CN116844074A - Panoramic display linkage method for three-dimensional scene and key area of orchard - Google Patents
Panoramic display linkage method for three-dimensional scene and key area of orchard Download PDFInfo
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- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/17—Terrestrial scenes taken from planes or by drones
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- G06V20/188—Vegetation
Abstract
The application provides a panoramic linkage display method for three-dimensional scenes and key areas of an orchard, belongs to the field of unmanned aerial vehicle exploration and image generation, and particularly relates to a panoramic linkage display method for three-dimensional scenes and key areas of an orchard; the method comprises the following steps: planning a route of the orchard area to obtain planning data; calling the unmanned aerial vehicle to acquire images according to the planning data, acquiring acquired images and uploading the acquired images to the cloud; the cloud performs orthographic correction, blank three calculation and image stitching on the acquired images to obtain second acquired images; according to the method, an orchard three-dimensional model and an orchard health index three-dimensional model are obtained according to the second acquired image, and for the fruit trees needing to be concerned, coordinate information of the fruit trees needing to be concerned is obtained and uploaded to an unmanned aerial vehicle system, and the unmanned aerial vehicle system acquires panoramic images according to the coordinate information, so that bidirectional linkage and display between the three-dimensional model and panoramic data are realized, visual interaction experience sense of the data is enhanced, and complementary advantages of the three-dimensional model and the panoramic data are achieved.
Description
Technical Field
The application belongs to the field of unmanned aerial vehicle surveying and image generation, and particularly relates to a panoramic display linkage method for three-dimensional scenes and key areas of an orchard.
Background
At present, orchard display based on unmanned aerial vehicle mainly comprises two-dimensional image display, and three-dimensional growth scenes and panoramic images are not combined. In the present stage, the growth condition of the fruit trees is usually reflected by using a two-dimensional image, but in regions such as southwest of China, the orchards are generally planted in hills, hills and other areas, the geographic fall in the orchards is large, the two-dimensional image cannot display the difference of the terrains, the overall observation effect is poor, and the method is not intuitive.
Disclosure of Invention
In order to overcome the phenomenon that the three-dimensional growth scene is not combined with the panoramic image in the related art at least to a certain extent, the application provides an automatic panoramic display method for the three-dimensional scene and key areas of an orchard.
The scheme of the application is as follows:
according to an aspect of the embodiments of the present disclosure, there is provided a method for panoramic linkage display of three-dimensional scenes and key areas of an orchard, including:
acquiring an unmanned aerial vehicle system, calling the unmanned aerial vehicle by the unmanned aerial vehicle system to carry out route planning on an orchard area, obtaining planning data, and uploading the planning data to the unmanned aerial vehicle system;
the unmanned aerial vehicle remote control module in the unmanned aerial vehicle system calls the unmanned aerial vehicle to acquire images according to planning data, a first acquired image is obtained, and the acquired image is uploaded to the cloud, wherein the first acquired image comprises a first visible light image and a first multispectral image;
the cloud performs orthographic correction, blank three calculation and image stitching on the acquired images to obtain second acquired images, wherein the second acquired images comprise second visible light images, second multispectral orthographic images and DSM data; obtaining the plant height and crown size of the fruit tree according to DSM data; obtaining indexes of vegetation index, LAI, chlorophyll content and nitrogen content according to the multispectral image;
obtaining a fruit tree health index according to the plant height, the crown size, the vegetation index, the LAI, the chlorophyll content and the nitrogen content index of the fruit tree;
obtaining an orchard three-dimensional model according to the second multispectral orthographic image and DSM data; obtaining a three-dimensional model of the health index of the fruit tree according to the health index of the fruit tree and DSM data; according to the three-dimensional model of the orchard and the three-dimensional model of the health index of the fruit tree, aiming at the fruit tree needing to be concerned, acquiring a panoramic image of the fruit tree needing to be concerned;
and acquiring panoramic data of the panoramic image, and sending the panoramic data to the three-dimensional model of the orchard to realize linkage display of the three-dimensional model data and the panoramic data.
According to another aspect of embodiments of the present disclosure, obtaining a vegetation index from a multispectral image includes:
for the vegetation index, a normalized vegetation index is selected, and the calculation formula of the normalized vegetation index is as follows:
NDVI＝(R nir -R red )/(R nir +R red )；
wherein NDVI is normalized vegetation index, R nir For reflectivity in the near infrared band, R red Is the reflectance of the red band.
