CN111762086B - Spraying control method, device and system and carrier - Google Patents
Spraying control method, device and system and carrier Download PDFInfo
- Publication number
- CN111762086B CN111762086B CN201911321020.8A CN201911321020A CN111762086B CN 111762086 B CN111762086 B CN 111762086B CN 201911321020 A CN201911321020 A CN 201911321020A CN 111762086 B CN111762086 B CN 111762086B
- Authority
- CN
- China
- Prior art keywords
- information
- spraying
- spray
- module
- angle information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000005507 spraying Methods 0.000 title claims abstract description 432
- 238000000034 method Methods 0.000 title claims abstract description 43
- 239000007921 spray Substances 0.000 claims abstract description 113
- 238000009434 installation Methods 0.000 claims description 14
- 238000004891 communication Methods 0.000 claims description 10
- 238000000889 atomisation Methods 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 claims description 5
- 239000002699 waste material Substances 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 13
- 235000013399 edible fruits Nutrition 0.000 description 11
- 230000009471 action Effects 0.000 description 3
- 239000011159 matrix material Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000004590 computer program Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- 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
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Health & Medical Sciences (AREA)
- Automation & Control Theory (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- General Health & Medical Sciences (AREA)
- Toxicology (AREA)
- Public Health (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application provides a spraying control method, a spraying control device, a spraying control system and a carrier, and relates to the technical field of unmanned control. The spraying control method is applied to a spraying controller of a carrier, the carrier further comprises a spraying module, the spraying controller is electrically connected with the spraying module, and the spraying control method comprises the steps of obtaining task information and current coordinate information of the carrier; the task information comprises coordinate information and height information of the work object; calculating according to the current coordinate information, the coordinate information of the operation object and the height information to obtain spraying angle information of the spraying module; and controlling the spraying module to spray the operation object according to the spraying angle information. The spraying control method, the device, the system and the carrier can adjust the spraying angle according to the actual operation scene, and further solve the problems of spraying leakage or waste of sprayed objects.
Description
Technical Field
The application relates to the technical field of unmanned control, in particular to a spraying control method, a device, a system and a carrier.
Background
The spraying module of present carrier is generally fixed to be carried at the carrier, adopts the mode of large tracts of land spraying to spray the operation, causes easily to leak to spout or sprays the extravagant phenomenon of thing and appear.
Disclosure of Invention
An object of the application is to provide a spraying control method, device, system and carrier, which can adjust the spraying angle according to the actual operation scene, and further solve the problem of missing spraying or waste of sprayed objects.
In order to achieve the above purpose, the embodiments of the present application employ the following technical solutions:
in a first aspect, an embodiment of the present application provides a spraying control method applied to a spraying controller of a spraying control device, where the spraying control device is configured to be disposed on a carrier, the spraying control device further includes a spraying module, and the spraying controller is electrically connected to the spraying module, and the method includes:
acquiring task information and current coordinate information of the carrier; the task information comprises coordinate information and height information of the work object;
calculating according to the current coordinate information, the coordinate information of the operation object and the height information to obtain spraying angle information of the spraying module;
and controlling the spraying module to spray the operation object according to the spraying angle information.
In a second aspect, an embodiment of the present application provides a spraying control device, where the spraying control device is configured to be disposed on a vehicle, the spraying control device includes a spraying controller and a spraying module, the spraying module includes a power unit and an atomizing unit, and the spraying controller is electrically connected to the power unit;
the spraying controller is used for acquiring task information and current coordinate information of the carrier, wherein the task information comprises coordinate information and height information of a working object;
the spraying controller is also used for calculating according to the current coordinate information, the coordinate information of the operation object and the height information to obtain spraying angle information and transmitting the spraying angle information to the power unit;
the power unit is used for driving the atomization unit to rotate according to the spraying angle information so as to enable the atomization unit to spray.
In a third aspect, an embodiment of the present application provides a vehicle, including a spraying control device, where the spraying control device includes a spraying controller and a spraying module, and the spraying controller is electrically connected to the spraying module;
the spraying controller is used for acquiring task information and current coordinate information of the carrier, wherein the task information comprises coordinate information and height information of a working object;
the spraying controller is also used for calculating according to the current coordinate information, the coordinate information of the operation object and the height information to obtain spraying angle information;
the spraying controller is also used for controlling the spraying module to spray the operation object according to the spraying angle information.
In a fourth aspect, an embodiment of the present application provides a spraying control system, which includes an intelligent terminal and the vehicle described above.
Compared with the prior art, the spraying control method, the device and the system and the carrier are provided by the embodiment of the application, the spraying control method is applied to the spraying controller of the carrier, the carrier further comprises a spraying module, the spraying controller is electrically connected with the spraying module, and the spraying control method is used for controlling the spraying of the carrier by acquiring task information and current coordinate information of the carrier; the task information comprises coordinate information and height information of the work object; calculating according to the current coordinate information, the coordinate information of the operation object and the height information to obtain spraying angle information of the spraying module; and controlling the spraying module to spray the operation object according to the spraying angle information. Therefore, the spraying angle information corresponding to the work object can be calculated according to the coordinate information and the height information of the work object and the current coordinate information of the carrier. Even if the height of the operation object changes, the spraying angle can be correspondingly adjusted according to the height information of the operation object, and the phenomena of missing spraying and waste of the spraying object are prevented.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
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 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 it will be apparent to those skilled in the art that other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 is a schematic diagram of an application environment of a spray control system according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a carrier according to an embodiment of the present disclosure;
FIG. 3 is a block diagram illustrating a spray control system according to an embodiment of the present disclosure;
fig. 4 is a schematic flow chart of a spraying control method according to an embodiment of the present disclosure;
fig. 5 is a schematic view of an operation scene of a vehicle according to an embodiment of the present disclosure;
fig. 6 is a schematic view of an operation scene of another vehicle according to an embodiment of the present disclosure;
fig. 7 is a schematic view of an operation scene of another vehicle according to an embodiment of the present disclosure;
FIG. 8 is a sub-flowchart of step S102 shown in FIG. 4;
fig. 9 is a schematic view of an operation scene of another vehicle according to an embodiment of the present disclosure;
FIG. 10 is a schematic flow chart illustrating another exemplary spray control method provided in an embodiment of the present disclosure;
fig. 11 is a schematic view of an operation scene of another vehicle according to an embodiment of the present disclosure.
