CN105159319A - Spraying method of unmanned plane and unmanned plane - Google Patents

Abstract

The invention discloses an unmanned aerial vehicle spraying method and an unmanned aerial vehicle, which relate to the technical field of unmanned aerial vehicles and can uniformly spray pesticides on farmland in a target operation area. The specific scheme is: acquire the image of the target operation area and segment it to obtain the coordinates of the edge pixels of the image corresponding to the area to be sprayed; acquire the constant height of the drone relative to the horizontal plane, and collect The actual flight height of the UAV relative to the ground when the image is taken; according to the coordinates of the edge pixels, the shooting focal length and the actual flight height, calculate the actual navigation coordinates corresponding to the edge points of the area to be sprayed; plan the navigation route according to the actual navigation coordinates, and Spray pesticides for the operation objects in the area to be sprayed according to the navigation route. The invention is used in the process of drone spraying pesticides.

Description

A kind of spraying method of unmanned aerial vehicle and unmanned aerial vehicle

technical field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a spraying method of an unmanned aerial vehicle and an unmanned aerial vehicle.

Background technique

Unmanned aircraft, referred to as UAV (English: UnmannedAerialVehicle, referred to as: UAV), is an unmanned aircraft that is controlled by radio remote control equipment and its own program control device. UAVs are widely used and are often used in urban management, agriculture, geology, meteorology, electricity, emergency rescue, video shooting and other industries. For example, drones can be used in agriculture to spray pesticides (or fertilizers) on agricultural products.

Specifically, a spraying device for spraying pesticides can be installed on the drone, and then the navigation route is planned for the drone according to the position and size of the area to be sprayed (farmland that needs to be sprayed with pesticides), and then the unmanned spraying device installed The drone flies over the area to be sprayed according to the planned navigation route, and the spraying device installed on the drone sprays pesticides on the crops in the area to be sprayed.

The drone spraying scheme in the prior art can efficiently complete the farmland spraying task in a large-area and flat plain area. However, most of the farmlands in southern my country are located in non-plain areas (such as terraced fields and mountains), and these farmlands are not level (that is, not of equal height), irregular in shape, and may even be discontinuous between farmlands. If the existing drone spraying scheme is used to spray pesticides for the above non-plain areas to be sprayed, the navigation route may not be suitable for The actual topography of the area to be sprayed, which in turn leads to uneven spraying of pesticides in the area to be sprayed, will affect the growth of crops in the area to be sprayed.

Contents of the invention

Embodiments of the present invention provide a spraying method of drones and drones, which are used to solve the problem of not taking into account when planning navigation routes when drones are used to spray pesticides or fertilizers on farmland in non-plain areas in the prior art. To the actual terrain of the area to be sprayed, the planned navigation route is not suitable for the actual terrain of the area to be sprayed, which leads to the problem of uneven spraying of pesticides in the area to be sprayed.

In order to achieve the above object, embodiments of the present invention adopt the following technical solutions:

According to the first aspect of the embodiments of the present invention, there is provided a spraying method for an unmanned aerial vehicle, including:

Obtaining an image of the target operation area, the target operation area includes at least one area to be sprayed, and the image of the target operation area is collected by the drone at a constant flight height relative to the horizontal plane;

performing image segmentation on the image of the target operation area to obtain coordinates of edge pixels of the image corresponding to the area to be sprayed;

Acquiring the actual flying height of the UAV relative to the ground when the UAV collects the image of the target operation area at the constant flying height;

According to the coordinates of the edge pixels, the focal length of the camera mounted on the drone and the actual flight height, calculate the actual navigation coordinates corresponding to the edge points of the area to be sprayed;

A navigation route is planned according to the actual navigation coordinates, and pesticides are sprayed for the operation objects in the area to be sprayed according to the navigation route.

A second aspect of the embodiments of the present invention provides an unmanned aerial vehicle, including:

The image acquisition module is used to acquire the image of the target operation area, which contains at least one area to be sprayed, and the image of the target operation area is collected by the drone at a constant flight height relative to the horizontal plane;

An image segmentation module, configured to perform image segmentation on the image of the target operation area acquired by the image acquisition module, so as to acquire the coordinates of edge pixels of the image corresponding to the area to be sprayed;

A height acquisition module, configured to acquire the actual flight height of the UAV relative to the ground when the UAV collects images of the target operation area at the constant flight height;

A navigation calculation module, configured to calculate the actual navigation coordinates corresponding to the edge points of the area to be sprayed according to the coordinates of the edge pixels, the focal length of the camera mounted on the drone, and the actual flight height;

A route planning module, configured to plan a navigation route according to the actual navigation coordinates calculated by the navigation calculation module;

A spraying control module, configured to spray pesticides for the operation objects in the area to be sprayed according to the navigation route planned by the route planning module.

