Surrounding auxiliary method and device and electronic equipment

Abstract

The invention provides an enclosure auxiliary method and device and electronic equipment, and relates to the field of plant protection. In the method, when the electronic equipment determines to execute manual edge sweeping operation on a land parcel, an operation picture shot by an unmanned aerial vehicle at a forward view angle is received; determining the operation width of the unmanned aerial vehicle during operation; according to the operation width, an area mark of an operation estimation area is displayed in the operation picture, the operation estimation area represents a to-be-operated area corresponding to the current operation direction, and the area mark is used for guiding a user to control the operation direction of the unmanned aerial vehicle. Therefore, under the auxiliary action of the area marks, a user can conveniently control the unmanned aerial vehicle to work close to the edge of the land parcel.

Description

Technical Field

[0001] This application relates to the field of plant protection, and more specifically, to a land enclosure assistance method, device, and electronic equipment. Background Technology

[0002] With the rapid development of technology, modern agricultural production methods have shifted from traditional manual labor to intelligent and automated operation modes. This allows users to easily operate drones remotely using advanced remote control technology, significantly improving the efficiency of agricultural operations. However, before remotely controlling drones, it is necessary to perform precise edge-scanning of the land plot to map its specific boundaries.

[0003] Currently, when controlling a drone to scan the edges of a plot of land, it's necessary to consider the drone's operating width when moving along the plot's boundary. This means maintaining a certain distance between the drone and the plot's boundary, but currently, this distance depends entirely on the user's manual control. Therefore, in practice, it has been found that because this scanning method relies entirely on the user's manual control, problems such as incomplete coverage of the plot's edge or exceeding the edge of the plot may occur during the scanning process. Summary of the Invention

[0004] The purpose of this application is to provide a land-marking assistance method, device, and electronic device that can display area markers of the estimated work area in the work footage captured by a drone, so that users can easily control the drone to work close to the edge of the land plot with the assistance of the area markers.

[0005] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows:

[0006] Firstly, this application provides a land-claiming assistance method, the method comprising:

[0007] Receive images of the drone operating along the edge of the plot, captured simultaneously.

[0008] Determine the operating width of the drone during operation;

[0009] Based on the work width, a region marker for the estimated work area is displayed on the work screen. The estimated work area represents the work area to be worked in corresponding to the current work direction. The region marker is used to guide the user to control the work direction of the drone.

[0010] Optionally, the plot includes a plot boundary, and the area marker includes at least a boundary line of the estimated operation area near the plot boundary, the boundary line extending along the operation direction of the UAV.

[0011] Optionally, the area marker is a boundary line near the plot boundary, and displaying the area marker in the work screen according to the work width includes:

[0012] Identify the location of the land parcel boundary from the operation screen;

[0013] Based on the work width, determine the boundary position of the estimated work area;

[0014] Based on the location of the boundary of the work prediction area and the location of the land parcel boundary, a target boundary close to the land parcel boundary is determined from the boundary of the work prediction area.

[0015] Display a boundary line of the estimated work area along the target boundary.

[0016] Optionally, the area marker is a tile covering the estimated work area, and displaying the area marker of the estimated work area in the work screen according to the work width includes:

[0017] Based on the work width, determine the range of the estimated work area within the work screen;

[0018] Based on the area range, generate tiles that cover the estimated work area.

[0019] Optionally, the method further includes:

[0020] Identify the land parcel boundaries from the aforementioned work screen;

[0021] Determine the target boundary that is close to the boundary of the plot from the boundary of the work prediction area;

[0022] Obtain the deviation between the target boundary and the plot boundary;

[0023] Display prompt information based on the deviation.

[0024] Optionally, the deviation includes the boundary distance between the target boundary and the plot boundary, and the step of displaying prompt information based on the deviation includes:

[0025] If the boundary spacing is less than the distance threshold, a first prompt message will be displayed;

[0026] If the boundary spacing is greater than or equal to the distance threshold, a second prompt message will be displayed.

[0027] Optionally, the boundary spacing is the shortest distance between the estimated work area and the boundary of the plot, which is intercepted by the edge of the work screen.

[0028] Optionally, the method further includes:

[0029] Obtain the edge trajectory collected by the UAV during the manual edge sweeping operation of the land plot;

[0030] Based on the edge trajectory, the vertices in the edge trajectory are determined, wherein the corner of the edge trajectory at the vertex is greater than a corner threshold;

[0031] Based on the vertices, the coverage area of ​​the plot is determined.

[0032] Optionally, determining the vertices of the plot based on the edge trajectory includes:

[0033] For any three consecutive trajectory points of the edge trajectory, if the included angle formed by connecting the three trajectory points in sequence is greater than the turning angle threshold, then the vertex is determined based on the three trajectory points.

[0034] Optionally, acquiring the edge trajectory collected by the UAV during its operation along the edge of the plot includes:

[0035] Obtain the original trajectory of the UAV, wherein the original trajectory includes the resupply trajectory of the UAV to and from the resupply point during its operation along the edge of the plot;

[0036] The edge trajectory is obtained by removing the replenishment trajectory from the original trajectory.

