CN112105461A

CN112105461A - Control method, control equipment, movable platform and control system

Info

Publication number: CN112105461A
Application number: CN201980030308.1A
Authority: CN
Inventors: 常子敬; 唐明健; 胡德琪
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2019-11-05
Filing date: 2019-11-05
Publication date: 2020-12-18
Also published as: WO2021087724A1

Abstract

A control method, control equipment, a movable platform and a control system are provided, wherein the control method comprises the following steps: when the control equipment receives the type information of the spray head, acquiring attribute information (S201) corresponding to the type information of the spray head from a cloud server (103) according to the type information of the spray head, wherein the cloud server (103) stores a plurality of one-to-one corresponding types and attribute information; and sending the attribute information to the movable platform (S202) so that the movable platform determines the control parameters of the spray head according to the preset requirement information and the attribute information. When a new sprayer is developed, corresponding sprayer firmware does not need to be issued, but attribute information corresponding to the type information of the sprayer is acquired from the cloud server (103), so that the mobile platform can determine the control parameters of the sprayer according to preset demand information and the attribute information, and the development efficiency is improved.

Description

Control method, control equipment, movable platform and control system

Technical Field

The present application relates to the field of control technologies, and in particular, to a control method, a control device, a movable platform, and a control system.

Background

Firmware refers to "drivers" that are maintained inside the removable platform. The movable platform can realize the operation of the sprayer through the sprayer firmware, for example, the movable platform can control the sprayer to spray based on control parameters through the sprayer firmware, and the control parameters can include the flow rate of the sprayer or the working pressure of the sprayer and the like. Different sprayers are suitable for different control parameters, and the movable platform uses different sprayers to operate in different application scenes. If a new nozzle is developed, the developed nozzle firmware needs to be released, so that the development process is complicated, and the development efficiency is reduced.

Disclosure of Invention

The embodiment of the application provides a control method, control equipment, a movable platform and a control system, and when a new sprayer is developed, attribute information corresponding to type information of the sprayer is acquired from a cloud server without issuing corresponding sprayer firmware, so that the movable platform can determine control parameters of the sprayer according to preset demand information and attribute information, and development efficiency is improved.

In a first aspect, an embodiment of the present application provides a control method, where the method is applied to a control device, the control device is wirelessly connected to a movable platform, a spray head is disposed on the movable platform, and the spray head is used for performing a spraying operation when the movable platform moves, and the method includes:

when the control equipment receives the type information of the sprayer, acquiring attribute information corresponding to the type information of the sprayer from a cloud server according to the type information of the sprayer, wherein the cloud server stores a plurality of one-to-one corresponding types and attribute information;

and sending the attribute information to the movable platform so that the movable platform determines the control parameters of the sprayer according to preset demand information and the attribute information.

In a second aspect, an embodiment of the present application provides a control method, where the method is applied to a movable platform, the movable platform is connected to a control device, a spray head is disposed on the movable platform, the spray head is used for performing a spraying operation when the movable platform moves, and a radio frequency identification RFID tag is disposed on the spray head, and the method includes:

acquiring the type information of the sprayer by reading the RFID label of the sprayer;

sending the type information of the spray head to the control equipment so that the control equipment can acquire attribute information corresponding to the type information of the spray head from a cloud server according to the type information of the spray head, wherein the cloud server stores a plurality of one-to-one corresponding types and attribute information;

and receiving the attribute information sent by the control equipment, and determining the control parameters of the spray head according to preset demand information and the attribute information.

In a third aspect, an embodiment of the present application provides a control device, where the control device is applied to a control device, the control device is wirelessly connected to a movable platform, a spray head is disposed on the movable platform, and the spray head is configured to perform a spraying operation when the movable platform moves, and the control device includes:

the attribute information acquisition module is used for acquiring attribute information corresponding to the type information of the spray head from a cloud server according to the type information of the spray head when the type information of the spray head is received, wherein the cloud server stores a plurality of one-to-one corresponding types of information and attribute information;

and the attribute information sending module is used for sending the attribute information to the movable platform so that the movable platform can determine the control parameters of the sprayer according to preset requirement information and the attribute information.

In a fourth aspect, an embodiment of the present application provides a control device, where the control device is wirelessly connected to a movable platform, a spray head is disposed on the movable platform, the spray head is used for performing a spraying operation when the movable platform moves, and the control device includes a memory and a processor;

the memory for storing a computer program;

the processor, invoking the computer program, is to:

when the type information of the sprayer is received, acquiring attribute information corresponding to the type information of the sprayer from a cloud server according to the type information of the sprayer, wherein the cloud server stores a plurality of one-to-one corresponding types and attribute information;

In a fifth aspect, an embodiment of the present application provides a control device, which is characterized in that, the control device is applied to a movable platform, the movable platform is connected with a control device, a spray head is arranged on the movable platform, the spray head is used for spraying when the movable platform moves, a radio frequency identification RFID tag is arranged on the spray head, and the control device includes:

the type information acquisition module is used for acquiring the type information of the sprayer by reading the RFID label of the sprayer;

the type information sending module is used for sending the type information of the spray head to the control equipment so that the control equipment can obtain attribute information corresponding to the type information of the spray head from a cloud server according to the type information of the spray head, wherein the cloud server stores a plurality of one-to-one corresponding types of information and attribute information;

and the attribute information receiving module is used for receiving the attribute information sent by the control equipment and determining the control parameters of the spray head according to preset requirement information and the attribute information.

In a sixth aspect, an embodiment of the present application provides a movable platform, where the movable platform is connected to a control device, a spray head is disposed on the movable platform, the spray head is used for performing a spraying operation when the movable platform moves, a radio frequency identification RFID tag is disposed on the spray head, and the movable platform includes a memory and a processor;

the memory for storing a computer program;

the processor, invoking the computer program, is to:

In a seventh aspect, an embodiment of the present application provides a control system, where the control system includes a control device and a movable platform, the control device is wirelessly connected to the movable platform, a spray head is disposed on the movable platform, and the spray head is configured to perform a spraying operation when the movable platform moves, where:

when the control equipment receives the type information of the sprayer, the control equipment acquires attribute information corresponding to the type information of the sprayer from a cloud server according to the type information of the sprayer, wherein the cloud server stores a plurality of one-to-one corresponding types and attribute information;

the control equipment sends the attribute information to the movable platform;

and the movable platform determines the control parameters of the spray head according to preset requirement information and the attribute information.

