determine at least two different growths of the plants, and obtain the growth status of each type of plant. The target location in the target area; in the vegetation index map, the vegetation index value pointed to by the target location is obtained; the vegetation is generated according to at least two different growth conditions of the plant and the vegetation index value corresponding to each growth condition The first mapping relationship between index and plant growth.

In one embodiment, when acquiring the vegetation index value pointed to by the target position, the first processor 21 is specifically configured to acquire the statistical value of the vegetation index value in a specific range centered on the target position.

In one embodiment, the number of target locations in the target area of each growing plant is at least two.

When acquiring the vegetation index value pointed to by the target position, the first processor 21 is specifically configured to acquire at least two statistical values of the vegetation index value pointed to by the target position for each growth condition of the plant.

In one embodiment, the target location is obtained by marking the user on an electronic device communicatively connected with the movable platform 20 of the mobile device; the electronic device has a positioning function, and the user is in the target area.

In an embodiment, the movable platform 20 further includes a display for displaying an interactive interface on which the first image obtained by shooting the target area is displayed.

The first processor 21 is further configured to determine at least two different growth conditions of the plant based on the user's operation on the first image.

In an embodiment, the target position of each growing plant in the target area is determined according to the position of the growing plant in the first image.

In an embodiment, the first processor 21 is further configured to: acquire a second image obtained from the target area; at least two specific markers are provided on the target area, and the specific markers are used to identify The growth of the plant; identifying specific markers in the second image to determine at least two different growths of the plant.

In an embodiment, the target position of each growing plant in the target area is determined according to the position of the specific marker corresponding to the growing plant in the second image.

In an embodiment, when acquiring the first mapping relationship between vegetation index and plant growth, the first processor 21 is specifically configured to: acquire the species of plants in the target area and/or the geographic location of the target area. Location; acquiring the first mapping relationship from a designated service platform according to the type of plants in the target area and/or the geographic location where the target area is located.

In an embodiment, when acquiring the second mapping relationship between the growth of the plant and the amount of fertilization, the first processor 21 is specifically configured to: acquire the fertilization amount corresponding to the at least two types of growth of the plant set by the user, To generate a second mapping relationship between the growth of the plant and the amount of fertilizer applied.

In an embodiment, the first processor 21 is specifically configured to: generate the fertilization amount corresponding to the at least two growth patterns of the plant set by the user and the preset fertilization amount range of this type of plant. The second mapping relationship between plant growth and fertilization is described.

In one embodiment, when acquiring the second mapping relationship between plant growth and fertilization amount, the first processor 21 is specifically configured to: acquire the type of plants in the target area and/or the geographic location of the target area. Location; acquiring the second mapping relationship from a designated service platform according to the type of plants in the target area and/or the geographic location where the target area is located.

In an embodiment, the movable platform 20 further includes a communication system 25.

The communication system 25 is configured to upload the following information to a designated service platform: the geographic location of the target area and/or the type of plants in the target area, and the first mapping relationship between the vegetation index and the growth of the plants.

In an embodiment, the movable platform 20 of the mobile device further includes a communication system 25.

The communication system 25 is configured to upload the following information to a designated service platform: the geographic location of the target area and/or the type of plants in the target area, and the second mapping relationship between the growth of the plants and the amount of fertilization.

In an embodiment, the multi-spectral imaging device 24 includes at least one of the following components: a visible light camera, a red-edge camera, a near-infrared camera, a blue light camera, a green light camera, or a red light camera.

In an embodiment, the vegetation index pointed to by the vegetation index map includes at least one of the following: normalized vegetation index, normalized difference red edge index, green channel vegetation index, ratio vegetation index, difference vegetation index, Atmospheric impedance vegetation index, soil regulation vegetation index or enhanced vegetation index.

In an embodiment, the movable platform 20 of the movable device includes at least: an unmanned aerial vehicle, an unmanned vehicle, an unmanned boat, or a mobile robot.

The following description of the movable platform of this application uses an unmanned aerial vehicle as an example. It will be obvious to those skilled in the art that other types of unmanned aerial vehicles can be used without restriction, and the embodiments of the present application can be applied to various types of unmanned aerial vehicles. For example, the unmanned aerial vehicle may be a small or large unmanned aerial vehicle. In some embodiments, the unmanned aerial vehicle may be a rotorcraft, for example, a multi-rotor unmanned aerial vehicle propelled by a plurality of propelling devices through the air. The embodiments of the present application are not limited to this, the unmanned aerial vehicle It can also be other types of unmanned aerial vehicles.

