CN114283067A

CN114283067A - Prescription chart acquisition method and device, storage medium and terminal equipment

Info

Publication number: CN114283067A
Application number: CN202111651230.0A
Authority: CN
Inventors: 谢涛
Original assignee: Guangzhou Xaircraft Technology Co Ltd
Current assignee: Guangzhou Xaircraft Technology Co Ltd
Priority date: 2021-12-30
Filing date: 2021-12-30
Publication date: 2022-04-05
Anticipated expiration: 2041-12-30
Also published as: CN114283067B

Abstract

The application provides a prescription chart acquisition method, a prescription chart acquisition device, a storage medium and terminal equipment, which are used for acquiring a cell image; the cell image is an image acquired by the aircraft at a shooting center position corresponding to each cell, the coverage rate of the cell image to the cell is greater than a preset coverage threshold, the cell is a sub-region of a target operation region, and the target operation region is divided into at least two cells; splicing the cell images according to the shooting center position to obtain a first prescription map corresponding to the target operation area; the cell image carries the corresponding shot center position. The splicing can be completed through the shooting center position in the embodiment, the technology is simpler, and the splicing speed is higher. And the combination splicing is carried out according to the shooting center position, and on the premise of ensuring the picture quality of the first square picture obtained by splicing, the overlapping degree between the spliced pictures is not required, so that the overlapping rate of the cell images is very low, the size of stored data is reduced, and the calculation force requirement is reduced.

Description

Prescription chart acquisition method and device, storage medium and terminal equipment

Technical Field

The application relates to the field of images, in particular to a prescription map obtaining method, a prescription map obtaining device, a storage medium and terminal equipment.

Background

With the development of society and the advancement of science, more and more intelligent devices are used in various industries. The intelligent device is, for example, an intelligent driving vehicle, a unmanned aerial vehicle, an intelligent irrigation device and the like. Many smart devices need to rely on accurate map information, such as a prescription map, for their operation. Taking intelligent irrigation equipment as an example, the intelligent irrigation equipment needs to determine the coordinate information of the area where the irrigation object is located and the coordinate information of the area where the obstacle is located through map information, so that accurate irrigation and obstacle avoidance are achieved.

How to accurately and quickly acquire corresponding map information becomes a problem to be solved urgently by technical personnel in the field.

Disclosure of Invention

An object of the present application is to provide a method, an apparatus, a storage medium, and a terminal device for obtaining a prescription map, so as to at least partially improve the above problems.

In order to achieve the above purpose, the embodiments of the present application employ the following technical solutions:

in a first aspect, an embodiment of the present application provides a prescription map obtaining method, where the method includes:

acquiring a cell image;

the cell image is an image acquired by an aircraft at a shooting center position corresponding to each cell, the coverage rate of the cell image on the cell is greater than a preset coverage threshold, the cell is a sub-region of a target operation region, and the target operation region is divided into at least two cells;

splicing the cell images according to the shooting center position to obtain a first prescription map corresponding to the target operation area; and the cell image carries a corresponding shooting center position.

In a second aspect, an embodiment of the present application provides a prescription chart obtaining apparatus, including:

an information acquisition unit for acquiring a cell image;

the processing unit is used for splicing the cell images according to the shooting center position to obtain a first prescription map corresponding to the target operation area; and the cell image carries a corresponding shooting center position.

In a third aspect, an embodiment of the present application provides an intelligent agricultural system, which includes the prescription map obtaining apparatus provided in the second aspect.

In a fourth aspect, the present application provides a storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the method described above.

In a fifth aspect, an embodiment of the present application provides a terminal device, where the terminal device includes: a processor and memory for storing one or more programs; the one or more programs, when executed by the processor, implement the methods described above.

Compared with the prior art, the prescription map obtaining method, the prescription map obtaining device, the storage medium and the terminal device provided by the embodiment of the application obtain the cell image; the cell image is an image acquired by the aircraft at a shooting center position corresponding to each cell, the coverage rate of the cell image to the cell is greater than a preset coverage threshold, the cell is a sub-region of a target operation region, and the target operation region is divided into at least two cells; splicing the cell images according to the shooting center position to obtain a first prescription map corresponding to the target operation area; the cell image carries the corresponding shot center position. The splicing can be completed through the shooting center position in the embodiment, the technology is simpler, and the splicing speed is higher. And the combination splicing is carried out according to the shooting center position, and on the premise of ensuring the picture quality of the first square picture obtained by splicing, the overlapping degree between the spliced pictures is not required, so that the overlapping rate between the cell images is ensured to be very low, the size of the stored data is reduced, and the computational power requirement is reduced.