[0037] Optionally, the coverage area of ​​the plot is determined based on the vertex, including:

[0038] Based on the vertices, the initial outline of the land parcel is determined;

[0039] The initial outline is expanded by half the working width to obtain the target outline of the plot;

[0040] Based on the target outline, the coverage area of ​​the plot is determined.

[0041] Optionally, determining the operating width of the drone during operation includes:

[0042] The altitude of the drone's operating end and the spraying speed of the operating end are obtained;

[0043] The operating width of the drone is determined based on the height and the spraying speed.

[0044] Optionally, determining the operating width of the drone during operation includes:

[0045] Obtain the preset trajectory spacing of the UAV, wherein the trajectory spacing represents the spacing between the operation trajectories when the UAV plans its operation trajectory;

[0046] The trajectory spacing is determined as the operating width of the UAV during operation.

[0047] Secondly, this application also provides a land enclosure assist device, the device comprising:

[0048] The image receiving module is used to receive images of the operation simultaneously captured by the drone while it is working along the edge of the plot.

[0049] The operation width module is used to determine the operation width of the drone during operation;

[0050] The operation assistance module is used to display a region marker of the estimated operation area in the operation screen according to the operation width, wherein the estimated operation area represents the area to be operated corresponding to the current operation direction, and the region marker is used to guide the user to control the operation direction of the drone.

[0051] Optionally, the plot includes a plot boundary, and the area marker includes at least a boundary line of the estimated operation area near the plot boundary, the boundary line extending along the operation direction of the UAV.

[0052] Optionally, the area is marked as a boundary line near the boundary of the plot, and the operation assistance module is further specifically used for:

[0053] Identify the location of the land parcel boundary from the operation screen;

[0054] Based on the work width, determine the boundary position of the estimated work area;

[0055] Based on the location of the boundary of the work prediction area and the location of the land parcel boundary, a target boundary close to the land parcel boundary is determined from the boundary of the work prediction area.

[0056] Display a boundary line of the estimated work area along the target boundary.

[0057] Optionally, the area is marked as a tile covering the estimated work area, and the work assistance module is further specifically used for:

[0058] Based on the work width, determine the range of the estimated work area within the work screen;

[0059] Based on the area range, generate tiles that cover the estimated work area.

[0060] Optionally, the job assistance module is further used for:

[0061] Identify the land parcel boundaries from the aforementioned work screen;

[0062] Determine the target boundary that is close to the boundary of the plot from the boundary of the work prediction area;

[0063] Obtain the deviation between the target boundary and the plot boundary;

[0064] Display prompt information based on the deviation.

[0065] Optionally, the deviation includes the boundary distance between the target boundary and the plot boundary, and the operation assistance module is further specifically used for:

[0066] If the boundary spacing is less than the distance threshold, a first prompt message will be displayed;

[0067] If the boundary spacing is greater than or equal to the distance threshold, a second prompt message will be displayed.

[0068] Optionally, the boundary spacing is the shortest distance between the estimated work area and the boundary of the plot, which is intercepted by the edge of the work screen.

[0069] Optionally, the job assistance module is further used for:

[0070] Obtain the edge trajectory collected by the drone during the manual edge sweeping operation on the plot;

[0071] Based on the edge trajectory, the vertices in the edge trajectory are determined, wherein the corner of the edge trajectory at the vertex is greater than a corner threshold;

[0072] Based on the vertices, the coverage area of ​​the plot is determined.

[0073] Optionally, the task assistance module is further specifically used for:

[0074] For any three consecutive trajectory points of the edge trajectory, if the included angle formed by connecting the three trajectory points in sequence is greater than the turning angle threshold, then the vertex is determined based on the three trajectory points.

[0075] Optionally, the task assistance module is further specifically used for:

[0076] Obtain the original trajectory of the UAV, wherein the original trajectory includes the resupply trajectory of the UAV to and from the resupply point during its operation along the edge of the plot;

[0077] The edge trajectory is obtained by removing the replenishment trajectory from the original trajectory.

[0078] Optionally, the task assistance module is further specifically used for:

[0079] Based on the vertices, the initial outline of the land parcel is determined;

[0080] The initial outline is expanded by half the working width to obtain the target outline of the plot;

[0081] Based on the target outline, the coverage area of ​​the plot is determined.

[0082] Optionally, the work width module is further specifically used for:

[0083] The altitude of the drone's operating end and the spraying speed of the operating end are obtained;

[0084] The operating width of the drone is determined based on the height and the spraying speed.

[0085] Optionally, the work width module is further specifically used for:

[0086] Obtain the preset trajectory spacing of the UAV, wherein the trajectory spacing represents the spacing between the operation trajectories when the UAV plans its operation trajectory;

[0087] The trajectory spacing is determined as the operating width of the UAV during operation.

[0088] Secondly, this application also provides an electronic device, comprising:

[0089] Memory, used to store one or more programs;

[0090] processor;

[0091] The method is implemented when the one or more programs are executed by the processor.

[0092] Thirdly, this application also provides a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the method described thereon.

