WO2019183899A1

WO2019183899A1 - Control method, control system and control terminal for autonomous work carrier

Info

Publication number: WO2019183899A1
Application number: PCT/CN2018/081168
Authority: WO
Inventors: 黄宗继; 徐节文
Original assignee: 深圳市大疆软件科技有限公司
Priority date: 2018-03-29
Filing date: 2018-03-29
Publication date: 2019-10-03
Also published as: CN110612494A

Abstract

A control method for an autonomous work carrier, comprising: obtaining parameter values of control parameters, the control parameters comprising dosage per mu and work spacing; obtaining the correspondences between working parameters and the control parameters, the working parameters comprising a travel speed and a spray flow rate; obtaining parameter values of the working parameters, automatically adjusting the spray flow rate when the travel speed is adjusted, and automatically adjusting the travel speed when the spray flow rate is adjusted; and controlling, according to the parameter values of the working parameters, the autonomous work carrier to work.

Description

Control method, control system and control end of autonomous operation carrier

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 end of an autonomous operation carrier.

Background technique

In the prior art, the user can control the flight status of the autonomous work carrier, such as the drone, through the control terminal. For agricultural plant protection drones, the user generally controls the drone by inputting parameters such as flight speed and spray flow, but the flight speed and the spray flow cannot directly reflect the operation effect of the drone, which is not the work that the user really cares about. The parameters, therefore, can not reasonably and accurately control the operation of the drone.

Public content

The embodiment of the present disclosure provides a method for controlling an autonomous work carrier, which includes: acquiring a parameter value of a control parameter, where the control parameter includes an amount of acre and a job spacing; and obtaining a correspondence between the operation parameter and the control parameter, The working parameters include a traveling speed and a spraying flow rate; obtaining a parameter value of the working parameter, the spraying flow rate is automatically adjusted when the traveling speed is adjusted; and the traveling speed is automatically adjusted when the spraying flow rate is adjusted And controlling the autonomous work carrier to perform an operation according to the parameter value of the job parameter.

Another embodiment of the present disclosure provides a control system for an autonomous job carrier, including: a memory for storing executable instructions; and a processor for executing the executable instructions stored in the memory to execute The operation is as follows: obtaining a parameter value of the control parameter, where the control parameter includes a quantity of the acre and a working distance; and obtaining a correspondence between the operation parameter and the control parameter, the operation parameter includes a traveling speed and a spraying flow rate; and acquiring the working parameter a parameter value, the spray flow rate is automatically adjusted when the travel speed is adjusted; the travel speed is automatically adjusted when the spray flow rate is adjusted; and the autonomous work carrier is controlled according to a parameter value of the work parameter Do the homework.

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, can cause the one or more processes to be processed The device performs the following operations: obtaining a parameter value of the control parameter, where the control parameter includes an acreage amount and a job spacing; acquiring a correspondence between the operation parameter and the control parameter, the operation parameter including a traveling speed and a spraying flow rate; and acquiring the operation a parameter value of the parameter, the spray flow rate is automatically adjusted when the travel speed is adjusted; the travel speed is automatically adjusted when the spray flow rate is adjusted; and the autonomy is controlled according to a parameter value of the work parameter The work carrier performs work.

Another embodiment of the present disclosure provides a control end of an autonomous work carrier, comprising: a control system of an autonomous work carrier, and the control system of the autonomous work carrier adopts any of the above control systems.

In the control method of the autonomous working carrier provided by the embodiment, the user sets the two parameters of the amount of the acre and the spacing of the operation, and the method is more intuitive and more accurate to control the user than directly setting the flight speed and the spraying flow rate. The effect of man-machine work. The user can input and adjust the flight speed and the spray flow through the operation icon of the user interface, which can control the operation parameters of the drone more intuitively and conveniently. By adjusting the flight speed, it is convenient to increase the efficiency of the drone.

DRAWINGS

The drawings are intended to provide a further understanding of the disclosure, and are in the In the drawing:

FIG. 1 is a flowchart of a control method according to an embodiment of the present disclosure.

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 a control method according to an embodiment of the present disclosure.

FIG. 4 is a schematic diagram of another user interface provided by a control method according to an embodiment of the present disclosure.

FIG. 5(a) is a schematic diagram of another user interface provided by the control method of the embodiment of the present disclosure.

