WO2020107354A1 - Control method and device - Google Patents

Control method and device Download PDF

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Publication number
WO2020107354A1
WO2020107354A1 PCT/CN2018/118297 CN2018118297W WO2020107354A1 WO 2020107354 A1 WO2020107354 A1 WO 2020107354A1 CN 2018118297 W CN2018118297 W CN 2018118297W WO 2020107354 A1 WO2020107354 A1 WO 2020107354A1
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WO
WIPO (PCT)
Prior art keywords
target
spraying
area
map
dimensional map
Prior art date
Application number
PCT/CN2018/118297
Other languages
French (fr)
Chinese (zh)
Inventor
li'we
李焕婷
雷蔚然
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201880069355.2A priority Critical patent/CN111279284B/en
Priority to PCT/CN2018/118297 priority patent/WO2020107354A1/en
Publication of WO2020107354A1 publication Critical patent/WO2020107354A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/29—Geographical information databases

Definitions

  • the embodiments of the present invention relate to the technical field of unmanned aerial vehicles, and in particular, to a control method and equipment.
  • the existing spraying method is not highly intelligent and convenient. For example, the operator needs to observe the target crop through the naked eye and manually control the drone to spray the target crop, which will result in low spraying efficiency.
  • Embodiments of the present invention provide a control method and device, which can quickly and intuitively help users observe target crops to be sprayed in the environment, so as to quickly generate spray control information and improve spraying efficiency.
  • an embodiment of the present invention provides a control method, including:
  • the two-dimensional map is obtained based on a captured image obtained when the mapping drone is flying over the target area;
  • Determining a target map area corresponding to the target crop in the two-dimensional map wherein the target map area is used to determine spray control information, and the spray control information is used to control spraying of the target crop by a spray drone ;
  • the identifier is displayed on the target map area in the two-dimensional map displayed by the display device.
  • an embodiment of the present invention provides a control device, including: a processor and a display device;
  • the processor is configured to obtain a two-dimensional map of a target area, wherein the target area includes a target crop, and the two-dimensional map is obtained based on a captured image obtained when the mapping drone is flying on the target area;
  • the display device is configured to display the two-dimensional map obtained by the processor
  • the processor is further configured to determine a target map area corresponding to the target crop in the two-dimensional map, wherein the target map area is used to determine spray control information, and the spray control information is used to control unmanned spraying Machine spraying the target crops;
  • the display device is also used to display the identifier on the target map area in the displayed two-dimensional map.
  • an embodiment of the present invention provides a computer-readable storage medium that stores a computer program, where the computer program includes at least one piece of code that can be executed by a computer to control The computer executes the control method described in the first aspect of the embodiment of the present invention.
  • an embodiment of the present invention provides a computer program.
  • the computer program When the computer program is executed by a computer, it is used to implement the control method described in the first aspect of the present invention.
  • the control method and device provided by the embodiments of the present invention obtain and display a two-dimensional map of a target area on a display device, wherein the target area includes a target crop, and the two-dimensional map is based on a mapping UAV Obtained from the captured images acquired while flying over the area; determining the target map area corresponding to the target crop in the two-dimensional map, wherein the target map area is used to determine spray control information, and the spray control information is used to control Spraying the drone to the target crop; displaying an identifier on the target map area in the two-dimensional map displayed by the display device.
  • the user can quickly and intuitively determine the target map area in the two-dimensional map by identifying the identifier, and the target map area is the area that needs to be sprayed, so as to obtain spray control information more intelligently and quickly, improving the spray effect , Improve the spraying efficiency.
  • FIG. 1 is a schematic diagram of a surveying and mapping drone for mapping a target crop area provided by an embodiment of the present invention
  • FIG. 2 is a schematic diagram of an application scenario provided by an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of spraying a plurality of target crops by a spray drone provided by an embodiment of the present invention
  • FIG. 5 is a schematic diagram of displaying a two-dimensional map on a display device according to an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of displaying an identifier on a two-dimensional map provided by an embodiment of the present invention.
  • FIG. 7 is a schematic diagram of editing an initial map area provided by an embodiment of the present invention.
  • FIG. 8 is another schematic diagram of editing an initial map area provided by an embodiment of the present invention.
  • FIG. 9 is a schematic diagram of selecting a spraying operation area provided by an embodiment of the present invention.
  • FIG. 10 is a schematic diagram of displaying a three-dimensional scene provided by an embodiment of the present invention.
  • FIG. 11 is a schematic diagram of displaying an identifier in a three-dimensional scene provided by an embodiment of the present invention.
  • FIG. 12 is a schematic diagram of displaying spray control information in a three-dimensional scene provided by an embodiment of the present invention.
  • FIG. 13 is a schematic diagram showing spraying control information displayed in a three-dimensional scene with an identifier provided by an embodiment of the present invention
  • FIG. 14 is a schematic structural diagram of a control device according to an embodiment of the present invention.
  • 15 is a schematic structural diagram of a control system according to an embodiment of the present invention.
  • a component when a component is said to be “fixed” to another component, it can be directly on another component or it can also exist in a centered component. When a component is considered to be “connected” to another component, it can be directly connected to another component or there can be centered components at the same time.
  • FIG. 1 is a schematic diagram of a surveying and mapping drone for mapping a target crop area according to an embodiment of the present invention.
  • the two-dimensional map includes a target map area, and the target map area indicates that a plurality of target crops are planted.
  • the target crop may be any agricultural crop.
  • the target crop may include trees, Furthermore, the trees may include fruit trees, tea trees, rubber trees, etc., but the embodiments of the present invention are not limited thereto.
  • FIG. 1 is a schematic diagram of a surveying and mapping drone for mapping a target crop area according to an embodiment of the present invention.
  • the target crop may be any agricultural crop.
  • the target crop may include trees,
  • the trees may include fruit trees, tea trees, rubber trees, etc., but the embodiments of the present invention are not limited thereto.
  • FIG. 1 is a schematic diagram of a surveying and mapping drone for mapping a target crop area according to an embodiment of the present invention.
  • the target crop may be any agricultural crop.
  • the target crop may include trees
  • FIG. 2 is a schematic diagram of an application scenario provided by an embodiment of the present invention.
  • FIG. 2 shows a mapping drone 101, a control device 102, a spray drone 103, and a ground control terminal 104.
  • the control device 102 is any device that can determine spray control information according to the two-dimensional map of the target area as described above.
  • the control device 102 can be a terminal device with a display screen, including, for example, a smartphone, a desktop computer, and a laptop.
  • the embodiment of the present invention uses the control device 102 as a computer for schematic description, but the embodiment of the present invention is not limited thereto.
  • the ground control terminal 104 spraying the drone 103 may be one or more of a remote control, a smart phone, a desktop computer, a laptop computer, and a wearable device (watch, bracelet).
  • the embodiment of the present invention takes the ground control terminal 104 as the remote controller 1041 and the terminal device 1042 as an example for schematic description.
  • the terminal device 1042 is, for example, a smart phone, a wearable device, a tablet computer, etc., but the embodiment of the present invention is not limited thereto.
  • the control device 102 and the terminal device 1042 may be the same device.
  • the mapping drone 101 can obtain the image output by the shooting device, and obtain a two-dimensional map of the target area according to the image, wherein the two-dimensional map of the target area is used to determine the spraying of the drone on the multiple plants Spray control information for spraying target crops.
  • the control device 102 may obtain the two-dimensional map of the target area from the mapping drone 101 by direct or indirect, wired communication or wireless communication, and determine spray control information according to the two-dimensional map, wherein, the The spraying control information is used to control the spraying of the spraying drone 103 to the multiple target crops in the target area.
  • the control device 102 may obtain a two-dimensional map of the target area from other methods than the mapping drone 101.
  • the spraying drone 103 can obtain the spraying control information from the control device 102 through direct or indirect, wired communication or wireless communication, and spray each target crop in the target crop area according to the spraying control information control.
  • the control device 102 may send the spray control information to the ground control terminal 104 of the spray drone 103, and the ground control terminal 104 of the spray drone 103 may spray according to the control of the spray drone 103.
  • the operation information controls the spray drone 103 to spray the target crop.
  • the control device 102 may send the spray control information to the spray drone 103, and the spray drone 103 may spray the target crop according to the spray control information, as shown in FIG. 3.
  • FIG. 4 is a flowchart of a control method provided by an embodiment of the present invention. As shown in FIG. 4, the method of this embodiment may be applied to a control device, for example. The method of this embodiment may include:
  • the control device may obtain a two-dimensional map of the target area.
  • the target area may be an area specified by the user as needed, and the target area includes the target crop.
  • the target crop is, for example, a tree. Ground, the tree is, for example, a fruit tree.
  • the target crop of this embodiment is not limited to this.
  • the two-dimensional map of the target area is obtained based on the captured image obtained when the mapping UAV is flying on the target area.
  • the shooting drone is equipped with a shooting device.
  • the shooting device arranged on the mapping drone can shoot the target area, so as to obtain the shooting image output by the shooting device.
  • the surveying and mapping UAV can fly in the target area according to a pre-planned route.
  • the shooting device may be shooting at the same interval or shooting at the same time when the drone is flying.
  • the surveying and mapping drone may generate a two-dimensional map of the target area according to the captured image. Then, the control device obtains the two-dimensional map.
  • the control device receives the two-dimensional map sent by the mapping drone through a wireless communication connection or a wired communication connection, wherein the wired communication connection or the wireless communication connection
  • the communication may be direct communication, that is, point-to-point communication, or indirect communication, that is, communication is performed through an intermediate device (such as a ground control end of a mapping drone).
  • the mapping drone stores the two-dimensional map in a storage device, and the control device obtains the two-dimensional map from the storage device.
  • the storage device is, for example, a secure digital memory (Secure Digital Memory Card, SD card). This embodiment is not limited to this.
  • the surveying and mapping drone can store the obtained two-dimensional map in the SD card, and then the user removes the SD card from the surveying and mapping. Unplug the UAV and insert it into the control device. The control device obtains a two-dimensional map from the SD card inserted into it.
  • the control device may acquire the captured image, and then the control device generates a two-dimensional map of the target area according to the captured image.
  • the control device For how to obtain the captured image by the control device, please refer to the related description of how to obtain the two-dimensional map by the control device, which will not be repeated here.
  • the control device has a display device. After the control device obtains the two-dimensional map of the target area, the two-dimensional map of the target area is displayed on the display device, so that the user can learn the two-dimensional map of the target area through the display device.
  • the two-dimensional map of the target area displayed on the display device is shown in FIG. 5, it should be noted that the two-dimensional map shown in FIG. 5 is black and white, but in practical applications, the two-dimensional map displayed by the display device It can be in color.
  • S402. Determine a target map area corresponding to the target crop in the two-dimensional map.
  • control device may be based on a target map area corresponding to the target crop in the two-dimensional map, and the target map area may refer to a map area where the target crop is planted in the two-dimensional map.
  • the position information of the target map area corresponding to the target crop in the two-dimensional map can represent the position information of the target crop.
  • the size of the target map area can represent the horizontal size of the target crop.
  • the target map area is used to determine spraying control information
  • the spraying control information is used to control spraying of the target crop by a spray drone.
  • the spray control information includes a flight path between the target crops of the spray drone.
  • the flight path is, for example, a polyline route. If the target crops are dense, the spray drone can The sprinklers are not turned off on the flight path. If the target crops are relatively sparse, the spray drone can turn off the sprinklers on the flight path between the target crops and turn on the sprinklers on the target crops.
  • the spraying control information includes a spraying mode of a spraying drone when spraying each target crop among a plurality of target crops.
  • the spray control information includes a flight path between the target crops sprayed by the drone, and a spray pattern of the spray drone when spraying each target crop among the multiple target crops.
  • the spray pattern includes one or more of a flight path, a spray amplitude, a flight speed, a spray density, and a flight speed.
  • a possible implementation manner of the above S402 is: inputting the two-dimensional map into a preset recognition model to determine the target map area.
  • the preset identification model can be used to identify the target map area corresponding to the target crop, and the control device inputs the two-dimensional map obtained in S401 into the preset identification model to identify the target map area corresponding to the target crop in the two-dimensional map, To determine the target map area.
  • control device of this embodiment also acquires height information of the target area, where the height information is determined according to the captured image.
  • a possible implementation manner of inputting the two-dimensional map into the preset recognition model to determine the target map area is: inputting the height information and the two-dimensional map into the preset recognition model To determine the target map area.
  • the parallax information may be determined according to the captured image, and then the height information of the target area, that is, the height map of the target area, may be determined according to the parallax information. Since the height information of the target area is also used when identifying the target map area, the accuracy of determining the target map area in the two-dimensional map can be improved.
  • the control device displays an identifier on the target map area in the two-dimensional map displayed by the display device, where the identifier is any symbol for identification, which may be a tile , Grid, one or more of dot matrix, numbers, letters.
  • the identifier displayed by the user through the display device can quickly and intuitively determine which map area in the two-dimensional map is the target map area.
  • the fruit tree is used as the target object.
  • the identifier is a grid on the target map area, which is not specifically limited herein.
  • the two-dimensional map is obtained according to the mapping drone while flying on the target area Obtained by taking an image; determining a target map area corresponding to the target crop in the two-dimensional map, wherein the target map area is used to determine spray control information, and the spray control information is used to control the spray drone Spraying of the target crop; displaying an identifier on the target map area in the two-dimensional map displayed by the display device.
  • the user can quickly and intuitively determine the target map area in the two-dimensional map by identifying the identifier, and the target map area is the area that needs to be sprayed, so as to obtain spray control information more intelligently and quickly, improving the spray effect , Improve the spraying efficiency.
