Hybrid prescription map generation method and device based on automatic processing and human-machine interaction

Abstract

The invention discloses a hybrid prescription map generation method and device based on automatic processing and man-machine interaction, and the method comprises the steps: obtaining a remote sensing image of a to-be-worked region: processing the obtained remote sensing image in the worked region, and splicing the processed remote sensing image to obtain a GeoTIFF image; secondly, a work land parcel is planned on the GeoTIFF image; dividing the operation plot into a plurality of grid areas along the operation direction according to the operation spraying width of the unmanned aerial vehicle; determining a grid area needing to be operated, and calculating the center coordinate of the grid area; and finally, inputting the center coordinates of the selected grid region into the constructed operation route optimization model to generate the optimal operation route of the unmanned aerial vehicle. According to the hybrid prescription map generation method, the environmental adaptability limitation of a full-automatic recognition algorithm is broken through, the operation precision in a complex scene is improved through a man-machine cooperation mechanism, and the dependence on a high-precision sensor and computing equipment is reduced.

Description

Technical Field

[0001] The present invention belongs to the field of unmanned aerial vehicle operations, and in particular relates to a hybrid prescription map generation method and device based on automatic processing and manual interaction. Background Art

[0002] As the scale of global agricultural production continues to expand, factors such as pests, diseases, and weeds have increasingly significant impacts on crop yield and quality. Traditional agricultural operation methods can no longer meet the modern agriculture's demand for efficiency and precision.

[0003] The traditional "large-area, uniform spraying" operation method not only has the problem of pesticide waste, but also may cause pollution to the environment, soil and water sources, and even threaten human health. At the same time, excessive use of pesticides may also cause pests to develop resistance and reduce the effectiveness of prevention and control. The rapid development of drone technology and aerial remote sensing technology has provided new solutions for modern plant protection. Precision agriculture enables agricultural production to not only accurately control resource use through data collection, analysis and decision support, but also reduce environmental burden and improve production efficiency. In precision agriculture, drones, as one of the important technical means, are widely used in farmland monitoring, crop growth assessment and pest and disease control with their advantages of high efficiency, flexibility and low cost. Compared with traditional methods, drone technology can greatly reduce labor costs, improve work efficiency, and achieve lower pesticide usage through precise application, thereby reducing environmental pollution.

[0004] There are two main technologies for generating prescription maps at present: one is based on the automatic recognition scheme of computer vision (CV), which automatically analyzes the collected farmland crop images by building a deep learning model, and generates variable fertilization prescription maps based on the analysis results. This method has good results in a standardized environment, but in the actual complex and changeable agricultural environment, it is easily affected by lighting conditions (such as strong light at noon causing overexposure of images), crop morphological diversity (differences in canopy structure between rice and cotton) and weather factors (rainy, foggy and haze), which leads to great challenges in the accuracy and stability of the analysis results; the other is a purely manual planning scheme, in which operators conduct on-site mapping of the operation area, place relevant sensors in the plots to monitor some basic conditions such as crops and soil, and generate fertilization prescription maps based on the information provided by the sensors. This model has gradually become incapable of meeting the needs of the development of modern agriculture, especially in some large farmlands, which requires high labor costs and low operation efficiency. Summary of the invention

[0005] In order to overcome the deficiencies in the prior art, the present invention provides a hybrid prescription map generation method based on automatic processing and manual interaction, a corresponding device, an electronic device and a computer-readable storage medium.

[0006] The technical solution of the present invention to solve the above technical problems is:

[0007] A hybrid prescription map generation method based on automatic processing and manual interaction includes the following steps:

[0008] S1: Obtain remote sensing images of the area to be operated:

[0009] S2: Processing the acquired remote sensing images within the operating area, and stitching the processed remote sensing images to obtain GeoTIFF images;

[0010] S3: Plan the operation plot on the GeoTIFF image;

[0011] S4: setting the spray width of the drone, and dividing the working area into multiple grid areas of the same size along the working direction according to the spray width of the drone;

[0012] S5: Determine the grid area required for the operation and calculate the center coordinates of the grid area;

[0013] S6: Input the center coordinates of the selected grid area into the constructed operation route optimization model to generate the optimal operation route of the UAV.