FIG. 5(b) is a schematic diagram of another user interface provided by the control method of the embodiment of the present disclosure.

FIG. 6(a) is a schematic diagram of another user interface provided by the control method of the embodiment of the present disclosure.

FIG. 6(b) is a schematic diagram of another user interface provided by the control method of the embodiment of the present disclosure.

FIG. 7(a) is a schematic diagram of another user interface provided by the control method of the embodiment of the present disclosure.

FIG. 7(b) is a schematic diagram of another user interface provided by the control method of the embodiment of the present disclosure.

FIG. 8 is a schematic diagram of a control system according to an embodiment of the present disclosure.

detailed description

The technical solutions in the embodiments of the present disclosure will be clearly described in conjunction with the drawings in the embodiments of the present disclosure. It is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present disclosure without departing from the inventive scope are the scope of the disclosure.

An embodiment of the present disclosure provides a method for controlling an autonomous work carrier, which is applicable to various autonomous work carriers. In the present embodiment, the agricultural forestry plant protection drone is taken as an example for description. As shown in FIG. 1, the control method includes the following steps:

S101: Obtain a parameter value of a control parameter, where the control parameter includes an acre amount and a working interval.

The executive body of this embodiment may be a control terminal for controlling a forestry plant protection drone. There are many parameters for agricultural and forestry plant protection drones, including: spraying flow, spraying direction, flight speed, flying height, working distance, and amount of acre. Among them, the amount of acre is the most important parameter, which directly affects the effect of the drone, and is also a parameter that the user really cares about. The working distance, or the spray width, is also an important parameter. In order to avoid the phenomenon of heavy spray and leakage during the operation, the drone should keep the working distance stable during the operation. In this embodiment, the amount of the acre and the spacing of the operation are collectively referred to as a control parameter, and the control parameter directly determines the flight speed and the spray flow rate of the drone, and the flight speed and the spray flow rate are parameters directly controlling the operation state of the drone.

In the control method of the embodiment, the parameter value of the draughter amount of the drone and the working pitch are directly obtained. Specifically, as shown in FIG. 2, the UAV control end of the embodiment is provided with a user interface, and the user interface includes an operation icon for inputting a parameter value, and the user inputs a parameter value of the control parameter through the operation icon, so that The control terminal acquires 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 amount of the usage amount and a text box for inputting the value of the job spacing. The user can input the parameter values of the acreage and the job spacing through the above two text boxes.

The above is only an illustrative description. The operation icon of the user interface in this embodiment is not limited to a text box, and may be any icon for inputting and adjusting parameter values, such as a slide bar, a scroll bar, a knob, a button, and the like. When these operation icons are used, the operation icons are generally equipped with a display box that can display parameter values in real time. In addition, the operation icon for inputting the amount of the acre amount and the operation icon for inputting the value of the job spacing may adopt the same operation icon, or may use different operation icons respectively.

S201: Acquire a correspondence between a job parameter and the control parameter, where the job parameter includes a flight speed and a spray flow rate.

Although the amount of acre directly affects the effect of the drone, it is a parameter that the user really cares about, but it does not reflect the operation state of the drone. That is to say, the drone cannot directly fly and operate according to the amount of acre, and the control terminal cannot Send the amount of the mu directly to the drone. The flight speed and the spray flow rate are parameters for directly controlling the flight and operation of the drone. In this embodiment, the two are collectively referred to as the work parameters. To get the job parameter value, you must first find the correspondence between the job parameter and the control parameter.

The correspondence is as follows:

F/V=W*M*60/T

Where M is the amount of mu, the unit is liter/mu; W is the working distance, the unit is meter; V is the flight speed, the unit is meter/second; F is the spray flow, the unit is liter/minute; T is the mu and square meter. The conversion factor between them can generally be taken as 666.6.

It can be seen from the above correspondence that the spray flow rate is proportional to the flight speed, and the proportional coefficient of the proportional relationship is proportional to the product of the amount of the acre and the distance of the work. When the value of the amount of acre and the spacing of the operation are determined, the ratio of the spray flow rate to the flight speed is the product of the amount of the acre, the spacing of the operation, and the coefficient of 60/T; when the value of the amount of the acre and/or the spacing of the work increases, the acre is increased. When the product of the amount and the working distance is increased, the ratio of the spray flow rate to the flight speed is larger; on the contrary, the ratio of the spray flow rate to the flight speed is smaller.

