CN111482300A - Intelligent spraying method, unmanned spraying vehicle and readable storage medium - Google Patents
Intelligent spraying method, unmanned spraying vehicle and readable storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/081—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to the weight of a reservoir or container for liquid or other fluent material; responsive to level or volume of liquid or other fluent material in a reservoir or container
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
- B60P3/30—Spraying vehicles
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Abstract
The application provides an intelligent spraying method, an unmanned spraying vehicle and a readable storage medium. The intelligent spraying method comprises the following steps: acquiring depth information and color information of a surrounding environment; determining the information of the area to be sprayed according to the depth information and the color information; determining a spraying strategy of the area to be sprayed according to the information of the area to be sprayed; and controlling the spraying device to spray according to the spraying strategy. When the method is applied to the unmanned spraying vehicle, the method can improve the operation flexibility of the unmanned spraying vehicle (unmanned/automatic unmanned vehicle with spraying function) and improve the utilization rate of resources.
Description
Technical Field
The application relates to the technical field of unmanned vehicles, in particular to an intelligent spraying method, an unmanned spraying vehicle and a readable storage medium.
Background
In the prior art, unmanned spraying vehicles (or other unmanned spraying devices) realize unmanned spraying by overlapping the unmanned vehicles and spraying equipment. However, the spraying amount, the spraying angle, the spraying range and the like of the existing unmanned spraying vehicle cannot be adjusted, so that the unmanned spraying vehicle has low operation flexibility, and resources cannot be fully utilized, such as waste of sprayed objects.
Disclosure of Invention
An object of the embodiment of the present application is to provide an intelligent spraying method, an unmanned spraying vehicle, and a readable storage medium, so as to improve the flexibility of spraying operations and improve the utilization rate of resources.
In a first aspect, an embodiment of the present application provides a method for intelligent spraying, including: acquiring depth information and color information of a surrounding environment; determining the information of the area to be sprayed according to the depth information and the color information; determining a spraying strategy of the area to be sprayed according to the information of the area to be sprayed; and controlling a spraying device to spray according to the spraying strategy.
In the embodiment of the application, after the depth information and the color information of the surrounding environment are acquired, the information of the area to be sprayed can be determined according to the depth information and the color information, then the corresponding spraying strategy can be determined according to the information of the area to be sprayed, and the spraying device is controlled to spray according to the spraying strategy. Compared with the prior art, the spraying strategy can be changed in time based on the information of the area to be sprayed, so that the real-time spraying adjustment effect is achieved, and the spraying operation flexibility can be improved; and the spraying strategy is changed in real time according to the area to be sprayed, so that the waste of resources can be avoided, the resources are fully utilized, and the utilization rate of the resources is improved.
As a possible implementation manner, the information of the area to be sprayed includes a working width of the area to be sprayed and/or a covering of the area to be sprayed; the spraying strategy comprises the corresponding spraying amount, spraying angle and spraying range of the area to be sprayed.
In the embodiment of the application, the spraying amount, the spraying angle and the spraying range corresponding to the area to be sprayed are determined according to the operation width and/or the covering of the area to be sprayed, so that different spraying requirements of different road sections can be realized, and the waste of resources is avoided.
As a possible implementation, when the information of the area to be sprayed includes a cover of the area to be sprayed; the determining the spraying strategy of the area to be sprayed according to the information of the area to be sprayed comprises the following steps: and calling pre-stored spraying strategies corresponding to different coverings according to the covering of the area to be sprayed, and determining the spraying strategy of the area to be sprayed.
In the embodiment of the application, according to different coverings of the area to be sprayed, flexible spraying of different working road coverings can be realized, and the flexibility of operation is improved.
As a possible implementation, when the information of the area to be sprayed includes the working width of the area to be sprayed and the covering of the area to be sprayed; the determining the spraying strategy of the area to be sprayed according to the information of the area to be sprayed comprises the following steps: according to the covering of the area to be sprayed, taking pre-stored spraying strategies corresponding to different coverings, and determining the spraying amount corresponding to the area to be sprayed; and determining the spraying angle and the spraying range corresponding to the area to be sprayed according to the operation width.
In this application embodiment, can confirm through the covering of difference and spray the volume to and confirm through the operation width and spray the angle and spray the range, and then can enough realize the difference and spray the demand, avoid the waste of resource, also can realize the nimble of the covering of the difference of different operation widths, improve the flexibility of operation.
As a possible implementation, before the obtaining the depth information and the color information of the surrounding environment, the method further includes: acquiring the residual amount information of the sprayed objects of the spraying device; and determining the current state according to the residual amount information of the sprayed objects.