Fig. 5 is a schematic architecture diagram of an unmanned aerial system according to an embodiment of the present application. In this embodiment, a rotary wing unmanned aerial vehicle is taken as an example for description.

The unmanned aerial vehicle 300 may include an unmanned aerial vehicle 310, a display device 330, and a remote control device 340. Among them, the unmanned aerial vehicle 310 may include a power system 350, a flight control system 360, a frame, and a pan/tilt 320 carried on the frame. The unmanned aerial vehicle 330 can wirelessly communicate with the remote control device 340 and the display device 330. The unmanned aerial vehicle 330 may be an agricultural unmanned aerial vehicle or an unmanned aerial vehicle for industrial applications, and there is a need for cyclic operation.

The frame may include a fuselage and a tripod (also called a landing gear). The fuselage may include a center frame and one or more arms connected to the center frame, and the one or more arms extend radially from the center frame. The tripod is connected to the fuselage and is used for supporting the UAV 330 when it lands.

The power system 350 may include one or more electronic governors (referred to as ESCs) 351, one or more propellers 353, and one or more motors 352 corresponding to the one or more propellers 353, wherein the motors 352 are connected to Between the electronic governor 351 and the propeller 353, the motor 352 and the propeller 353 are arranged on the arm of the unmanned aerial vehicle 330; the electronic governor 351 is used to receive the driving signal generated by the flight control system 360 and provide driving according to the driving signal Current is supplied to the motor 352 to control the speed of the motor 352. The motor 352 is used to drive the propeller to rotate, so as to provide power for the flight of the unmanned aerial vehicle 330, and the power enables the unmanned aerial vehicle 330 to realize movement of one or more degrees of freedom. In some embodiments, UAV 330 may rotate about one or more rotation axes. For example, the aforementioned rotation axis may include a roll axis (Roll), a yaw axis (Yaw), and a pitch axis (pitch). It should be understood that the motor 352 may be a DC motor or an AC motor. In addition, the motor 352 may be a brushless motor or a brushed motor.

The flight control system 360 may include a flight controller 361 and a sensing system 362. The sensing system 362 is used to measure the attitude information of the unmanned aerial vehicle, that is, the position information and state information of the unmanned aerial vehicle 330 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity. The sensing system 362 may include, for example, at least one of sensors such as a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (IMU), a vision sensor, a global navigation satellite system, and a barometer. For example, the global navigation satellite system may be the Global Positioning System (GPS). The flight controller 361 is used to control the flight of the unmanned aerial vehicle 330. For example, the flight of the unmanned aerial vehicle 330 can be controlled according to the attitude information measured by the sensor system 362. It should be understood that the flight controller 361 can control the unmanned aerial vehicle 330 according to pre-programmed program instructions, and can also control the unmanned aerial vehicle 330 by responding to one or more remote control signals from the remote control device 340.

The pan/tilt 320 may include a motor 322. The pan/tilt is used to carry the camera 323. The flight controller 361 can control the movement of the pan/tilt 320 through the motor 322. Optionally, as another embodiment, the pan-tilt 320 may further include a controller for controlling the movement of the pan-tilt 320 by controlling the motor 322. It should be understood that the pan/tilt 320 may be independent of the unmanned aerial vehicle 330 or a part of the unmanned aerial vehicle 330. It should be understood that the motor 322 may be a DC motor or an AC motor. In addition, the motor 322 may be a brushless motor or a brushed motor. It should also be understood that the pan/tilt may be located on the top of the unmanned aerial vehicle or on the bottom of the unmanned aerial vehicle.

The photographing device 323 may be, for example, a device for capturing images, such as a camera or a video camera, and the photographing device 323 may communicate with the flight controller and shoot under the control of the flight controller. The imaging device 323 of this embodiment at least includes a photosensitive element, and the photosensitive element is, for example, a complementary metal oxide semiconductor (Complementary Metal Oxide Semiconductor, CMOS) sensor or a charge-coupled device (Charge-coupled Device, CCD) sensor. It can be understood that the camera 323 can also be directly fixed on the UAV 330, so the pan/tilt 320 can be omitted.

