Method and device for acquiring irrigation map

Abstract

The invention discloses a method and a device for acquiring an irrigation map. The method comprises the steps of receiving an irrigation map generation instruction; identifying a preset target and tracking the preset target; acquiring depth information and corresponding deflection angle information of the preset target in a tracking process; generating an irrigation map of the irrigation area based on the depth information and the deflection angle information; the preset target is recognized, the depth information and the deflection angle information in the tracking process are collected, and the position information of the edge of the irrigation area can be determined according to the movement of the preset target around the irrigation area, so that the irrigation range of the irrigation equipment can be more accurately obtained, the irrigation map can be more accurately constructed, and the accuracy of irrigation map construction is improved; the irrigation work can be executed more accurately, the irrigation efficiency is improved, and water resources are saved.

Description

Technical Field

[0001] This invention relates to the field of three-dimensional mapping technology, and in particular to a method and apparatus for obtaining irrigation maps. Background Technology

[0002] Currently, irrigation products, both domestically and internationally, typically rely on users manually adjusting the water flow distance and rotation angle to create irrigation maps. The irrigation equipment then creates the map based on the user's control. This method is time-consuming and labor-intensive for users, and when manually controlling the water flow, it is easily affected by objective factors such as wind, causing the map results to mismatch with the actual water flow. This results in poor map accuracy, low efficiency, and wasted water resources.

[0003] Therefore, a more efficient method is needed to achieve more accurate irrigation mapping. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a method and apparatus for obtaining irrigation maps, which can more accurately obtain the irrigation range of irrigation equipment.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0006] A method for obtaining irrigation maps, applied to irrigation equipment, includes:

[0007] Receive instructions to generate an irrigation map;

[0008] Identify and track the preset target;

[0009] During the tracking process, acquire the depth information and corresponding deflection angle information of the preset target;

[0010] An irrigation map of the irrigation area is generated based on the depth information and deflection angle information.

[0011] To solve the above-mentioned technical problems, another technical solution adopted by the present invention is as follows:

[0012] An apparatus for acquiring irrigation maps, comprising:

[0013] Detectors are used to identify preset targets;

[0014] A tracker for tracking the preset target;

[0015] The sensor acquires the depth information and corresponding deflection angle information of the preset target during the tracking process;

[0016] A mapper is used to obtain an irrigation map of the irrigation area based on the depth information and the deflection angle information.

[0017] The beneficial effects of the present invention are as follows: The method and apparatus for obtaining irrigation maps of the present invention identify a preset target and collect depth information and deflection angle information during the tracking process. It can determine the position information of the edge of the irrigation area based on the movement of the preset target around the irrigation area, thereby more accurately obtaining the irrigation range of the irrigation equipment, constructing an irrigation map, improving the accuracy of irrigation map construction, enabling irrigation work to be executed more accurately, improving irrigation efficiency, and saving water resources. Attached Figure Description

[0018] Figure 1 This is a flowchart of a method for obtaining irrigation maps according to an embodiment of the present invention;

[0019] Figure 2 This is a flowchart illustrating the tracking process of a method for obtaining irrigation maps according to an embodiment of the present invention.

[0020] Figure 3 This is a schematic diagram of a device for acquiring irrigation maps according to an embodiment of the present invention;

[0021] Label Explanation:

[0022] 1. An apparatus for acquiring irrigation maps; 2. A detector; 3. A tracker; 4. A sensor; 5. A mapper. Detailed Implementation

[0023] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0024] Before discussing the exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the steps as sequential processes, many of these steps can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the steps can be rearranged. A process can be terminated when its operation is complete, but it may also have additional steps not included in the figures. A process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0025] Please refer to Figure 1 as well as Figure 2 A method for obtaining irrigation maps, applied to irrigation equipment, including:

[0026] Receive instructions to generate an irrigation map;

[0027] Identify and track the preset target;

[0028] During the tracking process, acquire the depth information and corresponding deflection angle information of the preset target;

[0029] An irrigation map of the irrigation area is generated based on the depth information and deflection angle information.