In the embodiment of the application, the current state can be determined according to the residual amount of the sprayed objects before spraying, so that flexible state planning can be realized.
As a possible implementation manner, the determining the current state according to the information of the remaining amount of the sprinkled objects includes: when the residual amount of the sprayed objects is smaller than a preset value, the current state is that the sprayed objects are supplemented to a storehouse; when the residual amount of the sprayed objects is larger than or equal to the preset value, the current state is that spraying can be performed; correspondingly, the acquiring depth information and color information of the surrounding environment includes: and when the current state is that spraying can be performed, acquiring depth information and color information of the surrounding environment.
In the embodiment of the application, when the residual amount of the sprayed object is less than the preset value, the user can go to the stock to supplement the sprayed object; when the remaining amount of the spray is greater than or equal to a preset value, spraying may be performed. When spraying can be carried out, subsequent planning of spraying strategies is carried out and spraying actions are controlled, so that smooth spraying can be ensured, and the spraying stability is improved.
As a possible implementation, the method further includes: obtaining obstacle information in the surrounding environment; adjusting a spray strategy and/or a current travel state according to the obstacle information.
In the embodiment of the application, the spraying strategy and/or the current traveling state can be adjusted through obstacle (such as pedestrian) information, and the spraying flexibility is improved.
As a possible implementation, before the controlling the spraying device to spray according to the spraying strategy, the method further comprises: determining a traveling strategy when spraying is performed according to the information of the area to be sprayed; correspondingly, when the spraying device is controlled to spray according to the spraying strategy, the travelling strategy is executed.
In the embodiment of the application, before the spraying device is controlled to spray, the advancing strategy during spraying can be determined, and then during spraying, the advancing strategy can be executed, so that the advancing state in the spraying process is flexible and controllable, and the spraying flexibility is further improved.
In a second aspect, an embodiment of the present application provides an unmanned spraying vehicle, including: the sensing equipment is used for acquiring depth information and color information of the surrounding environment; the processor is used for determining the information of the area to be sprayed according to the depth information and the color information; determining a spraying strategy of the area to be sprayed according to the information of the area to be sprayed; a spraying device; the processor is further configured to control the spraying device to spray according to the spraying strategy.
In a third aspect, an embodiment of the present application provides a readable storage medium, where a computer program is stored on the readable storage medium, and when the computer program is executed by a computer, the computer program performs the method according to the first aspect and any one of the possible implementation manners of the first aspect.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a flowchart of a method for intelligent spraying provided by an embodiment of the present application;
fig. 2 is a schematic structural diagram of functional modules of the unmanned spraying vehicle according to the embodiment of the present application.
Icon: 20-unmanned spraying vehicle; 201-a sensing device; 202-a processor; 203-spraying device.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
The intelligent spraying method provided by the embodiment of the application can be applied to a processor of an unmanned spraying vehicle, and the unmanned spraying vehicle can be understood as a spraying vehicle which is unmanned and sprays various liquids, such as an unmanned spraying vehicle, an unmanned disinfection vehicle and the like.
The processor can be a processor of a spraying control system, and can also be a processor of a vehicle-mounted system of an unmanned spraying vehicle. For example: the processor is a processor of an ECU (Electronic Control Unit), which is also called a "traveling computer" or a "vehicle-mounted computer". The vehicle-mounted controller is a special microcomputer controller for the vehicle in terms of application. The processor may be an integrated circuit chip having signal processing capabilities. The processor may be a general purpose processor including a central processing unit, a network processor, etc.; but may also be a digital signal processor, an application specific integrated circuit, an off-the-shelf programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components. Which may implement or perform the methods, steps, and logic blocks disclosed in the embodiments of the present application. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The unmanned spraying vehicle also comprises sensing equipment and a spraying device, wherein the sensing equipment is used for sensing surrounding environment information; the spraying device is used for executing spraying action; the sensing device and the spraying device are respectively in communication connection with the processor. The spraying device and the sensing equipment are arranged on a fixed position of the unmanned spraying vehicle, such as: the spray devices of unmanned spray vehicles typically include spray heads positioned on the outside of the vehicle body (including but not limited to the vehicle bottom, the vehicle body periphery, the vehicle roof). The sensing equipment can comprise a camera and a laser radar, the camera is used for collecting real-time pictures of the surrounding environment, the laser radar is used for collecting point cloud data of the surrounding environment in real time, and accurate surrounding environment data can be collected through the cooperation of the camera and the laser radar. To camera and lidar's position and quantity, can set up as required, for example: the number of the cameras can be multiple, and the multiple cameras can be respectively arranged at multiple positions of the head, the body and the tail of the unmanned spraying vehicle; the quantity of laser radar also can be a plurality of, and a plurality of laser radar can set up in the locomotive bottom of unmanned spray truck, or positions such as automobile body front end. In a word, the setting principle of the positions and the number of the cameras and the laser radars is as follows: and ensuring that the relevant data of the surrounding environment can be collected.