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and it will be apparent to those skilled in the art that other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a schematic structural diagram of a terminal device according to an embodiment of the present application;

FIG. 2 is a schematic flow chart diagram illustrating a prescription map obtaining method according to an embodiment of the present disclosure;

fig. 3(a) is a schematic diagram of an example of a target working area provided in an embodiment of the present application;

fig. 3(b) is a schematic boundary diagram corresponding to a target operation area according to an embodiment of the present application;

FIG. 4 is a schematic diagram of a cell distribution provided in an embodiment of the present application;

FIG. 5 is a flowchart illustrating a method for obtaining a prescription chart according to an embodiment of the present disclosure;

FIG. 6 is a schematic view of a flight path provided by an embodiment of the present application;

fig. 7 is a schematic view of substeps of S101 provided in an embodiment of the present application;

FIG. 8 is a schematic diagram illustrating a relationship between a flying height and a single shot area according to an embodiment of the present disclosure;

FIG. 9 is a schematic diagram illustrating the substeps of S101-3 provided in an embodiment of the present application;

FIG. 10 is a flowchart illustrating a method for obtaining a prescription chart according to an embodiment of the present disclosure;

fig. 11(a) is a schematic diagram of the distribution of target objects in cells provided in the embodiment of the present application;

fig. 11(b) is a schematic distribution diagram of a target feature in a cell image according to an embodiment of the present application;

FIG. 12 is a schematic view of a first prescription provided by an embodiment of the present application;

FIG. 13 is a flowchart illustrating a method for obtaining a prescription chart according to an embodiment of the present disclosure;

FIG. 14 is a schematic diagram of a vector grid layer provided in an embodiment of the present application;

FIG. 15 is a schematic illustration of a second prescription provided by an embodiment of the present application;

fig. 16 is a schematic unit diagram of a prescription chart obtaining apparatus according to an embodiment of the present application.

In the figure: 10-a processor; 11-a memory; 12-a bus; 13-a communication interface; 201-an information acquisition unit; 202-processing unit.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally found in use of products of the application, and are used only for convenience in describing the present application and for simplification of description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present application.

In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

In a possible implementation mode, the photo can be shot by the unmanned aerial vehicle and uploaded to the cloud for splicing, the spliced photo is subjected to object characteristics and distribution of AI identification images, and then a prescription chart is generated. However, the number of pictures taken by the drones is large, which may result in an excessively long splicing time, for example, a picture taken by a drone for 100 acres of land is uploaded to the cloud for splicing, which takes 4 hours. Moreover, in order to ensure the quality of the spliced images, the splicing of the two images requires that the splicing position has a contact ratio of more than 30%, so that the repeated content in the images is more, and the storage space and the calculation resources of the server are wasted.

The embodiment of the application provides a terminal device which can be a computer device or a server device. Referring to fig. 1, a structure of a terminal device is illustrated. The terminal device comprises a processor 10, a memory 11, a bus 12. The processor 10 and the memory 11 are connected by a bus 12, and the processor 10 is configured to execute an executable module, such as a computer program, stored in the memory 11.

The processor 10 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the recipe map acquisition method may be performed by instructions in the form of hardware integrated logic circuits or software in the processor 10. The Processor 10 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.

The Memory 11 may comprise a high-speed Random Access Memory (RAM) and may further comprise a non-volatile Memory (non-volatile Memory), such as at least one disk Memory.

The bus 12 may be an ISA (Industry Standard architecture) bus, a PCI (peripheral Component interconnect) bus, an EISA (extended Industry Standard architecture) bus, or the like. Only one bi-directional arrow is shown in fig. 1, but this does not indicate only one bus 12 or one type of bus 12.

The memory 11 is used for storing programs, such as programs corresponding to the prescription map acquiring apparatus. The prescription map acquiring means includes at least one software function module which may be stored in the memory 11 in the form of software or firmware (firmware) or solidified in an Operating System (OS) of the terminal device. The processor 10, upon receiving the execution instruction, executes the program to implement the prescription map acquisition method.

