Method, device, storage medium and equipment for determining crop height

Abstract

The present invention discloses a method, device, storage medium and equipment for determining the height of crops. The method comprises: obtaining point cloud data of a target area; obtaining first position information of at least one vegetation-covered area in the target area, wherein each vegetation-covered area corresponds to a crop; for each vegetation-covered area, based on the first position information of the vegetation-covered area and the second position information of the point cloud data, determining vegetation point cloud data corresponding to the vegetation-covered area from the point cloud data; for each vegetation-covered area, determining the height of the corresponding crop based on multiple elevation values ​​corresponding to the vegetation point cloud data. The present invention solves the technical problem of low efficiency in determining the height of crops.

Description

Technical Field

[0001] The present invention relates to the field of computers, and in particular to a method, device, storage medium and equipment for determining the height of crops. Background Art

[0002] At present, crop height is one of the important indicators for measuring the growth status of crops. When determining the crop height of crops, it is usually measured manually using measuring equipment. However, if there are many sampling points to be measured, the surveyor needs to go inside the planting area and set up the measuring equipment for measurement, which makes the workload of determining the crop height particularly huge, which not only affects the crops themselves, but also makes the operation particularly troublesome, resulting in a technical problem of low efficiency in determining the crop height.

[0003] With respect to the above-mentioned technical problem of low efficiency in determining the height of crops, no effective solution has been proposed so far. Summary of the invention

[0004] Embodiments of the present invention provide a method, device, storage medium and equipment for determining the height of crops, so as to at least solve the technical problem of low efficiency in determining the height of crops.

[0005] According to one aspect of an embodiment of the present invention, a method for determining the height of crops is provided. The method may include: obtaining point cloud data of a target area; obtaining point cloud data of a target area; obtaining first position information of at least one vegetation-covered area in the target area, wherein each vegetation-covered area corresponds to a crop; for each vegetation-covered area, based on the first position information of the vegetation-covered area and the second position information of the point cloud data, determining vegetation point cloud data corresponding to the vegetation-covered area from the point cloud data; for each vegetation-covered area, based on multiple elevation values ​​corresponding to the vegetation point cloud data, determining the height of the corresponding crop.

[0006] Optionally, based on the first position information of the vegetation coverage area and the second position information of the point cloud data, vegetation point cloud data corresponding to the vegetation coverage area is determined from the point cloud data, including: determining target position information that is the same as the first position information from the second position information; and determining the point cloud data corresponding to the target position information as vegetation point cloud data.

[0007] Optionally, based on the first position information of the vegetation coverage area and the second position information of the point cloud data, vegetation point cloud data corresponding to the vegetation coverage area is determined from the point cloud data, including: displaying the point cloud layer presented by the point cloud data; marking in the point cloud layer a target position corresponding to the second position information that is the same as the first position information; obtaining an updated target position based on a user's correction operation on the target position; and determining the point cloud data corresponding to the updated target position as the vegetation point cloud data.

[0008] Optionally, after obtaining an updated target position based on the user's correction operation on the target position, the method also includes: determining the position correction amount of the corresponding target position based on the correction operation; updating other target positions other than the target position corresponding to the correction operation based on the position correction amount; for each vegetation coverage area, using its corresponding and updated target position as vegetation point cloud data corresponding to the vegetation coverage area.

[0009] Optionally, based on the first position information of the vegetation coverage area and the second position information of the point cloud data, vegetation point cloud data corresponding to the vegetation coverage area is determined from the point cloud data, including: displaying the point cloud layer presented by the point cloud data and the vegetation layer corresponding to the vegetation coverage area; marking and displaying the alignment reference points corresponding to the set reference positions in the point cloud layer and the vegetation layer respectively; updating and displaying the point cloud layer and the vegetation layer based on instructions for instructing to overlap the alignment reference points in the point cloud layer and the alignment reference points in the vegetation layer; and determining the point cloud data corresponding to the area in the point cloud layer that overlaps with the vegetation layer as the vegetation point cloud data corresponding to the vegetation coverage area.

[0010] Optionally, before determining the vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data, the method also includes: displaying the point cloud layer presented by the point cloud data and the vegetation layer corresponding to the vegetation coverage area; outputting prompt information for prompting the user whether to accept the point cloud layer and the vegetation layer; and determining whether to execute the step of determining the vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data based on the user's instructions for feedback on the prompt information.

[0011] Optionally, based on multiple elevation values ​​corresponding to the vegetation point cloud data, the height of the corresponding crops is determined, including: displaying a point cloud layer presented by the point cloud data; displaying multiple elevation values ​​corresponding to the target position at the target position corresponding to the second position information that is the same as the first position information in the point cloud layer; based on the user's selection operation on the multiple elevation values, determining two elevation values ​​from the multiple elevation values; and using the absolute value of the difference between the two elevation values ​​as the height of the crop.

[0012] Optionally, based on multiple elevation values ​​corresponding to the vegetation point cloud data, the height of the corresponding crops is determined, including: selecting the maximum elevation value and the minimum elevation value from the multiple elevation values, and determining the difference between the maximum elevation value and the minimum elevation value as the height of the crops.

[0013] Optionally, the multiple elevation values ​​are the absolute elevations of different parts of the crop; the maximum elevation value is the absolute elevation of the canopy of the crop, and the minimum elevation value is the absolute elevation of the ground where the crop grows.

