CN112099556A - Control method of agricultural unmanned aerial vehicle, ground control terminal and storage medium - Google Patents
Control method of agricultural unmanned aerial vehicle, ground control terminal and storage medium Download PDFInfo
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- CN112099556A CN112099556A CN202010993000.1A CN202010993000A CN112099556A CN 112099556 A CN112099556 A CN 112099556A CN 202010993000 A CN202010993000 A CN 202010993000A CN 112099556 A CN112099556 A CN 112099556A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
- G06F3/0481—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance
- G06F3/04817—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance using icons
Abstract
The embodiment of the invention provides a control method of an agricultural unmanned aerial vehicle, a ground control end and a storage medium, wherein the method comprises the following steps: acquiring control information input by a user on a user interface; determining operating parameters of the agricultural unmanned aerial vehicle (42) according to the control information; and controlling the agricultural unmanned aerial vehicle (42) to carry out operation according to the operation parameters. According to the embodiment of the invention, through the user interface provided by the ground control end (130), the user interface is provided with the control icon of the agricultural unmanned aerial vehicle (42) with adjustable operation parameters, a user can intuitively operate the control icon on the user interface, the ground control end (130) determines the control information input by the user according to the operation of the user on the user interface, the control information is specifically used for adjusting the operation parameters of the agricultural unmanned aerial vehicle (42), and the user can intuitively adjust the operation parameters of the agricultural unmanned aerial vehicle (42) through the ground control end (130).
Description
Technical Field
The embodiment of the invention relates to the field of unmanned aerial vehicles, in particular to a control method of an agricultural unmanned aerial vehicle, a ground control end and a storage medium.
Background
In the prior art, a user can control the unmanned aerial vehicle by manipulating the ground control terminal, for example, controlling the flight mode, the flight speed, the flight altitude, and the like of the unmanned aerial vehicle.
For the agricultural unmanned aerial vehicle, the agricultural and forestry plant protection operation needs to be completed, so the requirement on the agricultural unmanned aerial vehicle is higher, for example, the spraying flow of pesticide is controlled, the height of the agricultural unmanned aerial vehicle from crops is controlled, the direction of spraying the pesticide by a spray head is controlled, the re-spraying is prevented, the missing spraying is prevented, the pesticide is sprayed by mistake, the flight line of the agricultural unmanned aerial vehicle is determined, the interval between the flight lines is determined, and the operation parameters of the unmanned aerial vehicle can not be intuitively adjusted by a user through the existing ground control end.
Disclosure of Invention
The embodiment of the invention provides a control method of an agricultural unmanned aerial vehicle, a ground control terminal and a storage medium, so as to realize that a user can intuitively adjust the operation parameters of the agricultural unmanned aerial vehicle.
An aspect of an embodiment of the present invention is to provide a control method of an agricultural unmanned aerial vehicle, the agricultural unmanned aerial vehicle being controlled by a ground control terminal, the ground control terminal being provided with a user interface, the method including:
acquiring control information input by a user on the user interface;
determining operation parameters of the agricultural unmanned aerial vehicle according to the control information;
and controlling the agricultural unmanned aerial vehicle to operate according to the operation parameters.
Another aspect of the embodiments of the present invention is to provide a ground control terminal, including:
a processor;
a memory configured to store processor-executable instructions;
wherein the processor is configured to:
displaying a user interface;
acquiring control information input by a user on the user interface;
determining operation parameters of the agricultural unmanned aerial vehicle according to the control information;
and controlling the agricultural unmanned aerial vehicle to operate according to the operation parameters.
Another aspect of an embodiment of the present invention is to provide a storage medium having program code stored therein, which when executed, performs a method of controlling an agricultural unmanned aerial vehicle, the method including:
acquiring control information input by a user on a user interface;
determining operation parameters of the agricultural unmanned aerial vehicle according to the control information;
and controlling the agricultural unmanned aerial vehicle to operate according to the operation parameters.
According to the control method of the agricultural unmanned aerial vehicle, the ground control end and the storage medium provided by the embodiment, the user interface provided by the ground control end is provided with the control icon of the adjustable operation parameters of the agricultural unmanned aerial vehicle, the user can intuitively operate the control icon on the user interface, the ground control end determines the control information input by the user according to the operation of the user on the user interface, and the control information is specifically used for adjusting the operation parameters of the agricultural unmanned aerial vehicle, namely the adjustment of the operation parameters of the agricultural unmanned aerial vehicle can be realized through the intuitive operation of the user on the user interface, and the intuitive adjustment of the operation parameters of the agricultural unmanned aerial vehicle by the user through the ground control end is realized.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
Fig. 1 is a flowchart of a control method of an agricultural unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a user interface of a remote control according to an embodiment of the present invention;
FIG. 3 is a schematic view of an agricultural unmanned aerial vehicle operating area provided by an embodiment of the present invention;
FIG. 4 is a schematic diagram of a partial enlarged view of a user interface provided by an embodiment of the invention;
FIG. 5 is a schematic diagram of a user interface of a remote control according to another embodiment of the present invention;
FIG. 6 is a schematic diagram of a user interface of a remote control according to another embodiment of the present invention;
FIG. 7 is a schematic diagram of a user interface of a remote control according to another embodiment of the present invention;
FIG. 8 is a schematic diagram of a user interface of a remote control according to another embodiment of the present invention;
FIG. 9 is a schematic diagram of a user interface of a remote control according to another embodiment of the present invention;
FIG. 10 is a schematic diagram of a user interface of a remote control according to another embodiment of the present invention;
FIG. 11 is a schematic diagram of a user interface of a remote control according to another embodiment of the present invention;
FIG. 12 is a schematic diagram of a user interface of a remote control according to another embodiment of the present invention;
fig. 13 is a structural diagram of a ground control end according to an embodiment of the present invention.
