A grape breeding integrated management system and method

Abstract

The present invention provides a grape breeding integrated management system and method, the system includes: a plan decision module, which is used to update the resource status library of the grape breeding garden, and decide the breeding integrated management plan based on the updated resource status library; a flight scheduling module, which is used to build an aerial indication road network of the grape breeding garden based on the breeding integrated management plan, and perform flight scheduling of unmanned aerial vehicles in the grape breeding garden based on the aerial indication road network; a comprehensive management module, which is used to assist the expert group in performing comprehensive breeding management of the grape breeding garden based on the real-time feedback screen when the unmanned aerial vehicle is subject to flight scheduling. A resource status library is set for the grape breeding garden to realize unified and information-based multi-resource status recording of the common breeding garden, thereby improving the management decision-making efficiency; the unmanned aerial vehicle is correspondingly scheduled for flight based on the aerial indication road network, and the expert group is assisted in performing comprehensive breeding management of the grape breeding garden based on the real-time feedback screen of the unmanned aerial vehicle, thereby further improving the management decision-making efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of grape breeding management, and in particular to a grape breeding integrated management system and method. Background Art

[0002] As an important base for agricultural scientific research and planting, the grape breeding garden undertakes the key tasks of improving grape varieties and cultivating new varieties.

[0003] Traditional grape breeding gardens lack unified and information-based records of multi-resource status. However, grape breeding gardens are often large-scale, multi-variety and complex in environment. This leads to a lack of convenient and comprehensive data support when making management decisions for grape breeding gardens, affecting the efficiency of management decisions.

[0004] In addition, traditionally, management decisions for grape breeding gardens are mostly made on-site by managers, which has a high labor cost. In addition, grapes grow in a hanging manner and rely heavily on grape racks. Managers may need to look up for too long when checking, which is very inconvenient and further reduces the efficiency of management decisions.

[0005] Therefore, a solution is urgently needed. Summary of the invention

[0006] One of the purposes of the present invention is to provide a comprehensive management system for grape breeding, which sets a resource status library for grape breeding gardens, realizes unified and information-based multi-resource status recording of ordinary breeding gardens, and the updated resource status library provides convenient and comprehensive data support for the decision-making of breeding comprehensive management plans, thereby improving the efficiency of management decision-making; secondly, based on the breeding comprehensive management plan, an aerial indication road network of the grape breeding garden is constructed, and based on the aerial indication road network, corresponding flight scheduling of drones is performed, and based on the real-time feedback images of the drones, an auxiliary expert group performs comprehensive breeding management of the grape breeding garden, without the need for management personnel to perform on-site management, thereby reducing labor costs, improving management convenience, and further improving management decision-making efficiency.

[0007] An embodiment of the present invention provides a grape breeding integrated management system, comprising:

[0008] The plan decision module is used to update the resource status database of the grape breeding garden and make decisions on the comprehensive breeding management plan based on the updated resource status database;

[0009] The flight dispatch module is used to construct an aerial indication road network for the grape breeding garden based on the comprehensive breeding management plan, and to dispatch the UAVs in the grape breeding garden based on the aerial indication road network;

[0010] The comprehensive management module is used to assist the expert group in conducting comprehensive breeding management of the grape breeding garden based on the real-time feedback images of the drone during flight scheduling.

[0011] Optionally, the plan decision module decides on a comprehensive breeding management plan based on the updated resource status library, including:

[0012] Perform situation analysis on the updated resource status library to obtain a status situation set;

[0013] Based on the state situation set, searching for a target knowledge tree in the knowledge tree network; wherein each branch path in the target knowledge tree has at least one first target node; the first target node includes: a branch node having an association relationship with at least one state situation in the state situation set;

[0014] Based on the first plan generation template, generate a first plan according to the root node in the target knowledge tree;

[0015] Based on the second plan generation template, a second plan is generated according to the second target node on each branch path in the target knowledge tree; wherein the second target node includes: all branch nodes and leaf nodes after the first target node on the branch path;

[0016] Based on the plan layout template of the target knowledge tree, the first plan and the second plan are laid out to obtain the comprehensive breeding management plan.

[0017] Optionally, the flight scheduling module constructs an aerial indication road network of the grape breeding garden based on the comprehensive breeding management plan, including:

[0018] Perform sequence representation on the comprehensive management plan to obtain the execution sequence of the plan;

[0019] Based on the plan group marking rule, multiple plan groups are identified in the plan execution sequence; wherein the plan group marking rule includes: each plan group contains at least N consecutive third plans in the plan execution sequence; there is at least one first plan association relationship between two third plans in the same plan group and between two adjacent third plans in adjacent plan groups; N is a positive integer;

[0020] Generate a local indication road network for each scenario group in the aerial map of the grape breeding garden;

[0021] Based on the road network connection rules, the local indication road networks of each plan group are connected in the aerial map to obtain the aerial indication road network; wherein the road network connection rules include: connecting the local indication road networks of adjacent plan groups in the plan execution sequence and the local indication road networks of two plan groups with at least one second plan association relationship therebetween by the nearest path.

