CN110799419A - Unmanned aerial vehicle control method, box and unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle control method, box and unmanned aerial vehicle Download PDFInfo
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- CN110799419A CN110799419A CN201880041880.3A CN201880041880A CN110799419A CN 110799419 A CN110799419 A CN 110799419A CN 201880041880 A CN201880041880 A CN 201880041880A CN 110799419 A CN110799419 A CN 110799419A
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- 238000000034 method Methods 0.000 title claims abstract description 46
- 238000005507 spraying Methods 0.000 claims description 43
- 239000007921 spray Substances 0.000 claims description 18
- 239000011241 protective layer Substances 0.000 claims description 12
- 239000007788 liquid Substances 0.000 description 13
- 239000000463 material Substances 0.000 description 6
- 239000000575 pesticide Substances 0.000 description 5
- 239000010410 layer Substances 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 239000003905 agrochemical Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- 239000000843 powder Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 244000037666 field crops Species 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000010899 nucleation Methods 0.000 description 1
- 235000015097 nutrients Nutrition 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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Abstract
The utility model provides an unmanned aerial vehicle's control method and unmanned aerial vehicle (100), unmanned aerial vehicle (100) include organism (10) and box (20), and information collector (11) are installed in organism (10), and box (20) are equipped with box sign (21) that can be acquireed by information collector (11), and unmanned aerial vehicle's control method includes: determining whether the information collector (11) acquires a box body identifier (21); if yes, determining that the box body (20) is installed on the machine body (10), and acquiring related information of the box body (20) according to the box body identification (21); and determining the working mode of the unmanned aerial vehicle (100) according to the relevant information of the box body (20).
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle control method, a box body and an unmanned aerial vehicle.
Background
At present, plant protection unmanned aerial vehicle is owing to the operating efficiency is high, the cost of using manpower sparingly, and can intelligent spraying advantage such as operation be used in the agricultural field widely. Along with the application of plant protection unmanned aerial vehicle is more and more extensive, user's demand also constantly increases, and plant protection unmanned aerial vehicle needs the operation environment and the operation object that adapt to also have more changes. According to the increase of demand, for the change of adaptation environment and operation object better, promote the operating efficiency, need be the box of unmanned aerial vehicle assembly difference. In the past, related information of the box body needs to be identified manually, but manual identification is easy to cause errors, so that a user mistakenly installs the box body facing a plurality of different box bodies, effective operation planning cannot be accurately performed on the unmanned aerial vehicle if box body information loaded by the unmanned aerial vehicle cannot be identified, and real intelligent operation cannot be achieved.
Disclosure of Invention
The application provides an unmanned aerial vehicle control method, a box body and an unmanned aerial vehicle.
The control method of the unmanned aerial vehicle is used for the unmanned aerial vehicle, the unmanned aerial vehicle comprises a machine body and a box body, an information collector is installed on the machine body, the box body is provided with a box body identification which can be acquired by the information collector, and the control method of the unmanned aerial vehicle comprises the following steps:
determining whether the information collector acquires the box body identification;
if yes, determining that the box body is installed on the machine body, and acquiring related information of the box body according to the box body identification;
and determining the working mode of the unmanned aerial vehicle according to the relevant information of the box body.
In the control method of the unmanned aerial vehicle, the box identification acquired by the information collector can determine the relevant information of the box body mounted on the machine body and the box body, and then the working mode of the unmanned aerial vehicle can be determined according to the relevant information of the box body, so that the working control accuracy of the unmanned aerial vehicle can be improved, for example, the operation planning accuracy of the unmanned aerial vehicle is improved, and the intelligent planning of a spraying path or the intelligent return planning of a loaded article after being sprayed out is realized.
The box body of the embodiment of the application is used for being installed on an unmanned aerial vehicle and providing a loading object for the operation of the unmanned aerial vehicle, the box body is provided with a box body mark which can be acquired by an information acquisition device,
the box identification can be determined when the box identification is acquired by the information collector, the box is installed on the machine body, the relevant information of the box is provided, and the unmanned aerial vehicle can determine the working mode of the unmanned aerial vehicle according to the relevant information of the box.
In the above-mentioned box, the box sign that accessible information collector obtained confirms the box and installs the organism on and the relevant information of box, then can confirm unmanned aerial vehicle's working method according to the relevant information of box, can improve unmanned aerial vehicle job control's accuracy like this, for example, improve unmanned aerial vehicle's operation planning's accuracy, realize can intelligent planning of returning voyage after spraying the route or realizing the load and being spouted to the greatest extent.