According to another aspect of the disclosed embodiments, a three-dimensional model of a health index of a fruit tree is obtained from the health index of the fruit tree and DSM data, comprising:
aiming at a three-dimensional model of the health index of the fruit tree, the model formula is as follows:
y＝f(h，s，LAI，Car，N)；
wherein y represents the health index of the fruit tree, f is a weighted calculation rule, h is the plant height of the fruit tree, s is the crown size, LAI is the leaf area index, car is the chlorophyll content, and N is the nitrogen content index.
According to another aspect of the disclosed embodiments, obtaining panoramic data of a panoramic image, and transmitting the panoramic data to an orchard three-dimensional model, implementing linkage display of the three-dimensional model data and the panoramic data, includes:
transmitting panoramic data to the three-dimensional model of the orchard, displaying the panoramic data as mark points, and displaying panoramic images of the mark point positions by clicking the mark points to realize linkage display of the three-dimensional model data and the panoramic data;
clicking any designated position in the three-dimensional model of the orchard according to the user demand, matching the nearest panoramic data coordinate information in the panoramic database according to the coordinate information of the designated position by an algorithm, and carrying out panoramic display according to the panoramic data coordinate information.
According to an aspect of the embodiments of the present disclosure, there is provided a device for panoramic linkage display of three-dimensional scenes and key areas of an orchard, including:
planning data acquisition module: acquiring an unmanned aerial vehicle system, calling the unmanned aerial vehicle by the unmanned aerial vehicle system to carry out route planning on an orchard area, obtaining planning data, and uploading the planning data to the unmanned aerial vehicle system;
the acquisition image acquisition module is used for: the unmanned aerial vehicle remote control module in the unmanned aerial vehicle system calls the unmanned aerial vehicle to collect images according to planning data to obtain collected images, and the collected images are uploaded to a cloud, wherein the collected images comprise a first visible light image and a first multispectral image;
and the acquisition image processing module is used for: the cloud performs orthographic correction, blank three calculation and image stitching on the acquired images to obtain second acquired images, wherein the second acquired images comprise second visible light images, second multispectral orthographic images and DSM data; obtaining the plant height and crown size of the fruit tree according to DSM data; obtaining indexes of vegetation index, LAI, chlorophyll content and nitrogen content according to the multispectral image;
the fruit tree health index acquisition module: obtaining a fruit tree health index according to the plant height, the crown size, the vegetation index, the LAI, the chlorophyll content and the nitrogen content index of the fruit tree;
panoramic image acquisition module: obtaining an orchard three-dimensional model according to the second multispectral orthographic image and DSM data; obtaining a three-dimensional model of the health index of the fruit tree according to the health index of the fruit tree and DSM data; according to the three-dimensional model of the orchard and the three-dimensional model of the health index of the fruit tree, aiming at the fruit tree needing to be concerned, acquiring a panoramic image of the fruit tree needing to be concerned;
and the linkage module is used for: and acquiring panoramic data of the panoramic image, and sending the panoramic data to the three-dimensional model of the orchard to realize linkage display of the three-dimensional model data and the panoramic data.
According to an aspect of the embodiments of the present disclosure, there is provided a system for panoramic linkage display of three-dimensional scenes and key areas of an orchard, including:
the system comprises an unmanned aerial vehicle system, an unmanned aerial vehicle remote control module, an unmanned aerial vehicle image processing module, a three-dimensional model display module and a panoramic data display module;
the unmanned aerial vehicle system is applied to acquiring source data of three-dimensional scenes and panoramic views of key areas of an orchard, and functions of remote control, autonomous flight, autonomous charging and automatic data uploading are realized;
the unmanned aerial vehicle remote control module is applied to a remote control unmanned aerial vehicle system and comprises a hangar remote function control, unmanned aerial vehicle route planning, remote uploading unmanned aerial vehicle planned route and unmanned aerial vehicle data remote checking and uploading;
the unmanned aerial vehicle image processing module is applied to splicing of unmanned aerial vehicle images, and comprises splicing of unmanned aerial vehicle orthographic images and splicing of unmanned aerial vehicle panoramic images;
the three-dimensional model display module is applied to display an orchard three-dimensional model generated based on the visible light orthographic image and DSM data, and realizes the functions of providing three-dimensional data storage and export;
the panoramic data display module is applied to displaying panoramic images generated based on unmanned aerial vehicles, and achieves the functions of providing panoramic data storage and export.