[0022] Optionally, the flight scheduling module generates a local indication road network for each plan group in the aerial map of the grape breeding garden, including:

[0023] Go through each plan group in turn;

[0024] During each traversal, a minimum enclosing sphere enclosing multiple management objects of all third plans in the traversed plan group is determined in the aerial map;

[0025] Based on the minimum enclosing sphere and the management requirements of all third plans in the traversed plan group, determine the perspective expectations of each management object;

[0026] Planning multiple groups of first paths and first viewing angle requirements on an aerial map, and associating the first paths and first viewing angle requirements of the same group; wherein the drone can respectively meet the viewing angle expectation of a single management object when flying and shooting based on the first viewing angle requirements and first paths of different groups; the number of groups of first paths and viewing angle requirements is consistent with the number of objects of the management object;

[0027] A second path and a second viewing angle requirement are planned on the aerial map, and the second path and the second viewing angle requirement are associated; wherein the second path and all the first paths have intersections; and the drone can meet the viewing angle expectations of all management objects when flying and shooting based on the second viewing angle requirement and the second path;

[0028] Generate a local indication road network for the traversed plan group; wherein the local indication road network is formed by combining all first paths associated with the first perspective requirements and second paths associated with the second perspective requirements.

[0029] Optionally, the comprehensive management module assists the expert group in carrying out comprehensive breeding management of the grape breeding garden based on the real-time feedback images of the drone during flight scheduling, including:

[0030] Continuously display the real-time feedback images to the expert group;

[0031] When the display history of the real-time feedback screen displayed to the expert group and / or the operation history of the real-time feedback screen operated by the expert group indicates that the expert group has entered a management decision-making opportunity, a decision-making assistance box is displayed to the expert group;

[0032] Receive the management decision made by the expert group based on the decision support frame;

[0033] Based on management decisions, comprehensive breeding management is carried out in grape breeding gardens.

[0034] An embodiment of the present invention provides a comprehensive management method for grape breeding, comprising:

[0035] Update the resource status database of the grape breeding garden, and make decisions on the comprehensive breeding management plan based on the updated resource status database;

[0036] Based on the comprehensive breeding management plan, an aerial indication road network for the grape breeding garden is constructed, and based on the aerial indication road network, flight dispatch of drones in the grape breeding garden is carried out;

[0037] Based on the real-time feedback images of the drone during flight scheduling, the assisted expert group conducts comprehensive breeding management of the grape breeding garden.

[0038] Optionally, the decision-making of the comprehensive breeding management plan based on the updated resource status database includes:

[0039] Perform situation analysis on the updated resource status library to obtain a status situation set;

[0040] Based on the state situation set, searching for a target knowledge tree in the knowledge tree network; wherein each branch path in the target knowledge tree has at least one first target node; the first target node includes: a branch node having an association relationship with at least one state situation in the state situation set;

[0041] Based on the first plan generation template, generate a first plan according to the root node in the target knowledge tree;

[0042] Based on the second plan generation template, a second plan is generated according to the second target node on each branch path in the target knowledge tree; wherein the second target node includes: all branch nodes and leaf nodes after the first target node on the branch path;

[0043] Based on the plan layout template of the target knowledge tree, the first plan and the second plan are laid out to obtain the comprehensive breeding management plan.

[0044] Optionally, the construction of an aerial indication road network of a grape breeding garden based on the comprehensive breeding management plan includes:

[0045] Perform sequence representation on the comprehensive management plan to obtain the execution sequence of the plan;

[0046] Based on the plan group marking rule, multiple plan groups are identified in the plan execution sequence; wherein the plan group marking rule includes: each plan group contains at least N consecutive third plans in the plan execution sequence; there is at least one first plan association relationship between two third plans in the same plan group and between two adjacent third plans in adjacent plan groups; N is a positive integer;

[0047] Generate a local indication road network for each scenario group in the aerial map of the grape breeding garden;

[0048] Based on the road network connection rules, the local indication road networks of each plan group are connected in the aerial map to obtain the aerial indication road network; wherein the road network connection rules include: connecting the local indication road networks of adjacent plan groups in the plan execution sequence and the local indication road networks of two plan groups with at least one second plan association relationship therebetween by the nearest path.

[0049] Optionally, generating a local indication road network for each emergency plan group in the aerial map of the grape breeding garden includes:

[0050] Go through each plan group in turn;

[0051] During each traversal, a minimum enclosing sphere enclosing multiple management objects of all third plans in the traversed plan group is determined in the aerial map;

[0052] Based on the minimum enclosing sphere and the management requirements of all third plans in the traversed plan group, determine the perspective expectations of each management object;

[0053] Planning multiple groups of first paths and first viewing angle requirements on an aerial map, and associating the first paths and first viewing angle requirements of the same group; wherein the drone can respectively meet the viewing angle expectation of a single management object when flying and shooting based on the first viewing angle requirements and first paths of different groups; the number of groups of first paths and viewing angle requirements is consistent with the number of objects of the management object;

[0054] A second path and a second viewing angle requirement are planned on the aerial map, and the second path and the second viewing angle requirement are associated; wherein the second path and all the first paths have intersections; and the drone can meet the viewing angle expectations of all management objects when flying and shooting based on the second viewing angle requirement and the second path;

[0055] Generate a local indication road network for the traversed plan group; wherein the local indication road network is formed by combining all first paths associated with the first perspective requirements and second paths associated with the second perspective requirements.

