CN110612494A - Control method, control system and control end of autonomous operation carrier - Google Patents
Control method, control system and control end of autonomous operation carrier Download PDFInfo
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- CN110612494A CN110612494A CN201880014862.6A CN201880014862A CN110612494A CN 110612494 A CN110612494 A CN 110612494A CN 201880014862 A CN201880014862 A CN 201880014862A CN 110612494 A CN110612494 A CN 110612494A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
A method of controlling an autonomous working vehicle, comprising: acquiring parameter values of control parameters, wherein the control parameters comprise mu usage and operation intervals; acquiring a corresponding relation between operation parameters and the control parameters, wherein the operation parameters comprise a traveling speed and a spraying flow; acquiring a parameter value of the operation parameter, and automatically adjusting the spraying flow when the travelling speed is adjusted; when the spray flow rate is adjusted, the travel speed is automatically adjusted; and controlling the autonomous operation carrier to operate according to the parameter value of the operation parameter.
Description
Technical Field
The present disclosure relates to the field of autonomous operation carriers, and in particular, to a control method, a control system, and a control terminal for an autonomous operation carrier.
Background
In the prior art, a user can control an autonomous operation carrier, such as the flight state of an unmanned aerial vehicle, through a control end. To agricultural plant protection unmanned aerial vehicle, the user generally controls unmanned aerial vehicle through inputting airspeed and spraying flow isoparametric, but airspeed with spray the flow and can not directly reflect unmanned aerial vehicle's operation effect, it is not the real operation parameter of careing about of user, consequently can't carry out reasonable, accurate control to unmanned aerial vehicle's operation effect.
Disclosure of Invention
The embodiment of the disclosure provides a control method of an autonomous operation carrier, wherein the method comprises the following steps: acquiring parameter values of control parameters, wherein the control parameters comprise mu usage and operation intervals; acquiring a corresponding relation between operation parameters and the control parameters, wherein the operation parameters comprise a traveling speed and a spraying flow; acquiring a parameter value of the operation parameter, and automatically adjusting the spraying flow when the travelling speed is adjusted; when the spray flow rate is adjusted, the travel speed is automatically adjusted; and controlling the autonomous operation carrier to operate according to the parameter value of the operation parameter.
Another embodiment of the present disclosure provides a control system for an autonomous working medium, including: a memory for storing executable instructions; a processor to execute the executable instructions stored in the memory to perform the following: acquiring parameter values of control parameters, wherein the control parameters comprise mu usage and operation intervals; acquiring a corresponding relation between operation parameters and the control parameters, wherein the operation parameters comprise a traveling speed and a spraying flow; acquiring a parameter value of the operation parameter, and automatically adjusting the spraying flow when the travelling speed is adjusted; when the spray flow rate is adjusted, the travel speed is automatically adjusted; and controlling the autonomous operation carrier to operate according to the parameter value of the operation parameter.
Another embodiment of the present disclosure provides a computer-readable storage medium having stored thereon executable instructions that, when executed by one or more processors, may cause the one or more processors to: acquiring parameter values of control parameters, wherein the control parameters comprise mu usage and operation intervals; acquiring a corresponding relation between operation parameters and the control parameters, wherein the operation parameters comprise a traveling speed and a spraying flow; acquiring a parameter value of the operation parameter, and automatically adjusting the spraying flow when the travelling speed is adjusted; when the spray flow rate is adjusted, the travel speed is automatically adjusted; and controlling the autonomous operation carrier to operate according to the parameter value of the operation parameter.
Another embodiment of the present disclosure provides a control terminal of an autonomous working medium, including: and the control system of the autonomous working carrier adopts any one of the control systems.