According to an aspect of the embodiments of the present disclosure, there is provided a computer readable storage medium, where a computer program is stored on the computer readable storage medium, and a processor executes the computer program to implement a method for panoramic linkage display of an orchard three-dimensional scene and a key region according to any one of the above embodiments.
The technical scheme provided by the application can comprise the following beneficial effects:
the application provides a bidirectional linkage storage and display platform for panoramic data and three-dimensional model data, which processes unmanned aerial vehicle data into a displayable three-dimensional model and panoramic data, stores and distributes the data, and correlates the data with coordinate position information, so that bidirectional linkage and display between the three-dimensional model and the panoramic data are realized, visual interaction experience of the data is enhanced, and complementary advantages of the three-dimensional model and the panoramic data are achieved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort to a person of ordinary skill in the art.
Fig. 1 is a schematic diagram of a method for panoramic linkage display of three-dimensional scenes and key areas of an orchard according to an embodiment of the present disclosure;
fig. 2 is a technical idea roadmap of a method for panoramic linkage display of three-dimensional scenes and key areas of an orchard in an embodiment of the disclosure;
fig. 3 is a schematic device diagram of a device for panoramic linkage display of three-dimensional scenes and key areas of an orchard according to an embodiment of the present disclosure;
fig. 4 is a system schematic diagram of a system for panoramic linkage display of three-dimensional scenes and key areas of an orchard in a disclosed embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the technical solutions of the embodiments of the present disclosure will be described in detail below. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, based on the examples herein, which are within the scope of the application as defined by the claims, will be within the scope of the application as defined by the claims.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The terms "first," "second," and the like in embodiments of the present disclosure are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion, such as a series of steps or elements. The method, system, article, or apparatus is not necessarily limited to those explicitly listed but may include other steps or elements not explicitly listed or inherent to such process, method, article, or apparatus.
At present, aiming at the distribution of orchard growth vigor, the prior art adopts two-dimensional images for observation, but in southwest areas or areas with overlarge geographic differences in China, the orchard is often planted in hills, hills and other areas, the fall in the orchard is large, the two-dimensional images cannot display the difference of terrains, and the overall observation effect is poor.
Therefore, aiming at the problems in the prior art, the embodiment of the disclosure generates the three-dimensional model of the orchard and the three-dimensional model of the health index of the fruit tree by combining the two-dimensional image with DSM data, so that the more visual display of the orchard is realized. Meanwhile, the unmanned aerial vehicle system is combined, bidirectional linkage of the three-dimensional scene and the panoramic image of the orchard is realized, coordinate information of the key areas, which are observed by the three-dimensional scene, is uploaded to the unmanned aerial vehicle system, automatic display of the full images of the key areas is realized, and meanwhile, the expert diagnosis system is combined, so that reasonable farming operation is performed on the key areas.
According to the embodiment of the disclosure, the intelligent management of the orchard is realized by adopting the fairy 4 multispectral unmanned aerial vehicle, the construction of the three-dimensional scene of the orchard and the panoramic display of the fruit trees in the key areas of the orchard, wherein the unmanned aerial vehicle is not limited in model number, and can achieve the effect realized by the embodiment of the disclosure.
Meanwhile, the Beijing valley Beijing tile demonstration center is taken as an example for a research area, the land area is about 3 mu, and the planted fruit trees are peach trees.
For data acquisition, the unmanned aerial vehicle image acquisition time in the embodiment of the disclosure is 2023, 4, 30 days. The unmanned aerial vehicle high-resolution multispectral image acquisition equipment is a large-scale Phantom 4 multispectral version, 200 ten thousand pixels, and camera calibration and unmanned aerial vehicle route planning are completed by adopting DJI GS Pro ground station software at an IPAD end. RTK differential services use a thousand-view position centimeter-level differential positioning service. The three-dimensional model of the unmanned aerial vehicle is constructed, image data are obtained in a route planning mode, the flying height is 50m, and the course overlapping degree and the side overlapping degree are 75% in route planning. The unmanned aerial vehicle panoramic image construction data are obtained in a fixed-point flight mode, and a plurality of photos at different angles are respectively taken according to a preset program to synthesize a panoramic image.