  • the target area includes multiple types of target objects, and the multiple types of target objects include, for example, fruit trees, buildings, ground, water surface, telephone poles, and the like.
  • the multiple types of target objects include the target crops.
  • a possible implementation manner of the foregoing S402 is: identifying multiple types of target objects in the two-dimensional map to determine a map area corresponding to the various types of target objects in the two-dimensional map.
  • multiple types of target objects in the two-dimensional map can be identified, so that the map area corresponding to the various types of target objects in the two-dimensional map can be determined, because these types of targets identified in this embodiment
  • the object includes the target crop, so the map area corresponding to the target crop (in some embodiments, the target map area) can be determined.
  • a possible implementation manner of identifying multiple types of target objects in the two-dimensional map is: inputting the two-dimensional map into a preset recognition model to identify multiple types of target objects in the two-dimensional map . Further, the height information of the target area and the two-dimensional map can also be input into a preset recognition model to identify various types of target objects in the two-dimensional map.
  • a possible implementation manner of the foregoing S403 is: displaying an identifier corresponding to each type of target object on a map area corresponding to each type of target object in the two-dimensional map displayed by the display device, Among them, different types of target objects use different kinds of identifiers.
  • the two-dimensional map displayed on the display device After identifying various types of target objects in the two-dimensional map to determine the map area corresponding to the various types of target objects in the two-dimensional map, the two-dimensional map displayed on the display device
  • the identifier corresponding to each type of target object is displayed on the map area corresponding to each type of target object in, for example, the identifier corresponding to the fruit tree is displayed in the map area corresponding to the fruit tree in the two-dimensional map displayed by the display device,
  • the identifier corresponding to the building is displayed in the map area corresponding to the building in the two-dimensional map displayed by the display device, and the identifier corresponding to the water surface is displayed in the map area corresponding to the water in the two-dimensional map displayed by the display device.
  • the different type identifiers may include, for example, at least one of different identifiers among color, shape, transparency, linearity, and dot type.
  • different types of identifiers can be distinguished by different colors or shapes or transparency.
  • control device of this embodiment also detects the user before displaying the identifier corresponding to each type of target object on the map area corresponding to each type of target object in the two-dimensional map displayed by the display device
  • the entered identifier shows the operation.
  • the control device displays the identifier corresponding to each type of target object on the map area corresponding to each type of target object in the two-dimensional map displayed by the display device according to the identifier display operation.
  • the control device detecting the identifier display operation may be, for example, that the control device detects the identifier display operation through the interactive device.
  • the interaction device can be an important part of the control terminal and an interface for interacting with the user.
  • the user can control the control device by operating the interaction device; when the user wants to control the control device, the user controls the control device The interactive device operates, and the control device detects the user's operation through the interactive device.
  • the interaction device and the above-mentioned display device may be integrated as a touch display screen.
  • a possible implementation manner of determining the target map area corresponding to the target crop in the two-dimensional map is: determining the initial map area corresponding to the target crop in the two-dimensional map, The initial target map area is displayed, and a user's area editing operation is detected, wherein the editing operation is used to edit the initial map area; the target map area is determined according to the detected editing operation.
  • the control device of this embodiment may determine the initial map area corresponding to the target crop in the two-dimensional map.
  • the two-dimensional map may be input into a preset recognition model to determine the map area corresponding to the target crop.
  • the map area may be referred to as an initial map area ;
  • the height information of the target area and the two-dimensional map can also be input into the preset recognition model to determine the map area corresponding to the target crop (ie, the initial map area).
  • the initial map area is displayed on the display device.
  • the control device in this embodiment can detect the user's area editing operation, and then The area editing operation determines the target map area, for example, as shown in FIG. 7 or FIG. 8.
  • the area editing operation is, for example, an area adding operation, and the determined target map area includes an initial map area and is larger than the initial map area;
  • the area editing operation is, for example, an area deleting operation, and the determined target map area is included in the initial map area and Is smaller than the initial map area;
  • the area editing operation is, for example, an area correction operation, and the determined target map area corrects the incorrect map area in the initial map area.
  • control device of this embodiment also detects the calibration point determination operation input by the user; according to the calibration point determination operation, the location information of the calibration point is determined, and the calibration will be sent to the spray drone Position information of a fixed point, and the position information of the calibration point is used for the spray drone to correct the position when spraying.
  • the control device can detect the calibration point determination operation input by the user based on the displayed two-dimensional map. Since each pixel point in the two-dimensional map can represent the position information of the corresponding position, the determination operation is based on the calibration point, The position information of the calibration point can be determined, as shown in FIG. 9, and then the location information of the calibration point is sent to the spray drone. After receiving the position information of the calibration point, the spraying drone can correct the position according to the position information of the calibration point during spraying, that is, the position output by the positioning device in the spraying drone according to the position information of the calibration point Corrected to obtain the precise position of the spray drone to ensure the spray accuracy of the spray drone when spraying.
  • control device of this embodiment also generates spray control information for spraying the target crop by the spray drone according to the target map area; and displays the spray control information.
  • control device may generate spray control information for spraying the target crop in the target map area by the spray drone according to the determined target map area in the two-dimensional map, and then display the spray control information through the display device For example, the spraying control information may be displayed on the target map area of the two-dimensional map displayed by the display device, and this embodiment is not limited thereto.
  • control device of this embodiment also obtains height information of the target area, the height information is determined according to the above-mentioned captured image of the mapping drone. Then the control device inputs the height information of the target area and the two-dimensional map of the target area into the above-mentioned preset recognition model, which can not only determine the target map area of the target crop, but also determine the height information of the target crop.
  • a possible implementation manner of generating the spraying control information described above is: generating spraying control information for spraying the target crop by the spray drone according to the height information of the target crop determined above and the target map area. If there is a large difference in the height between the target crops, the generated spray control information can cause the spray drone to fly and spray at a higher safe flying height.
  • control device also detects the user's spraying operation area selection operation, and determines the spraying area in the two-dimensional map according to the spraying operation area selection operation.
  • a possible implementation manner of generating spraying control information for spraying the target crop according to the target map area by the spray drone is to generate spraying based on the target map area in the spraying area Spraying control information on spraying the target crop by a man-machine.
  • the control device can detect the user's spraying operation area selection operation, and determine the spraying area in the two-dimensional map according to the spraying operation area operation, for example, as shown in FIG. 9. After the spray area is determined, the spray control information generated by the control device is generated based on the target map area in the spray area, and the spray drone sprays the target crops in the target map area in the spray area according to the spray control information.
  • the control terminal of this embodiment also generates and displays a three-dimensional scene according to the two-dimensional map and the height information of the target area; accordingly, the display of the spray control information is a possible implementation
  • the method is: displaying the spraying control information in the three-dimensional scene.
  • the control device may also generate a three-dimensional scene of the target area according to the height information of the target area and the two-dimensional map, and then display the three-dimensional scene through the display device, for example It is shown that, in some embodiments, the above identifier can also be displayed in the displayed three-dimensional scene, for example, as shown in FIG. 11.
  • the control device may also display the spraying control information in a three-dimensional scene, for example, as shown in FIG. 12, so that the user knows how the spraying drone sprays the target crop.
  • the spraying control information may also be displayed in the three-dimensional scene with the identifier displayed, for example, as shown in FIG. 13.
  • the control device of this embodiment also detects the user's spray control information adjustment operation; adjusts the spray control information according to the spray control information adjustment operation.
  • the control device displays the spray control information, if the user believes that the spray control information is inappropriate, the spray control information can be adjusted. Accordingly, the control device can detect the user's spray control information adjustment operation, and according to The spraying control information adjustment operation adjusts the spraying control information.
  • the adjusted spraying control information can make the spraying drone safer during spraying, or the shortest time consumption, or the minimum power consumption, which greatly improves the spraying efficiency of the spraying drone.
  • the two-dimensional map is obtained according to the mapping drone flying over the target area Obtained by taking an image; determining a target map area corresponding to the target crop in the two-dimensional map, wherein the target map area is used to determine spray control information, and the spray control information is used to control the spray drone Spraying of the target crop; displaying an identifier on the target map area in the two-dimensional map displayed by the display device. Therefore, the user can quickly and intuitively determine the target map area in the two-dimensional map by identifying the identifier, and the target map area is the area that needs to be sprayed.
  • the spray control information can be obtained more intelligently, which improves the spraying effect and improves Spraying efficiency.
  • the spray control information can also be displayed, so that the user can quickly learn the flying spray path of the spray drone.
  • the spray control information displayed can be adjusted as needed to further improve the spray effect. Improve spraying efficiency and ensure the safety of spraying operations.
  • a computer storage medium is also provided in an embodiment of the present invention.
  • the computer storage medium stores program instructions. When the program is executed, it may include some or all of the steps of the control method as shown in FIG. 4 and its corresponding embodiments.
  • FIG. 14 is a schematic structural diagram of a control device according to an embodiment of the present invention.
  • the control device 1400 in this embodiment may include: a processor 1401 and a display device 1402.
  • the processor 1401 and the display device 1402 are connected through a bus.
  • the control device 1400 may further include an interaction device 1403, and the interaction device 1403 may be connected to the above components through a bus.
  • the control device 1400 may further include a communication device 1404, and the communication device 1404 may be connected to the above components through a bus.
  • the processor 1401 is configured to obtain a two-dimensional map of a target area, wherein the target area includes a target crop, and the two-dimensional map is obtained based on a captured image obtained when the mapping drone is flying on the target area .
  • the display device 1402 is configured to display the two-dimensional map acquired by the processor 1401.
  • the processor 1401 is further configured to determine a target map area corresponding to the target crop in the two-dimensional map, wherein the target map area is used to determine spray control information, and the spray control information is used to control spraying Man-machine spraying the target crop.
  • the display device 1402 is also used to display the identifier on the target map area in the displayed two-dimensional map.
  • the processor 1401 determines the target map area corresponding to the target crop in the two-dimensional map, it is specifically used to: input the two-dimensional map into a preset recognition model to determine the target Describe the target map area.
  • the processor 1401 is further configured to obtain height information of the target area, where the height information is determined according to the captured image.
  • the processor 1401 When the processor 1401 inputs the two-dimensional map into a preset recognition model to determine the target map area, it is specifically used to: input the height information and the two-dimensional map into the preset recognition model To determine the target map area.
  • the target area includes multiple types of target objects, wherein the multiple types of target objects include the target crop.
  • the processor 1401 determines the target map area corresponding to the target crop in the two-dimensional map, it is specifically used to: identify multiple types of target objects in the two-dimensional map to determine the two-dimensional map Map area corresponding to various types of target objects in.
  • the display device 1402 displays the identifier on the target map area in the displayed two-dimensional map, it is specifically used to: display this type of map object on the map area corresponding to each type of target object in the displayed two-dimensional map The identifier corresponding to the target object, wherein different types of target objects use different types of identifiers.
  • the processor 1401 determines the target map area corresponding to the target crop in the two-dimensional map, it is specifically used to:
  • the interaction device 1403 is used to detect the user's area editing operation.
  • the interaction device 1403 is used to detect a calibration point determination operation input by a user.
  • the processor 1401 is further configured to determine the location information of the calibration point according to the calibration point determination operation.
  • the communication device 1404 is configured to send the location information of the calibration point to the spray drone, and the location information of the calibration point is used for the spray drone to correct the position when spraying.
  • the processor 1401 is further configured to generate spray control information about spraying the target crop by a spray drone according to the target map area.
  • the display device 1402 is configured to display the spray control information.
  • the processor 1401 is further configured to obtain height information of the target area, where the height information is determined according to the captured image.
  • the processor 1401 determines the target map area corresponding to the target crop in the two-dimensional map, it is specifically used to: input the height information and the two-dimensional map into the preset recognition model to determine the The target map area and the height information of the target crop.
  • the processor 1401 When the processor 1401 generates spray control information for spraying the target crop by the spray drone according to the target map area, it is specifically used to generate according to the target map area and the height information of the target crop The spray control information of the spray drone spraying the target crop.
  • the processor 1401 is further configured to generate a three-dimensional scene according to the two-dimensional map and the height information of the target area.
  • the display device 1402 is also used to display the three-dimensional scene.
  • the display device 1402 displays the spray control information, it is specifically used to display the spray control information in the three-dimensional scene.
  • the interactive device 1403 is configured to detect a user's spraying operation area selection operation, and determine the spraying area in the two-dimensional map according to the spraying operation area selection operation;
  • the processor 1401 When the processor 1401 generates spray control information for spraying the target crop by the spray drone according to the target map area, it is specifically used to: generate the spray drone according to the target map area in the spray area Spray control information for spraying the target crop.
  • the interaction device 1403 is used to detect a user's spraying control information adjustment operation.
  • the processor 1401 is further configured to adjust the spraying control information according to the spraying control information adjustment operation.
  • the spray control information includes a flight path between the target crops sprayed by the drone.
  • the spray control information includes a spray pattern of the spray drone when spraying each target crop among the multiple target crops.
  • the spray pattern includes one or more of a flight path, a spray amplitude, a flight speed, a spray density, and a flight speed.
  • the target crop is a tree.
  • the tree is a fruit tree.
  • control device 1400 of this embodiment may further include: a memory (not shown in the figure), where the memory is used to store program code, and when the program code is executed, the control device 1400 may implement the foregoing technical solution.
  • control device in this embodiment may be used to execute the technical solution of the control device in the above method embodiments of the present invention, and its implementation principles and technical effects are similar, and will not be repeated here.
  • control system 1500 is a schematic structural diagram of a control system provided by an embodiment of the present invention.