Possibly, the terminal device provided by the embodiment of the present application further includes a communication interface 13. The communication interface 13 is connected to the processor 10 via a bus.

Optionally, when the terminal device is a computer device or a server device, the computer device or the server device may perform communication interaction with an aircraft (e.g., a drone) through the communication interface 13. For example, command messages may be issued to the aircraft, or image information transmitted by the aircraft may be received. It will be appreciated that the aircraft is provided with an image acquisition module for acquiring images.

In a possible implementation manner, the terminal device is an aircraft, and the aircraft can execute the prescription map obtaining method provided by the embodiment of the present application after acquiring the cell image.

It should be understood that the structure shown in fig. 1 is only a schematic structural diagram of a portion of a terminal device, and the terminal device may also include more or fewer components than shown in fig. 1, or have a different configuration than shown in fig. 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.

The prescription map obtaining method provided in the embodiment of the present application may be applied to, but is not limited to, the terminal device shown in fig. 1, and please refer to fig. 2, where the prescription map obtaining method includes S103 and S107, which are specifically described as follows.

S103, acquiring a cell image.

The cell image is an image acquired by the aircraft at a shooting center position corresponding to each cell, the coverage rate of the cell image to the cell is larger than a preset coverage threshold value, the cell is a sub-region of a target operation region, and the target operation region is divided into at least two cells.

Referring to fig. 3(a) and fig. 3(b), fig. 3(a) is a schematic diagram of an example of a target operation area provided in the present embodiment, and fig. 3(b) is a schematic diagram of a boundary corresponding to the target operation area provided in the present embodiment. It should be understood that during agricultural operations, it may not be necessary to work all of the fields simultaneously, for example, only the land corresponding to a family of a certain household. In order to reduce the workload and the calculation amount, only the image information of the land (i.e., the target working area) corresponding to the family of the user needs to be acquired. The target work area shown in fig. 3(a) and 3(b) is a regular rectangle, but is not limited thereto, and the target work area may be a circle, a polygon, or an irregular shape.

Referring to fig. 4, fig. 4 is a schematic diagram of a cell distribution according to an embodiment of the present disclosure. As shown in fig. 4, all cells taken together may completely cover the target work area, and may even exceed the target work area. Because the coverage rate of the cell images to the cells is greater than the preset coverage threshold, the coverage rate of the images spliced according to the cell images to the target operation area is also greater than the preset coverage threshold, so that the map information can be guaranteed to be basically complete, and large-area loss can not occur. Optionally, the coverage threshold is, for example, 95%.

Alternatively, the flying heights of the aircraft when acquiring different cell images may be the same or different, and are not limited herein.

And S107, splicing the cell images according to the shooting center position to obtain a first prescription map corresponding to the target operation area.

Wherein the cell image carries a corresponding shooting center position.

It should be understood that when the server is used as a terminal device and needs to receive the cell image transmitted by the aircraft, the cell image may carry the corresponding shooting center position. The method is used for combining and splicing the cell images according to the shooting center position, and compared with the image fusion technology in the prior art, the splicing can be completed through the shooting center position in the embodiment, so that the technology is simpler, and the splicing speed is higher. And the combination splicing is carried out according to the shooting center position, and on the premise of ensuring the picture quality of the first square picture obtained by splicing, the overlapping degree between the spliced pictures is not required, so that the overlapping rate between the cell images is ensured to be very low, the size of the stored data is reduced, and the computational power requirement is reduced.

In summary, the embodiment of the present application provides a prescription map obtaining method, which obtains a cell image; the cell image is an image acquired by the aircraft at a shooting center position corresponding to each cell, the coverage rate of the cell image to the cell is greater than a preset coverage threshold, the cell is a sub-region of a target operation region, and the target operation region is divided into at least two cells; splicing the cell images according to the shooting center position to obtain a first prescription map corresponding to the target operation area; the cell image carries the corresponding shot center position. In the embodiment, the splicing can be completed through the shooting center position, the technology is simpler, the splicing speed is higher, the method can be used for splicing scenes in real time, and understandably, the aircraft can perform image splicing according to the cell image obtained by current shooting in the flight process and perform corresponding processing to generate the required prescription chart. And the combination splicing is carried out according to the shooting center position, and on the premise of ensuring the picture quality of the first square picture obtained by splicing, the overlapping degree between the spliced pictures is not required, so that the overlapping rate between the cell images is ensured to be very low, the size of the stored data is reduced, and the computational power requirement is reduced.