[0014] Preferably, in step S1, a drone equipped with an RTK module is used to collect images of the work area, and the collected images are orthophotod visible light images.

[0015] Preferably, in step S2, the collected orthophoto visible light images are spliced ​​by remote sensing image processing software to obtain a GeoTIFF image; and the spliced ​​GeoTIFF image is displayed on the map in the form of tiles.

[0016] Preferably, the remote sensing image processing software is ENVI or ERDAS; and the images are preprocessed by geometric correction and radiation correction before being stitched.

[0017] Preferably, in step S3, the operator determines the vertices and boundaries of the work plot by clicking the mouse on the GeoTIFF image layer in a manner of drawing polygons using a drawing component.

[0018] Preferably, in step S4, the step of dividing the working area into grids includes:

[0019] S401: When drawing the boundary of the work plot, the direction from the first vertex to the second vertex of the work plot is used as the work direction by default, and the azimuth of the work direction is calculated; the work plot is rotated in a first direction with the first vertex as the origin according to the obtained azimuth, so as to obtain the work plot whose work direction is due north; then the first regular circumscribed rectangle of the work plot is obtained, and the coordinates of each vertex of the first regular circumscribed rectangle are obtained according to the coordinates of each vertex of the known work plot;

[0020] S402: The first vertex of the working block in the north direction is used as the origin of the first regular circumscribed rectangle, and the working block is rotated in a second direction according to the azimuth, wherein the first direction and the second direction are opposite to each other; a second regular circumscribed rectangle of the working block is obtained, and at this time, the first side of the working block coincides with the side of the second regular circumscribed rectangle;

[0021] S403: Obtaining vertex coordinates of a second regular circumscribed rectangle by means of coordinate transformation, and calculating the length and width of the second regular circumscribed rectangle according to the vertex coordinates of the second regular circumscribed rectangle;

[0022] S404: according to the spray width of the UAV, the size of the grid is set, and the number of rows and columns of the grid in the area of ​​the second regular circumscribed rectangle is calculated;

[0023] S405: According to the working direction, azimuth, and the length and width of the second regular circumscribed rectangle, the vertex coordinates of each grid are calculated from the origin of the working area along the adjacent sides of the second regular circumscribed rectangle, and the grids outside the working area are cut off.

[0024] Preferably, in step S6, the center coordinates of the grid required for the operation are input into the constructed operation route optimization model, and the operation route optimization model takes minimizing the UAV operation range as the optimization goal and outputs the UAV operation route with the optimal UAV operation range.

[0025] A hybrid prescription map generation device based on automatic processing and manual interaction, comprising:

[0026] An image acquisition module, used for acquiring orthophoto visible light images of the working area;

[0027] The image processing module is used to process the orthophoto visible light images collected by the image acquisition module, and to splice the processed orthophoto visible light images to obtain GeoTIFF images, and to display them in the map in the form of tiles;

[0028] The operation plot planning module is used to plan the operation plot on the GeoTIFF image;

[0029] A rasterization processing module is used to automatically divide the working area into several grids of the same size along the working direction;

[0030] The operation grid selection module is used for the operator to select the grid to be operated and automatically calculate the center coordinates of the selected grid;

[0031] The route generation module constructs the UAV flight route according to the center coordinates of the selected grid and generates the UAV operation prescription map based on it.

[0032] An electronic device comprises a central processing unit and a memory, wherein the central processing unit is used to call and run a computer program stored in the memory to execute the steps of the hybrid prescription map generation method based on automatic processing and manual interaction.

[0033] A computer-readable storage medium stores a computer program implemented according to the hybrid prescription map generation method based on automatic processing and manual interaction in the form of computer-readable instructions. When the computer program is called and executed by a computer, the steps included in the corresponding method are executed.