  • the control system 1500 of this embodiment may include: a mapping drone 1501, a control device 1502, and a spray drone 1503.
  • the mapping drone 1501 is used to obtain a captured image when flying on the target area, and the captured image is used to determine a two-dimensional map of the target area;
  • the control device 1502 may adopt the structure of the embodiment shown in FIG. 14. Correspondingly, the technical solution of the control device in each method embodiment described above may be executed. The implementation principles and technical effects are similar, and are not repeated here.
  • the spray drone 1503 can obtain the spray control information determined by the control device 1502, and then spray the target crop according to the spray control information.
  • the spray drone 1503 receives spray control information sent by the control device 1502 through a wireless communication connection or a wired communication connection.
  • the control device 1502 stores the spray control information in the storage device, and accordingly, the spray drone 1503 obtains the spray control information from the storage device .
  • the storage device is, for example, an SD card, and the control device can store the obtained spray control information in the SD card, and then the user pulls out the SD card from the control device and inserts it into the spray drone 1503. Insert the SD card into it to get spray control information.
  • the foregoing program may be stored in a computer-readable storage medium, and when the program is executed, It includes the steps of the above method embodiments; and the foregoing storage media include: read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disks or optical discs, etc., which can store program codes Medium.

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Abstract

Provided are a control method and device, wherein the method comprises: acquiring a two-dimensional map of a target region and displaying it on a display device (S401), wherein, target crops are included in the target region, the two-dimensional map is obtained from shot images captured by a mapping drone flying over the target region; determining a target map region corresponding to the target crops in the two-dimensional map (S402), wherein, the target map region is used for determining spraying control information, the spraying control information is used for controlling the spraying of a spraying drone on the target crops; and displaying an identifier for the target map region in the two-dimensional map displayed on the display device (S403). A user can determine the target map region in the two-dimensional map quickly and intuitively by identifying the identifier, and the target map region is an region needing to be sprayed, so that the spraying control information can be obtained more intelligently and quickly, and the spraying effect and spraying efficiency are improved.

Description

控制方法和设备Control method and equipment 技术领域Technical field
本发明实施例涉及无人机技术领域，尤其涉及一种控制方法和设备。The embodiments of the present invention relate to the technical field of unmanned aerial vehicles, and in particular, to a control method and equipment.
背景技术Background technique
随着消费级无人机日益普及，行业级应用无人机也开始崭露头角，对为农行业来说，农业无人机作为行业级应用无人机占据着重要的位置，其可以对农田地进行植保作业，例如喷洒作业(喷洒水分、农药、种子等等)，给农业领域带来了极大的便利，例如节省用户时间、提高作业效率、增加作业收益以及提高农业机械的利用效率等。With the increasing popularity of consumer-grade drones, industrial-grade application drones have also emerged. For the agricultural industry, agricultural drones occupy an important position as industrial-grade application drones. Plant protection operations, such as spraying operations (spraying water, pesticides, seeds, etc.), bring great convenience to the agricultural field, such as saving user time, improving operating efficiency, increasing operating income, and improving the utilization efficiency of agricultural machinery.
然而，现有的喷洒作业方式智能化程度不高，不够便利，例如，作业员需要通过肉眼观测目标作物，并手动控制无人机进行目标作物的喷洒，这样会导致喷洒效率低下。However, the existing spraying method is not highly intelligent and convenient. For example, the operator needs to observe the target crop through the naked eye and manually control the drone to spray the target crop, which will result in low spraying efficiency.
发明内容Summary of the invention
本发明实施例提供一种控制方法和设备，可以迅速且直观地帮助用户观测到环境中待喷洒的目标作物，以便迅速地生成喷洒控制信息，提高喷洒效率。Embodiments of the present invention provide a control method and device, which can quickly and intuitively help users observe target crops to be sprayed in the environment, so as to quickly generate spray control information and improve spraying efficiency.
第一方面，本发明实施例提供一种控制方法，包括：In a first aspect, an embodiment of the present invention provides a control method, including:
获取并在显示设备上显示目标区域的二维地图，其中，所述目标区域中包括目标作物，所述二维地图是根据测绘无人机在目标区域上飞行时获取的拍摄图像获取的；Acquiring and displaying a two-dimensional map of a target area on a display device, where the target area includes a target crop, the two-dimensional map is obtained based on a captured image obtained when the mapping drone is flying over the target area;
确定所述二维地图中所述目标作物对应的目标地图区域，其中，所述目标地图区域用于确定喷洒控制信息，所述喷洒控制信息用于控制喷洒无人机对所述目标作物的喷洒；Determining a target map area corresponding to the target crop in the two-dimensional map, wherein the target map area is used to determine spray control information, and the spray control information is used to control spraying of the target crop by a spray drone ;
在所述显示设备显示的二维地图中的目标地图区域上显示标识符。The identifier is displayed on the target map area in the two-dimensional map displayed by the display device.
第二方面，本发明实施例提供一种控制设备，包括：处理器和显示设备；In a second aspect, an embodiment of the present invention provides a control device, including: a processor and a display device;
所述处理器，用于获取目标区域的二维地图，其中，所述目标区域中包 括目标作物，所述二维地图是根据测绘无人机在目标区域上飞行时获取的拍摄图像获取的；The processor is configured to obtain a two-dimensional map of a target area, wherein the target area includes a target crop, and the two-dimensional map is obtained based on a captured image obtained when the mapping drone is flying on the target area;
所述显示设备，用于显示所述处理器获取的所述二维地图；The display device is configured to display the two-dimensional map obtained by the processor;
所述处理器，还用于确定所述二维地图中所述目标作物对应的目标地图区域，其中，所述目标地图区域用于确定喷洒控制信息，所述喷洒控制信息用于控制喷洒无人机对所述目标作物的喷洒；The processor is further configured to determine a target map area corresponding to the target crop in the two-dimensional map, wherein the target map area is used to determine spray control information, and the spray control information is used to control unmanned spraying Machine spraying the target crops;
所述显示设备，还用于在显示的二维地图中的目标地图区域上显示标识符。The display device is also used to display the identifier on the target map area in the displayed two-dimensional map.
第三方面，本发明实施例提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序包含至少一段代码，所述至少一段代码可由计算机执行，以控制所述计算机执行第一方面本发明实施例所述的控制方法。In a third aspect, an embodiment of the present invention provides a computer-readable storage medium that stores a computer program, where the computer program includes at least one piece of code that can be executed by a computer to control The computer executes the control method described in the first aspect of the embodiment of the present invention.
第四方面，本发明实施例提供一种计算机程序，当所述计算机程序被计算机执行时，用于实现第一方面本发明实施例所述的控制方法。According to a fourth aspect, an embodiment of the present invention provides a computer program. When the computer program is executed by a computer, it is used to implement the control method described in the first aspect of the present invention.
本发明实施例提供的控制方法和设备，通过获取并在显示设备上显示目标区域的二维地图，其中，所述目标区域中包括目标作物，所述二维地图是根据测绘无人机在目标区域上飞行时获取的拍摄图像获取的；确定所述二维地图中所述目标作物对应的目标地图区域，其中，所述目标地图区域用于确定喷洒控制信息，所述喷洒控制信息用于控制喷洒无人机对所述目标作物的喷洒；在所述显示设备显示的二维地图中的目标地图区域上显示标识符。因此，用户可以通过识别标识符可迅速且直观地确定二维地图中的目标地图区域，而且目标地图区域是需要进行喷洒作业的区域，以便更智能且迅速地获得喷洒控制信息，改善了喷洒效果，提高了喷洒效率。The control method and device provided by the embodiments of the present invention obtain and display a two-dimensional map of a target area on a display device, wherein the target area includes a target crop, and the two-dimensional map is based on a mapping UAV Obtained from the captured images acquired while flying over the area; determining the target map area corresponding to the target crop in the two-dimensional map, wherein the target map area is used to determine spray control information, and the spray control information is used to control Spraying the drone to the target crop; displaying an identifier on the target map area in the two-dimensional map displayed by the display device. Therefore, the user can quickly and intuitively determine the target map area in the two-dimensional map by identifying the identifier, and the target map area is the area that needs to be sprayed, so as to obtain spray control information more intelligently and quickly, improving the spray effect , Improve the spraying efficiency.
附图说明BRIEF DESCRIPTION
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly explain the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings used in the description of the embodiments or the prior art. Obviously, the drawings in the following description These are some embodiments of the present invention. For those of ordinary skill in the art, without paying any creative work, other drawings can be obtained based on these drawings.
图1为本发明实施例提供的测绘无人机对目标作物区域进行测绘的示意 图；1 is a schematic diagram of a surveying and mapping drone for mapping a target crop area provided by an embodiment of the present invention;
图2为本发明实施例提供的一种应用场景示意图；2 is a schematic diagram of an application scenario provided by an embodiment of the present invention;
图3为本发明实施例提供的喷洒无人机对多株目标作物进行喷洒的示意图；3 is a schematic diagram of spraying a plurality of target crops by a spray drone provided by an embodiment of the present invention;
图4为本发明一实施例提供的控制方法的流程图；4 is a flowchart of a control method provided by an embodiment of the present invention;
图5为本发明一实施例提供的通过显示设备显示二维地图的一种示意图；5 is a schematic diagram of displaying a two-dimensional map on a display device according to an embodiment of the present invention;
图6为本发明一实施例提供的在二维地图上显示标识符的一种示意图；6 is a schematic diagram of displaying an identifier on a two-dimensional map provided by an embodiment of the present invention;
图7为本发明一实施例提供的编辑初始地图区域的一种示意图；7 is a schematic diagram of editing an initial map area provided by an embodiment of the present invention;
图8为本发明一实施例提供的编辑初始地图区域的另一种示意图；8 is another schematic diagram of editing an initial map area provided by an embodiment of the present invention;
图9为本发明一实施例提供的选择喷洒作业区域的一种示意图；9 is a schematic diagram of selecting a spraying operation area provided by an embodiment of the present invention;
图10为本发明一实施例提供的显示三维场景的一种示意图；10 is a schematic diagram of displaying a three-dimensional scene provided by an embodiment of the present invention;
图11为本发明一实施例提供的在三维场景中显示标识符的一种示意图；11 is a schematic diagram of displaying an identifier in a three-dimensional scene provided by an embodiment of the present invention;
图12为本发明一实施例提供的在三维场景中显示喷洒控制信息的一种示意图；12 is a schematic diagram of displaying spray control information in a three-dimensional scene provided by an embodiment of the present invention;
图13为本发明一实施例提供的在显示有标识符的三维场景中显示喷洒控制信息的一种示意图；13 is a schematic diagram showing spraying control information displayed in a three-dimensional scene with an identifier provided by an embodiment of the present invention;
图14为本发明一实施例提供的控制设备的结构示意图；14 is a schematic structural diagram of a control device according to an embodiment of the present invention;
图15为本发明一实施例提供的控制***的结构示意图。15 is a schematic structural diagram of a control system according to an embodiment of the present invention.
具体实施方式detailed description
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of the embodiments of the present invention, but not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without making creative efforts fall within the protection scope of the present invention.
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一 个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。It should be noted that when a component is said to be "fixed" to another component, it can be directly on another component or it can also exist in a centered component. When a component is considered to be "connected" to another component, it can be directly connected to another component or there can be centered components at the same time.
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terminology used in the description of the present invention herein is for the purpose of describing specific embodiments, and is not intended to limit the present invention. The term "and/or" as used herein includes any and all combinations of one or more related listed items.
本发明实施例提供的一种控制方法、设备、测绘无人机和喷洒无人机，可以应用于喷洒无人机对作物区域中的多株目标作物进行喷洒控制的场景。图1为本发明实施例提供的测绘无人机对目标作物区域进行测绘的示意图，如图1所示，测绘无人机101对目标区域上飞行，利用测绘无人机101配置的拍摄装置对目标区域进行拍摄，获得二维地图。其中，二维地图中包括目标地图区域，目标地图区域中标示出种植有多株目标作物，在某些情况中，该目标作物可以是任何农业作物，进一步地，所述目标作物可以包括树木，更进一步地，所述树木可以包括果树、茶树、橡胶树等等，但本发明各实施例并不限于此。图2为本发明实施例提供的一种应用场景示意图，如图2所示，图2中示出了测绘无人机101、控制设备102、喷洒无人机103和地面控制终端104。控制设备102为任何可以根据如前所述的目标区域的二维地图确定喷洒控制信息的设备，例如，所述控制设备102可以为带显示屏的终端设备，例如包括智能手机、台式电脑、膝上型电脑、穿戴式设备(手表、手环)中的一种或多种，本发明实施例以控制设备102为电脑来进行示意性说明，但本发明实施例并不限于此。喷洒无人机103的地面控制终端104可以是遥控器、智能手机、台式电脑、膝上型电脑、穿戴式设备(手表、手环)中的一种或多种。本发明实施例以地面控制终端104为摇控器1041和终端设备1042为例来进行示意性说明。该终端设备1042例如是智能手机、可穿戴设备、平板电脑等，但本发明实施例并限于此。在一些实施例中，控制设备102与终端设备1042可以为同一设备。A control method, device, surveying and mapping drone and spraying drone provided by embodiments of the present invention can be applied to a scenario where a spraying drone performs spray control on multiple target crops in a crop area. FIG. 1 is a schematic diagram of a surveying and mapping drone for mapping a target crop area according to an embodiment of the present invention. As shown in FIG. Shoot the target area to obtain a two-dimensional map. Wherein, the two-dimensional map includes a target map area, and the target map area indicates that a plurality of target crops are planted. In some cases, the target crop may be any agricultural crop. Further, the target crop may include trees, Furthermore, the trees may include fruit trees, tea trees, rubber trees, etc., but the embodiments of the present invention are not limited thereto. FIG. 2 is a schematic diagram of an application scenario provided by an embodiment of the present invention. As shown in FIG. 2, FIG. 2 shows a mapping drone 101, a control device 102, a spray drone 103, and a ground control terminal 104. The control device 102 is any device that can determine spray control information according to the two-dimensional map of the target area as described above. For example, the control device 102 can be a terminal device with a display screen, including, for example, a smartphone, a desktop computer, and a laptop. One or more of the upper computer and the wearable device (watch, wristband). The embodiment of the present invention uses the control device 102 as a computer for schematic description, but the embodiment of the present invention is not limited thereto. The ground control terminal 104 spraying the drone 103 may be one or more of a remote control, a smart phone, a desktop computer, a laptop computer, and a wearable device (watch, bracelet). The embodiment of the present invention takes the ground control terminal 104 as the remote controller 1041 and the terminal device 1042 as an example for schematic description. The terminal device 1042 is, for example, a smart phone, a wearable device, a tablet computer, etc., but the embodiment of the present invention is not limited thereto. In some embodiments, the control device 102 and the terminal device 1042 may be the same device.