The display device 330 is located on the ground end of the unmanned aerial vehicle 300, can communicate with the unmanned aerial vehicle 330 in a wireless manner, and can be used to display the attitude information of the unmanned aerial vehicle 330. In addition, the image photographed by the photographing device 323 may also be displayed on the display device 330. It should be understood that the display device 330 may be an independent device or integrated in the remote control device 340.

The remote control device 340 is located on the ground end of the unmanned aerial vehicle 300 and can communicate with the unmanned aerial vehicle 330 in a wireless manner for remote control of the unmanned aerial vehicle 330.

It should be understood that the aforementioned naming of the components of the unmanned aerial system is only for identification purposes, and should not be construed as a limitation to the embodiments of the present application.

Correspondingly, please refer to FIG. 6A. The present application also provides an electronic device 40. The electronic device 40 includes a communication module 43, a memory 42, a second processor 41, and is stored in the memory 42 and can be stored in the second processor. Computer program running on 41.

Wherein, the communication module 43 is configured to receive the multispectral image of the target area collected by the multispectral camera device;

The second processor 41 calls the computer program, and when the computer program is executed, it is used to perform the following operations:

Acquiring a vegetation index map of the target area according to the multispectral image;

Obtain the first mapping relationship between vegetation index and plant growth, and the second mapping relationship between plant growth and fertilization amount;

Generating a work prescription map for the target area according to the first mapping relationship, the second mapping relationship, and the vegetation index map;

Control the spreading system of the movable platform to perform operations according to the operation prescription map.

The second processor 41 may be a central processing unit (Central Processing Unit, CPU), or may also be other general-purpose processors, digital signal processors (Digital Signal Processors, DSPs), application specific integrated circuits (ASICs). ), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.

The memory 42 stores the computer program of the method, and the memory 42 may include at least one type of storage medium. The storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), Random access memory (RAM), static random access memory (SRAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), programmable read only memory (PROM), magnetic memory, magnetic disk, optical disk and many more. Moreover, the terminal device 40 may cooperate with a network storage device that performs the storage function of the memory 42 through a network connection. The memory 42 may be an internal storage unit of the terminal device 40, such as a hard disk or memory of the terminal device 40. The memory 42 may also be an external storage device of the terminal device 40, such as a plug-in hard disk equipped on the terminal device 40, a smart memory card (Smart Media Card, SMC), a Secure Digital (SD) card, and a flash memory card (Flash). Card) and so on. Further, the memory 42 may also include both an internal storage unit of the terminal device 40 and an external storage device. The memory 42 is used to store computer programs and other programs and data required by the device. The memory 42 can also be used to temporarily store data that has been output or will be output.

In an embodiment, when obtaining the first mapping relationship between vegetation index and plant growth, the second processor 41 is specifically configured to: determine at least two different growths of the plants, and obtain the growth status of each type of plant. The target location in the target area; in the vegetation index map, the vegetation index value pointed to by the target location is obtained; the vegetation is generated according to at least two different growth conditions of the plant and the vegetation index value corresponding to each growth condition The first mapping relationship between index and plant growth.

In an embodiment, when acquiring the vegetation index value pointed to by the target position, the second processor 41 is specifically configured to acquire the statistical value of the vegetation index value in a specific range centered on the target position.

In one embodiment, the number of target locations in the target area of each growing plant is at least two.

When acquiring the vegetation index value pointed to by the target position, the second processor 41 is specifically configured to acquire at least two statistical values of the vegetation index value pointed to by the target position for each growth condition of the plant.

In an embodiment, the target location is obtained by marking the electronic device 40 by a user; the electronic device 40 includes a positioning module, and the user is in the target area.

In an embodiment, referring to FIG. 6B, the terminal device further includes a display 44, the display 44 is configured to display an interactive interface, and the first image obtained by shooting the target area is displayed on the interactive interface;

The second processor 41 is further configured to determine at least two different growth conditions of the plant based on the user's operation on the first image.

In an embodiment, the target position of each growing plant in the target area is determined according to the position of the growing plant in the first image.

In an embodiment, the second processor 41 is further configured to: acquire a second image obtained by shooting the target area; at least two specific markers are arranged on the target area, and the specific markers are used for Identify the growth of the plant;

The second processor 41 recognizes a specific marker in the second image to determine at least two different growth conditions of the plant.

In an embodiment, the target position of each growing plant in the target area is determined according to the position of the specific marker corresponding to the growing plant in the second image.