In the figure: 10-a spray control system; 100-a carrier; 110-a spray control device; 111-a spray controller; 112-a spraying module; 113-a power unit; 114-an atomizing unit; 120-a master controller; 130-a collection device; 140-a communication device; 150-a drive device; 200-intelligent terminal.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally found in use of products of the application, and are used only for convenience in describing the present application and for simplification of description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present application.
In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Referring to fig. 1, fig. 1 is a schematic view of an application environment of a spraying control system 10 according to an embodiment of the present application, where the spraying control system 10 includes a vehicle 100 and an intelligent terminal 200, and the vehicle 100 is in communication connection with the intelligent terminal 200. Data interaction is performed between the vehicle 100 and the intelligent terminal 200, the intelligent terminal 200 can calculate an operation area according to the course information and the waypoint information, transmits task information and map information of the operation area to the vehicle 100, and the vehicle 100 performs spraying operation on an operation object according to the task information and the map information of the operation area. The spray control system 10 may be used in agricultural and industrial settings, for example, the spray control system 10 may be used to water, deinsectize, sterilize, etc. agricultural and forestry crops during daily agricultural and forestry activities.
In this embodiment, the smart terminal 200 may be a mobile phone, a remote controller, a control terminal, and the like, wherein when the smart terminal 200 is a mobile phone, the mobile phone is installed with an Application program (APP), and a user can transmit task information and map information of an operation area to the carrier 100 by operating the APP, so that the carrier 100 can autonomously perform a spraying operation according to the task information and the map information of the operation area; when the intelligent terminal 200 is a remote controller, the user can manually operate the vehicle 100 through the remote controller to perform the spraying operation. The vehicle 100 may be an unmanned vehicle, an unmanned plane, or the like. The work may be a fruit tree or a high-height industrial facility. For convenience of description, the carrier 100 is an unmanned vehicle, and the work object is a fruit tree in the present embodiment.
Referring to fig. 2, which is a schematic diagram of an implementation of the vehicle 100 shown in fig. 1, the vehicle 100 includes a spraying control device 110, the spraying control device 110 includes a spraying controller 111 and a spraying module 112, and the spraying controller 111 is electrically connected to the spraying module 112.
The spraying controller 111 is configured to obtain task information and current coordinate information of the vehicle 100, where the task information includes coordinate information and height information of a work object; the spraying controller 111 is further configured to calculate to obtain spraying angle information according to the current coordinate information, the coordinate information of the work object, and the height information; the spraying controller 111 is also used for controlling the spraying module 112 to spray the work object according to the spraying angle information.
It is understood that the number of the spraying modules 112 may be provided as a plurality or as one. In the schematic structural diagram shown in fig. 2, the number of the spraying modules 112 is two, which is not limited, and may be set according to actual situations. When the number of the spraying modules 112 is plural, correspondingly, the number of the spraying controllers 111 may be set to one or plural. If the number of the spray controllers 111 is set to one, one spray controller 111 controls a plurality of spray modules 112. If the number of the spraying controllers 111 is set to be multiple, the number of the spraying controllers 111 is the same as that of the spraying modules 112, the spraying controllers 111 control the spraying modules 112 in a one-to-one correspondence manner, that is, one spraying controller 111 controls one spraying module 112 independently, and meanwhile, the spraying controllers 111 are electrically connected with each other, so that data exchange among the spraying controllers 111 is realized, and the spraying controllers 111 can exchange data regularly. The data exchange among the plurality of spraying controllers 111 can know the spraying states of the plurality of spraying modules 112, and particularly when the plurality of spraying modules 112 need to operate synchronously, the plurality of spraying controllers 111 can perform fine adjustment of the spraying angles according to the exchanged data, so that the plurality of spraying modules 112 are synchronized.
The spray controller 111 and the spray module 112 may be modularized to form the spray control device 110, and the modularized spray control device 110 may be assembled on the vehicle 100. The spray controller 111 and the spray module 112 may also be integrated on the vehicle 100, and the spray controller 110 formed by the spray controller 111 and the spray module 112 is a part of the vehicle 100.
Further, as shown in fig. 2, the vehicle 100 further includes a main controller 120, the main controller 120 is in communication connection with the intelligent terminal 200, and the main controller 120 is further electrically connected with the spraying controller 111. The main controller 120 is configured to receive the task information, the current coordinate information, and the map information of the work area provided by the smart terminal 200, and transmit the task information and the current coordinate information to the spray controller 111. It will be appreciated that the spray controller 111 may periodically obtain task information, current coordinate information, and map information for the work area from the main controller 120. The task information can also include contour dimension information of the work object, the intelligent terminal 200 can obtain three-dimensional map information of a work area through three-dimensional image information acquired through aerial photography, the intelligent terminal 200 obtains coordinate information of the work object from the three-dimensional map information according to the navigation point information, obtains three-dimensional information of the work object from the three-dimensional map information, and further obtains height information and contour dimension information of the work object. Meanwhile, the smart terminal 200 obtains the current coordinate information of the vehicle 100 and also obtains the three-dimensional information of the vehicle 100.