In an eighth aspect, this application provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed, implements the control method according to this application embodiment of the first aspect.

In a ninth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed, the computer program implements the control method according to the embodiment of the present application in the second aspect.

In the embodiment of the application, a control device is wirelessly connected with a movable platform, a spray head is arranged on the movable platform and used for spraying when the movable platform moves, when the control device receives type information of the spray head, attribute information corresponding to the type information of the spray head is obtained from a cloud server according to the type information of the spray head, wherein the cloud server stores a plurality of one-to-one corresponding types of information and attribute information; and sending the attribute information to the movable platform so that the movable platform determines the control parameters of the sprayer according to preset demand information and the attribute information. Through the embodiment of the application, under the scene of developing a new sprayer, the corresponding sprayer firmware of the sprayer is not required to be developed, but the attribute information corresponding to the type information of the sprayer is acquired from the cloud server, so that the mobile platform can determine the control parameters of the sprayer according to the preset demand information and the attribute information, and the development efficiency can be improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a control system according to an embodiment of the present application;

fig. 2 is a schematic flow chart of a control method provided in an embodiment of the present application;

FIG. 3 is a schematic flow chart of another control method provided by the embodiments of the present application;

FIG. 4 is a schematic flow chart of another control method provided by the embodiments of the present application;

fig. 5A is a schematic view of an operation interface provided in the present embodiment;

FIG. 5B is a schematic view of another exemplary operating interface provided in the embodiments of the present disclosure;

FIG. 5C is a schematic view of another exemplary operating interface provided in the embodiments of the present disclosure;

fig. 5D is a schematic view of an operation interface provided in the embodiment of the present application;

FIG. 5E is a schematic view of another exemplary operating interface provided in the embodiments of the present disclosure;

FIG. 5F is a schematic view of another exemplary operating interface provided in the embodiments of the present disclosure;

FIG. 6 is a schematic structural diagram of a control device according to an embodiment of the present disclosure;

fig. 7 is a schematic structural diagram of a control device provided in an embodiment of the present application;

FIG. 8 is a schematic structural diagram of another control device provided in the embodiments of the present application;

FIG. 9 is a schematic structural diagram of a movable platform provided in an embodiment of the present application;

fig. 10 is a schematic structural diagram of an unmanned aerial vehicle flight system provided in an embodiment of the present application.

Detailed Description

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 only a part of the embodiments of the present application, and not all of the 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 application.

With the development of scientific progress and technology, the application scenarios of the movable platform are also more and more extensive, for example, agricultural plant protection is performed by using the movable platform. The method specifically comprises the following steps: the movable platform can control the spray head to spray based on control parameters through the spray head firmware, and the control parameters can comprise the flow rate of the spray head or the working pressure of the spray head and the like. However, different sprayers are suitable for different control parameters, and the movable platform can work by using different sprayers in different application scenes. If a new nozzle is developed, the developed nozzle firmware needs to be released, so that the development process is complicated, and the development efficiency is reduced.

In order to solve the above problem, an embodiment of the present application provides a control method, a control device, a movable platform, and a control system, where the control device is wirelessly connected to the movable platform, a spray head is disposed on the movable platform, and the spray head is used for performing a spraying operation when the movable platform moves, and the control method may be: when the control equipment receives the type information of the spray head, the control equipment acquires attribute information corresponding to the type information of the spray head from a cloud server according to the type information of the spray head, wherein the cloud server stores a plurality of one-to-one corresponding types of information and attribute information; and the control equipment sends the attribute information to the movable platform, so that the movable platform determines the control parameters of the spray head according to the preset requirement information and the attribute information. According to the control method, under the scene of developing a new sprayer, the corresponding sprayer firmware of the sprayer is not required to be developed, but the attribute information corresponding to the type information of the sprayer is obtained from the cloud server, so that the control parameters of the sprayer can be determined by the movable platform according to the preset requirement information and the attribute information, and the development efficiency can be improved.

The movable platform may be an unmanned aerial vehicle, an unmanned ship, or the like, which is not limited in this application. The control device may be a remote controller, a smart phone, a ground station, or the like.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a control system according to an embodiment of the present disclosure. As shown in fig. 1, for example, the mobile platform is an unmanned aerial vehicle, the control device is a smart phone, the control system may include an unmanned aerial vehicle 101, a smart phone 102, and a cloud server 103, the unmanned aerial vehicle 101 may establish a communication connection with the smart phone 102 through a communication interface of the unmanned aerial vehicle 101, and the smart phone 102 may establish a communication connection with the cloud server 103 through a communication interface of the smart phone 102. The Communication connection may be a wired connection or a wireless connection, the wired connection may be a Universal Serial Bus (USB) connection, and the wireless connection may be a WIFI connection or a Near Field Communication (NFC) connection.

In a control system composed of the unmanned aerial vehicle 101, the smart phone 102 and the cloud server 103, a spray head is arranged on the unmanned aerial vehicle 101, the spray head is used for spraying when the unmanned aerial vehicle 101 moves, and a plurality of one-to-one corresponding types of information and attribute information are stored on the cloud server 103. When the smart phone 102 receives the type information of the nozzle, the smart phone 102 acquires attribute information corresponding to the type information of the nozzle from the cloud server 103 according to the type information of the nozzle, and then the smart phone 102 sends the attribute information to the unmanned aerial vehicle 101. And the unmanned aerial vehicle 101 determines the control parameters of the spray head according to preset demand information and the attribute information. The sprinklers may perform a spraying operation while the UAV 101 is moving in response to the control parameter.