[0093] Compared with the prior art, this application has the following beneficial effects:

[0094] This application provides a land-marking assistance method, apparatus, and electronic device. In this method, when the electronic device determines that manual edge-sweeping operations are to be performed on a plot of land, it receives an operational image captured by a drone from a forward-looking perspective; determines the operational width of the drone during operation; and displays a region marker for the estimated operational area on the operational image based on the operational width. The estimated operational area represents the area to be worked on corresponding to the current operational direction, and the region marker guides the user in controlling the drone's operational direction. Thus, with the assistance of the region marker, it is convenient for the user to control the drone to operate close to the edge of the plot of land. Attached Figure Description

[0095] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0096] Figure 1 This is one of the flowcharts for the land-claiming assistance method provided in the embodiments of this application;

[0097] Figure 2 A schematic diagram of the spray pattern provided for an embodiment of this application;

[0098] Figure 3 A schematic diagram of the flight path spacing provided in the embodiments of this application;

[0099] Figure 4 One of the schematic diagrams of the area markings provided in the embodiments of this application;

[0100] Figure 5 A second schematic diagram of the area markings provided in the embodiments of this application;

[0101] Figure 6 This is the third schematic diagram of the area markings provided in the embodiments of this application;

[0102] Figure 7 The second flowchart of the land enclosure assistance method provided in the embodiments of this application;

[0103] Figure 8 A schematic diagram of the boundary spacing provided for embodiments of this application;

[0104] Figure 9 A schematic diagram illustrating the principle of vertex recognition provided in an embodiment of this application;

[0105] Figure 10 This is a schematic diagram of the land-claiming auxiliary device provided in the embodiments of this application;

[0106] Figure 11 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0107] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0108] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0109] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0110] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. In addition, the terms "first," "second," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0111] Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0112] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0113] Based on the above statement, as described in the background section, before conducting operations on a plot of land, it is usually necessary to perform edge scanning to delineate the area where the plot is located. Taking drones as an example, related technologies have proposed a hovering and marking method, in which the drone is controlled to hover at each vertex of the plot and then perform the marking operation. This operation method can ensure extremely high positioning accuracy, but because it requires the drone to maintain a stable attitude in the air for a long time to perform the marking, the flight time is significantly increased, thus reducing the efficiency of the operation. At the same time, frequent hovering operations also put a strain on the drone's battery life.

[0114] The related technology further proposes a manual marking operation method. In this mode, the drone is first controlled to fly around the boundary of the plot while spraying or seeding. After the edge of the plot is scanned, the actual flight path of the drone can be seen on the accompanying APP. Users can manually mark points on the actual flight path to delineate the plot and complete its creation. However, in practice, it was found that the manual marking method requires consideration of the drone's operating width during the edge scanning process, that is, controlling the distance between the drone and the plot boundary to a certain extent. But currently, this distance depends entirely on the user's operational feel, which leads to problems such as incomplete coverage of the plot edge and exceeding the edge of the plot during the edge scanning process.

[0115] Based on the discovery of the aforementioned technical problems, the inventors, through creative labor, proposed the following technical solutions to solve or improve these problems. It should be noted that the deficiencies in the solutions of the prior art are the result of the inventors' practical experience and careful research. Therefore, the discovery process of the aforementioned problems and the solutions proposed in the embodiments of this application below should be considered contributions made by the inventors to this application during the inventive process, and should not be construed as technical content known to those skilled in the art.

[0116] In view of the above-mentioned technical problems, this embodiment provides a land-marking assistance method. In this method, when an electronic device determines that a manual edge-sweeping operation is to be performed on a plot of land, it receives the operation image captured by a drone from a forward-looking perspective; determines the operation width of the drone during operation; and displays a region marker of the estimated operation area on the operation image based on the operation width. The estimated operation area represents the area to be worked on corresponding to the current operation direction, and the region marker is used to guide the user in controlling the drone's operation direction. Thus, with the assistance of the region marker, it is convenient for the user to control the drone to operate close to the edge of the plot of land.

[0117] It should be noted that the aforementioned plots refer to farmland, orchards, or other areas requiring specific operations (such as spraying pesticides, fertilizing, or sowing), which are typically pre-defined. During agricultural production, users can remotely control drones to perform operations on these plots, such as crop monitoring, precision fertilization, pest and disease control, and data collection, thereby significantly improving the efficiency and precision of agricultural operations while reducing reliance on manual labor.

[0118] Furthermore, the electronic device implementing this method can be a remote controller paired with the drone, which has a display screen capable of receiving and displaying real-time images captured by the drone during operation. Of course, in other embodiments, the electronic device can also be a mobile terminal, tablet computer, laptop computer, desktop computer, or server capable of communicating with the drone. These devices can display real-time images captured by the drone and remotely control the drone.

[0119] When a server is used as an electronic device to implement the method, the server can be a single server or a group of servers. The server group can be centralized or distributed (e.g., the servers can be a distributed system). In some embodiments, the server can be local or remote relative to a user terminal. In some embodiments, the server can be implemented on a cloud platform; by way of example only, a cloud platform can include private cloud, public cloud, hybrid cloud, community cloud, distributed cloud, inter-cloud, multi-cloud, etc., or any combination thereof. In some embodiments, the server can be implemented on an electronic device having one or more components.