It should be noted that, in this embodiment, the execution order of step S101 and step S201 is not limited. The parameter value of the control parameter may be acquired first, and then the correspondence between the operation parameter and the control parameter may be acquired; or the operation parameter may be acquired first. Control the corresponding relationship of the parameters, and then obtain the parameter values of the control parameters; the two can also be executed simultaneously.

S301: Acquire a parameter value of the job parameter, when the flight speed is adjusted, the spray flow rate is automatically adjusted; when the spray flow rate is adjusted, the flight speed is automatically adjusted.

After obtaining the correspondence between the job parameters and the control parameters, the parameter values of the action parameters corresponding to the control parameter values may be obtained according to the correspondence relationship. In this embodiment, not only the parameter value of the action parameter can be obtained, but further, when the work parameter of the drone needs to be changed, the parameter value of the work parameter can also be adjusted.

Specifically, the user interface of the control end of the UAV of the embodiment includes an operation icon for inputting a job parameter value, and the user inputs a parameter value of the job parameter through the operation icon. Referring to FIG. 3, the operation icons include: a slide bar for inputting and adjusting the flight speed value, and a slide bar for inputting and adjusting the spray flow value, both of which are provided with real-time display of the slide bar progress value. Display box. The user can input the parameter values of the job parameters by operating the above 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 spray flow value is automatically adjusted accordingly. In the user interface shown in FIG. 3, when the user slides and clicks the slide bar corresponding to the flight speed, the user interface displays the flight speed value corresponding to the slide bar to the user in real time, and the slider corresponding to the spray flow also follows Sliding, and displaying the spray flow value corresponding to the slide bar to the user in real time, and the control end obtains the spray flow value through the slide bar. The real-time displayed spray flow value is obtained from the parameter value of the control parameter, the correspondence relationship, and the flight speed value.

When the user adjusts the spray flow value, the flight speed value is automatically adjusted accordingly. In the user interface shown in FIG. 3, when the user slides and clicks the slider corresponding to the spray flow, the user interface displays the spray flow value corresponding to the slide bar to the user in real time, and the slide bar corresponding to the flight speed is also followed. Sliding, and displaying the flight speed value corresponding to the sliding bar to the user in real time, and the control end acquires the flight speed value through the sliding bar. The real-time displayed flight speed value is obtained from the parameter value of the control parameter, the correspondence relationship, and the spray flow value.

In this embodiment, the user interface may also include only one operation icon for simultaneously inputting the flight speed and the spray flow parameter value. As shown in FIG. 4, the operation icon is a slide bar, and the slide bar is provided with a display frame that can display the progress value of the slide bar in real time. The user can input parameter values of the job parameters by operation of the slider, such as sliding, clicking, and the like.

When the user slides and clicks the slider, the user interface displays the flight speed value and the spray flow value corresponding to the slider to the user in real time, and the control terminal acquires the flight speed value and the spray flow value through the slider. The real-time displayed flight speed value and the spray flow value are obtained according to parameter values of the control parameters and corresponding relationships.

The following describes the method for inputting the flight speed and the spray flow parameter by using the slide bar as an example. The embodiment is not limited thereto, and the operation icon may also be any icon for inputting and adjusting parameter values such as a knob, a button, a scroll bar, and the like. . When these operation icons are used, the operation icons are equipped with display boxes that can display 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 inputting and adjusting the spray flow value, and the two knobs are provided with a display capable of displaying the degree of rotation of the knob in real time. frame. Similar to the slide bar, the user can input the parameter values of the job parameters by operating the above two knobs, such as sliding, clicking, and the like.

As shown in Fig. 5(b), the operation icon is a knob for simultaneously inputting and adjusting the flying speed value and the spray flow value, and the knob is provided with a display frame which can display the degree of rotation of the knob in real time. Similar to the slider, the user can input the parameter value of the job parameter by operating the knob, such as sliding, clicking, and the like.

As shown in Fig. 6(a), the operation icons are two sets of buttons for inputting and adjusting the flight speed value and inputting and adjusting the spray flow value. The two buttons of each group are marked with "+" and "-" respectively. "Mark, and is equipped with a parameter value that can display the button in real time. The user can input the parameter values of the job parameters by clicking the above two groups of buttons.