The control method of autonomic operation carrier that this embodiment provided, what the user set up is these two parameters of mu quantity and operation interval, for directly setting up airspeed and spraying flow, this kind of mode is more directly perceived to the user, can control unmanned aerial vehicle's operation effect more accurately. The user can input and adjust the flying speed and the spraying flow through the operation icons of the user interface, and the operation parameters of the unmanned aerial vehicle can be controlled more intuitively and conveniently. Through adjusting flying speed, can improve unmanned aerial vehicle's operating efficiency very conveniently.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
fig. 1 is a flowchart of a control method according to an embodiment of the disclosure.
Fig. 2 is a schematic diagram of a user interface provided by a control method according to an embodiment of the present disclosure.
Fig. 3 is a schematic diagram of another user interface provided by the control method according to the embodiment of the disclosure.
Fig. 4 is a schematic diagram of another user interface provided by the control method according to the embodiment of the disclosure.
Fig. 5(a) is a schematic diagram of another user interface provided by a control method according to an embodiment of the present disclosure.
Fig. 5(b) is a schematic diagram of another user interface provided by the control method according to the embodiment of the disclosure.
Fig. 6(a) is a schematic diagram of another user interface provided by a control method according to an embodiment of the present disclosure.
Fig. 6(b) is a schematic diagram of another user interface provided by the control method according to the embodiment of the disclosure.
Fig. 7(a) is a schematic diagram of another user interface provided by a control method according to an embodiment of the present disclosure.
Fig. 7(b) is a schematic diagram of another user interface provided by the control method according to the embodiment of the disclosure.
FIG. 8 is a schematic diagram of a control system according to an embodiment of the disclosure.
Detailed Description
Technical solutions in the embodiments of the present disclosure will be clearly described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only some embodiments of the present disclosure, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
An embodiment of the present disclosure provides a control method for an autonomous operation carrier, which is applicable to various autonomous operation carriers. As shown in fig. 1, the control method includes the steps of:
s101: and acquiring parameter values of control parameters, wherein the control parameters comprise mu usage and operation intervals.
The execution main part of this embodiment can be the control end that is used for controlling agriculture and forestry plant protection unmanned aerial vehicle. Agriculture and forestry plant protection unmanned aerial vehicle's parameter has a lot, includes: spraying flow, spraying direction, flying speed, flying height, operation interval, mu dosage and the like. This wherein mu quantity is the most important parameter, and it directly influences unmanned aerial vehicle's effect, is also the parameter that the user really cared for. The operation interval, or be called the spray width, also is important parameter, for avoiding appearing heavy spray, the phenomenon of leaking spouting in the operation process, unmanned aerial vehicle should keep the operation interval stable at the operation in-process. This embodiment is called control parameter with mu quantity and operation interval combination, and control parameter has directly decided unmanned aerial vehicle's airspeed and has sprayed the flow, and airspeed and spraying the flow are the parameter of direct control unmanned aerial vehicle operation state.
The control method of the embodiment directly obtains the parameter value of the acre quantity of the unmanned aerial vehicle and the operation interval. Specifically, referring to fig. 2, the unmanned aerial vehicle control terminal of the embodiment is provided with a user interface, the user interface includes an operation icon for inputting a parameter value, and a user inputs the parameter value of the control parameter through the operation icon, so that the control terminal obtains the parameter value of the control parameter. The operation icons of the user interface shown in fig. 2 include: a text box for inputting the mu usage value and a text box for inputting the job space value. The user can input the parameters of the mu amount and the operation distance through the two text boxes.
The above is only an exemplary illustration, and the operation icon of the user interface of the embodiment is not limited to the text box, but may be any icon for inputting and adjusting parameter values, such as a slider, a scroll bar, a knob, a key, and the like. When these operation icons are used, the operation icons are also generally provided with a display frame that can display the parameter values in real time. In addition, the operation icon for inputting the mu usage value and the operation icon for inputting the job space value can adopt the same operation icon or different operation icons.
S201: and acquiring the corresponding relation between the operation parameters and the control parameters, wherein the operation parameters comprise flight speed and spraying flow.