[0120] To make the solution provided in this embodiment clearer, it is assumed below that the electronic device implementing the method is a remote control, and in conjunction with... Figure 1 Each step of the method is described in detail. However, it should be understood that the operations in the flowchart may not be implemented in sequence, and steps without logical contextual relationships may be reversed in order or implemented simultaneously. Furthermore, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowchart, or remove one or more operations from the flowchart. Figure 1 As shown, the method includes:

[0121] S1 receives the operation footage taken by the drone from a forward-looking perspective when it is determined that manual edge sweeping operation will be performed on the plot.

[0122] Continuing with the example of a drone, the drone is equipped with a high-definition camera to capture ground images during operation. The image is then encoded and compressed before being transmitted to the remote controller via the drone's wireless communication module. Upon receiving the video data, the remote controller decompresses it using its built-in decoding chip, restoring the original image, which is then displayed on the remote controller's screen. Furthermore, the drone's forward-looking perspective can be either a straight-forward view or a forward-downward view. In a straight-forward view, the high-definition camera is typically placed horizontally, ensuring the drone's field of view aligns with its flight direction. A forward-downward view requires the high-definition camera to be tilted at a certain angle to capture a wider area of ​​the ground.

[0123] In this embodiment, to facilitate user control of the drone, auxiliary information to aid drone control needs to be overlaid on the original image. Therefore, see below. Figure 1 This land-grabbing assistance method also includes:

[0124] S2 determines the operating width of the drone during operation.

[0125] The study found that the operating width of the drone is related to the operating height of the operating end and the spraying speed. Therefore, as an optional implementation of step S2, it includes:

[0126] S2-1A, obtains the altitude of the drone's operating end and the spraying speed of the operating end.

[0127] S2-2A determines the working width of the drone operation based on the altitude and spraying speed.

[0128] For example, let's continue with the example of drones. Figure 2 As shown, when pesticide 12 is sprayed by a drone, the higher the nozzle 11 (the operating end) is above the ground 13, the greater the spray width (the width of the spray) will be. This is because the distribution range of pesticide 12 expands with increasing height, ensuring sufficient ground coverage. Furthermore, there is a positive correlation between the rotational speed of the nozzle 11 and the spray width. That is, the faster the nozzle 11 rotates, the greater the centrifugal force generated by the pesticide 12, thus increasing the spray width. It can be understood that the height above the ground 13, the rotational speed of the nozzle 11, and the spray width satisfy a certain mapping relationship. This mapping relationship can be a formula derived from experience, or a calculation model fitted through extensive data analysis. Therefore, this calculation model can be used to determine the spray width of the drone in its current state.

[0129] Furthermore, the research also revealed that the trajectory spacing preset by the user for the drone is close to the drone's operating width. Therefore, as another optional implementation method for step S2, it includes:

[0130] S2-1B, obtains the preset trajectory spacing of the UAV.

[0131] The trajectory spacing refers to the distance between the operational trajectories when the UAV plans its operational trajectory.

[0132] S2-2B determines the trajectory spacing as the operating width of the drone during operation.

[0133] For example, let's continue with the example of drones. Figure 3 As shown, when spraying pesticides on plot 21, a flight path 22 needs to be planned for the drone based on the start and end points of the operation. The flight path spacing refers to the vertical distance between the drone's flight paths 22, i.e., the interval between two adjacent spraying areas. This parameter is crucial for ensuring uniform coverage throughout the entire operation area. Specifically, when the user sets the flight path spacing, they are actually controlling the density and overlap of the spray coverage. If the flight path spacing is set too small, it means there is more overlap between spraying areas, which can provide more comprehensive coverage, but may also lead to increased pesticide consumption; conversely, if the flight path spacing is set too large, there is less overlap between spraying areas, which may result in some areas not being fully covered. It can be understood that the flight path spacing is actually an empirical distance accumulated by the user over a long period of operation.

[0134] Based on the above embodiments' description of the working width, please refer to... Figure 1 This land-grabbing assistance method also includes:

[0135] S3 displays the area markers for the estimated work area on the work screen based on the work width.

[0136] The estimated work area represents the area to be worked in corresponding to the current work direction, and the area marker is used to guide the user in controlling the drone's work direction. This embodiment provides several styles of area markers. As an optional implementation, the land parcel includes a land parcel boundary, and the area marker at least includes the boundary line of the estimated work area near the land parcel boundary, with the boundary line extending along the drone's work direction.

[0137] To further illustrate this, let's continue using drones as an example, and assume that the aforementioned area is marked as the boundary line of the estimated operation area. For example, such as... Figure 4 As shown in the image, the drone simultaneously captured footage of spraying pesticides on rice (31). Two boundary lines (32) are overlaid on this footage; the area between these two boundary lines (32) represents the drone's current estimated operating area. This can be understood as follows: if the drone continues in its current direction, the estimated operating area marked by boundary lines (32) will be sprayed with pesticides.

[0138] therefore, Figure 4The visualization shown helps users intuitively understand the current operation status and the future spraying area. However, it is not difficult to see that the estimated operation area defined by the boundary line 32 is a certain distance from the plot boundary 33. In order to avoid the situation where the edge of the plot is not fully covered, the user can control the drone's forward direction to deflect to the right, so that the boundary 35 of the estimated operation area is aligned with the plot boundary 33.