As shown in FIG. 6(b), the operation icon is a set of buttons for simultaneously inputting and adjusting a flight speed value and a spray flow value, and the two buttons of the group are marked with a “+” and a “-” mark, respectively. It is equipped with a parameter value that can display the button correspondingly in real time. The user can enter the parameter values of the job parameters by clicking the above buttons.

As shown in FIG. 7(a), the operation icons are two scroll bars for inputting and adjusting flight speed values and inputting and adjusting spray flow values, and each scroll bar can display the progress value of the scroll bar in real time. The user can enter the parameter values of the job parameters by sliding the above two scroll bars.

As shown in FIG. 7(b), the operation icon is a scroll bar for simultaneously inputting and adjusting a flight speed value and a spray flow value, and the scroll bar can display the progress value of the scroll bar in real time. The user can enter a parameter value of the job parameter by sliding the scroll bar.

In addition, similar to the input of the acre value and the job spacing value, the operation icon for inputting the flight speed value and the operation icon for inputting the spray flow value may adopt the same operation icon, or may respectively adopt different operation icons.

It should be noted that although the present embodiment can 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 range of flight speed is determined by the drone itself, because the flight speeds supported by different types or models of drones are different. When the drone as the control object is determined, the range of flight speed is also It will be confirmed. The range of spray flow is determined by the nozzles installed by the drone. Because the spray flow of different types or models of nozzles is different, when the nozzles used by the drone are determined, the range of the spray flow is determined.

According to the correspondence between the control parameters and the operating parameters, it can be known that since the range of flight speed and the flow rate of the spray flow is limited, the range of the amount of the acre and the distance of the work is limited. When the range of values of the flight speed value and the spray flow value is determined, the range of the amount of the acre and the spacing of the work is also determined. It can be known from the above correspondence that the product of the amount of the acre and the value of the work spacing should be less than the ratio of the maximum value of the spray flow to the minimum value of the flight speed, which is greater than the ratio of the minimum spray flow rate to the maximum flight speed. Therefore, when the user inputs the parameter value of the control parameter through the operation icon of the user interface, the input control parameter parameter value cannot exceed the above range.

For example, when the flying speed V of the drone ranges from 1 m/s to 7 m/s, the spray flow rate F of the selected nozzle ranges from 0.64 liters/minute to 1.8 liters/minute. The product of the job spacing W*M ranges from (F _min *T)/(V _max *60) to (F _max *T)/(V _min *60), and the above data can be substituted into the range: 1.015- 19.998. If the input job spacing value is 5 meters, the minimum amount of input that can be input is 0.20 liters/mu, and the maximum value is 4 liters/mu.

S401: Control the autonomous work carrier to perform an operation according to the parameter value of the job parameter.

After obtaining the parameter value of the job parameter according to the above steps, the control terminal sends the parameter value of the job parameter to the drone to control the drone to perform the operation. For example, when the user sets the arable amount to 0.6 liter/mu and the working pitch to 5.04 meters, the corresponding flying speed is 5.0 m/sec and the spraying flow rate is 1.36 liter/min. The control terminal sends control signals with a flight speed of 5.0 m/s and a spray flow rate of 1.36 L/min to the drone. The drone is operated at a flight speed of 5,0 m/s and a spray flow of 1.36 l/min. operation.

In this embodiment, a user interface provided by the ground control terminal is provided, and a control icon of the operational parameter of the agricultural unmanned aerial vehicle can be set on the user interface, and the user can intuitively operate the control icon on the user interface, and the ground control end is based on the user. For the operation of the user interface, the control information input by the user is determined, and the control information is specifically used to adjust the operating parameters of the agricultural unmanned aerial vehicle, that is, the user can intuitively operate the user interface to realize the operating parameters of the agricultural unmanned aerial vehicle. Adjustment, realizes the user's intuitive adjustment of the operating parameters of the UAV through the ground control terminal

In this embodiment, the user needs to set the two parameters of the amount of the acre and the spacing of the operation. Compared with directly setting the flight speed and the spray flow rate, the method is more intuitive to the user and can more accurately control the operation effect of the drone. The user can input and adjust the flight speed and the spray flow through the operation icon of the user interface, which can control the operation parameters of the drone more intuitively and conveniently. By adjusting the flight speed, it is convenient to increase the efficiency of the drone.