Although the effect of mu quantity direct influence unmanned aerial vehicle is the parameter that the user really cared about, but its operation state that can not react unmanned aerial vehicle, that is to say, unmanned aerial vehicle can not directly fly and operate according to mu quantity, and the control end can not directly send the mu quantity for unmanned aerial vehicle. The flight speed and the spraying flow are the parameters for directly controlling the flight and the operation of the unmanned aerial vehicle, and the flight speed and the spraying flow are collectively called as operation parameters in the embodiment. To obtain the operation parameter values, the corresponding relationship between the operation parameters and the control parameters must be found.
The corresponding relation is shown as the following formula:
F/V＝W*M*60/T
wherein M represents the dosage per mu, and the unit is liter per mu; w represents the working distance in meters; v represents the flying speed in meters/second; f represents the spraying flow rate, and the unit is liter/minute; t is the conversion coefficient between mu and square meter, and can be generally 666.6.
According to the corresponding relation, the spraying flow rate and the flying speed are in direct proportion, and the proportional coefficient of the direct proportion is in direct proportion to the product of the mu dosage and the operation space. When the mu quantity and the operation interval are determined, the ratio of the spraying flow rate to the flying speed is as follows: the product of mu usage, operation spacing and coefficient 60/T; when the mu quantity and/or the operation interval are increased, and the product of the mu quantity and the operation interval is increased, the ratio of the spraying flow to the flying speed is larger; conversely, the smaller the ratio of spray flow to airspeed.
It should be noted that, in this embodiment, the execution sequence of step S101 and step S201 is not limited, and the parameter value of the control parameter may be obtained first, and then the corresponding relationship between the operation parameter and the control parameter is obtained; or acquiring the corresponding relation between the operation parameters and the control parameters, and then acquiring the parameter values of the control parameters; both may also be performed simultaneously.
S301: acquiring parameter values of the operation parameters, and automatically adjusting the spraying flow when the flying speed is adjusted; when the spray flow is adjusted, the airspeed is automatically adjusted.
After the corresponding relation between the operation parameter and the control parameter is obtained, the parameter value of the action parameter corresponding to the control parameter value can be obtained according to the corresponding relation. This embodiment not only can acquire the parameter value of action parameter, and further, when the operation parameter of unmanned aerial vehicle need change, can also adjust the parameter value of operation parameter.
Specifically, the user interface of the unmanned aerial vehicle control end of the embodiment includes an operation icon for inputting a work parameter value, and a user inputs the parameter value of the work parameter through the operation icon. Referring to fig. 3, the operation icons include: the device comprises a sliding bar for inputting and adjusting a flight speed value and a sliding bar for inputting and adjusting a spraying flow value, wherein the two sliding bars are both provided with a display frame capable of displaying the progress value of the sliding bars in real time. The user can input the parameter value of the job parameter by operating the two sliders, such as sliding, clicking, and the like.
In this embodiment, after the parameter value of the control parameter is determined, when the user adjusts the flight speed value, the spraying flow value is automatically adjusted accordingly. In the user interface shown in fig. 3, when the user slides and clicks the slider corresponding to the flying speed, the user interface displays the flying speed value corresponding to the slider to the user in real time, and the slider corresponding to the spraying flow rate slides along with the flying speed value, and displays the spraying flow rate value corresponding to the slider to the user in real time, and the control end obtains the spraying flow rate value through the slider. The spraying flow value displayed in real time is obtained by the parameter value, the corresponding relation and the flying speed value of the control parameter.
When the user adjusts the spraying flow value, the flying speed value is automatically adjusted along with the spraying flow value. In the user interface shown in fig. 3, when the user slides and clicks the slider corresponding to the spraying flow rate, the user interface displays the spraying flow rate value corresponding to the slider to the user in real time, and the slider corresponding to the flying speed slides along with the spraying flow rate value, and displays the flying speed value corresponding to the slider to the user in real time, and the control end acquires the flying speed value through the slider. The flight speed value displayed in real time is obtained by the parameter value and the corresponding relation of the control parameter and the spraying flow value.
