CN107544548B - Method and device for controlling operation of unmanned aerial vehicle and unmanned aerial vehicle - Google Patents
Method and device for controlling operation of unmanned aerial vehicle and unmanned aerial vehicle Download PDFInfo
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Abstract
The embodiment of the invention provides a method and a device for controlling operation of an unmanned aerial vehicle and the unmanned aerial vehicle, wherein the method comprises the following steps: acquiring operation track information, wherein the operation track information comprises geographic position information of a plurality of measuring points and an operation sequence; controlling the unmanned aerial vehicle to operate according to the operation sequence, and determining the change trend between the current measurement point and the next measurement point in the operation process; if the change trend meets the preset condition, controlling the unmanned aerial vehicle to fly from the current measuring point to the next measuring point at a constant speed according to the set speed for operation; and if the variation trend does not accord with the preset condition, controlling the unmanned aerial vehicle to perform hovering operation after the unmanned aerial vehicle decelerates and flies to the next measuring point from the current measuring point according to the set deceleration rule. The embodiment of the invention can be combined with the topographic characteristics of the operation land parcel to implement accurate medicine amount control according to the control of the flying speed.
Description
Technical Field
The present invention relates to the field of data processing technologies, and in particular, to a method for controlling operations of an unmanned aerial vehicle, an apparatus for controlling operations of an unmanned aerial vehicle, and a computer-readable storage medium.
Background
Along with the development of unmanned aerial vehicle plant protection technology for unmanned aerial vehicle plant protection has characteristics such as little, the pesticide utilization ratio height of damaging the crop. More and more farmers or farmers use unmanned aerial vehicles for plant protection operations, in particular for pesticide and fertilizer spraying.
However, to the complicated operation plot of some geographic environment, need the operator to spray the operation through manual remote control plant protection unmanned aerial vehicle, the degree of difficulty that operating personnel will accurately control unmanned aerial vehicle to the assigned position and spray the operation is big, also causes misoperation easily, and this is very high to operator's technical requirement. In addition, the spraying amount is difficult to control by manual spraying, and the conditions of leakage spraying, excess spraying and uneven spraying are easy to generate.
Disclosure of Invention
In view of the above, embodiments of the present invention are proposed in order to provide a method of controlling operations of a drone and a corresponding apparatus for controlling operations of a drone, a drone and a computer-readable storage medium that overcome or at least partially solve the above problems.
In order to solve the above problem, an embodiment of the present invention discloses a method for controlling an operation of an unmanned aerial vehicle, where the method includes:
acquiring operation track information, wherein the operation track information comprises geographic position information of a plurality of measuring points and an operation sequence;
controlling the unmanned aerial vehicle to operate according to the operation sequence, and determining the change trend between the current measurement point and the next measurement point in the operation process;
if the change trend meets the preset condition, controlling the unmanned aerial vehicle to fly from the current measuring point to the next measuring point at a constant speed according to the set speed for operation;
and if the variation trend does not accord with the preset condition, controlling the unmanned aerial vehicle to perform hovering operation after the unmanned aerial vehicle decelerates and flies to the next measuring point from the current measuring point according to the set deceleration rule.
Preferably, the step of determining a trend of change between the current measurement point and the next measurement point comprises:
and calculating the included angle between the current measuring point and the line segment formed by the previous measuring point and the next measuring point.
Preferably, after the step of determining the trend of change between the current measurement point and the next measurement point, the method further includes:
when the included angle is larger than or equal to a preset included angle threshold value, judging that the change trend meets a preset condition;
and when the included angle is smaller than a preset included angle threshold value, judging that the variation trend does not accord with a preset condition.
Preferably, before the step of determining the trend of change between the current measurement point and the next measurement point, the method further comprises:
and controlling the course of the unmanned aerial vehicle to face the direction of the next measuring point.
Preferably, if the variation trend meets a preset condition, the step of controlling the unmanned aerial vehicle to fly from the current measurement point to the next measurement point at a constant speed according to the set speed comprises:
if the variation trend meets the preset condition, determining a first spraying amount based on a set speed;
and controlling the unmanned aerial vehicle to perform spraying operation according to the first spraying amount in the process of flying from the current measuring point to the next measuring point at a constant speed according to the set speed.