According to the preparation work, the embodiment of the disclosure provides a panoramic linkage display method for three-dimensional scene and key area of an orchard, as shown in fig. 1, including:
s101: acquiring an unmanned aerial vehicle system, calling the unmanned aerial vehicle by the unmanned aerial vehicle system to carry out route planning on an orchard area, obtaining planning data, and uploading the planning data to the unmanned aerial vehicle system;
s102: the unmanned aerial vehicle remote control module in the unmanned aerial vehicle system calls the unmanned aerial vehicle to acquire images according to planning data, a first acquired image is obtained, and the acquired image is uploaded to the cloud, wherein the first acquired image comprises a first visible light image and a first multispectral image;
s103: the cloud performs orthographic correction, blank three calculation and image stitching on the acquired images to obtain second acquired images, wherein the second acquired images comprise second visible light images, second multispectral orthographic images and DSM data; obtaining the plant height and crown size of the fruit tree according to DSM data; obtaining indexes of vegetation index, LAI, chlorophyll content and nitrogen content according to the multispectral image;
s104: obtaining a fruit tree health index according to the plant height, the crown size, the vegetation index, the LAI, the chlorophyll content and the nitrogen content index of the fruit tree;
s105: obtaining an orchard three-dimensional model according to the second multispectral orthographic image and DSM data; obtaining a three-dimensional model of the health index of the fruit tree according to the health index of the fruit tree and DSM data; judging the growth situation of the fruit trees according to the three-dimensional model of the orchard and the three-dimensional model of the health index of the fruit trees, and acquiring the position information of the fruit trees to be concerned according to the growth situation of the fruit trees to be concerned, uploading the position information to an unmanned aerial vehicle system, and calling the unmanned aerial vehicle by the unmanned aerial vehicle system to acquire panoramic images of the fruit trees to be concerned;
aiming at fruit trees needing attention, including but not limited to poor growth vigor, good growth vigor, marking and the like, the method aims at distinguishing the fruit trees from other fruit trees which are not paying attention.
In order to ensure the resolution of panoramic images and the safety of unmanned aerial vehicles, DSM data are combined during route planning, and the flying height of the unmanned aerial vehicles during panoramic data acquisition is set at the position 1-2 m above fruit trees. Meanwhile, when the panoramic image of the unmanned aerial vehicle is shot, the unmanned aerial vehicle flies to a designated place to hover according to a dialogue route, and then photos with different azimuth angles are shot according to a preset program. The shooting steps are that photos are respectively obtained at positions with yaw angles of 0, 45, 90, 135, 180, 225, 270 and 315 degrees according to angles with pitch angles of-90, -45, 0 and 45 degrees, and 32 unmanned aerial vehicle images with different angles are obtained in total. After the unmanned aerial vehicle image shooting is completed, the unmanned aerial vehicle image shooting is automatically uploaded to a cloud server through an unmanned aerial vehicle library, the cloud server integrates an unmanned aerial vehicle panoramic image splicing program, and the unmanned aerial vehicle panoramic image shooting is automatically uploaded to a platform panoramic display module after the unmanned aerial vehicle panoramic image shooting is spliced.
S106: and acquiring panoramic data of the panoramic image, uploading the panoramic data to the cloud end, and realizing linkage display of the three-dimensional model of the orchard and the panoramic data through the position information of the panoramic image.
In one possible embodiment, obtaining a vegetation index from the multispectral image includes:
according to the embodiment of the disclosure, the vegetation index is generated through band calculation by utilizing the reflectivity images of different bands;
the vegetation index is normalized, and a calculation formula (1) of the normalized vegetation index is:
NDVI＝(Rnir-Rred)/(Rnir+Rred) (1)；
wherein, NDVI is normalized vegetation index, rnir is the reflectivity of near infrared band, and Rred is the reflectivity of red band.
In one possible embodiment, obtaining a three-dimensional model of the health index of the fruit tree based on the health index of the fruit tree and the DSM data, comprises:
aiming at a three-dimensional model of the health index of the fruit tree, the model formula (2) is as follows:
y＝f(h，s，LAI，Car，N) (2)；
wherein y represents the health index of the fruit tree, f is a weighted calculation rule, h is the plant height of the fruit tree, s is the crown size, LAI is the leaf area index, car is the chlorophyll content, and N is the nitrogen content index.