In this embodiment, the user interface may also include only one operation icon for simultaneously inputting the flight speed and spray flow parameter values. As shown in fig. 4, the operation icon is a slider bar, and the slider bar is provided with a display frame capable of displaying the progress value of the slider bar in real time. The user may input the parameter value of the job parameter by an operation on the slider bar, such as sliding, clicking, and the like.
When the user slides and clicks the sliding strip, the user interface displays the flight speed value and the spraying flow value corresponding to the sliding strip to the user in real time, and the control end acquires the flight speed value and the spraying flow value through the sliding strip. And the flight speed value and the spraying flow value which are displayed in real time are obtained according to the parameter values of the control parameters and the corresponding relation.
The above description has been given by taking the slide bar as an example to input the flight speed and the spraying flow parameter values, the embodiment is not limited to this, and the operation icon may be any icon for inputting and adjusting the parameter values, such as a knob, a key, a scroll bar, and the like. When these operation icons are used, the operation icons are each provided with a display frame that can display the parameter values in real time.
As shown in fig. 5(a), the operation icons are two knobs for inputting and adjusting the flight speed value and the spraying flow value, and the two knobs are provided with display frames capable of displaying the rotation degree of the knobs in real time. Similar to the slide bar, the user may input the parameter value of the job parameter by operating, e.g., sliding, clicking, etc., the two knobs.
As shown in fig. 5(b), the operation icon is a knob for simultaneously inputting and adjusting the flight speed value and the spray flow rate value, and the knob is provided with a display frame capable of displaying the rotation degree of the knob in real time. Similar to the slider bar, the user may enter parameter values for the job parameters by manipulating, e.g., sliding, clicking, etc., the knob.
As shown in fig. 6(a), the operation icons are two groups of keys, which are respectively used for inputting and adjusting the flight speed value and the spraying flow value, two keys of each group are respectively marked with "+" and "-" marks, and are provided with parameter values corresponding to the keys which can be displayed in real time. The user can input the parameter value of the operation parameter by clicking the two groups of keys.
As shown in fig. 6(b), the operation icon is a set of keys for inputting and adjusting the flight speed value and the spraying flow rate value at the same time, and two keys of the set are marked with "+" and "-" marks respectively and are provided with parameter values corresponding to the keys which can be displayed in real time. The user can input the parameter value of the operation parameter by clicking the key.
As shown in fig. 7(a), the operation icon is two scroll bars for inputting and adjusting the flight speed value and the spraying flow value, and each scroll bar can display the progress value of the scroll bar in real time. The user can input the parameter value of the operation parameter by sliding the two scroll bars.
As shown in fig. 7(b), the operation icon is a scroll bar for simultaneously inputting and adjusting the flight speed value and the spray flow rate value, and the scroll bar can display the progress value of the scroll bar in real time. The user may enter parameter values for the job parameters by sliding the scroll bar.
In addition, similar to the input of the mu usage value and the work interval value, the operation icon for inputting the flight speed value and the operation icon for inputting the spraying flow value may be the same operation icon or different operation icons.
It should be noted that, although the present embodiment may adjust the flight speed value and the spray flow value, the adjustment range of the flight speed value and the spray flow value is limited, which is determined by the drone itself. It can be understood that the value range of the flying speed is determined by the unmanned aerial vehicle, because the flying speeds supported by different types or models of unmanned aerial vehicles are different, and the value range of the flying speed is determined when the unmanned aerial vehicle serving as a control object is determined. The value range of spraying the flow is confirmed by the nozzle of unmanned aerial vehicle installation, because the flow that sprays of different grade type or model nozzle is different, and the nozzle that adopts when unmanned aerial vehicle confirms the back, the value range of spraying the flow also confirms thereupon.