Further, as shown in fig. 2, vehicle 100 further includes a communication device 140, and main controller 120 is in communication connection with intelligent terminal 200 through communication device 140. Wherein the communication device 140 may be a data link.
Referring to fig. 3, which is a schematic block diagram of an implementable structure of the spray control system 10 according to the embodiment of the present disclosure, the task information and the current coordinate information of the vehicle 100 acquired by the spray controller 111 may be provided by the intelligent terminal 200, or the task information and the current coordinate information of the vehicle 100 may be provided by the acquisition device 130. It can be understood that when the task information and the current coordinate information of the vehicle 100 are provided by the collecting device 130, the intelligent terminal 200 does not transmit the task information and the current coordinate information of the vehicle 100 to the main controller 120, the intelligent terminal 200 only transmits the map information of the operation area to the main controller 120, and the map information may be two-dimensional map information or three-dimensional map information.
The collecting device 130 is electrically connected to the spraying controller 111, and the collecting device 130 is configured to collect, in real time, coordinate information, height information, and contour dimension information of the work object and current coordinate information of the vehicle 100, and transmit the coordinate information, the height information, the contour dimension information of the work object and the current coordinate information of the vehicle 100 to the spraying controller 111. The current coordinate information of the vehicle 100 may be obtained from coordinate information related to work, that is, coordinate information of the work object and current coordinate information of the vehicle 100 are obtained from a distance between the vehicle 100 and the work object, respectively. The acquisition device 130 may be a laser radar, an ultrasonic radar, or the like.
Further, as shown in fig. 2 and 3, the spray module 112 includes a power unit 113 and an atomization unit 114, and the spray controller 111 is electrically connected to the power unit 113. The spray controller 111 is used for transmitting the spray angle information to the power unit 113; the power unit 113 is configured to drive the atomizing unit 114 to rotate according to the spraying angle information, so that the atomizing unit 114 performs a spraying operation.
It can be understood that the power unit 113 includes a pitch motor and a yaw motor, both of which are electrically connected to the spraying controller 111, the spraying controller 111 transmits the spraying angle information to the pitch motor and the yaw motor, and the pitch motor and the yaw motor drive the atomizing unit 114 to rotate according to the spraying angle information, so that the atomizing unit 114 sprays the work object. The atomizing unit 114 is used to atomize the spray.
The moving range of the pitching motor can be 0-180 degrees, and the moving range of the yawing motor can be 0-360 degrees. Without limitation, the user may select a pitch motor and a yaw motor with a larger or smaller movement range according to actual requirements.
Further, as shown in fig. 2 and fig. 3, the vehicle 100 further includes a driving device 150, the driving device 150 is electrically connected to the main controller 120, and the driving device 150 is configured to drive the vehicle 100 to travel under the control of the main controller 120.
Please refer to fig. 4, which is a flowchart illustrating a spraying control method according to an embodiment of the present disclosure. It should be noted that the spraying control method provided in the embodiment of the present application is not limited by fig. 4 and the following specific sequence, and it should be understood that, in other embodiments, the sequence of some steps in the spraying control method provided in the embodiment of the present application may be interchanged according to actual needs, or some steps may be omitted or deleted. The spray control method can be applied to the spray controller 111 shown in fig. 2, and the specific flow shown in fig. 4 will be described in detail below.
Step S301, acquiring task information and current coordinate information of a carrier; the task information includes coordinate information and height information of the work.
In the present embodiment, the task information and the current coordinate information of the vehicle 100 may be generated in advance by the smart terminal 200 and transmitted to the spray controller 111 through the communication device 140 and the main controller 120. Task information and current coordinate information of vehicle 100 may also be generated in real time by acquisition device 130 and transmitted to spray controller 111.
In the present embodiment, the height information is height information of the area to be sprinkled of the work. It can be understood that, when the work is a fruit tree, if the spraying control system 10 only needs to perform the spraying operation on the trunk of the fruit tree when the spraying operation is performed, the height information at this time is the height information of the trunk of the fruit tree. If only spraying operation is needed to be carried out on the crown of the fruit tree, the height information at the moment is the height information of the crown of the fruit tree. If the spraying operation needs to be carried out on the whole fruit tree, the height information at the moment is the height information of the fruit tree.
And step S302, calculating to obtain the spraying angle information of the spraying module according to the current coordinate information, the coordinate information of the work object and the height information.
And step S303, controlling the spraying module to spray the operation object according to the spraying angle information.
In this embodiment, since the number of the spraying modules 112 may be multiple, when the number of the spraying modules 112 is multiple, if a plurality of spraying modules 112 operate on different objects, the spraying angle information of each spraying module 112 is calculated according to the current coordinate information, the coordinate information and the height information of each object, and the installation position information of each spraying module 112; controlling the corresponding spraying module 112 to spray the plurality of operation objects according to the respective spraying angle information of the plurality of spraying modules 112; wherein, the spraying modules correspond to the operation objects one by one.
Fig. 5 is a schematic view of an operational scenario that can be implemented by the vehicle 100 according to the present disclosure. The number of the spraying modules 112 is set to two, a first spraying module of the two spraying modules 112 sprays the work object a, and a second spraying module of the two spraying modules 112 sprays the work object B. The spraying controller 111 calculates first spraying angle information of the first spraying module according to the current coordinate information of the vehicle 100, the coordinate information and the height information of the work object a, and the installation position information of the first spraying module on the vehicle 100. The spraying controller 111 calculates second spraying angle information of the second spraying module according to the current coordinate information of the vehicle 100, the coordinate information and the height information of the work object B, and the installation position information of the second spraying module on the vehicle 100. The spraying controller 111 controls the first spraying module to spray the work object a according to the first spraying angle information, and the spraying controller 111 controls the second spraying module to spray the work object B according to the second spraying angle information.