Preferably, if the variation trend does not meet the preset condition, the step of controlling the unmanned aerial vehicle to perform hovering operation after the unmanned aerial vehicle decelerates and flies from the current measuring point to the next measuring point according to the set deceleration rule includes:
if the variation trend does not meet the preset condition, judging whether the height difference value between the flight height of the current measuring point and the flight height of the next measuring point is greater than a preset height threshold value or not;
if so, controlling the unmanned aerial vehicle to stop spraying operation in the process of flying from the current measuring point to the next measuring point in a deceleration manner according to a set deceleration rule, and carrying out hovering operation according to a preset spraying amount when the unmanned aerial vehicle reaches the next measuring point;
if not, determining a second spraying amount of the real-time flight speed; and in the process of controlling the unmanned aerial vehicle to fly to the next measuring point from the current measuring point in a deceleration way according to the set deceleration rule, spraying operation is carried out according to the second spraying amount, and when the next measuring point is reached, hovering operation is carried out according to the preset spraying amount.
Preferably, the operation track information is generated as follows:
determining a plurality of measuring points in a working land, wherein the measuring points comprise measuring points corresponding to the steering positions of the working land and/or measuring points with height fall larger than a preset threshold in the working land;
determining a plurality of target measurement points from the plurality of measurement points;
and connecting the target measuring points according to a specified sequence to generate operation track information.
Preferably, the work site comprises a land of hilly terrain.
The embodiment of the invention also discloses a device for controlling the operation of the unmanned aerial vehicle, which comprises:
the system comprises an operation track information acquisition module, a data processing module and a data processing module, wherein the operation track information acquisition module is used for acquiring operation track information which comprises geographic position information of a plurality of measuring points and an operation sequence;
the change trend determining module is used for controlling the unmanned aerial vehicle to operate according to the operation sequence, and determining the change trend between the current measuring point and the next measuring point in the operation process;
the first flight control module is used for controlling the unmanned aerial vehicle to fly from the current measuring point to the next measuring point at a constant speed for operation according to the set speed if the change trend meets the preset condition;
and the second flight control module is used for controlling the unmanned aerial vehicle to perform hovering operation after the unmanned aerial vehicle decelerates and flies from the current measuring point to the next measuring point according to the set deceleration rule if the variation trend does not accord with the preset condition.
Preferably, the trend determining module includes:
and the included angle calculation module is used for calculating the included angle of the line segment formed by the current measuring point, the previous measuring point and the next measuring point.
Preferably, the apparatus further comprises:
the judging module is used for judging that the change trend meets a preset condition when the included angle is larger than or equal to a preset included angle threshold value; and when the included angle is smaller than a preset included angle threshold value, judging that the variation trend does not accord with a preset condition.
Preferably, the apparatus further comprises:
and the course control module is used for controlling the course of the unmanned aerial vehicle to face the direction of the next measuring point.
Preferably, the first flight control module comprises:
the first spraying amount determining submodule is used for determining a first spraying amount based on a set speed if the variation trend meets a preset condition;
and the first spraying operation sub-module is used for controlling the unmanned aerial vehicle to spray according to the first spraying amount in the process of flying from the current measuring point to the next measuring point at a constant speed according to the set speed.
Preferably, the second flight control module comprises:
the height judging module is used for judging whether the height difference value between the flight height of the current measuring point and the flight height of the next measuring point is larger than a preset height threshold value or not if the change trend does not accord with a preset condition, if so, the second spraying operation submodule is called, and if not, the second spraying amount determining submodule is called;
the second spraying operation submodule is used for controlling the unmanned aerial vehicle to stop spraying operation in the process of flying from the current measuring point to the next measuring point in a deceleration way according to a set deceleration rule, and carrying out hovering operation according to a preset spraying amount when the unmanned aerial vehicle reaches the next measuring point;
the second spraying amount determining submodule is used for determining a second spraying amount of the real-time flight speed; and in the process of controlling the unmanned aerial vehicle to fly to the next measuring point from the current measuring point in a deceleration way according to the set deceleration rule, spraying operation is carried out according to the second spraying amount, and when the next measuring point is reached, hovering operation is carried out according to the preset spraying amount.
Preferably, the operation track information is generated as follows:
determining a plurality of measuring points in a working land, wherein the measuring points comprise measuring points corresponding to the steering positions of the working land and/or measuring points with height fall larger than a preset threshold in the working land;
determining a plurality of target measurement points from the plurality of measurement points;
and connecting the target measuring points according to a specified sequence to generate operation track information.
Preferably, the work site comprises a land of hilly terrain.
The embodiment of the invention also discloses an unmanned aerial vehicle which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the steps of the method are realized when the processor executes the program.
The embodiment of the invention also discloses a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and the computer program realizes the steps of the method when being executed by a processor.