[0030] As can be seen from the above description, the beneficial effects of the present invention are as follows: The method and apparatus for obtaining irrigation maps of the present invention identify a preset target and collect depth information and deflection angle information during the tracking process. It can determine the position information of the edge of the irrigation area based on the movement of the preset target around the irrigation area, thereby more accurately obtaining the irrigation range of the irrigation equipment, constructing an irrigation map, improving the accuracy of irrigation map construction, enabling irrigation work to be executed more accurately, improving irrigation efficiency, and saving water resources.

[0031] In an optional embodiment, the step of identifying and tracking the preset target includes:

[0032] The camera identifies a preset target, and when the preset target moves, the irrigation equipment is rotated to keep the camera identifying the preset target.

[0033] As described above, the preset target is identified by a camera, and the preset target is tracked by rotating the irrigation equipment to maintain the camera's recognition of the preset target.

[0034] In an optional embodiment, the deflection angle information is determined based on the rotation angle of the irrigation equipment.

[0035] As described above, the deflection angle information is determined based on the rotation angle of the irrigation equipment during the tracking process.

[0036] In an optional embodiment, the depth information is acquired by a camera or a ranging sensor on the irrigation equipment.

[0037] As described above, the distance between the irrigation equipment and the preset target is measured by a distance sensor.

[0038] In an optional embodiment, generating the irrigation map of the irrigation area based on the depth information and the deflection angle information includes determining whether the deflection angle information meets a preset condition; if not, prompting the user that map generation failed.

[0039] As described above, before generating the irrigation map, the deflection angle is judged first. If it does not meet the preset conditions, the user is directly prompted that the map generation failed, thus reducing unnecessary calculations.

[0040] In an optional embodiment, the preset condition includes rotating the irrigation equipment one revolution.

[0041] As described above, if the irrigation equipment does not rotate once during the water process, it is considered that the boundary information of the irrigation area has not been collected and an irrigation map cannot be generated.

[0042] In an optional embodiment, the step of identifying and tracking the preset target includes prompting the user or adjusting the rotation angle of the irrigation equipment if the preset target is lost.

[0043] As described above, if the preset target is lost, the rotation angle is adjusted to recapture the preset target for tracking.

[0044] In an optional embodiment, the method further includes recording identification information of a preset target to be identified.

[0045] As can be seen from the above description, by pre-entering the identification information of the preset target to be identified, the preset target can be identified and tracked.

[0046] In an optional embodiment, the step of identifying and tracking the preset target includes identifying the movement direction of the preset target and rotating the irrigation device based on the movement direction.

[0047] As described above, by identifying the movement direction of the preset target, the corresponding rotating irrigation equipment can maintain tracking of the preset target.

[0048] Please refer to Figure 3 An apparatus for obtaining irrigation maps, comprising:

[0049] Detectors are used to identify preset targets;

[0050] A tracker for tracking the preset target;

[0051] The sensor acquires the depth information and corresponding deflection angle information of the preset target during the tracking process;

[0052] A mapper is used to obtain an irrigation map of the irrigation area based on the depth information and the deflection angle information.

[0053] As can be seen from the above description, the beneficial effects of the present invention are as follows: The method and apparatus for obtaining irrigation maps of the present invention identify a preset target and collect depth information and deflection angle information during the tracking process. It can determine the position information of the edge of the irrigation area based on the movement of the preset target around the irrigation area, thereby more accurately obtaining the irrigation range of the irrigation equipment, constructing an irrigation map, improving the accuracy of irrigation map construction, enabling irrigation work to be executed more accurately, improving irrigation efficiency, and saving water resources.

[0054] The present invention provides a method and apparatus for obtaining irrigation maps, which are applicable to the construction of irrigation maps for greening such as flower beds and grasslands, and are particularly applicable to the construction of irrigation maps for irrigation carried out by fixed-point irrigation equipment within the irrigation range.

[0055] Please refer to Figure 1 and Figure 2 Embodiment 1 of the present invention is as follows:

[0056] A method for obtaining irrigation maps, applied to irrigation equipment, includes:

[0057] Receive instructions to generate an irrigation map;

[0058] Identify and track the preset target.

[0059] In this embodiment, the preset target is set to a human body. In other equivalent embodiments, the preset target can be arbitrarily set according to actual needs, such as a robot, vehicle, or drone, etc.