The operation scenario shown in fig. 5 is a scenario in which the vehicle 100 simultaneously performs a spraying operation on different work objects in the same row when the work objects are in only one row. As shown in the operation scene diagram of fig. 6, when there are a plurality of rows of work objects, the vehicle 100 simultaneously sprays the work objects in the different rows. The first spraying module sprays the operation object A, and the second spraying module sprays the operation object D. The spraying controller 111 calculates third spraying angle information of the first spraying module according to the current coordinate information of the vehicle 100, the coordinate information and the height information of the work object a, and the installation position information of the first spraying module on the vehicle 100. The spraying controller 111 calculates fourth spraying angle information of the second spraying module according to the current coordinate information of the vehicle 100, the coordinate information and the height information of the work object D, and the installation position information of the second spraying module on the vehicle 100. The spraying controller 111 controls the first spraying module to spray the work object a according to the third spraying angle information, and the spraying controller 111 controls the second spraying module to spray the work object B according to the fourth spraying angle information.
If the task information is provided for the intelligent terminal 200, the first spraying module and the second spraying module spray which operation object, which operation object is set in advance by the intelligent terminal 200. If the task information is provided by the collecting device 130, which of the objects is sprayed by the first spraying module and the second spraying module may be set according to the distance between the object and the spraying module 112, and the closest object is generally selected to be sprayed. The distance between the work object and the spraying module 112 may be calculated according to the coordinate information of the work object and the coordinate information of the spraying module 112, the coordinate information of the spraying module 112 may be calculated according to the current coordinate information of the vehicle 100 and the installation position information of the spraying module 112 on the vehicle 100, and specifically, the coordinate information of the spraying module 112 may be calculated according to the current coordinate corresponding to the current coordinate information of the vehicle 100 and a rotation matrix, where the rotation matrix is related to the installation position of the spraying module 112 on the vehicle 100. The coordinate information of the spraying module 112 obtained by the intelligent terminal 200 is also calculated according to the current coordinate and rotation matrix corresponding to the current coordinate information of the vehicle 100 to obtain the coordinate information of the spraying module 112.
If the amount of the spray required by the work object is larger, a plurality of spray modules 112 can work on the same work object to increase the required amount of the spray required by the work object. The spraying controller 111 calculates the spraying angle information of each spraying module 112 according to the current coordinate information of the carrier 100, the coordinate information and the height information of the work object and the installation position information of each spraying module 112; and controlling the corresponding spraying modules 112 to spray the same operation object according to the respective spraying angle information of the plurality of spraying modules 112.
Fig. 7 is a schematic view of another practical operation scenario of the vehicle 100 according to the present application. The number of the spraying modules 112 is set to two, and the first spraying module and the second spraying module in the two spraying modules 112 both spray the work object a. The spraying controller 111 calculates fifth spraying angle information of the first spraying module according to the current coordinate information of the vehicle 100, the coordinate information and the height information of the work object a, and the installation position information of the first spraying module on the vehicle 100. The spraying controller 111 further calculates sixth spraying angle information of the second spraying module according to the current coordinate information of the vehicle 100, the coordinate information and the height information of the work object a, and the installation position information of the second spraying module on the vehicle 100. The spraying controller 111 controls the first spraying module to spray the work object a according to the fifth spraying angle information, and the spraying controller 111 controls the second spraying module to spray the work object a according to the sixth spraying angle information.
Referring to fig. 8, a schematic view of a sub-step flow of step S102 shown in fig. 4 specifically includes the following contents:
and a substep S401, calculating to obtain top distance information between the spraying module and the top of the area to be sprayed and bottom distance information between the spraying module and the bottom of the area to be sprayed according to the current coordinate information, the coordinate information of the operation object and the height information of the area to be sprayed.
It can be understood that the spraying controller 111 can calculate the coordinate information of the spraying module 112 according to the current coordinate information and the installation position of the spraying module 112 on the carrier 100, and then the spraying controller 111 calculates the top distance information between the spraying module 112 and the top of the area to be sprayed and calculates the bottom distance information between the spraying module 112 and the bottom of the area to be sprayed according to the coordinate information of the spraying module 112, the coordinate information of the work object and the height information of the area to be sprayed. If the work object is a fruit tree and the area to be sprayed is a crown of the fruit tree, the spraying controller 111 calculates top distance information between the spraying module 112 and the top of the crown and bottom distance information between the spraying module 112 and the bottom of the crown.
And a substep S402 of calculating the initial pitch angle information and the final pitch angle information of the spraying module according to the height information, the top distance information and the bottom distance information of the area to be sprayed.
It is understood that, as shown in fig. 9, which is an implementable work scene diagram of the spraying module 112, a line segment a in fig. 9 represents the distance from the spraying module 112 to the top of the area to be sprayed of the work, a line segment b represents the distance from the spraying module 112 to the bottom of the area to be sprayed of the work, and a line segment c represents the height of the area to be sprayed of the work. The line segment a, the line segment b and the selection segment c form a triangle, the lengths of the line segment a, the line segment b and the line segment c are known according to the height information, the top distance information and the bottom distance information of the area to be sprinkled, three internal angles of the triangle can be calculated according to a triangle formula, and further the angle information of the alpha angle and the angle information of the beta angle in the graph 9 can be calculated. Wherein, α is the initial pitch angle of the spraying module 112, β is the ending pitch angle of the spraying module 112, the angle information of α is the initial pitch angle information, and the angle information of β is the ending pitch angle information.