According to the corresponding relation between the control parameters and the operation parameters, the value ranges of the flying speed and the spraying flow are limited, so that the value ranges of the mu usage and the operation space are also limited. After the value ranges of the flight speed value and the spraying flow value are determined, the value ranges of the mu amount and the operation interval are also determined. According to the corresponding relation, the product of the mu dosage value and the operation spacing value is smaller than the ratio of the maximum spraying flow to the minimum flying speed and larger than the ratio of the minimum spraying flow to the maximum flying speed. Therefore, when the user inputs the parameter value of the control parameter through the operation icon of the user interface, the input parameter value of the control parameter cannot exceed the above range.
For example, when the flying speed V of the drone is in the range of 1 m/s to 7 m/s and the spraying flow F of the selected nozzle is in the range of 0.64 l/min to 1.8 l/min, the mu usage and the working distance are determinedThe range of the product W x M is: (F)min*T)/(Vmax60) to (F)max*T)/(Vmin60), substituting the data to obtain the range: 1.015-19.998. If the input operation spacing value is 5 meters, the minimum value of the input mu dosage is 0.20 liter/mu, and the maximum value is 4 liters/mu.
S401: and controlling the autonomous operation carrier to operate according to the parameter value of the operation parameter.
And after the parameter values of the operation parameters are obtained according to the steps, the control end sends the parameter values of the operation parameters to the unmanned aerial vehicle to control the unmanned aerial vehicle to operate. For example, when the user sets the acre rate to 0.6 liters/acre and the job spacing to 5.04 meters, the corresponding flight speed is 5.0 meters/second and the spray flow rate is 1.36 liters/minute. The control end sends a control signal with the flying speed of 5.0 m/s and the spraying flow rate of 1.36 l/min to the unmanned aerial vehicle, and the unmanned aerial vehicle operates at the flying speed of 5.0 m/s and the spraying flow rate of 1.36 l/min.
In the embodiment, through a user interface provided by a ground control end, a control icon of an adjustable operation parameter of the agricultural unmanned aerial vehicle is arranged on the user interface, a user can visually operate the control icon on the user interface, the ground control end determines control information input by the user according to the operation of the user on the user interface, the control information is specifically used for adjusting the operation parameter of the agricultural unmanned aerial vehicle, namely, the adjustment of the operation parameter of the agricultural unmanned aerial vehicle can be realized through the visual operation of the user on the user interface, and the intuitive adjustment of the operation parameter of the agricultural unmanned aerial vehicle by the user through the ground control end is realized
Through this embodiment, what the user need set up is these two parameters of mu quantity and operation interval, for directly setting up airspeed and spraying the flow, this kind of mode is more directly perceived to the user, can control unmanned aerial vehicle's operation effect more accurately. The user can input and adjust the flying speed and the spraying flow through the operation icons of the user interface, and the operation parameters of the unmanned aerial vehicle can be controlled more intuitively and conveniently. Through adjusting flying speed, can improve unmanned aerial vehicle's operating efficiency very conveniently.
Another embodiment of the present disclosure provides a control system for an autonomous operation carrier, which is suitable for various autonomous operation carriers, and in this embodiment, an agricultural and forestry plant protection unmanned aerial vehicle is taken as an example for description. As shown in fig. 8, the control system includes: a memory for storing executable instructions; a processor to execute the executable instructions stored in the memory to perform the following:
acquiring parameter values of control parameters, wherein the control parameters comprise mu usage and operation intervals; acquiring a corresponding relation between operation parameters and control parameters, wherein the operation parameters comprise flight speed and spraying flow; acquiring parameter values of operation parameters, and automatically adjusting the spraying flow when the flight speed is adjusted; when the spraying flow is adjusted, the flight speed is automatically adjusted; and controlling the autonomous operation carrier to operate according to the parameter value of the operation parameter.