Referring next to fig. 1, a flowchart of a method for intelligent spraying provided in an embodiment of the present application is shown, where the method includes:
step 101: depth information and color information of the surrounding environment are acquired.
Step 102: and determining the information of the area to be sprayed according to the depth information and the color information.
Step 103: and determining the spraying strategy of the area to be sprayed according to the information of the area to be sprayed.
Step 104: and controlling the spraying device to spray according to the spraying strategy.
After the depth information and the color information of the surrounding environment are obtained, the information of the area to be sprayed can be determined according to the depth information and the color information, then the corresponding spraying strategy can be determined according to the information of the area to be sprayed, and the spraying device is controlled to spray according to the spraying strategy. Compared with the prior art, the spraying strategy can be changed in time based on the information of the area to be sprayed, so that the real-time spraying adjustment effect is achieved, and the spraying operation flexibility can be improved; and the spraying strategy is changed in real time according to the area to be sprayed, so that the waste of resources can be avoided, the resources are fully utilized, and the utilization rate of the resources is improved.
The detailed implementation of steps 101-104 will be described based on the application of the method to an unmanned spraying vehicle as an example.
In step 101, the acquisition of depth information and color information of the surrounding environment may be achieved by a sensing device. In embodiments where the perception device comprises a camera and a lidar, the depth information may be provided by the lidar and the colour information may be provided by the camera. It can be understood that the camera can acquire the picture of the surrounding environment, and therefore, the color information of the surrounding environment can be acquired. The laser radar is a radar that detects a characteristic amount such as a position and a velocity of a target by emitting a laser beam. The working principle is to transmit a detection signal (laser beam) to a target, then compare the received signal (target echo) reflected from the target with the transmitted signal, and after appropriate processing, obtain the relevant information of the target, such as target distance, azimuth, height, speed, attitude, even shape and other parameters. The working principle of the laser radar is very similar to that of the radar, the laser is used as a signal source, pulse laser emitted by a laser device is applied to trees, roads, bridges and buildings on the ground to cause scattering, a part of light waves can be reflected to a receiver of the laser radar, the distance from the laser radar to a target point is obtained according to calculation of a laser ranging principle, the pulse laser continuously scans a target object to obtain data of all the target points on the target object, and after the data is used for imaging processing, an accurate three-dimensional image can be obtained. Therefore, the depth information can be acquired by the characteristics that the laser radar can acquire three-dimensional geographic information, and the depth information can be understood as scene depth information of the surrounding environment, such as: the height of a certain tree and the height of a certain building can be understood as depth information.
Further, in step 102, information of the area to be sprayed may be determined based on the depth information and the color information. The area to be sprayed can be understood as the area to be sprayed, for example: if unmanned spraying vehicle's function is to sprinkle on the street, when unmanned spraying vehicle was gone on the road, its purpose was to sprinkle to the road on both sides, and the road that is in unmanned spraying vehicle's the spraying within range this moment is promptly to treat the area of spraying. For another example: if the function of unmanned spraying vehicle is to sprinkle the lawn on the street, the lawn that lies in unmanned spraying vehicle's spraying range this moment is promptly and treats the area of spraying.
Further, the information of the area to be sprayed may include information of a working width of the area to be sprayed and a cover. Furthermore, in step 102, after the image information shot by the camera and the point cloud data obtained by the laser radar at the position are checked and synchronized through the timestamp and the coordinate system value, the operation width and the coverage of the area to be sprayed can be judged according to the extracted color of the image and the depth information provided by the point cloud data at the corresponding position. For example: the image is green in large area, the depth information is low, and the lawn can be judged, and the covering is identified as grass; the width of the green region included in the image (the width of the lawn) is the working width of the region to be sprayed. For another example: the image is green in large area, the depth information is high, and the tree can be judged to be irrigated, and the covering object is identified as the tree; the width of the green area included in the image (the width of the irrigated trees) is the working width of the area to be sprayed. For another example: the image is in the color of a common road surface in a large area, the depth information is low, and the image can be judged as the common road surface, and the covering is identified to be a common road surface material; the width of the color of the ordinary road surface included in the image is the working width of the area to be sprayed.