[0014] Optionally, before obtaining the first position information of at least one vegetation coverage area in the target area, the method also includes: determining an area in the target area that meets the target conditions as a vegetation coverage area; wherein the target conditions include any one of the following: a vegetation coverage index greater than a first threshold, a leaf area index greater than a second threshold; or, identifying an area where crops are located based on an image of the target area to obtain a vegetation coverage area.

[0015] According to another aspect of an embodiment of the present invention, a device for determining the height of crops is also provided. The device includes: a first acquisition unit for acquiring point cloud data of a target area; a second acquisition unit for acquiring first position information of at least one vegetation-covered area in the target area, wherein each vegetation-covered area corresponds to a crop; a first determination unit for determining, for each vegetation-covered area, vegetation point cloud data corresponding to the vegetation-covered area from the point cloud data based on the first position information of the vegetation-covered area and the second position information of the point cloud data; and a second determination unit for determining, for each vegetation-covered area, the height of the corresponding crop based on multiple elevation values ​​corresponding to the vegetation point cloud data.

[0016] According to another aspect of the present invention, a computer storage medium is provided, which includes a stored program, wherein when the program is executed by a processor, the device where the computer storage medium is located is controlled to execute the method for determining the height of crops according to the present invention.

[0017] According to another aspect of an embodiment of the present invention, an electronic device is provided. The electronic device includes a processor and a memory for storing programs. When the processor executes the program, the steps of the method for determining the height of crops according to an embodiment of the present invention are implemented.

[0018] In an embodiment of the present invention, point cloud data of a target area is obtained; first position information of at least one vegetation-covered area in the target area is obtained, wherein each vegetation-covered area corresponds to a crop; for each vegetation-covered area, vegetation point cloud data corresponding to the vegetation-covered area is determined from the point cloud data based on the first position information of the vegetation-covered area and the second position information of the point cloud data; for each vegetation-covered area, the height of the corresponding crop is determined based on multiple elevation values ​​corresponding to the vegetation point cloud data. That is, for each vegetation-covered area, the present application determines the vegetation point cloud data corresponding to the vegetation-covered area from the point cloud data of the target area, and determines the height of the crops in the vegetation-covered area through multiple elevation values ​​corresponding to the vegetation point cloud data, thereby avoiding obtaining the height of the crops by manually measuring the crops using measuring equipment, and also avoiding affecting the crops themselves, thereby solving the technical problem of low efficiency in determining the crops, and achieving the technical effect of improving the efficiency in determining the crops. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0020] Figure 1 is a flow chart of a method for determining the height of crops according to an embodiment of the present invention;

[0021] Figure 2 is a schematic diagram of a crop height measuring instrument according to an embodiment of the present invention;

[0022] Figure 3 is a schematic diagram of high-precision point cloud data distribution of a target area according to an embodiment of the present invention;

[0023] Figure 4 It is a schematic diagram of a high-precision NDVI index data distribution according to an embodiment of the present invention;

[0024] Figure 5 is a schematic diagram of multiple elevation values ​​at the same location according to an embodiment of the present invention; and

[0025] Figure 6 is a schematic diagram of a device for determining the height of crops according to an embodiment of the present invention. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme 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 only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] Example 1

[0029] According to an embodiment of the present invention, an embodiment of a method for determining the height of crops is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0030] Figure 1 FIG. 1 is a flow chart of a method for determining the height of crops according to an embodiment of the present invention. Figure 1 As shown, the method may include the following steps:

[0031] Step S102, obtaining point cloud data of the target area.

[0032] In the technical solution provided in the above step S102 of the present invention, the target area can be a certain range of areas where crops are planted, and the point cloud data of the target area can be collected and calculated by a point cloud data acquisition device, wherein the point cloud data acquisition device can be a drone, etc., and the point cloud data of the target area can also be collected by radar. The point cloud data can be a set of vectors in a three-dimensional coordinate system, expressed in the form of (X, Y, Z) three-dimensional coordinates, so the point cloud data of the target area of ​​this embodiment has high-precision coordinate information. The crops of this embodiment are growing plants including roots, stems, leaves and other parts.

[0033] Step S104: acquiring first position information of at least one vegetation-covered area in the target area.

[0034] In the technical solution provided in the above step S104 of the present invention, after acquiring the point cloud data of the target area, first position information of at least one vegetation-covered area in the target area is acquired, wherein each vegetation-covered area corresponds to a crop.

[0035] In this embodiment, the target area includes at least one vegetation-covered area, each of which is planted with a crop of which height is to be determined. Optionally, at least one vegetation-covered area in the target area constitutes a super green area portion of the target area.

[0036] This embodiment obtains first position information of at least one vegetation-covered area in the target area. The first position information may be pixel position data, such as pixel coordinates, used to indicate the position of the vegetation-covered area.

[0037] Step S106: for each vegetation covered area, based on the first position information of the vegetation covered area and the second position information of the point cloud data, determine the vegetation point cloud data corresponding to the vegetation covered area from the point cloud data.

[0038] In the technical solution provided in the above step S106 of the present invention, after obtaining the first position information of at least one vegetation-covered area in the target area, for each vegetation-covered area, based on the first position information of the vegetation-covered area and the second position information of the point cloud data, vegetation point cloud data corresponding to the vegetation-covered area is determined from the point cloud data.