In this embodiment, the corresponding relationship between the spraying flow rate and the flying speed is a direct proportion relationship. The ratio of the spraying flow rate to the flying speed is in direct proportion to the product of the mu usage and the operation space. The parameter value of the mu amount and the parameter value of the operation interval meet the following conditions: the product of the parameter value of the mu usage and the parameter value of the working distance is between a first threshold value and a second threshold value, wherein the first threshold value is determined by the maximum value of the spraying flow and the minimum value of the flying speed, and the second threshold value is determined by the minimum value of the spraying flow and the maximum value of the flying speed; the maximum and minimum values of the spray flow rate and the maximum and minimum values of the flying speed are determined by the autonomous working vehicle itself.
In this embodiment, the autonomous working carrier is controlled by a control end, and the control end is provided with a user interface; the step of obtaining the parameter value of the control parameter comprises: and acquiring the parameter value of the control parameter through the user interface. The user interface includes: an operation icon for obtaining the mu usage parameter value; and the operation icon is used for acquiring the operation distance parameter value. The operation icon adopts at least one of the following modes: text box, slide bar, scroll bar, knob, key.
In this embodiment, the autonomous working carrier is controlled by a control end, and the control end is provided with a user interface; the step of obtaining the parameter value of the operation parameter comprises the following steps: and acquiring the parameter value of the operation parameter through the user interface. The user interface includes: and the at least one operation icon is used for inputting the parameter values of the flight speed and the spraying flow.
The operation icons can be two, including: the operation icon is used for inputting the flight speed parameter value, and the operation icon is used for obtaining the spraying flow parameter value; or the operation icon is used for inputting the spraying flow parameter value and the operation icon is used for acquiring the flight speed parameter value.
The operation icon may also be one icon, and is used for acquiring the flight speed parameter value and the spraying flow parameter value simultaneously.
The operation icon adopts at least one of the following modes: text box, slide bar, scroll bar, knob, key.
The specific principle and implementation of the control end provided by this embodiment are similar to those of the embodiments shown in fig. 1 to 7, and are not described herein again.
The control system of autonomic operation carrier of this embodiment, what the user need set up is these two parameters of mu quantity and operation interval, for directly setting up airspeed and spraying flow, this kind of mode is more directly perceived to the user, can control unmanned aerial vehicle's operation effect more accurately. The user can input and adjust the flying speed and the spraying flow through the operation icons of the user interface, and the operation parameters of the unmanned aerial vehicle can be controlled more intuitively and conveniently. Through adjusting flying speed, can improve unmanned aerial vehicle's operating efficiency very conveniently.
Another embodiment of the present disclosure provides a computer-readable storage medium storing executable instructions that, when executed by one or more processors, may cause the one or more processors to:
acquiring parameter values of control parameters, wherein the control parameters comprise mu usage and operation intervals;
acquiring a corresponding relation between operation parameters and the control parameters, wherein the operation parameters comprise a traveling speed and a spraying flow;
acquiring a parameter value of the operation parameter, and automatically adjusting the spraying flow when the travelling speed is adjusted; when the spray flow rate is adjusted, the travel speed is automatically adjusted; and
and controlling the autonomous operation carrier to operate according to the parameter value of the operation parameter.
The executable instructions, when executed by one or more processors, may further cause the one or more processors to perform other operations, and specific principles and implementations of the other operations are similar to the methods described in the foregoing method embodiments, and are not described herein again.
The computer-readable storage medium of this embodiment, what the user need set up is these two parameters of mu quantity and operation interval, and for directly setting up airspeed and spraying flow, this kind of mode is more directly perceived to the user, can control unmanned aerial vehicle's operation effect more accurately. The user can input and adjust the flying speed and the spraying flow through the operation icons of the user interface, and the operation parameters of the unmanned aerial vehicle can be controlled more intuitively and conveniently. Through adjusting flying speed, can improve unmanned aerial vehicle's operating efficiency very conveniently.
Another embodiment of the present disclosure provides a control end of an autonomous working carrier, including a control system of the autonomous working carrier, where the control system employs the control system of the above embodiment.
The control end of the embodiment may be any one of the following: head-mounted display glasses (VR glasses, VR helmet, etc.), a mobile phone, a remote controller (such as a remote controller with a display screen), an intelligent bracelet, a tablet computer, etc.
