A pesticide spraying method, device, apparatus and medium

Abstract

The application provides a pesticide spraying method, device, equipment and medium. The method comprises the following steps: determining a first coordinate of a spraying object in a target coordinate system after obtaining a spraying instruction; and determining a second coordinate of a pesticide spraying head in the target coordinate system according to geographical position information of a target device. The target coordinate system is constructed according to the target device, and the pesticide spraying head is fixed on the target device. Therefore, the coordinate of the pesticide spraying head in the target coordinate system can be accurately calculated according to the geographical position information of the target device. In this way, the entire process does not require manual intervention. Whether the pesticide spraying head sprays the spraying object with pesticide can be determined by comparing the coordinates of the spraying object and the pesticide spraying head in the same coordinate system, thereby improving the pesticide spraying precision.

Description

Technical Field

[0001] This application relates to the field of agricultural technology, specifically to a pesticide spraying method, apparatus, equipment, and medium. Background Technology

[0002] In agricultural operations, pesticides are often sprayed on crops to prevent pests and diseases from damaging their growth. With the advancement of technology, manual spraying has been replaced by intelligent spraying methods for large-scale cultivated areas to improve operational efficiency.

[0003] Currently, traditional intelligent pesticide spraying methods mainly utilize drones. This involves pre-measuring the geographical location of the spraying area within the cultivated zone, and then designing the drone's flight path and the timing of pesticide spraying operations based on that location. Once the drone reaches the designated time, it can then perform the spraying operation to apply pesticides to the crops in the designated area.

[0004] The above process requires significant manual intervention, such as marking the spraying area and designing the drone's flight path. Secondly, external factors can cause deviations in the drone's flight path, resulting in situations where the drone has reached its designated spraying time but hasn't yet reached the spraying area. This can lead to the drone mistakenly spraying pesticides in unsprayed areas, causing environmental damage. Therefore, traditional pesticide spraying operations suffer from high labor costs and poor spraying accuracy. Summary of the Invention

[0005] This application provides a pesticide spraying method, apparatus, equipment, and medium. It addresses the problems of high labor costs and poor spraying accuracy in pesticide spraying operations.

[0006] To achieve the above objectives, the technical solution of this application embodiment is implemented as follows:

[0007] In a first aspect, embodiments of this application provide a pesticide spraying method, the method comprising:

[0008] In response to a spraying instruction, the first coordinates of the spraying target in a target coordinate system are determined; wherein the target coordinate system is constructed based on a target device, and the target device is a mobile device with a fixed pesticide nozzle.

[0009] Obtain the geographical location information of the target device, and determine the second coordinate of the pesticide nozzle in the target coordinate system based on the geographical location information;

[0010] Based on the first coordinate and the second coordinate, determine whether to control the pesticide nozzle to spray pesticides onto the target object.

[0011] In some possible embodiments, the target device carries an image acquisition device, and determining the first coordinates of the spraying object in the target coordinate system includes:

[0012] The image acquisition device is controlled to perform an image acquisition operation on the sprayed object to obtain a target image containing the sprayed object;

[0013] The first coordinates are obtained by performing a coordinate system transformation on the pixel coordinates of the sprayed object in the target image.

[0014] In some possible embodiments, determining the second coordinates of the pesticide nozzle in the target coordinate system based on the geographic location information includes:

[0015] The third coordinate of the target device in the geocentric coordinate system is determined based on the geographical location information;

[0016] By performing coordinate system transformation on the third coordinate, the fourth coordinate of the target device in the target coordinate system is obtained;

[0017] The second coordinate is determined based on the fourth coordinate and the calibration offset; wherein the calibration offset is determined based on the geometric center distance between the pesticide nozzle and the target device.

[0018] In some possible embodiments, the geographic location information includes the latitude and longitude of the target device and the height of the geometric center of the target device above the ground; determining the third coordinates of the target device in the geocentric coordinate system based on the geographic location information includes:

[0019] The third coordinates are determined based on the geographical location information, the Earth's ellipsoidal flattening, and the Earth's ellipsoidal major radius.