其中，测绘无人机101可以获取拍摄装置输出的图像，并根据所述图像获取目标区域的二维地图，其中，所述目标区域的二维地图用于确定喷洒无人机对所述多株目标作物进行喷洒的喷洒控制信息。控制设备102可以通过直接或者间接、有线通信或者无线通信的方式从所述测绘无人机101获取所 述目标区域的二维地图，并根据所述二维地图确定喷洒控制信息，其中，所述喷洒控制信息用于控制喷洒无人机103对目标区域内的所述多株目标作物的喷洒。在某些情况中，控制设备102可以从除测绘无人机101以外的其他途径获取目标区域的二维地图。喷洒无人机103可以通过直接或者间接、有线通信或者无线通信的方式从控制设备102获取所述喷洒控制信息，并根据所述喷洒控制信息，对目标作物区域中的每一株目标作物进行喷洒控制。在某些实施例中，控制设备102可以将喷洒控制信息发送给喷洒无人机103的地面控制终端104，由喷洒无人机103的地面控制终端104根据用于控制喷洒无人机103进行喷洒操作的信息，控制喷洒无人机103对目标作物进行喷洒控制。在某些实施例中，控制设备102可以将所述喷洒控制信息发送给喷洒无人机103，喷洒无人机103可以根据所述喷洒控制信息对目标作物进行喷洒，如图3所示。Among them, the mapping drone 101 can obtain the image output by the shooting device, and obtain a two-dimensional map of the target area according to the image, wherein the two-dimensional map of the target area is used to determine the spraying of the drone on the multiple plants Spray control information for spraying target crops. The control device 102 may obtain the two-dimensional map of the target area from the mapping drone 101 by direct or indirect, wired communication or wireless communication, and determine spray control information according to the two-dimensional map, wherein, the The spraying control information is used to control the spraying of the spraying drone 103 to the multiple target crops in the target area. In some cases, the control device 102 may obtain a two-dimensional map of the target area from other methods than the mapping drone 101. The spraying drone 103 can obtain the spraying control information from the control device 102 through direct or indirect, wired communication or wireless communication, and spray each target crop in the target crop area according to the spraying control information control. In some embodiments, the control device 102 may send the spray control information to the ground control terminal 104 of the spray drone 103, and the ground control terminal 104 of the spray drone 103 may spray according to the control of the spray drone 103. The operation information controls the spray drone 103 to spray the target crop. In some embodiments, the control device 102 may send the spray control information to the spray drone 103, and the spray drone 103 may spray the target crop according to the spray control information, as shown in FIG. 3.
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。The following describes some embodiments of the present invention in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and the features in the embodiments can be combined with each other.
图4为本发明一实施例提供的控制方法的流程图，如图4所示，本实施例的方法例如可以应用于控制设备中，本实施例的方法可以包括：FIG. 4 is a flowchart of a control method provided by an embodiment of the present invention. As shown in FIG. 4, the method of this embodiment may be applied to a control device, for example. The method of this embodiment may include:
S401、获取并在显示设备上显示目标区域的二维地图。S401. Acquire and display a two-dimensional map of the target area on the display device.
本实施例中，控制设备可以获取目标区域的二维地图，该目标区域可以是用户根据需要规定的区域，并且该目标区域中包括目标作物，可选地，该目标作物例如为树木，可选地，该树木例如为果树。本实施例的目标作物并不限于此。In this embodiment, the control device may obtain a two-dimensional map of the target area. The target area may be an area specified by the user as needed, and the target area includes the target crop. Optionally, the target crop is, for example, a tree. Ground, the tree is, for example, a fruit tree. The target crop of this embodiment is not limited to this.
所述目标区域的二维地图是根据测绘无人机在目标区域上飞行时获取的拍摄图像获取的。其中，测绘无人机上配置有拍摄装置，测绘无人机在目标区域飞行的过程中，测绘无人机上配置的拍摄装置可以对目标区域进行拍摄，从而获得拍摄装置输出的拍摄图像。可选地，测绘无人机可以按照预先规划的航线在目标区域内飞行。其中，该拍摄装置可以是在测绘无人机飞行时，等间距拍摄或者等时间拍摄。The two-dimensional map of the target area is obtained based on the captured image obtained when the mapping UAV is flying on the target area. Among them, the shooting drone is equipped with a shooting device. During the flight of the surveying and mapping drone in the target area, the shooting device arranged on the mapping drone can shoot the target area, so as to obtain the shooting image output by the shooting device. Optionally, the surveying and mapping UAV can fly in the target area according to a pre-planned route. Wherein, the shooting device may be shooting at the same interval or shooting at the same time when the drone is flying.
可选地，测绘无人机在获得拍摄图像之后，可以根据拍摄图像生成该目标区域的二维地图。然后控制设备获得该二维地图，在一种可能的实现方式中，控制设备通过无线通信连接或者有线通信连接接收测绘无人机发送的二 维地图，其中，所述有线通信连接或无线通信连接通信可以为直接地通信，即点对点的通信，也可以为间接通信，即通过中间设备(例如测绘无人机的地面控制端)来进行通信。在另一种可能的实现方式中，测绘无人机将所述二维地图存储到存储设备中，控制设备从该储设备中获取所述二维地图。该存储设备例如为安全数码卡(Secure Digital Memory Card，SD卡)，本实施例并不限于此，测绘无人机可以将获得的二维地图存储在SD卡中，然后用户将SD卡从测绘无人机上拔出并***至控制设备中，控制设备从***其中的SD卡中获取二维地图。Optionally, after acquiring the captured image, the surveying and mapping drone may generate a two-dimensional map of the target area according to the captured image. Then, the control device obtains the two-dimensional map. In a possible implementation manner, the control device receives the two-dimensional map sent by the mapping drone through a wireless communication connection or a wired communication connection, wherein the wired communication connection or the wireless communication connection The communication may be direct communication, that is, point-to-point communication, or indirect communication, that is, communication is performed through an intermediate device (such as a ground control end of a mapping drone). In another possible implementation manner, the mapping drone stores the two-dimensional map in a storage device, and the control device obtains the two-dimensional map from the storage device. The storage device is, for example, a secure digital memory (Secure Digital Memory Card, SD card). This embodiment is not limited to this. The surveying and mapping drone can store the obtained two-dimensional map in the SD card, and then the user removes the SD card from the surveying and mapping. Unplug the UAV and insert it into the control device. The control device obtains a two-dimensional map from the SD card inserted into it.
可选地，测绘无人机在获得拍摄图像之后，控制设备可以获取拍摄图像，然后控制设备根据拍摄图像生成该目标区域的二维地图。其中，控制设备如何获取拍摄图像可以参见控制设备如何获取二维地图的相关描述，此处不再赘述。Optionally, after the surveying and mapping drone obtains the captured image, the control device may acquire the captured image, and then the control device generates a two-dimensional map of the target area according to the captured image. For how to obtain the captured image by the control device, please refer to the related description of how to obtain the two-dimensional map by the control device, which will not be repeated here.
本实施例中，控制设备中具有显示设备，控制设备获得目标区域的二维地图之后，在显示设备上显示目标区域的二维地图，以便用户通过显示设备可以获知目标区域的二维地图。其中，在显示设备上显示目标区域的二维地图如图5所示，需要说明的是，图5中示出的二维地图为黑白色，但在实际应用中，显示设备显示的二维地图可以是彩色。In this embodiment, the control device has a display device. After the control device obtains the two-dimensional map of the target area, the two-dimensional map of the target area is displayed on the display device, so that the user can learn the two-dimensional map of the target area through the display device. Among them, the two-dimensional map of the target area displayed on the display device is shown in FIG. 5, it should be noted that the two-dimensional map shown in FIG. 5 is black and white, but in practical applications, the two-dimensional map displayed by the display device It can be in color.
S402、确定所述二维地图中所述目标作物对应的目标地图区域。S402. Determine a target map area corresponding to the target crop in the two-dimensional map.
本实施例中，控制设备可以根据所述二维地图中目标作物对应的目标地图区域，该目标地图区域可以是指二维地图中种植有目标作物的地图区域。需要说明的是，二维地图中目标作物对应的目标地图区域的位置信息可以表征目标作物的位置信息，另外，目标地图区域的大小可以表征目标作物的水平大小。In this embodiment, the control device may be based on a target map area corresponding to the target crop in the two-dimensional map, and the target map area may refer to a map area where the target crop is planted in the two-dimensional map. It should be noted that the position information of the target map area corresponding to the target crop in the two-dimensional map can represent the position information of the target crop. In addition, the size of the target map area can represent the horizontal size of the target crop.
其中，所述目标地图区域用于确定喷洒控制信息，所述喷洒控制信息用于控制喷洒无人机对所述目标作物的喷洒。可选地，所述喷洒控制信息包括喷洒无人机所述目标作物之间的飞行路径，飞行路径例如为折线型的航线，如果目标作物比较密集，喷洒无人机可以在目标作物之间的飞行路径上不关闭喷头，如果目标作物比较稀疏，喷洒无人机可以在目标作物之间的飞行路径上关闭喷头，而在目标作物处开启喷头。可选地，所述喷洒控制信息包括喷洒无人机在对多株目标作物中每一株目标作物喷洒时的喷洒模式。可选地， 所述喷洒控制信息包括喷洒无人机所述目标作物之间的飞行路径，以及喷洒无人机在对多株目标作物中每一株目标作物喷洒时的喷洒模式。Wherein, the target map area is used to determine spraying control information, and the spraying control information is used to control spraying of the target crop by a spray drone. Optionally, the spray control information includes a flight path between the target crops of the spray drone. The flight path is, for example, a polyline route. If the target crops are dense, the spray drone can The sprinklers are not turned off on the flight path. If the target crops are relatively sparse, the spray drone can turn off the sprinklers on the flight path between the target crops and turn on the sprinklers on the target crops. Optionally, the spraying control information includes a spraying mode of a spraying drone when spraying each target crop among a plurality of target crops. Optionally, the spray control information includes a flight path between the target crops sprayed by the drone, and a spray pattern of the spray drone when spraying each target crop among the multiple target crops.
可选地，所述喷洒模式包括飞行路径、喷洒幅度、飞行速度、喷洒密度、飞行速度中的一种或多种。Optionally, the spray pattern includes one or more of a flight path, a spray amplitude, a flight speed, a spray density, and a flight speed.
在一些实施例中，上述S402的一种可能的实现方式为：将所述二维地图输入到预设识别模型中以确定所述目标地图区域。预设识别模型可以用于识别目标作物对应的目标地图区域，控制设备将上述S401中获得的二维地图输入至预设识别模型中，可以识别出二维地图中目标作物对应的目标地图区域，以确定目标地图区域。In some embodiments, a possible implementation manner of the above S402 is: inputting the two-dimensional map into a preset recognition model to determine the target map area. The preset identification model can be used to identify the target map area corresponding to the target crop, and the control device inputs the two-dimensional map obtained in S401 into the preset identification model to identify the target map area corresponding to the target crop in the two-dimensional map, To determine the target map area.
可选地，本实施例的控制设备还获取所述目标区域的高度信息，其中，所述高度信息是根据所述拍摄图像确定的。相应地，将所述二维地图输入到预设识别模型中以确定所述目标地图区域的一种可能的实现方式为：将所述高度信息和二维地图输入到所述预设识别模型中以确定所述目标地图区域。本实施例中，可以根据所述拍摄图像确定视差信息，然后根据视差信息确定目标区域的高度信息，即目标区域的高度图。由于在识别目标地图区域时还根据目标区域的高度信息，从而可以提高确定二维地图中目标地图区域的准确率。Optionally, the control device of this embodiment also acquires height information of the target area, where the height information is determined according to the captured image. Correspondingly, a possible implementation manner of inputting the two-dimensional map into the preset recognition model to determine the target map area is: inputting the height information and the two-dimensional map into the preset recognition model To determine the target map area. In this embodiment, the parallax information may be determined according to the captured image, and then the height information of the target area, that is, the height map of the target area, may be determined according to the parallax information. Since the height information of the target area is also used when identifying the target map area, the accuracy of determining the target map area in the two-dimensional map can be improved.
S403、在所述显示设备显示的二维地图中的目标地图区域上显示标识符。S403. Display an identifier on the target map area in the two-dimensional map displayed by the display device.