[0139] Because users focus more on the boundary line closest to the plot when controlling the drone's flight direction, therefore, as Figure 5 In the optional implementation shown, the area is marked by a boundary line close to the boundary of the plot. Therefore, this embodiment provides the following optional implementation for step S3:

[0140] S3-1A identifies the location of the plot boundary from the work screen.

[0141] To address this, a pre-trained image recognition model can be deployed in the remote control, which can identify plot boundaries in the operation image.

[0142] S3-2A: Determine the boundary location of the estimated work area based on the work width.

[0143] It should be understood that the working width cannot be directly used as the width of the estimated working area. Instead, it needs to be mapped through a certain scaling ratio. Therefore, the drone's remote controller can obtain the scaling ratio of the working width; then, based on the scaling ratio, the width of the estimated working area in the working screen is determined; finally, the boundary position of the estimated working area is determined based on the area width.

[0144] It should be noted that this scaling ratio is related to the height of the drone's operating end above the ground and the camera's shooting parameters. Therefore, a large amount of data can be used to fit the mapping relationship between the scaling ratio and the height of the operating end above the ground and the camera's shooting parameters.

[0145] Furthermore, when the drone's operating end is at a fixed height above the ground, and the camera's shooting parameters are also fixed, the scaling ratio between the operating width and the estimated operating area can be obtained through calibration. For example, by photographing a ruler of known length with the camera, and then measuring the length of the ruler in the camera's captured image, the scaling ratio between the image and the actual scene can be calculated.

[0146] Furthermore, it should be noted that when determining the boundary positions of the estimated work area based on the work width, the boundary positions of the estimated work area change according to its display position on the work screen. Specifically, the boundary positions of the estimated work area can be obtained by extending half the width of the area to the left and right of its display position. The display position of the estimated work area is determined by the relative position between the camera capturing the work image and the work terminal. Continuing with the drone example, when the camera and nozzle are on the same vertical plane, the display position of the estimated work area is in the center of the work screen. Conversely, if the camera and nozzle are not on the same vertical plane, the display position of the estimated work area needs to be adjusted accordingly. For example, if the camera is installed on the left side of the drone and the nozzle is on the right side, the display position of the estimated work area needs to be shifted appropriately to the right from the center of the work screen. Since the relative position between the camera and nozzle is fixed during the drone design phase, the display position of the estimated work area can be obtained in advance through calibration.

[0147] Based on the above embodiments' description of the boundary location of the work prediction area, step S3 further includes:

[0148] S3-3A: Based on the location of the boundary of the work prediction area and the location of the land parcel boundary, determine the target boundary close to the land parcel boundary from the boundary of the work prediction area.

[0149] S3-4A displays a boundary line along the target boundary of the estimated work area.

[0150] Thus, the target boundary near the plot boundary can be determined from the two boundaries of the work area through the above implementation method, and a boundary line of the estimated work area can be displayed along the target boundary.

[0151] In this embodiment, the area marker can also be a tile covering the estimated work area. Therefore, this embodiment also provides another optional implementation of step S3:

[0152] S3-1B: Determine the area of ​​the estimated work area within the work screen based on the work width.

[0153] To address this, the remote control scales the work width using a scaling factor to obtain the estimated work area width. Then, based on the display position of the estimated work area, it extends to the left and right sides by half the area width to obtain the boundary positions of the two sides of the estimated work area. Finally, based on the extension length of the two sides, the area range of the estimated work area in the work screen can be determined.

[0154] S3-2B generates tiles covering the estimated area of ​​the operation based on the area range.

[0155] The shape of the map tile matches the shape of the estimated work area. Furthermore, when implementing this solution, technicians can adaptively adjust the tile's color according to the type of crop, as long as it provides sufficient contrast. Additionally, the tile can be set to have a certain degree of transparency to facilitate user observation of the crops covered by the tile.

[0156] To further illustrate this, let's continue using drones as an example, and assume that the aforementioned area is marked as the coverage area of ​​the estimated operational area. For example, such as... Figure 6 As shown in the image, the drone is simultaneously capturing footage of spraying pesticides on rice (type 31). A semi-transparent tile 34 is overlaid on this footage; the area covered by tile 34 represents the estimated spray area in the drone's current direction. In other words, if the drone continues in its current direction, the area covered by tile 34 will be sprayed with pesticides.

[0157] therefore, Figure 6 The visualization shown helps users intuitively understand the current operation status and the future spraying area. However, it is not difficult to see that the right boundary of tile 34 is a certain distance from the plot boundary 33. To avoid inadequate coverage of the plot edge, users can control the drone to veer to the right in the direction of travel, so that the boundary 35 of the estimated operation area aligns with the plot boundary 33.

[0158] In this embodiment, to help users determine whether the current working direction of the equipment is appropriate, intuitive prompts are provided. For example... Figure 7 As shown, this embodiment also provides the following optional implementation methods:

[0159] S4 identifies the land parcel boundaries from the work screen.

[0160] S5, determine the target boundary close to the plot boundary from the boundary of the work prediction area.

[0161] In response, the remote controller can obtain the positions of the two boundaries of the estimated operation area along the drone's flight direction in the operation screen, compare them with the positions of the plot boundaries, and thus determine the target boundary that is close to the plot boundary.

[0162] S6, obtain the deviation between the target boundary and the plot boundary.