In an embodiment, when obtaining the first mapping relationship between vegetation index and plant growth, the second processor 41 is specifically configured to: obtain the type of plants in the target area and/or the geographic location of the target area. Location; acquiring the first mapping relationship from a designated service platform according to the type of plants in the target area and/or the geographic location where the target area is located.

In one embodiment, when acquiring the second mapping relationship between the growth of the plant and the amount of fertilization, the second processor 41 is specifically configured to: acquire the respective fertilization amounts corresponding to the at least two types of growth of the plant set by the user, To generate a second mapping relationship between the growth of the plant and the amount of fertilizer applied.

In an embodiment, the second processor 41 is specifically configured to: generate the fertilization amount corresponding to the at least two growth patterns of the plant set by the user and the preset fertilization amount range of this type of plant. The second mapping relationship between plant growth and fertilization is described.

In an embodiment, when acquiring the second mapping relationship between plant growth and fertilization amount, the second processor 41 is specifically configured to: acquire the type of plants in the target area and/or the geographic location of the target area. Location; acquiring the second mapping relationship from a designated service platform according to the type of plants in the target area and/or the geographic location where the target area is located.

In an embodiment, the communication module 43 is further configured to upload the following information to a designated service platform: the geographic location of the target area and/or the type of plants in the target area, and the vegetation index and the plant The first mapping relationship of growth.

In an embodiment, the communication module 43 is configured to upload the following information to a designated service platform: the geographic location of the target area and/or the type of plants in the target area, and the growth of the plants and the amount of fertilizer applied The second mapping relationship.

The various embodiments described herein may be implemented using a computer-readable medium such as computer software, hardware, or any combination thereof. For hardware implementation, the implementation described here can be implemented by using application-specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays ( It is implemented by at least one of an FPGA), a processor, a controller, a microcontroller, a microprocessor, and an electronic unit designed to perform the functions described herein. For software implementation, implementations such as procedures or functions may be implemented with a separate software module that allows execution of at least one function or operation. The software codes can be implemented by software applications (or programs) written in any suitable programming language, and the software codes can be stored in the memory 42 and executed by the second processor 41.

In addition, an embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the operation method of the foregoing embodiment are implemented. For example, the non-transitory computer-readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply one of these entities or operations. There is any such actual relationship or order between. The terms "include", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements that are not explicitly listed. Elements, or also include elements inherent to such processes, methods, articles, or equipment. If there are no more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other identical elements in the process, method, article, or equipment that includes the element.

The methods and devices provided by the embodiments of the present invention are described in detail above. Specific examples are used in this article to illustrate the principles and implementations of the present invention. The descriptions of the above embodiments are only used to help understand the methods and methods of the present invention. The core idea; at the same time, for ordinary technicians in this neighborhood, according to the idea of the present invention, there will be changes in the specific implementation and the scope of application. In summary, the content of this specification should not be construed as a reference to the present invention. limit.

Claims (55)

1. An operation method of a movable platform, characterized in that the method includes:

   Acquiring a multi-spectral image of a target area by a multi-spectral camera device to obtain a vegetation index map of the target area; the vegetation index map indicating the vegetation indices of several plants in the target area;

   Obtain the first mapping relationship between vegetation index and plant growth, and the second mapping relationship between plant growth and fertilization amount;

   Determining the growth status of several plants in the target area according to the vegetation index map and the first mapping relationship;

   Generating a work prescription map of the target area according to the growth status of several plants in the target area and the second mapping relationship; the work prescription map indicates the fertilization amount corresponding to each plant in the target area;

   Control the spreading system of the movable platform to perform operations according to the operation prescription map.
2. The method according to claim 1, wherein said obtaining the first mapping relationship between vegetation index and plant growth comprises:

   Determine at least two different growths of the plant, and obtain the target position of each growth of the plant in the target area;

   In the vegetation index map, obtain the vegetation index value pointed to by the target location;

   According to at least two different growth conditions of the plant and the corresponding vegetation index value of each growth condition, a first mapping relationship between the vegetation index and the plant growth condition is generated.
3. The method according to claim 2, wherein the obtaining the vegetation index value pointed to by the target position comprises:

   Obtain the statistical value of the vegetation index value in a specific range centered on the target position.
4. The method according to claim 2, wherein the number of target locations in the target area of each growing plant is at least two;

   Then the obtaining the vegetation index value pointed to by the target position includes:

   For each growth condition of the plant, at least two statistical values of vegetation index values pointed to by the target position are obtained.
5. The method according to claim 2, wherein the target location is obtained by a user marking an electronic device communicatively connected with the movable platform; the electronic device has a positioning function, and the user is at the target within the area.
6. The method of claim 2, wherein the determining at least two different growth conditions of the plant comprises:

   Displaying the first image obtained by shooting the target area on the interactive interface;

   At least two different growth conditions of the plant are determined based on the user's operation on the first image.
7. The method according to claim 6, wherein the target position of each growing plant in the target area is determined according to the position of the growing plant in the first image.
8. The method of claim 2, wherein the determining at least two different growth conditions of the plant comprises:

   Acquiring a second image obtained by shooting the target area; at least two specific markers are arranged on the target area, and the specific markers are used to identify the growth of the plant;

   Identify specific markers in the second image to determine at least two different growth conditions of the plant.
9. 8. The method according to claim 8, wherein the target position of each growing plant in the target area is determined according to the position of the specific marker corresponding to the growing plant in the second image.
10. The method according to claim 1, wherein said obtaining the first mapping relationship between vegetation index and plant growth comprises:

    Acquiring the species of plants in the target area and/or the geographic location of the target area;

    Acquire the first mapping relationship from a designated service platform according to the type of plants in the target area and/or the geographic location of the target area.
11. The method according to claim 1, wherein said obtaining a second mapping relationship between plant growth and fertilization amount comprises:

    Obtain the fertilization amount corresponding to the at least two growth conditions of the plant set by the user, to generate a second mapping relationship between the growth of the plant and the fertilization amount.
12. The method according to claim 11, wherein said generating the second mapping relationship between the growth of the plant and the amount of fertilizer application comprises:

    The second mapping relationship between the growth of the plant and the amount of fertilizer is generated according to the fertilization amount corresponding to the at least two growth conditions of the plant set by the user and the preset fertilization amount range of the type of plant.
13. The method according to claim 1, wherein said obtaining a second mapping relationship between plant growth and fertilization amount comprises:

    Acquiring the species of plants in the target area and/or the geographic location of the target area;

    Acquire the second mapping relationship from a designated service platform according to the type of plants in the target area and/or the geographic location of the target area.
14. The method according to claim 2, further comprising:

    Upload the following information to the designated service platform: the geographic location of the target area and/or the type of plants in the target area, and the first mapping relationship between the vegetation index and the growth of the plants.
15. The method according to claim 11, further comprising:

    Upload the following information to the designated service platform: the geographic location of the target area and/or the type of plants in the target area, and the second mapping relationship between the growth of the plants and the amount of fertilizer applied.
16. The method according to claim 1, wherein the multi-spectral camera device comprises at least one of the following components: a visible light camera, a red-side camera, a near-infrared camera, a blue light camera, a green light camera, or a red light camera.
17. The method according to claim 1, wherein the vegetation index pointed to by the vegetation index map includes at least one of the following: a normalized vegetation index, a normalized difference red edge index, a green channel vegetation index, and a ratio vegetation Index, Difference Vegetation Index, Atmospheric Impedance Vegetation Index, Soil Regulating Vegetation Index, or Enhanced Vegetation Index.
18. The method according to claim 1, wherein the movable platform includes at least: an unmanned aerial vehicle, an unmanned vehicle, an unmanned boat, or a mobile robot.
19. A movable platform, characterized in that it comprises:

    body;

    The power system is arranged inside the fuselage and is used to drive the movable platform to move;

    The first processor is located inside the fuselage and is used for:

    Acquiring a multi-spectral image of a target area by a multi-spectral camera device to obtain a vegetation index map of the target area; the vegetation index map indicating the vegetation indices of several plants in the target area;

    Obtain the first mapping relationship between vegetation index and plant growth, and the second mapping relationship between plant growth and fertilization amount;

    Determining the growth status of several plants in the target area according to the vegetation index map and the first mapping relationship;

    Generating a work prescription map of the target area according to the growth status of several plants in the target area and the second mapping relationship; the work prescription map indicates the fertilization amount corresponding to each plant in the target area;

    Control the spreading system of the movable platform to perform operations according to the operation prescription map.
20. The device according to claim 19, wherein the movable platform is provided with the multi-spectral camera device, and the multi-spectral camera device is used to collect a multi-spectral image of the target area.
21. The device according to claim 20, wherein the movable platform is further provided with a communication system;