The embodiment of the invention has the following advantages:
in the embodiment of the invention, after the flight controller acquires the operation track information containing the operation sequence, the unmanned aerial vehicle can be controlled to operate according to the operation sequence, the change trend between the current measurement point and the next measurement point can be determined in the operation process, if the change trend meets the preset condition, the unmanned aerial vehicle is controlled to fly from the current measurement point to the next measurement point at a constant speed according to the set speed for operation, otherwise, if the change trend does not meet the preset condition, the unmanned aerial vehicle can be controlled to fly from the current measurement point to the next measurement point at a reduced speed according to the set speed reduction rule for hovering operation, so that the precise pesticide amount control is implemented according to the controlled flying speed by combining the topographic characteristics of an operation land block, thereby achieving the requirement of precise spraying, leading the operation effect to be controllable, being easy to popularize and reducing the labor cost, the working efficiency is improved.
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Fig. 1 is a flow chart of steps of an embodiment of a method of controlling operation of a drone of the present invention;
FIG. 2 is a flowchart of the steps of the job track information generation of the present invention;
FIG. 3 is a schematic view of a work area of the present invention;
fig. 4 is a block diagram of an embodiment of an apparatus for controlling operations of a drone according to the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
In the unmanned aerial vehicle plant protection operation process, can control unmanned aerial vehicle through flight controller (fly control for short) and accomplish whole flight processes such as take-off, air flight, execution operation task and return journey, fly to control to unmanned aerial vehicle be equivalent to the driver to there being the effect of man-machine, be one of unmanned aerial vehicle most core technique.
This flight control can communicate with the ground satellite station through communication module, and in the realization, this ground satellite station can be for handing the ground satellite station, wherein can embed high accuracy GPS, supports the quick survey and drawing on irregular block boundary, when using this ground satellite station, need not to connect the computer, can directly adjust unmanned aerial vehicle flight parameter. The ground station has an intelligent air route planning function, supports the presetting of a spray point switch, and can effectively avoid the phenomenon of heavy spray or missed spray in the operation process. In the spraying process, the user can also fly and spray the state through the real-time supervision of ground satellite station, let spray more accurate, high-efficient.
In the embodiment of the invention, when the unmanned aerial vehicle needs to operate in an operation place with a complex geographic environment, the flight control can control the unmanned aerial vehicle to carry out full-autonomous flight spraying operation according to a planned route, and accurate pesticide amount control is implemented, so that the labor cost is reduced, the working efficiency is improved, and the requirement of accurate spraying is met.
The following describes examples of the present invention in detail.
Referring to fig. 1, a flowchart illustrating steps of an embodiment of a method for controlling an operation of an unmanned aerial vehicle according to the present invention is shown, where the embodiment of the present invention may be executed by a flight controller, and specifically may include the following steps:
as an example of the embodiment of the present invention, the operation track information may include geographical location information of a plurality of measurement points and an operation sequence, and the operation track information may be represented as a route formed by connecting a series of measurement points, and may represent a navigation route formed or followed by the unmanned aerial vehicle in the space.
In a preferred embodiment of the present invention, the flight controller may have a function of route planning, and as shown in the flowchart of the steps of generating the operation track information shown in fig. 2, the operation track information may be generated by the following steps:
in a specific implementation, the flight controller may obtain, from the ground station or the server, the parcel information of the work parcel to be worked and a plurality of measurement points corresponding to the work parcel.
As an example, the parcel information may include parcel identification, parcel boundaries, and location information of a work parcel, among others.
The working land can comprise land of hilly terrain. For example, as shown in the schematic view of the work area of fig. 3, the dashed lines indicate that the work area is a continuous crop strip terrain.
Of course, the embodiments of the present invention are not limited to land areas with hilly terrain, and the work land area may be land areas with flat terrain, for example.
In one embodiment, the survey point may be a point collected at the job site where the operator holds a survey device that may measure geographic location information (e.g., longitude, latitude, etc.), altitude, etc. of the survey point.
In another embodiment, the measurement points may be identified by a machine learning identification network using a high-definition image of the work site, such as a high-definition satellite map or a high-definition remote sensing map, or a picture taken by the drone above the work site, and the like.
It should be noted that, in addition to the manner of collecting the measurement points, a person skilled in the art may also determine the measurement points of the work parcel in other manners, for example, the measurement points may also be points marked in a high-definition map information image by an operator, or periodically collect points to obtain finer sideline data.
In practice, the measurement strategy may adopt a sectional sequential point collection manner to divide the operation land into a plurality of sections, for example, the position of each solid line in fig. 3 is taken as one section, and for each section, the points may be collected sequentially without distinguishing the collection sequence from the section to the section.