本实施例中，控制设备在确定目标地图区域之后，在显示设备显示的二维地图中的目标地图区域上显示标识符，其中，所述标识符为任何起标识作用的符号，可以是瓦片、网格，点阵、数字、字母中的一种或多种。用户通过显示设备显示的标识符可以迅速且直观地确定二维地图中哪些地图区域是目标地图区域，如图6所示，以果树为目标对象，其中，果树对应的目标地图区域上显示颜色较深的瓦片，在某些实施例中，所述标识符为目标地图区域上的网格，在此不做具体的限定。In this embodiment, after determining the target map area, the control device displays an identifier on the target map area in the two-dimensional map displayed by the display device, where the identifier is any symbol for identification, which may be a tile , Grid, one or more of dot matrix, numbers, letters. The identifier displayed by the user through the display device can quickly and intuitively determine which map area in the two-dimensional map is the target map area. As shown in FIG. 6, the fruit tree is used as the target object. For deep tiles, in some embodiments, the identifier is a grid on the target map area, which is not specifically limited herein.
本实施例中，通过获取并在显示设备上显示目标区域的二维地图，其中，所述目标区域中包括目标作物，所述二维地图是根据测绘无人机在目标区域上飞行时获取的拍摄图像获取的；确定所述二维地图中所述目标作物对应的目标地图区域，其中，所述目标地图区域用于确定喷洒控制信息，所述喷洒控制信息用于控制喷洒无人机对所述目标作物的喷洒；在所述显示设备显示 的二维地图中的目标地图区域上显示标识符。因此，用户可以通过识别标识符可迅速且直观地确定二维地图中的目标地图区域，而且目标地图区域是需要进行喷洒作业的区域，以便更智能且迅速地获得喷洒控制信息，改善了喷洒效果，提高了喷洒效率。In this embodiment, by acquiring and displaying a two-dimensional map of the target area on the display device, wherein the target area includes the target crops, the two-dimensional map is obtained according to the mapping drone while flying on the target area Obtained by taking an image; determining a target map area corresponding to the target crop in the two-dimensional map, wherein the target map area is used to determine spray control information, and the spray control information is used to control the spray drone Spraying of the target crop; displaying an identifier on the target map area in the two-dimensional map displayed by the display device. Therefore, the user can quickly and intuitively determine the target map area in the two-dimensional map by identifying the identifier, and the target map area is the area that needs to be sprayed, so as to obtain spray control information more intelligently and quickly, improving the spray effect , Improve the spraying efficiency.
在一些实施例中，所述目标区域中包括多种类型的目标对象，多种类型的目标对象例如包括：果树、建筑物、地面、水面、电线杆等。其中，所述多种类型的目标对象包括所述目标作物。上述S402的一种可能的实现方式为：识别所述二维地图中的多种类型的目标对象，以确定所述二维地图中各种类型的目标对象对应的地图区域。本实施例中可以识别出二维地图中多种类型的目标对象，从而可以确定出二维地图中各种类型的目标对象所对应的地图区域，由于本实施例中识别出的这些类型的目标对象中包括目标作物，因此可以确定该目标作物对应的地图区域(在一些实施例中即为目标地图区域)。可选地，识别二维地图中的多种类型的目标对象的一种可能的实现方式为：将所述二维地图输入到预设识别模型中以识别二维地图中多种类型的目标对象。进一步地，还可以将目标区域的高度信息和二维地图输入到预设识别模型中以识别二维地图中多种类型的目标对象。In some embodiments, the target area includes multiple types of target objects, and the multiple types of target objects include, for example, fruit trees, buildings, ground, water surface, telephone poles, and the like. Wherein, the multiple types of target objects include the target crops. A possible implementation manner of the foregoing S402 is: identifying multiple types of target objects in the two-dimensional map to determine a map area corresponding to the various types of target objects in the two-dimensional map. In this embodiment, multiple types of target objects in the two-dimensional map can be identified, so that the map area corresponding to the various types of target objects in the two-dimensional map can be determined, because these types of targets identified in this embodiment The object includes the target crop, so the map area corresponding to the target crop (in some embodiments, the target map area) can be determined. Optionally, a possible implementation manner of identifying multiple types of target objects in the two-dimensional map is: inputting the two-dimensional map into a preset recognition model to identify multiple types of target objects in the two-dimensional map . Further, the height information of the target area and the two-dimensional map can also be input into a preset recognition model to identify various types of target objects in the two-dimensional map.
相应地，上述S403的一种可能的实现方式为：在所述显示设备显示的二维地图中的每种类型的目标对象对应的地图区域上显示该种类型的目标对象所对应的标识符，其中，不同类型的目标对象采用不同的种类标识符。本实施例中，在识别所述二维地图中的多种类型的目标对象，以确定所述二维地图中各种类型的目标对象对应的地图区域之后，在该显示设备显示的二维地图中的每种类型的目标对象对应的地图区域上显示该种类型的目标对象所对应的标识符，例如：在显示设备显示的二维地图中的果树对应的地图区域显示果树对应的标识符，在显示设备显示的二维地图中的建筑物对应的地图区域显示建筑物对应的标识符，在显示设备显示的二维地图中的水面对应的地图区域显示水面对应的标识符。由于不同类型的目标对象采用不同的种类标识符，通过显示界面中二维地图中显示的不同的种类标识符，用户可以迅速地确定出二维地图中不同种类的目标对象所对应的地图区域，其中例如如图6所示。Accordingly, a possible implementation manner of the foregoing S403 is: displaying an identifier corresponding to each type of target object on a map area corresponding to each type of target object in the two-dimensional map displayed by the display device, Among them, different types of target objects use different kinds of identifiers. In this embodiment, after identifying various types of target objects in the two-dimensional map to determine the map area corresponding to the various types of target objects in the two-dimensional map, the two-dimensional map displayed on the display device The identifier corresponding to each type of target object is displayed on the map area corresponding to each type of target object in, for example, the identifier corresponding to the fruit tree is displayed in the map area corresponding to the fruit tree in the two-dimensional map displayed by the display device, The identifier corresponding to the building is displayed in the map area corresponding to the building in the two-dimensional map displayed by the display device, and the identifier corresponding to the water surface is displayed in the map area corresponding to the water in the two-dimensional map displayed by the display device. Because different types of target objects use different types of identifiers, through the different types of identifiers displayed on the two-dimensional map in the display interface, the user can quickly determine the map area corresponding to the different types of target objects in the two-dimensional map. This is shown in Figure 6, for example.
其中，不同的种类标识符例如可以包括颜色、形状、透明度、线性、点 型中至少一项不同的标识符。例如：不同的种类标识符可以采用不同的颜色或形状或透明度等来区分。The different type identifiers may include, for example, at least one of different identifiers among color, shape, transparency, linearity, and dot type. For example, different types of identifiers can be distinguished by different colors or shapes or transparency.
可选地，本实施例的控制设备在所述显示设备显示的二维地图中的每种类型的目标对象对应的地图区域上显示该种类型的目标对象所对应的标识符之前，还检测用户输入的标识符显示操作。然后控制设备根据标识符显示操作，在所述显示设备显示的二维地图中的每种类型的目标对象对应的地图区域上显示该种类型的目标对象所对应的标识符。Optionally, the control device of this embodiment also detects the user before displaying the identifier corresponding to each type of target object on the map area corresponding to each type of target object in the two-dimensional map displayed by the display device The entered identifier shows the operation. Then the control device displays the identifier corresponding to each type of target object on the map area corresponding to each type of target object in the two-dimensional map displayed by the display device according to the identifier display operation.
其中，控制设备检测标识符显示操作例如可以为：该控制设备通过交互装置检测到标识符显示操作。其中，交互装置可以是控制终端的重要组成部分，是与用户进行交互的接口，用户可以通过对交互装置的操作，实现对控制设备的控制；当用户想要控制控制设备时，用户对控制设备的交互装置进行操作，控制设备通过该交互装置检测到用户的操作，本实施例中，当用户想要显示标识符时，用户便对交互装置进行标识符显示操作，交互装置会对该标识符显示操作进行检测，因此，控制终端可以通过交互装置检测到用户的标识符显示操作。在一些实施例中，该交互装置与上述的显示设备可以集成为触摸显示屏。The control device detecting the identifier display operation may be, for example, that the control device detects the identifier display operation through the interactive device. Among them, the interaction device can be an important part of the control terminal and an interface for interacting with the user. The user can control the control device by operating the interaction device; when the user wants to control the control device, the user controls the control device The interactive device operates, and the control device detects the user's operation through the interactive device. In this embodiment, when the user wants to display the identifier, the user performs the identifier display operation on the interactive device, and the interactive device The display operation is detected, so the control terminal can detect the user's identifier display operation through the interactive device. In some embodiments, the interaction device and the above-mentioned display device may be integrated as a touch display screen.
在一些实施例中，所述确定所述二维地图中所述目标作物对应的目标地图区域的一种可能的实现方式为：确定所述二维地图中所述目标作物对应的初始地图区域，显示所述初始目标地图区域，检测用户的区域编辑操作，其中，所述编辑操作用于编辑所述初始地图区域；根据所述检测到的编辑操作确定目标地图区域。In some embodiments, a possible implementation manner of determining the target map area corresponding to the target crop in the two-dimensional map is: determining the initial map area corresponding to the target crop in the two-dimensional map, The initial target map area is displayed, and a user's area editing operation is detected, wherein the editing operation is used to edit the initial map area; the target map area is determined according to the detected editing operation.
本实施例的控制设备可以确定二维地图中目标作物对应的初始地图区域，例如可以将二维地图输入预设识别模型中以确定目标作物对应的地图区域，该地图区域可以称为初始地图区域；进一步地，还可以将目标区域的高度信息和二维地图输入预设识别模型中以确定目标作物对应的地图区域(即初始地图区域)。确定初始地图区域后通过显示设备显示该初始地图区域。若用户需要对初始地图区域进行编辑，例如用户认为有些目标作物未识别出，或者，有些非目标作物被识别为目标作物，则本实施例的控制设备可以检测到用户的区域编辑操作，然后根据区域编辑操作确定目标地图区域，例如如图7或图8所示。该区域编辑操作例如是区域增加操作，确定后的目标地图 区域包括初始地图区域且大于该初始地图区域；该区域编辑操作例如是区域删除操作，确定后的目标地图区域包括在初始地图区域中且小于该初始地图区域；该区域编辑操作例如是区域修正操作，确定后的目标地图区域修正了该初始地图区域中有误的地图区域。The control device of this embodiment may determine the initial map area corresponding to the target crop in the two-dimensional map. For example, the two-dimensional map may be input into a preset recognition model to determine the map area corresponding to the target crop. The map area may be referred to as an initial map area ; Further, the height information of the target area and the two-dimensional map can also be input into the preset recognition model to determine the map area corresponding to the target crop (ie, the initial map area). After the initial map area is determined, the initial map area is displayed on the display device. If the user needs to edit the initial map area, for example, the user believes that some target crops are not recognized, or some non-target crops are identified as target crops, the control device in this embodiment can detect the user's area editing operation, and then The area editing operation determines the target map area, for example, as shown in FIG. 7 or FIG. 8. The area editing operation is, for example, an area adding operation, and the determined target map area includes an initial map area and is larger than the initial map area; the area editing operation is, for example, an area deleting operation, and the determined target map area is included in the initial map area and Is smaller than the initial map area; the area editing operation is, for example, an area correction operation, and the determined target map area corrects the incorrect map area in the initial map area.
在一些实施例中，本实施例的控制设备还检测到用户输入的标定点确定操作；根据所述标定点确定操作，确定标定点的位置信息，将向所述喷洒无人机发送所述标定点的位置信息，所述标定点的位置信息用于所述喷洒无人机在喷洒时对位置进行修正。In some embodiments, the control device of this embodiment also detects the calibration point determination operation input by the user; according to the calibration point determination operation, the location information of the calibration point is determined, and the calibration will be sent to the spray drone Position information of a fixed point, and the position information of the calibration point is used for the spray drone to correct the position when spraying.
本实施例中，控制设备可以检测到用户基于显示的二维地图而输入的标定点确定操作，由于二维地图中每个像素点可以表示对应位置的位置信息，因此，根据标定点确定操作，可以确定标定点的位置信息，可以参见图9所示，然后向喷洒无人机发送标定点的位置信息。喷洒无人机接收到标定点的位置信息之后，在喷洒时可以根据该标定点的位置信息对位置进行修正，即根据该标定点的位置信息对喷洒无人机中的定位设备输出的位置进行修正以获取喷洒无人机的精准位置，以保证喷洒无人机在喷洒时的喷洒准确性。In this embodiment, the control device can detect the calibration point determination operation input by the user based on the displayed two-dimensional map. Since each pixel point in the two-dimensional map can represent the position information of the corresponding position, the determination operation is based on the calibration point, The position information of the calibration point can be determined, as shown in FIG. 9, and then the location information of the calibration point is sent to the spray drone. After receiving the position information of the calibration point, the spraying drone can correct the position according to the position information of the calibration point during spraying, that is, the position output by the positioning device in the spraying drone according to the position information of the calibration point Corrected to obtain the precise position of the spray drone to ensure the spray accuracy of the spray drone when spraying.
在一些实施例中，本实施例的控制设备还根据所述目标地图区域生成喷洒无人机对对所述目标作物进行喷洒的喷洒控制信息；并显示所述喷洒控制信息。本实施例中，控制设备可以根据确定出的二维地图中的目标地图区域生成喷洒无人机对该目标地图区域中的目标作物进行喷洒的喷洒控制信息，然后通过显示设备显示该喷洒控制信息，例如可以在显示设备显示的二维地图的目标地图区域上显示该喷洒控制信息，本实施例并不限于此。In some embodiments, the control device of this embodiment also generates spray control information for spraying the target crop by the spray drone according to the target map area; and displays the spray control information. In this embodiment, the control device may generate spray control information for spraying the target crop in the target map area by the spray drone according to the determined target map area in the two-dimensional map, and then display the spray control information through the display device For example, the spraying control information may be displayed on the target map area of the two-dimensional map displayed by the display device, and this embodiment is not limited thereto.