The unmanned aerial vehicle of this application embodiment includes organism and controller, information collector is installed to the organism, the controller is connected information collector, information collector is used for acquireing the box sign of box, and the controller is used for confirming whether information collector acquires the box sign, and be used for the information collector acquires confirm when the box sign the box is installed the organism, and be used for the basis the box sign acquires the relevant information of box, and be used for the basis the relevant information of box is confirmed unmanned aerial vehicle's working method.
Among the above-mentioned unmanned aerial vehicle, the box sign that accessible information collector obtained confirms the box and installs the organism on and the relevant information of box, then can confirm unmanned aerial vehicle's working method according to the relevant information of box, can improve unmanned aerial vehicle job control's accuracy like this, for example, improve unmanned aerial vehicle's operation planning's accuracy, realize can intelligent planning of returning a voyage after spraying the route or realizing the load and being spouted to the greatest extent.
Additional aspects and advantages of embodiments of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flowchart of a control method of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 2 is another schematic flow chart of a control method of the unmanned aerial vehicle according to the embodiment of the present application;
fig. 3 is a further flowchart illustrating a control method of the drone according to an embodiment of the present application;
fig. 4 is a further flowchart of the control method of the unmanned aerial vehicle according to the embodiment of the present application;
fig. 5 is a partial perspective view of a drone according to an embodiment of the present application;
fig. 6 is another perspective view of a portion of a drone according to an embodiment of the present application;
fig. 7 is a schematic cross-sectional view of a drone according to an embodiment of the present application;
fig. 8 is an enlarged schematic view of the unmanned aerial vehicle portion I of fig. 7;
fig. 9 is an enlarged schematic view of the drone II portion of fig. 8;
fig. 10 is a partial perspective view of the body of the drone according to an embodiment of the present application;
fig. 11 is another perspective view of a portion of the body of the drone according to an embodiment of the present application;
fig. 12 is a schematic perspective view of a housing of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 13 is a schematic side view of a housing of the drone according to an embodiment of the present application;
fig. 14 is a module schematic diagram of a drone according to an embodiment of the present application.
Fig. 15 is an overall schematic diagram of the unmanned aerial vehicle according to the embodiment of the present application.
Description of the main element symbols:
a drone 100;
the device comprises a machine body 10, a machine frame 101, a foot rest 102, a mounting groove 103, an information collector 11, a first protective layer 12, a box body 20, a box body mark 21, a second protective layer 22, a controller 30 and a spraying system 40.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and are only for the purpose of explaining the present application and are not to be construed as limiting the present application.
In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be construed as limiting the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In the description of the present application, it is to be noted that the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected unless otherwise explicitly stated or limited. Either mechanically or electrically. Either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
Referring to fig. 1 to 14 together, the method for controlling the drone according to the embodiment of the present application is applied to the drone 100 according to the embodiment of the present application. Wherein, unmanned aerial vehicle 100 is used for carrying on box 20 and carries out the operation. The drone 100 includes a body 10. The body 10 is mounted with an information collector 11. The case 20 is provided with a case identification 21 that can be acquired by the information collector 11. The control method of the unmanned aerial vehicle comprises the following steps:
step S1, determining whether the information collector 11 obtains the box identification 21;
step S2, if yes, determining that the box body 20 is installed on the machine body 10, and acquiring related information of the box body 20 according to the box body identification 21;
and step S3, determining the working mode of the unmanned aerial vehicle 100 according to the specification information of the box body 20.
Above-mentioned unmanned aerial vehicle's control method, box sign 21 that accessible information collector 11 obtained confirms that box 20 installs on organism 10 and the relevant information of box 20, then can confirm unmanned aerial vehicle 100's working method according to box 20's relevant information, can improve unmanned aerial vehicle 100 job control's accuracy like this, for example, improve unmanned aerial vehicle 100's operation planning's accuracy, realize the intelligent planning to spraying the route or realize the planning that can intelligent return voyage after the load is spouted completely.
The tank 20 may be used to contain liquid (e.g., liquid containing agricultural chemicals), powder, solid particles, seeds, or the like. The relevant information includes, for example, specification information of the casing 20, information of the loaded object, and operation information of the drone 100.
It can be understood that the control method of the unmanned aerial vehicle according to the embodiment of the present application can determine the working mode of the unmanned aerial vehicle 100 according to the specification information of the box body 20, so as to improve the working efficiency of the unmanned aerial vehicle 100. Moreover, in practical application, if the specification information of the box 20 installed on the unmanned aerial vehicle 100 is different from the specification information of the box required by the actual unmanned aerial vehicle 100, the misoperation can be reduced by controlling the start and stop of the unmanned aerial vehicle 100 or sending out prompt information. It can be understood that after the unmanned aerial vehicle 100 is powered on, the information collector 11 can be started to detect the box identifier 21.