[0039] In this embodiment, the point cloud data includes vegetation point cloud data, which corresponds to the first position information of the vegetation coverage area. The first position information of the vegetation coverage area and the second position information of the point cloud data of this embodiment have high-precision coordinate information. For each vegetation coverage area, the first position information of the vegetation coverage area and the second position information of the point cloud data can be aligned first, and then the vegetation point cloud data corresponding to the vegetation coverage area can be determined from the point cloud data. Optionally, in the case where the first position information is pixel position data, it can be converted into earth coordinates, and then aligned with the second position information of the point cloud data, and then the vegetation point cloud data corresponding to the vegetation coverage area can be determined from the point cloud data.

[0040] Step S108: for each vegetation coverage area, determine the height of the corresponding crop based on multiple elevation values ​​corresponding to the vegetation point cloud data.

[0041] In the technical solution provided in the above step S108 of the present invention, after determining the number of vegetation point clouds corresponding to the vegetation coverage area from the point cloud data, for each vegetation coverage area, the height of the corresponding crop is determined based on multiple elevation values ​​corresponding to the vegetation point cloud data.

[0042] In this embodiment, for each vegetation coverage area, multiple elevation values ​​corresponding to the vegetation point cloud data can be obtained, that is, the multiple elevation values ​​are for a crop in each vegetation coverage area. Optionally, a list of elevation values ​​corresponding to the vegetation point cloud data is obtained, and the elevation value list includes the above-mentioned multiple elevation values, for example, including elevation value 1, elevation value 2...elevation value M, elevation value N. This embodiment can sort the multiple elevation values ​​in order from large to small, determine the maximum elevation value and the minimum elevation value from the sorted multiple elevation values, and then determine the crop height of the crop based on the maximum elevation value and the minimum elevation value in the multiple elevation values. The crop height refers to the distance from the base of the crop to the top of the main stem (main stem growth point), that is, in the vegetation coverage area, it is the height between the crop canopy and the ground, which can reflect the growth status of the crop.

[0043] It should be noted that the above-mentioned method for determining the height of crops in this embodiment is for one crop, and the height of other crops can also be determined by the above-mentioned method. At least one vegetation coverage area can be traversed, and the height of crops in each vegetation coverage area can be determined by the above-mentioned method. Therefore, the height of crops can be measured quickly, on a large scale, and automatically, avoiding the problem of low efficiency in determining the height of crops and affecting the crops themselves due to manual measurement of the height of crops when there are a large number of crops. Therefore, the height of all crops in the target area can be determined.

[0044] The present application obtains the point cloud data of the target area through the above steps S102 to S108; obtains the first position information of at least one vegetation-covered area in the target area, wherein each vegetation-covered area corresponds to a crop; for each vegetation-covered area, based on the first position information of the vegetation-covered area and the second position information of the point cloud data, determines the vegetation point cloud data corresponding to the vegetation-covered area from the point cloud data; for each vegetation-covered area, determines the height of the corresponding crop based on multiple elevation values ​​corresponding to the vegetation point cloud data. That is, for each vegetation-covered area, this embodiment determines the vegetation point cloud data corresponding to the vegetation-covered area from the point cloud data of the target area, and determines the height of the crops in the vegetation-covered area through multiple elevation values ​​corresponding to the vegetation point cloud data, thereby avoiding obtaining the height of the crops by manually measuring the crops using measuring equipment, and also avoiding affecting the crops themselves, thereby solving the technical problem of low efficiency in determining the crops, and achieving the technical effect of improving the efficiency in determining the crops.

[0045] The above method of this embodiment is further introduced below.

[0046] As an optional implementation, step S106, based on the first position information of the vegetation coverage area and the second position information of the point cloud data, determines the vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data, including: determining the target position information that is the same as the first position information from the second position information; and determining the point cloud data corresponding to the target position information as the vegetation point cloud data.

[0047] In this embodiment, the second position information of the point cloud data and the first position information of the vegetation coverage area may have the same target position information, for example, the same coordinate information, and the point cloud data corresponding to the target position information may be determined as the vegetation point cloud data in the point cloud data of the target area. Optionally, this embodiment may use real-time kinematic (RTK) to determine the vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data according to the above target position information.

[0048] As an optional implementation, step S106, based on the first position information of the vegetation coverage area and the second position information of the point cloud data, determines the vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data, including: displaying the point cloud layer presented by the point cloud data; marking in the point cloud layer the target position corresponding to the second position information that is the same as the first position information; obtaining an updated target position based on the user's correction operation on the target position; and determining the point cloud data corresponding to the updated target position as the vegetation point cloud data.

[0049] In this embodiment, the point cloud data can be reflected by a point cloud layer, and the point cloud layer presented by the point cloud data can be displayed. The point cloud layer can be used to indicate a specific position, and the target position corresponding to the second position information that is the same as the first position information can be marked in the point cloud layer. The target position is also the mapping position of the first position information in the point cloud data, and it can be displayed through marking information. The marking information may include but is not limited to text, icons, symbols, etc.

[0050] Optionally, since the target position may have a certain deviation, this embodiment allows the user to perform a correction operation on it. This embodiment obtains the user's correction operation on the above-mentioned target position, for example, obtains the user's drag operation on the point corresponding to the target position, and can also obtain the adjustment operation performed on the input box or sliding control in the x-axis and y-axis directions displayed in the interface. In response to the above-mentioned correction operation, the target position is updated, that is, the target position is adjusted, and the point cloud data corresponding to the updated target position in the point cloud data can be determined as vegetation point cloud data to improve the accuracy of the vegetation point cloud data.