The spraying method of the drone and the drone provided by the embodiments of the present invention can segment the area to be sprayed (that is, the farmland) from the image of the target operation area, and obtain the edge pixels of the corresponding image of the farmland Coordinates; then using the actual flight height of the UAV relative to the ground when collecting images and the shooting focal length of the UAV when collecting images, according to the imaging principle of the camera, the actual navigation coordinates corresponding to the coordinates of the edge pixels can be obtained, namely is the actual navigation coordinate corresponding to the edge point of the farmland; the navigation route is planned according to the actual navigation coordinate, and the pesticide is sprayed for the operation object in the area to be sprayed according to the navigation route.

Compared with the existing technology, through this scheme, the area to be sprayed (ie farmland) can be segmented from the image of the target operation area, and then for each area to be sprayed (ie farmland), according to the actual navigation corresponding to its edge point The coordinates are the planned navigation route for the farmland, and the planned navigation route corresponds to the specific terrain of the farmland, and for a piece of farmland, the terrain is relatively flat, so the UAV can evenly map the area in the target operation area. The crops in each field are sprayed with pesticides.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained according to these drawings without any creative effort.

Fig. 1 is a schematic flow chart of a spraying method for an unmanned aerial vehicle provided by an embodiment of the present invention;

Fig. 2 is a schematic diagram of an example of a target operation area provided by an embodiment of the present invention;

Fig. 3 is a schematic diagram of an example of an image of a target operation area provided by an embodiment of the present invention;

4 is a schematic diagram of an example of obtaining an image of an area to be sprayed by segmenting an image of a target operation area provided by an embodiment of the present invention;

Fig. 5 is a schematic flow chart of another drone spraying method provided by an embodiment of the present invention;

FIG. 6 is a schematic diagram of a conversion principle between image coordinates and ground coordinates provided by an embodiment of the present invention;

Fig. 7 is a schematic diagram of an example of an image coordinate system and a ground coordinate system provided by an embodiment of the present invention;

Fig. 8 is a schematic diagram of an example of a rectangle surrounding an area to be sprayed provided by an embodiment of the present invention;

Fig. 9 is a schematic diagram of an example of a navigation route of an area to be sprayed provided by an embodiment of the present invention;

Fig. 10 is a schematic diagram of the structural composition of a drone provided by an embodiment of the present invention;

Fig. 11 is a schematic diagram of the structural composition of another drone provided by the embodiment of the present invention.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Additionally, the terms "system" and "network" are often used herein interchangeably. The term "and/or" in this article is just an association relationship describing associated objects, which means that there can be three relationships, for example, A and/or B can mean: A exists alone, A and B exist simultaneously, and there exists alone B these three situations. In addition, the character "/" in this article generally indicates that the contextual objects are an "or" relationship.

The unmanned aerial vehicle in the embodiment of the present invention is the abbreviation of unmanned aerial vehicle (English: UnmannedAerialVehicle, abbreviation: UAV), is the unmanned aerial vehicle that utilizes radio remote control equipment and self-provided program control device to operate. From a technical point of view, unmanned aerial vehicles can be divided into: unmanned helicopters, unmanned fixed-wing aircraft, unmanned multi-rotor aircraft, unmanned airships, unmanned paraplanes, etc. For example, the UAV in the embodiment of the present invention may be a quadrotor UAV.

Please refer to FIG. 1 , which shows a flow chart of a spraying method for an unmanned aerial vehicle provided by an embodiment of the present invention. As shown in FIG. 1 , the spraying method for an unmanned aerial vehicle includes:

S101. The UAV acquires an image of a target operation area. The target operation area includes at least one area to be sprayed. The image of the target operation area is collected by the UAV at a constant flight height relative to the horizontal plane.

The target operation area in the embodiment of the present invention may include at least one area to be sprayed where pesticides need to be sprayed, and the area to be sprayed in the embodiments of the present invention is the farmland that needs to be sprayed with pesticides.

Exemplarily, as shown in FIG. 2 , it is a schematic diagram of an example of a target operation area provided by an embodiment of the present invention. As shown in Figure 2, the target operation area includes a plurality of discontinuous and irregularly shaped areas to be sprayed (farmland), such as the area to be sprayed 1, the area to be sprayed 2, the area to be sprayed 3, the area to be sprayed 4 and the area to be sprayed. area 5.

Optionally, the image of the target operation area may be spliced from at least one image collected by the drone at a constant flight height relative to the horizontal plane. For example, as shown in FIG. 3 , the image of the target operation area is formed by seamless splicing of nine block images (block image 1, block image 2... block image 9). Wherein, the method for the UAV to separately collect the above-mentioned 9 sub-block images and splicing them into an image of the target operation area can refer to the subsequent description of the embodiment of the present invention, and this embodiment will not be repeated here.

S102. The drone performs image segmentation on the image of the target operation area to obtain coordinates of edge pixels of the image corresponding to the area to be sprayed.

The UAV can perform image segmentation on the image of the target operation area to segment the image corresponding to the area to be sprayed contained in the image of the target operation area, and obtain the edge pixels of the image corresponding to the segmented area to be sprayed. coordinate.