For example, in some examples, the drone 100 is a plant protection drone. Unmanned aerial vehicle 100 accessible box 20's liquid medicine realizes spraying the plant. For different application scenarios, the drone 100 may need to be fitted with different sized cases 20. For example, the size of the housing 20 required by the drone 100 may vary as the area of the crop varies. When the area of the crop is large, the capacity of the box 20 required by the drone 100 may be large; and when the area of the crop is small, the capacity of the box 20 required by the drone 100 may be small. If the working mode of the unmanned aerial vehicle 100 is not determined according to the specification information of the box body 20, the problem that crops cannot be effectively sprayed may exist. For example, if the area of the crop is large, the drone 100 is actually equipped with a smaller capacity housing 20. At this time, if the specification information of the box body 20 is not acquired and the working mode of the unmanned aerial vehicle 100 is determined according to the specification information of the box body 20, it is inevitable that part of the crops cannot be effectively sprayed. And if according to the control method of unmanned aerial vehicle of this application, in time acquire the specification information of box 20 to confirm unmanned aerial vehicle 100's working method according to the specification information of box 20, can avoid some plants can not effectively spray. It is understood that different application scenarios may also be different types of crops, such as field crops and fruit crops, or different growth stages of the same crop, and the types of pesticides to be sprayed or the viscosity or the dosage used are different for different application scenarios, which are not limited herein.
It can be understood that box identification 21 can determine that box 20 is installed to body 10 when being obtained by information collector 11, and be used for providing the relevant information of box 20, and unmanned aerial vehicle 100 can determine the mode of operation of unmanned aerial vehicle 100 according to the relevant information of box 20.
In the present embodiment, the drone 100 includes a controller 30 mounted on the body 10. The controller 30 is connected to the information collector 11. The information collector 11 is used for obtaining the box body identification 21 of the box body 20. The controller 30 is configured to determine whether the information collector 11 acquires the box identifier 21, determine that the box 20 is mounted on the airframe 10 when the information collector 11 acquires the box identifier 21, acquire relevant information of the box 20 according to the box identifier 21, and determine a working mode of the unmanned aerial vehicle 100 according to the relevant information of the box 20.
Referring to fig. 5 and 10, in the present embodiment, the machine body 10 includes a machine frame 101 and a stand 102 connected to the machine frame 101. Frame 101 is formed with mounting slot 103. The mounting groove 103 is used for mounting the case 20. The information collector 11 is mounted on the side wall of the mounting groove 103. When the box 20 is mounted on the mounting groove 103, the information collector 11 is opposite to the box mark 21. This facilitates the information collector 11 to obtain the box identification 21, and thus the controller 30 can obtain the relevant information of the box.
The shape of the case 20 may be set according to circumstances. The specific installation position of the box mark 21 on the box 20 can also be set according to specific situations. In the example shown in fig. 7, a box mark 21 is attached to an upper end portion of the box 20. The box body mark 21 is substantially rectangular.
In some embodiments, the information collector 11 comprises an electronic tag reader/writer, and the case identifier 21 comprises at least one of an RFID tag and an NFC tag. In this way, the information related to the box identifier 21 can be obtained by the electronic reader.
In some embodiments, information collector 11 comprises a camera. The box identification 21 includes at least one of a two-dimensional code and a bar code. Therefore, the camera can be used for acquiring the related information in the two-dimensional code and/or the bar code.
In certain embodiments, the information regarding the tank 20 includes at least one of information regarding the specifications of the tank 20, the contents of the tank, and operational information about the drone 100. For example, the drone 100 may determine the operation mode of the drone 100 according to the specification information of the box 20, or may determine the operation mode of the drone 100 according to the information of the loaded box, for example, the drone 100 may determine to perform pesticide spraying operation according to the loaded box 20 for pesticide, or the drone 100 may determine to perform seeding operation according to the loaded box 20 for seed. In some embodiments, the method of controlling the drone includes:
if the relevant information of the box body 20 is inconsistent with the relevant information of the box body required by the unmanned aerial vehicle 100 to execute the task, the unmanned aerial vehicle 100 is controlled to send out prompt information or the unmanned aerial vehicle 100 is controlled not to take off.
It is understood that the controller 30 can be configured to control the drone 100 to issue a prompt message or control the drone 100 to fail to take off when the relevant information of the box 20 is inconsistent with the relevant information of the box required for the drone 100 to perform the task.
In some embodiments, the information regarding the case 20 includes at least one of a full capacity, an existing capacity, and a model of the case 20. The above-mentioned full capacity refers to the capacity of the tank 20 when it is full of liquid, and the liquid may be water, agricultural chemicals, or nutrient solution. The above-mentioned existing capacity refers to a capacity of the liquid actually carried by the tank 20. The related information can be processed in advance to form a box body mark 21 which can be read by the information collector, and the box body mark 21 is attached to the outer surface of the box body.