[0056] Optionally, the real-time feedback images of the drone during flight scheduling are used to assist the expert group in conducting comprehensive breeding management of the grape breeding garden, including:

[0057] Continuously display the real-time feedback images to the expert group;

[0058] When the display history of the real-time feedback screen displayed to the expert group and / or the operation history of the real-time feedback screen operated by the expert group indicates that the expert group has entered a management decision-making opportunity, a decision-making assistance box is displayed to the expert group;

[0059] Receive the management decision made by the expert group based on the decision support frame;

[0060] Based on management decisions, comprehensive breeding management is carried out in grape breeding gardens.

[0061] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0062] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0064] Figure 1 is a schematic diagram of a grape breeding integrated management system in an embodiment of the present invention;

[0065] Figure 2 The present invention is a flowchart of a comprehensive management method for grape breeding according to an embodiment of the present invention. DETAILED DESCRIPTION

[0066] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0067] The embodiment of the present invention provides a grape breeding integrated management system, such as Figure 1 As shown, including:

[0068] The plan decision module 1 is used to update the resource status database of the grape breeding garden and make a breeding comprehensive management plan based on the updated resource status database;

[0069] Among them, first update the resource status library, which contains the soil status, climate and environmental status, crop growth status, water source and irrigation status, pest and disease status, fertilizer and nutrition management, and operating equipment status of different areas in the grape breeding garden; the updated resource status library will comprehensively reflect the latest resource status of the general breeding garden, which will represent the breeding management needs of the grape breeding garden. Therefore, the breeding comprehensive management plan can be decided based on it. The breeding comprehensive management plan is a preparatory plan for comprehensive management of the grape breeding garden that meets the breeding management needs, which may involve resource management and planning, crop growth monitoring, pest and disease control and variety improvement, etc.

[0070] Flight dispatch module 2 is used to construct an aerial indication road network of the grape breeding garden based on the breeding comprehensive management plan, and to perform flight dispatch of drones in the grape breeding garden based on the aerial indication road network;

[0071] Among them, the integrated breeding management plan will indicate the inspection requirements for on-site inspections of grape breeding gardens. For example, if the plan is to prevent and control pests and diseases of a certain variety of grapes in the vineyard, it is necessary to conduct on-site inspections of the planting areas of the grapes of that variety. Therefore, in order to enable drones to replace manual inspections of grape breeding gardens, an aerial indication network is constructed. The aerial indication network is a path network for drones to fly in the air above the vineyard. When drones are dispatched based on the aerial indication network, they can meet the inspection requirements indicated by the integrated breeding management plan one by one.

[0072] The comprehensive management module 3 is used to assist the expert group in the comprehensive breeding management of the grape breeding garden based on the real-time feedback images of the drone during flight scheduling.

[0073] Among them, when the drone is subject to flight dispatch, it will conduct real-time flight shooting, and assist the expert group in conducting comprehensive breeding management of the grape breeding garden based on its real-time feedback images.

[0074] The present invention sets a resource status library for a grape breeding garden, realizes unified and information-based multi-resource status recording of ordinary breeding gardens, and the updated resource status library provides convenient and comprehensive data support for the decision-making of the breeding comprehensive management plan, thereby improving the efficiency of management decision-making; secondly, based on the breeding comprehensive management plan, an aerial indication road network of the grape breeding garden is constructed, and based on the aerial indication road network, corresponding flight scheduling of the drone is performed, and based on the real-time feedback images of the drone, an auxiliary expert group performs comprehensive breeding management on the grape breeding garden, without the need for management personnel to perform on-site management, thereby reducing labor costs, improving management convenience, and further improving management decision-making efficiency.

[0075] In one embodiment, the plan decision module decides on a comprehensive breeding management plan based on the updated resource status library, including:

[0076] S11, performing situation analysis on the updated resource status library to obtain a status situation set;

[0077] In S11, when performing situation analysis, it is analyzed whether multiple resource states in the resource state library can be combined to form a state situation. For example, if the resource states are respectively that the grape variety A planted in region A has pests and diseases, and the grape variety A planted in region B has pests and diseases, it means that the grape variety A generally has pests and diseases, and the state situation formed is that the grape variety A generally has pests and diseases; when it is determined that it can be combined to form a state situation, it is extracted and combined into a state situation set;

[0078] S12, based on the state situation set, searching for a target knowledge tree in the knowledge tree network; wherein each branch path in the target knowledge tree has at least one first target node; the first target node includes: a branch node having an association relationship with at least one state situation in the state situation set;

[0079] In S12, there are multiple knowledge trees in the knowledge tree network, one knowledge tree is related to a state situation, the knowledge tree has a root node, and also has multiple branch paths connected to the root node, multiple branch nodes are arranged from near to far from the root node on the branch path, the terminal farthest from the root node on the branch path is a leaf node, and a branch path represents the development and change process of a resource state that is combined to form a state situation related to the knowledge tree, that is, multiple branch nodes and leaf nodes on a branch path are respectively various process items in the development and change process, and the root node is the experience of managing the state situation related to the knowledge tree, etc.; the branch node and the state situation have an association relationship, which means that the state situation The state situation indicates that the development and change process represented by the branch node has been entered; thus, it is ensured that there is at least one first target node on each branch path in the target knowledge tree, so that the state situation indicates that the development and change process represented by at least one branch node on all branch paths in the target knowledge tree can be entered, and the target knowledge tree is most suitable for the decision-making of the comprehensive breeding management plan; the knowledge tree network is introduced, and based on the condition that there is at least one first target node on each branch path in the target knowledge tree, the target knowledge tree that is most suitable for the decision-making of the comprehensive breeding management plan is quickly selected from the knowledge tree network, thereby improving the efficiency, comprehensiveness and accuracy of the decision-making of the comprehensive breeding management plan;

[0080] S13, generating a first plan based on the first plan generation template and according to the root node in the target knowledge tree;

[0081] In S13, the first plan generation template is a template for generating the first plan based on the root node. For example, the root node is to immediately track the pest and disease situation of all areas where grape variety A is planted. Then, the first plan is generated to track the pest and disease situation of grape variety A. The first plan reflects the experience of managing the relevant state situation of the knowledge tree on the root node.