In the present embodiment, if the contour dimension of the work object is not large, that is, the lateral diameter of the work object is not large, the carrier 100 only needs to ensure that the longitudinal direction of the spraying area of the work object can be completely sprayed when spraying the work object. That is, the spraying angle information is the starting pitch angle information and the ending pitch angle information, the spraying controller 111 may control the spraying module 112 to spray the work object only according to the calculated starting pitch angle information and the calculated ending pitch angle information, that is, the spraying controller 111 may send the starting pitch angle information and the ending pitch angle information to the pitch motors, and the pitch motors control the atomizing unit 114 to rotate up and down within the starting pitch angle range and the ending pitch angle range represented by the starting pitch angle information and the ending pitch angle information according to the starting pitch angle information and the ending pitch angle information. And the yaw motor can move the atomizing unit 114 to the yaw angle represented by the yaw angle information according to the preset yaw angle information, so as to maintain the yaw angle, that is, the horizontal direction of the atomizing unit 114 is fixed at the yaw angle.
In another embodiment, if the contour size of the work object is large, that is, the lateral diameter of the work object is large, when the vehicle 100 sprays the work object, in order to ensure that both the lateral direction and the longitudinal direction of the spraying area of the work object can be completely sprayed, it is necessary to control not only the pitch motor to rotate up and down within a certain pitch angle range, but also the yaw motor to move along a certain yaw angle. Since the vehicle 100 has different spraying modes, the way to calculate the yaw angle of the yaw motor is different in different spraying modes. Specifically, as shown in fig. 10, for another implementable flow diagram of the spraying control method provided in the embodiment of the present application, the following steps describe one of the spraying modes, and specifically include:
step S501, acquiring spraying mode information of the vehicle.
In the present embodiment, the spray pattern information includes a dynamic spray pattern and a fixed point spray module 112 pattern. The dynamic spraying mode is a mode in which the vehicle 100 is running while spraying, and the fixed-point spraying module 112 is a mode in which the vehicle 100 runs to an operation point of an operation object and stays at the operation point to spray the operation object.
Step S502, when the spraying mode information is a dynamic spraying mode, acquiring the current operation information of the carrier; wherein the current operation information includes current operation speed information.
It is understood that current operating information of vehicle 100 is periodically obtained by spray controller 111 from main controller 120.
And step S503, calculating to obtain the yaw angle information of the spraying module according to the current running speed information and the coordinate information of the work object.
It can be understood that the spraying controller 111 can calculate the variation distance of the vehicle 100 along the horizontal direction of the work object according to the current running speed, and further calculate the yaw angle information of the spraying module 112 according to the variation distance. The spraying angle information is yaw angle information, initial pitch angle information and final pitch angle information calculated according to the current operation speed, the spraying controller 111 controls the spraying module 112 to spray the work object according to the initial pitch angle information, the final pitch angle information and the yaw angle information, and meanwhile, the main controller 120 controls the carrier 100 to operate according to a preset speed. Since the road on which the vehicle 100 travels may have an uphill slope and a downhill slope, the operating speed of the vehicle 100 may deviate from the preset speed, and thus the operating speed of the vehicle 100 needs to be collected in real time.
In this embodiment, the current operation information further includes the current traveling direction. Since the direction rotation of the vehicle 100 may cause an error of the offset angle of the spraying module 112 during the driving, the spraying controller 111 calculates the offset angle information between the vehicle 100 and the work object according to the current driving direction; and calculating the yaw angle information of the spraying module 112 according to the current running speed information, the coordinate information of the work object and the offset angle information.
It is understood that the spraying controller 111 periodically obtains the current driving direction of the vehicle 100 from the main controller 120, and the current driving direction can be obtained by the collection device 130. The yaw angle information and the offset angle information calculated according to the current operating speed information and the coordinate information of the work object can be calculated to obtain the yaw angle information corrected by the spraying module 112, so that the carrier 100 can follow the work object.
The following steps describe another spraying mode, and specifically include:
step S601, when the spraying mode information is the fixed-point spraying mode, obtaining the operating point coordinate information of the work object.
In the present embodiment, the work point coordinate information of the work is set in advance for the smart terminal 200 and transmitted to the main controller 120 through the communication device 140. The spray controller 111 then obtains the operating point information of the work from the main controller 120.
Step S602, calculating to obtain the top distance information between the spraying module and the top of the area to be sprayed and the bottom distance information between the spraying module and the bottom of the area to be sprayed according to the coordinate information of the operating point, the coordinate information of the operating object and the height information of the area to be sprayed.
In this embodiment, the spraying controller 111 may calculate to obtain the coordinate information of the spraying module 112 according to the coordinate information of the operation point and the installation position of the spraying module 112 on the carrier 100, and the spraying controller 111 further calculates to obtain the top distance information between the spraying module 112 and the top of the area to be sprayed and calculates to obtain the bottom distance information between the spraying module 112 and the bottom of the area to be sprayed according to the coordinate information of the spraying module 112, the coordinate information of the operation object, and the height information of the area to be sprayed.
And step S603, calculating to obtain the initial pitch angle information and the final pitch angle information of the spraying module according to the height information, the top distance information and the bottom distance information of the area to be sprayed.
In this embodiment, three internal angles of the triangle are calculated according to the triangle formula and the height information, the top distance information and the bottom distance information of the area to be sprinkled, so as to calculate the initial pitch angle information and the ending pitch angle information of the sprinkling module 112.
And step S604, calculating to obtain the yaw angle information of the spraying module according to the contour dimension information and the coordinate information of the operating point.