In some embodiments, the shipping container load information includes at least one of shipping container load type, shipping container load physical condition, shipping container load consistency, and shipping container load volume or weight. The type of the container, such as a seed type or a pesticide type, the viscosity of the container, such as a liquid, and the volume or weight of the container, such as a liquid, are described.
In some embodiments, the job information includes at least one of job environment information and type information of the work. The operating environment information is, for example, weather conditions, and for example, the drone 100 may determine whether to take off according to the magnitude of the ambient wind. For example, when the mode set by the user is used for the unmanned aerial vehicle 100, the user needs to perform work on farmland crops, and the type information of the work object of the box body actually carried is displayed as fruit tree crops, so that the user can be prompted that the box body is loaded incorrectly, or the unmanned aerial vehicle 100 can judge whether take-off is needed according to the information of the type of the work object.
In this embodiment, the first protective layer 12 and the second protective layer 22 are attached to the surface of the information collector 11. It is understood that in other embodiments, the surface of information collector 11 is attached with first protective layer 12, or the surface of box identification 21 is attached with second protective layer 22.
The first protection layer 12 and the second protection layer 22 can respectively protect the information collector 11 and the box identification, and prevent the information collector and the box identification from being damaged to cause failure in information reading. Wherein, the first protection layer 12 can be made of plastic material, and the second protection layer 22 can be made of protection sticker. Further, the material of the protective layer should not prevent the information collector from reading the box identification.
Referring to fig. 2 to 4, in some embodiments, step S3 includes:
determining whether the specification information of the box body 20 is consistent with the specification of the box body required by the unmanned aerial vehicle 100 to execute the task, if so, determining the working mode of the unmanned aerial vehicle 100 according to the specification information of the box body 20;
or
Determining whether the information of the container load is consistent with the container load required by the unmanned aerial vehicle 100 to execute the task, if so, determining the working mode of the unmanned aerial vehicle according to the information of the container load; or
Determining whether the operation information of the unmanned aerial vehicle 100 is consistent with the operation information required by the unmanned aerial vehicle 100 to execute the task, if so, determining the working mode of the unmanned aerial vehicle 100 according to the operation information of the unmanned aerial vehicle 100.
Thus, when the specification information of the box 20 or the information of the loaded object in the box is consistent with the box specification or the operation information required by the unmanned aerial vehicle 100 to execute the task, the working mode of the unmanned aerial vehicle 100 is determined according to the specification information of the box 20 or the information of the loaded object in the box, so that the operation efficiency of the unmanned aerial vehicle 100 is improved.
For example, when the unmanned aerial vehicle 100 performs a spraying operation, if the specification information of the box 20 is consistent with the box specification required by the unmanned aerial vehicle 100 to perform a task, the unmanned aerial vehicle 100 may perform a subsequent spraying operation. For another example, when the unmanned aerial vehicle 100 performs the spraying operation, if the information of the loaded article in the box 20 is consistent with the operation information required by the unmanned aerial vehicle 100 to perform the task, the unmanned aerial vehicle 100 may perform the subsequent spraying operation.
Referring to fig. 2 to 4, in some embodiments, step S3 includes:
if the specification information of the box body 20 is inconsistent with the box body specification required by the unmanned aerial vehicle 100 to execute the task, controlling the unmanned aerial vehicle 100 to send prompt information or controlling the unmanned aerial vehicle 100 not to take off;
or
When the information of the box loading objects is inconsistent with the box loading objects required by the unmanned aerial vehicle to execute the tasks, controlling the unmanned aerial vehicle 100 to send prompt information or controlling the unmanned aerial vehicle 100 not to take off; or
And when the operation information of the unmanned aerial vehicle is inconsistent with the operation information required by the task to be executed by the unmanned aerial vehicle, controlling the unmanned aerial vehicle 100 to send prompt information or controlling the unmanned aerial vehicle 100 to be incapable of taking off.
As such, the drone 100 can issue prompt information to prompt in time according to the relevant information. The prompt message may be a sound prompt message, a light prompt message, or a vibration prompt message. For example, in some instances, the buzzer sounds to indicate when the model of the housing 20 is not consistent with the model of the housing required by the drone 100 to perform the task.
It can be understood that controller 30 can be used for confirming whether the specification information of box 20 is unanimous with the required box specification of unmanned aerial vehicle 100 task of waiting to carry out, and be used for according to the mode of operation of box 20 when the specification information of box 20 is unanimous with the required box specification of unmanned aerial vehicle 100 task of waiting to carry out. It can be understood that controller 30 can control unmanned aerial vehicle 100 to send out prompt information or control unmanned aerial vehicle 100 and can't take off when the specification information of box 20 is inconsistent with the required box specification that unmanned aerial vehicle 100 waited to carry out the task.