Another embodiment of the present disclosure provides a control system for an autonomous work carrier, which is applicable to various autonomous work carriers. In the present embodiment, the agriculture and forestry plant protection drone is taken as an example for description. As shown in FIG. 8, the control system includes: a memory for storing executable instructions; and a processor for executing the executable instructions stored in the memory to perform the following operations:

Obtaining the parameter value of the control parameter, the control parameter includes the amount of the acre and the spacing of the operation; obtaining the correspondence between the operation parameter and the control parameter, the operation parameter includes the flight speed and the spray flow rate; and obtaining the parameter value of the operation parameter, when the flight speed is adjusted, spraying The flow rate is automatically adjusted; when the spray flow rate is adjusted, the flight speed is automatically adjusted; and the autonomous work carrier is controlled according to the parameter value of the work parameter.

In this embodiment, the corresponding relationship between the spray flow rate and the flight speed is a proportional relationship. The ratio of the spray flow rate to the flight speed is proportional to the product of the acre usage and the work spacing. The parameter value of the acreage parameter value and the job spacing parameter meets the following condition: a product of the parameter value of the acre usage amount and the parameter value of the job spacing is between a first threshold value and a second threshold value, a first threshold is determined by a maximum value of the spray flow rate and a minimum value of the flight speed, the second threshold being determined by a minimum value of the spray flow rate and a maximum value of the flight speed; the maximum spray flow rate The value and minimum value, the maximum and minimum values of the flight speed are determined by the autonomous work carrier itself.

In this embodiment, the autonomous work carrier is controlled by a control end, and the control end is provided with a user interface; the step of acquiring the parameter value of the control parameter includes: obtaining a parameter value of the control parameter by using the user interface. The user interface includes: an operation icon for acquiring the acre usage parameter value; and an operation icon for acquiring the job spacing parameter value. The operation icon adopts at least one of the following: a text box, a slide bar, a scroll bar, a knob, and a button.

In this embodiment, the autonomous work carrier is controlled by a control end, and the control end is provided with a user interface; the step of acquiring the parameter value of the job parameter includes: acquiring the job parameter by using the user interface Parameter value. The user interface includes at least one operation icon for inputting parameter values of the flight speed and the spray flow rate.

The operation icons may be two, including: an operation icon for inputting the flight speed parameter value, and an operation icon for acquiring the spray flow parameter value; or, for inputting the spray flow parameter value An operation icon, and an operation icon for acquiring the flight speed parameter value.

The operation icon may also be one for acquiring the flight speed parameter value and the spray flow parameter value simultaneously.

The operation icon adopts at least one of the following: a text box, a slide bar, a scroll bar, a knob, and a button.

The specific principles and implementations of the control terminal provided in this embodiment are similar to the embodiments shown in FIG. 1 to FIG. 7, and are not described herein again.

In the control system of the autonomous working carrier of the embodiment, the user needs to set the two parameters of the amount of the acre and the spacing of the operation, which is more intuitive to the user and can be more accurately controlled than the direct setting of the flying speed and the spraying flow rate. The effect of man-machine work. The user can input and adjust the flight speed and the spray flow through the operation icon of the user interface, which can control the operation parameters of the drone more intuitively and conveniently. By adjusting the flight speed, it is convenient to increase the efficiency of the drone.

Another embodiment of the present disclosure provides a computer readable storage medium storing executable instructions that, when executed by one or more processors, can cause the one or more processors to execute The following operations:

Obtaining a parameter value of the control parameter, where the control parameter includes an acre amount and a working pitch;

Obtaining a correspondence between the job parameter and the control parameter, where the job parameter includes a traveling speed and a spray flow rate;

Obtaining a parameter value of the job parameter, the spray flow rate is automatically adjusted when the travel speed is adjusted; and the travel speed is automatically adjusted when the spray flow rate is adjusted;

The autonomous work carrier is controlled to perform an operation according to the parameter value of the job parameter.

The executable instructions, when executed by one or more processors, may also cause the one or more processors to perform other operations, the specific principles and implementations of which are the same as those described in the foregoing method embodiments. Similar, it will not be repeated here.

In the computer readable storage medium of this embodiment, the user needs to set the two parameters of the amount of the acre and the spacing of the operation. Compared with directly setting the flight speed and the spray flow rate, the method is more intuitive to the user and can control the unmanned person more accurately. The working effect of the machine. The user can input and adjust the flight speed and the spray flow through the operation icon of the user interface, which can control the operation parameters of the drone more intuitively and conveniently. By adjusting the flight speed, it is convenient to increase the efficiency of the drone.