[0020] In some possible embodiments, determining whether to control the pesticide nozzle to spray pesticides onto the target object based on the first coordinate and the second coordinate includes:

[0021] Determine the coordinate offset between the first coordinate and the second coordinate;

[0022] If the coordinate offset is less than a preset threshold, the pesticide nozzle is controlled to spray pesticide onto the target object.

[0023] In some possible embodiments, the target coordinate system is a world coordinate system, and the origin of the target coordinate system is the geometric center of the target device at a specified location.

[0024] Secondly, embodiments of this application provide a pesticide spraying device, the device comprising:

[0025] The object location module is configured to perform a response to a spraying instruction to determine the first coordinates of the spraying object in a target coordinate system; wherein the target coordinate system is constructed based on a target device, which is a mobile device with a fixed pesticide nozzle.

[0026] The nozzle position module is configured to acquire the geographic location information of the target device and determine the second coordinates of the pesticide nozzle in the target coordinate system based on the geographic location information;

[0027] The pesticide spraying module is configured to determine, based on the first coordinate and the second coordinate, whether to control the pesticide nozzle to spray pesticides onto the spraying object.

[0028] In some possible embodiments, the target device carries an image acquisition device to perform the determination of the first coordinates of the spraying object in the target coordinate system, wherein the position of the spraying object is configured as follows:

[0029] The image acquisition device is controlled to perform an image acquisition operation on the sprayed object to obtain a target image containing the sprayed object;

[0030] The first coordinates are obtained by performing a coordinate system transformation on the pixel coordinates of the sprayed object in the target image.

[0031] In some possible embodiments, the process of determining the second coordinates of the pesticide nozzle in the target coordinate system based on the geographic location information is performed, and the nozzle position module is configured to:

[0032] The third coordinate of the target device in the geocentric coordinate system is determined based on the geographical location information;

[0033] By performing coordinate system transformation on the third coordinate, the fourth coordinate of the target device in the target coordinate system is obtained;

[0034] The second coordinate is determined based on the fourth coordinate and the calibration offset; wherein the calibration offset is determined based on the geometric center distance between the pesticide nozzle and the target device.

[0035] In some possible embodiments, the geographic location information includes the latitude and longitude of the target device and the height of the geometric center of the target device above the ground; the nozzle position module is configured to determine the third coordinates of the target device in the geocentric coordinate system based on the geographic location information.

[0036] The third coordinates are determined based on the geographical location information, the Earth's ellipsoidal flattening, and the Earth's ellipsoidal major radius.

[0037] In some possible embodiments, the pesticide spraying module is configured to perform the step of determining whether to control the pesticide nozzle to spray pesticides onto the target object based on the first coordinate and the second coordinate.

[0038] Determine the coordinate offset between the first coordinate and the second coordinate;

[0039] If the coordinate offset is less than a preset threshold, the pesticide nozzle is controlled to spray pesticide onto the target object.

[0040] In some possible embodiments, the target coordinate system is a world coordinate system, and the origin of the target coordinate system is the geometric center of the target device at a specified location.

[0041] Thirdly, embodiments of this application also provide an electronic device, including a memory and a processor, wherein the memory stores a computer program that can run on the processor, and when the computer program is executed by the processor, causes the processor to implement any of the methods in the first aspect.

[0042] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements any of the methods in the first aspect.

[0043] Fifthly, according to an embodiment of this application, a computer program product includes computer instructions stored in a computer-readable storage medium; when a processor of a computer device reads the computer instructions from the computer-readable storage medium, the processor executes the computer instructions, causing the computer device to implement any of the methods in the first aspect.

[0044] In this embodiment, after obtaining the spraying instruction, the first coordinates of the spraying object in the target coordinate system are determined, and the second coordinates of the pesticide nozzle in the target coordinate system are determined based on the geographical location information of the target device. This target coordinate system is constructed based on the target device, and the pesticide nozzle is fixed to the target device. Therefore, the coordinates of the pesticide nozzle in the target coordinate system can be calculated relatively accurately based on the geographical location information of the target device. In this way, the entire process requires no manual intervention. By comparing the coordinates of the spraying object and the pesticide nozzle in the same coordinate system, it can be determined whether to control the pesticide nozzle to spray the object, thereby improving the accuracy of pesticide spraying.