    The communication system is used to send the work prescription map to a movable platform where a spreading system is installed, so that the spreading system performs operations according to the work prescription map.
22. The device according to claim 19, wherein the movable platform is provided with a spreading system, and the spreading system is used to perform operations according to the work prescription map.
23. The device according to claim 22, wherein the movable platform further comprises a communication system;

    The communication system is used to receive the multispectral image of the target area collected by the multispectral camera device.
24. The device according to claim 19, wherein when acquiring the first mapping relationship between vegetation index and plant growth, the first processor is specifically configured to:

    Determine at least two different growths of the plant, and obtain the target position of each growth of the plant in the target area;

    In the vegetation index map, obtain the vegetation index value pointed to by the target location;

    According to at least two different growth conditions of the plant and the corresponding vegetation index value of each growth condition, a first mapping relationship between the vegetation index and the plant growth condition is generated.
25. The device according to claim 24, wherein when acquiring the vegetation index value pointed to by the target position, the first processor is specifically configured to: acquire vegetation within a specific range centered on the target position The statistical value of the index value.
26. The device according to claim 24, wherein the number of target positions of each growing plant in the target area is at least two;

    When acquiring the vegetation index value pointed to by the target position, the first processor is specifically configured to: for each growth condition of the plant, acquire at least two statistical values of the vegetation index value pointed to by the target position.
27. The device according to claim 24, wherein the target location is obtained by a user marking an electronic device communicatively connected with the movable platform; the electronic device has a positioning function, and the user is at the target within the area.
28. The device according to claim 24, wherein the movable platform further comprises a display, the display is configured to display an interactive interface, and the first image obtained by shooting the target area is displayed on the interactive interface;

    The first processor is further configured to determine at least two different growth trends of the plant based on the user's operation on the first image.
29. The device according to claim 28, wherein the target position of each growing plant in the target area is determined according to the position of the growing plant in the first image.
30. The device according to claim 24, wherein the first processor is further configured to: acquire a second image obtained by shooting the target area; at least two specific markers are arranged on the target area, so The specific marker is used to identify the growth of the plant;

    The first processor recognizes a specific marker in the second image to determine at least two different growth conditions of the plant.
31. The device according to claim 30, wherein the target position of each growing plant in the target area is determined according to the position of the specific marker corresponding to the growing plant in the second image.
32. The device according to claim 19, wherein when acquiring the first mapping relationship between vegetation index and plant growth, the first processor is specifically configured to: acquire the species and/or the plant in the target area belong to The geographic location of the target area; acquiring the first mapping relationship from a designated service platform according to the species of plants in the target area and/or the geographic location of the target area.
33. The device according to claim 19, wherein when acquiring the second mapping relationship between the growth of the plant and the amount of fertilizer, the first processor is specifically configured to: acquire at least two growths of the plant set by the user Respectively corresponding fertilization amount to generate a second mapping relationship between the growth of the plant and the fertilization amount.
34. The device according to claim 33, wherein the first processor is specifically configured to: according to the fertilization amount corresponding to the at least two growth conditions of the plant set by the user, and the preset fertilization amount of this type of plant The fertilization amount range generates a second mapping relationship between the growth of the plant and the fertilization amount.
35. The device according to claim 19, wherein when acquiring the second mapping relationship between the growth of the plants and the amount of fertilizer, the first processor is specifically configured to: acquire the species and/or the plants in the target area belong to The geographic location of the target area; obtaining the second mapping relationship from a designated service platform according to the species of plants in the target area and/or the geographic location of the target area.
36. The device according to claim 24, wherein the movable platform further comprises a communication system;

    The communication system is configured to upload the following information to a designated service platform: the geographic location of the target area and/or the type of plants in the target area, and the first mapping relationship between the vegetation index and the growth of the plants.
37. The device according to claim 33, wherein the movable platform further comprises a communication system;

    The communication system is configured to upload the following information to a designated service platform: the geographic location of the target area and/or the type of plants in the target area, and the second mapping relationship between the growth of the plants and the amount of fertilizer applied.
38. The device according to claim 19, wherein the multi-spectral camera device comprises at least one of the following components: a visible light camera, a red-side camera, a near-infrared camera, a blue light camera, a green light camera, or a red light camera.
39. The device according to claim 19, wherein the vegetation index pointed to by the vegetation index map comprises at least one of the following: a normalized vegetation index, a normalized difference red edge index, a green channel vegetation index, and a ratio vegetation Index, Difference Vegetation Index, Atmospheric Impedance Vegetation Index, Soil Regulating Vegetation Index, or Enhanced Vegetation Index.
40. The device according to claim 19, wherein the movable platform comprises at least: an unmanned aerial vehicle, an unmanned vehicle, an unmanned boat, or a mobile robot.
41. An electronic device, characterized by comprising a communication module, a memory, a second processor, and a computer program stored on the memory and running on the second processor;

