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Method, device, storage medium and electronic equipment for dividing polygonal plots

A technology of polygons and plots, applied in geographic information databases, data processing applications, predictions, etc., can solve problems such as non-convex polygon plot boundaries and obstacle boundaries that cannot be applied

Active Publication Date: 2021-05-18
SHENYANG WOOZOOM TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention provides a polygonal plot segmentation method, which solves the problem that the prior art plot segmentation method is only applicable to convex polygonal plot boundaries and obstacle boundaries, but cannot be applied to non-convex polygonal plot boundaries and obstacle boundaries. question

Method used

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  • Method, device, storage medium and electronic equipment for dividing polygonal plots
  • Method, device, storage medium and electronic equipment for dividing polygonal plots
  • Method, device, storage medium and electronic equipment for dividing polygonal plots

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Embodiment 1

[0035] Embodiment 1 of the present invention provides a polygonal block segmentation method, such as figure 1 shown, including:

[0036] Step 101. Obtain the set drone's initial spraying heading, spraying width, position of plot boundary apex and obstacle boundary apex, convert the latitude and longitude coordinates into plane coordinates, according to the initial spraying heading, the ground The position of the block boundary point and the position of the initial spraying point determine the x-axis and y-axis directions;

[0037] Wherein, the initial spraying course is the positive direction of the x-axis; the spraying course can be changed during the spraying process. The two-dimensional coordinate plane can be customized. For example, the vertical upward direction in the plane can be the positive direction of the x-axis, and the y-axis can be the horizontal direction. In addition, the positive direction of the y-axis can be determined according to the location of the plot....

Embodiment 2

[0064] Embodiment 2 of the present invention may further include a preprocessing step before step 102 of Embodiment 1, wherein the preprocessing step includes at least one of the following:

[0065] 1. Determine whether the plot boundaries intersect. When the plot boundaries intersect, instruct the user to re-enter the latitude and longitude coordinates of the plot boundary vertices;

[0066] 2. Shrink the border vertices of the plot by a preset distance, and expand the border vertices of obstacles by a preset distance;

[0067] Among them, the retraction of the vertices of the boundary of the plot can prevent the drone from flying outside the boundary due to the error of the sampling point or the control error, causing danger; Into the obstacle, danger occurs.

[0068] 3. According to the obstacle boundary formed by the obstacle boundary vertices, judge whether the obstacles intersect. When there is an intersecting obstacle, select the outer boundary vertex of the intersecti...

Embodiment 3

[0072] Embodiment 3 of the present invention provides a polygonal plot segmentation device, such as Figure 10 shown, including:

[0073] The acquisition module 810 is used to obtain the set drone's initial spraying heading, spraying width, the position of the plot boundary apex and the obstacle boundary apex, convert the latitude and longitude coordinates into plane coordinates, according to the initial spraying heading, The position of the boundary point of the plot and the position of the initial spraying point determine the directions of the x-axis and the y-axis, wherein the initial spraying course is the positive direction of the x-axis;

[0074] The sorting module 820 is used to sort the plot boundary vertices and obstacle boundary vertices according to the plot segmentation scanning direction;

[0075] The segmentation scanning module 830 is used to perform segmentation scanning on the sorted plot boundary vertices and obstacle boundary vertices, so as to divide the o...

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Abstract

The present invention relates to the field of UAV plant protection, and discloses a polygonal plot segmentation method, device, storage medium and electronic equipment, by obtaining the set UAV initial spraying heading, spraying width, plot boundary vertices and obstacles The position of the boundary vertex, the latitude and longitude coordinates are converted into plane coordinates, and the x-axis and y-axis directions are determined according to the initial spraying course, the position of the boundary point of the plot and the position of the initial spraying point; the scanning direction is divided according to the plot Sorting the plot boundary vertices and obstacle boundary vertices; performing plot segmentation scanning on the sorted plot boundary vertices and obstacle boundary vertices to divide the operation plot into multiple sub-regions and generate a sub-region adjacency graph; According to the spraying heading of the UAV, the plane coordinates will be reversely rotated to obtain and store the boundary information of the divided sub-regions. The present invention can divide any polygonal plot containing arbitrary polygonal obstacles into several simple polygonal plots, so that the covering and spraying operation of each segmented plot can be realized by using the existing planning method, and then the arbitrary polygonal plot can be realized spraying operations.

Description

technical field [0001] The invention relates to the field of drone plant protection, in particular to a polygonal plot segmentation method, device, storage medium and electronic equipment. Background technique [0002] UAV plant protection refers to the use of UAVs for agricultural, forestry and plant protection operations. The operation usually adopts autonomous flight mode (that is, the UAV automatically flies according to the set route) or semi-autonomous flight mode (the driver controls the UAV through the remote control. aircraft flight). For autonomous flight modes, route planning is an important preparatory step before operations. Route planning refers to the computer software system calculating a reasonable route covering the entire plot based on the coordinates of the farmland plot (usually the plane projection coordinate information of the plot). [0003] Before route planning, it is necessary to consider whether there are obstacles in and near the plot, and divi...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06Q10/04G06F16/29
Inventor 齐欣任贵杰梅森宋大雷
Owner SHENYANG WOOZOOM TECH CO LTD
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