[0051] As an optional implementation, after obtaining an updated target position based on the user's correction operation on the target position, the method also includes: determining the position correction amount of the corresponding target position based on the correction operation; updating other target positions other than the target position corresponding to the correction operation based on the position correction amount; for each vegetation coverage area, using its corresponding and updated target position as the vegetation point cloud data corresponding to the vegetation coverage area.

[0052] In this embodiment, the point cloud layer may include target positions corresponding to second position information that is the same as different first position information, that is, the number of the target positions may be multiple, and the embodiment may adaptively adjust all target positions based on the user's correction operation on one of the multiple target positions. Optionally, the embodiment may determine the position correction amount of the corresponding target position based on the correction operation, and the position correction amount may include at least one of the following: the lateral position offset on the x-axis and the longitudinal position offset on the y-axis. Then, other target positions other than the target position corresponding to the correction operation may be updated based on the position correction amount, that is, the embodiment may adaptively update all target positions based on the user's correction operation on a target position. For each vegetation coverage area, the point cloud data corresponding to the corresponding and updated target position may be used as the vegetation point cloud data corresponding to the vegetation coverage area, thereby avoiding the problem that if the user performs a correction operation on each target position, the operation is cumbersome and the calculation efficiency of the crop height is affected.

[0053] As an optional implementation, step S106, based on the first position information of the vegetation coverage area and the second position information of the point cloud data, determines the vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data, including: displaying the point cloud layer presented by the point cloud data and the vegetation layer corresponding to the vegetation coverage area; marking and displaying the alignment reference points corresponding to the set reference positions in the point cloud layer and the vegetation layer respectively; updating the displayed point cloud layer and the vegetation layer based on the instruction for indicating that the alignment reference points in the point cloud layer and the alignment reference points in the vegetation layer are to be overlapped; and determining the point cloud data corresponding to the area in the point cloud layer that overlaps with the vegetation layer as the vegetation point cloud data corresponding to the vegetation coverage area.

[0054] In this embodiment, the point cloud data can be represented by a point cloud layer, and the vegetation coverage area can be represented by a vegetation layer. This embodiment can display the point cloud layer presented by the point cloud data and the vegetation layer corresponding to the vegetation coverage area on the interface, can mark and display the alignment reference point corresponding to the set reference position in the point cloud layer, and mark and display the alignment reference point corresponding to the set reference position in the vegetation layer, and then obtain the instruction triggered by the user to indicate that the alignment reference point in the point cloud layer and the alignment reference point in the vegetation layer are to be overlapped, and respond to the instruction to update the display of the point cloud layer and the vegetation layer, that is, this embodiment can directly align the first position information and the second position information that have been displayed in the interface based on the user operation without prior alignment, which can reduce a certain amount of alignment calculation, and then determine the point cloud data corresponding to the area in the updated point cloud layer that overlaps with the updated vegetation layer as the vegetation point cloud data corresponding to the vegetation coverage area.

[0055] As an optional implementation, in step S106, before determining the vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data, the method also includes: displaying the point cloud layer presented by the point cloud data and the vegetation layer corresponding to the vegetation coverage area; outputting prompt information for prompting the user whether to adopt the point cloud layer and the vegetation layer; and determining whether to execute the step of determining the vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data based on the user's instructions for feedback on the prompt information.

[0056] In this embodiment, before determining the vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data, the point cloud layer presented by the point cloud data and the vegetation layer corresponding to the vegetation coverage area can be displayed on the interface first, and then a prompt message can be output on the interface. The prompt message is used to prompt the user whether to adopt the point cloud layer and the vegetation layer. The user can trigger a first feedback instruction to adopt the point cloud layer and the vegetation layer, and then respond to the first feedback instruction to determine the step of determining the vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data. The user can also trigger a second feedback instruction not to adopt the point cloud layer and the vegetation layer, and then respond to the second feedback instruction to determine not to execute the step of determining the vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data, thereby avoiding the situation where the point cloud layer and the vegetation layer do not meet actual needs.

[0057] As an optional implementation, step S108, based on multiple elevation values ​​corresponding to the vegetation point cloud data, determines the height of the corresponding crops, including: displaying the point cloud layer presented by the point cloud data; displaying multiple elevation values ​​corresponding to the target position at the target position corresponding to the second position information that is the same as the first position information in the point cloud layer; based on the user's selection operation on the multiple elevation values, determining two elevation values ​​from the multiple elevation values; and using the absolute value of the difference between the two elevation values ​​as the height of the crop.

[0058] In this embodiment, when determining the height of the corresponding crops based on multiple elevation values ​​corresponding to the vegetation point cloud data, the point cloud layer presented by the point cloud data can be first displayed on the interface, and the target position corresponding to the second position information that is the same as the first position information can be determined in the point cloud layer, and then the multiple elevation values ​​corresponding to the target position can be displayed at the target position, for example, a list of elevation values ​​corresponding to the target position can be displayed. The user's selection operation on the above multiple elevation values ​​is obtained, and in response to the selection operation, two elevation values ​​are selected from the multiple elevation values, and the two elevation values ​​are subtracted. The absolute value of the obtained difference can be determined as the height of the crop, so that the height of the crop can be determined by the user's own selection of the elevation value, which can play a certain auxiliary correction role.

[0059] As an optional implementation, step S108 determines the height of the corresponding crops based on multiple elevation values ​​corresponding to the vegetation point cloud data, including: selecting the maximum elevation value and the minimum elevation value from the multiple elevation values, and determining the difference between the maximum elevation value and the minimum elevation value as the height of the crops.