Reference numerals:
1-slide bar 2-slide bar 3-slide bar 4-slide bar 5-slide bar
6-safety distance diagram 7-spray head diagram 20-operation area boundary
Boundary 41-flight path 42-agricultural unmanned aerial vehicle of geometric figure formed by 21-flight path 22-flight path
43-nozzle 44-nozzle 45-nozzle 46-nozzle 47-positive direction
51-dialog box 52-dialog box 53-dialog box 54-dialog box 55-dialog box
61-map layer 62-toolbar 71-operation area boundary point 81-obstacle boundary
82-waypoint 90-obstacle area 91-work area 92-course 93-moveable marker
121-route 130-ground control terminal 131-processor 132-memory
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. 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 invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Some embodiments of the invention are 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.
The embodiment of the invention provides a control method of an agricultural unmanned aerial vehicle. Fig. 1 is a flowchart of a control method of an agricultural unmanned aerial vehicle according to an embodiment of the present invention. As shown in fig. 1, the method in this embodiment may include:
and step S101, acquiring control information input by a user on the user interface.
The execution main body of the embodiment can be a ground control end used for controlling the agricultural unmanned aerial vehicle, and the ground control end can comprise at least one of the following components: head-mounted display glasses (VR glasses, VR helmet, etc.), a mobile phone, a remote controller (such as a remote controller with a display screen), an intelligent bracelet, and a tablet computer. The present embodiment takes a remote controller with a display screen as an example to introduce the principle of the control method of the agricultural unmanned aerial vehicle. Unlike the existing remote controller with a display screen, the remote controller with a display screen provided by the present embodiment provides a user interface. The user can control the agricultural unmanned aerial vehicle through the user interface, and the remote controller determines control information input by the user according to the operation of the user on the user interface, wherein the control information can comprise at least one of the following: spraying flow control information, spraying direction control information, flying speed control information, flying height control information, nozzle control information, air route spacing control information and safety distance control information; in some embodiments, the control information may also include other control information in addition to that.
As shown in fig. 2, the user can control the spraying flow, flying speed, flying height (relative to the height of crops), route distance and safety distance of the agricultural unmanned aerial vehicle through the user interface, and in addition, the radar height setting function and the intelligent nozzle opening function can be enabled. Wherein, the spraying flow can be the speed of spraying the pesticide, the seeds, the water and other sprayed objects by the agricultural unmanned aerial vehicle.
The flight path distance is the distance between the flight paths of the agricultural unmanned aerial vehicle when flying, and the size of the flight path distance determines whether the agricultural unmanned aerial vehicle can repeatedly spray or miss the spray when spraying pesticides, seeds, water and the like.
The safe distance is a distance set to prevent the agricultural unmanned aerial vehicle from mistakenly colliding with the edge of the farmland when flying, the graph 6 shown in fig. 3 is an enlarged view of the graph 6 in fig. 2, 20 represents the operation area of the agricultural unmanned aerial vehicle, such as the edge of the farmland, 21 represents the flight line of the agricultural unmanned aerial vehicle, 22 represents the edge of the geometric figure formed by the flight line, and the safe distance is a distance between the edge 20 of the farmland and the edge 22 of the geometric figure formed by the flight line, and the safe distance can prevent the agricultural unmanned aerial vehicle from spraying a spray, such as pesticide, water, seeds and the like, to the outside of the operation area of the agricultural unmanned aerial vehicle, i.e. the edge 20 of the farmland, and optionally, the safe distance is controlled within a range of 2.5 meters to 5 meters.
As shown in fig. 2, the user interface further includes two slide buttons, a slide button corresponding to "radar level" and a slide button corresponding to "smart sprinkler on", assuming that the slide buttons slide to the right to indicate on and slide to the left to indicate off. In this embodiment, the agricultural unmanned aerial vehicle is provided with a radar that can detect the height of the agricultural unmanned aerial vehicle from the crops. When the height of the agricultural unmanned aerial vehicle from crops is fixed and the agricultural unmanned aerial vehicle flies at a constant speed, the agricultural unmanned aerial vehicle can uniformly spray the pesticide. Since the terrain of a crop planting area may be fluctuant, and the height of the agricultural unmanned aerial vehicle detected by the radar from the crops is changed in real time, in order to realize fixed-height flight or ground-imitating flight, the flight controller is required to adjust the flight height of the agricultural unmanned aerial vehicle in real time according to the detection result of the radar. Therefore, when the radar height setting function is started, the height of the agricultural unmanned aerial vehicle relative to crops is set to be effective.