在一些实施例中，本实施例的控制设备还获取目标区域的高度信息，该高度信息是根据上述的测绘无人机的拍摄图像确定的。然后控制设备将目标区域的高度信息以及目标区域的二维地图输入到上述的预设识别模型中，不仅可以确定目标作物的目标地图区域，还可以确定目标作物的高度信息。In some embodiments, the control device of this embodiment also obtains height information of the target area, the height information is determined according to the above-mentioned captured image of the mapping drone. Then the control device inputs the height information of the target area and the two-dimensional map of the target area into the above-mentioned preset recognition model, which can not only determine the target map area of the target crop, but also determine the height information of the target crop.
相应地，上述生成喷洒控制信息的一种可能的实现方式为：根据上述确定的目标作物的高度信息以及目标地图区域，生成喷洒无人机对目标作物进行喷洒的喷洒控制信息。若目标作物之间的高度存在较大差异，则生成的喷洒控制信息可以使得喷洒无人机以较高的安全飞行高度飞行并进行喷洒。Correspondingly, a possible implementation manner of generating the spraying control information described above is: generating spraying control information for spraying the target crop by the spray drone according to the height information of the target crop determined above and the target map area. If there is a large difference in the height between the target crops, the generated spray control information can cause the spray drone to fly and spray at a higher safe flying height.
在一些实施例中，控制设备还检测用户的喷洒作业区域选择操作，根据 所述喷洒作业区域选择操作确定所述二维地图中的喷洒区域。相应地，所述根据所述目标地图区域生成喷洒无人机对对所述目标作物进行喷洒的喷洒控制信息的一种可能的实现方式为：根据所述喷洒区域内的目标地图区域生成喷洒无人机对对所述目标作物进行喷洒的喷洒控制信息。In some embodiments, the control device also detects the user's spraying operation area selection operation, and determines the spraying area in the two-dimensional map according to the spraying operation area selection operation. Correspondingly, a possible implementation manner of generating spraying control information for spraying the target crop according to the target map area by the spray drone is to generate spraying based on the target map area in the spraying area Spraying control information on spraying the target crop by a man-machine.
在一些应用场景中，例如用户需要对目标区域中的部分区域的目标对象进行喷洒，因此，用户可以对喷洒区域进行规划。相应地，控制设备可以检测到用户的喷洒作业区域选择操作，并根据该喷洒作业区域操作确定二维地图中的喷洒区域，例如如图9所示。在确定喷洒区域之后，控制设备生成的喷洒控制信息是根据喷洒区域内的目标地图区域生成的，喷洒无人机根据该喷洒控制信息对喷洒区域内的目标地图区域中的目标作物进行喷洒。In some application scenarios, for example, the user needs to spray the target objects in some areas of the target area, therefore, the user can plan the spray area. Correspondingly, the control device can detect the user's spraying operation area selection operation, and determine the spraying area in the two-dimensional map according to the spraying operation area operation, for example, as shown in FIG. 9. After the spray area is determined, the spray control information generated by the control device is generated based on the target map area in the spray area, and the spray drone sprays the target crops in the target map area in the spray area according to the spray control information.
在一些实施例中，本实施例的控制终端还根据所述二维地图和所述目标区域的高度信息生成并显示三维场景；相应地，所述显示所述喷洒控制信息的一种可能的实现方式为：在所述三维场景中显示所述喷洒控制信息。本实施例中，控制设备在获得目标区域的高度信息之后，还可以根据目标区域的高度信息以及二维地图，生成目标区域的三维场景，然后通过显示设备显示该三维场景，例如如图10所示，在一些实施例中，还可以在显示的三维场景中显示上述标识符，例如如图11所示。In some embodiments, the control terminal of this embodiment also generates and displays a three-dimensional scene according to the two-dimensional map and the height information of the target area; accordingly, the display of the spray control information is a possible implementation The method is: displaying the spraying control information in the three-dimensional scene. In this embodiment, after obtaining the height information of the target area, the control device may also generate a three-dimensional scene of the target area according to the height information of the target area and the two-dimensional map, and then display the three-dimensional scene through the display device, for example It is shown that, in some embodiments, the above identifier can also be displayed in the displayed three-dimensional scene, for example, as shown in FIG. 11.
然后控制设备在确定喷洒控制信息之后，还可以在三维场景中显示该喷洒控制信息，例如如图12所示，以便用户获知喷洒无人机如何对目标作物进行喷洒。在一些实施例中，还可以在显示有标识符的三维场景中显示该喷洒控制信息，例如如图13所示。Then, after determining the spraying control information, the control device may also display the spraying control information in a three-dimensional scene, for example, as shown in FIG. 12, so that the user knows how the spraying drone sprays the target crop. In some embodiments, the spraying control information may also be displayed in the three-dimensional scene with the identifier displayed, for example, as shown in FIG. 13.
在一些实施例中，本实施例的控制设备还检测用户的喷洒控制信息调整操作；根据所述喷洒控制信息调整操作，调整所述喷洒控制信息。本实施例中，控制设备显示喷洒控制信息之后，若用户认为喷洒控制信息不合适，还可以对该喷洒控制信息进行调整，相应地，控制设备可以检测到用户的喷洒控制信息调整操作，并根据该喷洒控制信息调整操作，调整喷洒控制信息。调整后的喷洒控制信息可以使得喷洒无人机在喷洒时更安全，或者耗时最短，或者耗电量最小，较大的提高了喷洒无人机的喷洒效率。In some embodiments, the control device of this embodiment also detects the user's spray control information adjustment operation; adjusts the spray control information according to the spray control information adjustment operation. In this embodiment, after the control device displays the spray control information, if the user believes that the spray control information is inappropriate, the spray control information can be adjusted. Accordingly, the control device can detect the user's spray control information adjustment operation, and according to The spraying control information adjustment operation adjusts the spraying control information. The adjusted spraying control information can make the spraying drone safer during spraying, or the shortest time consumption, or the minimum power consumption, which greatly improves the spraying efficiency of the spraying drone.
综上所述，通过获取并在显示设备上显示目标区域的二维地图，其中，所述目标区域中包括目标作物，所述二维地图是根据测绘无人机在目标区域 上飞行时获取的拍摄图像获取的；确定所述二维地图中所述目标作物对应的目标地图区域，其中，所述目标地图区域用于确定喷洒控制信息，所述喷洒控制信息用于控制喷洒无人机对所述目标作物的喷洒；在所述显示设备显示的二维地图中的目标地图区域上显示标识符。因此，用户可以通过识别标识符可迅速且直观地确定二维地图中的目标地图区域，而且目标地图区域是需要进行喷洒作业的区域，可更智能地获得喷洒控制信息，改善了喷洒效果，提高了喷洒效率。而且在生成喷洒控制信息之后，还可以显示该喷洒控制信息，使得用户可以迅速获知喷洒无人机的飞行喷洒路径，另外，还可以根据需要，调整显示的喷洒控制信息，以进一步改善喷洒效果，提高喷洒效率，保障喷洒作业安全性。In summary, by acquiring and displaying a two-dimensional map of the target area on the display device, where the target area includes the target crop, the two-dimensional map is obtained according to the mapping drone flying over the target area Obtained by taking an image; determining a target map area corresponding to the target crop in the two-dimensional map, wherein the target map area is used to determine spray control information, and the spray control information is used to control the spray drone Spraying of the target crop; displaying an identifier on the target map area in the two-dimensional map displayed by the display device. Therefore, the user can quickly and intuitively determine the target map area in the two-dimensional map by identifying the identifier, and the target map area is the area that needs to be sprayed. The spray control information can be obtained more intelligently, which improves the spraying effect and improves Spraying efficiency. After the spray control information is generated, the spray control information can also be displayed, so that the user can quickly learn the flying spray path of the spray drone. In addition, the spray control information displayed can be adjusted as needed to further improve the spray effect. Improve spraying efficiency and ensure the safety of spraying operations.
本发明实施例中还提供了一种计算机存储介质，该计算机存储介质中存储有程序指令，所述程序执行时可包括如图4及其对应实施例中的控制方法的部分或全部步骤。A computer storage medium is also provided in an embodiment of the present invention. The computer storage medium stores program instructions. When the program is executed, it may include some or all of the steps of the control method as shown in FIG. 4 and its corresponding embodiments.
图14为本发明一实施例提供的控制设备的结构示意图，如图14所示，本实施例的控制设备1400可以包括：处理器1401和显示设备1402。上述处理器1401和显示设备1402通过总线连接。可选地，控制设备1400还可以包括交互装置1403，交互装置1403可以通过总线与上述部件连接。可选地，控制设备1400还可以包括通信装置1404，通信装置1404可以通过总线与上述部件连接。FIG. 14 is a schematic structural diagram of a control device according to an embodiment of the present invention. As shown in FIG. 14, the control device 1400 in this embodiment may include: a processor 1401 and a display device 1402. The processor 1401 and the display device 1402 are connected through a bus. Optionally, the control device 1400 may further include an interaction device 1403, and the interaction device 1403 may be connected to the above components through a bus. Optionally, the control device 1400 may further include a communication device 1404, and the communication device 1404 may be connected to the above components through a bus.
所述处理器1401，用于获取目标区域的二维地图，其中，所述目标区域中包括目标作物，所述二维地图是根据测绘无人机在目标区域上飞行时获取的拍摄图像获取的。The processor 1401 is configured to obtain a two-dimensional map of a target area, wherein the target area includes a target crop, and the two-dimensional map is obtained based on a captured image obtained when the mapping drone is flying on the target area .
所述显示设备1402，用于显示所述处理器1401获取的所述二维地图。The display device 1402 is configured to display the two-dimensional map acquired by the processor 1401.
所述处理器1401，还用于确定所述二维地图中所述目标作物对应的目标地图区域，其中，所述目标地图区域用于确定喷洒控制信息，所述喷洒控制信息用于控制喷洒无人机对所述目标作物的喷洒。The processor 1401 is further configured to determine a target map area corresponding to the target crop in the two-dimensional map, wherein the target map area is used to determine spray control information, and the spray control information is used to control spraying Man-machine spraying the target crop.
所述显示设备1402，还用于在显示的二维地图中的目标地图区域上显示标识符。The display device 1402 is also used to display the identifier on the target map area in the displayed two-dimensional map.
在一些实施例中，所述处理器1401在确定所述二维地图中所述目标作物对应的目标地图区域时，具体用于：将所述二维地图输入到预设识别模型中以确定所述目标地图区域。In some embodiments, when the processor 1401 determines the target map area corresponding to the target crop in the two-dimensional map, it is specifically used to: input the two-dimensional map into a preset recognition model to determine the target Describe the target map area.
在一些实施例中，所述处理器1401，还用于获取所述目标区域的高度信息，其中，所述高度信息是根据所述拍摄图像确定的。In some embodiments, the processor 1401 is further configured to obtain height information of the target area, where the height information is determined according to the captured image.
所述处理器1401在将所述二维地图输入到预设识别模型中以确定所述目标地图区域时，具体用于：将所述高度信息和二维地图输入到所述预设识别模型中以确定所述目标地图区域。When the processor 1401 inputs the two-dimensional map into a preset recognition model to determine the target map area, it is specifically used to: input the height information and the two-dimensional map into the preset recognition model To determine the target map area.
在一些实施例中，所述目标区域中包括多种类型的目标对象，其中，所述多种类型的目标对象包括所述目标作物。In some embodiments, the target area includes multiple types of target objects, wherein the multiple types of target objects include the target crop.
所述处理器1401在确定所述二维地图中所述目标作物对应的目标地图区域时，具体用于：识别所述二维地图中的多种类型的目标对象，以确定所述二维地图中各种类型的目标对象对应的地图区域。When the processor 1401 determines the target map area corresponding to the target crop in the two-dimensional map, it is specifically used to: identify multiple types of target objects in the two-dimensional map to determine the two-dimensional map Map area corresponding to various types of target objects in.
所述显示设备1402在显示的二维地图中的目标地图区域上显示标识符时，具体用于：在显示的二维地图中的每种类型的目标对象对应的地图区域上显示该种类型的目标对象所对应的标识符，其中，不同类型的目标对象采用不同的种类标识符。When the display device 1402 displays the identifier on the target map area in the displayed two-dimensional map, it is specifically used to: display this type of map object on the map area corresponding to each type of target object in the displayed two-dimensional map The identifier corresponding to the target object, wherein different types of target objects use different types of identifiers.
在一些实施例中，所述处理器1401在确定所述二维地图中所述目标作物对应的目标地图区域时，具体用于：In some embodiments, when the processor 1401 determines the target map area corresponding to the target crop in the two-dimensional map, it is specifically used to:
确定所述二维地图中所述目标作物对应的初始地图区域；Determine an initial map area corresponding to the target crop in the two-dimensional map;
显示所述初始目标地图区域；Display the initial target map area;
根据检测到的用户的区域编辑操作确定目标地图区域，其中，所述区域编辑操作用于编辑所述初始地图区域；Determining the target map area according to the detected area editing operation of the user, wherein the area editing operation is used to edit the initial map area;
其中，交互装置1403用于检测到用户的区域编辑操作。Among them, the interaction device 1403 is used to detect the user's area editing operation.