[0045] Other features and advantages of this application will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing this disclosure. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of pesticide spraying operations using a drone, provided in an embodiment of this application.

[0047] Figure 2 This is an overall flowchart of a pesticide spraying method provided in an embodiment of this application;

[0048] Figure 3 This is a schematic diagram of the structure of the target device provided in the embodiments of this application;

[0049] Figure 4 This is a structural diagram of a pesticide spraying device 400 provided in an embodiment of this application;

[0050] Figure 5 This is a structural diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. Unless otherwise specified, the embodiments and features in the embodiments of this application can be arbitrarily combined with each other. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that shown here.

[0052] The terms "first" and "second" in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the term "comprising" and any variations thereof are intended to cover non-exclusive protection. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices. The term "multiple" in this application can mean at least two, for example, two, three, or more, and the embodiments of this application do not impose limitations.

[0053] As mentioned earlier, traditional intelligent pesticide spraying methods involve pre-measuring the geographical location of the spraying area within the cultivated area, and then designing the drone's flight path and the timing of pesticide spraying based on the location of the spraying area. In this way, once the drone reaches the corresponding time point, it can perform the spraying operation to spray pesticides on the crops in the designated area.

[0054] Specifically, such as Figure 1 As shown, during the operation, the geographical location of the spraying area needs to be manually measured and the drone's flight route 1 needs to be designed. Then, based on parameters such as wind direction, airflow, and drone flight speed, the time node for the drone to fly to the spraying area is calculated. By controlling the drone to fly along flight route 1, the pesticide spraying will be carried out automatically when the preset time node is reached.

[0055] The above process requires significant labor costs, and secondly, it is susceptible to external factors that may cause deviations in the drone's flight path. That is, the drone may not have reached the spraying area by the designated spraying time. For example... Figure 1 The flight path 2 shown is the flight path that the drone deviated from due to external factors. When the drone reached the initial spraying time, it had not yet reached the spraying area (at which point the drone reached...). Figure 1 (As shown in the dashed circle). This could cause the drone to mistakenly spray pesticides into non-spraying areas, resulting in low spraying accuracy.

[0056] To address the aforementioned problems, the inventive concept of this application is as follows: after obtaining the spraying instruction, determine the first coordinates of the spraying object in the target coordinate system, and determine the second coordinates of the pesticide nozzle in the target coordinate system based on the geographical location information of the target equipment. This target coordinate system is constructed based on the target equipment, and the pesticide nozzle is fixed to the target equipment; therefore, the coordinates of the pesticide nozzle in the target coordinate system can be calculated relatively accurately based on the geographical location information of the target equipment. In this way, the entire process requires no manual intervention. By comparing the coordinates of the spraying object and the pesticide nozzle in the same coordinate system, it can be determined whether to control the pesticide nozzle to spray the object, thereby improving the accuracy of pesticide spraying.

[0057] Next, as follows Figure 2 As shown, Figure 2 This application provides an overall flowchart of a pesticide spraying method according to an embodiment, which specifically includes:

[0058] Step 201: In response to the spraying instruction, determine the first coordinates of the spraying object in the target coordinate system; wherein the target coordinate system is constructed based on the target device, and the target device is a mobile device with a fixed pesticide nozzle;

[0059] In this embodiment, the target coordinate system is the world coordinate system, and the origin of the target coordinate system is the geometric center of the target device at the specified location. Specifically, the target coordinate system can be set as the world coordinate system constructed from the origin of the geometric center when the target device is powered on.

[0060] The target device in this application embodiment is a mobile intelligent device, and its specific structure is as follows: Figure 3As shown, the device includes a pesticide sprayer 301 fixed to the target device 300, an image acquisition device 302 for acquiring images of the surrounding environment, and a sensor assembly 303 for positioning, attitude acquisition, and other measurement functions. It should also be noted that the target device in this application includes, but is not limited to, drones. Considering that drone spraying is currently mostly high-altitude, large-area spraying, some pesticides may diffuse into the air and pollute the surrounding environment due to altitude. Therefore, in actual design, the target device can be set as a ground-mobile intelligent device carrying a pesticide sprayer.