In the embodiment of the disclosure, the plant height and the crown width of the fruit tree are extracted by using DSM data, the crown width, leaf area index, chlorophyll content and nitrogen content index of the fruit tree are inverted by using a radiation transmission model, and weighting calculation is performed between the vegetation index and each biochemical parameter, so that the evaluation of the health index of the fruit tree is realized. Combining the fruit tree health index inversion result graph with DSM data, enabling the health index inversion graph to acquire elevation information from the DSM, floating by utilizing the elevation information, and enabling the original grid resolution to be unchanged, so that a three-dimensional model of the fruit tree health index in the area can be generated.
For the three-dimensional model of the orchard displayed in the three-dimensional model display module, in the embodiment of the disclosure, the orthographic image is combined with the DSM data to acquire elevation information from the DSM, and the elevation information is utilized to float, so that the original grid resolution is kept unchanged, and the three-dimensional model of the fruit tree in the area can be generated.
The fruit tree health index is combined with DSM data to obtain elevation information from the DSM, and the elevation information is utilized to float, so that the original grid resolution is kept unchanged, and a three-dimensional model of the fruit tree health index in the area can be generated.
In a possible embodiment, panoramic data of a panoramic image is obtained, the panoramic data is uploaded to a cloud end, and linkage display of an orchard three-dimensional model and the panoramic data is realized through position information of the panoramic image, wherein a technical idea route diagram for realizing linkage display of dimension model data and the panoramic data is shown in fig. 3, and the method comprises the following steps:
transmitting panoramic data to the three-dimensional model of the orchard, displaying the panoramic data as mark points, and displaying panoramic images of the mark point positions by clicking the mark points to realize linkage display of the three-dimensional model data and the panoramic data;
clicking any designated position in the three-dimensional model of the orchard according to the user demand, matching the nearest panoramic data coordinate information in the panoramic database according to the coordinate information of the designated position by an algorithm, and carrying out panoramic display according to the panoramic data coordinate information.
According to an aspect of the embodiments of the present disclosure, there is provided a device for panoramic linkage display of three-dimensional scene and key areas of an orchard, as shown in fig. 3, including:
planning data acquisition module 301: acquiring an unmanned aerial vehicle system, calling the unmanned aerial vehicle by the unmanned aerial vehicle system to carry out route planning on an orchard area, obtaining planning data, and uploading the planning data to the unmanned aerial vehicle system;
acquisition image acquisition module 302: the unmanned aerial vehicle remote control module in the unmanned aerial vehicle system calls the unmanned aerial vehicle to acquire images according to planning data, a first acquired image is obtained, and the acquired image is uploaded to the cloud, wherein the first acquired image comprises a first visible light image and a first multispectral image;
the acquired image processing module 303: the cloud performs orthographic correction, blank three calculation and image stitching on the acquired images to obtain second acquired images, wherein the second acquired images comprise second visible light images, second multispectral orthographic images and DSM data; obtaining the plant height and crown size of the fruit tree according to DSM data; obtaining indexes of vegetation index, LAI, chlorophyll content and nitrogen content according to the multispectral image;
fruit tree health index acquisition module 304: obtaining a fruit tree health index according to the plant height, the crown size, the vegetation index, the LAI, the chlorophyll content and the nitrogen content index of the fruit tree;
panoramic image acquisition module 305: obtaining an orchard three-dimensional model according to the second multispectral orthographic image and DSM data; obtaining a three-dimensional model of the health index of the fruit tree according to the health index of the fruit tree and DSM data; judging the growth situation of the fruit trees according to the three-dimensional model of the orchard and the three-dimensional model of the health index of the fruit trees, and acquiring the position information of the fruit trees to be concerned according to the growth situation of the fruit trees to be concerned, uploading the position information to an unmanned aerial vehicle system, and calling the unmanned aerial vehicle by the unmanned aerial vehicle system to acquire panoramic images of the fruit trees to be concerned;
linkage module 306: and acquiring panoramic data of the panoramic image, uploading the panoramic data to the cloud end, and realizing linkage display of the three-dimensional model of the orchard and the panoramic data through the position information of the panoramic image.