It will be appreciated that the controller 30 can be used to determine whether the information of the shipment is consistent with the shipment required by the drone 100 to perform the task, and to determine the mode of operation of the drone from the information of the shipment when the information of the shipment is consistent with the shipment required by the drone 100 to perform the task. It will be appreciated that the controller 30 can control the drone 100 to issue a cue or control the drone 100 to fail to take off when the information on the load of the tank is not consistent with the load of the tank required for the drone 100 to perform the task.
It can be understood that the controller 30 can be configured to determine whether the operation information of the drone 100 is consistent with the operation information required by the drone 100 to perform the task, and to determine the operation mode of the drone 100 according to the operation information of the drone 100 when the operation information of the drone 100 is consistent with the operation information required by the drone 100 to perform the task. It can be understood that the controller 30 can control the drone 100 to send out the prompt message or control the drone 100 to fail to take off when the operation information of the drone 100 is inconsistent with the operation information required for the drone 100 to perform the task.
In certain embodiments, step S3 includes:
confirm unmanned aerial vehicle 100's working method according to the specification information of box 20, include: determining the spraying path of the unmanned aerial vehicle 100 according to the full-load capacity, the existing capacity or the model of the box body 20;
determining the mode of operation of the drone 100 from the bin load information includes: determining the spray path of the drone 100 as a function of the type of the pack load, the physical state of the pack load, the consistency of the pack load, and the volume or weight of the pack load;
determining the working mode of the unmanned aerial vehicle according to the operation information of the unmanned aerial vehicle, comprising the following steps: and determining the spraying path of the unmanned aerial vehicle according to the operating environment information and the type information of the operating object.
Thus, the work efficiency can be improved.
The "existing volume" is an actual volume of the liquid in the tank 20. The "container load" mentioned above is for example a liquid (e.g. a liquid containing a pesticide), a powder, solid particles or seeds, etc. The "work environment information" described above is, for example, weather conditions.
For example, when using unmanned aerial vehicle 100 to carry out the plant and spray operation route planning, can confirm unmanned aerial vehicle 100 according to the current capacity of box 20 and spray the length in route to can confirm unmanned aerial vehicle 100 according to current capacity and spray the time of returning a voyage after accomplishing, in order to guarantee unmanned aerial vehicle 100 at the whole accuracy of spraying the in-process. When the current capacity of box 20 is great, can be with the longer of the route setting that unmanned aerial vehicle 100 sprayed, at this moment unmanned aerial vehicle 100 can carry out the operation of spraying of longer time. When the current capacity of box 20 is less, can be with the path setting's that unmanned aerial vehicle 100 sprayed shorter, at this moment unmanned aerial vehicle 100 can carry out the operation of spraying of short distance.
When the control method of the drone is applied to the drone 100, the specification information includes the full-load capacity, the existing capacity, or the model of the case 20. The controller 30 is used to determine the spray path of the drone 100 from the full capacity, existing capacity or model of the tank 20. It will be appreciated that the information of the encasement load includes the type of encasement load, the physical state of the encasement load, the consistency of the encasement load, and the volume or weight of the encasement load, and that the controller 30 can be used to determine the spray path of the drone 100 based on the type of encasement load, the physical state of the encasement load, the consistency of the encasement load, and the volume or weight of the encasement load. It is understood that the operation information of the drone 100 includes operation environment information and type information of the operation object, and the controller 30 can be used to determine the spraying path of the drone 100 according to the operation environment information and the type information of the operation object. In this embodiment, the controller 30 is configured to determine the spray path of the drone 100 from the existing capacity of the tank 20.
In certain embodiments, step S3 includes:
determining whether the existing capacity of the enclosure 20 is greater than a capacity threshold;
if so, controlling the unmanned aerial vehicle 100 to take off and executing the spraying path of the unmanned aerial vehicle 100;
if not, the unmanned aerial vehicle 100 is controlled to send out prompt information, or the unmanned aerial vehicle 100 is controlled to be incapable of taking off.
As such, when the existing capacity of the tank 20 is greater than the capacity threshold, the drone 100 can take off and execute the spray path of the drone 100; when the existing capacity of the box 20 is less than or equal to the capacity threshold, the drone 100 can issue a prompt or fail to take off. Wherein, the capacity threshold value can be set according to specific situations.
For example, when using unmanned aerial vehicle 100 to spray the operation, if the current capacity of box 20 is greater than the capacity threshold value, this moment shows that the current capacity of box 20 is more sufficient, can guarantee unmanned aerial vehicle 100's normal operation of spraying. At this time, the specific spraying path of the drone 100 may be determined according to the existing capacity of the box 20, for example, when the existing capacity of the box 20 is large, the spraying path of the drone 100 may be set to be long. If the existing capacity of the box 20 is less than or equal to the capacity threshold, it indicates that the existing capacity of the box 20 is insufficient, and the normal spraying operation of the unmanned aerial vehicle 100 cannot be satisfied. At this time, prompt information may be sent out in time, or the drone 100 may not take off.