On the basis of fig. 2, regarding how the aircraft accurately obtains the cell image corresponding to each cell, the embodiment of the present application further provides a possible implementation manner, please refer to fig. 5, and the method for obtaining the prescription chart further includes S101 and S102, which are specifically set forth below.

S101, dividing the target operation area into at least two cells, and acquiring the shooting center position corresponding to each cell.

Alternatively, the operator may select a plot with coordinates in a numerical model (e.g., a digital farm) to obtain the boundaries and areas of the plot, specifying the target work area for which a prescription map needs to be generated, as shown in fig. 3 (b).

Alternatively, the target working area may be determined according to boundary information input by a worker in the numerical model, for example, coordinates of four vertices or a defined boundary line.

After the target operation area is determined, the target operation area is divided, it is guaranteed that all the cells are combined together to completely cover the target operation area, a shooting center position corresponding to each cell is further obtained, and it is guaranteed that the coverage rate of the cell image acquired by the aircraft at the shooting center position to the cells is larger than a preset coverage threshold value. The detailed steps refer to the sub-steps of S101 shown in fig. 7 below.

And S102, transmitting the shooting center position corresponding to each cell to the aircraft so that the aircraft can acquire the corresponding cell image at the shooting center position.

Optionally, according to the coordinates of the shooting center position and the coordinates of the aircraft parking position corresponding to each cell, taking the coordinates of every two adjacent shortest distances as a flight route, automatically planning the flight route of the unmanned aerial vehicle, and generating the flight route shown in fig. 6. Marking the shooting center position corresponding to each cell in the flight route, and then transmitting the flight route to the aircraft so that the aircraft flies according to the flight route and sequentially reaches each shooting center position, thereby obtaining the corresponding cell image at the shooting center position.

Of course, the shooting center position corresponding to each cell can also be directly transmitted to the aircraft, and the aircraft completes the planning of the flight route.

It should be noted that the execution bodies of S101 and S102 shown in fig. 5 and S103 and S107 shown in fig. 2 may be the same or different. For example, the execution subject of the steps in fig. 2 is a server, and the execution subject of the steps in fig. 5 is a user terminal (e.g., a mobile phone).

On the basis of fig. 5, for the content in S101, the embodiment of the present application further provides a possible implementation manner, please refer to fig. 7, where S101 includes S101-1, S101-2, S101-3, and S101-4, which is specifically described as follows.

S101-1, determining the flight altitude of the aircraft according to a preset image definition standard value.

Alternatively, the image sharpness standard value is an image sharpness required value of the acquisition object, and can be preset by a worker according to the use of a subsequent prescription map. It should be understood that the standard values of the corresponding image definition are different when the prescription is used in different ways, for example, the precision requirements of the prescription for the fertilization irrigation and the herbicide spraying are different, so the standard values of the corresponding image definition are different.

It will be appreciated that for the same image acquisition device, the higher the flying height, the lower the image sharpness.

S101-2, acquiring the single shooting area of the aircraft according to the flying height.

Referring to fig. 8, fig. 8 is a schematic diagram illustrating a relationship between a flying height and a single shooting area according to an embodiment of the present application. As shown in the left side of fig. 8, when the flight height is higher, the single shot area is larger, and the corresponding influence definition is lower.

Alternatively, after the flight height is determined, the side length and the side width of the image which can be acquired can be determined according to the flight height, so that the single shooting area can be determined.

And S101-3, dividing the target operation area into at least two cells according to the single shooting area.

Continuing to refer to fig. 8, the right side of fig. 8 is a schematic diagram of a cell provided in an example of the present application. As shown in fig. 8, the area of the cell is smaller than or equal to the single shot area.

Optionally, the side length of the cell is smaller than the image side length and/or the side width of the cell is smaller than the image side width. For example, the side length of a cell is 1 meter shorter than the image side, and the side width of a cell is one meter shorter than the image side width.