[0061] When performing step 201 above, the image acquisition device can capture environmental images around the target device in real time. When the spraying object appears in the image frame, the image acquisition device is controlled to perform an image acquisition operation on the spraying object to obtain a target image containing the spraying object. Then, the pixel coordinate system coordinates of the spraying object in the target image are transformed to obtain the first coordinates.

[0062] In practice, a recognition network model can be pre-trained to identify whether there is a target for pesticide spraying, i.e., the spraying object, in the image. After detecting that the image frame captured by the image acquisition device contains the spraying object, the pixel coordinates [u,v] of the spraying object in the image are obtained. Then, the pixel coordinates are converted into coordinates in a global coordinate system constructed with the geometric center of the target device as the origin. The specific conversion method is shown in the following formula (1):

[0063]

[0064] Among them, [x w ,y w ,z w [] represents the coordinates of the sprayed object transformed to the global coordinate system, and K is the sensor intrinsic parameter, a known value pre-calibrated using traditional calibration methods. R and T represent the rotation and translation matrices of the global coordinate system, respectively.

[0065] It should be noted that the target coordinate system described above is constructed with the geometric center of the target device at power-on as its origin. The global coordinate system, on the other hand, is constructed with the real-time geometric center of the target device as its origin. During the movement of the target device, the origin of the global coordinate system moves in real-time along with the target device. The origin of the target coordinate system, however, remains fixed. That is, the target coordinate system and the current global coordinate system of the target device are the same coordinate system only when the geometric center of the target device coincides with the origin of the target coordinate system.

[0066] As previously explained, the origin of the target device's global coordinate system is the geometric center of the target device at the current moment during its movement. Therefore, the coordinates of the spraying object [x] determined by the above formula (1) are... w ,y w,z w This represents the coordinate offset between the sprayed object and the target equipment in the current global coordinate system. Thus, by obtaining the current coordinates [x] of the target equipment in the target coordinate system... Cw ,y Cw ,z Cw ] can then be determined based on the above coordinate offset and [x Cw ,y Cw ,z Cw Determine the first coordinate of the spraying target in the target coordinate system. Specifically, how to obtain the coordinates [x] of the target equipment in the target coordinate system? Cw ,y Cw ,z Cw For the specific process, please see step 202 below.

[0067] Step 202: Obtain the geographical location information of the target device, and determine the second coordinates of the pesticide nozzle in the target coordinate system based on the geographical location information;

[0068] As explained in step 201 above, the pesticide sprayer in this application is fixed to the target device, meaning that the pesticide sprayer remains relatively stationary to the target device during its movement. Therefore, when obtaining the second coordinate of the pesticide sprayer in the target coordinate system, the coordinates of the target device in the target coordinate system [x] can be obtained first. Cw ,y Cw ,z Cw ], and then according to [x Cw ,y Cw ,z Cw The second coordinate of the pesticide nozzle in the target coordinate system is calculated from the positional deviation between the target equipment and the pesticide nozzle.

[0069] During implementation, after obtaining the image of the sprayed object through step 201, the geographical location information of the target device is obtained based on the sensor of the target device, and the third coordinate of the target device in the Earth-Centered Earth-Fixed (ECEF) coordinate system is determined based on this geographical location information. The aforementioned geographical location information includes the longitude, latitude, and altitude of the target device. Since longitude, latitude, and altitude are described in spherical angles, it is necessary to convert the longitude, latitude, and altitude to the Earth-Centered Earth-Fixed (ECEF) coordinate system. Specifically, the third coordinate of the target device can be determined based on the geographical location information using the following formula (2):

[0070]

[0071] Where [lon,lat,alt] represents the latitude, longitude, and altitude of the target device; [x e ,y e ,z e] represents the third coordinate of the target device, f is the polar flattening of the Earth ellipsoid, a is the major radius of the Earth ellipsoid, and N is a parameter calculated using the above lat, a, and f. For the specific calculation method, please refer to the following formula (3):