[0034] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0035] 1. The hybrid prescription map generation method based on automatic processing and manual interaction of the present invention realizes accurate calibration of pest-infested areas and operation path planning by integrating UAV remote sensing images, dynamic rasterization processing and manual interactive selection, and generates an operation prescription map.

[0036] 2. The hybrid prescription map generation method based on automatic processing and manual interaction of the present invention breaks through the environmental adaptability limitations of the fully automatic recognition algorithm, improves the operation accuracy in complex scenarios through the human-machine collaborative mechanism, reduces the dependence on high-precision sensors and computing equipment, and provides a low-cost precision operation solution for agricultural plant protection.

[0037] 3. The hybrid prescription map generation method based on automatic processing and manual interaction of the present invention can effectively improve operation accuracy and operation quality, reduce excessive use of pesticides, alleviate the problems of soil degradation and water pollution, and promote the sustainable development of agriculture. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a flow chart of the hybrid prescription map generation method based on automatic processing and manual interaction of the present invention.

[0039] Figure 2 It is a structural block diagram of the hybrid prescription map generation device based on automatic processing and manual interaction of the present invention.

[0040] Figure 3A schematic diagram of the process of grid division for the working area.

[0041] Figure 4 This is the GeoTIFF image obtained after stitching.

[0042] Figure 5 It is a GeoTIFF image after dynamic rasterization.

[0043] Figure 6 is the image of the grid area.

[0044] Figure 7 It is a schematic diagram of the structure of the computer device of the present invention. DETAILED DESCRIPTION

[0045] The present invention is further described in detail below in conjunction with embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0046] It will be understood by those skilled in the art that, unless expressly stated, the singular forms "one", "said", and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof. It should be understood that when we refer to an element as being "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may be intermediate elements. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein includes all or any unit and all combinations of one or more associated listed items.

[0047] Those skilled in the art will understand that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those generally understood by those skilled in the art in the field to which the present invention belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless specifically defined as here.

[0048] Those skilled in the art will appreciate that the "client", "terminal" and "terminal device" used herein include both devices with wireless signal receivers, which are devices with only wireless signal receivers without transmission capabilities, and devices with receiving and transmitting hardware, which are devices with receiving and transmitting hardware capable of two-way communication on a two-way communication link. Such devices may include: cellular or other communication devices such as personal computers, tablet computers, which have single-line displays or multi-line displays or cellular or other communication devices without multi-line displays; PCS (Personal Communications Service, personal communication system), which can combine voice, data processing, fax and / or data communication capabilities; PDA (Personal Digital Assistant, personal digital assistant), which may include a radio frequency receiver, pager, Internet / intranet access, web browser, notepad, calendar and / or GPS (Global Positioning System, global positioning system) receiver; conventional laptop and / or palmtop computers or other devices, which have and / or include a conventional laptop and / or palmtop computer or other device with a radio frequency receiver. The "client", "terminal" and "terminal device" used herein may be portable, transportable, installed in a vehicle (air, sea and / or land), or suitable and / or configured to run locally, and / or in a distributed form, at any other location on the earth and / or in space. The "client", "terminal" and "terminal device" used herein may also be a communication terminal, an Internet terminal, a music / video playback terminal, such as a PDA, a MID (Mobile Internet Device) and / or a mobile phone with a music / video playback function, or a smart TV, a set-top box and other devices.

[0049] The hardware referred to by the names such as "server", "client" and "service node" in the present invention is essentially an electronic device with the equivalent capabilities of a personal computer. It is a hardware device with the necessary components revealed by the von Neumann principle, such as a central processing unit (including an arithmetic unit and a controller), a memory, an input device and an output device. The computer program is stored in its memory. The central processing unit calls the program stored in the external memory into the internal memory for execution, executes the instructions in the program, and interacts with the input and output devices to complete specific functions.