For example, the UAV can perform image segmentation on the image of the target operation area shown in the left figure in Figure 4, and segment the image corresponding to the area to be sprayed contained in the image of the target operation area shown in the left figure in Figure 4 , get the images corresponding to a plurality of areas to be sprayed as shown in the right figure in Figure 4, and then obtain the image corresponding to each area to be sprayed as shown in the right figure in Figure 4. The pixel at the upper left corner of the image is the coordinate of the origin O _T in the image coordinate system.

Wherein, P _T(i,j) (x _T ,y _T ) can be used to represent the coordinates of the jth pixel among the edge pixels of the image corresponding to the i-th area to be sprayed in the image of the target operation area. As shown in Figure 4, taking a pixel in the edge pixels of the image of the region 1 to be sprayed as an example, the coordinates of the jth pixel in the edge pixels of the image of the region 1 to be sprayed can be P _{T (1, j)} ( x _T , y _T ).

It should be noted that the edge pixels of the image corresponding to the area to be sprayed can be obtained by the drone from all the edge pixels of the image corresponding to the area to be sprayed, which is sufficient to surround the image corresponding to the area to be sprayed. Edge pixel sampling points of the shape of the image corresponding to the area to be sprayed.

S103. The UAV acquires the actual flight height of the UAV relative to the ground when the UAV collects images of the target operation area at a constant flight height.

Wherein, the image of the target operation area is collected by the UAV at a constant flight height relative to the horizontal plane; or, the image of the target operation area is spliced by at least one image collected by the UAV at a constant flight height relative to the horizontal plane . When at least one image is collected by the UAV at a constant flight height relative to the horizontal plane, the actual flight height of the UAV relative to the ground can be recorded in real time when each image is collected.

Exemplarily, in the implementation of the present invention, when the UAV collects the image of the target operation area, a distance measuring device (such as ultrasonic wave, TOF, etc.) can be installed vertically below the UAV to measure the relative distance of the UAV. The actual flight altitude on the ground. TOP is femtosecond ranging (TimeOfFlight).

S104. The UAV calculates the actual navigation coordinates corresponding to the edge points of the area to be sprayed according to the coordinates of the edge pixels, the focal length of the camera mounted on the UAV, and the actual flight height.

The UAV can calculate the ground coordinates of the edge points of the area to be sprayed according to the coordinates of the edge pixels, the focal length of the camera mounted on the UAV, and the actual flight height; then according to the ground coordinates corresponding to any pixel in the edge pixels, Acquire the navigation coordinates of the ground coordinates corresponding to any pixel; determine the actual navigation coordinates corresponding to the edge points of the area to be sprayed according to the acquired navigation coordinates and the ground coordinates corresponding to each pixel in the edge pixels.

S105. The drone plans a navigation route according to the actual navigation coordinates, and sprays pesticides for the operation objects in the area to be sprayed according to the navigation route.

Optionally, in the process of the UAV spraying pesticides for the operation objects in the area to be sprayed, in order to further ensure that the operation objects in the area to be sprayed can be sprayed with pesticides evenly, the UAV can control the UAV according to the navigation route , fly at a preset flight altitude relative to the ground, and spray pesticides for the operation objects in the area to be sprayed.

The spraying method of the unmanned aerial vehicle provided by the embodiment of the present invention can segment the area to be sprayed (ie farmland) from the image of the target operation area, and obtain the coordinates of the edge pixels of the corresponding image of the farmland; then use According to the imaging principle of the camera, the actual navigation coordinates corresponding to the coordinates of the edge pixels can be obtained according to the actual flying height of the UAV relative to the ground when collecting images and the shooting focal length of the UAV when collecting images; according to the actual navigation coordinate planning Navigation route, and according to the navigation route, spray pesticides for the operation objects in the area to be sprayed.

Compared with the existing technology, through this scheme, the area to be sprayed (ie farmland) can be segmented from the image of the target operation area, and then for each area to be sprayed (ie farmland), according to the actual navigation corresponding to its edge point The coordinates are the planned navigation route for the farmland, and the planned navigation route corresponds to the specific terrain of the farmland, and for a piece of farmland, the terrain is relatively flat, so the UAV can evenly map the area in the target operation area. The crops in each field are sprayed with pesticides.

Please refer to FIG. 5, which shows a flow chart of another drone spraying method provided by an embodiment of the present invention. As shown in FIG. 5, the drone spraying method includes:

S201. The UAV acquires an image of a target operation area, the target operation area includes at least one area to be sprayed, and the image of the target operation area is collected by the UAV at a constant flight height relative to the horizontal plane.

Among them, in the embodiment of the present invention, an image acquisition device (such as a camera) may be installed on the UAV to collect images of the target operation area. The drone can fly over the target operation area to collect images of the target operation area.

It should be noted that since the scope (area) of the target operation area may be large, the UAV cannot complete the image collection of the target operation area by a single shot. Therefore, the UAV can collect the images of the target operation area in blocks. images, and then seamlessly stitch the images collected in blocks to obtain images of the target operating area. As shown in Figure 3, the UAV can collect nine block images (block image 1, block image 2 ... block image 9), and then seamlessly stitch these nine block images to obtain Image of the target work area.