[0060] The steps of identifying and tracking the preset target include:

[0061] The camera identifies a preset target, and when the preset target moves, the irrigation equipment is rotated to keep the camera identifying the preset target.

[0062] The step of identifying and tracking the preset target includes identifying the movement direction of the preset target and rotating the irrigation equipment based on the movement direction.

[0063] In this embodiment, the identification information of the preset target to be identified is pre-entered.

[0064] Identify preset targets, including:

[0065] Image acquisition is performed in the direction of the preset target;

[0066] Based on the acquired image frames, identify the preset targets within them.

[0067] The steps of identifying and tracking the preset target include prompting the user or adjusting the rotation angle of the irrigation equipment if the preset target is lost.

[0068] In this embodiment, if the preset target is lost, the user is prompted or the rotation angle of the irrigation equipment is adjusted to re-find and capture the preset target, or the user is directly reminded that the target has been lost.

[0069] That is, it can be referred to Figure 2In this embodiment, a preset target is identified through image recognition. An image sensor captures images, and the preset target is identified based on the captured image frames. In this embodiment, an RGB lens is used as the image sensor; other image sensors can be used in other equivalent embodiments. This embodiment utilizes an AI algorithm to complete the image recognition process. However, those skilled in the art will recognize that other alternative image recognition algorithms exist in other equivalent embodiments for target identification.

[0070] In this embodiment, an advanced target recognition method is designed based on the image recognition method. Based on the acquired image frames, a preset target is identified, including:

[0071] For subsequent image frames after the initial identification of the preset target, the preset target is identified by cross intersection-union matching.

[0072] If the preset target cannot be identified by cross-union matching, then the preset target will be identified again by image algorithm.

[0073] If the preset target cannot be identified using image algorithms, the next frame of the image will be acquired for identification.

[0074] In this embodiment, after the preset target is initially identified by the image algorithm, subsequent identification can be achieved more quickly using IOU (Intersection over Union) matching between adjacent image frames. If IOU matching fails to identify the preset target in the current image frame, the image algorithm is used again to identify it. If the image algorithm still fails to identify the preset target in the current image frame, it can be assumed that the preset target does not exist in the current image frame, and target identification is performed on the next image frame to re-identify the preset target.

[0075] If the preset target is lost, prompt the user or adjust the rotation angle of the irrigation equipment to re-find and capture the preset target, or directly remind the user that the target has been lost.

[0076] In this embodiment, tracking the preset target includes:

[0077] Based on the pixel difference signal between the current frame image containing the preset target and the previous frame image, rotation calibration is performed to control the direction of the irrigation equipment.

[0078] In this embodiment, after the preset target is identified by image recognition, the movement of the preset target is captured by pixel difference signal. The position information of the movement is communicated to the motor of the irrigation equipment. After the motor obtains the deflection angle, it rotates to make the image sensor align with the preset target, thereby realizing the tracking of the preset target.

[0079] Furthermore, in other equivalent embodiments, the selected identification method varies depending on the preset target setting. For example, for preset targets such as the human body or others with a temperature difference from the environment, identification can be performed using infrared thermometry or thermal imaging; for targets coated with special imaging reagents, image acquisition is performed using specific imaging equipment. Additionally, the preset target can be identified wirelessly by carrying a beacon or a communication device on it. Simultaneously, tracking and positioning of the preset target can also be achieved.

[0080] During the tracking process, the depth information and corresponding deflection angle information of the preset target are acquired.

[0081] The deflection angle information is determined based on the rotation angle of the irrigation equipment.

[0082] The depth information is obtained by a camera or ranging sensor on the irrigation equipment.

[0083] In this embodiment, during the tracking of the preset target, in addition to aligning the image sensor with the preset target, a ranging sensor also needs to be aligned with the preset target to record the rotation angle information of the irrigation equipment, i.e., the deflection angle information, and simultaneously measure and record the distance information between the preset target and the irrigation equipment, i.e., the depth information. High-frequency positioning of the preset target enables high-precision mapping of the irrigation machine. Specifically, the ranging sensor in this embodiment is based on TOF ranging technology.

[0084] The step of generating an irrigation map of the irrigation area based on the depth information and the deflection angle information includes determining whether the deflection angle information meets a preset condition; if not, prompting the user that map generation failed.