Based on the schematic architecture diagram of a control system shown in fig. 1, please refer to fig. 2, and fig. 2 is a schematic flow chart of a control method provided in an embodiment of the present application, which can be applied to the control system shown in fig. 1, and the method includes, but is not limited to, the following steps:

s201, when the control equipment receives the type information of the sprayer, the control equipment acquires attribute information corresponding to the type information of the sprayer from the cloud server according to the type information of the sprayer.

The type information may be used to identify the head, such as the head model or the nozzle diameter, among others. The attribute information may include one or more of a range of flow rates of the spray head, a range of operating pressures of the spray head, a range of throw of the spray head, and the like.

In one implementation manner, before the control device acquires the attribute information corresponding to the type information of the nozzle from the cloud server according to the type information of the nozzle, the type information of the nozzle may be acquired.

The method for the control device to obtain the type information of the nozzle may include the following three methods:

firstly, a Radio Frequency Identification (RFID) tag is arranged on the sprayer, and the type information of the sprayer is obtained by reading the RFID tag of the sprayer.

For example, a user may aim a signal emitting device of the control device at a sprayer of the movable platform, and the control device may read an RFID tag of the sprayer through an RFID technology to obtain type information of the sprayer.

And secondly, an RFID label is arranged on the sprayer, the movable platform acquires the type information of the sprayer by reading the RFID label of the sprayer, and then the movable platform sends the type information of the sprayer to the control equipment.

For example, if the signal emitting device of the movable platform is aligned with the sprayer of the movable platform, the movable platform can read the RFID tag of the sprayer through the RFID technology to obtain the type information of the sprayer. The movable platform may then transmit the type information of the spray head to the control device via a communication link with the control device.

And thirdly, acquiring the type information of the spray head according to a selection instruction or an input instruction of a user.

Taking the schematic view of the operation interface shown in fig. 5A as an example, an input box is displayed in a display screen of the control device, a user can input the type information of the ejection head in the input box, after confirming that the type information of the ejection head is correct, the user can click a confirmation button displayed in the display screen of the control device, after detecting the click operation of the user, the control device can generate an input instruction, and further obtain the type information of the ejection head input by the user according to the input instruction.

Taking the schematic view of the operation interface shown in fig. 5B as an example, an input box is displayed in a display screen of the control device, when the user moves the touch device to the input box, the control device may display a type information list in the display screen, where the type information list includes at least one type information, the user selects one type information in the type information list, and after the control device detects a selection operation of the user, the control device may generate a selection instruction, and further obtain the type information of the showerhead selected by the user according to the selection instruction. The touch device may be a cursor, a finger, a stylus, or the like.

In an implementation manner, the manner in which the control device obtains the attribute information corresponding to the type information of the nozzle from the cloud server according to the type information of the nozzle may be: and the control equipment sends attribute information request information of the spray head to the cloud server, wherein the attribute information request information carries the type information of the spray head. The cloud server responds to the attribute information request information, searches attribute information corresponding to the type information of the spray head, and then sends the searched attribute information to the control equipment. The cloud server stores a plurality of one-to-one corresponding types of information and attribute information.

S202, the control equipment sends the attribute information to the movable platform.

After the control device acquires the attribute information, the attribute information can be sent to the movable platform through communication connection with the movable platform.

S203, the movable platform determines the control parameters of the spray head according to the preset requirement information and the attribute information.

The preset requirement information may be an operation parameter input by a user. The operation parameters can be operation parameters of the spray head in the spraying operation process.

For example, assume that the preset requirement information is: and moving 10 mu of farmland for irrigation in one hour time period, and determining the control parameters of the spray heads by the movable platform according to the preset demand information and the attribute information. The control parameters may include one or more of the flow rate of the spray head, the working pressure of the spray head, the range of the spray head, and the like. The flow rate of the spray head included in the control parameter is within the flow rate range of the spray head included in the attribute information, the working pressure of the spray head included in the control parameter is within the working pressure range of the spray head included in the attribute information, and the range of the spray head included in the control parameter is within the range of the spray head included in the attribute information. In addition, the sprinkler can move to irrigate 10 acres of farmland in an hour period based on the control parameters.

According to the embodiment of the application, the control equipment is in communication connection with the movable platform, when the control equipment receives the type information of the spray head, the control equipment acquires the attribute information corresponding to the type information of the spray head from the cloud server according to the type information of the spray head, the control equipment sends the attribute information to the movable platform, then the movable platform determines the control parameters of the spray head according to the preset demand information and the attribute information, under the scene of developing a new spray head, spray head firmware corresponding to the spray head does not need to be developed, the attribute information corresponding to the type information of the spray head is acquired from the cloud server, so that the movable platform can determine the control parameters of the spray head according to the preset demand information and the attribute information, and the development efficiency can be improved.

s301, when it is detected that the control equipment is connected to a network comprising a cloud server, the control equipment downloads the type information and the corresponding attribute information of at least one sprayer from the cloud server.

In one implementation, the control device may detect whether to access the network including the cloud server in real time, and when it is detected that the control device accesses the network including the cloud server, the control device downloads the type information of the at least one nozzle and the attribute information corresponding to the type information from the cloud server.

In one implementation manner, the control device may detect whether to access the network including the cloud server at preset intervals, and when it is detected that the control device accesses the network including the cloud server, the control device downloads the type information of the at least one nozzle and the attribute information corresponding to the type information from the cloud server. When it is detected that the control device does not access the network including the cloud server, the control device may detect again whether to access the network including the cloud server after a preset time period elapses.

The cloud server stores a plurality of one-to-one corresponding types of information and attribute information. As long as a new nozzle is developed, research personnel can input the type information and the attribute information of the nozzle into the cloud server, and the cloud server can establish the corresponding relationship between the type information and the attribute information and store the type information and the corresponding attribute information.