It should be emphasized that in order to ensure that the image of the target operation area obtained by block collection and then splicing is consistent with the terrain in the target operation area and the distribution of the area to be sprayed, the UAV can collect images at a constant flight height relative to the horizontal plane. block image.

Wherein, the drone in the embodiment of the present invention may be a flight controller in the drone, or may be a central processing unit CPU configured in the drone for controlling pesticide spraying. The embodiment of the present invention does not limit the specific form of the drone.

S202. The UAV performs image segmentation on the image of the target operation area to obtain coordinates of edge pixels of the image corresponding to the area to be sprayed.

It should be noted that, in the embodiment of the present invention, the image segmentation method of the image of the target operation area by the UAV can refer to the image segmentation method in the prior art, and the embodiment of the present invention will not be repeated here.

S203. The UAV acquires the actual flying height of the UAV relative to the ground when the UAV collects images of the target operation area at the constant flying height.

Exemplarily, the nine sub-block images shown in FIG. 3 are collected by the UAV at a constant flight height H _H relative to the horizontal plane. When the UAV collects the 9 sub-block images shown in Figure 3, it can record in real time the actual flight height of the UAV relative to the ground when any sub-block image in the 9 sub-block images is collected. For example, the actual flight heights of the UAV relative to the ground when the UAV collects 9 block images are: HD _-1 , HD _-2 , HD _-3 , HD _-4 , HD _-5 , HD _-6 , HD _-7 , HD _-8 , HD _-9 .

Among them, since most of the images corresponding to the area to be sprayed 1 are located in the area where the block image 1 is located, the UAV can obtain the image of the target operation area collected by the UAV at a constant height H _H relative to the horizontal plane. When the image corresponding to the area 1 is to be sprayed, the actual flight height H _i=1 of the drone relative to the ground is equal to HD _-1 ; since most of the images corresponding to the area 2 to be sprayed are located in the area where the block image 7 is located, Therefore, the unmanned aerial vehicle can obtain the actual flight height H _i of the unmanned aerial vehicle relative to the ground when the unmanned aerial vehicle is at a constant height H _H relative to the horizontal plane, and when the image corresponding to the area to be sprayed 2 in the image of the target operation area is collected ₌₂ equals HD _-7 .

Among them, H _i represents the actual flying height of the UAV relative to the ground when the UAV collects the image corresponding to the i-th area to be sprayed in the image of the target operation area at a constant height H _H relative to the horizontal plane.

After the UAV acquires the coordinates of the edge pixels of the image corresponding to the area to be sprayed and the actual flight height relative to the ground when the UAV collects the image corresponding to the area to be sprayed, it can then according to the coordinates of the edge pixels, The focal length of the camera mounted on the UAV and the actual flight height are used to calculate the actual navigation coordinates corresponding to the edge points of the area to be sprayed. The specific method for calculating the navigation coordinates of the edge points of the area to be sprayed may include S204-S206:

S204. The UAV calculates the ground coordinates corresponding to each pixel in the edge pixels according to the coordinates of each pixel in the edge pixels, the focal length of the camera mounted on the UAV collected by the UAV, and the actual flight height.

Among them, the UAV can calculate the ground coordinates corresponding to each pixel in the edge pixels of the image corresponding to the area to be sprayed according to the imaging principle when the UAV collects the image of the target operation area through the camera.

As shown in Figure 6, it is assumed that r is the coordinate PT _(1,j) of the j-th pixel in the image coordinate system of the edge pixels of the image corresponding to the i-th area to be sprayed in the image of the target operation area. The distance from the origin O _T of the coordinate system, f is the focal length of the camera mounted on the UAV, H _i is the constant height H _H of the UAV relative to the horizontal plane, and the i-th area to be sprayed in the image of the target operation area is collected The corresponding image is the actual flying height of the drone relative to the ground; the drone can be based on the following formula:

$\frac{\mathrm{<span\; class="notranslate">\; r</span>}}{\mathrm{<span\; class="notranslate">\; R</span>}}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; f</span>}}{{\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}$

When calculating any point as the origin OD of the ground coordinate system, the distance from the coordinate P _{T(1,j) in the image coordinate system to the coordinate P D(1,j) in the} ground coordinate system from the origin _OD of the image coordinate system distance R. in, $R=\frac{h_i}{f}\&times;r.$

Exemplarily, the UAV can be based on the coordinates PT _{(i, j)} (x _T , y _T ) of the j-th pixel in the edge pixels of the image corresponding to the i-th area to be sprayed, the shooting focal length f, and the acquisition For the image corresponding to the i-th area to be sprayed, the actual flight height H _i of the UAV relative to the ground, using the formula:

$x_{\mathrm{D.}}=\left(\frac{h_i}{f}\right)\&times;x_T$ and ${\mathrm{the\; y}}_{\mathrm{D.}}=\left(\frac{h_i}{f}\right)\&times;{\mathrm{the\; y}}_T$

Calculate the ground coordinate _PD(i,j) (x _D ,y _D ) corresponding to the jth pixel in the edge pixels of the image corresponding to the i-th area to be sprayed.