[0050] It should be pointed out that the concept of "server" referred to in the present invention can also be extended to the case of server clusters. According to the network deployment principle understood by those skilled in the art, the servers should be logically divided. In physical space, these servers can be independent of each other but can be called through interfaces, or integrated into a physical computer or a set of computer clusters. Those skilled in the art should understand this flexibility, and should not use it to restrict the implementation of the network deployment method of the present invention.

[0051] Unless expressly specified, one or more technical features of the present invention can be deployed on a server for implementation and accessed by a client through a remote call to obtain an online service interface provided by the server, or can be directly deployed and run on a client for access.

[0052] The neural network models referenced or may be referenced in the present invention, unless expressly specified, can be deployed on a remote server and remotely called on the client, or can be deployed on a client with sufficient device capabilities and directly called. In some embodiments, when it runs on the client, its corresponding intelligence can be obtained through transfer learning so as to reduce the requirements for the client hardware operating resources and avoid excessive occupation of the client hardware operating resources.

[0053] Unless expressly specified otherwise, the various data involved in the present invention can be stored remotely in a server or in a local terminal device, as long as it is suitable for being called by the technical solution of the present invention.

[0054] Those skilled in the art should know that, although the various methods of the present invention are described based on the same concept and thus present commonality to each other, unless otherwise specified, these methods can be independently executed. Similarly, for each embodiment disclosed in the present invention, they are all proposed based on the same inventive concept, therefore, concepts with the same expression, and concepts that are appropriately changed for convenience despite different expressions, should be understood as equivalent.

[0055] Unless the mutually exclusive relationship between the embodiments to be disclosed in the present invention is explicitly stated, the relevant technical features involved in the embodiments can be cross-combined to flexibly construct new embodiments, as long as such combination does not deviate from the creative spirit of the present invention and can meet the needs of the prior art or solve certain deficiencies in the prior art. Those skilled in the art should be aware of this flexibility.

[0056] See also Figure 1-Figure 5 The hybrid prescription map generation method based on automatic processing and manual interaction of the present invention comprises the following steps:

[0057] S1: Obtain remote sensing images of the area to be operated:

[0058] In this embodiment, a drone equipped with an RTK module is used to collect images of the work area, and the collected images are orthophotoed visible light images with high resolution.

[0059] S2: Processing the acquired remote sensing images within the operating area, and stitching the processed remote sensing images to obtain GeoTIFF images;

[0060] In this embodiment, the collected orthophoto visible light images are stitched by remote sensing image processing software to obtain GeoTIFF images; the stitched GeoTIFF images are displayed in the map in the form of tiles; wherein the remote sensing image processing software is ENVI or ERDAS; and the images are preprocessed by geometric correction and radiation correction before stitching.

[0061] S3: Plan the operation plot on the GeoTIFF image;

[0062] In this embodiment, the operator uses a drawing component to draw polygons on the GeoTIFF image layer and determines the vertices and boundaries of the work plot by clicking the mouse.

[0063] In geographic information systems (GIS) or related image processing software, high-resolution GeoTIFF image layers already have accurate geographic coordinate information and can be accurately mapped to actual geographic space; the software will tile GeoTIFF images according to certain rules and store them locally or on the server side, so that when operators browse the map, they can quickly load and display the corresponding tile images according to the current map zoom level and field of view, ensuring smoothness and efficiency of display;

[0064] The drawing component in this embodiment is an interactive tool provided by the software, which allows the operator to interact with the high-resolution GeoTIFF image layer through the mouse; when the operator turns on the function of drawing polygons, the drawing component will monitor the mouse click event; each time the mouse is clicked, the software will obtain the current position coordinates of the mouse pointer on the image layer, which are based on the geographic coordinate system of the image; these coordinates will be recorded as the vertices of the polygon;

[0065] As the operator continues to click the mouse, the drawing component will connect the recorded vertices in turn and draw the edges of the polygon on the image layer in real time. When the operator completes clicking the last vertex, the drawing component will automatically connect the last vertex with the first vertex to form a closed polygon, which represents the boundary of the work area.