In an implementation manner, the manner for the control device to download the type information of at least one nozzle and the attribute information corresponding to the type information from the cloud server may include the following two manners:

the control device sends attribute information request information to the cloud server, and the cloud server responds to the attribute information request information and sends all types of information stored by the cloud server and corresponding attribute information to the control device.

And secondly, after the type information and the corresponding attribute information stored in the cloud server are added, updated or deleted by the cloud server, a new data packet is obtained, the data packet can comprise the modified type information and the corresponding attribute information, and different data packets correspond to different version numbers. The control device sends attribute information request information to the cloud server, the attribute information request information carries type information stored by the control device and a version number corresponding to a data packet to which the attribute information corresponding to the type information belongs, the cloud server responds to the attribute information request information, compares the type information and the attribute information corresponding to the data packet corresponding to the latest version number with the type information and the attribute information corresponding to the data packet corresponding to the version number carried by the attribute information request information, and finds out target type information and target attribute information corresponding to the target type information, wherein the type information and the target attribute information are different from each other. And then, the cloud server sends the target type information and the corresponding target attribute information to the control equipment.

302. And the control equipment updates the spray head information list stored by the control equipment.

In one implementation, after the control device receives the type information and the corresponding attribute information sent by the cloud server, the control device may compare the type information and the corresponding attribute information sent by the cloud server with the type information and the corresponding attribute information in the nozzle information list, find out target type information and corresponding target attribute information, which are different from the type information and the corresponding attribute information in the nozzle information list, in the type information and the corresponding attribute information sent by the cloud server, and then the control device may update the nozzle information list stored by the control device according to the target type information and the corresponding target attribute information.

In one implementation, after receiving the target type information and the corresponding target attribute information sent by the cloud server, the control device may update the nozzle information list stored in the control device according to the target type information and the corresponding target attribute information.

And S303, when the control equipment receives the type information of the spray head, the control equipment acquires the attribute information corresponding to the type information of the spray head from the updated spray head information list.

The manner of controlling the device to obtain the type information of the nozzle may refer to the description of step S201 in the embodiment shown in fig. 2, and is not described in detail in this embodiment.

And S304, the control equipment sends the attribute information to the movable platform.

S305, the movable platform determines the control parameters of the spray head according to the preset requirement information and the attribute information.

Through the embodiment of the application, when the control device is detected to be connected to the network comprising the cloud server, the control device downloads the type information and the corresponding attribute information of at least one sprayer from the cloud server, and updates the sprayer information list stored by the control device, that is, the control device does not need to obtain the attribute information corresponding to the type information of the sprayer from the cloud server according to the type information of the sprayer in real time when receiving the type information of the sprayer, but can download the type information and the corresponding attribute information of at least one sprayer from the cloud server in advance before receiving the type information of the sprayer as long as detecting that the control device is connected to the network comprising the cloud server, so as to update the sprayer information list stored by the control device. Based on this, when the control device receives the type information of the nozzle, the control device can acquire the attribute information corresponding to the type information of the nozzle from the updated nozzle information list, so that the acquisition efficiency of the attribute information is improved, and the control delay is reduced. In addition, in a scene of developing a new nozzle, the corresponding nozzle firmware of the nozzle is not required to be developed, but the attribute information corresponding to the type information of the nozzle is acquired from the updated nozzle information list, so that the movable platform can determine the control parameters of the nozzle according to the preset requirement information and the attribute information, and the development efficiency can be improved.

Based on the schematic architecture diagram of a control system shown in fig. 1, please refer to fig. 4, and fig. 4 is a schematic flow chart of a control method provided in an embodiment of the present application, which can be applied to the control system shown in fig. 1, and the method includes, but is not limited to, the following steps:

s401, when the control equipment receives the type information of the spray head, the control equipment acquires the attribute information of the spray head.

In one implementation manner, when the control device receives the type information of the nozzle, the control device obtains attribute information corresponding to the type information of the nozzle from the cloud server according to the type information of the nozzle. The manner in which the control device obtains the attribute information corresponding to the type information of the nozzle from the cloud server according to the type information of the nozzle may refer to the description of step S201 in the embodiment shown in fig. 2, which is not repeated in this embodiment of the application.

In one implementation manner, when it is detected that the control device accesses a network including a cloud server, the control device downloads type information of at least one nozzle and attribute information corresponding to the type information from the cloud server, updates a nozzle information list stored by the control device, and when the control device receives the type information of the nozzle, the control device acquires the attribute information corresponding to the type information of the nozzle from the updated nozzle information list. In this embodiment, reference may be made to descriptions of steps S301 to S303 in the embodiment shown in fig. 3, and details of this embodiment are not described again.

S402, the control equipment determines the control parameters of the sprayer according to the submission instruction and the attribute information of the user.

In one implementation, when the control device detects that a control parameter of a user submits an operation, the control parameter input by the user may be used as the control parameter of the nozzle, and the control parameter is matched with the attribute information, for example, the nozzle flow included in the control parameter is within the nozzle flow range included in the attribute information, the operating pressure of the nozzle included in the control parameter is within the operating pressure range of the nozzle included in the attribute information, and the range of the nozzle included in the control parameter is within the range of the nozzle included in the attribute information.

In one implementation, the control device may display a control parameter option in a display screen of the control device, where the control parameter option includes at least one control parameter, and each control parameter is matched with the attribute information. And when the selection operation of the user on the control parameter option is detected, the control equipment takes the selected control parameter as the control parameter of the sprayer.