Another embodiment of the present disclosure provides a control end of an autonomous work carrier, including a control system of an autonomous work carrier, and the control system adopts the control system of the above embodiment.

The control terminal of this embodiment may be any one of the following: head-mounted display glasses (VR glasses, VR helmets, etc.), mobile phones, remote controls (such as remote controls with display screens), smart bracelets, tablet computers, and the like.

The autonomous working carrier may be any unmanned vehicle, an unmanned vehicle, or the like that can operate autonomously. When the autonomous work carrier is a vehicle traveling on land or water, the flight speed in the above embodiment refers to the travel speed of these vehicles.

In the control end of the embodiment, the user needs to set the two parameters of the amount of the acre and the spacing of the operation. Compared with directly setting the flight speed and the spray flow rate, the method is more intuitive to the user and can more accurately control the operation of the drone. effect. The user can input and adjust the flight speed and the spray flow through the operation icon of the user interface, which can control the operation parameters of the drone more intuitively and conveniently. By adjusting the flight speed, it is convenient to increase the efficiency of the drone.

In the several embodiments provided by the present disclosure, it should be understood that the disclosed methods and systems can be implemented in other ways. For example, the system embodiment described above is merely illustrative. For example, the division of the unit is only a logical function division, and the actual implementation may have another division manner, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, system or unit, and may be electrical, mechanical or otherwise.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, each functional unit in various embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.

The above-described integrated unit implemented in the form of a software functional unit can be stored in a computer readable storage medium. The above software functional unit is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to perform the methods of the various embodiments of the present invention. Part of the steps. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program code. .

A person skilled in the art can clearly understand that for the convenience and brevity of the description, only the division of each functional module described above is exemplified. In practical applications, the above function assignment can be completed by different functional modules as needed, that is, the device is installed. The internal structure is divided into different functional modules to perform all or part of the functions described above. For the specific working process of the device described above, refer to the corresponding process in the foregoing method embodiment, and details are not described herein again.

It should be noted that the above embodiments are merely illustrative of the technical solutions of the present disclosure, and are not intended to be limiting; although the present disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the technical solutions of the embodiments of the present disclosure. range.

Claims

A method for controlling an autonomous operation carrier, comprising:

Obtaining a parameter value of the control parameter, where the control parameter includes an acre amount and a working pitch;

Obtaining a correspondence between the job parameter and the control parameter, where the job parameter includes a traveling speed and a spray flow rate;

Obtaining a parameter value of the job parameter, the spray flow rate is automatically adjusted when the travel speed is adjusted; and the travel speed is automatically adjusted when the spray flow rate is adjusted;

The autonomous work carrier is controlled to perform an operation according to the parameter value of the job parameter.
The control method according to claim 1, wherein said correspondence relationship is that said spray flow rate is proportional to said travel speed.
The control method according to claim 2, wherein a ratio of said spray flow rate to said travel speed is proportional to a product of said acreage amount and said work distance.
The control method according to claim 3, wherein the parameter value of the acre amount and the parameter value of the job spacing satisfy the following conditions:

The product of the parameter value of the acre amount and the parameter value of the job spacing is between a first threshold and a second threshold, the first threshold being a maximum value of the spray flow and a minimum value of the travel speed Determining that the second threshold is determined by a minimum value of the spray flow rate and a maximum value of the travel speed;

The maximum and minimum values of the spray flow rate, the maximum and minimum values of the travel speed are determined by the autonomous work carrier itself.
The control method according to claim 1, wherein the autonomous work carrier is controlled by a control terminal, and the control terminal is provided with a user interface;

The step of acquiring the parameter value of the control parameter includes: obtaining a parameter value of the control parameter through the user interface.
The control method according to claim 5, wherein said user interface comprises:

An operation icon for obtaining the value of the acre amount parameter;

An operation icon for obtaining the job spacing parameter value.
The control method according to claim 6, wherein the operation icon adopts at least one of the following: a text box, a slide bar, a scroll bar, a knob, and a button.
The control method according to claim 1, wherein the autonomous work carrier is controlled by a control terminal, and the control terminal is provided with a user interface;