Wherein, i is the number of the area to be sprayed in the target operation area; j is the number of the edge pixel.

For example, the present invention uses the coordinates PT _(1,1) (x _T , y _T ) of the first pixel in the edge pixels of the image corresponding to the area to be sprayed 1, the shooting focal length f and the acquisition of the area to be sprayed 1 For the corresponding image, the actual flight height H ₁ of the UAV relative to the ground, calculate the ground coordinate _PD(1,1) (x _D , y _D ) as an example, explain the method of calculating the ground coordinates corresponding to the pixels according to the coordinates of the pixels:

As shown in Figure 7, in the image coordinate system, the coordinates of the first pixel in the edge pixels of the image corresponding to the area to be sprayed 1 are P _{T (1,1)} (x _T , y _T ), the UAV The formula can be used:

$x_{\mathrm{D.}}=\left(\frac{h_1}{f}\right)\&times;x_T$ and ${\mathrm{the\; y}}_{\mathrm{D.}}=\left(\frac{h_1}{f}\right)\&times;{\mathrm{the\; y}}_T$

Calculate the ground coordinate _PD(1,1) (x _D ,y _D ) corresponding to the first pixel in the edge pixels of the image corresponding to the area to be sprayed 1.

It should be noted that the scale of the ground coordinate system in the embodiment of the present invention is consistent with the scale of the actual navigation (geographical) coordinate system of the area to be sprayed (ie farmland).

S205. The drone acquires the navigation coordinates of the ground coordinates corresponding to any pixel according to the ground coordinates corresponding to any pixel in the edge pixels.

S206. The UAV determines the actual navigation coordinates corresponding to the edge points of the area to be sprayed according to the acquired navigation coordinates and the ground coordinates corresponding to each pixel in the edge pixels.

Among them, the drone can obtain the navigation coordinates of the ground coordinates corresponding to any pixel as a navigation reference point, and then determine the area to be sprayed according to the positional relationship between the ground coordinates and other ground coordinates and the navigation coordinates of the navigation reference point The navigation coordinates of all ground coordinates (that is, the ground coordinates corresponding to each pixel in the edge points of the area to be sprayed).

Exemplarily, the UAV can obtain the navigation coordinates of the origin _OD of the ground coordinate system as a navigation reference point, and then according to the ground coordinates corresponding to each pixel in the edge point of the area to be sprayed and the position of the origin _OD of the ground coordinate system relationship and the navigation coordinates of the navigation reference point _OD to determine the navigation coordinates of the ground coordinates corresponding to each pixel in the edge point of the area to be sprayed. Wherein, the navigation (geographical) coordinates in the embodiment of the present invention may be a global positioning system (English: Global Positioning System, GPS for short).

S207. The drone plans a navigation route of the drone according to the actual navigation coordinates.

Among them, since the shape of the area to be sprayed (farmland) is irregular, after the UAV obtains the navigation coordinates of the edge points of the area to be sprayed, it can surround each area to be sprayed with a minimized rectangle or use A minimized rectangle surrounds the entire target operation area, and then obtains the navigation coordinates of the key points surrounding the rectangular area; according to the navigation coordinates of the key points surrounding the rectangular area, a navigation route is planned for each area to be sprayed.

Exemplarily, in an application scenario of the embodiment of the present invention, S207 may specifically include S207a-S207c:

S207a. The UAV determines at least one first rectangular area, and each first rectangular area in the at least one first rectangular area is the smallest rectangular area covering the actual navigation coordinates of an area to be sprayed.

As shown in Figure 8, taking the area to be sprayed 1 as an example, after the UAV obtains the navigation coordinates of the edge points of the area to be sprayed 1, it can use a minimized rectangle (the thick dashed line as shown in Figure 8) to Surround the area to be sprayed1.

S207b. The drone obtains the navigation coordinates of the key points surrounding the first rectangular area.

Wherein, the key points enclosing the first rectangular area include four vertices of the first rectangular area. The unmanned aerial vehicle can calculate and obtain the navigation coordinates of the key points of the first rectangular area according to the navigation coordinates of the edge points of the area to be sprayed.

S207c. The UAV plans a navigation route for each area to be sprayed according to the navigation coordinates of the key points surrounding the first rectangular area.

Exemplarily, the UAV can use the formula according to the preset flight height H _Y and the angle α of the nozzle spraying the pesticide on the UAV: Calculate the coverage width L of drone spraying pesticides, Then, according to the calculated coverage width L of pesticide spraying by UAV, the navigation route of UAV is planned by using the serpentine path planning method. As shown in FIG. 9 , it is a schematic diagram of an example of a navigation route planned by a UAV using a serpentine path planning method.

