CN112783205A - Medicine spraying method and device, processor and unmanned device - Google Patents
Medicine spraying method and device, processor and unmanned device Download PDFInfo
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- 238000005507 spraying Methods 0.000 title claims abstract description 207
- 239000003814 drug Substances 0.000 title claims abstract description 200
- 229940079593 drug Drugs 0.000 title claims abstract description 80
- 239000007921 spray Substances 0.000 claims abstract description 59
- 238000000034 method Methods 0.000 claims abstract description 32
- 238000003860 storage Methods 0.000 claims abstract description 16
- 238000004590 computer program Methods 0.000 claims description 17
- 230000008569 process Effects 0.000 abstract description 13
- 230000000694 effects Effects 0.000 abstract description 3
- 239000000575 pesticide Substances 0.000 description 18
- 238000010586 diagram Methods 0.000 description 12
- 241000255925 Diptera Species 0.000 description 11
- 239000002917 insecticide Substances 0.000 description 10
- 230000007246 mechanism Effects 0.000 description 7
- 230000006870 function Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000361 pesticidal effect Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The embodiment of the invention provides a medicine spraying method, a medicine spraying device, a storage medium and a processor, and belongs to the technical field of unmanned devices, wherein the method comprises the following steps: acquiring an indoor image obtained by shooting an indoor area when the unmanned device flies in the indoor area; performing image recognition on the indoor image to determine at least one corner position of the indoor area; determining at least one drug spray point and a flight path of the unmanned device according to the at least one corner position; controlling the unmanned device to fly according to the flight route; when the unmanned device flies to the medicine spraying point, medicine is sprayed on the medicine spraying point. According to the embodiment of the invention, the unmanned device is used for replacing manpower to spray the medicine, so that the damage of the medicine to a human body in the process of manually spraying the medicine can be reduced, and the spraying efficiency and the spraying effect are improved.
Description
Technical Field
The invention relates to the technical field of unmanned devices, in particular to a medicine spraying method and device, a processor and an unmanned device.
Background
In south China, due to weather reasons, most regions have the problem of more mosquitoes. Therefore, people need to regularly spray medicines to indoor environments such as houses and the like to remove or kill mosquitoes.
Because the indoor environment, compare in outdoor environment such as farmland, have characteristics such as the barrier is more, the space is airtight, consequently, spray to the medicine of indoor environment, compare in the medicine of outdoor environment and spray, can appear spraying the degree of difficulty great, the medicine sprays incomprehensible problem. In addition, in the prior spraying process, the pesticide is sprayed by adopting a mode of manually spraying the pesticide. But the manual spraying is difficult to avoid, and the insecticide is inhaled to cause physical damage. Therefore, in the related art, the spraying manner of the medicine needs to be optimized for the indoor environment.
Disclosure of Invention
The invention aims to provide a medicine spraying method and device, a processor and an unmanned device.
In order to achieve the above object, a first aspect of the present invention provides a drug spraying method applied to an unmanned device, comprising:
acquiring an indoor image obtained by shooting an indoor area when the unmanned device flies in the indoor area;
performing image recognition on the indoor image to determine at least one corner position of the indoor area;
determining at least one drug spray point and a flight path of the unmanned device according to the at least one corner position;
controlling the unmanned device to fly according to the flight route;
when the unmanned device flies to the medicine spraying point, medicine is sprayed on the medicine spraying point.
In an embodiment of the present invention, said determining at least one drug spray point from said at least one corner position comprises:
determining the gap position between the corner positions according to the at least one corner position;
and setting the corner position as a first spraying point, and setting the gap position as a second spraying point.
In an embodiment of the present invention, the determining a position of a gap between the corner positions according to the at least one corner position includes:
according to the at least one corner position, equally dividing the distance between two adjacent corner positions into a plurality of distance sections according to a preset number;
and determining the end point of each distance segment except the corner position as the gap position.