Further, in step 103, a spraying strategy of the area to be sprayed is determined according to the information of the area to be sprayed, wherein the spraying strategy comprises a spraying amount, a spraying angle and a spraying range. When the information of the area to be sprayed is determined in step 102, the work width and the covering may be determined at the same time, or only the work width or only the covering may be determined, so that the determination of the spraying strategy in step 103 may have different embodiments based on the information of different areas to be sprayed, and the following description will be given on different embodiments of step 103.
In step 103, the amount sprayed may be understood as the volume of spray (e.g., water, sanitizing solution, etc.) required. The spray angle may be understood as the angular range of the spray, or a fixed angle of the spray, for example: spraying is carried out within an angle of 0-180 degrees. The spraying range is understood to be the distance that the spraying can reach, for example: the spraying range is 5m, and the spraying can be carried out within the range of 5m in front of the starting point of the spray head.
In a first alternative embodiment, when the information of the area to be sprayed only includes the working width of the area to be sprayed, step 103 includes: and determining the corresponding spraying amount, spraying angle and spraying range of the area to be sprayed according to the operation width. When the spraying device is implemented, the spraying amount, the spraying angle and the spraying range corresponding to different operation width ranges can be preset, then after the operation width is determined, the operation width range to which the operation width belongs is determined, and then the spraying amount, the spraying angle and the spraying range corresponding to the operation width range are used as the spraying amount, the spraying angle and the spraying range corresponding to the area to be sprayed. Wherein, the amount of spraying, the angle of spraying and the range of spraying that the operation width scope of difference corresponds can set up according to specific application scene. For example: when the operation width is larger, the spraying amount, the spraying angle and the spraying range can be larger. When the working width is small, the spraying amount, the spraying angle and the spraying range can be small.
In this application embodiment, according to the volume of spraying, the angle of spraying and the range of spraying that the operation width was confirmed, can realize the difference in different highway sections and spray the demand, avoid the waste of resource.
In a second alternative embodiment, when the information about the area to be sprayed comprises a covering of the area to be sprayed, step 103 comprises: and calling pre-stored spraying strategies corresponding to different coverings according to the covering of the area to be sprayed, and determining the spraying strategy of the area to be sprayed. Wherein, the spraying strategies corresponding to different coverings can be preset and stored by users. For example: the covering is a green belt or a lawn, and the spraying amount of the green belt or the lawn is generally large; moreover, the coverage area of the green belt or the lawn is generally larger, and correspondingly, the spraying angle and the spraying range are also larger. For another example: the covering is a common road, so the spraying amount can be smaller; and the coverage area of the common road is generally smaller, and correspondingly, the spraying angle and the spraying range can be smaller.
In this application embodiment, according to waiting to spray regional different covers, can realize the nimble spraying of different operation road covers, improve the flexibility of unmanned spray truck operation.
In a third alternative embodiment, when the information of the area to be sprayed includes both the working width and the covering, step 103 includes: calling pre-stored spraying strategies corresponding to different coverings according to the covering of the area to be sprayed, and determining the spraying amount corresponding to the area to be sprayed; and determining the corresponding spraying angle and spraying range of the area to be sprayed according to the operation width.
In this embodiment, it is equivalent to determining the amount of spray from different covers and then determining the spray angle and spray range in combination with the working width. Wherein the amount of spray is determined from the different covers, as in the second alternative embodiment; the determination of the spray angle and the spray range as a function of the working width is the same as in the first alternative embodiment. For example: when the covering is a lawn or a green belt, the spraying amount is large; then combine the operation width in lawn or greenbelt, when the operation width is great, spray angle and spray range and also correspondingly great.
In this application embodiment, can confirm through the covering of difference and spray the volume to and confirm through the operation width and spray the angle and spray the range, and then can enough realize the difference and spray the demand, avoid the waste of resource, also can realize the nimble spraying to the different covering of different operation widths, improve the flexibility of unmanned spray truck operation.
Of course, in addition to the manner of determining the spraying amount by the covering and the spraying angle and the spraying range by the operation width adopted in the third embodiment, the first embodiment and the second embodiment may be combined, that is, the first embodiment and the second embodiment are respectively utilized to determine the spraying amount, the spraying angle and the spraying range, which respectively correspond to the spraying amount, the spraying angle and the spraying range, and then a spraying amount, a spraying angle and a spraying range are determined according to the spraying amount, the spraying angle and the spraying range, which respectively correspond to the two embodiments, and are used as the spraying amount, the spraying angle and the spraying range of the area to be sprayed, for example, by averaging or weighted summation.