The autonomous operation carrier can be any vehicle capable of autonomous operation, such as an unmanned aerial vehicle, an unmanned vehicle and the like. When the autonomous working vehicle is a vehicle traveling on the land or on the water, the flight speed in the above embodiments refers to the traveling speed of these vehicles.
The control end of this embodiment, what the user need set up is these two parameters of mu quantity and operation interval, for directly setting up airspeed and spraying the flow, this kind of mode is more directly perceived to the user, can control unmanned aerial vehicle's operation effect more accurately. The user can input and adjust the flying speed and the spraying flow through the operation icons of the user interface, and the operation parameters of the unmanned aerial vehicle can be controlled more intuitively and conveniently. Through adjusting flying speed, can improve unmanned aerial vehicle's operating efficiency very conveniently.
In the several embodiments provided in the present disclosure, it should be understood that the disclosed method and system may be implemented in other ways. For example, the above-described system embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, systems or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present disclosure, and not for limiting the same; while the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.
Claims (28)
1. A method of controlling an autonomous working vehicle, comprising:
acquiring parameter values of control parameters, wherein the control parameters comprise mu usage and operation intervals;
acquiring a corresponding relation between operation parameters and the control parameters, wherein the operation parameters comprise a traveling speed and a spraying flow;
acquiring a parameter value of the operation parameter, and automatically adjusting the spraying flow when the travelling speed is adjusted; when the spray flow rate is adjusted, the travel speed is automatically adjusted; and
and controlling the autonomous operation carrier to operate according to the parameter value of the operation parameter.
2. The control method according to claim 1, wherein the correspondence relationship is: the spray flow rate is directly proportional to the travel speed.
3. The control method according to claim 2, wherein a ratio of the spraying flow rate to the traveling speed is proportional to a product of the acre usage and the working interval.
4. The control method according to claim 3, wherein the parameter value of the acre quantity and the parameter value of the working distance satisfy the following condition:
the product of the parameter value of the acre quantity and the parameter value of the working distance is between a first threshold value and a second threshold value, wherein the first threshold value is determined by the maximum value of the spraying flow rate and the minimum value of the travelling speed, and the second threshold value is determined by the minimum value of the spraying flow rate and the maximum value of the travelling speed;
the maximum and minimum values of the spray flow rate, and the maximum and minimum values of the travel speed are determined by the autonomous working vehicle itself.
5. The control method according to claim 1, wherein the autonomous working vehicle is controlled using a control terminal provided with a user interface;
the step of obtaining the parameter value of the control parameter comprises: and acquiring the parameter value of the control parameter through the user interface.
6. The control method of claim 5, wherein the user interface comprises:
an operation icon for obtaining the mu usage parameter value; and
and the operation icon is used for acquiring the operation distance parameter value.
7. The control method according to claim 6, wherein the operation icon employs at least one of: text box, slide bar, scroll bar, knob, key.
8. The control method according to claim 1, wherein the autonomous working vehicle is controlled using a control terminal provided with a user interface;
the step of obtaining the parameter value of the operation parameter comprises the following steps: and acquiring the parameter value of the operation parameter through the user interface.
9. The control method of claim 8, wherein the user interface comprises: at least one operation icon for inputting the parameter values of the traveling speed and the spraying flow.
10. The control method of claim 9, wherein the operation icons are two, including:
an operation icon for inputting the travel speed parameter value; and an operation icon for acquiring the spraying flow parameter value.
11. The control method of claim 9, wherein the operation icons are two, including:
an operation icon for inputting the spraying flow parameter value; and an operation icon for acquiring the travel speed parameter value.
12. The control method of claim 9, wherein the operation icon is one for simultaneously acquiring the travel speed parameter value and the spray flow rate parameter value.
13. The control method according to claim 9, wherein the operation icon employs at least one of: text box, slide bar, scroll bar, knob, key.