The step of acquiring the parameter value of the job parameter includes: obtaining a parameter value of the job parameter by using the user interface.
The control method according to claim 8, wherein said user interface comprises: at least one operation icon for inputting a parameter value of said traveling speed and spray flow rate.
The control method according to 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 spray flow parameter value.
The control method according to claim 9, wherein the operation icons are two, including:

An operation icon for inputting the spray flow parameter value; and an operation icon for acquiring the travel speed parameter value.
The control method according to claim 9, wherein said operation icon is one for simultaneously acquiring said traveling speed parameter value and said spray flow parameter value.
The control method according to claim 9, wherein the operation icon adopts at least one of the following: a text box, a slide bar, a scroll bar, a knob, and a button.
A control system for an autonomous operation carrier, comprising:

a memory for storing executable instructions;

a processor, configured to execute the executable instructions stored in the memory to perform the following operations:

Obtaining a parameter value of the control parameter, where the control parameter includes an acre amount and a working pitch;

Obtaining a correspondence between the job parameter and the control parameter, where the job parameter includes a traveling speed and a spray flow rate;

Obtaining a parameter value of the job parameter, the spray flow rate is automatically adjusted when the travel speed is adjusted; and the travel speed is automatically adjusted when the spray flow rate is adjusted;

The autonomous work carrier is controlled to perform an operation according to the parameter value of the job parameter.
The control system of claim 14 wherein said correspondence is that said spray flow is proportional to said travel speed.
The control system of claim 15 wherein the ratio of said spray flow to said travel speed is proportional to a product of said acreage and said work spacing.
The control system according to claim 16, wherein the parameter value of the acre amount and the parameter value of the job spacing satisfy the following conditions:

The product of the parameter value of the acre amount and the parameter value of the job spacing is between a first threshold and a second threshold, the first threshold being a maximum value of the spray flow and a minimum value of the travel speed Determining that the second threshold is determined by a minimum value of the spray flow rate and a maximum value of the travel speed;

The maximum and minimum values of the spray flow rate, the maximum and minimum values of the travel speed are determined by the autonomous work carrier itself.
The control system according to claim 14, wherein said autonomous work carrier is controlled by a control terminal, and said control terminal is provided with a user interface;

The step of acquiring the parameter value of the control parameter includes: obtaining a parameter value of the control parameter through the user interface.
The control system of claim 18 wherein said user interface comprises:

An operation icon for obtaining the value of the acre amount parameter;

An operation icon for obtaining the job spacing parameter value.
The control system according to claim 19, wherein the operation icon adopts at least one of the following: a text box, a slide bar, a scroll bar, a knob, and a button.
The control system according to claim 14, wherein said autonomous work carrier is controlled by a control terminal, and said control terminal is provided with a user interface;

The step of acquiring the parameter value of the job parameter includes: obtaining a parameter value of the job parameter by using the user interface.
The control system according to claim 21, wherein said user interface comprises: at least one operation icon for inputting a parameter value of said traveling speed and spray flow rate.
The control system of claim 22, wherein the operation icons are two, comprising:

An operation icon for inputting the travel speed parameter value; and an operation icon for acquiring the spray flow parameter value.
The control system of claim 22, wherein the operation icons are two, comprising:

An operation icon for inputting the spray flow parameter value; and an operation icon for acquiring the travel speed parameter value.
The control system according to claim 22, wherein said operation icon is one for simultaneously acquiring said traveling speed parameter value and said spray flow parameter value.
The control system according to claim 22, wherein the operation icon adopts at least one of the following: a text box, a slide bar, a scroll bar, a knob, and a button.
A computer readable storage medium having stored thereon executable instructions that, when executed by one or more processors, cause the one or more processors to:

Obtaining a parameter value of the control parameter, where the control parameter includes an acre amount and a working pitch;

Obtaining a correspondence between the job parameter and the control parameter, where the job parameter includes a traveling speed and a spray flow rate;

Obtaining a parameter value of the job parameter, the spray flow rate is automatically adjusted when the travel speed is adjusted; and the travel speed is automatically adjusted when the spray flow rate is adjusted;

The autonomous work carrier is controlled to perform an operation according to the parameter value of the job parameter.
A control end of an autonomous work carrier, comprising: a control system of an autonomous work carrier, the control system of the autonomous work carrier adopting the control system according to any one of claims 14 to 26.