In implementation, a sequence number may be added to the collected measurement points for each segment, for example, in fig. 3, the black dots represent the measurement points, the collected measurement points may be sequentially labeled as 1-9 for the segment corresponding to the first solid line, and the collected measurement points may be sequentially labeled as 10-16 for the segment corresponding to the second solid line.
In the embodiment of the present invention, the collected measurement points may include a measurement point corresponding to a turning position of the work land and/or a measurement point in the work land where a height drop is greater than a preset threshold. Specifically, when the measurement points are collected, the measurement points may be collected at a turning (inflection) position of the work area and/or at a position where the height and the fall are large in the work area, as needed.
after obtaining the plurality of measurement points, the plurality of measurement points may be displayed at corresponding positions of the operation parcel through a visual interface, such as a terminal interface of the ground station, a client interface corresponding to the server, and the like, as shown in fig. 3.
In a specific implementation, all the measurement points may be used as target measurement points, or a user may select some of the measurement points as target measurement points.
After the ground station or the server determines the target measuring point, the serial number of the target measuring point can be sent to the flight controller.
And step 203, connecting the target measuring points according to a specified sequence to generate operation track information.
After the target measuring points are obtained, the flight controller can connect the target measuring points according to the specified sequence to obtain the operation track information.
It should be noted that if the plurality of target measuring points span more than two sections, the sections may be connected according to the nearest distance principle, for example, in fig. 3, the sequence numbers of the measuring points of the first section are 1 to 9, respectively, and the sequence numbers of the measuring points of the second section are 10 to 16, respectively, and the operation order of the operation track may be 1, 2 … 8, 9, 16, 15 … 11, 10. If the target measuring point is a partial measuring point due to a special situation, for example, in fig. 3, if the operation needs to start from the measuring point 5, the operation sequence of the operation track may be 5, 6 … 8, 9, 16, 15 … 11, 10.
It should be noted that the flight controller may independently generate the operation track information, and may also obtain the operation track information in other manners, for example, the flight controller may establish a data link with the ground station and then obtain the operation track information from the ground station, or the flight controller may also obtain the operation track information from the server side, which is not limited in this embodiment of the present invention.
102, controlling the unmanned aerial vehicle to operate according to the operation sequence, and determining the change trend between the current measurement point and the next measurement point in the operation process;
after the flight controller obtains the operation track information, the unmanned aerial vehicle can be controlled to operate according to the operation sequence in the operation track information.
In one embodiment, the flight controller may control the heading of the drone towards the direction of the next survey point during the operation.
For example, if the current measurement point of the unmanned aerial vehicle is a and the next measurement point is B, the direction of the AB vector is the heading direction of the unmanned aerial vehicle. In implementation, the azimuth angle can be calculated according to the geographical position information of the measuring point a and the measuring point B, and then the unmanned aerial vehicle is controlled to move according to the azimuth angle, so that the heading of the unmanned aerial vehicle is adjusted to face the measuring point B.
As another example, in fig. 3, when going from measurement point 8 to measurement point 9, the drone is directed towards measurement point 9; when going from measurement point 9 to measurement point 16, the drone is directed towards measurement point 16; when going from measurement point 16 to measurement point 15, the drone is directed towards measurement point 15.
After the course of the unmanned aerial vehicle is adjusted, the unmanned aerial vehicle can be controlled to fly towards the course.
In a specific implementation, during operation, a variation trend between the current measurement point and the next measurement point can be determined, and the variation trend is used for judging whether the transition between the current measurement point and the next measurement point is smooth or not.
In a preferred embodiment of the present invention, the step of determining the trend of change between the current measurement point and the next measurement point may include the following sub-steps: and calculating the included angle of the line segment between the current measuring point and the previous measuring point as well as the next measuring point.
Specifically, in the embodiment of the present invention, the variation trend may be determined by using an included angle, two measurement points before and after the current measurement point are taken, and a line segment formed by connecting the three measurement points may determine an included angle.
After the included angle is obtained, if the included angle is larger than or equal to a preset included angle threshold value, the change trend of the current measuring point can be judged to be in accordance with the preset condition, otherwise, if the included angle is smaller than the preset included angle threshold value, the change trend of the current measuring point can be judged to be not in accordance with the preset condition.
For example, the preset included angle threshold may be set to a value close to 180 °, and when the obtained included angle is greater than the value, it indicates that the line segment formed by the corresponding three measurement points is a smooth line segment.