[0072]

[0073] The third coordinate [x] of the target device in the geocentric coordinate system is obtained by using the above formula (2). e ,y e ,z e After that, by examining the third coordinate [x] e ,y e ,z e Perform a coordinate system transformation to obtain the fourth coordinate of the target device in the target coordinate system (i.e., the aforementioned coordinates [x]). Cw ,y Cw ,z Cw The transformation process for the fourth coordinate is shown in the following formula (4):

[0074]

[0075] Where [lon0,lat0,alt0] represents the latitude, longitude, and altitude of the origin in the target coordinate system, and [x,y,z] represents the coordinates of the origin in the target coordinate system.

[0076] The above process is used to obtain the fourth coordinate [x] of the target device in the target coordinate system. Cw ,y Cw ,z Cw Next, the second coordinate is determined based on the fourth coordinate and the calibration offset. This calibration offset is determined based on the geometric center distance between the pesticide nozzle and the target equipment. Since the pesticide nozzle and the target equipment are relatively stationary, the spatial positional deviation between the pesticide nozzle and the target equipment can be pre-measured and its coordinates assigned to this calibration offset. Therefore, after obtaining the fourth coordinate of the target equipment in the target coordinate system, the second coordinate of the pesticide nozzle in the target coordinate system can be calculated based on this calibration offset.

[0077] Step 203: Determine whether to control the pesticide nozzle to spray pesticides onto the target object based on the first coordinate and the second coordinate.

[0078] The above steps yield the first coordinate of the sprayed object in the target coordinate system and the second coordinate of the pesticide nozzle in the target coordinate system. Therefore, within the same coordinate system, the coordinate offset between the first and second coordinates can be calculated. If this offset is less than a preset threshold, it is determined that the pesticide nozzle is close enough to the sprayed object to meet the pesticide spraying requirements. At this point, the pesticide nozzle is controlled to spray the pesticide onto the object.

[0079] During implementation, thresholds [△x, △y, and △z] can be set for the corresponding x, y, and z axes. After determining the coordinate offsets [x', y', z'] between the first and second coordinates in the x, y, and z axes through the above process, if any coordinate offset is greater than or equal to the corresponding preset threshold, the second coordinate of the pesticide nozzle in the target coordinate system is changed by adjusting the current position of the target device. This ensures that the coordinate offset between the first and second coordinates meets the threshold requirements, thereby further improving the spraying accuracy of the pesticide.

[0080] As mentioned above, the target devices of this application include, but are limited to, drones. Specifically, the target devices of this application may include drones that travel in the sky and intelligent devices that travel on land. To adapt to more application scenarios, this application can adaptively set multiple threshold corresponding strategies for different target devices.

[0081] For example, when the target device is a drone, a very large coordinate offset indicates that the target device is too far from the spraying target. In this case, the target device can be moved a specified distance towards the spraying target, and then steps 201-203 can be repeated to recalculate the coordinate offset between the first and second coordinates based on the updated position of the target device. If the coordinate offset is slightly large, it indicates that the target device has moved into the spraying range, but the current position and angle of the pesticide nozzle relative to the spraying target are incorrect and not suitable for direct spraying. Therefore, the current position of the target device can be fine-tuned based on this coordinate offset, so that the recalculated coordinate offset based on the updated position of the target device approaches 0, thus correcting the position of the pesticide nozzle. Finally, if the coordinate offset is small, it indicates that the target device has moved to a suitable spraying range, and the position and angle of the pesticide nozzle are also suitable for spraying. Therefore, the pesticide nozzle can be directly controlled to perform pesticide spraying.

[0082] In practical applications, crops are often planted with a certain row spacing. Land-based intelligent devices (such as intelligent robots) can only move along the paths between crop rows. If the spraying task is performed using the strategy described above for drones, there is a risk of damaging crop plants during the process of adjusting the target device's movement according to the spraying target. Therefore, in this embodiment, when the target device is a land-based intelligent device, the coordinates of the spraying target and the nozzle coordinates can be obtained by executing the above coordinate acquisition process at preset time intervals. Furthermore, the coordinates of the spraying target are matched with the coordinates of the nozzle, or with the spraying range of the nozzle. When the coordinates of the spraying target and the nozzle are the same, and the spraying target falls within the spraying range of the nozzle, the corresponding nozzle is controlled to perform the spraying operation.