In addition, the agricultural unmanned aerial vehicle is provided with sprayers in different directions, a graph 7 shown in fig. 4 is an enlarged view of the graph 7 in fig. 2, 41 represents a flight line, 42 represents the agricultural unmanned aerial vehicle, and 43-46 represent the sprayers arranged on the agricultural unmanned aerial vehicle respectively, optionally, the agricultural unmanned aerial vehicle is provided with 4 sprayers in different directions, and a user can open the sprayers in different directions according to the heading direction of the agricultural unmanned aerial vehicle, for example, when the agricultural unmanned aerial vehicle flies forwards, two sprayers in front of the agricultural unmanned aerial vehicle are opened; when the agricultural unmanned aerial vehicle flies backwards, two spray heads behind the agricultural unmanned aerial vehicle are started; the method can also be as follows: when the agricultural unmanned aerial vehicle flies backwards, two spray heads in front of the agricultural unmanned aerial vehicle are started; when the agricultural unmanned aerial vehicle flies forwards, the two spray heads behind the agricultural unmanned aerial vehicle are started, and a user can set according to different requirements.
In this embodiment, the remote controller needs to determine the control information input by the user according to the operation of the user on the user interface, that is, the operation of the user needs to be identified, and the operation can be implemented in the following two ways:
the first method comprises the following steps:
the user interface includes at least one of: an operation icon for controlling the spray flow; an operation icon for controlling the flight speed of the unmanned aerial vehicle; an operational icon for controlling the UAV altitude; an operation icon for controlling the lane spacing; and the operation icon is used for controlling the safe distance. The operation icon comprises at least one of the following: and sliding the icon, rotating the icon and clicking the icon. Optionally, the operation icon is a slide bar.
As shown in fig. 2, the user interface includes a slider 1 for controlling the spray flow rate, a slider 2 for controlling the flying speed, a slider 3 for controlling the flying height, a slider 4 for controlling the course pitch, and a slider 5 for controlling the safety distance.
The user can adjust different operation parameters and operation parameter values of the agricultural unmanned aerial vehicle through operations on different sliding bars, such as sliding, clicking and the like, and the remote controller can identify the operation parameters adjusted by the user and the set operation parameter values according to the operations on the different sliding bars by the user.
And the second method comprises the following steps:
the user interface includes at least one of: a dialog box for inputting a spray flow value; a dialog box for inputting a flight velocity value; a dialog box for inputting a fly height value; a dialog box for inputting a fly height value; a dialog box for entering a safe distance value.
As shown in FIG. 5, the user interface includes a dialog box 51 for entering a spray flow value, a dialog box 52 for entering a flight speed value, a dialog box 53 for entering a flight altitude value, a dialog box 54 for entering a airline spacing value, and a dialog box 55 for entering a safe distance value.
The user can adjust different operation parameters and operation parameter values of the agricultural unmanned aerial vehicle through operation of different dialog boxes, such as data input, and the remote controller can identify the operation parameters adjusted by the user and the set operation parameter values according to the operation of the user on the different dialog boxes.
And S102, determining operation parameters of the agricultural unmanned aerial vehicle according to the control information.
In this embodiment, the operating parameters of the agricultural unmanned aerial vehicle include at least one of: spray flow, spray direction, flight speed, flight height, nozzle direction, course spacing, safety distance. The control information input by the user through the user interface not only includes specific operation parameters, but also includes operation parameter values.
The method for determining the operation parameters of the agricultural unmanned aerial vehicle by the remote controller according to the control information can comprise the following two steps:
the first method comprises the following steps:
determining the operation parameters of the agricultural unmanned aerial vehicle adjusted by the user according to the sliding strip operated by the user; and determining the operation parameter value of the agricultural unmanned aerial vehicle according to the progress value of the sliding strip.
As shown in fig. 2, when the user operates different sliding bars, different operation parameters of the agricultural unmanned aerial vehicle are correspondingly adjusted, for example, when the user operates sliding bar 1, it indicates that the user adjusts the spraying flow rate of the agricultural unmanned aerial vehicle; when the user operates the slide bar 4, it indicates that the user adjusts the course pitch of the agricultural unmanned aerial vehicle. Therefore, the remote controller can determine the operation parameters of the agricultural unmanned aerial vehicle adjusted by the user according to the sliding strip operated by the user. In addition, the user may also control the progress value of the slide bar, which represents the value of the corresponding operation parameter set by the user, when the user slides the slide bar 1 to one third of the total amount of travel, at which time the progress value of the slide bar 1 represents that the spray flow rate is 2.8L/min, and the progress value of the slide bar is displayed in real time during the sliding process by the user, so that the user determines the position where the sliding is stopped.
And the second method comprises the following steps:
determining the operation parameters of the agricultural unmanned aerial vehicle adjusted by the user according to a dialog box of user input data; and determining the operation parameter value of the agricultural unmanned aerial vehicle according to the data input by the user in the dialog box.
As shown in fig. 5, the user correspondingly adjusts different operation parameters of the agricultural unmanned aerial vehicle when inputting data in different dialog boxes, for example, data is input in a dialog box 51 to indicate that the spraying flow rate of the agricultural unmanned aerial vehicle is adjusted, and specific data input in the dialog box 51, such as 2.8L/min, indicates the magnitude of the spraying flow rate controlled by the user.
And S103, controlling the agricultural unmanned aerial vehicle to operate according to the operation parameters.