According to an aspect of the embodiments of the present disclosure, there is provided a system for panoramic linkage display of three-dimensional scene and key areas of an orchard, as shown in fig. 4, including:
the unmanned aerial vehicle system 401, the unmanned aerial vehicle remote control module 402, the unmanned aerial vehicle image processing module 403, the three-dimensional model display module 404 and the panoramic data display module 405;
the unmanned aerial vehicle system 401 is applied to acquiring source data of an orchard three-dimensional scene and a panoramic view of a key area, and functions of remote control, autonomous flight, autonomous charging and automatic data uploading are realized;
the unmanned aerial vehicle remote control module 402 is applied to a remote control unmanned aerial vehicle system and comprises a hangar remote function control, unmanned aerial vehicle route planning, remote uploading unmanned aerial vehicle planned route and unmanned aerial vehicle data remote viewing and uploading;
the unmanned aerial vehicle image processing module 403 is applied to splicing unmanned aerial vehicle images, including splicing unmanned aerial vehicle orthographic images and splicing unmanned aerial vehicle panoramic images;
the three-dimensional model display module 404 is applied to display an orchard three-dimensional model generated based on the visible light orthographic image and the DSM data, and realizes the functions of providing three-dimensional data storage and export;
the panoramic data display module 405 is applied to display panoramic images generated based on unmanned aerial vehicles, and achieves the functions of providing panoramic data storage and export.
According to an aspect of the embodiments of the present disclosure, a computer readable storage medium is provided, on which a computer program is stored, and a processor executes the computer program to implement a method for panoramic linkage display of an orchard three-dimensional scene and a key region according to any one of the above embodiments.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the embodiments of the present disclosure may be performed in parallel, sequentially, or in a different order, so long as the desired result of the technical solution disclosed in the embodiments of the present disclosure can be achieved, and the present disclosure is not limited herein.
The above detailed description should not be construed as limiting the scope of the embodiments of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the embodiments of the present disclosure are intended to be included within the scope of the embodiments of the present disclosure.
Claims (7)
1. A panoramic linkage display method for an orchard three-dimensional scene and a key area is characterized by comprising the following steps:
acquiring an unmanned aerial vehicle system, calling an unmanned aerial vehicle to carry out route planning on an orchard area by the unmanned aerial vehicle system, obtaining planning data, and uploading the planning data to the unmanned aerial vehicle system;
the unmanned aerial vehicle remote control module in the unmanned aerial vehicle system calls an unmanned aerial vehicle to acquire images according to the planning data, a first acquired image is obtained, and the acquired image is uploaded to a cloud, wherein the first acquired image comprises a first visible light image and a first multispectral image;
the cloud performs orthographic correction, blank three calculation and image stitching on the acquired images to obtain second acquired images, wherein the second acquired images comprise second visible light images, second multispectral orthographic images and DSM data; obtaining the plant height and crown size of the fruit tree according to the DSM data; obtaining indexes of vegetation index, LAI, chlorophyll content and nitrogen content according to the multispectral image;
obtaining a fruit tree health index according to the plant height, the crown size, the vegetation index, the LAI, the chlorophyll content and the nitrogen content index of the fruit tree;
obtaining an orchard three-dimensional model according to the second multispectral orthographic image and DSM data; obtaining a three-dimensional model of the health index of the fruit tree according to the health index of the fruit tree and DSM data; judging the growth condition of the fruit tree according to the three-dimensional model of the orchard and the three-dimensional model of the health index of the fruit tree, and acquiring the position information of the fruit tree to be concerned according to the growth condition of the fruit tree to be concerned and uploading the position information to an unmanned aerial vehicle system, wherein the unmanned aerial vehicle system calls an unmanned aerial vehicle to acquire the panoramic image of the fruit tree to be concerned;
and acquiring panoramic data of the panoramic image, uploading the panoramic data to a cloud end, and realizing linkage display of the orchard three-dimensional model and the panoramic data through position information of the panoramic image.
2. The method of claim 1, wherein deriving a vegetation index from the multispectral image comprises:
for the vegetation index, a normalized vegetation index is selected, and the calculation formula of the normalized vegetation index is as follows:
NDVI＝(R nir -R red )/(R nir +R red )；
wherein NDVI is normalized vegetation index, R nir For reflectivity in the near infrared band, R red Is the reflectance of the red band.
3. The method of claim 1, wherein deriving a three-dimensional model of the fruit tree health index from the fruit tree health index and the DSM data comprises:
aiming at the three-dimensional model of the health index of the fruit tree, the model formula is as follows:
y＝f(h，s，LAI，Car，N)；
wherein y represents the health index of the fruit tree, f is a weighted calculation rule, h is the plant height of the fruit tree, s is the crown size, LAI is the leaf area index, car is the chlorophyll content, and N is the nitrogen content index.