In an embodiment of the present invention, the spraying the medicine to the medicine spraying point when the unmanned device flies to the medicine spraying point includes:
spraying a first volume of the drug to the first spray point while the unmanned device is flying to the first spray point;
spraying a second volume of the drug to the second spray point while the unmanned device is flying to the second spray point;
wherein the first volume is greater than the second volume.
In an embodiment of the present invention, the spraying the medicine to the medicine spraying point when the unmanned device flies to the medicine spraying point includes:
determining a flying sequence of the unmanned device flying to the medicine spraying points in sequence according to the types of the medicine spraying points;
and controlling the unmanned device to fly to the medicine spraying point based on the flying sequence, and spraying the medicine to the medicine spraying point.
In an embodiment of the present invention, the spraying the medicine to the medicine spraying point when the unmanned device flies to the medicine spraying point includes:
when the unmanned device sequentially flies to the medicine spraying points, acquiring the position distance between the unmanned device and the medicine spraying points;
when the position distance is greater than or equal to a first preset distance, controlling the unmanned device to fly at a first flying speed;
when the position distance is smaller than a first preset distance, controlling the unmanned device to fly at a second flying speed;
wherein the first airspeed is greater than the second airspeed.
In an embodiment of the present invention, the spraying the medicine to the medicine spraying point when the unmanned device flies to the medicine spraying point includes:
when the unmanned device sequentially flies to the medicine spraying point, acquiring the flying height and flying angle of the unmanned device;
and adjusting the flight height and the flight angle of the unmanned device according to the preset flight height and the preset flight angle.
A second aspect of the invention provides a processor configured to perform any of the above-described drug spraying methods.
A third aspect of the invention provides a medicament spraying device comprising:
the image acquisition equipment is used for shooting the indoor area when the unmanned device flies in the indoor area;
the processor described above; and
a spraying device for spraying the medication to the medication spray points under control of the processor.
A fourth aspect of the invention provides an unmanned device comprising a medication spraying apparatus as described above.
A fifth aspect of the invention provides a storage medium having stored thereon instructions for causing a machine to perform any one of the above-described medicament spraying methods.
A sixth aspect of the invention provides a computer program product comprising a computer program which, when executed by a processor, implements any of the above-described medicament spraying methods.
According to the technical scheme, an indoor image obtained by shooting an indoor area when the unmanned device flies in the indoor area is obtained; performing image recognition on the indoor image to determine at least one corner position of the indoor area; determining at least one drug spray point and a flight path of the unmanned device according to the at least one corner position; controlling the unmanned device to fly according to a flight route; when the unmanned device flies to the medicine spraying point, the medicine is sprayed on the medicine spraying point. According to the embodiment of the invention, for the indoor environment, the unmanned device is used for replacing the manual medicine spraying, so that the damage of the medicine to the human body in the manual medicine spraying process can be reduced, and the spraying efficiency and the spraying effect are improved.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
FIG. 1 is a schematic flow diagram of a drug spraying method according to an embodiment of the present invention;
FIG. 2 is a schematic view of an unmanned device loaded with an insecticide canister according to an embodiment of the present invention;
fig. 3 is an internal structural diagram of a computer device according to an embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
An embodiment of the present invention provides a drug spraying method, as shown in fig. 1, the method includes:
step 101: acquiring an indoor image obtained by shooting an indoor area when the unmanned device flies in the indoor area;
step 102: performing image recognition on the indoor image to determine at least one corner position of the indoor area;
step 103: determining at least one drug spray point and a flight path of the unmanned device according to the at least one corner position;
step 104: controlling the unmanned device to fly according to a flight route;
step 105: when the unmanned device flies to the medicine spraying point, the medicine is sprayed on the medicine spraying point.
In practical applications, the present embodiment is applied to indoor environments, such as storage rooms, work plants, and the like.
In practice, the indoor area represents an area where an indoor environment can be active.