[0060] In this embodiment, the above-mentioned multiple elevation values ​​can be sorted in descending order, and the maximum elevation value and the minimum elevation value can be determined from the sorted multiple elevation values. The maximum elevation value and the minimum elevation value are subtracted, and the difference is determined as the crop height of the crop.

[0061] As an optional implementation, the multiple elevation values ​​are the absolute elevations of different parts of the crops; the maximum elevation value is the absolute elevation of the crop canopy, and the minimum elevation value is the absolute elevation of the ground where the crops grow.

[0062] In this embodiment, each elevation value corresponding to a crop is the absolute elevation of the corresponding part of the crop, that is, the distance from a certain point of the crop to the geoid along the vertical direction. The maximum elevation value of this embodiment can be the absolute elevation of the crop canopy, that is, the distance (height) from the crop canopy to the geoid along the vertical direction; the minimum elevation value is the absolute elevation of the ground where the crop grows, that is, the distance (height) from the ground where the crop grows to the geoid along the vertical direction.

[0063] As an optional implementation, in step S104, before obtaining the first position information of at least one vegetation coverage area in the target area, the method also includes: determining the area in the target area that meets the target conditions as the vegetation coverage area; wherein the target conditions include any one of the following: the vegetation coverage index is greater than the first threshold, the leaf area index is greater than the second threshold; or, based on the image of the target area, the area where the crops are located is identified to obtain the vegetation coverage area.

[0064] In this embodiment, before obtaining the first position information of at least one vegetation-covered area in the target area, the target area can be detected and the area that meets the target conditions can be determined as a vegetation-covered area, wherein the target conditions are judgment conditions for determining whether the target area is a vegetation-covered area, which is further introduced below.

[0065] As an optional implementation, the method further includes: acquiring a vegetation coverage index of the target area; and determining an area in the target area whose vegetation coverage index is greater than a first threshold as an area meeting the target condition.

[0066] In this embodiment, the above-mentioned target condition can be a judgment condition of whether the vegetation coverage index in the target area is greater than the first threshold value, and the vegetation coverage index (Normalized Difference Vegetation Index, referred to as NDVI) of the target area can be obtained, which can indicate the distribution of tree crowns in the target area and has high-precision coordinate information. Optionally, this embodiment uses an unmanned aerial vehicle device equipped with a multi-spectral camera to collect and calculate the vegetation coverage index of the target area. The vegetation coverage index can also be called a super green index, and its value range is between -1 and 1. The size of its value can be positively correlated with the amount of chlorophyll in the corresponding area, that is, the larger the value of the vegetation coverage index, the more chlorophyll in the corresponding area.

[0067] This embodiment can extract the vegetation coverage area from the target area by setting a first threshold. For example, the first threshold can be 0.5. It can be determined whether the collected vegetation coverage index is greater than the first threshold. If the vegetation coverage index is greater than the first threshold, it is determined that the above-mentioned target condition is met, and then the area that meets the target condition is determined as the vegetation coverage area, that is, the super green area in the target area.

[0068] As an optional implementation, the method further includes: acquiring a leaf area index of the target area; and determining an area in the target area having a leaf area index greater than a second threshold as an area meeting the target condition.

[0069] In this embodiment, the above-mentioned target condition may be a judgment condition of whether the leaf area index in the target area is greater than a second threshold value, and the leaf area index (LAI) of the target area may be obtained, which is the multiple of the total area of ​​plant leaves per unit land area to the land area, and may indicate the distribution of tree crowns in the target area. Optionally, the higher the leaf area index, the more luxuriant the vegetation in the corresponding area, and the more likely it is that there is a tree crown at the corresponding location. This embodiment may extract a vegetation coverage area from the target area by setting a second threshold value, and may determine whether the collected leaf area index is greater than the second threshold value. If the leaf area index is greater than the second threshold value, it is determined that the above-mentioned target condition is met, and then the area meeting the target condition is determined as a vegetation coverage area.

[0070] As an optional implementation, the method further includes: identifying a vegetation image from the image of the target area; and determining an area corresponding to the vegetation image in the target area as an area that meets the target condition.

[0071] In this embodiment, an image of the target area is collected by an image acquisition device, and artificial intelligence technology (AI) can be used to identify vegetation images from the images of the target area, and the vegetation images include images of crops whose heights are to be determined. Optionally, this embodiment can pre-collect a large number of image samples containing vegetation-covered areas, and can manually annotate a certain range of vegetation-covered areas in the image samples, set the annotated results as labels of the image samples, and then train the sub-neural network model through the image samples and the corresponding labels to obtain a target neural network model, the target neural network model is the result of the input being the image to be identified and the output being the vegetation image in the image. After the target neural network model is trained, the image of the target area is input into the target neural network model, and the image of the target area is identified by the target neural network model, thereby outputting the vegetation image in the target area, and then determining the area corresponding to the vegetation image in the target area as an area that meets the above-mentioned target conditions, and determining the area as a vegetation-covered area.

[0072] It should be noted that the method of determining the vegetation coverage area through the above-mentioned vegetation coverage index, leaf area index and AI image recognition in this embodiment is only a preferred implementation mode of the embodiment of the present invention. Any method that can be used to determine the vegetation coverage area from the target area is within the scope of this embodiment and will not be illustrated one by one here.