Suppose that when the single shooting area is exactly equal to the area of the cell, the aircraft can exactly and completely acquire the cell image at the shooting center position of the cell. If the course or the pitch angle of the aircraft change, the shooting angle of the aircraft changes, and therefore image acquisition cannot be completely carried out on the cells. If the area of the cell is smaller than the area of single shooting, even if the course or pitch angle of the aircraft changes, the image content corresponding to the cell can be comprehensively acquired, and therefore the integrity of the finally acquired prescription map is guaranteed.

And S101-4, determining the position which is at the center of each unit and is the flying height relative to the ground as the corresponding shooting center position.

It should be understood that after S101-4, the flying heights of the aircrafts at each shooting center position are consistent relative to the ground, so that the image definition is consistent, and the user experience is improved. Alternatively, the coordinates of the center point of each cell may be obtained from the digital farm.

On the basis of fig. 7, when the target working area is rectangular, for the content in S101-3, please refer to fig. 9, where S101-3 includes S101-3A, S101-3B and S101-3C, which is described in detail below.

And S101-3A, determining the area of the cell according to the area of the single shot.

Alternatively, the product of the single shot area and a preset proportion value may be used as the area of the cell, and the preset proportion value may be 90%. It should be understood that the edge width of the cell is less than the image edge width and the edge length of the cell is less than the image edge length. In one possible implementation, the ratio of the cell edge width to the cell edge length is the same as the ratio of the image edge width to the image edge length. Thereby facilitating the orderly arrangement of the subsequent cells.

And S101-3B, starting to lay the sub-area from any vertex of the target operation area.

Wherein the area of the sub-region is equal to the area of the cell.

Optionally, there is at least one adjacent sub-region in each sub-region, and the coincidence ratio of any two sub-regions may be 0, thereby reducing the coincidence ratio of the images.

Alternatively, referring to fig. 4, it is assumed that an arbitrary longest side of the target operation area is taken as an X axis, a side of a longest land adjacent to the X axis is taken as a Y axis, and an origin O intersecting the X axis and the Y axis is located. The sub-regions are tiled from the origin O, the number and the position information of the sub-regions are obtained after the sub-regions completely cover the land, and the coordinates of the photographing central point of each sub-region are obtained based on the digital farm.

And S101-3C, after the sub-area completely covers the target operation area, determining the sub-area as a cell.

On the basis of fig. 2, as to how to further increase the richness of the information in the prescription map, the embodiment of the present application further provides a possible implementation manner, please refer to fig. 10, after S103, the prescription map obtaining method further includes S105 and S106, which are specifically set forth below.

And S105, identifying the target characteristics of the cell image.

The target feature is feature information of the target object in the image.

Referring to fig. 11(a) and fig. 11(b), fig. 11(a) is a schematic diagram of a distribution of a target object in a cell provided in an embodiment of the present application, and fig. 11(b) is a schematic diagram of a distribution of a target feature in a cell image provided in an embodiment of the present application.

Optionally, semantic recognition may be performed on the cell image, a confidence that each pixel belongs to the target object is obtained, and when the confidence is greater than a preset confidence threshold, the pixel may be determined as the target feature.

Optionally, the cell image may be input into a corresponding neural network model, and the neural network model may mark a target feature therein.

Fig. 11(a) and 11(b) illustrate the target weeds, but are not limited thereto. In one possible implementation, the target object may also be a crop (e.g., cotton) in the target work area, and may also be a ridge. Alternatively, the target object may be set in advance depending on the purpose of the prescription map.

And S106, marking the outline of the target object in the cell image according to the target feature.

Specifically, the outline marker of the target object is as shown in fig. 11 (b).

Optionally, after S106, S107 is executed to stitch the cell images according to the shooting center position to obtain the first prescription map as shown in fig. 12, and the obtained first prescription map further includes the outline marker of the target object, so that the richness of the information in the first prescription map is improved, and the subsequent use is facilitated.

In a possible implementation manner, after the first processing diagram is obtained after the stitching is completed, the target features in the first processing diagram are identified, so as to obtain the contour mark of the target object.