It can be understood that, when the profile of the work object is too large, if the yaw angle of the spraying module 112 is a fixed value, the spraying range of the spraying module 112 along the horizontal direction cannot completely cover the horizontal profile of the work object, so that after the spraying module 112 rotates up and down along the first yaw angle information to perform spraying operation, the second yaw angle information is calculated along the spraying controller 111 according to the profile size information of the work object and the coordinate information of the work point, and when the spraying controller 111 controls the yaw motor of the spraying module 112 to rotate to the yaw angle corresponding to the second yaw angle information, the pitch motor of the spraying module 112 is controlled to rotate up and down along the pitch angle ranges corresponding to the initial pitch angle information and the ending pitch angle information to perform spraying operation until the spraying area of the work object does not have missed spraying.
As shown in fig. 11, which is a schematic view of an operation scene of another vehicle 100 according to an embodiment of the present application, the work object shown in fig. 11 is a work object with a large outline, four operation areas can be obtained according to the outline size information of the work object, and the positions where the vehicle 100 stays in the four operation areas are preset operation point coordinates. The vehicle 100 may first stop at the operating point of the first operating area to perform the spraying operation on the first operating area of the work object, after the spraying of the first operating area is completed, the vehicle 100 travels to the operating point of the second operating area again, and stops at the operating point of the second operating area to perform the spraying operation on the second operating area of the work object, after the spraying of the second operating area is completed, the vehicle 100 travels to the operating point of the third operating area again, and stops at the operating point of the third operating area to perform the spraying operation on the third operating area of the work object, after the spraying of the third operating area is completed, the vehicle 100 travels to the operating point of the fourth operating area to perform the spraying operation on the fourth operating area of the work object, and after the spraying of the fourth operating area is completed, the vehicle 100 may travel to the next operating point to perform the spraying operation or may perform the dynamic spraying. Of course, when the spraying module 112 is provided in plural, the plural spraying modules 112 may operate on the same work object at the same time, may operate on the same area of the work object, or may operate on different areas of the work object.
The following steps describe another spraying mode, and specifically include:
and step S701, when the spraying mode information is the automatic point-searching spraying mode, calculating according to the height information of the area to be sprayed, the coordinate information of the work object and the outline dimension information to obtain the work point coordinate information of the work object.
Step S702, calculating to obtain the top distance information between the spraying module and the top of the area to be sprayed and the bottom distance information between the spraying module and the bottom of the area to be sprayed according to the coordinate information of the operating point, the coordinate information of the operating object and the height information of the area to be sprayed.
And step S703, calculating according to the height information, the top distance information and the bottom distance information of the area to be sprayed to obtain the initial pitch angle information and the ending pitch angle information of the spraying module.
Step S704, calculating according to the contour dimension information and the coordinate information of the operating point to obtain the yaw angle information of the spraying module.
It can be understood that the difference between the auto-target spraying mode and the fixed-point spraying mode is that the operating point coordinate information of the fixed-point spraying mode is set in advance for the intelligent terminal 200, and the operating point coordinate information spraying controller 111 of the auto-target spraying mode calculates the operating point coordinate information of the work object according to the current coordinate information of the carrier 100, the height information of the area to be sprayed, the coordinate information of the work object, and the contour dimension information. Of course, the spraying controller 111 may also obtain the current terrain condition of the vehicle 100 according to the map information of the operation area, and then calculate the optimal operation point information of the vehicle 100 according to the current terrain condition, the current coordinate information of the vehicle 100, the height information of the area to be sprayed, the coordinate information of the operation object, and the contour dimension information.
In the automatic point-seeking spraying mode, after the operating point information is obtained through calculation, the manner of obtaining the initial pitch angle information, the ending pitch angle information and the yaw angle information of the spraying module 112 through calculation is the same as that of the fixed point spraying mode, and the description is not repeated here.
In this embodiment, the spraying controller 111 also periodically obtains the operation status information of the vehicle 100 from the main controller 120, and when the operation status information is the operation failure information, the spraying controller 111 controls the spraying module 112 to stop spraying. When the operation status information is the end operation information, the spraying controller 111 also controls the spraying module 112 to stop the spraying operation.
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 apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, 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 summary, the spraying control method, the device, the system and the carrier provided by the embodiments of the present application are applied to a spraying controller of the carrier, the carrier further includes a spraying module, the spraying controller is electrically connected to the spraying module, and the spraying control method obtains task information and current coordinate information of the carrier; the task information comprises coordinate information and height information of the work object; calculating according to the current coordinate information, the coordinate information of the operation object and the height information to obtain spraying angle information of the spraying module; and controlling the spraying module to spray the operation object according to the spraying angle information. Therefore, the spraying angle information corresponding to the work object can be calculated according to the coordinate information and the height information of the work object and the current coordinate information of the carrier. Even if the height of the operation object changes, the spraying angle can be correspondingly adjusted according to the height information of the operation object, and the phenomena of missing spraying and waste of the spraying object are prevented.
The above description is only a preferred embodiment of the present application and is not intended to limit 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.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (13)
1. A spray control method is characterized in that the spray control method is applied to a spray controller of a spray control device, the spray control device is used for being arranged on a carrier, the spray control device further comprises a spray module, the spray controller is electrically connected with the spray module, and the method comprises the following steps:
acquiring task information and current coordinate information of the carrier; the task information comprises coordinate information and height information of the work object;
calculating according to the current coordinate information, the coordinate information of the operation object and the height information to obtain spraying angle information of the spraying module;
and controlling the spraying module to spray the operation object according to the spraying angle information, wherein the spraying angle information comprises yaw angle information, and the yaw angle information is obtained by calculation according to the spraying mode corresponding to the obtained spraying mode information.
2. The spray control method of claim 1, wherein when the plurality of spray modules are configured to operate on different objects, the step of calculating the spray angle information of the spray modules according to the current coordinate information, the coordinate information of the objects, and the height information comprises:
calculating to obtain spraying angle information of each spraying module according to the current coordinate information, the coordinate information and the height information of each work object and the installation position information of each spraying module;
the step of controlling the spraying module to spray the operation object according to the spraying angle information comprises the following steps:
controlling the corresponding spraying modules to spray the plurality of operation objects according to the respective spraying angle information of the plurality of spraying modules; wherein, the spraying modules correspond to the operation objects one to one.