For example, please refer to the schematic diagrams of the operation interfaces shown in fig. 5C to 5E, and fig. 5C to 5E illustrate the process of the control device obtaining the control parameter according to the selection instruction of at least one control parameter option. As shown in fig. 5C, fig. 5C is a schematic view of an operation interface provided in an embodiment of the present application, when the control device detects an operation instruction submitted by a user to a control parameter option, the control device provides 3 control parameter options { nozzle flow rate, operating pressure of the nozzle, range of the nozzle } for the user,if the attribute information contains the spray head flow range of [3.02m ]³/h，4.14m³/h]Then the user is in the nozzle flow range [3.02m³/h，4.14m³/h]Internal selection of "4.05 m³The/h is a parameter value of a control parameter of spray head flow. As shown in fig. 5D, fig. 5D is an operation interface schematic diagram provided in this embodiment of the present application, when the control device detects an operation instruction submitted by a user to a control parameter option, the control device provides 3 control parameter options { nozzle flow, operating pressure of the nozzle, range of the nozzle } for the user, and the user selects a parameter value "0.40 Mpa" as a control parameter "nozzle operating pressure" within a predetermined range {0.20Mpa, 0.25Mpa, 0.30Mpa, 0.35Mpa, 0.40Mpa, 0.45Mpa }. As shown in fig. 5E, fig. 5E is a schematic view of an operation interface provided in this embodiment of the present application, when the control device detects an operation instruction submitted by a user to a control parameter option, the control device provides 3 control parameter options to the user, where the user is in a predetermined range [13.8m, 16.7m, 16.8 m ], and the flow rate of the ejection head, the operating pressure of the ejection head, and the range of the ejection head { (3 control parameter options)]The inner input is a parameter value of a control parameter of 'the range of the spray head' of '16.6 m'.

In one implementation, the control device may display a control mode option in a display screen of the control device, where the control mode option includes at least one control mode, different control modes correspond to different control parameters, and each control parameter is matched with the attribute information. And when the selection operation of the control mode option by the user is detected, determining the selected target control mode, and taking the control parameter corresponding to the target control mode as the control parameter of the sprayer.

For example, please refer to fig. 5F, fig. 5F is a process of acquiring the control parameter by the control device according to the selected target control mode. As shown in fig. 5F, fig. 5F is an operation interface schematic diagram provided in this embodiment, when the control device detects an operation instruction submitted by a user to a control mode option, the control device provides 5 control mode options { control mode 1, control mode 2, control mode 3, control mode 4, and control mode 5} for the user, and the user clicks "control mode 2", where a control parameter corresponding to "control mode 2" is a control parameter of the ejection head.

By the method, when the control equipment detects the operation instruction submitted by the user to the control mode, the control equipment can obtain the control parameter corresponding to the target control mode by obtaining the target control mode, so that the user does not need to submit the operation instruction to the control parameter under the condition that the control mode of the control equipment meets the user requirement, and the operation experience of the user is improved.

And S403, the control equipment sends the control parameters to the movable platform.

According to the embodiment of the application, the control equipment determines the control parameters of the spray head according to the submission instruction and the attribute information of the user, and then sends the control parameters to the movable platform. Because the control parameters are acquired by the control equipment in a man-machine interaction mode, the control parameters acquired by the movable platform are more in line with the requirements of users, and the reliability of the control parameters is improved.

Referring to fig. 6, fig. 6 is a schematic structural diagram of a control device according to an embodiment of the present disclosure. The controlling means that describes in the embodiment of this application is applied to controlgear, controlgear and a portable platform wireless connection, be equipped with the shower nozzle on the portable platform, the shower nozzle is used for the operation of spraying when the portable platform removes, controlling means includes:

the attribute information acquiring module 601 is configured to acquire, when the type information of the nozzle is received, attribute information corresponding to the type information of the nozzle from a cloud server according to the type information of the nozzle, where the cloud server stores a plurality of one-to-one corresponding types and attribute information;

an attribute information sending module 602, configured to send the attribute information to the movable platform, so that the movable platform determines the control parameter of the nozzle according to preset requirement information and the attribute information.

In one implementation manner, an RFID tag is disposed on the nozzle, and the control device further includes:

a type information obtaining module 603, configured to obtain the type information of the nozzle by reading an RFID tag of the nozzle before the attribute information obtaining module 601 obtains the attribute information corresponding to the type information of the nozzle from a cloud server according to the type information of the nozzle.

the type information obtaining module 603 is configured to receive the type information of the nozzle sent by the movable platform before the attribute information obtaining module 601 obtains the attribute information corresponding to the type information of the nozzle from a cloud server according to the type information of the nozzle, where the type information of the nozzle is obtained by the movable platform by reading an RFID tag of the nozzle.

In one implementation, the control device further includes:

a type information obtaining module 603, configured to obtain the type information of the nozzle according to a selection instruction or an input instruction of a user before the attribute information obtaining module 601 obtains the attribute information corresponding to the type information of the nozzle from a cloud server according to the type information of the nozzle.

In an implementation manner, the attribute information obtaining module 601 is further configured to download, when it is detected that a network including a cloud server is accessed, type information of at least one nozzle and attribute information corresponding to the type information from the cloud server;

the control device further includes:

and a nozzle information updating module 604, configured to update the nozzle information list stored in the control device.

In one implementation manner, the attribute information obtaining module 601 is further configured to, after the nozzle information updating module 604 updates the nozzle information list stored in the control device, obtain, when the type information of the nozzle is received, attribute information corresponding to the type information of the nozzle from the updated nozzle information list.

In an implementation manner, the attribute information obtaining module 601 obtains attribute information corresponding to the type information of the nozzle from a cloud server according to the type information of the nozzle, including:

sending attribute information request information of the spray head to the cloud server, wherein the attribute information request information carries the type information of the spray head;

and receiving attribute information which is sent by the cloud server and corresponds to the type information of the spray head, wherein the attribute information which corresponds to the type information of the spray head is sent by the cloud server after responding to the attribute information request information.

Referring to fig. 7, fig. 7 is a schematic structural diagram of a control device according to an embodiment of the present application. The control device described in the embodiment of the present application includes: a processor 701, a memory 702, and a communication interface 703. The processor 701, the memory 702, and the communication interface 703 are connected by one or more communication buses.