After the user finishes setting on the user interface, the remote controller controls the agricultural unmanned aerial vehicle to operate according to the operation parameters of the agricultural unmanned aerial vehicle adjusted by the user, for example, if the user sets the spraying flow rate to be 2.8L/min, the remote controller sends a control signaling that the operation parameters are the spraying flow rate and the operation parameter value is 2.8L/min to a flight controller of the agricultural unmanned aerial vehicle, so that the flight controller controls the spraying flow rate of the agricultural unmanned aerial vehicle to be 2.8L/min.
In this embodiment, the work target of the agricultural unmanned aerial vehicle may be not only crops but also vegetation, forests, and the like.
According to the method, the user interface provided by the ground control end is used, the user interface is provided with the control icon of the adjustable operation parameters of the agricultural unmanned aerial vehicle, the user can visually operate the control icon on the user interface, the ground control end determines the control information input by the user according to the operation of the user on the user interface, the control information is specifically used for adjusting the operation parameters of the agricultural unmanned aerial vehicle, namely the user can adjust the operation parameters of the agricultural unmanned aerial vehicle through the visual operation on the user interface, and the user can visually adjust the operation parameters of the agricultural unmanned aerial vehicle through the ground control end.
The embodiment of the invention provides a control method of an agricultural unmanned aerial vehicle. On the basis of the above embodiment, the user interface may further display a map layer or an electronic map as shown in fig. 6, wherein the assumption 61 indicates a piece of crop, and the assumption 62 indicates a toolbar specifically displaying the GPS accuracy of the remote controller, the planned area of the crop, the distance between airlines when the agricultural unmanned aerial vehicle operates, and the height of the agricultural unmanned aerial vehicle relative to the crop.
Before the agricultural unmanned aerial vehicle works, the route of the agricultural unmanned aerial vehicle needs to be planned, and a specific method for planning the route comprises the following steps: the remote controller can be positioned in real time or positioned periodically by a GPS positioning module carried by the remote controller, the periodic positioning can be specifically positioned once every 1 second, the remote controller can display the positioning information of the GPS positioning module on a user interface in real time, when the tester carries the remote controller to walk on the boundary of the operation area, the tester can click an icon 'begin measuring C1' shown in figure 6, and the tester clicks the icon 'begin measuring C1' to realize the following functions: and marking the subsequent positioning information of the GPS positioning module as the positioning information of the boundary point of the operation area. When the tester finishes walking for one circle at the boundary of the operation area with the remote controller, the boundary point 71 of the operation area shown in fig. 7 is obtained, and the area formed by the boundary point 71 of the operation area is the operation area of the agricultural unmanned aerial vehicle measured and drawn by the remote controller. In addition, generally, obstacles exist in the working area of the agricultural unmanned aerial vehicle, and therefore, the obstacles existing in the working area need to be mapped, specifically, when a tester finds an obstacle point such as a big tree and an obstacle area such as a fish pond, the tester needs to click the icon "add obstacle C2" shown in fig. 7, and the function of the tester clicking the icon "add obstacle C2" is: and marking the subsequent positioning information of the GPS positioning module as the positioning information of the obstacles in the operation area. Specifically, when a tester finds an obstacle point, the GPS positioning module positions the position of the obstacle point, and when the tester finds an obstacle area, the tester needs to walk along the boundary of the obstacle area, and during the walking process, the GPS positioning module performs real-time positioning or periodic positioning, and meanwhile, the remote controller displays positioning information on the user interface in real time, and after the tester finishes walking along the boundary of the obstacle area, the obstacle boundary 81 in the work area as shown in fig. 8 is obtained. On the basis of fig. 8, the user may click on the "add waypoint C3" icon, and after the user clicks on the "add waypoint C3" icon, the remote controller generates and displays waypoints 82 from the data on fig. 7 and the data on fig. 8. At this time, the work area mapping work is completed, the tester clicks the "end obstacle C2" icon on fig. 8, the mapping of the obstacle is ended, and the remote controller automatically generates a user interface as shown in fig. 9, which includes an obstacle area 90, a target area 91 for identifying the work area of the agricultural unmanned aerial vehicle, a target line segment 92 for identifying the flight line of the agricultural unmanned aerial vehicle, and a movable marker 93 for identifying the heading of the agricultural unmanned aerial vehicle, as shown in fig. 9.
The implementation manners of acquiring the spraying direction control information input by the user on the user interface include the following steps:
the first method comprises the following steps:
and acquiring the spraying direction control information input by the user on the user interface through rotating the target area.
As shown in fig. 9, the user may select the target area 91 on the user interface, and rotate the target area 91 clockwise to obtain the user interface shown in fig. 10, and as can be seen from fig. 9 and 10, after the rotation, the direction of the target line segment 92 changes, which indicates that the user adjusts the flight path of the agricultural unmanned aerial vehicle by rotating the target area 91, so as to adjust the spraying direction.
And the second method comprises the following steps:
and acquiring the spraying direction control information input by the user on the user interface through rotating the target line segment.
As shown in fig. 9, the user may also select the target line segment 92, rotate the target line segment 92 in a clockwise direction, and adjust the flight line of the agricultural unmanned aerial vehicle and the spraying direction of the agricultural unmanned aerial vehicle.
And the third is that:
and acquiring spraying direction control information input by a user on the user interface by controlling the direction of the movable mark. The movable marker comprises an icon or a cursor.