3. The spray control method of claim 1, wherein when the plurality of spray modules are installed in a plurality of work objects, the calculating of the spray angle information of the spray modules according to the current coordinate information, the coordinate information of the work objects and the height information comprises:
calculating to obtain the spraying angle information of each spraying module according to the current coordinate information, the coordinate information and the height information of the work object and the installation position information of each spraying module;
the step of controlling the spraying module to spray the operation object according to the spraying angle information comprises the following steps:
and controlling the corresponding spraying modules to spray the same operation object according to the respective spraying angle information of the plurality of spraying modules.
4. The spray control method of claim 1, wherein the height information is height information of an area to be sprayed of the work, and the step of calculating the spray angle information of the spray module according to the current coordinate information, the coordinate information of the work, and the height information comprises:
calculating to obtain top distance information between the spraying module and the top of the area to be sprayed and bottom distance information between the spraying module and the bottom of the area to be sprayed according to the current coordinate information, the coordinate information of the work object and the height information of the area to be sprayed;
calculating to obtain initial pitch angle information and ending pitch angle information of the spraying module according to the height information of the area to be sprayed, the top distance information and the bottom distance information;
the step of controlling the spraying module to spray the operation object according to the spraying angle information comprises the following steps:
and controlling the spraying module to spray the operation object according to the starting pitch angle information and the ending pitch angle information.
5. The spray control method of claim 4, further comprising:
acquiring spraying mode information of the carrier;
when the spraying mode information is a dynamic spraying mode, acquiring the current operation information of the carrier; wherein the current operation information includes current operation speed information;
calculating to obtain the yaw angle information of the spraying module according to the current running speed information and the coordinate information of the operation object;
the step of controlling the spraying module to spray the operation object according to the spraying angle information comprises the following steps:
and controlling the spraying module to spray the operation object according to the starting pitch angle information, the ending pitch angle information and the yaw angle information.
6. The spray control method of claim 5, wherein the current operating information further includes a current direction of travel, the method further comprising:
calculating to obtain offset angle information of the carrier and the operation object according to the current driving direction;
the step of calculating the yaw angle information of the spraying module according to the current running speed information and the coordinate information of the work object comprises the following steps:
and calculating the yaw angle information of the spraying module according to the current running speed information, the coordinate information of the work object and the offset angle information.
7. The spray control method of claim 1, wherein the mission information further includes contour dimension information of the work, and the height information is height information of a region to be sprayed of the work, the method further comprising:
acquiring spraying mode information of the carrier;
when the spraying mode information is a fixed-point spraying mode, acquiring the coordinate information of the operating point of the operating object;
calculating to obtain top distance information between the spraying module and the top of the area to be sprayed and bottom distance information between the spraying module and the bottom of the area to be sprayed according to the coordinate information of the operating point, the coordinate information of the operating object and the height information of the area to be sprayed;
calculating to obtain initial pitch angle information and ending pitch angle information of the spraying module according to the height information of the area to be sprayed, the top distance information and the bottom distance information;
calculating to obtain the yaw angle information of the spraying module according to the contour dimension information and the coordinate information of the operating point;
the step of controlling the spraying module to spray the operation object according to the spraying angle information comprises the following steps:
and controlling the spraying module to spray the operation object according to the starting pitch angle information, the ending pitch angle information and the yaw angle information.
8. The spray control method of claim 1, wherein the mission information further includes contour dimension information of the work, and the height information is height information of a region to be sprayed of the work, the method further comprising:
acquiring spraying mode information of the carrier;
when the spraying mode information is an automatic point-searching spraying mode, calculating to obtain the operating point coordinate information of the operating object according to the height information of the area to be sprayed, the coordinate information of the operating object and the outline dimension information;
calculating to obtain top distance information between the spraying module and the top of the area to be sprayed and bottom distance information between the spraying module and the bottom of the area to be sprayed according to the coordinate information of the operating point, the coordinate information of the operating object and the height information of the area to be sprayed;
calculating to obtain initial pitch angle information and ending pitch angle information of the spraying module according to the height information of the area to be sprayed, the top distance information and the bottom distance information;
calculating to obtain the yaw angle information of the spraying module according to the contour dimension information and the coordinate information of the operating point;
the step of controlling the spraying module to spray the operation object according to the spraying angle information comprises the following steps:
and controlling the spraying module to spray the operation object according to the starting pitch angle information, the ending pitch angle information and the yaw angle information.
9. A spraying control device is arranged on a carrier and is characterized by comprising a spraying controller and a spraying module, wherein the spraying module comprises a power unit and an atomizing unit, and the spraying controller is electrically connected with the power unit;
the spraying controller is used for acquiring task information and current coordinate information of the carrier, wherein the task information comprises coordinate information and height information of a working object;
the spraying controller is also used for calculating according to the current coordinate information, the coordinate information of the operation object and the height information to obtain spraying angle information and transmitting the spraying angle information to the power unit;
the power unit is used for driving the atomization unit to rotate according to the spraying angle information so as to enable the atomization unit to spray, wherein the spraying angle information comprises yaw angle information, and the yaw angle information is obtained through calculation according to a spraying mode corresponding to the obtained spraying mode information.