[0066] S4: Set the spray width of the drone, and divide the working area into multiple grid areas of the same size along the working direction according to the spray width of the drone; specifically:

[0067] S401: When drawing the work plot (i.e. Figure 2 When the boundary of the work plot (ABCD in the figure) is determined, the direction from the first vertex A to the second vertex B of the work plot is taken as the work direction by default, and the azimuth a of the work direction is calculated; the work plot is rotated in the first direction (counterclockwise) with the first vertex A as the origin according to the size of the obtained azimuth a, so as to obtain a work plot with the work direction being due north; then the first regular circumscribed rectangle of the work plot is obtained, and the coordinates of each vertex of the first regular circumscribed rectangle are obtained according to the coordinates of each vertex of the known work plot;

[0068] S402: The first vertex A of the working block in the due north direction is used as the origin of the first regular circumscribed rectangle, and the working block is rotated in a second direction (clockwise) according to the azimuth angle a, wherein the first direction and the second direction are opposite to each other; a second regular circumscribed rectangle of the working block is obtained, and at this time, the first side AB of the working block coincides with the side of the second regular circumscribed rectangle;

[0069] S403: Obtaining vertex coordinates of a second regular circumscribed rectangle by means of coordinate transformation, and calculating the length and width of the second regular circumscribed rectangle according to the vertex coordinates of the second regular circumscribed rectangle;

[0070] S404: according to the spray width of the UAV, the size of the grid is set, and the number of rows and columns of the grid in the area of ​​the second regular circumscribed rectangle is calculated;

[0071] S405: According to the working direction, azimuth, and the length and width of the second regular circumscribed rectangle, the vertex coordinates of each grid are calculated from the origin of the working area (i.e., point A) along the adjacent sides of the second regular circumscribed rectangle, and the grids outside the working area are cut off.

[0072] S5: Determine the grid area required for the operation and calculate the center coordinates of the grid area;

[0073] In this embodiment, the operator observes the high-resolution real-time image on the screen and selects the grid to be operated. The system can calculate the center coordinates of the grid area based on the known coordinates of each vertex in each grid area, or use the center of gravity method to find the center of gravity of the grid area, and use the coordinates of the center of gravity as the center coordinates to obtain the center coordinates of the grid area; the specific method of obtaining can refer to the "Method, device, equipment and medium for precise target spraying of plant protection drones" disclosed in the invention patent application with application publication number CN119453168A.

[0074] S6: input the center coordinates of the selected grid area into the constructed operation route optimization model to generate the optimal operation route of the UAV;

[0075] In this embodiment, the center coordinates of the grid required for the operation are input into the constructed operation route optimization model. The operation route optimization model takes minimizing the UAV operation range as the optimization goal and outputs the UAV operation route with the optimal UAV operation range. The operator can export the route coordinates of WGS-84 coordinates in standard GeoJSON format from the system.

[0076] In the above step 403, another method may be used to calculate the vertex coordinates of the grid area, specifically:

[0077] After obtaining the first regular circumscribed rectangle in the due north direction, the length and width of the first regular circumscribed rectangle are calculated according to the vertex coordinates of the first regular circumscribed rectangle, and then the number of rows and columns of the grid in the first regular circumscribed rectangle is calculated according to the spray width of the UAV; then the coordinates of each vertex and center point of each grid area are calculated; then all grid areas are rotated to their original positions according to the azimuth size and direction (i.e., the second direction), and the real vertex coordinates and real center coordinates of all grid areas can be obtained according to the coordinate transformation formula; the specific steps can be implemented with reference to the "Precision Target Spraying Method, Device, Equipment and Medium for Plant Protection UAV" disclosed in the invention patent application with application publication number CN119453168A.

[0078] See also Figure 6 The hybrid prescription map generation device based on automatic processing and manual interaction of the present invention comprises:

[0079] An image acquisition module, used for acquiring orthophoto visible light images of the working area;

[0080] The image processing module is used to process the orthophoto visible light images collected by the image acquisition module, and to splice the processed orthophoto visible light images to obtain GeoTIFF images, and to display them in the map in the form of tiles;

[0081] The operation plot planning module is used to plan the operation plot on the GeoTIFF image;

[0082] A rasterization processing module is used to automatically divide the working area into several grids of the same size along the working direction;

[0083] The operation grid selection module is used for the operator to select the grid to be operated and automatically calculate the center coordinates of the selected grid;

[0084] The route generation module constructs the UAV flight route according to the center coordinates of the selected grid and generates the UAV operation prescription map based on it.

[0085] Based on any embodiment of the present invention, please refer to Figure 7 Another embodiment of the present invention further provides an electronic device, which can be implemented by a computer device.

[0086] like Figure 7 As shown, a schematic diagram of the internal structure of a computer device. The computer device includes a processor, a computer-readable storage medium, a memory, and a network interface connected via a system bus. Among them, the computer-readable storage medium of the computer device stores an operating system, a database, and computer-readable instructions. The database may store a control information sequence. When the computer-readable instructions are executed by the processor, the processor can implement a hybrid prescription map generation method based on automatic processing and manual interaction. The processor of the computer device is used to provide computing and control capabilities to support the operation of the entire computer device. The memory of the computer device may store computer-readable instructions. When the computer-readable instructions are executed by the processor, the processor can execute the hybrid prescription map generation method based on automatic processing and manual interaction of the present invention. The network interface of the computer device is used to connect and communicate with a terminal. Those skilled in the art will understand that Figure 7 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present invention, and does not constitute a limitation on the computer device to which the solution of the present invention is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0087] In this embodiment, the processor is used to execute the specific functions of each module in the hybrid prescription map generation device based on automatic processing and manual interaction of the present invention, and the memory stores the program code and various data required to execute the above modules. The network interface is used to transmit data between user terminals or servers. The memory in this embodiment stores the program code and data required to execute all modules / submodules in the hybrid prescription map generation device based on automatic processing and manual interaction of the present invention, and the server can call the program code and data of the server to execute the functions of all submodules.

[0088] The present invention also provides a storage medium storing computer-readable instructions. When the computer-readable instructions are executed by one or more processors, the one or more processors execute the steps of the hybrid prescription map generation method based on automatic processing and manual interaction described in any embodiment of the present invention.

[0089] The present invention also provides a computer program product, comprising a computer program / instruction, which, when executed by one or more processors, implements the steps of the hybrid prescription map generation method based on automatic processing and manual interaction described in any embodiment of the present invention.

[0090] A person skilled in the art can understand that all or part of the processes in the above-mentioned embodiments of the present invention can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The aforementioned storage medium can be a computer-readable storage medium such as a disk, an optical disk, a read-only storage memory (ROM), or a random access memory (RAM).

[0091] Finally, the hybrid prescription map generation method based on automatic processing and manual interaction of the present invention is based on the manual interactive prescription map generation technology, which avoids the singleness and instability of the model for automatic identification of pests based on deep learning and pattern recognition, and has more practical significance in production applications, thereby enabling drones to achieve truly precise spraying operations.

[0092] The above is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited to the above content. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A hybrid prescription map generation method based on automatic processing and manual interaction, characterized in that: The following steps are involved: S1: Obtain remote sensing images of the area to be operated: S2: Processing the acquired remote sensing images within the operating area, and stitching the processed remote sensing images to obtain GeoTIFF images; S3: Plan the operation plot on the GeoTIFF image; S4: setting the spray width of the drone, and dividing the working area into multiple grid areas of the same size along the working direction according to the spray width of the drone; S5: Determine the grid area required for the operation and calculate the center coordinates of the grid area; S6: Input the center coordinates of the selected grid area into the constructed operation route optimization model to generate the optimal operation route of the UAV.

2. The hybrid prescription map generation method based on automatic processing and manual interaction according to claim 1, characterized in that: In step S1, a drone equipped with an RTK module is used to collect images of the work area, and the collected images are orthophotod visible light images.