4. The method of claim 1, wherein obtaining panoramic data of a panoramic image, uploading the panoramic data to a cloud, and implementing coordinated display of an orchard three-dimensional model and the panoramic data by position information of the panoramic image, comprises:
transmitting the panoramic data to an orchard three-dimensional model, displaying the panoramic data as a mark point, and displaying the panoramic image of the position of the mark point by clicking the mark point to realize linkage display of the three-dimensional model data and the panoramic data;
clicking any position in the orchard three-dimensional model according to the user requirement, matching the nearest panoramic data coordinate information in a panoramic database according to the coordinate information of the designated position by an algorithm, and carrying out panoramic display according to the panoramic data coordinate information.
5. Device of panorama linkage show in three-dimensional scene in orchard and key region, its characterized in that includes:
planning data acquisition module: acquiring an unmanned aerial vehicle system, calling an unmanned aerial vehicle to carry out route planning on an orchard area by the unmanned aerial vehicle system, obtaining planning data, and uploading the planning data to the unmanned aerial vehicle system;
the acquisition image acquisition module is used for: the unmanned aerial vehicle remote control module in the unmanned aerial vehicle system calls an unmanned aerial vehicle to acquire images according to the planning data, a first acquired image is obtained, and the acquired image is uploaded to a cloud, wherein the first acquired image comprises a first visible light image and a first multispectral image;
and the acquisition image processing module is used for: the cloud performs orthographic correction, blank three calculation and image stitching on the acquired images to obtain second acquired images, wherein the second acquired images comprise second visible light images, second multispectral orthographic images and DSM data; obtaining the plant height and crown size of the fruit tree according to the DSM data; obtaining indexes of vegetation index, LAI, chlorophyll content and nitrogen content according to the multispectral image;
the fruit tree health index acquisition module: obtaining a fruit tree health index according to the plant height, the crown size, the vegetation index, the LAI, the chlorophyll content and the nitrogen content index of the fruit tree;
panoramic image acquisition module: obtaining an orchard three-dimensional model according to the second multispectral orthographic image and DSM data; obtaining a three-dimensional model of the health index of the fruit tree according to the health index of the fruit tree and DSM data; judging the growth condition of the fruit tree according to the three-dimensional model of the orchard and the three-dimensional model of the health index of the fruit tree, and acquiring the position information of the fruit tree to be concerned according to the growth condition of the fruit tree to be concerned and uploading the position information to an unmanned aerial vehicle system, wherein the unmanned aerial vehicle system calls an unmanned aerial vehicle to acquire the panoramic image of the fruit tree to be concerned;
and the linkage module is used for: and acquiring panoramic data of the panoramic image, uploading the panoramic data to a cloud end, and realizing linkage display of the orchard three-dimensional model and the panoramic data through position information of the panoramic image.
6. The utility model provides a system of panorama linkage show of three-dimensional scene in orchard and key region which characterized in that includes:
the system comprises an unmanned aerial vehicle system, an unmanned aerial vehicle remote control module, an unmanned aerial vehicle image processing module, a three-dimensional model display module and a panoramic data display module;
the unmanned aerial vehicle system is applied to acquiring source data of three-dimensional scenes and panoramic views of key areas of an orchard, and achieves functions of remote control, autonomous flight, autonomous charging and automatic data uploading;
the unmanned aerial vehicle remote control module is applied to remotely controlling the unmanned aerial vehicle system and comprises a hangar remote function control, unmanned aerial vehicle route planning, remote uploading unmanned aerial vehicle planned routes and unmanned aerial vehicle data remote viewing and uploading;
the unmanned aerial vehicle image processing module is applied to splicing of unmanned aerial vehicle images, and comprises splicing of unmanned aerial vehicle orthographic images and splicing of unmanned aerial vehicle panoramic images;
the three-dimensional model display module is applied to display an orchard three-dimensional model generated based on visible light orthographic images and DSM data, and realizes the functions of providing three-dimensional data storage and derivation;
the panoramic data display module is applied to displaying panoramic images generated based on unmanned aerial vehicles, and achieves the functions of providing panoramic data storage and export.
7. A computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and a processor executes the computer program to implement the method for panoramic linkage presentation of three-dimensional scenes and key areas of an orchard according to any one of claims 1-4.
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