For example, in fig. 3, a line segment composed of three measurement points 5, 6, and 7 is a relatively smooth line segment.
It should be noted that the embodiment of the present invention is not limited to the above-mentioned manner for determining the variation trend, and those skilled in the art may determine the variation trend in other manners.
103, if the change trend meets a preset condition, controlling the unmanned aerial vehicle to fly from the current measuring point to the next measuring point at a constant speed according to a set speed for operation;
specifically, if the variation trend meets the preset condition, that is, the route is excessively smooth, the unmanned aerial vehicle can be controlled to fly from the current measuring point to the next measuring point at a constant speed according to the set speed to operate, and the next measuring point is reached without adopting a brake-stop mode in the period.
For example, in fig. 3, a line segment formed by three measurement points 5, 6, and 7 is a relatively smooth line segment, and when the unmanned aerial vehicle flies from point 5 to point 6, the unmanned aerial vehicle adopts a safe flying speed to pass through point 6, so as to improve the work efficiency.
In a preferred embodiment of the present invention, step 103 may comprise the following sub-steps:
a substep S11, determining a first spraying amount based on a set speed if the variation trend meets a preset condition;
in one embodiment, the first spray amount may be determined based on the set speed in the following manner:
determining an operation route and an operation area corresponding to operation track information, and determining an operation duration based on the operation route and a set speed; calculating the total spraying amount corresponding to the area of the operation object according to the preset spraying amount per unit area; and determining a first spraying amount in unit time based on the total spraying amount and the operation time length.
For example, the first spray volume per unit time may be calculated using the following formula:
Dt＝D×S÷t；
wherein D is the spraying dosage per unit area, and the unit is milliliter/square meter; s is the working area; d multiplied by S is the total amount of spraying; t is the operation duration, and t is the operation distance/set speed; dt is the first spray dosage per unit time.
And a substep S12, controlling the unmanned aerial vehicle to perform spraying operation according to the first spraying amount in the process of flying from the current measuring point to the next measuring point at a constant speed according to the set speed.
In a specific implementation, when the unmanned aerial vehicle is controlled to fly from the current measurement point to the next measurement point, the flying height corresponding to the current measurement point and the flying height corresponding to the next measurement point may be determined first.
In a specific implementation, the flying heights corresponding to the measuring points may be obtained as follows, but it should be understood that the embodiments of the present invention are not limited thereto:
the method comprises the following steps of firstly, determining the altitude, wherein the method is suitable for a scene that the crop distribution in an operation land is sparse but the growth vigor is close to that of the operation land, calculating the actual relative flight height according to the altitude of the crop and the height of the crop corresponding to the measuring point, and the calculation method comprises the following steps:
H＝h1+h2+h3；
wherein h1 is the ground altitude of the operation object corresponding to the measuring point; h2 is the height of the working object corresponding to the measuring point; h3 is the height of the unmanned aerial vehicle from the top of the operation object; h is the flying height.
The second method comprises the following steps: the mode of imitating the land is suitable for the scene that the terrain fall is small and the crops are distributed continuously. The unmanned aerial vehicle firstly lifts the flying height to the height H, then moves to the position above the first crop, starts a ground detection module (for example, a ground radar), and controls the height of the unmanned aerial vehicle from the distance H3 above the crop according to the data measured by the ground detection module.
In the operation process, after the current measuring point is operated, judging whether the flying height of the next measuring point is larger than the flying height of the current measuring point; if so, adjusting the flying height of the unmanned aerial vehicle to the flying height of the next measuring point at the position of the current measuring point, flying to the position of the next measuring point at a constant speed according to the adjusted flying height at a set speed, and performing spraying operation according to a first spraying amount in the flying process; if not, flying to the position of the next measuring point at a constant speed according to the flying height corresponding to the current measuring point at a set speed, adjusting the flying height to the flying height of the measuring point when the position of the next measuring point is reached, and performing spraying operation according to the first spraying amount in the flying process.
Of course, in addition to the above-mentioned height adjustment method, the flying height may also be adjusted during the flying process, which is not limited in the embodiment of the present invention.
And 104, if the variation trend does not meet the preset condition, controlling the unmanned aerial vehicle to perform hovering operation after the unmanned aerial vehicle decelerates and flies from the current measuring point to the next measuring point according to the set deceleration rule.
Specifically, if the variation trend does not meet the preset condition, that is, the route inflection angle is large, the unmanned aerial vehicle can be controlled to perform hovering operation after flying from the current measuring point to the next measuring point in a deceleration manner according to the set deceleration rule.