Further, after the spraying strategy is determined in step 103, in step 104, the spraying device may be controlled to spray according to the spraying strategy. As an alternative embodiment, step 104 includes: generating a control instruction of the spraying device according to a spraying strategy; and sending a control command to the spraying device so that the spraying device sprays according to the spraying strategy.
Wherein, to sprinkler, can include shower nozzle and shower nozzle controlling means, shower nozzle controlling means can include: the device comprises a spray head angle control motor and a spray pressure electromagnetic valve, wherein the spray head angle control motor is used for controlling the spray angle of a spray head; the spraying pressure electromagnetic valve is used for controlling the spraying amount and the spraying range. Therefore, control instructions of the spray head angle control motor and the spray pressure electromagnetic valve can be generated respectively based on the spray amount, the spray angle and the spray range in the spray strategy and then sent to the spraying device, and the spray head angle control motor and the spray pressure electromagnetic valve in the spraying device realize control over the spray angle, the spray amount and the spray range of the spray head based on the corresponding control instructions.
In this application embodiment, can generate corresponding control command through spraying the strategy, then send control command for sprinkler, realize sprinkler and spray according to spraying the strategy, improve unmanned spray vehicle's the efficiency of spraying.
In this embodiment of the present application, before performing step 101, the method may further include: acquiring the residual amount information of the sprayed objects of the spraying device; and determining the current state according to the information of the residual amount of the sprayed objects.
Wherein the current status may include travel to the warehouse for replenishment of the spray and executable spray. For the state of supplementing the sprayed objects to the storehouse, the surplus of the sprayed objects at present is insufficient and the sprayed objects need to be supplemented; for the state where spraying can be performed, it can be understood that the current amount of the sprayed material is sufficient and spraying can be performed.
Furthermore, when obtaining the information of the remaining amount of the sprayed material of the spraying device, it can be realized by the sprayed material monitoring device of the spraying device, for example: monitoring the weight information of the sprayed object through the weight sensor in real time to obtain the residual amount information of the sprayed object; then, for example, the depth information of the sprayed object in a container in which the sprayed object is placed is monitored in real time through a depth sensor to obtain the residual amount information of the sprayed object; or other more intelligent monitoring devices.
Further, determining the current state according to the information of the remaining amount of the sprayed object comprises: when the residual amount of the sprayed objects is smaller than the preset value, the current state is that the sprayed objects are supplemented to the storehouse; when the residual amount of the sprayed objects is larger than or equal to a preset value, the current state is that spraying can be performed; correspondingly, step 101 includes: and when the current state is that spraying can be performed, acquiring depth information and color information of the surrounding environment.
The preset value may be set according to a corresponding application scenario, for example, the required spraying amount for one spraying may be used. When the current state is assumed to be that the unmanned spraying vehicle goes to the storehouse to supplement the sprayed objects, the unmanned spraying vehicle can firstly determine the nearest storehouse capable of supplementing the sprayed objects around, then automatically plan a route, goes to the storehouse, and continues to spray the area to be sprayed after the sprayed objects are supplemented.
In the embodiment of the application, the current state can be determined according to the residual amount of the sprayed objects before spraying, so that flexible state planning can be realized. When the residual amount of the sprayed objects is smaller than the preset value, the user can go to the stock to supplement the sprayed objects; when the remaining amount of the spray is greater than or equal to a preset value, spraying may be performed. When spraying can be carried out, subsequent planning of spraying strategies is carried out and spraying actions are controlled, so that smooth spraying can be ensured, and the spraying stability is improved.
As an optional implementation, the method further comprises: obtaining obstacle information in the surrounding environment; adjusting the spray strategy and/or the current travel state based on the obstacle information.
In such an embodiment, the obstacle information may include information such as the position of the obstacle, the attribute of the obstacle, and the current state of the obstacle. Pedestrians or other vehicles or objects can be perceived through the lidar and camera, for example: confirming that a pedestrian is positioned 5m in front of the unmanned spraying vehicle through the camera and the laser radar; and the pedestrian is moving in a direction approaching itself.