Further optionally, in another application scenario of the embodiment of the present invention, S207 may specifically include S207d-S207f:

S207d. The drone determines a second rectangular area, where the second rectangular area is the smallest rectangular area covering the actual navigation coordinates of the target operation area.

S207e. The UAV obtains the navigation coordinates of the key points surrounding the second rectangular area;

Wherein, the key points surrounding the second rectangular area include four vertices of the smallest rectangular area.

S207f. The UAV plans a navigation route for the target operation area according to the navigation coordinates of the key points surrounding the second rectangular area.

It should be noted that the UAV uses a minimized rectangle (the second rectangular area) to surround the entire target operation area, and then obtains the navigation coordinates of the key points surrounding the rectangular area; according to the key points surrounding the rectangular area The navigation coordinates, the method of planning the navigation route for the entire target operation area is similar to the method of planning the navigation route for each area to be sprayed in S207a-S207c above, and will not be repeated here in the embodiment of the present invention.

It should be noted that the method for planning a navigation route in the embodiment of the present invention includes but is not limited to the serpentine path planning method listed above. For other planning navigation routes, reference may be made to related methods for planning a navigation route in the prior art. The implementation of the present invention The example will not be repeated here.

S208. According to the navigation route, the drone sprays pesticides on the operation objects in the area to be sprayed at a preset flying height relative to the ground.

It should be noted that during the process of spraying pesticides for the operation objects in the area to be sprayed according to the navigation route, the UAV can locate the UAV in real time, and judge the UAV according to the navigation coordinates of the edge points of the area to be sprayed. Whether it is flying in the area to be sprayed; when the drone is flying in the area to be sprayed, open the spray valve to spray pesticides for the crops; when the drone is flying outside the area to be sprayed, close the spray valve and stop Spray pesticides on crops.

The spraying method of the unmanned aerial vehicle provided by the embodiment of the present invention can segment the area to be sprayed (ie farmland) from the image of the target operation area, and obtain the coordinates of the edge pixels of the corresponding image of the farmland; then use According to the imaging principle of the camera, the actual navigation coordinates corresponding to the coordinates of the edge pixels can be obtained according to the actual flying height of the UAV relative to the ground when collecting images and the shooting focal length of the UAV when collecting images; according to the actual navigation coordinate planning Navigation route, and according to the navigation route, spray pesticides for the operation objects in the area to be sprayed.

Compared with the existing technology, through this scheme, the area to be sprayed (ie farmland) can be segmented from the image of the target operation area, and then for each area to be sprayed (ie farmland), according to the actual navigation corresponding to its edge point The coordinates are the planned navigation route for the farmland, and the planned navigation route corresponds to the specific terrain of the farmland, and for a piece of farmland, the terrain is relatively flat, so the UAV can evenly map the area in the target operation area. The crops in each field are sprayed with pesticides.

Please refer to FIG. 10, which shows a kind of unmanned aerial vehicle provided by the embodiment of the present invention. As shown in FIG. Calculation module 34, route planning module 35 and spraying control module 36.

The image acquisition module 31 is configured to acquire an image of a target operation area, the target operation area includes at least one area to be sprayed, and the image of the target operation area is collected by the drone at a constant flying height relative to the horizontal plane.

The image segmentation module 32 is configured to perform image segmentation on the image of the target operation area acquired by the image acquisition module 31, so as to acquire coordinates of edge pixels of the image corresponding to the area to be sprayed.

The height acquiring module 33 is configured to acquire the actual flying height of the UAV relative to the ground when the UAV collects images of the target operation area at the constant flying height.

The navigation calculation module 34 is used to calculate the actual navigation coordinates corresponding to the edge points of the area to be sprayed according to the coordinates of the edge pixels, the focal length of the camera mounted on the drone and the actual flight height.

The route planning module 35 is configured to plan a navigation route according to the actual navigation coordinates calculated by the navigation calculation module 34 .

The spraying control module 36 is configured to spray pesticides for the operation objects in the area to be sprayed according to the navigation route planned by the route planning module 35 .

Further, the image of the target operation area is spliced by at least two images collected by the drone at the constant flight height.

Further, as shown in FIG. 11 , the navigation calculation module 34 may include: a calculation submodule 341 , an acquisition submodule 342 and a determination submodule 343 .

The calculation sub-module 341 is used to calculate the corresponding value of each pixel in the edge pixels according to the coordinates of each pixel in the edge pixels, the focal length of the camera mounted on the drone, and the actual flight height. ground coordinates.

The obtaining sub-module 342 is configured to obtain the navigation coordinates of the ground coordinates corresponding to any pixel in the edge pixels according to the ground coordinates corresponding to any pixel in the edge pixels calculated by the calculation sub-module 341 .

The determination sub-module 343 is configured to determine the actual navigation coordinates corresponding to the edge points of the area to be sprayed according to the navigation coordinates acquired by the acquisition sub-module 342 and the ground coordinates corresponding to each pixel in the edge pixels.