The Processor 701 may be a Central Processing Unit (CPU), and may also be other general purpose processors, Digital Signal Processors (DSP), Application Specific Integrated Circuits (ASIC), Field-Programmable Gate arrays (FPGA) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and so on. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, and the processor 701 is configured to support the control device to perform the corresponding functions of the control device in the method described in fig. 2 to 4.

The memory 702 may include read-only memory and random access memory, and provides computer programs and data to the processor 701. A portion of the memory 702 may also include non-volatile random access memory. When the processor 701 calls the computer program, it is configured to:

when the type information of the spray head is received through the communication interface 703, acquiring attribute information corresponding to the type information of the spray head from a cloud server according to the type information of the spray head, wherein the cloud server stores a plurality of one-to-one corresponding types and attribute information;

and sending the attribute information to the movable platform through a communication interface 703, so that the movable platform determines the control parameters of the spray head according to preset requirement information and the attribute information.

In one implementation manner, an RFID tag is disposed on the sprayer, and before 701 obtaining attribute information corresponding to the type information of the sprayer from a cloud server according to the type information of the sprayer, the processor further performs the following operations:

and obtaining the type information of the sprayer by reading the RFID label of the sprayer.

In one implementation manner, an RFID tag is disposed on the sprayer, and before the processor 701 obtains attribute information corresponding to the type information of the sprayer from a cloud server according to the type information of the sprayer, the following operations are further performed:

receiving the type information of the sprayer sent by the movable platform through a communication interface 703, where the type information of the sprayer is obtained by the movable platform by reading an RFID tag of the sprayer.

In one implementation manner, before acquiring the attribute information corresponding to the type information of the sprayer from a cloud server according to the type information of the sprayer, the processor 701 further performs the following operations:

and acquiring the type information of the spray head according to a selection instruction or an input instruction of a user.

In one implementation, the processor 701 further performs the following operations:

when detecting that the control device is accessed to a network comprising a cloud server, downloading type information of at least one spray head and attribute information corresponding to the type information from the cloud server through a communication interface 703;

and updating the spray head information list stored by the control equipment.

In one implementation, after updating the nozzle information list stored in the control device, the processor 701 further performs the following operations:

and when the type information of the spray head is received, acquiring attribute information corresponding to the type information of the spray head from the updated spray head information list.

In one implementation manner, when acquiring the attribute information corresponding to the type information of the spray head from the cloud server according to the type information of the spray head, the processor 701 performs the following operations:

sending attribute information request information of the spray head to the cloud server through a communication interface 703, wherein the attribute information request information carries type information of the spray head;

attribute information corresponding to the type information of the spray head, which is sent by the cloud server, is received through a communication interface 703, and the attribute information corresponding to the type information of the spray head is sent by the cloud server in response to the attribute information request information.

Referring to fig. 8, fig. 8 is a schematic structural diagram of a control device according to an embodiment of the present disclosure. The controlling means that describes in the embodiment of this application is applied to a movable platform, movable platform is connected with a controlgear, be equipped with the shower nozzle on the movable platform, the shower nozzle is used for the operation of spraying when movable platform removes, be equipped with the RFID label on the shower nozzle, controlling means includes:

a type information obtaining module 801, configured to obtain type information of the nozzle by reading the RFID tag of the nozzle;

a type information sending module 802, configured to send the type information of the nozzle to the control device, so that the control device obtains attribute information corresponding to the type information of the nozzle from a cloud server according to the type information of the nozzle, where the cloud server stores a plurality of one-to-one corresponding types and attribute information;

an attribute information receiving module 803, configured to receive the attribute information sent by the control device, and determine a control parameter of the nozzle according to preset requirement information and the attribute information.

In one implementation, the sending module 802 sends the type information of the nozzle to the control device, and includes:

and when the movable platform does not comprise attribute information corresponding to the type information of the spray head, sending the type information of the spray head to the control equipment.

Referring to fig. 9, fig. 9 is a schematic structural diagram of a movable platform according to an embodiment of the present disclosure. The movable platform described in the embodiments of the present application includes: a processor 901, a memory 902, a communication interface 903, and a spray head 904. The processor 901, the memory 902, the communication interface 903, and the nozzle 904 are connected by one or more communication buses.

The processor 901 may be a CPU, or may be other general purpose processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, or the like. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, and the processor 901 is configured to support the movable platform to perform the corresponding functions of the movable platform in the method described in fig. 2 to 4.

The memory 902 may include a read-only memory and a random access memory, and provides computer programs and data to the processor 901. A portion of the memory 902 may also include non-volatile random access memory. When the processor 901 calls the computer program, it is configured to:

acquiring the type information of the sprayer by reading the RFID label of the sprayer 904;

sending the type information of the sprayer 904 to the control equipment through a communication interface 903, so that the control equipment obtains attribute information corresponding to the type information of the sprayer 904 from a cloud server according to the type information of the sprayer 904, wherein the cloud server stores a plurality of one-to-one corresponding types and attribute information;

and receiving the attribute information sent by the control equipment through a communication interface 903, and determining the control parameters of the spray head according to preset requirement information and the attribute information.

In one implementation, the processor 901 performs the following operations when transmitting the type information of the spray head to the control device:

when the movable platform does not include attribute information corresponding to the type information of the head 904, the type information of the head 904 is transmitted to the control device through the communication interface 903.

Embodiments of the present invention may be applied to various types of movable platforms. The movable platform in embodiments of the present invention may be moved in any suitable environment, such as in air (e.g., a fixed-wing aircraft, a rotorcraft, or an aircraft without both fixed wings and rotors), in water (e.g., a ship or submarine), on land (e.g., an automobile or train), in space (e.g., a space plane, a satellite, or a sonde), and any combination thereof. The movable platform may be an aircraft, such as an Unmanned Aerial Vehicle (UAV). In some embodiments, the movable platform may carry a living body, such as a human or animal.

An unmanned flight system including a drone will be described below with reference to fig. 10. The present embodiment is described by taking a rotorcraft as an example.