In addition, if it is detected that the existing capacity of the box 20 is less than or equal to the capacity threshold value when the unmanned aerial vehicle 100 is in a flying state (for example, spraying work is being performed), the unmanned aerial vehicle 100 may be controlled to send out prompt information and stop working, and the unmanned aerial vehicle 100 may be controlled to return.
In the present embodiment, the controller 30 is configured to determine whether the existing capacity of the box 20 is greater than a capacity threshold, and to control the unmanned aerial vehicle 100 to take off and execute the spraying path of the unmanned aerial vehicle 100 when the existing capacity of the box 20 is greater than the capacity threshold, and to control the unmanned aerial vehicle 100 to send out the prompt message or control the unmanned aerial vehicle 100 not to take off when the existing capacity of the box 20 is less than or equal to the capacity threshold.
In certain embodiments, the drone 100 includes a spraying system 40 mounted to the body 10. The spraying system 40 is used for being connected with the box 20 when the box 20 is installed to the machine body 10, and the control method of the unmanned aerial vehicle comprises the following steps:
step S4, if the information collector 11 does not acquire the box identifier 21, it is determined that the box 20 is not mounted on the airframe 10, and the spraying system 40 is turned off and/or the unmanned aerial vehicle 100 is prohibited from taking off.
Thus, when the information collector 11 does not acquire the box body identifier 21, the spraying system 40 can be closed in time, and the unmanned aerial vehicle 100 can be prohibited from taking off at the same time.
For example, when the drone 100 is not taking off, the information collector 11 does not obtain the box identifier 21, which indicates that the box 20 is not installed on the airframe 10, so that the spraying system 40 can be directly turned off to prevent misoperation. When the unmanned aerial vehicle 100 is in the flight state, the information collector 11 does not acquire the box body identifier 21, which indicates that the box body 20 is separated from the machine body 10, and the spraying system 40 should be directly closed to prevent misoperation.
It is understood that controller 30 is configured to determine that box 20 is not mounted to airframe 10 when information collector 11 does not acquire box identification 21, and is configured to turn off spraying system 40 and/or prohibit takeoff of drone 100 when information collector 11 does not acquire box identification 21. That is, when the information collector 11 does not acquire the box body identifier 21, the controller 30 can turn off the spraying system 40, or the controller 30 prohibits the unmanned aerial vehicle 100 from taking off, or the controller 30 turns off the spraying system 40 and prohibits the unmanned aerial vehicle 100 from taking off.
Referring to fig. 15, in the embodiment, an unmanned aerial vehicle carrying a box is shown, and specifically, the unmanned aerial vehicle 100 includes a body 10, a box 20, a controller 30 (not shown), and a spraying system 40. The case 20 is mounted on the body 10, and the sprinkler system 40 operates through the controller 30. In the present embodiment, the sprinkler system 40 includes a pump body (not shown), a connecting pipe, and a sprinkler head. The connection pipe connects the case 20 and the head. The pump body is electrically connected to the controller 30. The controller 30 is used for controlling the pump body to work so as to pump the liquid in the box body 20 to the spray head through the connecting pipe, so that the spray liquid is sprayed by the spray head.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
The above disclosure provides many different embodiments or examples for implementing different structures of the application. The components and arrangements of specific examples are described above to simplify the present disclosure. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, examples of various specific processes and materials are provided herein, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.
In the description herein, references to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: numerous changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.
Claims (35)
1. The utility model provides an unmanned aerial vehicle's control method, its characterized in that, unmanned aerial vehicle includes organism and box, information collector is installed to the organism, the box is equipped with the box sign that can be obtained by information collector, unmanned aerial vehicle's control method includes:
determining whether the information collector acquires the box body identification;
if yes, determining that the box body is installed on the machine body, and acquiring related information of the box body according to the box body identification;
and determining the working mode of the unmanned aerial vehicle according to the relevant information of the box body.
2. The method of controlling an unmanned aerial vehicle according to claim 1, wherein the information collector includes an electronic tag reader/writer, and the box identifier includes at least one of an RFID tag and an NFC tag.
3. The unmanned aerial vehicle control method of claim 1, wherein the information collector comprises a camera, and the box identifier comprises at least one of a two-dimensional code and a bar code.
4. The unmanned aerial vehicle control method of claim 1, wherein a protective layer is provided on a surface of the information collector and/or a protective layer is provided on a surface of the box identifier.