[0163] S7 displays a prompt message based on the deviation.

[0164] In this embodiment, the deviation in step S7 can include the boundary distance between the target boundary and the plot boundary. However, in other embodiments, the deviation can be measured in other ways, such as the degree of overlap between the target boundary and the plot boundary. This boundary distance can be any distance between the target boundary and the plot boundary. In one example, this boundary distance is the shortest distance between the estimated work area and the plot boundary captured by the edge of the work screen. If the drone's remote controller detects that the boundary distance is less than a distance threshold, a first prompt message is displayed. Conversely, if the remote controller detects that the boundary distance is greater than or equal to the distance threshold, a second prompt message is displayed. Thus, the change between the first and second prompt messages prompts the user whether the work direction needs to be adjusted.

[0165] For example, the first prompt could indicate correct orientation by setting the area marker color to green, while the second prompt could indicate the need for orientation adjustment by setting the area marker color to red. Continuing... Figure 4 The following is an example of the work screen shown. Figure 8 As shown, the boundary distance between the estimated work area boundary 35 and the plot boundary 33 at the edge of the image represents the distance between the rightmost edge of the drone's spray pattern and the plot boundary. Therefore, if the boundary distance is greater than the distance threshold, it means that the rightmost edge of the drone's spray pattern is far from the plot boundary. If the drone's flight direction is not adjusted, the pesticide sprayed by the drone will not cover the edge of the plot. Thus, when the user controls the drone operation, the area marker color changes from green to red, indicating that the device's operating direction needs to be adjusted accordingly. Furthermore, the first and second prompts can also be texts with different semantics. For example, the first prompt might be "Correct direction," and the second prompt might be "Incorrect direction."

[0166] Thus, with the assistance of the aforementioned area markings, the user controls the drone to operate and scan along the edge of the plot, thereby obtaining the edge trajectory of the operation around the plot. The land-marking assistance method provided in this implementation also includes:

[0167] S8 acquires the edge trajectory collected by the drone during manual edge sweeping of the plot.

[0168] It should be noted that when the user manually controls the drone to sweep the edge using a remote control, the drone will move along the boundary of the plot, roughly following the boundary, but not completely touching it, maintaining a certain distance. Therefore, the edge trajectory of the drone during the sweeping process has a similar shape to the plot. However, in practice, it has been found that since the drone continues to operate while sweeping the edge, it may need to return for resupply midway. Therefore, this implementation also provides optional implementation methods for step S8 and below:

[0169] S8-1, acquire the original trajectory of the drone.

[0170] The original trajectory includes the resupply trajectory of the drone to and from the resupply point during its operation along the edge of the plot.

[0171] S8-2, remove the supply trajectory from the original trajectory to obtain the edge trajectory.

[0172] For example, let's continue with the drone example. When using a drone to sweep the edges of a large plot of land, it may not be possible to complete the sweep in one flight, meaning that it needs to return to a resupply point to add pesticides midway through the sweep. Therefore, when identifying vertices in the edge trajectory, the resupply trajectory in the original trajectory needs to be removed first; otherwise, the identified vertices may not be on the plot boundary.

[0173] Based on the above embodiments' description of edge trajectories, the land-claiming assistance method provided in this embodiment further includes:

[0174] S9: Determine the vertices in the edge trajectory based on the edge trajectory.

[0175] Among these issues, the turning angle at the vertex of the edge trajectory exceeds a turning angle threshold. To address this, related technologies have proposed a manual marking method. Continuing with the drone example, after the drone scans the boundary of a plot, the actual flight trajectory can be viewed on the accompanying app. Users can manually mark points on the actual flight trajectory to identify the vertices of the plot, thus delineating the plot and completing its creation. However, in practice, it has been found that when encountering irregular plots or a large number of plots requiring work, the manual marking method is cumbersome and reduces work efficiency to some extent. Therefore, in this embodiment, for any three consecutive trajectory points on the edge trajectory, if the remote controller detects that the included angle formed by the sequential connection of the three trajectory points is greater than the turning angle threshold, then the vertex is determined based on the three trajectory points. For example, the trajectory point located in the middle position among the three trajectory points is taken as the vertex.

[0176] For example, see Figure 9 The edge trajectory 42 of plot 21 is shown, with four vertices 43 located at the turning points of the edge trajectory 42. As can be seen from the enlarged view, for any three consecutive trajectory points 45, if these three points 45 are not located at the turning points of the edge trajectory, the angle formed by connecting the three points 45 sequentially is close to 180°; conversely, if these three points 45 are located at the turning points of the edge trajectory, the angle formed by connecting the three points 45 sequentially is greater than 180°. For example, in the enlarged view, the angle formed by connecting the three trajectory points 45 sequentially is 257°. Thus, the vertices in the edge trajectory 42 can be automatically identified in this way without manual marking by the user.

[0177] Based on the above embodiments' description of vertices in the edge trajectory, the land-claiming assistance method provided in this embodiment further includes:

[0178] S10: Determine the coverage area of ​​the plot based on the vertices.

[0179] In practice, it was found that some drones operate with a relatively large working width, resulting in a significant gap between the edge trajectory obtained from the scanning and the actual boundary of the plot. For further details, please refer to... Figure 9 Since there is a gap of half the working width between the edge trajectory 42 in the figure and the boundary of the plot, this embodiment also provides the following optional implementation of step S10:

[0180] S10-1, Based on the vertices, determine the initial outline of the plot.