Further, the spraying control module 36 is specifically used for:

According to the navigation route, pesticides are sprayed for the operation objects in the area to be sprayed at a preset flying height relative to the ground.

Further, in an application scenario of the embodiment of the present invention, the route planning module 35 is specifically used for:

Determining at least one first rectangular area, each first rectangular area in the at least one first rectangular area is the smallest rectangular area covering the actual navigation coordinates of an area to be sprayed;

Obtain the navigation coordinates of the key points surrounding the first rectangular area;

According to the navigation coordinates of the key points surrounding the first rectangular area, a navigation route is planned for each area to be sprayed.

Wherein, the key points surrounding the first rectangular area include four vertices of the first rectangular area.

Further, in another application scenario of the embodiment of the present invention, the route planning module 35 is specifically used for:

determining a second rectangular area, where the second rectangular area is the smallest rectangular area covering the actual navigation coordinates of the target operation area;

Obtaining navigation coordinates of key points surrounding the second rectangular area;

planning a navigation route for the target operation area according to the navigation coordinates of the key points surrounding the second rectangular area;

Wherein, the key points surrounding the second rectangular area include four vertices of the smallest rectangular area.

Further, the calculation sub-module 341 is specifically used for:

According to the coordinates PT _{(i, j)} (x _T , y _T ) of the j-th pixel in the edge pixels of the image corresponding to the i-th area to be sprayed, the shooting focal length f and collecting the i-th area to be sprayed When corresponding to the image, the actual flight height H _i of the UAV relative to the ground uses the formula:

$x_{\mathrm{D.}}=\left(\frac{h_i}{f}\right)\&times;x_T$ and ${\mathrm{the\; y}}_{\mathrm{D.}}=\left(\frac{h_i}{f}\right)\&times;{\mathrm{the\; y}}_T$

Calculate the ground coordinate P _D(i,j) (x _D ,y _D ) corresponding to the jth pixel.

Wherein, i is the number of the area to be sprayed in the target operation area; j is the number of the edge pixel.

Further, the spraying control module 36 is specifically used for:

The drone is controlled to fly at a preset flying height relative to the ground according to the navigation route, and to spray pesticides for the operation objects in the area to be sprayed.

It should be noted that, for the specific description of some functional modules in the drone provided by the embodiment of the present invention, reference may be made to the corresponding content in the method embodiment, and details will not be described in detail here in this embodiment.

The unmanned aerial vehicle provided by the embodiment of the present invention can segment the area to be sprayed (ie farmland) from the image of the target operation area, and obtain the coordinates of the edge pixels of the corresponding image of the farmland; then use the unmanned aerial vehicle to collect According to the actual flight height of the image relative to the ground and the shooting focal length of the UAV when the image is collected, according to the imaging principle of the camera, the actual navigation coordinates corresponding to the coordinates of the edge pixels can be obtained; the navigation route is planned according to the actual navigation coordinates, and Spray pesticides for the operation objects in the area to be sprayed according to the navigation route.

Compared with the existing technology, through this scheme, the area to be sprayed (ie, farmland) can be segmented from the image of the target operation area, and then for each area to be sprayed (ie, farmland), according to the navigation coordinates of its edge points, the Farmland planning navigation route, the planned navigation route corresponds to the specific terrain of the farmland, and for a piece of farmland, its terrain is relatively flat, so the UAV can be more uniform for each piece of farmland in the target operation area crops in spraying pesticides.

Through the description of the above embodiments, those skilled in the art can clearly understand that for the convenience and brevity of the description, only the division of the above-mentioned functional modules is used as an example for illustration. In practical applications, the above-mentioned functions can be allocated according to needs It is completed by different functional modules, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. For the specific working process of the above-described system, device, and unit, reference may be made to the corresponding process in the foregoing method embodiments, and details are not repeated here.

In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be Incorporation may either be integrated into another system, or some features may be omitted, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

If the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-OnlyMemory), random access memory (RAM, RandomAccessMemory), magnetic disk or optical disk and other media that can store program codes.

The above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Anyone skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present invention. Should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.

Claims (12)