5. The method of controlling a drone of claim 1, wherein the information regarding the tank includes at least one of specification information of the tank, information of a tank load, and operation information of the drone.
6. The control method of the unmanned aerial vehicle according to claim 5, wherein the specification information of the box body includes at least one information of a full capacity, an existing capacity, and a model of the box body.
7. The method of claim 5, wherein the tote load information includes at least one of a tote load type, a tote load physical status, a tote load consistency, and a tote load volume or weight.
8. The method of controlling a drone of claim 5, wherein the work information includes at least one of the work environment information and the type information of the work.
9. The method of controlling the drone of claim 5, wherein determining the operating mode of the drone according to the information related to the housing includes:
determining whether the specification information of the box body is consistent with the specification of the box body required by the unmanned aerial vehicle to execute the task, if so, determining the working mode of the unmanned aerial vehicle according to the specification information of the box body; or
Determining whether the information of the box loads is consistent with the box loads required by the unmanned aerial vehicle to execute the task, if so, determining the working mode of the unmanned aerial vehicle according to the information of the box loads; or
And determining whether the operation information of the unmanned aerial vehicle is consistent with the operation information required by the task to be executed of the unmanned aerial vehicle, if so, determining the working mode of the unmanned aerial vehicle according to the operation information of the unmanned aerial vehicle.
10. The control method of a drone of claim 9,
according to the specification information of box confirms unmanned aerial vehicle's working method includes: determining a spraying path of the unmanned aerial vehicle according to the full-load capacity, the existing capacity or the model of the box body;
determining the mode of operation of the drone according to the bin load information, comprising: determining a spray path of the drone as a function of the type of the tote load, the physical state of the tote load, the consistency of the tote load, and the volume or weight of the tote load;
determining the working mode of the unmanned aerial vehicle according to the operation information of the unmanned aerial vehicle, comprising the following steps: and determining the spraying path of the unmanned aerial vehicle according to the operating environment information and the type information of the operating object.
11. The method of controlling a drone of claim 10, wherein determining a spray path of the drone as a function of an existing capacity of the tank includes:
determining whether an existing capacity of the enclosure is greater than a capacity threshold;
if so, controlling the unmanned aerial vehicle to take off and executing a spraying path of the unmanned aerial vehicle;
if not, controlling the unmanned aerial vehicle to send prompt information, or controlling the unmanned aerial vehicle to be incapable of taking off.
12. The method for controlling the unmanned aerial vehicle according to claim 1, wherein determining the operation mode of the unmanned aerial vehicle according to the information related to the box body comprises:
and if the relevant information of the box body is inconsistent with the relevant information of the box body required by the unmanned aerial vehicle to execute the task, controlling the unmanned aerial vehicle to send prompt information or controlling the unmanned aerial vehicle to be incapable of taking off.
13. The method of controlling a drone of claim 1, wherein the drone includes a sprinkler system mounted to the body, the sprinkler system for connecting with the tank when the tank is mounted to the body, the method of controlling the drone including:
and if the information collector does not obtain the box body identification, determining that the box body is not installed on the machine body, and closing the spraying system and/or forbidding the unmanned aerial vehicle to take off.
14. A box body is used for being installed on an unmanned aerial vehicle and providing a loading object for the operation of the unmanned aerial vehicle, and is characterized in that the box body is provided with a box body mark which can be acquired by an information acquisition device,
the box identification can be determined when the box identification is acquired by the information collector, the box is installed on the machine body, the relevant information of the box is provided, and the unmanned aerial vehicle can determine the working mode of the unmanned aerial vehicle according to the relevant information of the box.
15. The case of claim 14, wherein the case identification comprises at least one of an RFID tag and an NFC tag.
16. The cabinet of claim 14, wherein the cabinet identifier includes at least one of a two-dimensional code and a bar code.
17. The case of claim 14, wherein the information relating to the case includes at least one of information relating to the size of the case, information relating to the load of the case, and information relating to the operation of the drone.
18. The cabinet of claim 17, wherein the specification information of the cabinet includes at least one of a full capacity, an existing capacity, and a model of the cabinet.
19. The carton of claim 17, wherein the carton load information comprises at least one of a carton load type, a physical state of the carton load, a consistency of the carton load, and a volume or weight of the carton load.
20. The cabinet of claim 17, wherein the work information includes at least one of the work environment information and the type information of the work.
21. The cabinet of claim 14, wherein a surface of the cabinet label is provided with a protective layer.
22. The utility model provides an unmanned aerial vehicle for carry on the box and carry out the operation, its characterized in that includes:
the information acquisition device is used for acquiring a box body identifier of the box body;
the controller is connected with the information collector and used for determining whether the information collector acquires the box body identification or not, determining that the box body is installed on the machine body when the information collector acquires the box body identification, acquiring relevant information of the box body according to the box body identification and determining the working mode of the unmanned aerial vehicle according to the relevant information of the box body.