[0083] It should be noted that the coordinate transformation process in steps 201-202 requires a certain amount of calculation time. During this period, the continuous movement of the target equipment will cause changes in the position of the pesticide nozzle. To improve spraying accuracy, the fixed positions of the image acquisition device and the pesticide nozzle on the target equipment can be reasonably set according to the calculation time of the coordinate transformation process. For example, the image acquisition device can be set to be located on one side of the vehicle front, and the distance between the pesticide nozzle and the image acquisition device on the target equipment can be t×s. t is the calculation time required for coordinate transformation, and s is the average speed of the target equipment during daily pesticide spraying operations. In this way, the distance the target equipment moves from receiving the image from the image acquisition device until the coordinates of the pesticide nozzle and the sprayed object in the image in the target coordinate system are calculated, is t×s. This ensures that the distance the target equipment moves during the coordinate transformation process still keeps the pesticide sprayer within a reasonable spraying range, thereby reducing the coordinate error caused by the movement of the target equipment during the coordinate transformation process.

[0084] Furthermore, various factors such as the Earth's flattening, atmosphere, satellite stellar rhythm, satellite clock bias, and reflection paths can all cause positioning errors in GPS positioning systems. Directly comparing the coordinates of the spraying object and the target equipment during movement using the positioning system will result in accuracy errors. However, in the coordinate transformation process of steps 201-202 of this application, the geographical location information of the target equipment is obtained, and its coordinates in the target coordinate system are determined based on this information. Then, the spraying object and the pesticide nozzle are transformed to the same target coordinate system based on these coordinates. Finally, the offset between the two coordinates in the target coordinate system is used to determine whether to control the pesticide nozzle to spray the object. This coordinate transformation process avoids the errors caused by directly using GPS positioning to obtain coordinates, thereby further improving the accuracy of pesticide spraying.

[0085] Based on the same inventive concept, this application provides a pesticide spraying device 400, specifically as follows: Figure 4 As shown, it includes:

[0086] The object location module 401 is configured to perform a response to a spraying instruction to determine the first coordinates of the spraying object in a target coordinate system; wherein the target coordinate system is constructed based on a target device, and the target device is a mobile device with a fixed pesticide nozzle.

[0087] The nozzle position module 402 is configured to acquire the geographic location information of the target device and determine the second coordinates of the pesticide nozzle in the target coordinate system based on the geographic location information;

[0088] The pesticide spraying module 403 is configured to determine whether to control the pesticide nozzle to spray pesticides onto the spraying object based on the first coordinate and the second coordinate.

[0089] In some possible embodiments, the target device carries an image acquisition device to perform the determination of the first coordinates of the spraying object in the target coordinate system, wherein the position of the spraying object is configured as follows:

[0090] The image acquisition device is controlled to perform an image acquisition operation on the sprayed object to obtain a target image containing the sprayed object;

[0091] The first coordinates are obtained by performing a coordinate system transformation on the pixel coordinates of the sprayed object in the target image.

[0092] In some possible embodiments, the process of determining the second coordinates of the pesticide nozzle in the target coordinate system based on the geographic location information is performed, and the nozzle position module is configured to:

[0093] The third coordinate of the target device in the geocentric coordinate system is determined based on the geographical location information;

[0094] By performing coordinate system transformation on the third coordinate, the fourth coordinate of the target device in the target coordinate system is obtained;

[0095] The second coordinate is determined based on the fourth coordinate and the calibration offset; wherein the calibration offset is determined based on the geometric center distance between the pesticide nozzle and the target device.

[0096] In some possible embodiments, the geographic location information includes the latitude and longitude of the target device and the height of the geometric center of the target device above the ground; the nozzle position module is configured to determine the third coordinates of the target device in the geocentric coordinate system based on the geographic location information.

[0097] The third coordinates are determined based on the geographical location information, the Earth's ellipsoidal flattening, and the Earth's ellipsoidal major radius.