[0082] S14, based on the second plan generation template, generate a second plan according to the second target node on each branch path in the target knowledge tree; wherein the second target node includes: all branch nodes and leaf nodes after the first target node on the branch path;

[0083] In S14, when the state situation indicates that the development and change process represented by the branch node has entered, the state situation may indicate the development and change process represented by all branch nodes and leaf nodes after entering the branch node in the future, then a second plan is generated according to the second target node on each branch path in the target knowledge tree; the second plan generation template is a template for generating the second plan according to the branch node and the leaf node, for example: if the branch node is that the pests and diseases of grapes develop into more serious white rot, then the generated second plan is to monitor whether the pests and diseases of grapes develop into white rot; the first plan generation template and the second plan generation template are introduced respectively, and the first plan and the second plan are generated respectively, thereby improving the comprehensiveness of the decision-making of the comprehensive breeding management plan;

[0084] S15. Based on the plan layout template of the target knowledge tree, the first plan and the second plan are laid out to obtain a comprehensive breeding management plan.

[0085] In S15, the plan layout template is a template for laying out the first plan and the second plan. When laying out, the first plan and the second plan are integrated with related items, for example, the experience of controlling grape white rot in the first plan is integrated with whether the pests and diseases of grapes develop into white rot in the second plan; after integration, they are used as a third plan. Finally, the execution priority of each third plan is determined according to the distance between the branch node / leaf node and the root node based on which the second plan integrated into the third plan is generated. The execution priority is negatively correlated with the distance, and finally multiple groups of one-to-one corresponding third plans and execution priorities are used as the comprehensive breeding management plan; the smaller the distance between the branch node / leaf node and the root node, the more likely it is that the state situation will enter the development and change process it represents first, and the higher the priority of execution; the plan layout template is used to lay out the first plan and the second plan, so that the obtained comprehensive breeding management plan can be accurately applied to the current state situations of the grape breeding garden, thereby improving the intelligent level of management of the grape breeding garden.

[0086] In one embodiment, the flight scheduling module constructs an aerial indication road network of a grape breeding garden based on a comprehensive breeding management plan, including:

[0087] S21, performing sequence representation on the comprehensive management plan to obtain a plan execution sequence;

[0088] In S21, when performing sequence representation, the third plans in the comprehensive management plan are sorted from large to small according to the execution priority to obtain the plan execution sequence;

[0089] S22, based on the plan group marking rule, identify multiple plan groups in the plan execution sequence; wherein the plan group marking rule includes: each plan group contains at least N consecutive third plans in the plan execution sequence; there is at least one first plan association relationship between two third plans in the same plan group and between two adjacent third plans in adjacent plan groups; N is a positive integer;

[0090] In S22, the first plan association relationship includes at least: the respective management objects are the same, the straight-line distance between the locations of the respective management objects in the grape breeding garden is less than 20 meters, and the respective management objects share the same equipment and / or fertilizer resources, etc.; N can be set in advance by the technical personnel according to actual needs, for example: N is set to 3; it is ensured that each plan group contains at least N consecutive third plans in the plan execution sequence, so that in one stage, the drone can be controlled to fly and shoot and assist the expert group to execute all the third plans in a plan group; it is ensured that the third plans in the same plan group are There is at least one first plan association relationship between them, so that the expert group can perform comprehensive management when controlling the drone to fly and shoot in the same stage to assist the expert group in executing all the third plans in one plan group; the two adjacent third plans of the adjacent plan group refer to the last third plan in the plan group ranked first and the first third plan in the plan group ranked later; ensuring that there is at least one first plan association relationship between the two adjacent third plans of the adjacent plan groups can ensure that when switching at different stages, there will be no abruptness in the management work content, and the expert group can perform further comprehensive management;

[0091] S23, generating a local indication road network for each emergency plan group in the aerial map of the grape breeding garden;

[0092] In S23, the aerial map is a three-dimensional aerial map of the grape breeding garden, on which there are three-dimensional models of planted grapes, operating equipment, obstacles, etc.; based on the local indication road network, the drone is dispatched for flight, and the drone can be controlled to fly and shoot to assist the expert group in executing all the third plans in the plan group;

[0093] S24. Based on the road network connection rules, the local indication road networks of each plan group are connected in the aerial map to obtain the aerial indication road network; wherein the road network connection rules include: connecting the local indication road networks of adjacent plan groups in the plan execution sequence and the local indication road networks of two plan groups having at least one second plan association relationship therebetween by the nearest path.