As an alternative, a most efficient (or least energy consuming) adjustment may be selected when adjusting the spray strategy and/or the current travel state in dependence of the obstacle information. This is described next in connection with several possible scenarios. The first condition is as follows: when the obstacle is judged according to the obstacle information, the obstacle avoidance can be realized only by adjusting the spraying strategy or the obstacle is prevented from being sprayed, and the spraying strategy is adjusted in a more efficient (low energy consumption) mode. Such as: a moving obstacle (e.g., a pedestrian) is detected, but the obstacle is not located in the travel path of the unmanned spraying vehicle, such as on the left or right side of the unmanned spraying vehicle, and only the spraying strategy needs to be adjusted to avoid spraying the obstacle, such as reducing the spraying range or stopping spraying. Case two: when the obstacle is judged to be capable of avoiding the obstacle or avoiding spraying the obstacle only by adjusting the current traveling state according to the obstacle information, the traveling state is adjusted in a more efficient (energy-consuming) mode. Such as: the obstacle is detected to be located in front of the unmanned spraying vehicle and in the advancing route of the unmanned spraying vehicle, but the obstacle belongs to a stone which is a small obstacle, and only needs to be decelerated to advance at the moment, so that the influence of the obstacle on the unmanned spraying vehicle is avoided. For another example: the obstacle avoidance method has the advantages that the obstacle is detected to be located in front of the unmanned spraying vehicle and in the traveling route of the unmanned spraying vehicle, the obstacle is a moving obstacle (such as a pedestrian), the obstacle is far away from the unmanned spraying vehicle, and the obstacle avoidance can be realized only by reducing the speed (such as the obstacle is not collided with the pedestrian or sprayed to the pedestrian only by reducing the speed). Case three: when the obstacle is judged to need to simultaneously adjust the current traveling state and the spraying strategy to avoid the obstacle or avoid spraying the obstacle according to the obstacle information, the current traveling state and the spraying strategy need to be simultaneously adjusted at the moment. Such as: when an obstacle is detected to be located in front of the unmanned spraying vehicle and in the traveling path of the unmanned spraying vehicle, and the obstacle is very close to the unmanned spraying vehicle (for example, only a few meters away), on the one hand, deceleration obstacle avoidance (or obstacle avoidance by-pass) needs to be performed, and on the other hand, the spraying strategy needs to be adjusted (for example, the spraying range is reduced or spraying is stopped) to avoid spraying the obstacle.
In the above several cases, in the case that the spraying strategy needs to be adjusted, the spraying range of the spray head in a certain direction can be selectively adjusted or the spraying of the spray head in a certain direction can be stopped in combination with the position of the obstacle when the spraying range is adjusted or the spraying is stopped.
In the embodiment of the application, in addition to the adjustment of the spraying strategy and/or the current traveling state based on the obstacle information, if the obstacle is a pedestrian, whether spraying needs to be stopped or not can be determined based on the obstacle information in combination with the current traveling state of the unmanned spraying vehicle, so that the pedestrian is prevented from being drenched. The current traveling state of the unmanned spraying vehicle can comprise the current traveling speed, the traveling path and other state information. The current running state of the unmanned spraying vehicle can be acquired from a vehicle-mounted control system or a vehicle control system.
Further, by analyzing the traveling state and the obstacle information, it is possible to determine whether or not the spraying needs to be stopped. For example: assuming that the pedestrian is currently heading, it may be determined that spraying needs to be stopped. Of course, in practical situations, unmanned spraying vehicles are generally provided with spray heads facing different directions, and therefore, when determining whether to stop spraying, the spraying of the spray head in a certain direction can also be selectively stopped in combination with the position of the obstacle.
Further, if it is determined that spraying does not need to be stopped, the current spraying state can be unchanged, and the spraying device continues spraying according to the existing spraying instruction. In addition to this embodiment, the spraying range of the spray head may be adjusted in conjunction with the current travel state in the event that it is determined that spraying does not need to be stopped.
In this embodiment, it is applicable that spraying to an obstacle may occur if the current travel path is continued although it is determined that spraying does not need to be stopped. Thus, in determining the target spray range, the target range may be determined in combination with the position of the obstacle, the properties of the obstacle, etc. and the current path of travel and the current spray range, for example: although the position of the assumed obstacle has a certain distance from the unmanned spraying vehicle, the obstacle is sprayed according to the current travelling path and the current spraying range, and the obstacle can be sprayed after a long time, so that the spraying range can be reduced, the effect can be similar to the early deceleration before obstacle avoidance, and the influence caused by the fact that the spraying cannot be stopped timely is avoided. Of course, the same as the embodiment of stopping the spraying is that, when the spraying range is adjusted, the spraying range of the spray head can be adjusted only for the direction in which the obstacle is located.
In the embodiment of the application, when spraying is not required to be stopped, the current range can be adjusted according to the information of the obstacles and the current traveling state, and the spraying flexibility of the unmanned spraying vehicle is improved.