14. A control system for an autonomous work vehicle, comprising:
a memory for storing executable instructions;
a processor to execute the executable instructions stored in the memory to perform the following:
acquiring parameter values of control parameters, wherein the control parameters comprise mu usage and operation intervals;
acquiring a corresponding relation between operation parameters and the control parameters, wherein the operation parameters comprise a traveling speed and a spraying flow;
acquiring a parameter value of the operation parameter, and automatically adjusting the spraying flow when the travelling speed is adjusted; when the spray flow rate is adjusted, the travel speed is automatically adjusted; and
and controlling the autonomous operation carrier to operate according to the parameter value of the operation parameter.
15. The control system of claim 14, wherein the correspondence is: the spray flow rate is directly proportional to the travel speed.
16. The control system of claim 15, wherein the ratio of the spray rate to the travel speed is proportional to the product of the acre rate and the job spacing.
17. The control system of claim 16, wherein the parameter value for the acre rate and the parameter value for the job spacing satisfy the following condition:
the product of the parameter value of the acre quantity and the parameter value of the working distance is between a first threshold value and a second threshold value, wherein the first threshold value is determined by the maximum value of the spraying flow rate and the minimum value of the travelling speed, and the second threshold value is determined by the minimum value of the spraying flow rate and the maximum value of the travelling speed;
the maximum and minimum values of the spray flow rate, and the maximum and minimum values of the travel speed are determined by the autonomous working vehicle itself.
18. The control system of claim 14, wherein the autonomous work vehicle is controlled using a control terminal, the control terminal being provided with a user interface;
the step of obtaining the parameter value of the control parameter comprises: and acquiring the parameter value of the control parameter through the user interface.
19. The control system of claim 18, wherein the user interface comprises:
an operation icon for obtaining the mu usage parameter value; and
and the operation icon is used for acquiring the operation distance parameter value.
20. The control system of claim 19, wherein the operation icon employs at least one of: text box, slide bar, scroll bar, knob, key.
21. The control system of claim 14, wherein the autonomous work vehicle is controlled using a control terminal, the control terminal being provided with a user interface;
the step of obtaining the parameter value of the operation parameter comprises the following steps: and acquiring the parameter value of the operation parameter through the user interface.
22. The control system of claim 21, wherein the user interface comprises: at least one operation icon for inputting the parameter values of the traveling speed and the spraying flow.
23. The control system of claim 22, wherein the operation icons are two, including:
an operation icon for inputting the travel speed parameter value; and an operation icon for acquiring the spraying flow parameter value.
24. The control system of claim 22, wherein the operation icons are two, including:
an operation icon for inputting the spraying flow parameter value; and an operation icon for acquiring the travel speed parameter value.
25. The control system of claim 22, wherein the handle icon is one for obtaining the travel speed parameter value and the spray flow parameter value simultaneously.
26. The control system of claim 22, wherein the operation icon employs at least one of: text box, slide bar, scroll bar, knob, key.
27. A computer-readable storage medium having stored therein executable instructions that, when executed by one or more processors, may cause the one or more processors to:
acquiring parameter values of control parameters, wherein the control parameters comprise mu usage and operation intervals;
acquiring a corresponding relation between operation parameters and the control parameters, wherein the operation parameters comprise a traveling speed and a spraying flow;
acquiring a parameter value of the operation parameter, and automatically adjusting the spraying flow when the travelling speed is adjusted; when the spray flow rate is adjusted, the travel speed is automatically adjusted; and
and controlling the autonomous operation carrier to operate according to the parameter value of the operation parameter.
28. A control terminal of an autonomous working vehicle, comprising: a control system for an autonomous working vehicle, said control system for an autonomous working vehicle employing the control system of any of claims 14 to 26.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2018/081168 WO2019183899A1 (en) | 2018-03-29 | 2018-03-29 | Control method, control system and control terminal for autonomous work carrier |
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| CN110612494A true CN110612494A (en) | 2019-12-24 |
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| WO (1) | WO2019183899A1 (en) |
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