[0094] In S24, the nearest path connection refers to connecting the two closest paths (from different local indication road networks) on the two local indication road networks, and the connecting line is the shortest line of the three-dimensional model that avoids obstacles; the local indication road networks of adjacent plan groups in the plan execution sequence are connected by the nearest path, so that when the drone flies and shoots to complete the auxiliary expert group to execute all the third plans in the plan group and then proceeds to assist the execution of the next plan group, it has the most suitable route to fly, which is convenient for the expert group to carry out comprehensive management and improves humanization; the second plan association relationship at least includes: the respective work processes are interdependent, and there is a causal relationship between the respective work results, etc.; the local indication road networks of two plan groups with at least one second plan association relationship are connected by the nearest path respectively, so that when the expert group is assisted in executing the third plan in one plan group, it can control the drone to quickly switch to the third plan in another plan group, which is further convenient for the expert group to carry out comprehensive management and further improves humanization.

[0095] In one embodiment, the flight scheduling module generates a local indication road network for each plan group in the aerial map of the grape breeding garden, including:

[0096] S231, traverse each plan group in turn;

[0097] S232, during each traversal, determining in the aerial map a minimum enclosing sphere that encloses all the multiple management objects of the third plan in the traversed plan group;

[0098] In S232, the management object of the third plan is, for example, the third plan is to track the pest and disease situation of grape variety A, then the management object is grape variety A; the minimum enclosing sphere is the enclosing sphere with the smallest volume enclosing the three-dimensional model of each management object on the aerial map;

[0099] S233, determining the perspective expectation of each management object based on the minimum enclosing sphere and the management requirements of all third plans in the traversed plan group;

[0100] In S233, the management requirements of the third plan refer to the requirements for managing the management object when executing the third plan. Therefore, based on the management requirements, it can be determined how to view the management object in the field, and then combined with the minimum enclosing sphere, the viewing angle expectation of the management object can be determined. The viewing angle expectation indicates the viewing angle requirement for how to view the management object in the field. For example, if the management requirement is to check whether brown spots appear on the leaves of grapes, the determined viewing angle expectation is that the three-dimensional model of the leaves of grapes corresponding to the minimum enclosing sphere must be visible under the shooting angle of the drone; the viewing angle expectation ensures that the shooting angle of the drone cannot see the content outside the minimum enclosing sphere, thereby improving the accuracy and comprehensiveness of the determination of the viewing angle expectation;

[0101] S234, planning multiple groups of first paths and first viewing angle requirements on the aerial map, and associating the first paths and first viewing angle requirements of the same group; wherein the drone can respectively meet the viewing angle expectation of a single management object when flying and shooting based on the first viewing angle requirements of different groups and the first paths; and the number of groups of first paths and viewing angle requirements is consistent with the number of objects of the management object;

[0102] In S234, when planning the first path, it is necessary to avoid the three-dimensional model of obstacles, etc.; ensure that the drone can meet the perspective expectations of a single management object when flying and shooting based on the first perspective requirements of different groups and the first path, so that the expert group can control the drone to only fly and shoot one management object when being assisted in executing the third plan, and the flight shooting process is convenient for them to make management decisions, thereby improving humanization;

[0103] S235, planning a second path and a second viewing angle requirement on the aerial map, and associating the second path and the second viewing angle requirement; wherein the second path has an intersection with all the first paths; and the drone can meet the viewing angle expectations of all the management objects when flying and shooting based on the second viewing angle requirement and the second path;

[0104] In S235, when planning the second path, it is also necessary to avoid the three-dimensional model of obstacles, etc.; ensure that the second path has an intersection with all the first paths and that the drone can meet the perspective expectations of all management objects when flying and shooting with the second path based on the second perspective requirement, so that the expert group can not only control the drone to fly and shoot different management objects when being assisted in executing the third plan, and the flight shooting process is convenient for them to make management decisions, but also enable the drone to quickly switch from the first path to the second path at any time, and the expert group can conveniently and quickly switch and control the drone to fly accordingly according to its own assistance needs, thereby improving the utilization efficiency of drone flight shooting assistance and further improving humanization;

[0105] S236, generating a local indication road network for the traversed plan group; wherein the local indication road network is formed by combining all first paths associated with the first perspective requirements and second paths associated with the second perspective requirements.

[0106] In S236, after the local indication road network is generated, when applied, the UAV can autonomously fly along the first path or the second path thereon. During flight, flight shooting is performed based on the first perspective requirement or the second perspective requirement associated with the first path or the second path, and the images are transmitted back in real time. By viewing the real-time transmitted images, the expert group can clarify the management tasks and make management decisions in sequence and uninterruptedly according to the flight rhythm of the UAV, thereby greatly improving its management efficiency. In addition, the expert group can also control the UAV to fly along the first path or the second path according to its own management needs, thereby improving humanization and greatly improving the applicability of the system.

[0107] In one embodiment, the comprehensive management module assists the expert group in carrying out comprehensive breeding management of the grape breeding garden based on the real-time feedback images of the drone during flight scheduling, including:

[0108] S31, continuously displaying the real-time feedback images to the expert group;

[0109] S32, when the display history of the real-time feedback screen displayed to the expert group and / or the operation history of the expert group operating the real-time feedback screen indicates that the expert group has entered a management decision-making opportunity, a decision-making assistance box is displayed to the expert group;

[0110] In S32, the display history is the content and time of the real-time return screen displayed in history, etc.; the operation history is the operation type (screen mark, etc.), operation time, etc. of the expert group's operation on the real-time return screen in history; the display history and / or the operation history can indicate whether the expert group has entered the management decision-making time, for example: the display history reflects that the display content is large and the total display time is long, then the expert group needs to make a management decision, which indicates the time to enter the management decision, and another example: the operation history reflects that the expert group continues to make preparations before making decisions, for example: important screen marks, which indicates the time to enter the management decision; there are a large number of operation options for the expert group to make management decisions in the decision-making assistance box, such as: issuing instructions selection bar, etc.; when indicating the time to enter the management decision, the decision-making assistance box is displayed to the expert group to improve humanization and improve the efficiency of the expert group in making management decisions;

[0111] S33, receiving the management decision made by the expert group based on the decision support frame;

[0112] In S33, the expert group can make management decisions based on the decision-making assistance frame, and the system receives them after completion;

[0113] S34. Based on management decisions, comprehensive breeding management is carried out in the grape breeding garden.