[0073] The above-mentioned crop height determination method of this embodiment can be a method for sensing the height distribution of crops in a crop group, by acquiring point cloud data of a target area; acquiring first position information of at least one vegetation coverage area in the target area, wherein each vegetation coverage area corresponds to a crop; for each vegetation coverage area, based on the first position information of the vegetation coverage area and the second position information of the point cloud data, determining vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data; for each vegetation coverage area, determining the height of the corresponding crop based on multiple elevation values ​​corresponding to the vegetation point cloud data, thereby avoiding obtaining the height of the crop by manually measuring the crop with measuring equipment, and also avoiding affecting the crop itself, thereby solving the technical problem of low efficiency in crop determination and achieving the technical effect of improving the efficiency in crop determination.

[0074] Example 2

[0075] The technical solution of the embodiment of the present invention is illustrated below in conjunction with preferred implementation modes.

[0076] The height of crops is one of the important indicators for measuring the growth status of crops. Usually, the height of crops is measured manually using measuring equipment, such as Figure 2 The crop height measuring instrument X shown, wherein: Figure 2 2 is a schematic diagram of a crop height measuring instrument according to an embodiment of the present invention. The bottom of the measuring instrument X needs to be aligned with the bottom of the crop, placed vertically, and then the reading at the highest point of the crop is read to measure the crop height.

[0077] However, using a crop height meter or other traditional equipment to measure crop height has the technical problem of low efficiency. If there are many sampling points to be measured, the workload is particularly huge, and the surveyor needs to go inside the planting area and set up the crop meter for measurement, which not only affects the crops themselves, but also makes the operation very troublesome, thus leading to the technical problem of low efficiency in crop determination.

[0078] In this embodiment, a drone or other device may be used to collect and calculate high-precision point cloud data of the target area. Figure 3 FIG. 1 is a schematic diagram of the distribution of high-precision point cloud data of a target area according to an embodiment of the present invention. Figure 3 As shown, the high-precision point cloud data includes crops whose heights are to be determined, such as trees. The point cloud data may be a set of vectors in a three-dimensional coordinate system, expressed in the form of (X, Y, Z) three-dimensional coordinates.

[0079] Figure 4 Schematic diagram of a high-precision NDVI index data distribution according to an embodiment of the present invention. Figure 4 As shown in Figure 2, a drone equipped with a multispectral camera can be used to collect and calculate high-precision NDVI index data for the target area (such as Figure 4 The light-colored part Y) is extracted from the target area using the NDVI index data to extract the super-green part (vegetation-covered area). The value range of the NDVI index data of this embodiment is -1 to 1, wherein the closer to the maximum value, the more chlorophyll there is, and the extraction can be performed by setting a threshold value. For example, the threshold value is set to 0.5, and the partial area in the target area where the NDVI index data is > 0.5 can be determined as the super-green area of ​​the crop, and it is determined as the vegetation-covered area.

[0080] In this embodiment, since both the point cloud data and the NDVI index data have high-precision coordinate information, the point cloud data and the NDVI index data can be superimposed and calculated. The positions of all the super-green parts extracted from the target area are superimposed on the point cloud layer for calculation. The same position in the point cloud layer may have multiple elevation values, such as Figure 5 As shown, Figure 5It is a schematic diagram of multiple elevation values ​​at the same position according to an embodiment of the present invention, where the black vertical line Z is used to represent the same position of the point cloud layer, the maximum elevation value 1 is used to represent the height of the canopy of the crop, and the minimum elevation value M is used to represent the ground height. The maximum elevation value 1 and the minimum elevation value M are subtracted, and the obtained difference is determined as the crop height of the crop.

[0081] This embodiment can measure the crop heights of all crops in the target area through the above method, so the above crop determination method can be a method for perceiving the crop height distribution of a crop group, by superimposing and aligning the layer corresponding to the point cloud data of the target area and the corresponding layer of the vegetation coverage area, traversing the pixel positions of all vegetation coverage areas, calculating the elevation list of the point cloud data corresponding to the pixel position, and calculating the maximum elevation value and the minimum elevation value in the elevation list, wherein the maximum elevation value is the canopy height of the crop, and the minimum elevation value is the height of the ground, and the difference between the two is determined as the height from the canopy of the crop in the vegetation coverage area to the ground, thereby being able to quickly, widely, and automatically measure the crop height of crops, avoiding the need to obtain the crop height by manually measuring crops with measuring equipment, and also avoiding affecting the crops themselves, thereby solving the technical problem of low efficiency in crop determination and achieving the technical effect of improving the efficiency of crop determination.

[0082] Example 3

[0083] The embodiment of the present invention further provides a device for determining the height of crops. It should be noted that the device for determining the height of crops in this embodiment can be used to execute the method for determining the height of crops in this embodiment of the present invention.

[0084] Figure 6 Schematic diagram of a device for determining the height of crops according to an embodiment of the present invention. Figure 6 As shown, the device 60 for determining the height of crops may include: a first acquiring unit 61 , a second acquiring unit 62 , a first determining unit 63 and a second determining unit 64 .

[0085] The first acquisition unit 61 is used to acquire point cloud data of a target area.

[0086] The second acquisition unit 62 is used to acquire first position information of at least one vegetation-covered area in the target area, wherein each vegetation-covered area corresponds to a crop.

[0087] The first determining unit 63 is configured to determine, for each vegetation covered area, vegetation point cloud data corresponding to the vegetation covered area from the point cloud data based on the first position information of the vegetation covered area and the second position information of the point cloud data.