10. The vehicle is characterized by comprising a spraying control device, wherein the spraying control device comprises a spraying controller and a spraying module, and the spraying controller is electrically connected with the spraying module;
the spraying controller is used for acquiring task information and current coordinate information of the carrier, wherein the task information comprises coordinate information and height information of a working object;
the spraying controller is also used for calculating according to the current coordinate information, the coordinate information of the operation object and the height information to obtain spraying angle information;
the spraying controller is further used for controlling the spraying module to spray the operation object according to the spraying angle information, wherein the spraying angle information comprises yaw angle information, and the yaw angle information is obtained through calculation according to a spraying mode corresponding to the obtained spraying mode information.
11. The vehicle of claim 10, further comprising a main controller in communication with a smart terminal, the main controller further electrically connected to the spray controller;
the main controller is used for receiving the task information and the current coordinate information provided by the intelligent terminal and transmitting the task information and the current coordinate information to the spraying controller.
12. The vehicle of claim 10, further comprising an acquisition device, the spray controller being electrically connected to the acquisition device;
the acquisition device is used for providing the task information and the current coordinate information of the carrier to the spraying controller.
13. A spray control system comprising a smart terminal and a vehicle as claimed in any one of claims 10 to 12.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911321020.8A CN111762086B (en) | 2019-12-19 | 2019-12-19 | Spraying control method, device and system and carrier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911321020.8A CN111762086B (en) | 2019-12-19 | 2019-12-19 | Spraying control method, device and system and carrier |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111762086A CN111762086A (en) | 2020-10-13 |
| CN111762086B true CN111762086B (en) | 2021-12-03 |
Family
ID=72718643
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911321020.8A Active CN111762086B (en) | 2019-12-19 | 2019-12-19 | Spraying control method, device and system and carrier |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111762086B (en) |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004008187A (en) * | 2002-06-11 | 2004-01-15 | Yanmar Agricult Equip Co Ltd | Mobile spraying vehicle |
| CN102800083B (en) * | 2012-06-19 | 2014-12-10 | 中国农业大学 | Crop spraying positioning method based on binocular vision gridding partition matching algorithm |
| CA2991499A1 (en) * | 2018-01-10 | 2019-07-10 | Universite Laval | New formulation for spraying biopesticides and spraying apparatus to control pest |
| CN108693119B (en) * | 2018-04-20 | 2020-09-25 | 北京麦飞科技有限公司 | Intelligent pest and disease damage investigation and printing system based on unmanned aerial vehicle hyperspectral remote sensing |
| CN208335014U (en) * | 2018-05-10 | 2019-01-04 | 静快省（苏州）智能科技有限公司 | Unmanned plant protection spraying system based on light reflection airmanship |
| CN208863429U (en) * | 2018-08-08 | 2019-05-17 | 明证智能科技（天津）有限公司 | A kind of intelligent robot for greenhouse plant protection |
| CN109121874A (en) * | 2018-08-08 | 2019-01-04 | 明证智能科技（天津）有限公司 | A kind of greenhouse plant protection system based on robot |
| CN110250146B (en) * | 2019-07-17 | 2020-05-19 | 中国农业大学 | Fruit tree profiling spraying machine and method based on laser detection and image processing technology |
-
2019
- 2019-12-19 CN CN201911321020.8A patent/CN111762086B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN111762086A (en) | 2020-10-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20180102058A1 (en) | High-precision autonomous obstacle-avoidance flying method for unmanned aerial vehicle | |
| CN107992049B (en) | Modularized automatic driving control device of rice direct seeding machine and control method thereof | |
| CN106020237B (en) | The multimachine operation flight course planning and its spraying operation method and system of plant protection drone | |
| US20170153122A1 (en) | System and method for automatic sensor calibration | |
| Vidal et al. | Pursuit-evasion games with unmanned ground and aerial vehicles | |
| CN110716558A (en) | Automatic driving system for non-public road based on digital twin technology | |
| WO2016033797A1 (en) | Multi-sensor environmental mapping | |
| CN102662410B (en) | Moving target tracking oriented vision system and control method thereof | |
| CN109792951B (en) | Unmanned aerial vehicle air route correction system for pollination of hybrid rice and correction method thereof | |
| CN109857102B (en) | Wheeled robot formation and tracking control method based on relative position | |
| CN110716549A (en) | Autonomous navigation robot system for map-free area patrol and navigation method thereof | |
| EP3816757B1 (en) | Aerial vehicle navigation system | |
| Raikwar et al. | Navigation and control development for a four-wheel-steered mobile orchard robot using model-based design | |
| CN114527727B (en) | Self-propelled boom sprayer and unmanned control system and method thereof | |
| CN111776942A (en) | Tire crane running control system, method and device and computer equipment | |
| CN111762086B (en) | Spraying control method, device and system and carrier | |
| CN112835346A (en) | Method and system for controlling vehicle and vehicle-mounted automatic driving system | |
| CN208351332U (en) | Unmanned plant protection spraying system based on satellite positioning tech | |
| CN109213186B (en) | Unmanned aerial vehicle spraying operation method and device and unmanned aerial vehicle | |
| CN114089650B (en) | Intelligent farmland pesticide spraying electronic automatic control system based on Internet of things | |
| CN114281109A (en) | Multi-machine cooperation control system guided by unmanned aerial vehicle | |
| WO2022226720A1 (en) | Path planning method, path planning device, and medium | |
| Min et al. | A formation flight control of UAVS using zigbee | |
| CN208335014U (en) | Unmanned plant protection spraying system based on light reflection airmanship | |
| Hameed et al. | Task and motion planning for selective weed conrol using a team of autonomous vehicles |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 510000 Block C, 115 Gaopu Road, Tianhe District, Guangzhou City, Guangdong Province Applicant after: Guangzhou Jifei Technology Co.,Ltd. Address before: 510000 Block C, 115 Gaopu Road, Tianhe District, Guangzhou City, Guangdong Province Applicant before: Guangzhou Xaircraft Technology Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |