Agricultural planting method, agricultural planting system and computer readable storage medium

Abstract

The invention belongs to the technical field of agricultural planting, and particularly relates to an agricultural planting method, an agricultural planting system and a computer readable storage medium, the agricultural planting method comprises the following steps: constructing an unmanned aerial vehicle optimal height adjustment model; the unmanned aerial vehicle substitutes the current adjustment parameter into an unmanned aerial vehicle optimal height adjustment model to obtain a corresponding current optimal height; the unmanned aerial vehicle flies to the current optimal height to collect image information of crops in the planting area; according to the method, the unmanned aerial vehicle can be adjusted to the current optimal height in real time by constructing the optimal height adjustment model of the unmanned aerial vehicle, and the optimal shooting angle is synchronously adjusted; the image definition and the resolution of the collected image information can meet the requirement for identifying the growth condition of crops, meanwhile, it is guaranteed that the unmanned aerial vehicle flies within the communication range and the safety range, the flight safety is improved, the situation that the shooting range is too narrow can be avoided, and the hardware requirement is reduced.

Description

Technical Field

[0001] The present invention belongs to the field of agricultural planting technology, specifically relates to a crop planting method, and more particularly to an agricultural planting method, an agricultural planting system and a computer-readable storage medium. Background Art

[0002] In the field of agricultural planting, it is necessary to keep an eye on the crop planting situation. Traditionally, drones are used to collect crop image information at a fixed height. However, when the drone flies too low, flight safety cannot be guaranteed. At the same time, the lower the flight altitude, the narrower the shooting range. More images need to be processed to identify the crop production situation, which requires high hardware. At the same time, when the drone flies too high, the image clarity and resolution cannot meet the requirements, that is, the collected crop image information cannot accurately reflect the growth status of the crops.

[0003] Crops change with their growth cycle, that is, the height of the crops will change. At the same time, when the drone is flying, when the environment changes, such as natural wind blowing the crops, the height of the crops will also change, which will also affect the image clarity and resolution.

[0004] Therefore, there is an urgent need to develop a new agricultural planting method, agricultural planting system and computer-readable storage medium to solve the technical problem that the image clarity and resolution do not meet the recognition requirements due to the drone flying altitude being too low or too high.

[0005] It should be noted that the above information disclosed in this background technology section is only used to understand the background technology of the present application concept, and therefore, the above description is not considered to constitute information of the prior art. Summary of the Invention

[0006] The purpose of the present invention is to provide an agricultural planting method, an agricultural planting system and a computer-readable storage medium.

[0007] In a first aspect, an embodiment of the present disclosure provides an agricultural planting method, which includes: constructing an optimal height adjustment model for a drone; the drone substitutes current adjustment parameters into the optimal height adjustment model for the drone to obtain the corresponding current optimal height; the drone flies to the current optimal height to collect image information of crops in the planting area; the drone determines the growth status of crops through the image information of the crops.

[0008] In an optional embodiment, the drone obtains a first flight altitude that meets the ground sampling distance, a second flight altitude that meets the communication range requirements, and a third flight altitude that meets the airflow impact requirements through a drone optimal altitude adjustment model; the drone compares the first flight altitude with the second flight altitude through the drone optimal altitude adjustment model to take the minimum value between the two; the drone compares the minimum value between the first flight altitude and the second flight altitude with the third flight altitude through the drone optimal altitude adjustment model to take the maximum value between the two as the current optimal altitude.

[0009] In an optional embodiment, the first flight altitude is Among them, GSD is the ground sampling distance, f is the focal length of the lens, sensor pixel is the size of a single pixel on the camera sensor.

[0010] In an optional embodiment, the second flight altitude is Among them, k is the communication influencing parameter, R is the optimal communication range, and d is the maximum allowable distance between the ground control terminal and the UAV in the horizontal direction.

[0011] In an optional embodiment, the drone obtains the minimum flight altitude through the drone optimal altitude adjustment model; the minimum flight altitude is H min =h grass +h safety ; Among them, h grass is the growth height of crops, h safety is the safe distance between the drone and the top of the crops; the third flight height is H airflow =H min ×airflowfactor; where airflowfactor is the airflow influence coefficient.

[0012] In an optional embodiment, the minimum value between the first flying height and the second flying height is H limit , and H limit = min (H GSD ,H R ); The current optimal height is H optimal =max(H airflow ,H limit ).

[0013] In an optional embodiment, after the drone is adjusted to the current optimal height, the drone shoots image information of crops facing the planting area below to identify whether there is a reflective area in the image information; when there is a reflective area in the image information, the drone adjusts the shooting angle and gradually swings upward until the reflective area in the image information disappears to determine the corresponding current optimal shooting angle; the drone obtains image information of crops in the planting area according to the current optimal shooting angle.

[0014] In an optional embodiment, after the UAV is adjusted to the current optimal altitude, the planned flight path of the UAV is set; the UAV collects wind direction data and wind force data, and decomposes the wind direction data and wind force data into an overlapping part and an obstruction part based on the planned flight path, and adjusts the flight direction and flight force of the UAV to offset the obstruction part, so that the UAV flies according to the planned flight path.

[0015] In a second aspect, the embodiments of the present disclosure also provide an agricultural planting system that adopts the agricultural planting method as described above, which includes: a drone and a control module; the drone is configured to adjust to the current optimal height and the current optimal shooting angle so that the drone can obtain image information of crops in the planting area, and is also configured to judge the growth conditions of crops through the image information of crops to adjust the planting strategy for crops.

[0016] In a third aspect, an embodiment of the present disclosure further provides a computer-readable storage medium having a computer program / instruction stored thereon, which implements the steps of the above-mentioned agricultural planting method when executed by a processor.

[0017] The beneficial effect of the present invention is that, by constructing a drone optimal height adjustment model, the present invention can enable the drone to be adjusted to the current optimal height in real time, and synchronously adjust the optimal shooting angle. Even if the crop growth cycle or the external environment changes, the image clarity and resolution of the collected image information can meet the requirements for identifying the growth conditions of crops. At the same time, the drone is guaranteed to fly within the communication range and safety range, thereby improving the safety of the flight, avoiding an overly narrow shooting range, and reducing hardware requirements.

[0018] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description and the drawings.

[0019] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 is a flow chart of adjusting the drone of the present invention to the current optimal altitude;

[0022] Figure 2 is a flow chart of the optimal height adjustment model of the present invention;

[0023] Figure 3 is a schematic diagram of determining the minimum flight altitude of the present invention;

[0024] Figure 4 This is a flow chart of the drone of the present invention adjusting the current optimal shooting angle;

[0025] Figure 5 It is a flow chart of the UAV flight path planning of the present invention. DETAILED DESCRIPTION

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0027] The terms used herein are only used to describe specific exemplary configurations and are not intended to be limiting. As used herein, the singular articles "a", "an" and "the" may also be intended to include plural forms, unless otherwise clearly indicated herein. The terms "comprise", "include" and "have" are inclusive and therefore specify the presence of features, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components and / or combinations thereof. The method steps, processes and operations described herein should not be interpreted as necessarily requiring them to be performed in the particular order discussed or shown, unless specifically identified as an execution order. Additional or alternative steps may be adopted.

[0028] As used herein, the phrases "in one embodiment," "according to one embodiment," "in some embodiments," and the like generally refer to the fact that the particular feature, structure, or characteristic following the phrase may be included in at least one embodiment of the present disclosure. Thus, a particular feature, structure, or characteristic may be included in more than one embodiment of the present disclosure, such that these phrases do not necessarily refer to the same embodiment. As used herein, the terms "example," "exemplary," and the like are used to "serve as an example, instance, or illustration." Any implementation, aspect, or design described herein as "example" or "exemplary" is not necessarily to be construed as preferred or advantageous over other implementations, aspects, or designs. Instead, the use of the terms "example," "exemplary," and the like is intended to present concepts in a concrete manner.

[0029] Research has found that crops vary in height, leaf area, and canopy density throughout their growth cycle. These differences in crop height, leaf area, and canopy density lead to unstable acquisition of canopy spectral data from drones. In the early stages of crop growth, small leaf areas can affect the monitoring of pigment and component concentrations. This means that even a slightly higher drone flight altitude can lead to unclear images or reduced resolution, making it impossible to identify crop growth. Similarly, in the later stages of crop growth, as plants grow taller, drones can get too close to the crops, narrowing the drone's imaging range, impacting flight safety and necessitating high hardware requirements. Furthermore, communication range limits the drone's flight altitude. If the range is exceeded, the drone loses contact with the ground control system, leading to loss of control. Furthermore, variations in flight altitude, position, and lighting angles can lead to varying degrees of reflectivity in captured images. Accurately identifying crop growth requires a level of reflectivity that meets the required recognition requirements. Furthermore, changes in the external environment, such as wind blowing across crops, can also affect drone imaging.

[0030] Based on the above research, the embodiments of the present disclosure provide an agricultural planting method, an agricultural planting system and a computer-readable storage medium, which can collect image information at the optimal flight altitude and the optimal shooting angle, can adapt to the growth cycle of crops, accurately identify the growth conditions of crops, and ensure the flight safety of drones and reduce hardware requirements. It can fly within the communication range and also ensure that the degree of reflection on the image information will not affect the identification of the growth conditions of crops.

[0031] The defects in the above solutions are the results obtained by the inventors after practice and careful research. Therefore, the process of discovering the above problems and the solutions proposed by this disclosure for the above problems below should be the contributions made by the inventors to this disclosure during the disclosure process.

[0032] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0033] The following embodiments of the present invention are described in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0034] like Figures 1 to 5 As shown, at least one embodiment provides an agricultural planting method, which includes: obtaining image information of crops in the planting area by adjusting the flight altitude and shooting angle of the drone; judging the growth conditions of the crops through the image information of the crops to adjust the planting strategy for the crops.

[0035] Specifically, the growth condition of crops refers to the vegetation index. By extracting the vegetation index through crop image information, crop yield can be predicted, and adjusting the crop planting strategy can optimize the vegetation index. Specifically, different water and fertilizer management methods can be used to adjust the vegetation index.

[0036] In at least one embodiment, by constructing a drone optimal height adjustment model, the drone can be adjusted to the current optimal height in real time, and the optimal shooting angle can be adjusted synchronously. Even if the crop growth cycle or the external environment changes, the image clarity and resolution of the collected image information can be guaranteed to meet the requirements for identifying the crop growth conditions. At the same time, the drone can be guaranteed to fly within the communication range and safety range, thereby improving flight safety, avoiding an overly narrow shooting range, and reducing hardware requirements.

[0037] In at least one embodiment, see Figure 1 , build a drone optimal height adjustment model; the drone substitutes the current adjustment parameters into the drone optimal height adjustment model to obtain the corresponding current optimal height, until the drone flies to the current optimal height to collect image information of crops in the planting area.

[0038] Specifically, by constructing a drone's optimal height adjustment model, after the drone is started and takes off, the corresponding environmental parameters and its own flight parameters are directly substituted into the drone's optimal height adjustment model, and the current optimal height can be directly output to control the drone to fly to the current optimal height. At this time, the drone collects image information of crops in the planting area, and the image information can accurately identify the growth of crops. The current optimal height can also ensure that the drone is within the communication range and safety range, thereby improving the safety of flight. At this time, the drone's shooting range is also the most reasonable, and there is no need for too high hardware requirements.

[0039] In at least one embodiment, see Figure 2The UAV obtains a first flight altitude that meets the ground sampling distance, a second flight altitude that meets the communication range requirements, and a third flight altitude that meets the airflow impact requirements through the UAV optimal altitude adjustment model; compares the first flight altitude with the second flight altitude to take the minimum value between the two; compares the minimum value between the first flight altitude and the second flight altitude with the third flight altitude to take the maximum value between the two as the current optimal altitude.

[0040] Specifically, after the drone is started and takes off, it obtains the corresponding environmental parameters and its own flight parameters and inputs them into the drone's optimal altitude adjustment model to generate the corresponding first flight altitude, second flight altitude, and third flight altitude. It then processes the first flight altitude, second flight altitude, and third flight altitude and finally outputs the current optimal altitude.

[0041] In at least one embodiment, the first flying height is Among them, GSD is the ground sampling distance, f is the focal length of the lens, sensor pixel is the size of a single pixel on the camera sensor.

[0042] Specifically, GSD is the ground sampling distance, which refers to the actual distance on the ground represented by each pixel in the image.

[0043] Specifically, the unit of GSD is mm, the unit of f is mm, and the unit of sensor is mm. pixel The unit is mm.

[0044] In at least one embodiment, the second flying height is Among them, k is the communication influencing parameter, R is the optimal communication range, and d is the maximum allowable distance between the ground control terminal and the UAV in the horizontal direction.

[0045] Specifically, the unit of R is m, the unit of d is m, and k is a coefficient.

[0046] Specifically, the ultrasonic sensor on the drone sends ultrasonic signals toward the crops and receives the returned ultrasonic signals to obtain k.

[0047] Specifically, k is the ratio of the ultrasonic sensor's received signal energy to its output signal energy. This ratio is affected by the environment, for example, in mountainous environments, k can be set to 0.6. This ratio can affect communication in this embodiment, so it is defined as a communication impact parameter in this embodiment.

[0048] Specifically, R may be the optimal communication range of 2.4G, and R may also be the optimal communication range of 5G.

[0049] Specifically, when the UAV only uses the 2.4G frequency band for communication, the 2.4G frequency band has a strong diffraction capability, but the signal strength will attenuate with increasing distance. Under the ideal free space propagation model, assuming that the UAV, the ground control terminal and the horizontal distance between them form a right triangle, through Calculate the required flight altitude for 2.4G communication range.

[0050] Specifically, when the drone only uses the 5G frequency band for communication, the 5G frequency band has high transmission rate and low latency, but the signal propagation distance is relatively short and is easily blocked by obstacles. Calculate the required flight altitude for 5G communication range.

[0051] Specifically, when the drone uses the 2.4G band and the 5G band to communicate at the same time, The flight altitude required for the 2.4G communication range and the flight altitude required for the 5G communication range are calculated separately, and the second flight altitude takes the smaller value of the two.

[0052] In at least one embodiment, see Figure 3 , the UAV obtains the minimum flight altitude through the UAV optimal altitude adjustment model; the minimum flight altitude is H min =h grass +h safety ; Among them, h grass is the growth height of crops, h safety is the safe distance between the drone and the top of the crops; the third flight height is H airflow =H min ×airflowfactor; where airflowfactor is the airflow influence coefficient.

[0053] Specifically, the airflow influence coefficient is used in aerodynamics, aerospace, architectural wind engineering and other fields to describe the parameters of the impact of airflow on objects or systems.

[0054] Specifically, in order to avoid collisions between the drone and crop plants during flight, it is necessary to ensure a certain safety distance between the drone and the top of the crop, that is, it is necessary to obtain the minimum flight height H min , safety distance h safety is set to a fixed value (such as 5m), and the crop growth height h grass It is a variable that changes according to different growth stages.

[0055] Specifically, the height of crops affects the airflow around the drone. When crops are tall, their obstruction and disturbance of airflow are enhanced, potentially causing the drone to be disturbed by unstable airflow during flight, affecting flight safety and image acquisition quality.

[0056] Specifically, the airflow factor is related to the height of the crop and increases with the increase of the crop height. Its calculation formula is airflow factor = 1 + α × h glass ; α is an empirical coefficient (such as 0.2) and can be adjusted according to actual conditions.

[0057] In at least one embodiment, the minimum value of the first flying height and the second flying height is H limit , and H limit = min (H GSD ,H R ); The current optimal height is H optimal =max(H airflow ,H limit ).

[0058] Specifically, the final optimal flight height is the minimum value H between the first flight height and the second flight height. limit , which can simultaneously meet the flight altitude required by GSD and the flight altitude limited by the mixed frequency band communication range, and then limit Compare with the third flight altitude and take the larger value as the final optimal flight altitude: Through this calculation method, on the basis of meeting the GSD and communication range requirements, combined with the crop growth height and safety distance, the optimal flight altitude of the drone that meets actual needs is determined.

[0059] In one embodiment, sensor pixel is 0.005mm, f is 15mm, and the expected value of GSD is 20mm, then the first flight altitude is 60m. The optimal communication range of the 2.4G frequency band is 800m, the maximum allowable distance between the ground control terminal and the UAV in the horizontal direction is 300m, and k is 0.6. At the same time, the optimal communication range of the 5G frequency band is 300m, the maximum allowable distance between the ground control terminal and the UAV in the horizontal direction is 300m, and k is 0.6. Since there is a lower limit value in practical applications, such as 10m, the second flight altitude is 10m. The growth height of crops is 1m, the safety distance is 5m, the minimum flight altitude is 6m, and the empirical coefficient is 0.2, so the airflow influence coefficient is 1.2, then the third flight altitude is 7.2m, and then the optimal flight altitude of the UAV is determined to be 10m.

[0060] In at least one embodiment, see Figure 4When the drone is adjusted to the current optimal height, it will shoot image information of crops facing the planting area below to identify whether there is a reflective area in the image information; when there is a reflective area in the image information, the drone will adjust the shooting angle and gradually swing upward until the reflective area in the image information disappears to determine the corresponding current optimal shooting angle; the drone will obtain image information of crops in the planting area according to the current optimal shooting angle.

[0061] Specifically, after the drone flies to the current optimal height, the camera on the drone first takes a rough shot of the planting area below, and identifies whether there is a reflective area in the image information. It can also determine whether the degree of reflection in the image information exceeds the set reflective level. If there is no reflective area in the image information at this time, or the degree of reflection in the image information does not reach the set reflective level, the current shooting angle is the current optimal shooting angle. Otherwise, the camera is controlled to fine-tune upwards, and continues to take a rough shot of the planting area and determine whether there is a reflective area or whether the degree of reflection exceeds the set reflective level, until there is no reflective area in the image information, or the degree of reflection in the image information does not reach the set reflective level, so as to determine the current optimal shooting angle, and continue to obtain image information of crops in the planting area at the current optimal shooting angle.

[0062] In at least one embodiment, see Figure 5 After the drone is adjusted to the current optimal altitude, the planned flight path of the drone is set; the drone collects wind direction data and wind force data, and decomposes the wind direction data and wind force data into superposition parts and obstruction parts based on the planned flight path, and adjusts the flight direction and flight force of the drone to offset the obstruction part, so that the drone can fly according to the planned flight path.

[0063] Specifically, by adjusting the flight direction and flight force of the drone to offset the obstruction, and using the superimposed part of the wind direction data and wind force data to assist in flight, on the one hand, it can ensure that the drone flies according to the planned flight path, and on the other hand, it can also save energy.

[0064] Based on the same technical concept, at least one embodiment also provides an agricultural planting system that adopts the agricultural planting method as described above, which includes: a drone, configured to adjust to the current optimal height and the current optimal shooting angle so that the drone can obtain image information of crops in the planting area, and is also configured to judge the growth conditions of crops through the image information of crops to adjust the planting strategy for crops.

[0065] Based on the same technical concept, at least one embodiment further provides a computer-readable storage medium having a computer program / instruction stored thereon, which implements the steps of the above-mentioned agricultural planting method when executed by a processor.

[0066] In summary, the present invention can adjust the drone to the current optimal height in real time and synchronously adjust the optimal shooting angle by constructing an optimal height adjustment model for the drone. Even if the crop growth cycle or the external environment changes, it can ensure that the image clarity and resolution of the collected image information can meet the requirements for identifying the growth conditions of crops. At the same time, it can ensure that the drone flies within the communication range and safety range, improve the safety of the flight, avoid the shooting range being too narrow, and reduce hardware requirements.

[0067] The disclosure and other solutions, examples, embodiments, modules, and functional operations described in this document can be implemented in digital electronic circuitry, or in computer software, firmware, or hardware, including the structures disclosed in this document and their structural equivalents, or any combination thereof. The disclosure and other embodiments can be implemented as one or more computer program products, i.e., one or more modules of computer program instructions encoded on a tangible, non-volatile computer-readable medium, for execution by a data processing apparatus or to control the operation of the data processing apparatus. The computer-readable medium can be a machine-readable storage device, a machine-readable storage substrate, a storage device, a composition of matter that effects a machine-readable propagated signal, or any combination thereof. The term "data processing unit" or "data processing apparatus" includes all devices, equipment, and machines for processing data, including, for example, a programmable processor, a computer, or a plurality of processors or computers. In addition to hardware, the apparatus may also include code that creates an execution environment for a computer program, such as code constituting processor firmware, a protocol stack, a database management system, an operating system, or any combination thereof. A propagated signal is an artificially generated signal, such as a machine-generated electrical, optical, or electromagnetic signal, that is generated to encode information for transmission to a suitable receiver device.

[0068] A computer program (also referred to as a program, software, software application, script, or code) may be written in any form of programming language (including compiled or interpreted languages) and may be deployed in any form, including as a standalone program or as a module, component, subroutine, or other unit suitable for use in a computing environment. A computer program does not necessarily correspond to a file in a file system. A program may be stored in a portion of a file that holds other programs or data (e.g., one or more scripts stored in a markup language document), in a single file dedicated to the program, or in multiple coordinated files (e.g., files storing one or more modules, subroutines, or portions of code). A computer program may be deployed for execution on one or more computers, located at one site or distributed across multiple sites and interconnected by a communications network.

[0069] The processes and logic flows described in this document can be performed by one or more programmable processors executing one or more computer programs to perform functions by operating on input data and generating output. The processes and logic flows can also be performed by, and apparatus can also be implemented as, special-purpose logic circuitry, e.g., an FPGA (field programmable gate array) or an ASIC (application-specific integrated circuit).

[0070] For example, processors suitable for executing computer programs include general-purpose and special-purpose microprocessors, as well as any one or more of any type of digital computer. Typically, a processor will receive instructions and data from read-only memory or random access memory, or both. The essential components of a computer are a processor that executes instructions and one or more memory devices that store instructions and data. Typically, a computer will also include one or more mass storage devices for storing data, such as magnetic, magneto-optical, or optical disks, or be operatively coupled to receive data from or transfer data to a mass storage device, or both. However, a computer need not have such devices. Computer-readable media suitable for storing computer program instructions and data include all forms of nonvolatile memory, media, and storage devices, including, for example, semiconductor memory devices, such as erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), and flash memory devices; magnetic disks, such as internal hard disks or removable disks; magneto-optical disks; and compact disk read-only memory (CD ROM) and digital versatile disk read-only memory (DVD-ROM) disks. The processor and memory may be supplemented by, or incorporated into, special-purpose logic circuitry.

[0071] While this patent document contains many specifics, they should not be construed as limitations on the scope of any invention or the claims, but rather as descriptions of features for particular embodiments of particular inventions. Certain features described in this patent document in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various functions described in the context of a single embodiment can also be implemented separately in multiple embodiments, or in any suitable subcombination. Furthermore, while the features described above may be described as functioning in certain combinations, or even initially claimed to be so, in some cases one or more features in a claim combination may be removed from the combination, and a claim combination may be directed to a subcombination or variations of a subcombination.

[0072] Likewise, while operations may be depicted in a particular order in the accompanying drawings, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, in order to achieve desired results. Furthermore, the separation of various system components in the embodiments of this patent document should not be understood as requiring such separation in all embodiments.

[0073] Only a few implementations and examples are described, and other implementations, enhancements, and variations can be made based on what is described and illustrated in this patent document.

[0074] A first component is directly coupled to a second component when there are no intervening components other than a line, trace, or another medium between the first and second components. A first component is indirectly coupled to a second component when there are intervening components other than a line, trace, or another medium between the first and second components. The term "coupled" and its variations encompass both direct and indirect couplings. Unless otherwise specified, the use of the term "about" is intended to include a range of 10% above and below the value.

[0075] Although several embodiments are provided in this disclosure, it should be understood that the disclosed systems and methods may be embodied in many other specific forms without departing from the spirit or scope of the present disclosure. The present examples are to be considered illustrative rather than restrictive, and the present invention is not to be construed as being limited to the details given. For example, various elements or components may be combined or integrated into another system, or certain features may be omitted or not implemented.

[0076] In the several embodiments provided herein, it should be understood that the disclosed devices and methods may also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions, and operations of the devices, methods, and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram may represent a module, program segment, or part of a code, which contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the boxes may also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, or they may sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, as well as the combination of boxes in the block diagram and / or flowchart, may be implemented using a dedicated hardware-based system that performs the specified functions or actions, or may be implemented using a combination of dedicated hardware and computer instructions.

[0077] In addition, without departing from the scope of the present disclosure, the discrete or separate techniques, systems, subsystems, and methods described and illustrated in the various embodiments may be combined or integrated with other systems, modules, techniques, or methods. Other items shown or discussed as coupled may be directly connected, or may be indirectly coupled or communicated through some interface, device, or intermediate component in an electrical, mechanical, or other manner. Other examples of changes, substitutions, and modifications may be determined by those skilled in the art without departing from the spirit and scope disclosed herein.

Claims

1. An agricultural planting method, characterized in that: include: Build a model for optimal altitude adjustment of drones; The drone substitutes the current adjustment parameters into the drone optimal height adjustment model to obtain the corresponding current optimal height; The drone flies to the current optimal altitude to collect image information of crops in the planting area; Drones use image information of crops to determine the growth status of crops.

2. The agricultural planting method according to claim 1, wherein The drone obtains a first flight altitude that meets the ground sampling distance, a second flight altitude that meets the communication range requirement, and a third flight altitude that meets the airflow impact requirement through the drone optimal altitude adjustment model; The drone compares the first flight altitude with the second flight altitude through the drone optimal altitude adjustment model to obtain the minimum value between the two; The drone compares the minimum of the first flight altitude and the second flight altitude with the third flight altitude through the drone optimal altitude adjustment model to take the maximum value of the two as the current optimal altitude.

3. The agricultural planting method according to claim 2, wherein: The first flight altitude is Among them, GSD is the ground sampling distance, f is the focal length of the lens, sensor pixel is the size of a single pixel on the camera sensor.

4. The agricultural planting method according to claim 3, wherein: The second flight altitude is Among them, k is the communication influencing parameter, R is the optimal communication range, and d is the maximum allowable distance between the ground control terminal and the UAV in the horizontal direction.

5. The agricultural planting method according to claim 4, characterized in that: The drone obtains the minimum flight altitude through the drone’s optimal altitude adjustment model; The minimum flight altitude is H min =h grass +h safety ; Among them, h grass is the growth height of crops, h safety The safe distance between the drone and the top of the crops; The third flight altitude is H airflow =H min ×airflowfactor; Among them, airflowfactor is the airflow influence coefficient.

6. The agricultural planting method according to claim 5, characterized in that: The minimum value between the first flight height and the second flight height is H limit , and H limit＝ min(H GSD ,H R ); The current optimal height is H optimal =max(H airflow ,H limit ).

7. The agricultural planting method according to claim 1, wherein: After the drone is adjusted to the current optimal height, it will capture images of crops facing the planting area below to identify whether there are reflective areas in the images. When there is a reflective area in the image information, the drone adjusts the shooting angle and gradually swings upward until the reflective area in the image information disappears, thereby determining the corresponding current optimal shooting angle; The drone obtains image information of crops in the planting area according to the current best shooting angle.

8. The agricultural planting method according to claim 1, wherein: When the drone is adjusted to the current optimal altitude, set the planned flight path of the drone; The drone collects wind direction data and wind force data, and decomposes the wind direction data and wind force data into superposition part and obstruction part based on the planned flight path, and adjusts the flight direction and flight force of the drone to offset the obstruction part so that the drone can fly according to the planned flight path.

9. An agricultural planting system using the agricultural planting method according to any one of claims 1 to 8, characterized in that: include: The drone is configured to adjust to the current optimal height and the current optimal shooting angle so that the drone can obtain image information of crops in the planting area. The drone is also configured to judge the growth status of crops through the image information of crops to adjust the planting strategy for crops.

10. A computer-readable storage medium having a computer program / instruction stored thereon, characterized in that: When the computer program / instructions are executed by a processor, the steps of the agricultural planting method according to any one of claims 1 to 8 are implemented.

Images