As shown in fig. 9, since the movable mark 93 can be used to indicate the spraying direction of the agricultural unmanned aerial vehicle, when the direction of the movable mark 93 is changed, the spraying direction of the agricultural unmanned aerial vehicle is changed accordingly, for example, the user adjusts the movable mark 93 clockwise, resulting in the user interface shown in fig. 11, compared to fig. 9, the direction of the movable mark 93 is changed, and at the same time, the spraying direction of the agricultural unmanned aerial vehicle is also changed, and the pointing direction of the movable mark 93 is consistent with the spraying direction of the agricultural unmanned aerial vehicle.
And fourthly:
and acquiring spraying direction control information input by a user on the user interface by clicking the left side or the right side of the connecting line between the first mark point and the second mark point.
As shown in fig. 12, the user interface further includes a first marker point a for identifying a first location where the agricultural unmanned aerial vehicle is located, and a second marker point B for identifying a second location where the agricultural unmanned aerial vehicle is located. The connecting line AB can be determined according to the first marking point A and the second marking point B, the user can further click the left side or the right side of the connecting line AB on the user interface to adjust the spraying direction of the agricultural unmanned aerial vehicle, for example, the user clicks the left side of the connecting line AB on the user interface, the remote controller controls the agricultural unmanned aerial vehicle to fly along a route 121 shown in figure 12, the route 121 is located on the left side of the connecting line AB, and the spraying direction of the agricultural unmanned aerial vehicle is adjusted while the route is adjusted.
And a fifth mode:
and acquiring spraying direction control information input by a user through the operation on the first mark point and the second mark point on the user interface.
As shown in fig. 12, the user may also input the spraying direction control information on the user interface through the operation on the first marker point a and the second marker point B, for example, the user's finger slides from the first marker point a to the second marker point B on the user interface, indicating that the spraying direction for controlling the agricultural unmanned aerial vehicle coincides with the direction from the first marker point a to the second marker point B. And if the finger of the user slides from the second mark point B to the first mark point A on the user interface, the spraying direction for controlling the agricultural unmanned aerial vehicle is consistent with the direction pointing to the first mark point A from the second mark point B. In addition, if the user clicks the first mark point A and then clicks the second mark point B on the user interface by a finger, the spraying direction for controlling the agricultural unmanned aerial vehicle is consistent with the direction pointing to the second mark point B from the first mark point A. If the user firstly clicks the second mark point B on the user interface by a finger and then clicks the first mark point A, the spraying direction for controlling the agricultural unmanned aerial vehicle is consistent with the direction pointing to the first mark point A from the second mark point B.
In this embodiment, the user interface includes at least one of: a target area for identifying an agricultural unmanned aerial vehicle operating area, a target line segment for identifying a flight path of the agricultural unmanned aerial vehicle, a movable marker for identifying the heading of the agricultural unmanned aerial vehicle, a first marker point for identifying a first position where the agricultural unmanned aerial vehicle is located, and a second marker point for identifying a second position where the agricultural unmanned aerial vehicle is located, the spraying direction of the agricultural unmanned aerial vehicle can be adjusted by controlling the rotation of the target area, the rotation of the target line segment and the direction of the movable mark on the user interface by a user, in addition, the user can click the left side or the right side of the connecting line between the first marking point and the second marking point, or the first marking point and the second marking point are operated to adjust the spraying direction of the agricultural unmanned aerial vehicle, the spraying direction of the agricultural unmanned aerial vehicle can be conveniently and flexibly adjusted through the user interface by a user.
The embodiment of the invention provides a control method of an agricultural unmanned aerial vehicle. On the basis of the above embodiment, the agricultural unmanned aerial vehicle is equipped with a plurality of spray heads, and each spray head is located at a different position of the agricultural unmanned aerial vehicle.
A graph 7 shown in fig. 4 is an enlarged view of the graph 7 in fig. 2, and the user interface displays a graph for identifying the agricultural unmanned aerial vehicle, and the graph is used for controlling the spray heads mounted on the agricultural unmanned aerial vehicle. Graph 42 represents an agricultural unmanned aerial vehicle, curves 43-46 represent 4 sprinklers carried on the agricultural unmanned aerial vehicle in different directions, respectively, target line segment 41 represents a flight line, target line segment AB represents the flight line, target line segment CD represents the flight line, and graph 42 representing the agricultural unmanned aerial vehicle is located on the target line segment representing the flight line.
Assuming that the direction indicated by the arrow 47 is a positive direction and the arrow 47 points to the north, the heading is a positive direction when the agricultural unmanned aerial vehicle operates on the route AB, and the heading is a negative direction when the agricultural unmanned aerial vehicle operates on the route CD. Curves 43-46 are optional portions of the user interface, respectively, and when the user clicks on the curve, the curve is selected, for example, when the curves 43 and 44 are simultaneously selected, the curve indicates that the user controls the first two sprinklers of the agricultural unmanned aerial vehicle to be opened through the user interface, and when the curves 43 and 44 are clicked again, the curves 43 and 44 are in an unselected state, and the curve indicates that the user controls the first two sprinklers of the agricultural unmanned aerial vehicle to be closed through the user interface; the same is the operation of opening or closing the last two spray heads of the agricultural unmanned aerial vehicle.