3. The hybrid prescription map generation method based on automatic processing and manual interaction according to claim 2, characterized in that: In step S2, the collected orthophoto visible light images are spliced ​​by remote sensing image processing software to obtain a GeoTIFF image; the spliced ​​GeoTIFF image is displayed on the map in the form of tiles.

4. The hybrid prescription map generation method based on automatic processing and manual interaction according to claim 3, characterized in that: The remote sensing image processing software is ENVI or ERDAS; the images are preprocessed by geometric correction and radiation correction before being stitched.

5. The hybrid prescription map generation method based on automatic processing and manual interaction according to claim 1, characterized in that: In step S3, the operator uses the drawing component to draw polygons on the GeoTIFF image layer by clicking the mouse to determine the vertices and boundaries of the work plot.

6. The hybrid prescription map generation method based on automatic processing and manual interaction according to claim 2, characterized in that: In step S4, the steps of dividing the working area into grids include: S401: When drawing the boundary of the work plot, the direction from the first vertex to the second vertex of the work plot is used as the work direction by default, and the azimuth of the work direction is calculated; the work plot is rotated in a first direction with the first vertex as the origin according to the obtained azimuth, so as to obtain the work plot whose work direction is due north; then the first regular circumscribed rectangle of the work plot is obtained, and the coordinates of each vertex of the first regular circumscribed rectangle are obtained according to the coordinates of each vertex of the known work plot; S402: Taking the first vertex of the first regular circumscribed rectangle of the working block with the working direction being due north as the origin, the working block is rotated in a second direction according to the azimuth, wherein the first direction and the second direction are opposite to each other, to obtain a second regular circumscribed rectangle of the working block, wherein the first side of the working block coincides with the side of the second regular circumscribed rectangle; S403: Obtaining vertex coordinates of a second regular circumscribed rectangle by means of coordinate transformation, and calculating the length and width of the second regular circumscribed rectangle according to the vertex coordinates of the second regular circumscribed rectangle; S404: according to the spray width of the UAV, the size of the grid is set, and the number of rows and columns of the grid in the area of ​​the second regular circumscribed rectangle is calculated; S405: According to the working direction, azimuth, and the length and width of the second regular circumscribed rectangle, the vertex coordinates of each grid are calculated from the origin of the working area along the adjacent sides of the second regular circumscribed rectangle, and the grids outside the working area are cut off.

7. The hybrid prescription map generation method based on automatic processing and manual interaction according to claim 2, characterized in that: In step S6, the center coordinates of the grid required for the operation are input into the constructed operation route optimization model. The operation route optimization model takes minimizing the UAV operation range as the optimization goal and outputs the UAV operation route with the optimal UAV operation range.

8. A hybrid prescription map generating device using the hybrid prescription map generating method based on automatic processing and manual interaction according to any one of claims 1 to 7, characterized in that: include: An image acquisition module, used for acquiring orthophoto visible light images of the working area; The image processing module is used to process the orthophoto visible light images collected by the image acquisition module, and to splice the processed orthophoto visible light images to obtain GeoTIFF images, and to display them in the map in the form of tiles; The operation plot planning module is used to plan the operation plot on the GeoTIFF image; A rasterization processing module is used to automatically divide the working area into several grids of the same size along the working direction; The operation grid selection module is used for the operator to select the grid to be operated and automatically calculate the center coordinates of the selected grid; The route generation module constructs the UAV flight route according to the center coordinates of the selected grid and generates the UAV operation prescription map based on it.

9. An electronic device, comprising a central processing unit and a memory, characterized in that: The central processing unit is used to call and run the computer program stored in the memory to execute the steps of the hybrid prescription map generation method based on automatic processing and manual interaction as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: It stores a computer program implemented according to the hybrid prescription map generation method based on automatic processing and manual interaction as described in any one of claims 1 to 7 in the form of computer-readable instructions, and when the computer program is called and executed by a computer, the steps included in the corresponding method are executed.

Images