For example, in fig. 3, as the drone flies from point 9 to point 16, the drone decelerates to point 16, hovering when point 16 is reached.
In a preferred embodiment of the present invention, step 104 may comprise the following sub-steps:
a substep S21, if the variation trend does not meet the preset condition, judging whether the altitude difference between the flight altitude of the current measuring point and the flight altitude of the next measuring point is greater than a preset altitude threshold value; if yes, performing the substep S22, otherwise, performing the substep S23;
step S22, controlling the unmanned aerial vehicle to stop spraying operation in the process of flying from the current measuring point to the next measuring point in a deceleration way according to the set deceleration rule, and carrying out hovering operation according to the preset spraying amount when the unmanned aerial vehicle reaches the next measuring point;
in the specific implementation, if the height difference between the flying height of the current measuring point and the flying height of the next measuring point is greater than the preset height threshold, it indicates that the height difference between the two measuring points is large, at this time, in the process of decelerating and flying to the next measuring point, the spraying operation is stopped, the hovering spraying operation is started until the measuring point is reached, the hovering time is the preset time length, and after the preset time length, the next measuring point flies to according to the rule of the change trend.
A substep S23 of determining a second spray volume for the real-time airspeed; and in the process of controlling the unmanned aerial vehicle to fly to the next measuring point from the current measuring point in a deceleration way according to the set deceleration rule, spraying operation is carried out according to the second spraying amount, and when the next measuring point is reached, hovering operation is carried out according to the preset spraying amount.
In the specific implementation, if the height difference between the flying height of the current measuring point and the flying height of the next measuring point is smaller than or equal to the preset height threshold, it indicates that the height drop between the two measuring points is small, at this time, in the process of decelerating to the next measuring point, the spraying operation is continued according to the second spraying amount, when the measuring point is reached, the spraying operation is suspended, the suspension time is the preset time length, and after the preset time length, the next measuring point is flown according to the rule of the change trend.
In the embodiment of the invention, after the flight controller acquires the operation track information containing the operation sequence, the unmanned aerial vehicle can be controlled to operate according to the operation sequence, the change trend between the current measurement point and the next measurement point can be determined in the operation process, if the change trend meets the preset condition, the unmanned aerial vehicle is controlled to fly from the current measurement point to the next measurement point at a constant speed according to the set speed for operation, otherwise, if the change trend does not meet the preset condition, the unmanned aerial vehicle can be controlled to fly from the current measurement point to the next measurement point at a reduced speed according to the set speed reduction rule for hovering operation, so that the precise pesticide amount control is implemented according to the controlled flying speed by combining the topographic characteristics of an operation land block, thereby achieving the requirement of precise spraying, leading the operation effect to be controllable, being easy to popularize and reducing the labor cost, the working efficiency is improved.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Referring to fig. 4, a block diagram of an embodiment of the apparatus for controlling operations of a drone of the present invention is shown, which may include the following modules:
an operation track information obtaining module 401, configured to obtain operation track information, where the operation track information includes geographic position information of multiple measurement points and an operation sequence;
a change trend determining module 402, configured to control the unmanned aerial vehicle to perform operations according to the operation sequence, and determine a change trend between a current measurement point and a next measurement point in an operation process;
the first flight control module 403 is configured to control the unmanned aerial vehicle to fly from the current measurement point to the next measurement point at a constant speed according to a set speed to perform operation if the change trend meets a preset condition;
and the second flight control module 404 is configured to control the unmanned aerial vehicle to perform hovering operation after the unmanned aerial vehicle decelerates and flies from the current measurement point to the next measurement point according to a set deceleration rule if the variation trend does not meet a preset condition.
In a preferred embodiment of the present invention, the trend determining module 402 may include:
and the included angle calculation module is used for calculating the included angle of the line segment formed by the current measuring point, the previous measuring point and the next measuring point.
In a preferred embodiment of the embodiments of the present invention, the apparatus further comprises:
the judging module is used for judging that the change trend meets a preset condition when the included angle is larger than or equal to a preset included angle threshold value; and when the included angle is smaller than a preset included angle threshold value, judging that the variation trend does not accord with a preset condition.
In a preferred embodiment of the embodiments of the present invention, the apparatus further comprises:
and the course control module is used for controlling the course of the unmanned aerial vehicle to face the direction of the next measuring point.
In a preferred embodiment of the present invention, the first flight control module 403 includes:
the first spraying amount determining submodule is used for determining a first spraying amount based on a set speed if the variation trend meets a preset condition;
and the first spraying operation sub-module is used for controlling the unmanned aerial vehicle to spray according to the first spraying amount in the process of flying from the current measuring point to the next measuring point at a constant speed according to the set speed.
In a preferred embodiment of the present invention, the second flight control module 404 includes:
the height judging module is used for judging whether the height difference value between the flight height of the current measuring point and the flight height of the next measuring point is larger than a preset height threshold value or not if the change trend does not accord with a preset condition, if so, the second spraying operation submodule is called, and if not, the second spraying amount determining submodule is called;
the second spraying operation submodule is used for controlling the unmanned aerial vehicle to stop spraying operation in the process of flying from the current measuring point to the next measuring point in a deceleration way according to a set deceleration rule, and carrying out hovering operation according to a preset spraying amount when the unmanned aerial vehicle reaches the next measuring point;
the second spraying amount determining submodule is used for determining a second spraying amount of the real-time flight speed; and in the process of controlling the unmanned aerial vehicle to fly to the next measuring point from the current measuring point in a deceleration way according to the set deceleration rule, spraying operation is carried out according to the second spraying amount, and when the next measuring point is reached, hovering operation is carried out according to the preset spraying amount.
In a preferred embodiment of the present invention, the operation track information is generated as follows:
determining a plurality of measuring points in a working land, wherein the measuring points comprise measuring points corresponding to the steering positions of the working land and/or measuring points with height fall larger than a preset threshold in the working land;
determining a plurality of target measurement points from the plurality of measurement points;
and connecting the target measuring points according to a specified sequence to generate operation track information.
In a preferred embodiment of the present invention, the work site comprises a land of hilly terrain.
For the embodiment of the apparatus in fig. 4, since it is basically similar to the embodiment of the method described above, the description is simple, and for the relevant points, reference may be made to the partial description of the embodiment of the method.
In addition, the embodiment of the invention also discloses a mobile object, which comprises a memory, a processor and a computer program which is stored on the memory and can be run on the processor, wherein the steps of the method of the embodiment are realized when the processor executes the program.
In addition, the embodiment of the invention also discloses a computer readable storage medium, on which a computer program is stored, and the program is executed by a processor to realize the steps of the method of the embodiment.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The method, the device and the unmanned aerial vehicle for controlling the operation of the unmanned aerial vehicle provided by the invention are described in detail, a specific example is applied in the text to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (14)
1. A method of controlling operation of a drone, the method comprising:
acquiring operation track information, wherein the operation track information comprises geographic position information of a plurality of measuring points and an operation sequence;
controlling the unmanned aerial vehicle to operate according to the operation sequence, and determining the change trend between the current measurement point and the next measurement point in the operation process;
if the change trend meets the preset condition, controlling the unmanned aerial vehicle to fly from the current measuring point to the next measuring point at a constant speed according to the set speed and operating according to the first spraying amount;
if the variation trend does not meet the preset condition, controlling the unmanned aerial vehicle to perform hovering operation according to a preset spraying amount after the unmanned aerial vehicle decelerates and flies from the current measuring point to the next measuring point according to a set deceleration rule;
the measuring points comprise measuring points corresponding to the steering positions of the operation land parcels and/or measuring points with height fall larger than a preset threshold value in the operation land parcels;
the change trend is reflected by an included angle of a line segment formed by the current measuring point, the last measuring point and the next measuring point;
the method further comprises the following steps:
when the included angle is larger than or equal to a preset included angle threshold value, judging that the change trend meets a preset condition;
and when the included angle is smaller than a preset included angle threshold value, judging that the variation trend does not accord with a preset condition.
2. The method of claim 1, further comprising, prior to the step of determining a trend of change between a current measurement point and a next measurement point:
and controlling the course of the unmanned aerial vehicle to face the direction of the next measuring point.
3. The method according to claim 1, wherein the step of controlling the unmanned aerial vehicle to fly at a constant speed from a current measuring point to a next measuring point according to a set speed and operate according to the first spraying amount if the change trend meets a preset condition comprises:
if the variation trend meets the preset condition, determining a first spraying amount based on a set speed;
and controlling the unmanned aerial vehicle to perform spraying operation according to the first spraying amount in the process of flying from the current measuring point to the next measuring point at a constant speed according to the set speed.