1. A spraying method of unmanned aerial vehicle, is characterized in that, comprises: Obtaining an image of the target operation area, the target operation area includes at least one area to be sprayed, and the image of the target operation area is collected by the drone at a constant flight height relative to the horizontal plane; performing image segmentation on the image of the target operation area to obtain coordinates of edge pixels of the image corresponding to the area to be sprayed; Acquiring the actual flying height of the UAV relative to the ground when the UAV collects the image of the target operation area at the constant flying height; According to the coordinates of the edge pixels, the focal length of the camera mounted on the drone and the actual flight height, calculate the actual navigation coordinates corresponding to the edge points of the area to be sprayed; A navigation route is planned according to the actual navigation coordinates, and pesticides are sprayed for the operation objects in the area to be sprayed according to the navigation route. 2. The method according to claim 1, wherein the image of the target operation area is spliced by at least two images collected by the drone at the constant flying height. 3. The method according to claim 1 or 2, wherein the coordinates of the edge pixels, the focal length of the camera mounted on the drone and the actual flight height are used to calculate the spraying height. The actual navigation coordinates corresponding to the edge points of the area, including: According to the coordinates of each pixel in the edge pixels, the focal length of the camera mounted on the drone collected by the drone, and the actual flight height, calculate the ground corresponding to each pixel in the edge pixels coordinate; According to the ground coordinates corresponding to any pixel in the edge pixels, obtaining the navigation coordinates of the ground coordinates corresponding to the any pixel; According to the obtained navigation coordinates and the ground coordinates corresponding to each pixel in the edge pixels, the actual navigation coordinates corresponding to the edge points of the area to be sprayed are determined. 4. The method according to claim 1 or 2, wherein the spraying pesticides for the operation objects in the area to be sprayed according to the navigation route comprises: According to the navigation route, pesticides are sprayed for the operation objects in the area to be sprayed at a preset flying height relative to the ground. 5. The method according to claim 1, wherein said planning a navigation route according to said actual navigation coordinates comprises: Determining at least one first rectangular area, each first rectangular area in the at least one first rectangular area is the smallest rectangular area covering the actual navigation coordinates of an area to be sprayed; Obtain the navigation coordinates of the key points surrounding the first rectangular area; Planning a navigation route for each area to be sprayed according to the navigation coordinates of the key points surrounding the first rectangular area; Wherein, the key points surrounding the first rectangular area include four vertices of the first rectangular area. 6. The method according to claim 1, wherein said planning a navigation route according to said actual navigation coordinates comprises: determining a second rectangular area, where the second rectangular area is the smallest rectangular area covering the actual navigation coordinates of the target operation area; Obtaining navigation coordinates of key points surrounding the second rectangular area; planning a navigation route for the target operation area according to the navigation coordinates of the key points surrounding the second rectangular area; Wherein, the key points surrounding the second rectangular area include four vertices of the smallest rectangular area. 7. An unmanned aerial vehicle, characterized in that, comprising: The image acquisition module is used to acquire the image of the target operation area, which contains at least one area to be sprayed, and the image of the target operation area is collected by the drone at a constant flight height relative to the horizontal plane; An image segmentation module, configured to perform image segmentation on the image of the target operation area acquired by the image acquisition module, so as to acquire the coordinates of edge pixels of the image corresponding to the area to be sprayed; A height acquisition module, configured to acquire the actual flight height of the UAV relative to the ground when the UAV collects images of the target operation area at the constant flight height; A navigation calculation module, configured to calculate the actual navigation coordinates corresponding to the edge points of the area to be sprayed according to the coordinates of the edge pixels, the focal length of the camera mounted on the drone, and the actual flight height; A route planning module, configured to plan a navigation route according to the actual navigation coordinates calculated by the navigation calculation module; A spraying control module, configured to spray pesticides for the operation objects in the area to be sprayed according to the navigation route planned by the route planning module. 8. The unmanned aerial vehicle according to claim 7, wherein the image of the target operation area is spliced by at least two images collected by the unmanned aerial vehicle at the constant flight height. 9. The unmanned aerial vehicle according to claim 7 or 8, wherein the navigation calculation module includes: The calculation sub-module is used to calculate the ground corresponding to each pixel in the edge pixels according to the coordinates of each pixel in the edge pixels, the focal length of the camera mounted on the drone, and the actual flight height. coordinate; The acquisition submodule is used to acquire the navigation coordinates of the ground coordinates corresponding to any pixel according to the ground coordinates corresponding to any pixel in the edge pixels calculated by the calculation submodule; The determination sub-module is configured to determine the actual navigation coordinates corresponding to the edge points of the area to be sprayed according to the navigation coordinates acquired by the acquisition sub-module and the ground coordinates corresponding to each pixel in the edge pixels. 10. The unmanned aerial vehicle according to claim 7 or 8, wherein the spraying control module is specifically used for: According to the navigation route, pesticides are sprayed for the operation objects in the area to be sprayed at a preset flying height relative to the ground. 11. The unmanned aerial vehicle according to claim 7, wherein the route planning module is specifically used for: Determining at least one first rectangular area, each first rectangular area in the at least one first rectangular area is the smallest rectangular area covering the actual navigation coordinates of an area to be sprayed; Obtaining navigation coordinates of key points surrounding the first rectangular area; Planning a navigation route for each area to be sprayed according to the navigation coordinates of the key points surrounding the first rectangular area; Wherein, the key points surrounding the first rectangular area include four vertices of the first rectangular area. 12. The unmanned aerial vehicle according to claim 7, wherein the route planning module is specifically used for: determining a second rectangular area, where the second rectangular area is the smallest rectangular area covering the actual navigation coordinates of the target operation area; Obtaining navigation coordinates of key points surrounding the second rectangular area; planning a navigation route for the target operation area according to the navigation coordinates of the key points surrounding the second rectangular area; Wherein, the key points surrounding the second rectangular area include four vertices of the smallest rectangular area.