在一些实施例中，所述交互装置1403，用于检测到用户输入的标定点确定操作。In some embodiments, the interaction device 1403 is used to detect a calibration point determination operation input by a user.
所述处理器1401，还用于根据所述标定点确定操作，确定标定点的位置信息。The processor 1401 is further configured to determine the location information of the calibration point according to the calibration point determination operation.
所述通信装置1404，用于将向所述喷洒无人机发送所述标定点的位置信息，所述标定点的位置信息用于所述喷洒无人机在喷洒时对位置进行修正。The communication device 1404 is configured to send the location information of the calibration point to the spray drone, and the location information of the calibration point is used for the spray drone to correct the position when spraying.
在一些实施例中，所述处理器1401，还用于根据所述目标地图区域生成喷洒无人机对对所述目标作物进行喷洒的喷洒控制信息。In some embodiments, the processor 1401 is further configured to generate spray control information about spraying the target crop by a spray drone according to the target map area.
所述显示设备1402，用于显示所述喷洒控制信息。The display device 1402 is configured to display the spray control information.
在一些实施例中，所述处理器1401，还用于获取所述目标区域的高度信息，其中，所述高度信息是根据所述拍摄图像确定的。In some embodiments, the processor 1401 is further configured to obtain height information of the target area, where the height information is determined according to the captured image.
所述处理器1401在确定所述二维地图中所述目标作物对应的目标地图区域时，具体用于：将所述高度信息和二维地图输入到所述预设识别模型中以确定所述目标地图区域和所述目标作物的高度信息。When the processor 1401 determines the target map area corresponding to the target crop in the two-dimensional map, it is specifically used to: input the height information and the two-dimensional map into the preset recognition model to determine the The target map area and the height information of the target crop.
所述处理器1401在根据所述目标地图区域生成喷洒无人机对对所述目标作物进行喷洒的喷洒控制信息时，具体用于：根据所述目标地图区域和所述目标作物的高度信息生成喷洒无人机对对所述目标作物进行喷洒的喷洒控制信息。When the processor 1401 generates spray control information for spraying the target crop by the spray drone according to the target map area, it is specifically used to generate according to the target map area and the height information of the target crop The spray control information of the spray drone spraying the target crop.
在一些实施例中，所述处理器1401，还用于根据所述二维地图和所述目标区域的高度信息生成三维场景。In some embodiments, the processor 1401 is further configured to generate a three-dimensional scene according to the two-dimensional map and the height information of the target area.
所述显示设备1402，还用于显示所述三维场景。The display device 1402 is also used to display the three-dimensional scene.
所述显示设备1402在显示所述喷洒控制信息时，具体用于：在所述三维场景中显示所述喷洒控制信息。When the display device 1402 displays the spray control information, it is specifically used to display the spray control information in the three-dimensional scene.
在一些实施例中，所述交互装置1403，用于检测用户的喷洒作业区域选择操作，根据所述喷洒作业区域选择操作确定所述二维地图中的喷洒区域；In some embodiments, the interactive device 1403 is configured to detect a user's spraying operation area selection operation, and determine the spraying area in the two-dimensional map according to the spraying operation area selection operation;
所述处理器1401在根据所述目标地图区域生成喷洒无人机对对所述目标作物进行喷洒的喷洒控制信息时，具体用于：根据所述喷洒区域内的目标地图区域生成喷洒无人机对对所述目标作物进行喷洒的喷洒控制信息。When the processor 1401 generates spray control information for spraying the target crop by the spray drone according to the target map area, it is specifically used to: generate the spray drone according to the target map area in the spray area Spray control information for spraying the target crop.
在一些实施例中，所述交互装置1403，用于检测用户的喷洒控制信息调整操作。In some embodiments, the interaction device 1403 is used to detect a user's spraying control information adjustment operation.
所述处理器1401，还用于根据所述喷洒控制信息调整操作，调整所述喷洒控制信息。The processor 1401 is further configured to adjust the spraying control information according to the spraying control information adjustment operation.
在一些实施例中，所述喷洒控制信息包括喷洒无人机所述目标作物之间的飞行路径。In some embodiments, the spray control information includes a flight path between the target crops sprayed by the drone.
在一些实施例中，所述喷洒控制信息包括喷洒无人机在对多株目标作物中每一株目标作物喷洒时的喷洒模式。In some embodiments, the spray control information includes a spray pattern of the spray drone when spraying each target crop among the multiple target crops.
在一些实施例中，所述喷洒模式包括飞行路径、喷洒幅度、飞行速度、喷洒密度、飞行速度中的一种或多种。In some embodiments, the spray pattern includes one or more of a flight path, a spray amplitude, a flight speed, a spray density, and a flight speed.
在一些实施例中，所述目标作物为树木。In some embodiments, the target crop is a tree.
在一些实施例中，所述树木为果树。In some embodiments, the tree is a fruit tree.
可选地，本实施例的控制设备1400还可以包括：存储器(图中未示出)，存储器用于存储程序代码，当程序代码被执行时，所述控制设备1400可以实现上述的技术方案。Optionally, the control device 1400 of this embodiment may further include: a memory (not shown in the figure), where the memory is used to store program code, and when the program code is executed, the control device 1400 may implement the foregoing technical solution.
本实施例的控制设备，可以用于执行本发明上述各方法实施例中控制设备的技术方案，其实现原理和技术效果类似，此处不再赘述。The control device in this embodiment may be used to execute the technical solution of the control device in the above method embodiments of the present invention, and its implementation principles and technical effects are similar, and will not be repeated here.
图15为本发明一实施例提供的控制***的结构示意图，如图15所示，本实施例的控制***1500可以包括：测绘无人机1501、控制设备1502和喷洒无人机1503。15 is a schematic structural diagram of a control system provided by an embodiment of the present invention. As shown in FIG. 15, the control system 1500 of this embodiment may include: a mapping drone 1501, a control device 1502, and a spray drone 1503.
其中，测绘无人机1501用于在目标区域上飞行时获取拍摄图像，拍摄图像用于确定目标区域的二维地图；Among them, the mapping drone 1501 is used to obtain a captured image when flying on the target area, and the captured image is used to determine a two-dimensional map of the target area;
控制设备1502可以采用图14所示实施例的结构，其对应地，可以执行上述各方法实施例中控制设备的技术方案，其实现原理和技术效果类似，此处不再赘述。The control device 1502 may adopt the structure of the embodiment shown in FIG. 14. Correspondingly, the technical solution of the control device in each method embodiment described above may be executed. The implementation principles and technical effects are similar, and are not repeated here.
其中，喷洒无人机1503可以获取控制设备1502确定的喷洒控制信息，然后根据该喷洒控制信息对目标作物进行喷洒。其中，在一种可能的实现方式中，喷洒无人机1503通过无线通信连接或者有线通信连接接收控制设备1502发送的喷洒控制信息。在另一种可能的实现方式中，控制设备1502在确定喷洒控制信息之后，将所述喷洒控制信息存储到存储设备中，相应地，喷洒无人机1503从存储设备中获取所述喷洒控制信息。该存储设备例如为SD卡，控制设备可以将获得的喷洒控制信息存储在SD卡中，然后用户将SD卡从控制设备中拔出并***至喷洒无人机1503中，喷洒无人机1503从***其中的SD卡中获取喷洒控制信息。The spray drone 1503 can obtain the spray control information determined by the control device 1502, and then spray the target crop according to the spray control information. In a possible implementation manner, the spray drone 1503 receives spray control information sent by the control device 1502 through a wireless communication connection or a wired communication connection. In another possible implementation manner, after determining the spray control information, the control device 1502 stores the spray control information in the storage device, and accordingly, the spray drone 1503 obtains the spray control information from the storage device . The storage device is, for example, an SD card, and the control device can store the obtained spray control information in the SD card, and then the user pulls out the SD card from the control device and inserts it into the spray drone 1503. Insert the SD card into it to get spray control information.
本领域普通技术人员可以理解：实现上述方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成，前述的程序可以存储于一计算机可读取存储介质中，该程序在执行时，执行包括上述方法实施例的步骤；而前述的存储介质包括：只读内存(Read-Only Memory，ROM)、随机存取存储器 (Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。Those of ordinary skill in the art may understand that all or part of the steps to implement the above method embodiments may be completed by program instructions related hardware. The foregoing program may be stored in a computer-readable storage medium, and when the program is executed, It includes the steps of the above method embodiments; and the foregoing storage media include: read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disks or optical discs, etc., which can store program codes Medium.
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, rather than limiting it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or replacements do not deviate from the essence of the corresponding technical solutions of the technical solutions of the embodiments of the present invention. range.

Claims (32)

  1. 一种控制方法，其特征在于，包括：A control method, characterized in that it includes:
    获取并在显示设备上显示目标区域的二维地图，其中，所述目标区域中包括目标作物，所述二维地图是根据测绘无人机在目标区域上飞行时获取的拍摄图像获取的；Acquiring and displaying a two-dimensional map of a target area on a display device, where the target area includes a target crop, the two-dimensional map is obtained based on a captured image obtained when the mapping drone is flying over the target area;
    确定所述二维地图中所述目标作物对应的目标地图区域，其中，所述目标地图区域用于确定喷洒控制信息，所述喷洒控制信息用于控制喷洒无人机对所述目标作物的喷洒；Determining a target map area corresponding to the target crop in the two-dimensional map, wherein the target map area is used to determine spray control information, and the spray control information is used to control spraying of the target crop by a spray drone ;
    在所述显示设备显示的二维地图中的目标地图区域上显示标识符。The identifier is displayed on the target map area in the two-dimensional map displayed by the display device.
  2. 根据权利要求1所述的方法，其特征在于，所述确定所述二维地图中所述目标作物对应的目标地图区域，包括：The method according to claim 1, wherein the determining the target map area corresponding to the target crop in the two-dimensional map comprises:
    将所述二维地图输入到预设识别模型中以确定所述目标地图区域。The two-dimensional map is input into a preset recognition model to determine the target map area.
  3. 根据权利要求2所述的方法，其特征在于，还包括：The method of claim 2, further comprising:
    获取所述目标区域的高度信息，其中，所述高度信息是根据所述拍摄图像确定的；Acquiring height information of the target area, wherein the height information is determined according to the captured image;
    所述将所述二维地图输入到预设识别模型中以确定所述目标地图区域，包括：The inputting the two-dimensional map into a preset recognition model to determine the target map area includes:
    将所述高度信息和二维地图输入到所述预设识别模型中以确定所述目标地图区域。The height information and the two-dimensional map are input into the preset recognition model to determine the target map area.
  4. 根据权利要求1-3任一项所述的方法，其特征在于，所述目标区域中包括多种类型的目标对象，其中，所述多种类型的目标对象包括所述目标作物；The method according to any one of claims 1 to 3, wherein the target area includes multiple types of target objects, wherein the multiple types of target objects include the target crops;
    所述确定所述二维地图中所述目标作物对应的目标地图区域，包括：The determining the target map area corresponding to the target crop in the two-dimensional map includes:
    识别所述二维地图中的多种类型的目标对象，以确定所述二维地图中各种类型的目标对象对应的地图区域；Identifying multiple types of target objects in the two-dimensional map to determine the map area corresponding to the various types of target objects in the two-dimensional map;
    在所述显示设备显示的二维地图中的目标地图区域上显示标识符，包括：Displaying the identifier on the target map area in the two-dimensional map displayed by the display device includes:
    在所述显示设备显示的二维地图中的每种类型的目标对象对应的地图区域上显示该种类型的目标对象所对应的标识符，其中，不同类型的目标对象采用不同的种类标识符。An identifier corresponding to each type of target object is displayed on a map area corresponding to each type of target object in the two-dimensional map displayed by the display device, wherein different types of target objects use different type identifiers.
  5. 根据权利要求1-4任一项所述的方法，其特征在于，The method according to any one of claims 1 to 4, characterized in that
    所述确定所述二维地图中所述目标作物对应的目标地图区域包括：The determining the target map area corresponding to the target crop in the two-dimensional map includes:
    确定所述二维地图中所述目标作物对应的初始地图区域；Determine an initial map area corresponding to the target crop in the two-dimensional map;
    显示所述初始目标地图区域；Display the initial target map area;
    检测用户的区域编辑操作，其中，所述区域编辑操作用于编辑所述初始地图区域；Detecting a user's area editing operation, wherein the area editing operation is used to edit the initial map area;
    根据所述区域编辑操作确定目标地图区域。The target map area is determined according to the area editing operation.
  6. 根据权利要求1-5任一项所述的方法，其特征在于，还包括：The method according to any one of claims 1-5, further comprising:
    检测到用户输入的标定点确定操作；Determining the calibration point input operation detected by the user;
    根据所述标定点确定操作，确定标定点的位置信息，将向所述喷洒无人机发送所述标定点的位置信息，所述标定点的位置信息用于所述喷洒无人机在喷洒时对位置进行修正。According to the calibration point determination operation, the location information of the calibration point is determined, and the location information of the calibration point will be sent to the spray drone, and the location information of the calibration point is used when the spray drone Correct the position.
  7. 根据权利要求1-6任一项所述的方法，其特征在于，还包括：The method according to any one of claims 1-6, further comprising:
    根据所述目标地图区域生成喷洒无人机对对所述目标作物进行喷洒的喷洒控制信息；Generating spray control information for spraying the target crop by the spray drone according to the target map area;
    显示所述喷洒控制信息。Display the spray control information.