4. The method according to claim 1, wherein if the variation trend does not meet a preset condition, the step of controlling the unmanned aerial vehicle to perform hovering operation according to a preset spraying amount after the unmanned aerial vehicle decelerates and flies from a current measuring point to a next measuring point according to a set deceleration rule comprises:
if the variation trend does not meet the preset condition, judging whether the height difference value between the flight height of the current measuring point and the flight height of the next measuring point is greater than a preset height threshold value or not;
if so, controlling the unmanned aerial vehicle to stop spraying operation in the process of flying from the current measuring point to the next measuring point in a deceleration manner according to a set deceleration rule, and carrying out hovering operation according to a preset spraying amount when the unmanned aerial vehicle reaches the next measuring point;
if not, determining a second spraying amount of the real-time flight speed; and in the process of controlling the unmanned aerial vehicle to fly to the next measuring point from the current measuring point in a deceleration way according to the set deceleration rule, spraying operation is carried out according to the second spraying amount, and when the next measuring point is reached, hovering operation is carried out according to the preset spraying amount.
5. The method of claim 1, wherein the operation track information is generated by:
determining a plurality of measurement points in a work parcel;
determining a plurality of target measurement points from the plurality of measurement points;
and connecting the target measuring points according to a specified sequence to generate operation track information.
6. The method of claim 5, wherein the work site comprises a land site of hilly terrain.
7. An apparatus for controlling operations of a drone, the apparatus comprising:
the system comprises an operation track information acquisition module, a data processing module and a data processing module, wherein the operation track information acquisition module is used for acquiring operation track information which comprises geographic position information of a plurality of measuring points and an operation sequence;
the change trend determining module is used for controlling the unmanned aerial vehicle to operate according to the operation sequence, and determining the change trend between the current measuring point and the next measuring point in the operation process;
the first flight control module is used for controlling the unmanned aerial vehicle to fly from the current measuring point to the next measuring point at a constant speed according to a set speed to operate according to a first spraying amount if the change trend meets a preset condition;
the second flight control module is used for controlling the unmanned aerial vehicle to perform hovering operation according to a preset spraying amount after the unmanned aerial vehicle decelerates and flies from the current measuring point to the next measuring point according to a set deceleration rule if the variation trend does not meet the preset condition;
the measuring points comprise measuring points corresponding to the steering positions of the operation land parcels and/or measuring points with height fall larger than a preset threshold value in the operation land parcels;
the change trend is reflected by an included angle of a line segment formed by the current measuring point, the last measuring point and the next measuring point;
the device further comprises:
the judging module is used for judging that the change trend meets a preset condition when the included angle is larger than or equal to a preset included angle threshold value; and when the included angle is smaller than a preset included angle threshold value, judging that the variation trend does not accord with a preset condition.
8. The apparatus of claim 7, further comprising:
and the course control module is used for controlling the course of the unmanned aerial vehicle to face the direction of the next measuring point.
9. The apparatus of claim 7, wherein the first flight control module comprises:
the first spraying amount determining submodule is used for determining a first spraying amount based on a set speed if the variation trend meets a preset condition;
and the first spraying operation sub-module is used for controlling the unmanned aerial vehicle to spray according to the first spraying amount in the process of flying from the current measuring point to the next measuring point at a constant speed according to the set speed.
10. The apparatus of claim 7, wherein the second flight control module comprises:
the height judging module is used for judging whether the height difference value between the flight height of the current measuring point and the flight height of the next measuring point is larger than a preset height threshold value or not if the change trend does not accord with a preset condition, if so, the second spraying operation submodule is called, and if not, the second spraying amount determining submodule is called;
the second spraying operation submodule is used for controlling the unmanned aerial vehicle to stop spraying operation in the process of flying from the current measuring point to the next measuring point in a deceleration way according to a set deceleration rule, and carrying out hovering operation according to a preset spraying amount when the unmanned aerial vehicle reaches the next measuring point;
the second spraying amount determining submodule is used for determining a second spraying amount of the real-time flight speed; and in the process of controlling the unmanned aerial vehicle to fly to the next measuring point from the current measuring point in a deceleration way according to the set deceleration rule, spraying operation is carried out according to the second spraying amount, and when the next measuring point is reached, hovering operation is carried out according to the preset spraying amount.
11. The apparatus of claim 7, wherein the operation track information is generated by:
determining a plurality of measurement points in a work parcel;
determining a plurality of target measurement points from the plurality of measurement points;
and connecting the target measuring points according to a specified sequence to generate operation track information.
12. The apparatus of claim 11, wherein the work site comprises a land site of hilly terrain.
13. A drone comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method of any one of claims 1 to 6 when executing the program.
14. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 6.
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| CN108507645B (en) * | 2018-05-28 | 2020-01-21 | 拓攻（南京）机器人有限公司 | Calibration coefficient determination method, calibration method and device for flow meter on unmanned aerial vehicle |
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