Unmanned flight system 100 may include UAV110, carrier 120, display apparatus 130, and remote control 140. UAV110 may include, among other things, a power system 150, a flight control system 160, and a frame 170. The UAV110 may wirelessly communicate with a remote control 140 and a display device 130.

The frame 170 may include a fuselage and a foot rest (also referred to as a landing gear). The fuselage may include a central frame and one or more arms connected to the central frame, the one or more arms extending radially from the central frame. The foot rest is connected to the fuselage for support when the UAV110 lands.

The power system 150 may include an electronic governor (abbreviated as an electric governor) 151, one or more propellers 153, and one or more motors 152 corresponding to the one or more propellers 153, wherein the motors 152 are connected between the electronic governor 151 and the propellers 153, and the motors 152 and the propellers 153 are disposed on corresponding arms; the electronic governor 151 is configured to receive a driving signal generated by the flight controller 160 and provide a driving current to the motor 152 according to the driving signal to control the rotation speed of the motor 152. The motor 152 is used to drive the propeller in rotation, thereby providing power for the flight of the UAV110 that enables the UAV110 to achieve one or more degrees of freedom of motion. It should be understood that the motor 152 may be a dc motor or an ac motor. In addition, the motor 152 may be a brushless motor or a brush motor.

Flight control system 160 may include a flight controller 161 and a sensing system 162. The sensing system 162 is used to measure the attitude information of the UAV. The sensing System 162 may include, for example, at least one of a gyroscope, an electronic compass, an IMU (Inertial measurement unit), a visual sensor (e.g., a monocular camera, a binocular camera, or the like), a GPS (Global Positioning System), a barometer, a visual Inertial navigation odometer, and the like. The flight controller 161 is used to control the flight of the UAV110, for example, the flight of the UAV110 may be controlled based on attitude information measured by the sensing system 162.

Carrier 120 may be used to carry load 180. For example, when the carrier 120 is a pan-tilt device, the load 180 may be a shooting device (e.g., a camera, a video camera, etc.), and the embodiments of the present application are not limited thereto, and for example, the carrier may also be a carrying device for carrying a weapon or other loads. Illustratively, the load 180 may also be a showerhead.

An embodiment of the present application further provides a readable storage medium, where the readable storage medium stores a computer program, and the computer program, when executed by a processor, may be used to implement the control method described in the embodiment corresponding to fig. 2 to fig. 4 in the embodiment of the present application, and details of the control method are not repeated here.

The computer readable storage medium may be an internal storage unit, such as a hard disk or a memory, of the removable platform according to any of the previous embodiments. The computer readable storage medium may also be an external storage device to the removable platform, such as a hard drive, Smart Media Card (SMC), Secure Digital (SD) Card, Flash memory Card (Flash Card), and the like. Further, the computer readable storage medium may also include both an internal storage unit and an external storage device of the movable platform. The computer readable storage medium is used for storing the computer program and other programs and data required by the movable platform. The computer readable storage medium may also be used to temporarily store data that has been output or is to be output.

The computer readable storage medium may be an internal storage unit, such as a hard disk or a memory, of the control device according to any of the foregoing embodiments. The computer readable storage medium may also be an external storage device of the control device, such as a plug-in hard disk, SMC, SD card, flash card, etc. Further, the computer-readable storage medium may also include both an internal storage unit and an external storage device of the control device. The computer-readable storage medium is used to store the computer program and other programs and data required by the control device. The computer readable storage medium may also be used to temporarily store data that has been output or is to be output.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a ROM, a RAM, or the like.

The above disclosure is only for the purpose of illustrating the preferred embodiments of the present application and is not to be construed as limiting the scope of the present application, so that the present application is not limited thereto, and all equivalent variations and modifications can be made to the present application.

Claims

1. A control method is applied to a control device, the control device is wirelessly connected with a movable platform, a spray head is arranged on the movable platform and used for spraying when the movable platform moves, and the method comprises the following steps:

2. The method of claim 1, wherein a Radio Frequency Identification (RFID) tag is provided on the showerhead;

when the control device receives the type information of the nozzle, before acquiring the attribute information corresponding to the type information of the nozzle from a cloud server according to the type information of the nozzle, the method further includes:

3. The method of claim 1, wherein an RFID tag is provided on the showerhead;

and receiving the type information of the sprayer sent by the movable platform, wherein the type information of the sprayer is acquired by the movable platform through reading the RFID label of the sprayer.

4. The method of claim 1, wherein before the controlling device obtains the attribute information corresponding to the type information of the sprayer from a cloud server according to the type information of the sprayer when receiving the type information of the sprayer, the method further comprises:

5. The method of claim 1, further comprising:

when it is detected that the control equipment is accessed to a network comprising a cloud server, downloading type information and corresponding attribute information of at least one sprayer from the cloud server;

and updating the spray head information list stored by the control equipment.

6. The method of claim 5, wherein after updating the list of showerhead information stored by the control device, further comprising:

and when the control equipment receives the type information of the spray head, acquiring attribute information corresponding to the type information of the spray head from the updated spray head information list.

7. The method of claim 1, wherein the obtaining attribute information corresponding to the type information of the spray head from a cloud server according to the type information of the spray head comprises:

8. A control method is applied to a movable platform, the movable platform is connected with a control device, a spray head is arranged on the movable platform and used for spraying when the movable platform moves, a Radio Frequency Identification (RFID) tag is arranged on the spray head, and the method comprises the following steps:

9. The method of claim 8, wherein the sending the type information of the spray head to the control device comprises:

10. The utility model provides a control device, its characterized in that, control device is applied to controlgear, controlgear and a movable platform wireless connection, be equipped with the shower nozzle on the movable platform, the shower nozzle is used for the operation of spraying when the movable platform removes, control device includes:

11. The control device of claim 10, wherein a Radio Frequency Identification (RFID) tag is provided on the spray head, the control device further comprising:

the type information acquisition module is used for acquiring the type information of the sprayer by reading the RFID label of the sprayer before the attribute information acquisition module acquires the attribute information corresponding to the type information of the sprayer from a cloud server according to the type information of the sprayer.