In practical application, the unmanned device can be provided with a shooting device, and the shooting device can be used for shooting indoor images of the unmanned device in the flying process.
In actual application, the shooting device can shoot at set time intervals, and can also shoot in real time. When shooting is carried out according to the set time interval, the time interval can be set according to the needs of the user (for example, shooting is carried out every 3 seconds); the shooting may be performed at a fixed time interval set at the time of shipment.
In practical application, the unmanned aerial vehicle can be configured with a distance sensing device, and the distance sensing device is used for sensing the distance between the unmanned aerial vehicle and the obstacle, so that the collision between the unmanned aerial vehicle and the obstacle in the flying process is avoided. Wherein, the distance sensing device comprises an infrared distance sensing device, a sensing radar and the like.
In practical application, the unmanned device can fly in an indoor area according to a route set by a user to acquire a shot indoor image; the flight path can be determined automatically based on an intelligent system, and shot indoor images can be obtained. The flight route determined by the intelligent system can ensure that the unmanned device can fully shoot the indoor environment.
In practical application, the indoor image is subjected to image recognition and can be used for determining at least one corner position. The image recognition method may adopt a common image recognition method, which is not described herein again.
In practical application, according to at least one corner position, various types of medicine spraying points can be determined.
In one embodiment, determining at least one medication spray point based on at least one corner location comprises:
determining a gap position near the corner position according to at least one corner position, or determining a gap position between two adjacent corner positions according to at least two corner positions;
the corner position is set as a first spraying point, and the gap position is set as a second spraying point.
In practical application, the position where no object is stored or placed between two adjacent corner positions can be determined as a gap position by adopting a mode of carrying out image recognition on an indoor image.
In addition, for an open indoor area or an indoor area where sprayed medicine does not affect stored or placed objects, in one embodiment, the determining the position of the gap between the corner positions according to at least one corner position includes:
according to at least one corner position, equally dividing the distance between two adjacent corner positions into a plurality of distance sections according to a preset number;
and determining the end point of each distance segment except the corner position as the gap position.
During actual application, the preset number can be set based on user requirements.
In practical application, different dosages of medicines can be sprayed to different types of medicine spraying points according to the types of the medicine spraying points.
In one embodiment, spraying the medication to the medication spray point while the unmanned device is in flight to the medication spray point comprises:
when the unmanned device flies to a first spraying point, spraying a first volume of medicine to the first spraying point;
when the unmanned device flies to a second spraying point, spraying a second volume of the medicine to the second spraying point;
wherein the first volume is greater than the second volume.
The pesticide spraying points are divided into a plurality of types, and different doses of the pesticide are sprayed on the different types of the pesticide spraying points, so that hierarchical management can be realized, important treatment (for example, spraying of the first volume of the pesticide) is performed on important areas (for example, corner positions), and common treatment (for example, spraying of the second volume of the pesticide) is performed on common areas (for example, gap positions), so that the cost is saved, and meanwhile, a good pesticide effect is guaranteed.
In practical application, the sequence of the medicine spraying points can be determined according to the types of the medicine spraying points, and spraying is carried out based on the sequence of the medicine spraying points.
In one embodiment, spraying the medication to the medication spray point while the unmanned device is in flight to the medication spray point comprises:
determining the flying sequence of the unmanned device flying to the medicine spraying points in sequence according to the types of the medicine spraying points;
and controlling the unmanned device to fly to the medicine spraying point based on the flying sequence, and spraying the medicine to the medicine spraying point.
In practical application, the flying sequence can be that the flying head flies to all the first spraying points in sequence and then flies to all the second spraying points in sequence; or sequentially flying to all the second spraying points and then sequentially flying to all the first spraying points; the flying sequence can also be that the flying vehicle flies to the first N first spraying points in sequence and then flies to the first M second spraying points in sequence; sequentially flying to the last N first spraying points, and finally sequentially flying to the last M second spraying points; wherein, the number of the first spraying points is 2N, and the number of the second spraying points is 2M.