[0088] The second determining unit 64 is used to determine the height of the corresponding crop for each vegetation coverage area based on a plurality of elevation values ​​corresponding to the vegetation point cloud data.

[0089] Optionally, the first determination unit 63 includes: a first determination module, used to determine target position information identical to the first position information from the second position information; and a second determination module, used to determine the point cloud data corresponding to the target position information as vegetation point cloud data.

[0090] Optionally, the first determination unit 63 includes: a first display module, used to display a point cloud layer presented by the point cloud data; a first marking module, used to mark and display in the point cloud layer a target position corresponding to second position information that is the same as the first position information; a correction module, used to obtain an updated target position based on a user's correction operation on the target position; and a third determination module, used to determine the point cloud data corresponding to the updated target position as vegetation point cloud data.

[0091] Optionally, the device also includes: a third determination unit, which is used to determine the position correction amount of the corresponding target position based on the correction operation after obtaining the updated target position based on the user's correction operation on the target position; a first updating unit, which is used to update other target positions other than the target position corresponding to the correction operation based on the position correction amount; and a fourth determination unit, which is used to use the corresponding and updated target position of each vegetation coverage area as the vegetation point cloud data corresponding to the vegetation coverage area.

[0092] Optionally, the first determination unit 63 includes: a second display module, used to display the point cloud layer presented by the point cloud data and the vegetation layer corresponding to the vegetation coverage area; a second marking module, used to mark and display the alignment reference points corresponding to the set reference positions in the point cloud layer and the vegetation layer respectively; a second update module, used to update and display the point cloud layer and the vegetation layer based on an instruction for instructing to overlap the alignment reference points in the point cloud layer and the alignment reference points in the vegetation layer; and a fourth determination module, used to determine the point cloud data corresponding to the area in the point cloud layer that overlaps with the vegetation layer as the vegetation point cloud data corresponding to the vegetation coverage area.

[0093] Optionally, the device also includes: a display unit, used to display the point cloud layer presented by the point cloud data and the vegetation layer corresponding to the vegetation coverage area before determining the vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data; an output unit, used to output prompt information for prompting the user whether to adopt the point cloud layer and the vegetation layer; and a fifth determination unit, used to determine whether to execute the step of determining the vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data according to the user's instructions for feedback on the prompt information.

[0094] Optionally, the second determination unit 64 includes: a third display module, used to display a point cloud layer presented by the point cloud data; a fourth display module, used to display multiple elevation values ​​corresponding to the target position at the target position corresponding to the second position information that is the same as the first position information in the point cloud layer; a selection module, used to determine two elevation values ​​from multiple elevation values ​​based on the user's selection operation on the multiple elevation values; and a fifth determination module, used to use the absolute value of the difference between the two elevation values ​​as the height of the crop.

[0095] Optionally, the second determination unit 64 includes: a selection module, configured to select a maximum elevation value and a minimum elevation value from a plurality of elevation values, and determine the difference between the maximum elevation value and the minimum elevation value as the height of the crop.

[0096] Optionally, the multiple elevation values ​​are the absolute elevations of different parts of the crop; the maximum elevation value is the absolute elevation of the canopy of the crop, and the minimum elevation value is the absolute elevation of the ground where the crop grows.

[0097] Optionally, the device also includes: a sixth determination unit, used to determine the area in the target area that meets the target conditions as a vegetation coverage area before obtaining the first position information of at least one vegetation coverage area in the target area; wherein the target conditions include any one of the following: the vegetation coverage index is greater than the first threshold, the leaf area index is greater than the second threshold; or, based on the image of the target area, the area where the crops are located is identified to obtain the vegetation coverage area.

[0098] In the device for determining the height of crops in this embodiment, for each vegetation coverage area, the vegetation point cloud data corresponding to the vegetation coverage area is determined from the point cloud data of the target area, and the height of the crops in the vegetation coverage area is determined by using multiple elevation values ​​corresponding to the vegetation point cloud data, thereby avoiding the need to obtain the height of the crops by manually measuring the crops using measuring equipment, and also avoiding affecting the crops themselves, thereby solving the technical problem of low efficiency in determining the crops and achieving the technical effect of improving the efficiency in determining the crops.

[0099] Example 4

[0100] The embodiment of the present invention further provides a computer storage medium, which includes a stored program, wherein when the program is executed by a processor, the device where the computer storage medium is located is controlled to execute the method for determining the height of crops of the embodiment of the present invention.

[0101] Example 5

[0102] The embodiment of the present invention further provides an electronic device, which includes a processor and a memory for storing a program; when the processor executes the program, the method for determining the height of crops according to the embodiment of the present invention is implemented.

[0103] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0104] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0105] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0106] 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 distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0107] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0108] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, 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 a number of instructions for 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 method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0109] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for determining the height of crops, characterized in that: include: Obtain point cloud data of the target area; Acquire first position information of at least one vegetation-covered area in the target area, wherein each vegetation-covered area corresponds to a crop; For each vegetation covered area, based on the first position information of the vegetation covered area and the second position information of the point cloud data, determining vegetation point cloud data corresponding to the vegetation covered area from the point cloud data; For each vegetation covered area, determining the height of the corresponding crop based on a plurality of elevation values ​​corresponding to the vegetation point cloud data; The method further includes: using a target neural network model to identify a vegetation image from an image of the target area, and determining an area corresponding to the vegetation image in the target area as the vegetation coverage area, wherein the vegetation image includes an image of the crop, the target neural network model is obtained by training a sub-neural network model through image samples and corresponding labels, the image samples are image samples containing the vegetation coverage area, and the labels are obtained by marking the vegetation coverage area in the corresponding image samples.