12. The control device of claim 10, wherein an RFID tag is provided on the spray head, the control device further comprising:

the type information acquisition module is used for receiving the type information of the sprayer sent by the movable platform before the attribute information acquisition module acquires the attribute information corresponding to the type information of the sprayer from a cloud server according to the type information of the sprayer, wherein the type information of the sprayer is acquired by the movable platform through reading an RFID (radio frequency identification) tag of the sprayer.

13. The control device according to claim 10, characterized by further comprising:

the type information acquisition module is used for acquiring the type information of the sprayer according to a selection instruction or an input instruction of a user before the attribute information acquisition module acquires the attribute information corresponding to the type information of the sprayer from a cloud server according to the type information of the sprayer.

14. The control device according to claim 10,

the attribute information acquisition module is further used for downloading the type information of at least one spray head and the attribute information corresponding to the spray head from the cloud server when the access to the network comprising the cloud server is detected;

the control device further includes:

and the spray head information updating module is used for updating the spray head information list stored by the control equipment.

15. The control device according to claim 14,

the attribute information obtaining module is further configured to, after the nozzle information updating module updates the nozzle information list stored by the control device, obtain, when the type information of the nozzle is received, attribute information corresponding to the type information of the nozzle from the updated nozzle information list.

16. The control device according to claim 10, wherein the attribute information acquiring module acquires the attribute information corresponding to the type information of the nozzle from a cloud server according to the type information of the nozzle, and includes:

17. The control equipment is characterized in that the control equipment is wirelessly connected with a movable platform, a spray head is arranged on the movable platform and used for spraying when the movable platform moves, and the control equipment comprises a memory and a processor;

the memory for storing a computer program;

the processor, invoking the computer program, is to:

18. The control device according to claim 17, wherein a Radio Frequency Identification (RFID) tag is provided on the spray head, and the processor further performs the following operation before acquiring the attribute information corresponding to the type information of the spray head from a cloud server according to the type information of the spray head:

19. The control device according to claim 17, wherein an RFID tag is provided on the head, and the processor further performs the following operation before acquiring the attribute information corresponding to the type information of the head from a cloud server according to the type information of the head:

20. The control device according to claim 17, wherein the processor further performs, before acquiring the attribute information corresponding to the type information of the head from a cloud server according to the type information of the head:

21. The control device of claim 17, wherein the processor further performs the following:

and updating the spray head information list stored by the control equipment.

22. The control apparatus according to claim 21, wherein the processor further performs the following operation after updating the list of the head information stored in the control apparatus:

23. The control device according to claim 17, wherein the processor, when acquiring attribute information corresponding to the type information of the head from a cloud server according to the type information of the head, performs:

24. The utility model provides a control device, its characterized in that, control device is applied to a movable platform, movable platform is connected with a controlgear, the last shower nozzle that is equipped with of movable platform, the shower nozzle is used for the operation of spraying when movable platform removes, be equipped with the radio frequency identification RFID label on the shower nozzle, control device includes:

25. The control apparatus according to claim 24, wherein the type information sending module sends the type information of the ejection head to the control device, including:

26. A movable platform is characterized in that the movable platform is connected with a control device, a spray head is arranged on the movable platform and used for spraying when the movable platform moves, a Radio Frequency Identification (RFID) tag is arranged on the spray head, and the movable platform comprises a memory and a processor;

the memory for storing a computer program;

the processor, invoking the computer program, is to:

27. The movable platform of claim 26, wherein the processor, when sending the type information of the spray head to the control device, performs the following:

28. The utility model provides a control system, its characterized in that, control system includes controlgear and portable platform, controlgear with portable platform wireless connection, be equipped with the shower nozzle on the portable platform, the shower nozzle is used for the operation of spraying when the portable platform removes, wherein:

the control equipment sends the attribute information to the movable platform;

29. The control system of claim 28, wherein a Radio Frequency Identification (RFID) tag is provided on the spray head;

when the control device receives the type information of the nozzle, before the control device obtains the attribute information corresponding to the type information of the nozzle from a cloud server according to the type information of the nozzle, the method further includes:

and the control equipment acquires the type information of the sprayer by reading the RFID label of the sprayer.

30. The control system of claim 28, wherein an RFID tag is provided on the spray head;

the movable platform obtains the type information of the sprayer by reading the RFID label of the sprayer;

and the movable platform sends the type information of the spray head to the control equipment.

31. The control system according to claim 28, wherein before the control device obtains the attribute information corresponding to the type information of the ejection head from a cloud server according to the type information of the ejection head when the control device receives the type information of the ejection head, the control system further comprises:

and the control equipment acquires the type information of the spray head according to a selection instruction or an input instruction of a user.

32. The control system of claim 28,

when detecting that the control equipment is accessed to a network comprising a cloud server, the control equipment downloads the type information and the corresponding attribute information of at least one sprayer from the cloud server;

and the control equipment updates the spray head information list stored by the control equipment.

33. The control system according to claim 32, wherein after the control device updates the list of the head information stored by the control device, the control device further comprises:

and when the control equipment receives the type information of the sprayer, the control equipment acquires the attribute information corresponding to the type information of the sprayer from the updated sprayer information list.

34. The control system according to claim 28, wherein the control device acquires, from a cloud server, attribute information corresponding to the type information of the heads according to the type information of the heads, and includes:

the control equipment sends attribute information request information of the spray head to the cloud server, wherein the attribute information request information carries the type information of the spray head;

the control equipment receives attribute information which is sent by the cloud server and corresponds to the type information of the spray head, and the attribute information which corresponds to the type information of the spray head is sent by the cloud server after responding to the attribute information request information.

35. A computer-readable storage medium, characterized in that a computer program is stored thereon, which, when executed, implements the control method according to any one of claims 1-7.

36. A computer-readable storage medium, characterized in that a computer program is stored thereon, which when executed, implements the control method according to any one of claims 8 or 9.