Specifically, when the agricultural unmanned aerial vehicle flies forwards, two spray heads in front of the agricultural unmanned aerial vehicle are started; when the agricultural unmanned aerial vehicle flies backwards, two spray heads behind the agricultural unmanned aerial vehicle are started. The benefits of this arrangement are: the penetrating power of the sprayed object can be increased, the sprayed object is a forest in proportion to the sprayed object, and the pesticide sprayed by the agricultural unmanned aerial vehicle can penetrate into the polished surface of the leaves through gaps among the leaves.
In addition, when the agricultural unmanned aerial vehicle flies backwards, the two spray heads in front of the agricultural unmanned aerial vehicle can be opened; when the agricultural unmanned aerial vehicle flies forwards, the two spray heads behind the agricultural unmanned aerial vehicle are started, and a user can set according to different requirements. The benefits of this arrangement are: the influence of the air flow and the flying speed and/or the wind speed of the agricultural unmanned aerial vehicle on the sprayed objects can be avoided.
In addition, the corresponding relation between the heading and the nozzle direction of the agricultural unmanned aerial vehicle is set by the user according to actual requirements, the setting of the corresponding relation is not limited to the method shown in fig. 4, and the corresponding relation can also be in the form of a dialog box, for example, a dialog box with the heading setting and a dialog box with the nozzle direction setting are displayed on a user interface, the corresponding relation between the heading and the nozzle direction of the agricultural unmanned aerial vehicle is established through the two dialog boxes, and the user can manually input the heading or the nozzle direction in the dialog box or click a list display key on the dialog box to select the heading or the nozzle direction from a list.
The method for controlling the spray head described in this embodiment is effective under the condition that the slide button corresponding to "intelligent spray head is on" shown in fig. 2 is on, and if the slide button corresponding to "intelligent spray head is on" shown in fig. 2 is in the off state, the method for controlling the spray head described in this embodiment is not effective.
The intelligent control of the sprayer is realized by controlling the direction of the sprayer through the course of the agricultural unmanned aerial vehicle, in addition, different corresponding relations between the course of the agricultural unmanned aerial vehicle and the direction of the sprayer can also generate different benefits in the operation process of the agricultural unmanned aerial vehicle, a user can set the corresponding relation between the course of the agricultural unmanned aerial vehicle and the direction of the sprayer according to actual requirements, and the flexibility of sprayer control is improved.
The embodiment of the invention provides a ground control terminal. Fig. 13 is a block diagram of a ground control terminal according to an embodiment of the present invention, and as shown in fig. 13, the ground control terminal 130 includes a processor 131 and a memory 132 configured to store instructions executable by the processor 131. Wherein the processor 131 is configured to: displaying a user interface; acquiring control information input by a user on the user interface; determining operation parameters of the agricultural unmanned aerial vehicle according to the control information; and controlling the agricultural unmanned aerial vehicle to operate according to the operation parameters.
In this embodiment, the control information includes at least one of: spraying flow control information, spraying direction control information, flying speed control information, flying height control information, nozzle control information, air route spacing control information and safety distance control information; wherein the safe distance is used to avoid the agricultural unmanned aerial vehicle spraying a spray outside an agricultural unmanned aerial vehicle work area.
The operation parameter comprises at least one of the following: spray flow, spray direction, flight speed, flight height, nozzle direction, course spacing, safety distance.
Optionally, the processor 131 is configured to: displaying on the user interface at least one of: an operation icon for controlling the spray flow;
an operation icon for controlling the flight speed of the agricultural unmanned aerial vehicle;
an operational icon for controlling the altitude of the agricultural UAV;
an operation icon for controlling the lane spacing;
and the operation icon is used for controlling the safe distance.
Wherein the operation icon comprises at least one of the following: and sliding the icon, rotating the icon and clicking the icon. Optionally, the operation icon is a slider.
In some embodiments, the processor 131 is configured to: displaying at least one of a dialog box for inputting a spray flow value on a user interface; a dialog box for inputting a flight velocity value; a dialog box for inputting a fly height value; a dialog box for inputting a course spacing value; a dialog box for entering a safe distance value.
In particular, the processor 131 is configured to: and acquiring control information input by a user on the user interface through operating the sliding bar.
The processor 131 is configured to: determining the operation parameters of the agricultural unmanned aerial vehicle adjusted by the user according to the sliding strip operated by the user; and determining the operation parameter value of the agricultural unmanned aerial vehicle according to the progress value of the sliding strip.
Alternatively, the processor 131 is configured to: determining the operation parameters of the agricultural unmanned aerial vehicle adjusted by the user according to a dialog box of user input data; and determining the operation parameter value of the agricultural unmanned aerial vehicle according to the data input by the user in the dialog box.
The specific principle and implementation of the ground control end provided by the embodiment of the present invention are similar to those of the embodiments shown in fig. 1 to 5, and are not described herein again.
According to the method, the user interface provided by the ground control end is used, the user interface is provided with the control icon of the adjustable operation parameters of the agricultural unmanned aerial vehicle, the user can visually operate the control icon on the user interface, the ground control end determines the control information input by the user according to the operation of the user on the user interface, the control information is specifically used for adjusting the operation parameters of the agricultural unmanned aerial vehicle, namely the user can adjust the operation parameters of the agricultural unmanned aerial vehicle through the visual operation on the user interface, and the user can visually adjust the operation parameters of the agricultural unmanned aerial vehicle through the ground control end.