[0114] In S34, comprehensive breeding management is finally carried out on the grape breeding garden based on the management decision.

[0115] The embodiment of the present invention provides a comprehensive management method for grape breeding, such as Figure 2 As shown, including:

[0116] S1. Update the resource status database of the grape breeding garden, and make decisions on the comprehensive breeding management plan based on the updated resource status database;

[0117] S2. Based on the comprehensive breeding management plan, an aerial indication road network for the grape breeding garden is constructed, and based on the aerial indication road network, flight dispatch of drones in the grape breeding garden is carried out;

[0118] S3. Based on the real-time feedback images of the drone during flight scheduling, the expert group is assisted in the comprehensive breeding management of the grape breeding garden.

[0119] The decision-making breeding comprehensive management plan based on the updated resource status database includes:

[0120] Perform situation analysis on the updated resource status library to obtain a status situation set;

[0121] Based on the state situation set, searching for a target knowledge tree in the knowledge tree network; wherein each branch path in the target knowledge tree has at least one first target node; the first target node includes: a branch node having an association relationship with at least one state situation in the state situation set;

[0122] Based on the first plan generation template, generate a first plan according to the root node in the target knowledge tree;

[0123] Based on the second plan generation template, a second plan is generated according to the second target node on each branch path in the target knowledge tree; wherein the second target node includes: all branch nodes and leaf nodes after the first target node on the branch path;

[0124] Based on the plan layout template of the target knowledge tree, the first plan and the second plan are laid out to obtain the comprehensive breeding management plan.

[0125] The above-mentioned construction of an aerial indication road network for a grape breeding garden based on the comprehensive breeding management plan includes:

[0126] Perform sequence representation on the comprehensive management plan to obtain the execution sequence of the plan;

[0127] Based on the plan group marking rule, multiple plan groups are identified in the plan execution sequence; wherein the plan group marking rule includes: each plan group contains at least N consecutive third plans in the plan execution sequence; there is at least one first plan association relationship between two third plans in the same plan group and between two adjacent third plans in adjacent plan groups; N is a positive integer;

[0128] Generate a local indication road network for each scenario group in the aerial map of the grape breeding garden;

[0129] Based on the road network connection rules, the local indication road networks of each plan group are connected in the aerial map to obtain the aerial indication road network; wherein the road network connection rules include: connecting the local indication road networks of adjacent plan groups in the plan execution sequence and the local indication road networks of two plan groups with at least one second plan association relationship therebetween by the nearest path.

[0130] The generating of a local indication road network for each plan group in the aerial map of the grape breeding garden includes:

[0131] Go through each plan group in turn;

[0132] During each traversal, a minimum enclosing sphere enclosing multiple management objects of all third plans in the traversed plan group is determined in the aerial map;

[0133] Based on the minimum enclosing sphere and the management requirements of all third plans in the traversed plan group, determine the perspective expectations of each management object;

[0134] Planning multiple groups of first paths and first viewing angle requirements on an aerial map, and associating the first paths and first viewing angle requirements of the same group; wherein the drone can respectively meet the viewing angle expectation of a single management object when flying and shooting based on the first viewing angle requirements and first paths of different groups; the number of groups of first paths and viewing angle requirements is consistent with the number of objects of the management object;

[0135] A second path and a second viewing angle requirement are planned on the aerial map, and the second path and the second viewing angle requirement are associated; wherein the second path and all the first paths have intersections; and the drone can meet the viewing angle expectations of all management objects when flying and shooting based on the second viewing angle requirement and the second path;

[0136] Generate a local indication road network for the traversed plan group; wherein the local indication road network is formed by combining all first paths associated with the first perspective requirements and second paths associated with the second perspective requirements.

[0137] The real-time feedback images of the drone during flight scheduling assist the expert group in carrying out comprehensive breeding management of the grape breeding garden, including:

[0138] Continuously display the real-time feedback images to the expert group;

[0139] When the display history of the real-time feedback screen displayed to the expert group and / or the operation history of the real-time feedback screen operated by the expert group indicates that the expert group has entered a management decision-making opportunity, a decision-making assistance box is displayed to the expert group;

[0140] Receive the management decision made by the expert group based on the decision support frame;

[0141] Based on management decisions, comprehensive breeding management is carried out in grape breeding gardens.