    Wherein, the communication module is used to receive the multispectral image of the target area collected by the multispectral camera device;

    The second processor calls the computer program, and when the computer program is executed, it is used to perform the following operations:

    Acquiring a vegetation index map of the target area according to the multispectral image;

    Obtain the first mapping relationship between vegetation index and plant growth, and the second mapping relationship between plant growth and fertilization amount;

    Generating a work prescription map for the target area according to the first mapping relationship, the second mapping relationship, and the vegetation index map;

    Control the spreading system of the movable platform to perform operations according to the operation prescription map.
42. The device according to claim 41, wherein when acquiring the first mapping relationship between vegetation index and plant growth, the second processor is specifically configured to:

    Determine at least two different growths of the plant, and obtain the target position of each growth of the plant in the target area;

    In the vegetation index map, obtain the vegetation index value pointed to by the target location;

    According to at least two different growth conditions of the plant and the corresponding vegetation index value of each growth condition, a first mapping relationship between the vegetation index and the plant growth condition is generated.
43. The device according to claim 42, wherein when acquiring the vegetation index value pointed to by the target position, the second processor is specifically configured to: acquire vegetation within a specific range centered on the target position The statistical value of the index value.
44. The device according to claim 42, wherein the number of target positions of each growing plant in the target area is at least two;

    When acquiring the vegetation index value pointed to by the target position, the second processor is specifically configured to acquire at least two statistical values of the vegetation index value pointed to by the target position for each growth condition of the plant.
45. The device according to claim 42, wherein the target location is obtained by a user marking on the electronic device; the electronic device includes a positioning module, and the user is in the target area.
46. The device according to claim 42, wherein the terminal device further comprises a display, the display is configured to display an interactive interface, and the first image obtained by shooting the target area is displayed on the interactive interface;

    The second processor is further configured to determine at least two different growth trends of the plant based on the user's operation on the first image.
47. The device according to claim 46, wherein the target position of each growing plant in the target area is determined according to the position of the growing plant in the first image.
48. The device according to claim 42, wherein the second processor is further configured to: acquire a second image obtained by shooting the target area; at least two specific markers are arranged on the target area, so The specific marker is used to identify the growth of the plant;

    The second processor recognizes specific markers in the second image to determine at least two different growth conditions of the plant.
49. The device according to claim 48, wherein the target position of each growing plant in the target area is determined according to the position of the specific marker corresponding to the growing plant in the second image.
50. The device according to claim 41, wherein when obtaining the first mapping relationship between vegetation index and plant growth, the second processor is specifically configured to: obtain the species and/or the plant in the target area. The geographic location of the target area; acquiring the first mapping relationship from a designated service platform according to the species of plants in the target area and/or the geographic location of the target area.
51. The device according to claim 41, wherein when acquiring the second mapping relationship between the growth of the plant and the amount of fertilization, the second processor is specifically configured to: acquire at least two growths of the plant set by the user Respectively corresponding fertilization amount to generate a second mapping relationship between the growth of the plant and the fertilization amount.
52. The device according to claim 51, wherein the second processor is specifically configured to: according to the fertilization amount corresponding to the at least two growth conditions of the plant set by the user, and the preset fertilization amount of this type of plant The fertilization amount range generates a second mapping relationship between the growth of the plant and the fertilization amount.
53. The device according to claim 41, wherein when acquiring the second mapping relationship between plant growth and fertilization amount, the second processor is specifically configured to: acquire the category and/or the plant in the target area belong to. The geographic location of the target area; obtaining the second mapping relationship from a designated service platform according to the species of plants in the target area and/or the geographic location of the target area.
54. The device of claim 42, wherein:

    The communication module is further configured to upload the following information to a designated service platform: the geographic location of the target area and/or the type of plants in the target area, and the first mapping relationship between the vegetation index and the growth of the plants.
55. The device of claim 51, wherein:

    The communication module is configured to upload the following information to a designated service platform: the geographic location of the target area and/or the type of plants in the target area, and the second mapping relationship between the growth of the plants and the amount of fertilizer applied.

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