  8. 根据权利要求7所述的方法，其特征在于，还包括：The method of claim 7, further comprising:
    获取所述目标区域的高度信息，其中，所述高度信息是根据所述拍摄图像确定的；Acquiring height information of the target area, wherein the height information is determined according to the captured image;
    所述确定所述二维地图中所述目标作物对应的目标地图区域包括：The determining the target map area corresponding to the target crop in the two-dimensional map includes:
    将所述高度信息和二维地图输入到预设识别模型中以确定所述目标地图区域和所述目标作物的高度信息；Input the height information and the two-dimensional map into a preset recognition model to determine the height information of the target map area and the target crop;
    所述根据所述目标地图区域生成喷洒无人机对对所述目标作物进行喷洒的喷洒控制信息包括：The spraying control information for generating a spray drone to spray the target crop according to the target map area includes:
    根据所述目标地图区域和所述目标作物的高度信息生成喷洒无人机对对所述目标作物进行喷洒的喷洒控制信息。According to the target map area and the height information of the target crop, spraying control information for spraying the target crop by the spray drone is generated.
  9. 根据权利要求8所述的方法，其特征在于，还包括：The method of claim 8, further comprising:
    根据所述二维地图和所述目标区域的高度信息生成并显示三维场景；Generate and display a three-dimensional scene according to the two-dimensional map and the height information of the target area;
    所述显示所述喷洒控制信息，包括：The display of the spray control information includes:
    在所述三维场景中显示所述喷洒控制信息。The spraying control information is displayed in the three-dimensional scene.
  10. 根据权利要求8或9所述的方法，其特征在于，还包括：The method according to claim 8 or 9, further comprising:
    检测用户的喷洒作业区域选择操作，根据所述喷洒作业区域选择操作确定所述二维地图中的喷洒区域；Detecting the user's spraying operation area selection operation, and determining the spraying area in the two-dimensional map according to the spraying operation area selection operation;
    所述根据所述目标地图区域生成喷洒无人机对对所述目标作物进行喷洒的喷洒控制信息，包括：The spraying control information generated by the spraying drone to spray the target crop according to the target map area includes:
    根据所述喷洒区域内的目标地图区域生成喷洒无人机对对所述目标作物进行喷洒的喷洒控制信息。According to the target map area in the spraying area, spraying control information for spraying the target crop by the spraying drone is generated.
  11. 根据权利要求7-10任一项所述的方法，其特征在于，还包括：The method according to any one of claims 7-10, further comprising:
    检测用户的喷洒控制信息调整操作；Check the user's spray control information adjustment operation;
    根据所述喷洒控制信息调整操作，调整所述喷洒控制信息。Adjust the spraying control information according to the spraying control information adjustment operation.
  12. 根据权利要求1-11任一项所述的方法，其特征在于，所述喷洒控制信息包括喷洒无人机所述目标作物之间的飞行路径。The method according to any one of claims 1-11, wherein the spraying control information includes spraying a flight path between the target crops of the drone.
  13. 根据权利要求1-12任一项所述的方法，其特征在于，所述喷洒控制信息包括喷洒无人机在对多株目标作物中每一株目标作物喷洒时的喷洒模式。The method according to any one of claims 1-12, wherein the spraying control information includes a spraying mode of a spraying drone when spraying each target crop among a plurality of target crops.
  14. 根据权利要求13所述的方法，其特征在于，所述喷洒模式包括飞行路径、喷洒幅度、飞行速度、喷洒密度、飞行速度中的一种或多种。The method according to claim 13, wherein the spraying mode includes one or more of a flight path, a spraying amplitude, a flying speed, a spraying density, and a flying speed.
  15. 根据权利要求1-14任一项所述的方法，其特征在于，所述目标作物为树木。The method according to any one of claims 1-14, wherein the target crop is a tree.
  16. 根据权利要求15所述的方法，其特征在于，所述树木为果树。The method according to claim 15, wherein the tree is a fruit tree.
  17. 一种控制设备，其特征在于，包括：处理器和显示设备；A control device, comprising: a processor and a display device;
    所述处理器，用于获取目标区域的二维地图，其中，所述目标区域中包括目标作物，所述二维地图是根据测绘无人机在目标区域上飞行时获取的拍摄图像获取的；The processor is used to obtain a two-dimensional map of a target area, wherein the target area includes a target crop, and the two-dimensional map is obtained based on a captured image obtained when the mapping drone is flying on the target area;
    所述显示设备，用于显示所述处理器获取的所述二维地图；The display device is configured to display the two-dimensional map obtained by the processor;
    所述处理器，还用于确定所述二维地图中所述目标作物对应的目标地图区域，其中，所述目标地图区域用于确定喷洒控制信息，所述喷洒控制信息用于控制喷洒无人机对所述目标作物的喷洒；The processor is further configured to determine a target map area corresponding to the target crop in the two-dimensional map, wherein the target map area is used to determine spray control information, and the spray control information is used to control unmanned spraying Machine spraying the target crops;
    所述显示设备，还用于在显示的二维地图中的目标地图区域上显示标识符。The display device is also used to display the identifier on the target map area in the displayed two-dimensional map.
  18. 根据权利要求17所述的控制设备，其特征在于，所述处理器在确 定所述二维地图中所述目标作物对应的目标地图区域时，具体用于：将所述二维地图输入到预设识别模型中以确定所述目标地图区域。The control device according to claim 17, wherein when the processor determines the target map area corresponding to the target crop in the two-dimensional map, the processor is specifically configured to: input the two-dimensional map to a pre- Set a recognition model to determine the target map area.
  19. 根据权利要求18所述的控制设备，其特征在于，所述处理器，还用于获取所述目标区域的高度信息，其中，所述高度信息是根据所述拍摄图像确定的；The control device according to claim 18, wherein the processor is further configured to acquire height information of the target area, wherein the height information is determined according to the captured image;
    所述处理器在将所述二维地图输入到预设识别模型中以确定所述目标地图区域时，具体用于：将所述高度信息和二维地图输入到所述预设识别模型中以确定所述目标地图区域。When the processor inputs the two-dimensional map into a preset recognition model to determine the target map area, it is specifically used to: input the height information and the two-dimensional map into the preset recognition model to Determine the target map area.
  20. 根据权利要求17-19任一项所述的控制设备，其特征在于，所述目标区域中包括多种类型的目标对象，其中，所述多种类型的目标对象包括所述目标作物；The control device according to any one of claims 17 to 19, wherein the target area includes multiple types of target objects, wherein the multiple types of target objects include the target crops;
    所述处理器在确定所述二维地图中所述目标作物对应的目标地图区域时，具体用于：识别所述二维地图中的多种类型的目标对象，以确定所述二维地图中各种类型的目标对象对应的地图区域；When the processor determines the target map area corresponding to the target crop in the two-dimensional map, it is specifically used to: identify multiple types of target objects in the two-dimensional map to determine the two-dimensional map Map areas corresponding to various types of target objects;
    所述显示设备在显示的二维地图中的目标地图区域上显示标识符时，具体用于：在显示的二维地图中的每种类型的目标对象对应的地图区域上显示该种类型的目标对象所对应的标识符，其中，不同类型的目标对象采用不同的种类标识符。When the display device displays the identifier on the target map area in the displayed two-dimensional map, it is specifically used to display the target of that type on the map area corresponding to each type of target object in the displayed two-dimensional map The identifier corresponding to the object, wherein different types of target objects use different types of identifiers.
  21. 根据权利要求17-20任一项所述的控制设备，其特征在于，The control device according to any one of claims 17-20, characterized in that
    所述处理器在确定所述二维地图中所述目标作物对应的目标地图区域时，具体用于：When the processor determines the target map area corresponding to the target crop in the two-dimensional map, it is specifically used to:
    确定所述二维地图中所述目标作物对应的初始地图区域；Determine an initial map area corresponding to the target crop in the two-dimensional map;
    显示所述初始目标地图区域；Display the initial target map area;
    根据检测到的用户的区域编辑操作确定目标地图区域，其中，所述区域编辑操作用于编辑所述初始地图区域。The target map area is determined according to the detected area editing operation of the user, wherein the area editing operation is used to edit the initial map area.
  22. 根据权利要求17-21任一项所述的控制设备，其特征在于，还包括：交互装置和通信装置；The control device according to any one of claims 17 to 21, further comprising: an interaction device and a communication device;
    所述交互装置，用于检测到用户输入的标定点确定操作；The interaction device is used to detect a calibration point determination operation input by a user;
    所述处理器，还用于根据所述检测到的标定点确定操作，确定标定点的位置信息；The processor is further configured to determine position information of the calibration point according to the detected calibration point determination operation;
    所述通信装置，用于将向所述喷洒无人机发送所述标定点的位置信息，所述标定点的位置信息用于所述喷洒无人机在喷洒时对位置进行修正。The communication device is configured to send the position information of the calibration point to the spray drone, and the position information of the calibration point is used for the spray drone to correct the position when spraying.
  23. 根据权利要求17-22任一项所述的控制设备，其特征在于，The control device according to any one of claims 17-22, characterized in that
    所述处理器，还用于根据所述目标地图区域生成喷洒无人机对对所述目标作物进行喷洒的喷洒控制信息；The processor is also used to generate spray control information for spraying the target crop by the spray drone according to the target map area;
    所述显示设备，用于显示所述喷洒控制信息。The display device is used to display the spraying control information.
  24. 根据权利要求23所述的控制设备，其特征在于，The control device according to claim 23, characterized in that
    所述处理器，还用于获取所述目标区域的高度信息，其中，所述高度信息是根据所述拍摄图像确定的；The processor is further configured to obtain height information of the target area, wherein the height information is determined according to the captured image;
    所述处理器在确定所述二维地图中所述目标作物对应的目标地图区域时，具体用于：将所述高度信息和二维地图输入到预设识别模型中以确定所述目标地图区域和所述目标作物的高度信息；When the processor determines the target map area corresponding to the target crop in the two-dimensional map, it is specifically used to: input the height information and the two-dimensional map into a preset recognition model to determine the target map area And the height information of the target crop;
    所述处理器在根据所述目标地图区域生成喷洒无人机对对所述目标作物进行喷洒的喷洒控制信息时，具体用于：根据所述目标地图区域和所述目标作物的高度信息生成喷洒无人机对对所述目标作物进行喷洒的喷洒控制信息。When the processor generates spray control information for spraying the target crop by the spray drone according to the target map area, it is specifically used to generate spray based on the height information of the target map area and the target crop The spray control information of the drone spraying the target crop.
  25. 根据权利要求24所述的控制设备，其特征在于，The control device according to claim 24, characterized in that
    所述处理器，还用于根据所述二维地图和所述目标区域的高度信息生成三维场景；The processor is further configured to generate a three-dimensional scene according to the two-dimensional map and the height information of the target area;
    所述显示设备，还用于显示所述三维场景；The display device is also used to display the three-dimensional scene;
    所述显示设备在显示所述喷洒控制信息时，具体用于：在所述三维场景中显示所述喷洒控制信息。When the display device displays the spraying control information, it is specifically used to display the spraying control information in the three-dimensional scene.
  26. 根据权利要求24或25所述的控制设备，其特征在于，还包括：交互装置；The control device according to claim 24 or 25, further comprising: an interaction device;
    所述交互装置，用于检测用户的喷洒作业区域选择操作，根据所述喷洒作业区域选择操作确定所述二维地图中的喷洒区域；The interactive device is configured to detect a user's spraying operation area selection operation, and determine the spraying area in the two-dimensional map according to the spraying operation area selection operation;
    所述处理器在根据所述目标地图区域生成喷洒无人机对对所述目标作物进行喷洒的喷洒控制信息时，具体用于：根据所述喷洒区域内的目标地图区域生成喷洒无人机对对所述目标作物进行喷洒的喷洒控制信息。When the processor generates spray control information for spraying the target crop by spraying the drone according to the target map area, it is specifically used to generate the spraying drone pair according to the target map area in the spraying area Spray control information for spraying the target crop.
  27. 根据权利要求23-25任一项所述的控制设备，其特征在于，还包括： 交互装置；The control device according to any one of claims 23-25, further comprising: an interaction device;
    所述交互装置，用于检测用户的喷洒控制信息调整操作；The interactive device is used to detect the user's spraying control information adjustment operation;
    所述处理器，还用于根据所述喷洒控制信息调整操作，调整所述喷洒控制信息。The processor is further configured to adjust the spraying control information according to the spraying control information adjustment operation.
  28. 根据权利要求17-27任一项所述的控制设备，其特征在于，所述喷洒控制信息包括喷洒无人机所述目标作物之间的飞行路径。The control device according to any one of claims 17 to 27, wherein the spray control information includes a flight path between the target crops sprayed by the drone.
  29. 根据权利要求17-28任一项所述的控制设备，其特征在于，所述喷洒控制信息包括喷洒无人机在对多株目标作物中每一株目标作物喷洒时的喷洒模式。The control device according to any one of claims 17 to 28, wherein the spraying control information includes a spraying mode of a spraying drone when spraying each target crop among a plurality of target crops.
  30. 根据权利要求29所述的控制设备，其特征在于，所述喷洒模式包括飞行路径、喷洒幅度、飞行速度、喷洒密度、飞行速度中的一种或多种。The control device according to claim 29, wherein the spraying mode includes one or more of a flight path, a spraying amplitude, a flying speed, a spraying density, and a flying speed.
  31. 根据权利要求17-30任一项所述的控制设备，其特征在于，所述目标作物为树木。The control device according to any one of claims 17 to 30, wherein the target crop is a tree.
  32. 根据权利要求31所述的控制设备，其特征在于，所述树木为果树。The control device according to claim 31, wherein the tree is a fruit tree.
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CN108846325A (en) * 2018-05-28 2018-11-20 广州极飞科技有限公司 Planing method, device, storage medium and the processor of target area operation

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