[0142] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A grape breeding integrated management system, characterized in that: include: The plan decision module is used to update the resource status database of the grape breeding garden and make decisions on the comprehensive breeding management plan based on the updated resource status database; The flight dispatch module is used to construct an aerial indication road network for the grape breeding garden based on the comprehensive breeding management plan, and to dispatch the UAVs in the grape breeding garden based on the aerial indication road network; The comprehensive management module is used to assist the expert group in the comprehensive management of grape breeding gardens based on the real-time feedback images of drones during flight scheduling; The plan decision module decides on the comprehensive breeding management plan based on the updated resource status library, including: Perform situation analysis on the updated resource status library to obtain a status situation set; Based on the state situation set, a target knowledge tree is searched in the knowledge tree network; wherein, there is at least one first target node on each branch path in the target knowledge tree; the first target node includes: a branch node having an association relationship with at least one state situation in the state situation set; wherein, there are multiple knowledge trees in the knowledge tree network, one knowledge tree is related to one state situation, the knowledge tree has a root node, and also has multiple branch paths connected to the root node, and the branch paths are multiple branch nodes from near to far from the root node, and the terminal farthest from the root node on the branch path is a leaf node, and a branch path represents a development and change process of a resource state that is combined to form a state situation related to the knowledge tree, and the root node is the experience of managing the state situation related to the knowledge tree; the branch node and the state situation have an association relationship, which means that the state situation represents entering the development and change process represented by the branch node; Based on the first plan generation template, generate a first plan according to the root node in the target knowledge tree; Based on the second plan generation template, a second plan is generated according to the second target node on each branch path in the target knowledge tree; wherein the second target node includes: all branch nodes and leaf nodes after the first target node on the branch path; Based on the plan layout template of the target knowledge tree, the first plan and the second plan are laid out to obtain the comprehensive breeding management plan; wherein, during the layout, the first plan and the second plan are integrated with related items, and the integrated items are used as a third plan, and the execution priority of each third plan is determined according to the distance between the branch node / leaf node and the root node based on which the second plan integrated into the third plan is generated, and the execution priority is negatively correlated with the distance, and finally multiple groups of one-to-one corresponding third plans and execution priorities are used as the comprehensive breeding management plan; wherein, the smaller the distance between the branch node / leaf node and the root node, the more likely it is that the state situation will enter the development and change process represented by it first; The flight dispatch module constructs an aerial indication road network of the grape breeding garden based on the comprehensive breeding management plan, including: Perform sequence representation on the comprehensive management plan to obtain the execution sequence of the plan; Based on the plan group marking rule, multiple plan groups are identified in the plan execution sequence; wherein the plan group marking rule includes: each plan group contains at least N consecutive third plans in the plan execution sequence; there is at least one first plan association relationship between two third plans in the same plan group and between two adjacent third plans in adjacent plan groups; N is a positive integer; wherein the first plan association relationship at least includes: the respective management objects are the same, the straight-line distance between the locations of the respective management objects in the grape breeding garden is less than 20 meters, and the respective management objects share the same equipment and / or fertilizer resources; the two adjacent third plans in the adjacent plan groups refer to the last third plan in the plan group ranked first and the first third plan in the plan group ranked later; Generate a local indication road network for each scenario group in the aerial map of the grape breeding garden; Based on the road network connection rules, the local indication road networks of each plan group are connected in the aerial map to obtain the aerial indication road network; wherein, the road network connection rules include: connecting the local indication road networks of adjacent plan groups in the plan execution sequence and the local indication road networks of two plan groups with at least one second plan association relationship therebetween by the nearest path; wherein the nearest path connection refers to connecting the two closest paths on the two local indication road networks, and the connecting line is the shortest line of the three-dimensional model that avoids obstacles; the second plan association relationship includes at least: the respective work processes are interdependent, and there is a causal relationship between the respective work results.

2. The integrated grape breeding management system according to claim 1, characterized in that: The flight scheduling module generates a local indication road network for each plan group in the aerial map of the grape breeding garden, including: Go through each plan group in turn; During each traversal, a minimum enclosing sphere enclosing multiple management objects of all third plans in the traversed plan group is determined in the aerial map; Based on the minimum enclosing sphere and the management requirements of all third plans in the traversed plan group, determine the perspective expectations of each management object; Planning multiple groups of first paths and first viewing angle requirements on an aerial map, and associating the first paths and first viewing angle requirements of the same group; wherein the drone can respectively meet the viewing angle expectation of a single management object when flying and shooting based on the first viewing angle requirements and first paths of different groups; the number of groups of first paths and viewing angle requirements is consistent with the number of objects of the management object; A second path and a second viewing angle requirement are planned on the aerial map, and the second path and the second viewing angle requirement are associated; wherein the second path and all the first paths have intersections; and the drone can meet the viewing angle expectations of all management objects when flying and shooting based on the second viewing angle requirement and the second path; Generate a local indication road network for the traversed plan group; wherein the local indication road network is formed by combining all first paths associated with the first perspective requirements and second paths associated with the second perspective requirements.

3. The grape breeding integrated management system according to claim 1, characterized in that: The comprehensive management module assists the expert group in carrying out comprehensive breeding management of the grape breeding garden based on the real-time feedback images of the drone during flight scheduling, including: Continuously display the real-time feedback images to the expert group; When the display history of the real-time feedback screen displayed to the expert group and / or the operation history of the real-time feedback screen operated by the expert group indicates that the expert group has entered a management decision-making opportunity, a decision-making assistance box is displayed to the expert group; Receive the management decision made by the expert group based on the decision support frame; Based on management decisions, comprehensive breeding management is carried out in grape breeding gardens.