The embodiment of the invention provides a ground control terminal. Based on the technical solution provided by the embodiment shown in fig. 13, the processor 131 is configured to: displaying on the user interface at least one of: a target area for identifying the agricultural unmanned aerial vehicle operating area; a target line segment for identifying a flight path of the agricultural unmanned aerial vehicle; a movable marker for identifying a heading of the agricultural unmanned aerial vehicle; the agricultural unmanned aerial vehicle positioning system comprises a first marking point used for identifying a first position where the agricultural unmanned aerial vehicle is located and a second marking point used for identifying a second position where the agricultural unmanned aerial vehicle is located.
In particular, the processor 131 is configured to: acquiring spraying direction control information input by a user on the user interface through rotating the target area; or acquiring spraying direction control information input by a user on the user interface by rotating the target line segment; or acquiring spraying direction control information input by a user on the user interface by controlling the direction of the movable mark; alternatively, the first and second electrodes may be,
acquiring spraying direction control information input by a user on the user interface by clicking the left side or the right side of a connecting line between the first mark point and the second mark point;
alternatively, the first and second electrodes may be,
and acquiring spraying direction control information input by a user through the operation on the first mark point and the second mark point on the user interface. Wherein the movable marker comprises an icon or a cursor. The operation on the first and second marking points comprises at least one of the following steps: sliding from the first marker point to the second marker point; sliding from the second marker point to the first marker point; clicking the first mark point first, and then clicking the second mark point; and clicking the second mark point first and then clicking the first mark point.
The specific principle and implementation of the ground control end provided by the embodiment of the present invention are similar to those of the embodiments shown in fig. 6 to 12, and are not described herein again.
In this embodiment, the user interface includes at least one of: a target area for identifying an agricultural unmanned aerial vehicle operating area, a target line segment for identifying a flight path of the agricultural unmanned aerial vehicle, a movable marker for identifying the heading of the agricultural unmanned aerial vehicle, a first marker point for identifying a first position where the agricultural unmanned aerial vehicle is located, and a second marker point for identifying a second position where the agricultural unmanned aerial vehicle is located, the spraying direction of the agricultural unmanned aerial vehicle can be adjusted by controlling the rotation of the target area, the rotation of the target line segment and the direction of the movable mark on the user interface by a user, in addition, the user can click the left side or the right side of the connecting line between the first marking point and the second marking point, or the first marking point and the second marking point are operated to adjust the spraying direction of the agricultural unmanned aerial vehicle, the spraying direction of the agricultural unmanned aerial vehicle can be conveniently and flexibly adjusted through the user interface by a user.
The embodiment of the invention provides a ground control terminal. On the basis of the technical scheme provided by the embodiment shown in fig. 5, the agricultural unmanned aerial vehicle is provided with a plurality of spray heads, and each spray head is located at different positions of the agricultural unmanned aerial vehicle. The processor 131 is configured to: and displaying a graph for identifying the agricultural unmanned aerial vehicle on the user interface, wherein the graph is used for controlling a spray head carried on the agricultural unmanned aerial vehicle.
Optionally, the processor 131 is configured to: and acquiring the sprayer control information input by the user on the user interface through operating the graph.
The shower head control information includes at least one of: and the control information of the opening of the spray head and the control information of the closing of the spray head.
Additionally, the processor 131 is further configured to: and displaying a target line segment for identifying a flight path of the agricultural unmanned aerial vehicle on the user interface, wherein the graph is located on the target line segment.
The specific principle and implementation of the ground control end provided by the embodiment of the present invention are similar to those of the embodiments shown in fig. 2 and fig. 4, and are not described herein again.
The intelligent control of the sprayer is realized by controlling the direction of the sprayer through the course of the agricultural unmanned aerial vehicle, in addition, different corresponding relations between the course of the agricultural unmanned aerial vehicle and the direction of the sprayer can also generate different benefits in the operation process of the agricultural unmanned aerial vehicle, a user can set the corresponding relation between the course of the agricultural unmanned aerial vehicle and the direction of the sprayer according to actual requirements, and the flexibility of sprayer control is improved.
The embodiment of the invention also provides a storage medium, wherein the storage medium is stored with a program code, when the program code runs, a control method of the agricultural unmanned aerial vehicle can be executed, the specific principle and the implementation mode of the control method are similar to those of the method described in the embodiment of the method, and the detailed description is omitted here.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, 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 through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The 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.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (18)
1. A control method of an agricultural unmanned aerial vehicle is characterized in that the agricultural unmanned aerial vehicle is provided with a plurality of spray heads, each spray head is located at different positions of the agricultural unmanned aerial vehicle, the agricultural unmanned aerial vehicle is controlled by a ground control end, and the ground control end is provided with a user interface, the method comprises the following steps:
acquiring control information input by a user on the user interface, wherein the control information comprises: spraying flow control information, flight speed control information, flight height control information, air route spacing control information and safety distance control information;
determining operation parameters of the agricultural unmanned aerial vehicle according to the control information;
and controlling the agricultural unmanned aerial vehicle to operate according to the operation parameters.
2. The method of claim 1, wherein the safe distance is used to prevent the agricultural unmanned aerial vehicle from hitting an edge of a farm field while in flight.
3. The method of claim 1, wherein the operational parameters include at least one of:
spray flow, flying speed, flying height, course spacing, safety distance.
