Precision operation system and method of plant protection UAV

Abstract

The present invention discloses a plant protection UAV precision operation system, including a cloud server, a ground control terminal and at least one plant protection UAV connected in communication, the ground control terminal includes an acquisition module, a route generation module and a control module; according to the current plant protection operation requirements, the cloud server sends the preset plot boundary data and plot obstacle data corresponding to the plant protection operation requirements to the acquisition module; the acquisition module sends the received plot boundary data and plot obstacle data to the route generation module; the route generation module sets the route information based on the plot boundary data and the plot obstacle data according to the preset route setting rules, and sends the route information to the control module; the plant protection UAV performs plant protection operations according to the route information received by the control module. The present invention also discloses a plant protection UAV precision operation method. The present invention can improve the spraying accuracy of UAV plant protection operations and avoid the waste of resources such as pesticides and fertilizers.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a precision operation system and method for a plant protection unmanned aerial vehicle. Background Art

[0002] With the development of the drone industry, its application areas are becoming wider and wider. Plant protection drones are mainly used for agricultural and forestry plant protection operations, such as spraying operations such as spraying of medicines and powders.

[0003] At present, when plant protection drones are in operation, it is generally controlled manually through ground stations to spray the land. Some ground stations also set the flight routes of drones according to existing commercial maps, and the plant protection drones perform spraying operations according to the set flight routes. The existing problems are: during manual control, due to interference such as visual errors, operators cannot accurately control the drone's spraying operations at the boundaries of the operating plots. Since commercial maps are not completely consistent with the actual terrain of the fields, the ground stations cannot accurately identify the actual accurate boundaries of the operating plots and field obstacles when generating routes. All of the above will lead to unsatisfactory spraying effects of plant protection drones and waste resources such as pesticides and fertilizers. Summary of the invention

[0004] The main purpose of the present invention is to propose a precise operation system and method for plant protection UAVs, which aims to enable a ground station to set a precise plant protection UAV spraying operation route based on preset boundary information and field obstacle information that matches the operation plot, thereby improving the spraying accuracy of UAV plant protection operations and avoiding the waste of resources such as pesticides and fertilizers.

[0005] To achieve the above-mentioned object, the present invention provides a plant protection UAV precision operation system, comprising a cloud server, a ground control terminal and at least one plant protection UAV connected in communication, wherein the ground control terminal comprises an acquisition module, a route generation module and a control module;

[0006] The cloud server is used to send preset plot boundary data and plot obstacle data corresponding to the current plant protection operation requirements to the acquisition module;

[0007] The acquisition module is used to send the received land parcel boundary data and the land parcel obstacle data to the route generation module;

[0008] The route generation module is used to set the route information based on the land boundary data and the land obstacle data according to the preset route setting rules, and send the route information to the control module;

[0009] The plant protection UAV is used to perform plant protection operations according to the route information received by the control module.

[0010] Optionally, the acquisition module includes an identification unit and a calling unit, and the plant protection operation requirements include plots of land that require plant protection;

[0011] The identification unit is used to obtain the plot marking information corresponding to the plot requiring plant protection based on the current plant protection operation requirements; the plot marking information includes at least one of the following: plot number, plot name, and coordinates of a preset point of the plot;

[0012] The calling unit is used to call preset plot boundary data and plot obstacle data corresponding to the plot marking information from the cloud server according to the plot marking information, and send the plot boundary data and the plot obstacle data to the route generating module.

[0013] Optionally, the plant protection UAV precision operation system also includes a surveying and mapping UAV and an image processing module;

[0014] The surveying and mapping drone is used to perform aerial survey on the target plot according to the received surveying and mapping instruction for the target plot, and send the image data obtained by the aerial survey to the image processing module; the target plot includes the plot requiring plant protection;

[0015] The image processing module is used to receive the image data and send the image data processed according to preset image processing rules to the cloud server; the processed image data includes the plot boundary data and the plot obstacle data corresponding to the plot marking information.

[0016] Optionally, the image processing module includes an image stitching unit and an editing unit;

[0017] The image stitching unit is used to receive the image data and send the image data stitched according to a preset stitching rule to the editing unit;

[0018] The editing unit is used to edit the plot boundary data and the plot obstacle data of the spliced ​​image data based on preset conditions, and send the edited image data to the cloud server.

[0019] Optionally, the surveying and mapping UAV is equipped with a multi-channel multi-spectral aerial measurement camera for aerial survey.

[0020] Optionally, the image stitching unit includes a three-dimensional stitching subunit and a conversion subunit;

[0021] The 3D stitching subunit is used to receive the image data, stitch the image data into 3D stereoscopic image data, and then output the 3D stereoscopic image data to the editing unit, or output the 3D stereoscopic image data to the conversion subunit;

[0022] The conversion subunit is used to convert the received three-dimensional stereo image data into two-dimensional orthophoto image data and then output the two-dimensional orthophoto image data to the editing unit.

[0023] The present invention also provides a method for precise operation of a plant protection UAV using the system as described above, the method comprising the following steps:

[0024] Based on the current plant protection operation requirements, the ground control terminal calls preset plot boundary data and plot obstacle data corresponding to the plant protection operation requirements from the cloud server;

[0025] According to a preset route setting rule, the ground control terminal sets the route information based on the land boundary data and the land obstacle data;

[0026] The ground control terminal controls the plant protection UAV to perform plant protection operations according to the route information.

[0027] Optionally, the plant protection operation requirement includes a plot requiring plant protection, and the step of the ground control terminal calling preset plot boundary data and plot obstacle data corresponding to the plant protection operation requirement from the cloud server based on the current plant protection operation requirement includes:

[0028] Based on the current plant protection operation requirements, the ground control terminal obtains the plot marking information corresponding to the plot requiring plant protection; the plot marking information includes at least one of the following: the plot number, the plot name, and the coordinates of the plot preset point;

[0029] According to the plot marking information, the ground control terminal calls preset plot boundary data and plot obstacle data corresponding to the plot marking information from the cloud server.

[0030] Optionally, before the step of the ground control terminal acquiring the plot marking information corresponding to the plot requiring plant protection based on the current plant protection operation demand, the step further includes:

[0031] In response to the received surveying and mapping instruction for the target plot, the surveying and mapping drone performs aerial survey on the target plot to obtain image data; the target plot includes the plot requiring plant protection;

[0032] The image processing module processes the image data according to preset image processing rules and sends the processed image data to the cloud server; the processed image data includes the plot boundary data and the plot obstacle data corresponding to the plot marking information.

[0033] Optionally, the image processing module includes an image stitching unit and an editing unit, and the image processing module processes the image data according to a preset image processing rule, and the steps of sending the processed image data to the cloud server include:

[0034] The image stitching unit stitches the image data according to a preset stitching rule, and sends the stitched image data to the editing unit;

[0035] Based on preset conditions, the editing unit edits the plot boundary data and the plot obstacle data of the spliced ​​image data, and sends the edited image data to the cloud server.

[0036] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0037] The plant protection UAV precision operation system of the present invention comprises a cloud server, a ground control terminal and at least one plant protection UAV which are communicatively connected, wherein the ground control terminal comprises an acquisition module, a route generation module and a control module; when there is a plant protection operation demand, the cloud server sends preset plot boundary data and plot obstacle data corresponding to the plant protection operation demand to the acquisition module, and the acquisition module sends the received plot boundary data and plot obstacle data to the route generation module; the route generation module sets the operation route information of the plant protection UAV based on the plot boundary data and the plot obstacle data and according to preset route setting rules, and sends the route information to the control module, and the plant protection UAV is automatically controlled by the control module. The UAV performs plant protection operations according to the route information received by the control module; thereby solving the problem that the operator cannot accurately control the UAV's spraying operations at the boundaries of the operating plots when manually controlling the plant protection UAV operations, and solving the problem that the ground station cannot accurately identify the boundaries of the operating plots and field obstacles when generating routes according to commercial maps, resulting in unsatisfactory spraying operation effects and waste of resources such as pesticides and fertilizers. The present invention enables the ground control terminal to set accurate plant protection UAV spraying operation routes for the UAV to perform plant protection operations according to preset accurate boundary information and field obstacle information that match the operating plots, thereby improving the spraying accuracy of the UAV plant protection operations and avoiding waste of resources such as pesticides and fertilizers. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0039] Figure 1 This is a schematic structural diagram of a preferred embodiment of the plant protection UAV precision operation system of the present invention;

[0040] Figure 2 This is a schematic diagram of the process of the first embodiment of the plant protection UAV precision operation method of the present invention;

[0041] Figure 3 This is a flow chart of a second embodiment of the plant protection UAV precision operation method of the present invention;

[0042] Figure 4 This is a flow chart of a third embodiment of the plant protection UAV precision operation method of the present invention;

[0043] Figure 5 for Figure 4 Schematic diagram of the detailed steps of step S102.

[0044] Icons: 10, cloud server; 20, ground control terminal; 21, acquisition module; 22, route generation module; 23, control module; 30, plant protection UAV; 40, surveying and mapping UAV; 50, image processing module; 51, image stitching unit; 52, editing unit.

[0045] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0047] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0049] The terms “first”, “second”, “third”, “fourth”, etc. are merely used for distinguishing descriptions and should not be understood as indicating or implying relative importance.

[0050] In addition, the terms "parallel", "vertical", etc. do not mean that the components must be absolutely parallel or vertical, but can be slightly tilted. For example, "parallel" only means that its direction is more parallel than "vertical", and does not mean that the structure must be completely parallel, but can be slightly tilted.

[0051] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] The present invention provides a precision operation system for a plant protection UAV.

[0053] Reference Figure 1 , Figure 1 This is a schematic structural diagram of a preferred embodiment of the plant protection UAV precision operation system proposed by the present invention.

[0054] The plant protection UAV precision operation system proposed in the present invention comprises a cloud server 10, a ground control terminal 20 and at least one plant protection UAV 30 which are communicatively connected, wherein the ground control terminal 20 comprises an acquisition module 21, a route generation module 22 and a control module 23;

[0055] The cloud server 10 is used to send the preset plot boundary data and plot obstacle data corresponding to the current plant protection operation requirements to the acquisition module 21;

[0056] The acquisition module 21 is used to send the received land boundary data and land obstacle data to the route generation module 22;

[0057] The route generation module 22 is used to set the route information based on the land boundary data and the land obstacle data according to the preset route setting rules, and send the route information to the control module 23;

[0058] The plant protection UAV 30 is used to perform plant protection operations according to the route information received by the control module 23 .

[0059] When plant protection drones are operating, in the prior art, it is common for humans to manually control the flight of drones through ground stations to spray the land. Some ground stations also set the flight routes of drones according to existing commercial maps, and the plant protection drones perform spraying operations according to the set flight routes. The existing problems are: during manual control, due to interference such as visual errors, operators cannot accurately control the drone's spraying operations at the boundaries of the operating plots, and because commercial maps are not completely consistent with the actual terrain of the fields, the ground stations cannot accurately identify the boundaries of the operating plots and field obstacles when generating routes based on the commercial maps. All of the above will lead to unsatisfactory spraying results and waste resources such as pesticides and fertilizers.

[0060] In this embodiment, the plant protection UAV precision operation system includes a cloud server 10, a ground control terminal 20 and at least one plant protection UAV 30. The ground control terminal 20 can be a ground station or a control application installed on a ground terminal, and this embodiment does not make specific restrictions; the ground control terminal 20 includes an acquisition module 21, a route generation module 22 and a control module 23; when there is a plant protection operation demand, the plant protection operation demand includes information such as the plot that needs plant protection, the type of crop in the plot, the plant protection type, and the spraying operation time. The cloud server 10 sends the plot boundary data and the plot obstacle data corresponding to the plot that needs plant protection in the current plant protection operation demand, which are preset in the cloud server 10, to the acquisition module 21 according to the current plant protection operation demand, specifically according to the plot that needs plant protection in the current plant protection operation demand, to the acquisition module 21. The acquisition module 21 sends the plot boundary data and the plot obstacle data to the route generation module 22 for generating a route.

[0061] Specifically, as an implementation method, first, for the plant protection target area set by the user, such as the target farm, the user sets the aerial survey altitude, overlap rate, speed and other flight indicators of the fixed-wing or multi-rotor surveying and mapping UAV 40 according to the needs, and then controls the surveying and mapping UAV 40 to survey the target area and obtain the aerial survey image data of the target area. The aerial survey image data has a higher degree of fit with the actual terrain of the target area. After the aerial survey image data is processed in a specific way, such as after splicing, a topographic map of the target area can be obtained; further, based on the topographic map obtained after splicing, the user can , combined with the actual terrain conditions of the target area, mark the land boundaries and obstacles on the successfully stitched images, add or delete editing points to accurately mark the areas that require plant protection. It can be understood that the land boundaries can be natural terrain boundaries, or they can be boundaries artificially divided by users based on plant protection needs. Obstacles can be actual obstacles in the field, or they can be areas marked by users that do not require plant protection. When the ground station plans the route, it will automatically avoid obstacles or areas that do not require plant protection based on the obstacles marked by the user, thereby improving the accuracy of the plant protection operation. The marked image data is uploaded to the cloud server 10.

[0062] When there is a demand for plant protection operations in the target area, such as a target farm, the acquisition module 21 calls the plots that need plant protection from the cloud server 10 according to the current plant protection operation needs. Specifically, the plot boundary data and plot obstacle data corresponding to the plot that needs plant protection are called from the image data that has been marked with information such as the boundaries of the plots, field obstacles, etc. as described above, and the plot boundary data and the plot obstacle data are sent to the route generation module 22.

[0063] The route generation module 22 is used to set route information based on the land boundary data and the land obstacle data according to a preset route setting rule, and send the route information to the control module 23.

[0064] In this embodiment, the route generation module 22 avoids obstacles marked by the user based on the plot boundary data sent by the acquisition module 21, generates an operating route for the plant protection UAV 30 according to the preset route setting rules, and sends the operating route of the plant protection UAV 30 generated for the current plant protection operation needs to the control module 23. The route setting rules are based on actual plant protection operation needs, such as determining the number of reciprocating times of the plant protection UAV 30 based on the spraying demand.

[0065] The plant protection drone 30 is used to perform plant protection operations according to the route information received by the control module 23. The user sets the flight altitude and speed of the plant protection drone 30, and the ground station controls the plant protection drone 30 to perform precise pesticide and fertilization in the field according to the route information. Therefore, through the above-mentioned plant protection drone precision operation system, the problem that the operator cannot accurately control the drone's spraying operation at the boundary of the working plot when manually controlling the plant protection drone operation is solved, and the problem that the ground station cannot accurately identify the boundary of the working plot and field obstacles when generating routes according to commercial maps, resulting in unsatisfactory spraying operation effects and waste of pesticides, fertilizers and other resources is solved. The present invention realizes that the ground control terminal 20 sets a precise plant protection drone 30 spraying operation route for the drone to perform plant protection operations according to the accurate boundary information and field obstacle information of the preset working plot, thereby improving the spraying accuracy of the drone plant protection operation and avoiding the waste of pesticides, fertilizers and other resources.

[0066] Preferably, the acquisition module 21 includes an identification unit and a calling unit, and the plant protection operation requirements include plots requiring plant protection;

[0067] The identification unit is used to obtain the plot marking information corresponding to the plot requiring plant protection based on the current plant protection operation requirements; the plot marking information includes at least one of the following: plot number, plot name, and coordinates of a preset point of the plot;

[0068] The calling unit is used to call preset plot boundary data and plot obstacle data corresponding to the plot marking information from the cloud server 10 according to the plot marking information, and send the plot boundary data and the plot obstacle data to the route generating module 22.

[0069] The plant protection operation requirements include information such as the plots that need plant protection, the types of crops in the plots, the types of plant protection, and the spraying operation time. When there is a demand for plant protection operations, the identification unit identifies and obtains the characteristic information of the plots that need plant protection. The calling unit calls the plot boundary data and plot obstacle data that match the characteristic information from the cloud service based on the characteristic information of the plots that need plant protection. The characteristic information of the plots that need plant protection can be the plot number, the plot name, the coordinates of the plot preset points, and other identification information that can distinguish the plots. Among them, the plot preset points are preferably the center points of the plots. If special circumstances are encountered, the user can also set the call point according to actual needs. This embodiment does not make specific restrictions.

[0070] Preferably, the plant protection UAV precision operation system further includes a surveying and mapping UAV 40 and an image processing module 50;

[0071] The surveying drone 40 is used to perform aerial survey on the target plot according to the received surveying instruction for the target plot, and send the image data obtained by the aerial survey to the image processing module 50; the target plot includes the plot requiring plant protection;

[0072] The image processing module 50 is used to receive the image data and send the image data processed according to preset image processing rules to the cloud server 10; the processed image data includes the plot boundary data and the plot obstacle data corresponding to the plot marking information.

[0073] In this embodiment, the surveying and mapping drone 40 can be a fixed-wing or multi-rotor aerial survey drone, and this embodiment does not make specific restrictions; for the target plant protection plot, based on the set overlap rate, height, speed and other information, the surveying and mapping drone 40 is used to conduct aerial survey on it. After the surveying and mapping is completed, the aerial survey image of the target plot is saved, and the aerial survey image of the target plot is uploaded to the image processing module 50 for processing. Furthermore, as a preferred embodiment, the image processing module 50 includes an image stitching unit 51 and an editing unit 52; the image stitching unit 51 is used to receive the image data and send the image data stitched according to a preset stitching rule to the editing unit 52; the editing unit 52 is used to edit the plot boundary data and plot obstacle data of the stitched image data based on preset conditions, and send the edited image data to the cloud server 10.

[0074] Specifically, as an implementation method, the user logs in to the stitching unit, creates a project, adds a description of the plot information, sets the plot ownership, and uploads the image data obtained by the aerial survey of the surveying and mapping drone 40 to the current project. The user can define the project name according to their own needs and describe the project information. The stitching unit stitches the aerial survey images based on the image data. The stitching unit can stitch multispectral, hyperspectral, and visible light images. The output result can be a two-dimensional orthophoto or a three-dimensional stereo image according to user needs.

[0075] Furthermore, the user adds, deletes, and edits breakpoints to mark the precise boundary information of the plot and marks obstacles according to the aerial survey stitching results and actual plant protection operation requirements, and then uploads the edited aerial survey image file with plot and obstacle information to the cloud server 10. When there is a plant protection operation requirement based on the target plot, the ground control terminal 20 directly obtains the preset plot boundary data and obstacle data of the user-edited boundary and obstacle from the cloud server 10, and generates the operation route of the plant protection drone 30 in combination with the actual operation requirements, so that the ground control terminal 20 sets a precise spraying operation route for the plant protection drone 30 according to the preset accurate boundary information of the operation plot and field obstacle information for the drone to perform plant protection operations, thereby improving the spraying accuracy of the drone plant protection operation, avoiding the waste of resources such as pesticides and fertilizers, and realizing the precise operation of the plant protection drone 30.

[0076] Preferably, the surveying and mapping drone 40 is equipped with a multi-channel multi-spectral aerial survey camera for aerial survey, which improves the fit between the aerial survey results and the actual terrain, and is conducive to users to accurately mark the plant protection operation area based on highly consistent aerial survey images, thereby improving the accuracy of plant protection operations.

[0077] Preferably, the image stitching unit 51 includes a three-dimensional stitching subunit and a conversion subunit;

[0078] The three-dimensional stitching subunit is used to receive the image data, and after stitching the image data into three-dimensional stereo image data, output the three-dimensional stereo image data to the editing unit 52, or output the three-dimensional stereo image data to the conversion subunit; the conversion subunit is used to convert the received three-dimensional stereo image data into two-dimensional orthophoto image data and then output the two-dimensional orthophoto image data to the editing unit 52. As an implementation mode, the image stitching unit 51 has a three-dimensional stitching subunit and a conversion subunit. If the user needs three-dimensional stereo image data, the aerial survey image data is directly output after being stitched by the three-dimensional stitching subunit. If the user needs two-dimensional orthophoto image data, the aerial survey image data is stitched by the three-dimensional stitching subunit and then converted by the conversion subunit into two-dimensional orthophoto image data and then output.

[0079] To sum up, the plant protection drone precision operation system of the present invention solves the problem that when the plant protection drone is manually controlled, the operator cannot accurately control the drone's spraying operation at the boundary of the operation plot, and solves the problem that the ground station cannot accurately identify the boundary of the operation plot and field obstacles when generating the route according to the commercial map, resulting in unsatisfactory spraying operation effect and waste of pesticides, fertilizers and other resources. The plant protection drone precision operation system of the present invention enables the ground control terminal to set a precise plant protection drone spraying operation route for the drone to perform plant protection operations according to the accurate boundary information and field obstacle information of the preset operation plot, thereby improving the spraying accuracy of the drone plant protection operation and saving pesticides, fertilizers and other resources.

[0080] The present invention also proposes a precision operation method for a plant protection UAV, which utilizes the system in the above-mentioned embodiments. Since all the technical solutions of all the above-mentioned embodiments are adopted, the method has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be described one by one here.

[0081] See also Figure 2 , Figure 2 This is a schematic diagram of the flow chart of the first embodiment of the plant protection UAV precision operation method proposed by the present invention.

[0082] Specifically, the plant protection drone precision operation method includes the following steps:

[0083] Step S100, based on the current plant protection operation requirements, the ground control terminal calls preset plot boundary data and plot obstacle data corresponding to the plant protection operation requirements from the cloud server;

[0084] When there is a demand for plant protection operations, the plant protection operation demand includes information such as the plots that need plant protection, the types of crops in the plots, the type of plant protection, and the spraying operation time. The acquisition module calls the preset plot boundary data and plot obstacle data corresponding to the plots that need plant protection in the current plant protection operation demand from the cloud server based on the current plant protection operation demand, specifically based on the plots that need plant protection in the current plant protection operation demand, and sends the plot boundary data and the plot obstacle data to the route generation module for generating a route.

[0085] Step S200, according to a preset route setting rule, the ground control terminal sets route information based on the land boundary data and the land obstacle data;

[0086] The route generation module avoids obstacles marked by the user based on the plot boundary data sent by the acquisition module, generates the plant protection UAV operation route according to the preset route setting rules, and sends the plant protection UAV operation route generated for the current plant protection operation needs to the control module. The route setting rules are based on the actual plant protection operation needs, such as determining the number of reciprocating times of the plant protection UAV according to the spraying demand.

[0087] Step S300: the ground control terminal controls the plant protection UAV to perform plant protection operations according to the route information.

[0088] The user sets the flight altitude and speed of the plant protection UAV, and the ground station controls the plant protection UAV to accurately apply pesticides and fertilizers in the field according to the route information. As a result, the ground control terminal sets a precise plant protection UAV spraying operation route for the UAV to perform plant protection operations based on the accurate boundary information of the preset operation plot and the field obstacle information, thereby improving the spraying accuracy of the UAV plant protection operation and avoiding the waste of resources such as pesticides and fertilizers.

[0089] See also Figure 3 , Figure 3 This is a flow chart of the second embodiment of the plant protection UAV precision operation method proposed by the present invention. Figure 2 In the embodiment shown, the plant protection operation requirement includes a plot requiring plant protection. In step S100, based on the current plant protection operation requirement, the ground control terminal calls preset plot boundary data and plot obstacle data corresponding to the plant protection operation requirement from the cloud server, including:

[0090] Step S110, based on the current plant protection operation requirements, the ground control terminal obtains the plot marking information corresponding to the plot requiring plant protection; the plot marking information includes at least one of the following: plot number, plot name, and coordinates of a preset point of the plot;

[0091] The plant protection operation requirements include information such as the plots that need plant protection, the types of crops in the plots, the types of plant protection, and the spraying operation time. When there is a need for plant protection operations, the ground control terminal identifies and obtains the characteristic information of the plots that need plant protection. The characteristic information of the plots that need plant protection can be the number of the plot, the name of the plot, the coordinates of the preset points of the plot, and other identification information that can distinguish the plots. Among them, the preset points of the plots are preferably the center points of the plots. If special circumstances are encountered, the user can also set the call points according to actual needs. This embodiment does not make specific restrictions.

[0092] Step S120: According to the plot marking information, the ground control terminal calls preset plot boundary data and plot obstacle data corresponding to the plot marking information from the cloud server.

[0093] Based on the acquired characteristic information of the plot that needs plant protection, the plot boundary data and plot obstacle data that match the characteristic information are called from the cloud service to generate a precise operation route for the plant protection UAV, which improves the spraying accuracy of the UAV plant protection operation and avoids the waste of resources such as pesticides and fertilizers.

[0094] See also Figure 4 , Figure 4 This is a flow chart of the third embodiment of the plant protection UAV precision operation method proposed by the present invention. Figure 3 In the embodiment shown, before the step S110, the ground control terminal acquires the plot marking information corresponding to the plot requiring plant protection based on the current plant protection operation requirements, the step further includes: step S101, in response to the received surveying and mapping instruction for the target plot, the surveying and mapping drone performs aerial survey on the target plot to obtain image data; the target plot includes the plot requiring plant protection;

[0095] For the target plots for plant protection, based on the set overlap rate, height, speed and other information, a surveying and mapping drone is used to conduct aerial surveys. After the surveying and mapping is completed, the aerial survey images of the target plots are saved and sent to the image processing module for processing.

[0096] Step S102, the image processing module processes the image data according to a preset image processing rule, and sends the processed image data to the cloud server; the processed image data includes the plot boundary data and the plot obstacle data corresponding to the plot marking information.

[0097] Further, see Figure 5 , Figure 5 In step S102, the image processing module processes the image data according to a preset image processing rule and sends the processed image data to the cloud server. The image processing module includes an image stitching unit and an editing unit. Step S102 includes:

[0098] Step S1021, the image stitching unit stitches the image data according to a preset stitching rule, and sends the stitched image data to the editing unit;

[0099] The stitching unit stitches aerial survey images according to the image data. The stitching unit can stitch multispectral, hyperspectral, and visible light images. The output result can be a two-dimensional orthophoto or a three-dimensional stereo image according to user needs.

[0100] Step S1022: Based on preset conditions, the editing unit edits the plot boundary data and the plot obstacle data of the spliced ​​image data, and sends the edited image data to the cloud server.

[0101] According to the aerial survey stitching results and the actual needs of plant protection operations, users can add, delete and edit breakpoints to mark the precise boundary information of the plot, mark obstacles, and upload the edited plots to the cloud server. When there is a need for plant protection operations based on the target plots, the ground control terminal directly obtains the preset plot boundary data and obstacle data of the user-edited boundaries and obstacles from the cloud server, and generates the operation route of the plant protection drone based on the actual operation needs.

[0102] The precise operation method of the plant protection UAV of the present invention solves the problem that when the plant protection UAV is manually controlled, the operator cannot accurately control the UAV's spraying operation at the boundary of the operation plot, and solves the problem that the ground station cannot accurately identify the boundary of the operation plot and field obstacles when generating the route according to the commercial map, resulting in unsatisfactory spraying operation effect and waste of resources such as pesticides and fertilizers. The precise operation method of the plant protection UAV of the present invention enables the ground control terminal to set a precise plant protection UAV spraying operation route for the UAV to perform plant protection operations according to the accurate boundary information and field obstacle information of the preset operation plot, thereby improving the spraying accuracy of the UAV plant protection operation and avoiding the waste of resources such as pesticides and fertilizers.

[0103] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0104] In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0105] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention is essentially or partly contributed to the prior art or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk. It should be noted that, in this article, terms such as "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements that are not explicitly listed, or also includes elements inherent to such a process, method, article or device. Without more constraints, an element defined by the phrase "comprising a..." does not exclude the existence of other identical elements in the process, method, article or apparatus comprising the element.