[0181] S10-2, expand the initial outline by half the working width to obtain the target outline of the plot.

[0182] S10-3, Determine the coverage area of ​​the plot based on the target outline.

[0183] For example, let's continue with the example of drone spraying pesticides. During the edge-marking operation, the drone does not always fly close to the plot boundary, but maintains a certain distance from it. This distance is equivalent to half the width of the drone's spraying area to ensure that no area within the plot is missed or over-sprayed. As a result, the plot boundary drawn by the drone on its flight path is inside the actual plot boundary, leading to a plot area that is slightly smaller than the actual plot area.

[0184] To address this, this embodiment proposes a correction measure: after the user controls the drone to scan the edge, if the remote controller detects that the drone's spray width is greater than a set threshold, it means that there is a significant difference between the initial contour formed by connecting vertices in the edge track and the actual boundary of the plot. In this case, the remote controller will automatically extend the initial contour outward by half a spray width, so that the final target contour coincides with the world boundary of the plot, thereby obtaining the actual coverage area of ​​the plot.

[0185] Based on the same inventive concept as the land-claiming assistance method provided in this embodiment, this embodiment also provides a land-claiming assistance device. This device includes at least one software functional module that can be stored in a memory or embedded in an electronic device. The processor in the electronic device executes the executable module stored in the memory 60. For example, the software functional modules and computer programs included in this device. Please refer to... Figure 10 Functionally, the device may include:

[0186] The image receiving module 51 is used to receive the operation image captured by the drone from the forward-looking perspective when it is determined that manual edge sweeping operation is to be performed on the plot.

[0187] The operation width module 52 is used to determine the operation width of the drone during operation.

[0188] The operation assistance module 53 is used to display the area marker of the estimated operation area on the operation screen according to the operation width. The estimated operation area represents the area to be operated corresponding to the current operation direction. The area marker is used to guide the user to control the operation direction of the drone.

[0189] In this embodiment, the image receiving module 51 is used to implement... Figure 1 In step S1, the job width module 52 is used to implement... Figure 1 In step S2, the job assistance module 53 is used to implement... Figure 1 Step S3 in the above process; therefore, for a detailed description of each of the above modules, please refer to the specific implementation of the corresponding steps. Furthermore, it should be noted that, since it shares the same inventive concept as the land enclosure assist method, this land enclosure assist device can also implement other steps or sub-steps of the method through the above modules or other modules, which will not be elaborated upon in this embodiment.

[0190] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0191] It should also be understood that if the above embodiments are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

[0192] Therefore, this embodiment also provides a storage medium, which is a computer-readable storage medium. The storage medium stores a computer program, which, when executed by a processor, implements the land-claiming assistance method provided in this embodiment. The storage medium can be any medium capable of storing program code, such as a USB flash drive, external hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0193] This embodiment provides an electronic device for implementing a land-claiming assistance method. For example... Figure 11 As shown, the electronic device may include a processor 61 and a memory 60. The memory 60, the processor 61, and other possible components are electrically connected directly or indirectly to each other via a system hub 62 to achieve data transmission or interaction. Furthermore, the memory 60 stores a computer program, and the processor implements the land-claiming assistance method provided in this embodiment by reading and executing the computer program corresponding to the above-described embodiments in the memory 60.

[0194] The memory 60 can be an information recording device based on any electronic, magnetic, optical, or other physical principles, used to record execution instructions, data, etc. In some embodiments, the memory 60 can be, but is not limited to, volatile memory, non-volatile memory, memory drive, etc.

[0195] In some embodiments, the volatile memory may be random access memory (RAM); in some embodiments, the non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory, etc.; in some embodiments, the storage drive may be a disk drive, solid-state drive, any type of storage disk (such as optical disc, DVD, etc.), or similar storage media, or a combination thereof.

[0196] The processor 61 may be an integrated circuit chip with signal processing capabilities, and the processor may include one or more processing cores (e.g., a single-core processor or a multi-core processor). By way of example only, the processor described above may include a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), an Application Specific Instruction-set Processor (ASIP), a Graphics Processing Unit (GPU), a Physics Processing Unit (PPU), a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), a Programmable Logic Device (PLD), a controller, a microcontroller unit, a Reduced Instruction Set Computing (RISC) computer, or a microprocessor, or any combination thereof.

[0197] Understandable. Figure 11 The structure shown is for illustrative purposes only. Electronic devices may also have more advanced features. Figure 11 Showing more or fewer components, or having with Figure 11 The different configurations shown. Figure 11 The components shown can be implemented using hardware, software, or a combination thereof.

[0198] For example, in some embodiments, the electronic device further includes a communication unit for communicating with the drone, the communication unit being used to send and receive data via a network. In some embodiments, the network may include a wired network, a wireless network, a fiber optic network, a telecommunications network, an intranet, the Internet, a local area network (LAN), a wide area network (WAN), a wireless local area network (WLAN), a metropolitan area network (MAN), a public switched telephone network (PSTN), a Bluetooth network, a ZigBee network, or a near field communication (NFC) network, or any combination thereof. In some embodiments, the network may include one or more network access points. For example, the network may include wired or wireless network access points, such as base stations and / or network switching nodes, through which one or more components of the service request processing system can connect to the network to exchange data and / or information.