[0098] In some possible embodiments, the pesticide spraying module is configured to perform the step of determining whether to control the pesticide nozzle to spray pesticides onto the target object based on the first coordinate and the second coordinate.

[0099] Determine the coordinate offset between the first coordinate and the second coordinate;

[0100] If the coordinate offset is less than a preset threshold, the pesticide nozzle is controlled to spray pesticide onto the target object.

[0101] In some possible embodiments, the target coordinate system is a world coordinate system, and the origin of the target coordinate system is the geometric center of the target device at a specified location.

[0102] The following reference Figure 5 To describe an electronic device 130 according to this embodiment of the present application. Figure 5 The electronic device 130 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0103] like Figure 5 As shown, the electronic device 130 is presented in the form of a general-purpose electronic device. The components of the electronic device 130 may include, but are not limited to: at least one processor 131, at least one memory 132, and a bus 133 connecting different system components (including memory 132 and processor 131).

[0104] Bus 133 represents one or more of several bus structures, including a memory bus or memory controller, peripheral bus, processor, or local bus using any of the various bus structures.

[0105] The memory 132 may include a readable medium in the form of volatile memory, such as random access memory (RAM) 1321 and / or cache memory 1322, and may further include read-only memory (ROM) 1323.

[0106] The memory 132 may also include a program / utility 1325 having a set (at least one) of program modules 1324, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0107] Electronic device 130 can also communicate with one or more external devices 134 (e.g., keyboard, pointing device, etc.), and with one or more devices that enable a user to interact with electronic device 130, and / or with any device that enables electronic device 130 to communicate with one or more other electronic devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 135. Furthermore, electronic device 130 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 136. As shown, network adapter 136 communicates with other modules used in electronic device 130 via bus 133. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 130, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0108] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 132 including instructions, which can be executed by the processor 131 of the aforementioned device to perform the aforementioned method. Optionally, the computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0109] In an exemplary embodiment, a computer program product is also provided, including a computer program / instructions that, when executed by a processor 131, implement any of the methods in the pesticide spraying method provided in this application.

[0110] In an exemplary embodiment, various aspects of the pesticide spraying method provided in this application can also be implemented in the form of a program product, which includes program code. When the program product is run on a computer device, the program code is used to cause the computer device to perform the steps in the pesticide spraying method according to the various exemplary embodiments of this application described above.

[0111] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0112] The program product for pesticide spraying according to the embodiments of this application can be a portable compact disc read-only memory (CD-ROM) and include program code, and can run on an electronic device. However, the program product of this application is not limited thereto. In this document, the readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0113] A readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying readable program code. This propagated data signal may take many forms, including—but not limited to—electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0114] The program code contained on the readable medium may be transmitted using any suitable medium, including—but not limited to—wireless, wired, fiber optic, RF, etc., or any suitable combination thereof.

[0115] Program code for performing the operations of this application can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as Java or similar languages. The program code can execute entirely on the user's electronic device, partially on the user's device, as a standalone software package, partially on the user's electronic device and partially on a remote electronic device, or entirely on a remote electronic device or server. In cases involving remote electronic devices, the remote electronic device can be connected to the user's electronic device via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external electronic device (e.g., via the Internet using an Internet service provider).

[0116] It should be noted that although several units or sub-units of the device have been mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to embodiments of this application, the features and functions of two or more units described above can be embodied in one unit. Conversely, the features and functions of one unit described above can be further divided and embodied by multiple units.

[0117] Furthermore, although the operations of the method of this application are described in a specific order in the accompanying drawings, this does not require or imply that these operations must be performed in that specific order, or that all the operations shown must be performed to achieve the desired result. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps.

[0118] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0119] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable image scaling device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable image scaling device, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0120] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable image scaling device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0121] These computer program instructions can also be loaded onto a computer or other programmable image scaling device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable device for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0122] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0123] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A method for spraying pesticides, characterized in that, The method includes: In response to a spraying instruction, the first coordinates of the spraying target in the target coordinate system are determined; wherein, the target coordinate system is a world coordinate system constructed with the geometric center origin at the time the target device is powered on and started as the coordinate center, and the target device is a mobile device with a fixed pesticide nozzle; Obtain the geographical location information of the target device, and determine the second coordinate of the pesticide nozzle in the target coordinate system based on the geographical location information; Determine whether to control the pesticide nozzle to spray pesticides onto the target based on the first coordinate and the second coordinate; The target device is equipped with an image acquisition device, and determining the first coordinates of the sprayed object in the target coordinate system includes: The image acquisition device is controlled to perform an image acquisition operation on the sprayed object to obtain a target image containing the sprayed object; The pixel coordinates of the spraying object in the target image are obtained, and the pixel coordinates are converted into coordinates in a global coordinate system. The coordinates in the global coordinate system represent the coordinate offset between the spraying object and the target device in the current global coordinate system. The global coordinate system is a coordinate system constructed with the real-time geometric center of the target device as the origin. Obtain the current coordinates of the target device in the target coordinate system; Based on the coordinate offset and the current coordinates of the target device in the target coordinate system, the first coordinate of the spraying object in the target coordinate system is determined.

2. The method according to claim 1, characterized in that, Determining the second coordinates of the pesticide sprayer in the target coordinate system based on the geographical location information includes: The third coordinate of the target device in the geocentric coordinate system is determined based on the geographical location information; By performing coordinate system transformation on the third coordinate, the fourth coordinate of the target device in the target coordinate system is obtained; The second coordinate is determined based on the fourth coordinate and the calibration offset; wherein the calibration offset is determined based on the geometric center distance between the pesticide nozzle and the target device.

3. The method according to claim 2, characterized in that, The geographic location information includes the latitude and longitude of the target device and the height of the geometric center of the target device above the ground; Determining the third coordinates of the target device in the geocentric coordinate system based on the geographical location information includes: The third coordinate is determined based on the geographical location information, the Earth's ellipsoidal flattening, and the Earth's ellipsoidal major radius.

4. The method according to claim 1, characterized in that, The step of determining whether to control the pesticide nozzle to spray pesticides onto the target based on the first coordinate and the second coordinate includes: Determine the coordinate offset between the first coordinate and the second coordinate; If the coordinate offset is less than a preset threshold, the pesticide nozzle is controlled to spray pesticide onto the target object.

5. A pesticide spraying device, characterized in that, The device includes: The object location module is configured to respond to a spraying instruction and determine the first coordinates of the spraying object in the target coordinate system; wherein the target coordinate system is a world coordinate system constructed with the geometric center origin at the time the target device is powered on and started as the coordinate center, and the target device is a mobile device with a fixed pesticide nozzle; The nozzle position module is configured to acquire the geographic location information of the target device and determine the second coordinates of the pesticide nozzle in the target coordinate system based on the geographic location information; The pesticide spraying module is configured to determine whether to control the pesticide nozzle to spray pesticides onto the spraying object based on the first coordinate and the second coordinate; The target device is equipped with an image acquisition device, and the object position module is configured to determine the first coordinate of the spraying object in the target coordinate system. The image acquisition device is controlled to perform an image acquisition operation on the sprayed object to obtain a target image containing the sprayed object; Obtain the pixel coordinates of the spraying object in the target image, and convert the pixel coordinates into coordinates in the global coordinate system; the coordinates in the global coordinate system represent the coordinate offset between the spraying object and the target device in the current global coordinate system; the global coordinate system is a coordinate system constructed with the real-time geometric center of the target device as the origin; Obtain the current coordinates of the target device in the target coordinate system; Based on the coordinate offset and the current coordinates of the target device in the target coordinate system, the first coordinate of the spraying object in the target coordinate system is determined.

6. An electronic device, characterized in that, include: Memory, used to store program instructions; A processor is configured to invoke program instructions stored in the memory and execute the steps of the method according to any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, the computer program including program instructions that, when executed by a computer, cause the computer to perform the method as described in any one of claims 1-4.

8. A computer program product, characterized in that, The computer program product includes: computer program code, which, when run on a computer, causes the computer to perform the method described in any one of claims 1-4.

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