4. The method of claim 1, wherein the user interface comprises at least one of:
an operation icon for controlling the spray flow;
an operation icon for controlling the flight speed of the agricultural unmanned aerial vehicle;
an operational icon for controlling the altitude of the agricultural UAV;
an operation icon for controlling the lane spacing;
and the operation icon is used for controlling the safe distance.
5. The method of claim 4, wherein the operation icon is a slider bar;
the acquiring of the control information input by the user on the user interface includes:
and acquiring control information input by a user on the user interface through operating the sliding bar.
6. The method of claim 5, wherein said determining operational parameters of said agricultural UAV based on said control information comprises:
determining the operation parameters of the agricultural unmanned aerial vehicle adjusted by the user according to the sliding strip operated by the user;
and determining the operation parameter value of the agricultural unmanned aerial vehicle according to the progress value of the sliding strip.
7. The method of claim 1, wherein the user interface comprises at least one of:
a dialog box for inputting a spray flow value;
a dialog box for inputting a flight velocity value;
a dialog box for inputting a fly height value;
a dialog box for inputting a course spacing value;
a dialog box for entering a safe distance value.
8. The method of claim 7, wherein said determining operational parameters of said agricultural UAV based on said control information comprises:
determining the operation parameters of the agricultural unmanned aerial vehicle adjusted by the user according to a dialog box of user input data;
and determining the operation parameter value of the agricultural unmanned aerial vehicle according to the data input by the user in the dialog box.
9. The method of claim 1, wherein the user interface comprises at least one of:
a target area for identifying the agricultural unmanned aerial vehicle operating area;
a target line segment for identifying a flight path of the agricultural unmanned aerial vehicle;
a movable marker for identifying a heading of the agricultural unmanned aerial vehicle;
the agricultural unmanned aerial vehicle positioning system comprises a first marking point used for identifying a first position where the agricultural unmanned aerial vehicle is located and a second marking point used for identifying a second position where the agricultural unmanned aerial vehicle is located.
10. A ground control terminal, comprising:
a processor;
a memory configured to store processor-executable instructions;
wherein the processor is configured to:
displaying a user interface;
acquiring control information input by a user on the user interface, wherein the control information comprises: spraying flow control information, flight speed control information, flight height control information, air route spacing control information and safety distance control information;
determining operation parameters of the agricultural unmanned aerial vehicle according to the control information;
and controlling the agricultural unmanned aerial vehicle to operate according to the operation parameters.
11. The ground control terminal of claim 10, wherein the safety distance is used to prevent the agricultural unmanned aerial vehicle from hitting an edge of an agricultural field while flying.
12. The ground control tip of claim 10, wherein the operational parameter comprises at least one of:
spray flow, flying speed, flying height, course spacing, safety distance.
13. The ground control terminal of claim 10, wherein the processor is configured to: displaying on the user interface at least one of:
an operation icon for controlling the spray flow;
an operation icon for controlling the flight speed of the agricultural unmanned aerial vehicle;
an operational icon for controlling the altitude of the agricultural UAV;
an operation icon for controlling the lane spacing;
and the operation icon is used for controlling the safe distance.
14. The ground control terminal of claim 13, wherein the operation icon is a slider;
the processor is configured to:
and acquiring control information input by a user on the user interface through operating the sliding bar.
15. The ground control terminal of claim 14, wherein the processor is configured to:
determining the operation parameters of the agricultural unmanned aerial vehicle adjusted by the user according to the sliding strip operated by the user;
and determining the operation parameter value of the agricultural unmanned aerial vehicle according to the progress value of the sliding strip.
16. The ground control terminal of claim 10, wherein the processor is configured to: displaying on the user interface at least one of:
a dialog box for inputting a spray flow value;
a dialog box for inputting a flight velocity value;
a dialog box for inputting a fly height value;
a dialog box for inputting a course spacing value;
a dialog box for entering a safe distance value.
17. The ground control terminal of claim 16, wherein the processor is configured to:
determining the operation parameters of the agricultural unmanned aerial vehicle adjusted by the user according to a dialog box of user input data;
and determining the operation parameter value of the agricultural unmanned aerial vehicle according to the data input by the user in the dialog box.
18. The ground control terminal of claim 10, wherein the processor is configured to: displaying at least one of the following on the user interface:
a target area for identifying the agricultural unmanned aerial vehicle operating area;
a target line segment for identifying a flight path of the agricultural unmanned aerial vehicle;
a movable marker for identifying a heading of the agricultural unmanned aerial vehicle;
the agricultural unmanned aerial vehicle positioning system comprises a first marking point used for identifying a first position where the agricultural unmanned aerial vehicle is located and a second marking point used for identifying a second position where the agricultural unmanned aerial vehicle is located.
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| PCT/CN2016/107157 WO2018094670A1 (en) | 2016-11-24 | 2016-11-24 | Control method for agricultural unmanned aerial vehicle, and ground control end and storage medium |
| CN201680002760.3A CN106716288B (en) | 2016-11-24 | 2016-11-24 | Control method and ground control end of agricultural unmanned aerial vehicle |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106716288A (en) | 2017-05-24 |
| WO2018094670A1 (en) | 2018-05-31 |
| CN106716288B (en) | 2020-10-27 |
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