[0199] It should be understood that the apparatus and methods disclosed in the above embodiments can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0200] The above descriptions are merely various embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A land-claiming assistance method, characterized in that, The method includes: When it is determined that manual edge sweeping operations will be carried out on the plot, the operation footage taken by the drone from the forward-looking perspective is received; Determine the operating width of the drone during operation; Based on the work width, a region marker for the estimated work area is displayed on the work screen. The estimated work area represents the work area to be worked in corresponding to the current work direction. The region marker is used to guide the user to control the work direction of the drone.

2. The land enclosure assistance method according to claim 1, characterized in that, The plot of land includes a plot boundary, and the area marker includes at least the boundary line of the estimated operation area near the plot boundary, the boundary line extending along the operation direction of the UAV.

3. The land enclosure assistance method according to claim 2, characterized in that, The area marker is a boundary line close to the boundary of the plot. Displaying the area marker on the work screen according to the work width includes: Identify the location of the land parcel boundary from the operation screen; Based on the work width, determine the boundary position of the estimated work area; Based on the location of the boundary of the work prediction area and the location of the land parcel boundary, a target boundary close to the land parcel boundary is determined from the boundary of the work prediction area. Display a boundary line of the estimated work area along the target boundary.

4. The land enclosure assistance method according to claim 1, characterized in that, The area marker is a tile covering the estimated work area. Displaying the area marker of the estimated work area in the work screen according to the work width includes: Based on the work width, determine the range of the estimated work area within the work screen; Based on the area range, generate tiles that cover the estimated work area.

5. The land enclosure assistance method according to claim 1, characterized in that, The method further includes: Identify the land parcel boundaries from the aforementioned work screen; Determine the target boundary that is close to the boundary of the plot from the boundary of the work prediction area; Obtain the deviation between the target boundary and the plot boundary; Display prompt information based on the deviation.

6. The land enclosure assistance method according to claim 5, characterized in that, The deviation includes the boundary distance between the target boundary and the plot boundary, and the step of displaying prompt information based on the deviation includes: If the boundary spacing is less than the distance threshold, a first prompt message will be displayed; If the boundary spacing is greater than or equal to the distance threshold, a second prompt message will be displayed.

7. The land enclosure assistance method according to claim 6, characterized in that, The boundary spacing is the shortest distance between the estimated work area and the boundary of the plot, as intercepted by the edge of the work screen.

8. The land enclosure assistance method according to claim 1, characterized in that, The method further includes: Obtain the edge trajectory collected by the drone during the manual edge sweeping operation on the plot; Based on the edge trajectory, the vertices in the edge trajectory are determined, wherein the corner of the edge trajectory at the vertex is greater than a corner threshold; Based on the vertices, the coverage area of ​​the plot is determined.

9. The land enclosure assistance method according to claim 8, characterized in that, Based on the edge trajectory, the vertices in the edge trajectory are determined, including: For any three consecutive trajectory points of the edge trajectory, if the included angle formed by connecting the three trajectory points in sequence is greater than the turning angle threshold, then the vertex is determined based on the three trajectory points.

10. The land enclosure assistance method according to claim 8, characterized in that, Acquiring the edge trajectory collected by the UAV during its operation along the edge of the plot includes: Obtain the original trajectory of the UAV, wherein the original trajectory includes the resupply trajectory of the UAV to and from the resupply point during its operation along the edge of the plot; The edge trajectory is obtained by removing the replenishment trajectory from the original trajectory.

11. The land enclosure assistance method according to claim 8, characterized in that, Based on the vertices, the coverage area of ​​the plot is determined, including: Based on the vertices, the initial outline of the land parcel is determined; The initial outline is expanded by half the working width to obtain the target outline of the plot; Based on the target outline, the coverage area of ​​the plot is determined.

12. The land enclosure assistance method according to claim 1, characterized in that, Determining the operating width of the drone during operation includes: The altitude of the drone's operating end and the spraying speed of the operating end are obtained; The operating width of the drone is determined based on the height and the spraying speed.

13. The land enclosure assistance method according to claim 1, characterized in that, Determining the operating width of the drone during operation includes: Obtain the preset trajectory spacing of the UAV, wherein the trajectory spacing represents the spacing between the operation trajectories when the UAV plans its operation trajectory; The trajectory spacing is determined as the operating width of the UAV during operation.

14. A land-claiming auxiliary device, characterized in that, The device includes: The image receiving module is used to receive the operation image captured by the drone from the forward-looking perspective when it is determined that manual edge sweeping operation is to be performed on the plot. The operation width module is used to determine the operation width of the drone during operation; An auxiliary marking module is used to display a region mark of the estimated work area in the work screen according to the work width, wherein the estimated work area represents the work area to be worked corresponding to the current work direction, and the region mark is used to guide the user to control the work direction of the drone.

15. An electronic device, characterized in that, include: Memory, used to store one or more programs; processor; When the one or more programs are executed by the processor, the method as described in any one of claims 1-13 is implemented.

16. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1-13.

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