In addition, the adjustment of the spraying strategy mentioned in the above embodiments may generate the control instruction of the corresponding spraying device according to the specific adjustment measurement; and then sending the control command to the spraying device so that the spraying device sprays according to the spraying mode defined in the control command. For example: under the condition of stopping spraying, can generate the control command who closes the spraying switch, then send sprinkler, sprinkler closes the spraying switch according to control command, stops spraying.
In the embodiment of the present application, before performing step 104, a traveling strategy when spraying is performed may also be determined according to information of the area to be sprayed, and correspondingly, when the spraying device is controlled to spray according to the spraying strategy, the traveling strategy is performed. In this embodiment, it is equivalent to determining different travel patterns from different spray objects; for example, in some cases, the vehicle needs to be slowed down or the vehicle needs to travel according to a preset speed; in some cases it may be necessary to stop; or a stop of the frequency pattern for a while. Such as: if the spraying object is to water trees, the advancing strategy can be the situation that the trees are stopped for a period of time at the position where the trees are watered and the trees are not advanced until the corresponding spraying amount is finished, namely the spraying is stopped, because the trees need to be watered in a larger spraying amount. For another example: assuming that the spraying object is a flower bed arranged at intervals according to a preset distance, a frequency-type speed adjustment strategy can be set, for example: assuming that four flower beds are required to be sprayed, stopping or decelerating at the position of the first flower bed for a while to spray, advancing to the position of the second flower bed or accelerating to the position of the second flower bed after the spraying of the first flower bed is finished, stopping or decelerating at the position of the second flower bed to spray, and repeating the steps until the spraying of the four flower beds is finished. The spraying device is suitable for most spraying objects for a traveling mode of decelerating or traveling according to a preset traveling speed so as to ensure that all the spraying objects can be fully sprayed.
In addition to the way of spray strategy adjustment described in the above embodiments, more flexible spray strategies may be provided, such as: different spraying strategies are implemented for the characteristics of a specific object to be sprayed. For example, if it is recognized that the object to be sprayed in the area to be sprayed is a tree to be watered according to the surrounding environment information collected by the sensing device, since a large spraying amount is required for tree watering, the spraying strategy may be to stay for a certain period of time at the tree watering place, and to complete spraying after reaching a preset spraying amount. For another example: and aiming at specific spraying liquid, a more rigorous obstacle avoidance spraying strategy is implemented. For example, if the unmanned spraying vehicle is used for spraying disinfectant, the harm caused by spraying disinfectant onto an object (such as a pedestrian) which is not sprayed is large, and the spraying strategy at this time may be that as long as an obstacle which is not the target spraying object is detected, the spraying is stopped, and after the obstacle is avoided or the obstacle is not in the spraying range, the spraying is continued. Aiming at different application scenes of the unmanned spraying vehicle, more spraying strategy adjusting modes can be added, and the one-to-one introduction is not carried out.
Through the introduction in the embodiment, the intelligent spraying, fine control and operation can be realized through the fusion of the environment sensing data (data collected by the sensing equipment) and the unmanned real-time data of the unmanned vehicle. Based on the sensing data, the unmanned vehicle is combined with the unmanned real-time execution data of the unmanned vehicle, corresponding control can be executed after comprehensive decision making is carried out, the algorithm of the unmanned vehicle during unmanned spraying is simplified, intelligent spraying of accuracy, flexibility, safety and the like in the moving process is realized, the operation flexibility of the unmanned spraying vehicle is improved, and the utilization rate of resources is improved.
Based on the same inventive concept, please refer to fig. 2, an embodiment of the present application further provides an unmanned spraying vehicle 20, which includes a sensing device 201, a processor 202, and a spraying device 203.
The perception device 201 is used for collecting depth information and color information of the surrounding environment; a processor 202, configured to determine information of an area to be sprayed according to the depth information and the color information; determining a spraying strategy of the area to be sprayed according to the information of the area to be sprayed; the processor 202 is further configured to control the spraying device 203 to spray according to the spraying strategy.
Optionally, the information of the area to be sprayed includes a working width of the area to be sprayed and/or a covering of the area to be sprayed; the spraying strategy comprises the corresponding spraying amount, spraying angle and spraying range of the area to be sprayed.
Optionally, when the information of the area to be sprayed includes a cover of the area to be sprayed; the processor 202 is further specifically configured to: and calling pre-stored spraying strategies corresponding to different coverings according to the covering of the area to be sprayed, and determining the spraying strategy of the area to be sprayed.