4. A comprehensive management method for grape breeding, characterized in that: include: Update the resource status database of the grape breeding garden, and make decisions on the comprehensive breeding management plan based on the updated resource status database; Based on the comprehensive breeding management plan, an aerial indication road network for the grape breeding garden is constructed, and based on the aerial indication road network, flight dispatch of drones in the grape breeding garden is carried out; Based on the real-time feedback images of the drone during flight dispatch, the expert group is assisted in the comprehensive breeding management of the grape breeding garden; The decision-making breeding comprehensive management plan based on the updated resource status database includes: Perform situation analysis on the updated resource status library to obtain a status situation set; Based on the state situation set, a target knowledge tree is searched in the knowledge tree network; wherein, there is at least one first target node on each branch path in the target knowledge tree; the first target node includes: a branch node having an association relationship with at least one state situation in the state situation set; wherein, there are multiple knowledge trees in the knowledge tree network, one knowledge tree is related to one state situation, the knowledge tree has a root node, and also has multiple branch paths connected to the root node, and the branch paths are multiple branch nodes from near to far from the root node, and the terminal farthest from the root node on the branch path is a leaf node, and a branch path represents a development and change process of a resource state that is combined to form a state situation related to the knowledge tree, and the root node is the experience of managing the state situation related to the knowledge tree; the branch node and the state situation have an association relationship, which means that the state situation represents entering the development and change process represented by the branch node; Based on the first plan generation template, generate a first plan according to the root node in the target knowledge tree; Based on the second plan generation template, a second plan is generated according to the second target node on each branch path in the target knowledge tree; wherein the second target node includes: all branch nodes and leaf nodes after the first target node on the branch path; Based on the plan layout template of the target knowledge tree, the first plan and the second plan are laid out to obtain the comprehensive breeding management plan; wherein, during the layout, the first plan and the second plan are integrated with related items, and the integrated items are used as a third plan, and the execution priority of each third plan is determined according to the distance between the branch node / leaf node and the root node based on which the second plan integrated into the third plan is generated, and the execution priority is negatively correlated with the distance, and finally multiple groups of one-to-one corresponding third plans and execution priorities are used as the comprehensive breeding management plan; wherein, the smaller the distance between the branch node / leaf node and the root node, the more likely it is that the state situation will enter the development and change process represented by it first; The above-mentioned construction of an aerial indication road network for a grape breeding garden based on the comprehensive breeding management plan includes: Perform sequence representation on the comprehensive management plan to obtain the execution sequence of the plan; Based on the plan group marking rule, multiple plan groups are identified in the plan execution sequence; wherein the plan group marking rule includes: each plan group contains at least N consecutive third plans in the plan execution sequence; there is at least one first plan association relationship between two third plans in the same plan group and between two adjacent third plans in adjacent plan groups; N is a positive integer; wherein the first plan association relationship at least includes: the respective management objects are the same, the straight-line distance between the locations of the respective management objects in the grape breeding garden is less than 20 meters, and the respective management objects share the same equipment and / or fertilizer resources; the two adjacent third plans in the adjacent plan groups refer to the last third plan in the plan group ranked first and the first third plan in the plan group ranked later; Generate a local indication road network for each scenario group in the aerial map of the grape breeding garden; Based on the road network connection rules, the local indication road networks of each plan group are connected in the aerial map to obtain the aerial indication road network; wherein, the road network connection rules include: connecting the local indication road networks of adjacent plan groups in the plan execution sequence and the local indication road networks of two plan groups with at least one second plan association relationship therebetween by the nearest path; wherein the nearest path connection refers to connecting the two closest paths on the two local indication road networks, and the connecting line is the shortest line of the three-dimensional model that avoids obstacles; the second plan association relationship includes at least: the respective work processes are interdependent, and there is a causal relationship between the respective work results.

5. The integrated grape breeding management method according to claim 4, characterized in that: The generating of a local indication road network for each plan group in the aerial map of the grape breeding garden includes: Go through each plan group in turn; During each traversal, a minimum enclosing sphere enclosing multiple management objects of all third plans in the traversed plan group is determined in the aerial map; Based on the minimum enclosing sphere and the management requirements of all third plans in the traversed plan group, determine the perspective expectations of each management object; Planning multiple groups of first paths and first viewing angle requirements on an aerial map, and associating the first paths and first viewing angle requirements of the same group; wherein the drone can respectively meet the viewing angle expectation of a single management object when flying and shooting based on the first viewing angle requirements and first paths of different groups; the number of groups of first paths and viewing angle requirements is consistent with the number of objects of the management object; A second path and a second viewing angle requirement are planned on the aerial map, and the second path and the second viewing angle requirement are associated; wherein the second path and all the first paths have intersections; and the drone can meet the viewing angle expectations of all management objects when flying and shooting based on the second viewing angle requirement and the second path; Generate a local indication road network for the traversed plan group; wherein the local indication road network is formed by combining all first paths associated with the first perspective requirements and second paths associated with the second perspective requirements.

6. The integrated grape breeding management method according to claim 4, characterized in that: The real-time feedback images of the drone during flight scheduling assist the expert group in carrying out comprehensive breeding management of the grape breeding garden, including: Continuously display the real-time feedback images to the expert group; When the display history of the real-time feedback screen displayed to the expert group and / or the operation history of the real-time feedback screen operated by the expert group indicates that the expert group has entered a management decision-making opportunity, a decision-making assistance box is displayed to the expert group; Receive the management decision made by the expert group based on the decision support frame; Based on management decisions, comprehensive breeding management is carried out in grape breeding gardens.

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