With continuing reference to fig. 10, when the cell image also carries the heading angle and/or the pitch angle of the aircraft during shooting, the embodiment of the present application also provides a possible implementation manner as to how to improve the accuracy and the integrity of the first prescription map obtained by stitching, as shown in fig. 10, after S103, the prescription map obtaining method further includes S104, which is specifically set forth below.

And S104, carrying out rotation adjustment on the cell image according to the heading angle and/or the pitching angle.

It should be understood that when the heading angle and/or the pitch angle exist, the photographed cell image cannot completely cover the cell, so that the adjustment is needed. Optionally, the cell image is rotationally adjusted according to the heading angle, or the cell image is rotationally adjusted according to the pitch angle, or the cell image is rotationally adjusted according to the heading angle and the pitch angle.

The aircraft comprises an aircraft body, a heading angle, a pitching angle and a horizontal plane, wherein the heading angle is a head orientation angle of the aircraft, and the pitching angle is an included angle of the aircraft body of the aircraft relative to the horizontal plane.

Optionally, the coverage of the rotation-adjusted cell image with respect to the cell is higher, and after S104, S107 is performed, thereby improving the coverage and accuracy of the finally obtained first prescription map with respect to the target work area.

It should be understood that S104 may be performed before S105 and S106, and S104 may also be performed after S105 and S106, which is not limited herein.

On the basis of fig. 2, regarding how to further improve the accuracy of the information in the prescription map, the embodiment of the present application further provides a possible implementation manner, please refer to fig. 13, and after S107, the prescription map obtaining method further includes S108, which is described in detail below.

And S108, overlapping the first prescription map with the vector grid map layer corresponding to the target operation area to obtain a second prescription map.

The vector grid layer is a layer formed by vector grids with the same size, the area of each vector grid is smaller than that of each unit grid, and the vector grid layer is marked with coordinate information of each vector grid.

Referring to fig. 14, fig. 14 is a schematic diagram of a vector grid layer according to an embodiment of the present application. Optionally, a 3m by 3m vector grid map layer is automatically generated based on the plots of the digital farm and each vector grid coordinate is assigned. It should be noted that 3m × 3m is an area of a single vector grid, and is only for example and not limiting.

It should be understood that the area size of the vector grid can be adjusted according to the subsequent operation requirements, but needs to be kept smaller than the area of the cell; the map information can be refined, and the purpose of making the coordinate information more detailed is achieved; the vector grid map layer may be automatically generated based on the portion of the target region in the digital model.

Referring to fig. 15, fig. 15 is a schematic view of a fusion process of a second prescription provided in the embodiment of the present application. As shown in fig. 15, the coordinates of the vector grid coincident with the target feature (or target silhouette marker) may be known. Facilitating subsequent further treatments, such as weeding, based on the coordinates.

According to the prescription chart obtaining method provided by the embodiment of the application, the time for generating the prescription chart is shortened, under the condition that the network is stable, the photos of the aircraft in the prescription chart operation area are uploaded to the cloud, and within 20 minutes, the terminal equipment can complete the operation prescription chart; compared with a method for directly fusing images, the method reduces the storage space and the computing resources of the server.

In the above, the job recipe may include, but is not limited to: a disease prescription chart, a spraying prescription chart and a sowing prescription chart; the disease prescription chart can clearly reflect the disease and insect pest situation in the plot, thereby being beneficial to the determination of the follow-up farming decision; the spraying prescription map can clearly reflect the spraying condition of the crop nutrient solution or the pesticide, and is beneficial to subsequently guiding the aircraft to carry out spray supplementing operation aiming at a less-sprayed or missed-sprayed place or guiding the aircraft to carry out dilution operation aiming at a more-sprayed place; the sowing situation of the aircraft can be clearly reflected by the sowing prescription chart, and subsequent guidance of the aircraft for reseeding operation is facilitated.

Referring to fig. 16, fig. 16 is a prescription chart obtaining apparatus according to an embodiment of the present application, and optionally, the prescription chart obtaining apparatus is applied to the terminal device described above.

The prescription map acquisition apparatus includes: an information acquisition unit 201 and a processing unit 202.