Optionally, the processor 202 is further configured to: acquiring the information of the residual amount of the sprayed material of the spraying device 203; and determining the current state according to the residual amount information of the sprayed objects.
Optionally, the processor 202 is specifically configured to: when the residual amount of the sprayed objects is smaller than a preset value, the current state is that the sprayed objects are supplemented to a storehouse; when the residual amount of the sprayed objects is larger than or equal to the preset value, the current state is that spraying can be performed; and when the current state is that spraying can be performed, acquiring depth information and color information of the surrounding environment acquired by the sensing device 201.
Optionally, the processor 202 is further configured to: acquiring obstacle information in the surrounding environment acquired by the sensing device 201; adjusting a spray strategy and/or a current travel state according to the obstacle information.
Optionally, the processor 202 is further configured to: and determining a traveling strategy when spraying is performed according to the information of the area to be sprayed. And the processor 202 is further specifically configured to: executing the travel strategy when the spraying device is controlled to spray according to the spraying strategy.
While the foregoing embodiments and specific examples of the intelligent spraying method in the foregoing embodiment are also applicable to the unmanned spraying vehicle 20 in fig. 2, the detailed description of the intelligent spraying method in the foregoing embodiment will make clear to those skilled in the art that the implementation method of the unmanned spraying vehicle 20 in fig. 2 is not described in detail herein for the sake of brevity of the description.
Based on the same inventive concept, the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a computer, the method for intelligent spraying according to any of the above embodiments is executed.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
In addition, units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
In this document, 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.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A method of intelligent spraying, comprising:
acquiring depth information and color information of a surrounding environment;
determining the information of the area to be sprayed according to the depth information and the color information;
determining a spraying strategy of the area to be sprayed according to the information of the area to be sprayed;
and controlling a spraying device to spray according to the spraying strategy.
2. The method according to claim 1, characterized in that the information of the area to be sprayed comprises a working width of the area to be sprayed and/or a covering of the area to be sprayed; the spraying strategy comprises the corresponding spraying amount, spraying angle and spraying range of the area to be sprayed.
3. The method according to claim 2, wherein when the information of the area to be sprayed includes a covering of the area to be sprayed; the determining the spraying strategy of the area to be sprayed according to the information of the area to be sprayed comprises the following steps:
and calling pre-stored spraying strategies corresponding to different coverings according to the covering of the area to be sprayed, and determining the spraying strategy of the area to be sprayed.
4. The method according to claim 2, characterized in that when the information of the area to be sprayed comprises a working width of the area to be sprayed and a covering of the area to be sprayed; the determining the spraying strategy of the area to be sprayed according to the information of the area to be sprayed comprises the following steps:
according to the covering of the area to be sprayed, taking pre-stored spraying strategies corresponding to different coverings, and determining the spraying amount corresponding to the area to be sprayed;
and determining the spraying angle and the spraying range corresponding to the area to be sprayed according to the operation width.
5. The method of claim 1, wherein prior to said obtaining depth information and color information of the ambient environment, the method further comprises:
acquiring the residual amount information of the sprayed objects of the spraying device;
and determining the current state according to the residual amount information of the sprayed objects.
6. The method of claim 5, wherein determining a current status based on information about a remaining amount of the spray comprises:
when the residual amount of the sprayed objects is smaller than a preset value, the current state is that the sprayed objects are supplemented to a storehouse;
when the residual amount of the sprayed objects is larger than or equal to the preset value, the current state is that spraying can be performed;
correspondingly, the acquiring depth information and color information of the surrounding environment includes:
and when the current state is that spraying can be performed, acquiring depth information and color information of the surrounding environment.
7. The method according to any one of claims 1 to 6, further comprising:
obtaining obstacle information in the surrounding environment;
adjusting a spray strategy and/or a current travel state according to the obstacle information.
8. The method according to any one of claims 1 to 7, wherein prior to said controlling a spraying device to spray according to said spraying strategy, the method further comprises:
determining a traveling strategy when spraying is performed according to the information of the area to be sprayed;
correspondingly, when the spraying device is controlled to spray according to the spraying strategy, the travelling strategy is executed.
9. An unmanned spray vehicle, comprising:
the sensing equipment is used for acquiring depth information and color information of the surrounding environment;
the processor is used for determining the information of the area to be sprayed according to the depth information and the color information; determining a spraying strategy of the area to be sprayed according to the information of the area to be sprayed;
a spraying device; the processor is further configured to control the spraying device to spray according to the spraying strategy.
10. A readable storage medium, having stored thereon a computer program which, when executed by a computer, performs the method of any one of claims 1-8.
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