23. The drone of claim 22, wherein the drone includes the box, the box being mounted to the body.
24. The unmanned aerial vehicle of claim 22, wherein the information collector comprises an electronic tag reader, and the tank identifier comprises at least one of an RFID tag and an NFC tag.
25. An unmanned aerial vehicle as defined in claim 22, wherein the information collector comprises a camera, and the tank identifier comprises at least one of a two-dimensional code and a bar code.
26. An unmanned aerial vehicle as claimed in claim 22, wherein a protective layer is attached to the surface of the information collector and/or a protective layer is attached to the surface of the box identification.
27. The drone of claim 22, wherein the information regarding the tank includes at least one of information regarding a specification of the tank, information regarding a load of the tank, and information regarding a work of the drone.
28. A drone as claimed in claim 27, wherein the specification information of the tank includes at least one of full capacity, existing capacity and model of the tank.
29. The drone of claim 27, wherein the information of the sabot load includes at least one of a type of the sabot load, a physical state of the sabot load, a consistency of the sabot load, and a volume or weight of the sabot load.
30. A drone as claimed in claim 27, wherein the operational information includes at least one of the operational environment information and category information of a work object.
31. The unmanned aerial vehicle of claim 27, wherein the controller is configured to determine whether the specification information of the tank is consistent with a tank specification required by the unmanned aerial vehicle to perform a task, and to determine a mode of operation of the unmanned aerial vehicle based on the specification information of the tank when the specification information of the tank is consistent with the tank specification required by the unmanned aerial vehicle to perform the task; or
The controller is used for determining whether the information of the box load is consistent with the box load required by the unmanned aerial vehicle to perform the task, and determining the working mode of the unmanned aerial vehicle according to the information of the box load when the information of the box load is consistent with the box load required by the unmanned aerial vehicle to perform the task; or
The controller is used for determining whether the operation information of the unmanned aerial vehicle is consistent with the operation information required by the task to be executed by the unmanned aerial vehicle or not, and is used for determining the working mode of the unmanned aerial vehicle according to the operation information of the unmanned aerial vehicle when the operation information of the unmanned aerial vehicle is consistent with the operation information required by the task to be executed by the unmanned aerial vehicle. .
32. The drone of claim 31, wherein the specification information includes a full capacity, an existing capacity, or a model of the case, the controller to determine a spray path of the drone as a function of the full capacity, the existing capacity, or the model of the case;
the tote load information includes the tote load type, the physical tote load status, the tote load consistency, and the tote load volume or weight, the controller being configured to determine the drone's spray path based on the tote load type, the tote load physical status, the tote load consistency, and the tote load volume or weight;
the unmanned aerial vehicle's operation information includes operation environment information and the kind information of operation thing, the controller is used for confirming unmanned aerial vehicle's spraying route according to operation environment information and the kind information of operation thing.
33. The drone of claim 32, wherein the controller is to determine whether an existing capacity of the box is greater than a capacity threshold, and to control the drone to take off and execute a spray path of the drone when the existing capacity of the box is greater than the capacity threshold, and to control the drone to issue a reminder or control the drone to fail to take off when the existing capacity of the box is less than or equal to the capacity threshold.
34. The unmanned aerial vehicle of claim 31, wherein the controller is configured to control the unmanned aerial vehicle to issue a prompt or to control the unmanned aerial vehicle to fail to take off when the information regarding the tank is inconsistent with the information regarding the tank required by the unmanned aerial vehicle to perform the task.
35. The drone of claim 30, wherein the drone includes a spraying system mounted to the body, the spraying system to connect with the tank when the tank is mounted to the body, the controller to determine that the tank is not mounted to the body when the tank identification is not acquired by the information collector, and to turn off the spraying system and/or inhibit takeoff of the drone when the tank identification is not acquired by the information collector.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2018/116186 WO2020102938A1 (en) | 2018-11-19 | 2018-11-19 | Unmanned aerial vehicle control method, box body and unmanned aerial vehicle |
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| Publication Number | Publication Date |
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| CN110799419A true CN110799419A (en) | 2020-02-14 |
| CN110799419B CN110799419B (en) | 2024-03-15 |
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| CN201880041880.3A Active CN110799419B (en) | 2018-11-19 | 2018-11-19 | Unmanned aerial vehicle control method, box and unmanned aerial vehicle |
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| CN (1) | CN110799419B (en) |
| WO (1) | WO2020102938A1 (en) |
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Also Published As
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| CN110799419B (en) | 2024-03-15 |
| WO2020102938A1 (en) | 2020-05-28 |
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