[0106] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0107] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A precision operation system for plant protection drones, characterized in that: It includes a cloud server, a ground control terminal and at least one plant protection UAV that are in communication connection, wherein the ground control terminal includes an acquisition module, a route generation module and a control module; The cloud server is used to send preset plot boundary data and plot obstacle data corresponding to the current plant protection operation requirements to the acquisition module; The acquisition module is used to send the received land parcel boundary data and the land parcel obstacle data to the route generation module; The route generation module is used to set the route information based on the land boundary data and the land obstacle data according to the preset route setting rules, and send the route information to the control module; The plant protection UAV is used to perform plant protection operations according to the route information received by the control module; Wherein, the acquisition module includes an identification unit and a calling unit, and the plant protection operation requirements include plots requiring plant protection; The identification unit is used to obtain the plot marking information corresponding to the plot requiring plant protection based on the current plant protection operation requirements; the plot marking information includes at least one of the following: plot number, plot name, and coordinates of a preset point of the plot; The calling unit is used to call preset land parcel boundary data and land parcel obstacle data corresponding to the land parcel marking information from the cloud server according to the land parcel marking information, and send the land parcel boundary data and the land parcel obstacle data to the route generating module; The plant protection UAV precision operation system also includes a surveying and mapping UAV and an image processing module; The surveying and mapping drone is used to perform aerial survey on the target plot according to the received surveying and mapping instruction for the target plot, and send the image data obtained by the aerial survey to the image processing module; the target plot includes the plot requiring plant protection; The image processing module is used to receive the image data and send the image data processed according to a preset image processing rule to the cloud server; the processed image data includes the land parcel boundary data and the land parcel obstacle data corresponding to the land parcel marking information; The image processing module includes an image stitching unit and an editing unit; The image stitching unit is used to receive the image data and send the image data stitched according to a preset stitching rule to the editing unit; The editing unit is used to edit the plot boundary data and the plot obstacle data of the spliced ​​image data based on preset conditions, and send the edited image data to the cloud server; editing the plot boundary data includes: marking the land boundary and marking obstacles on the spliced ​​image data, adding or deleting editing breakpoints to mark the areas requiring plant protection.

2. The plant protection UAV precision operation system according to claim 1, characterized in that: The surveying and mapping UAV is equipped with a multi-channel multi-spectral aerial measurement camera for aerial survey.

3. The plant protection UAV precision operation system according to claim 1, characterized in that: The image stitching unit includes a three-dimensional stitching subunit and a conversion subunit; The 3D stitching subunit is used to receive the image data, stitch the image data into 3D stereoscopic image data, and then output the 3D stereoscopic image data to the editing unit, or output the 3D stereoscopic image data to the conversion subunit; The conversion subunit is used to convert the received three-dimensional stereo image data into two-dimensional orthophoto image data and then output the two-dimensional orthophoto image data to the editing unit.

4. A method for precise operation of a plant protection UAV using the system as claimed in claim 3, characterized in that: The method comprises the following steps: Based on the current plant protection operation requirements, the ground control terminal calls preset plot boundary data and plot obstacle data corresponding to the plant protection operation requirements from the cloud server; According to a preset route setting rule, the ground control terminal sets the route information based on the land boundary data and the land obstacle data; The ground control terminal controls the plant protection UAV to perform plant protection operations according to the route information; Wherein, the plant protection operation demand includes a plot requiring plant protection, and the step of the ground control terminal calling preset plot boundary data and plot obstacle data corresponding to the plant protection operation demand from the cloud server based on the current plant protection operation demand includes: Based on the current plant protection operation requirements, the ground control terminal obtains the plot marking information corresponding to the plot requiring plant protection; the plot marking information includes at least one of the following: the plot number, the plot name, and the coordinates of the plot preset point; According to the land parcel marking information, the ground control terminal calls preset land parcel boundary data and land parcel obstacle data corresponding to the land parcel marking information from the cloud server; Wherein, before the step of the ground control terminal acquiring the plot marking information corresponding to the plot requiring plant protection based on the current plant protection operation demand, the step further includes: In response to the received surveying and mapping instruction for the target plot, the surveying and mapping drone performs aerial survey on the target plot to obtain image data; the target plot includes the plot requiring plant protection; The image processing module processes the image data according to a preset image processing rule, and sends the processed image data to the cloud server; the processed image data includes the land parcel boundary data and the land parcel obstacle data corresponding to the land parcel marking information; The image processing module includes an image stitching unit and an editing unit. The image processing module processes the image data according to a preset image processing rule, and the steps of sending the processed image data to the cloud server include: The image stitching unit stitches the image data according to a preset stitching rule, and sends the stitched image data to the editing unit; Based on preset conditions, the editing unit edits the plot boundary data and the plot obstacle data of the stitched image data, and sends the edited image data to the cloud server; editing the plot boundary data includes: marking the land boundary and marking obstacles on the stitched image data, adding or deleting editing breakpoints to mark the areas that require plant protection.

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