2. The method according to claim 1, characterized in that Determining vegetation point cloud data corresponding to the vegetation covered area from the point cloud data based on the first position information of the vegetation covered area and the second position information of the point cloud data includes: Determining target location information that is the same as the first location information from the second location information; The point cloud data corresponding to the target position information is determined as the vegetation point cloud data.

3. The method according to claim 1, characterized in that Determining vegetation point cloud data corresponding to the vegetation covered area from the point cloud data based on the first position information of the vegetation covered area and the second position information of the point cloud data includes: Displaying a point cloud layer presented by the point cloud data; Marking and displaying in the point cloud layer a target position corresponding to the second position information which is the same as the first position information; Based on the user's correction operation on the target position, an updated target position is obtained; The point cloud data corresponding to the updated target position is determined as the vegetation point cloud data.

4. The method according to claim 3, characterized in that After obtaining an updated target position based on the user's correction operation on the target position, the method further includes: Determine a position correction amount of a corresponding target position based on the correction operation; updating other target positions other than the target position corresponding to the correction operation based on the position correction amount; For each vegetation covered area, the corresponding and updated target position is used as the vegetation point cloud data corresponding to the vegetation covered area.

5. The method according to claim 1, characterized in that Determining vegetation point cloud data corresponding to the vegetation covered area from the point cloud data based on the first position information of the vegetation covered area and the second position information of the point cloud data includes: Displaying a point cloud layer presented by the point cloud data and a vegetation layer corresponding to the vegetation coverage area; Marking and displaying alignment reference points corresponding to set reference positions in the point cloud layer and the vegetation layer respectively; Based on an instruction for instructing to overlap the alignment reference points in the point cloud layer and the alignment reference points in the vegetation layer, updating and displaying the point cloud layer and the vegetation layer; The point cloud data corresponding to the area in the point cloud layer that overlaps with the vegetation layer is determined as the vegetation point cloud data corresponding to the vegetation coverage area.

6. The method according to claim 1, characterized in that Before determining vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data, the method further includes: Displaying a point cloud layer presented by the point cloud data and a vegetation layer corresponding to the vegetation coverage area; Outputting prompt information for prompting the user whether to accept the point cloud layer and the vegetation layer; According to the instruction fed back by the user in response to the prompt information, it is determined whether to execute the step of determining vegetation point cloud data corresponding to the vegetation coverage area from the point cloud data.

7. The method according to claim 1, characterized in that Determining the height of the corresponding crop based on the multiple elevation values ​​corresponding to the vegetation point cloud data includes: Displaying a point cloud layer presented by the point cloud data; At a target position corresponding to the second position information that is the same as the first position information in the point cloud layer, display a plurality of elevation values ​​corresponding to the target position; Based on a user's selection operation on the plurality of elevation values, determining two elevation values ​​from the plurality of elevation values; The absolute value of the difference between the two elevation values ​​is used as the height of the crop.

8. The method according to claim 1, characterized in that Determining the height of the corresponding crop based on the multiple elevation values ​​corresponding to the vegetation point cloud data includes: A maximum elevation value and a minimum elevation value are selected from the multiple elevation values, and the difference between the maximum elevation value and the minimum elevation value is determined as the height of the crop.

9. The method according to claim 8, characterized in that The multiple elevation values ​​are the absolute elevations of different parts of the crop; the maximum elevation value is the absolute elevation of the canopy of the crop, and the minimum elevation value is the absolute elevation of the ground where the crop grows.

10. The method according to claim 1, characterized in that Before acquiring first position information of at least one vegetation-covered area in the target area, the method further includes: An area in the target area that meets the target condition is determined as the vegetation coverage area; wherein the target condition includes any one of the following items: a vegetation coverage index greater than a first threshold value, and a leaf area index greater than a second threshold value.

11. A device for determining the height of crops, characterized in that: include: A first acquisition unit, used to acquire point cloud data of a target area; a second acquisition unit, configured to acquire first position information of at least one vegetation-covered area in the target area, wherein each vegetation-covered area corresponds to a crop; a first determining unit, configured to determine, for each vegetation covered area, vegetation point cloud data corresponding to the vegetation covered area from the point cloud data based on the first position information of the vegetation covered area and the second position information of the point cloud data; A second determination unit is used to determine, for each vegetation coverage area, the height of the corresponding crop based on a plurality of elevation values ​​corresponding to the vegetation point cloud data; The device is also used to perform the following steps: using a target neural network model to identify a vegetation image from an image of the target area, and determining the area corresponding to the vegetation image in the target area as the vegetation coverage area, wherein the vegetation image includes an image of the crop, the target neural network model is obtained by training a sub-neural network model through image samples and corresponding labels, the image samples are image samples containing the vegetation coverage area, and the labels are obtained by marking the vegetation coverage area in the corresponding image samples.

12. A computer storage medium, characterized in that: The computer storage medium includes a stored program, wherein when the program is executed by a processor, the device where the computer storage medium is located is controlled to execute the method according to any one of claims 1 to 10.

13. An electronic device, characterized in that: The method comprises a processor and a memory for storing a program; when the processor executes the program, the steps of the method described in any one of claims 1 to 10 are implemented.

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