[0085] In this embodiment, before generating the irrigation map, it is necessary to determine whether the deflection angle information meets preset conditions. If not, the user is prompted that map generation has failed. This avoids wasting computing resources by performing irrigation map generation calculations when the data information is unqualified.

[0086] Specifically, the preset conditions in this embodiment include rotating the irrigation equipment one revolution. Generating an irrigation map of the irrigation area based on the depth information and deflection angle information includes:

[0087] Based on the distance information associated with each of the directional information, the map boundary of the irrigation area in each direction is determined;

[0088] The irrigation map is obtained based on the map boundaries in each direction.

[0089] In this embodiment, based on the collected direction and distance information, the map boundary of the irrigation area in each direction can be determined, and the irrigation range can be effectively determined according to the map boundary.

[0090] As will be understood by those skilled in the art, in other equivalent embodiments, depending on the location information, other methods may be used to determine the map boundaries of the irrigation area in each direction of the irrigation equipment in order to construct the irrigation map.

[0091] Please refer to Figure 3 Embodiment two of the present invention is as follows:

[0092] A device 1 for acquiring irrigation maps includes:

[0093] Detector 2 is used to identify preset targets;

[0094] Tracker 3 is used to track the preset target;

[0095] Sensor 4 acquires the depth information and corresponding deflection angle information of the preset target during the tracking process;

[0096] Mapper 5 is used to obtain an irrigation map of the irrigation area based on the location information.

[0097] The detector 2, tracker 3, sensor 4, and mapper 5 work together to implement the steps in the irrigation map acquisition method described in Embodiment 1 above.

[0098] In summary, the method and apparatus for obtaining irrigation maps provided by this invention identify a preset target and collect depth and deflection angle information during the tracking process. Based on the movement of the preset target around the irrigation area, the position information of the edge of the irrigation area can be determined, thereby more accurately obtaining the irrigation range of the irrigation equipment, constructing an irrigation map, improving the accuracy of irrigation map construction, enabling irrigation work to be executed more accurately, improving irrigation efficiency, and saving water resources.

[0099] Based on the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0100] It is worth noting that in the embodiments of the above-mentioned device, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of each functional unit are only for easy distinction between each other and are not used to limit the scope of protection of the present invention.

[0101] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent modifications made based on the content of the present invention specification and drawings, or direct or indirect applications in related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A method for irrigation map acquisition, applied to an irrigation device, characterized in that, The method comprises: receiving an instruction to generate an irrigation map; identifying a preset target and tracking the preset target; obtaining depth information and corresponding deflection angle information of the preset target during tracking; generating an irrigation map of the irrigation area based on the depth information and the deflection angle information.

2. The method of claim 1, wherein, The step of identifying a preset target and tracking the preset target comprises: identifying a preset target through a camera, and controlling the rotation of the irrigation equipment when the preset target moves, so that the camera keeps identifying the preset target.

3. The method of drip map acquisition according to claim 2, wherein, The deflection angle information is determined according to the rotation angle of the irrigation equipment.

4. The method of claim 1, wherein, The depth information is obtained by a camera or a ranging sensor on the irrigation equipment.

5. The method of irrigation map acquisition according to any of claims 1-4, characterized in that, The step of generating an irrigation map of the irrigation area based on the depth information and the deflection angle information comprises:

6. The method of claim 1, wherein, determining whether the deflection angle information meets a preset condition, and if not, prompting the user that the map generation fails.

7. The method of claim 2, wherein, The preset condition comprises rotating the irrigation equipment for one round.

8. The method of claim 1, wherein, The step of identifying a preset target and tracking the preset target comprises:

9. The method of claim 1, wherein, if the preset target is lost, prompting the user or adjusting the rotation angle of the irrigation equipment.

10. An apparatus for acquiring irrigation maps, characterized in that, Further comprising inputting identification information of the preset target to be identified. The step of identifying a preset target and tracking the preset target comprises: identifying the movement direction of the preset target, and rotating the irrigation equipment based on the movement direction. The method comprises: a detector for identifying a preset target; a tracker for tracking the preset target; a sensor for obtaining depth information and corresponding deflection angle information of the preset target during tracking; a mapper for generating an irrigation map of the irrigation area based on the position information.

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