An information acquisition unit 201 for acquiring a cell image;

the cell image is an image acquired by the aircraft at a shooting center position corresponding to each cell, the coverage rate of the cell image to the cell is greater than a preset coverage threshold value, the cell is a sub-region of a target operation region, and the target operation region is divided into at least two cells;

the processing unit 202 is configured to splice the cell images according to the shooting center position to obtain a first prescription map corresponding to the target operation area; wherein the cell image carries a corresponding shooting center position.

Alternatively, the information acquisition unit 201 may execute the above-described S102 and S103, and the processing unit 202 may execute the above-described S101, S104 to S108.

It should be noted that the prescription map obtaining apparatus provided in this embodiment may execute the method flows shown in the above method flow embodiments to achieve the corresponding technical effects. For the sake of brevity, the corresponding contents in the above embodiments may be referred to where not mentioned in this embodiment.

The embodiment of the application also provides an intelligent agricultural system, which comprises the prescription map acquisition device in any embodiment. In addition, the intelligent agricultural system can be a software product or a soft and hard combined product, so that a user can use the intelligent agricultural system to obtain a required prescription.

The embodiment of the application also provides a storage medium, wherein the storage medium stores computer instructions and programs, and the computer instructions and the programs execute the prescription map obtaining method of the embodiment when being read and run. The storage medium may include memory, flash memory, registers, or a combination thereof, etc.

The following provides a terminal device, which may be a server device, a computer device or an aircraft device, and as shown in fig. 1, the terminal device may implement the prescription map obtaining method described above; specifically, the terminal device includes: processor 10, memory 11, bus 12. The processor 10 may be a CPU. The memory 11 is used to store one or more programs, and when the one or more programs are executed by the processor 10, the prescription map acquisition method of the above-described embodiment is performed.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

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

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. A prescription chart acquisition method, the method comprising:

acquiring a cell image;

2. The prescription chart acquisition method of claim 1, wherein prior to acquiring the cell image of the aircraft feedback, the method further comprises:

dividing a target operation area into at least two cells, and acquiring a shooting center position corresponding to each cell;

and transmitting the shooting center position corresponding to each cell to an aircraft, so that the aircraft acquires the corresponding cell image at the shooting center position.

3. The prescription chart acquisition method according to claim 2, wherein the step of dividing the target work area into at least two cells and acquiring the photographing center position corresponding to each cell comprises:

determining the flight height of the aircraft according to a preset image definition standard value;

acquiring the single shooting area of the aircraft according to the flying height;

dividing a target operation area into at least two cells according to the single shooting area; wherein the area of the cell is less than or equal to the single shot area;

and determining the position which is at the center of each unit and is the flying height relative to the ground as the corresponding shooting center position.

4. The prescription chart acquisition method according to claim 3, wherein when the target work area is rectangular, the step of dividing the target work area into at least two cells according to the single shot area comprises:

determining the area of the cell according to the single shooting area;

starting to lay a sub-area from any vertex of the target operation area, wherein the area of the sub-area is equal to that of the cell;

and after the sub-area completely covers the target operation area, determining the sub-area as the cell.

5. The prescription chart acquisition method of claim 1, wherein after acquiring the cell image, the method further comprises:

identifying target characteristics of the cell image, wherein the target characteristics are characteristic information of a target object in the image;

and marking the outline of the target object in the cell image according to the target feature.

6. The prescription chart acquisition method of claim 1, wherein the cell image further carries a heading angle and/or a pitch angle of the aircraft when captured, the method further comprising, after acquiring the cell image:

and carrying out rotation adjustment on the cell image according to the course angle and/or the pitching angle.

7. The prescription map acquisition method according to claim 1, wherein after the cell images are stitched according to the shooting center position to obtain the first prescription map corresponding to the target work area, the method further comprises:

and superposing the first prescription map and a vector grid map layer corresponding to the target operation area to obtain a second prescription map, wherein the vector grid map layer is a map layer formed by vector grids with the same size, the area of the vector grid is smaller than that of the unit grid, and the vector grid map layer is marked with coordinate information of each vector grid.

8. A prescription-drawing obtaining apparatus, characterized in that the apparatus comprises:

an information acquisition unit for acquiring a cell image;

9. An intelligent agricultural system, comprising the prescription map acquisition apparatus of claim 8.

10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-7.

11. A terminal device, comprising: a processor and memory for storing one or more programs; the one or more programs, when executed by the processor, implement the method of any of claims 1-7.