In practical application, the flying speed of the unmanned device can be determined according to the distance between the unmanned device and the medicine spraying point.
In one embodiment, spraying the medication to the medication spray point while the unmanned device is in flight to the medication spray point comprises:
when the unmanned device sequentially flies to the medicine spraying point, acquiring the position distance between the unmanned device and the medicine spraying point;
when the position distance is greater than or equal to a first preset distance, controlling the unmanned device to fly at a first flying speed;
when the position distance is smaller than a first preset distance, controlling the unmanned device to fly at a second flying speed;
wherein the first flying speed is greater than the second flying speed.
In practical application, the first preset distance can be set as required.
When the distance between the unmanned device and the medicine spraying point is within the first preset distance, the unmanned device is controlled to fly at a slower speed (such as the second flying speed), so that the unmanned device can fly to the medicine spraying point more stably, and the medicine is sprayed to the medicine spraying point.
In practical application, the flying height and the flying angle of the unmanned device can be adjusted in the flying process of the unmanned device.
In one embodiment, spraying the medication to the medication spray point while the unmanned device is in flight to the medication spray point comprises:
when the unmanned device sequentially flies to the medicine spraying point, acquiring the flying height and the flying angle of the unmanned device;
and adjusting the flying height and the flying angle of the unmanned device according to the preset flying height and the preset flying angle.
During practical application, the preset flying height and the preset flying angle can be set according to requirements.
The flying height and the flying angle of the unmanned device are adjusted, so that the unmanned device can spray the medicine to the medicine spraying point more accurately.
According to the technical scheme, an indoor image obtained by shooting an indoor area when the unmanned device flies in the indoor area is obtained; performing image recognition on the indoor image to determine at least one corner position of the indoor area; determining at least one drug spray point and a flight path of the unmanned device according to the at least one corner position; controlling the unmanned device to fly according to a flight route; when the unmanned device flies to the medicine spraying point, the medicine is sprayed on the medicine spraying point. According to the embodiment of the invention, for the indoor environment, the unmanned device is used for replacing the manual medicine spraying, so that the damage of the medicine to the human body in the manual medicine spraying process can be reduced, and the spraying efficiency and the spraying effect are improved.
The present invention will be described in further detail with reference to the following application examples.
The embodiment of the application provides a method for executing indoor insecticide spraying work by utilizing an unmanned aerial vehicle. As shown in fig. 2, the drone includes a fuselage 200, a propeller assembly 201, a foot stand 202, and a spray mechanism. The spraying mechanism comprises a driving member 203, a clip 205 and a bracket 204. The spraying mechanism can be set up to detachably fixed to the unmanned aerial vehicle fuselage. The height of the foot stool 202 is higher than that of the support 204, so that the support 204 is prevented from contacting the ground. The driving member 203 includes a downwardly extending mechanism, such as a push rod, and the driving member pushes the nozzle of the insecticide can 206 when the push rod is driven to move downward, so that the nozzle can spray insecticide to kill insects. In some embodiments, the driving member comprises a driving motor and an eccentric cam, the eccentric cam is sleeved on an output shaft of the driving motor, the output shaft of the driving motor drives the eccentric cam to rotate when rotating, and the output shaft of the driving motor is arranged along the horizontal direction, so that the eccentric cam can swing downwards to extrude the spray head of the pesticide tank body, and pesticide spraying is achieved. Unmanned aerial vehicle is gone up the loading and is used for placing the insecticide jar body and is used for pressing the spraying mechanism of shower nozzle, sprays the insecticide operation when unmanned aerial vehicle flies to the settlement position. The support is provided with a clamp capable of clamping the pesticide tank body, the clamp can be a section of annular piece, and the clamp has certain elasticity so as to enable the pesticide tank body to be placed in through deformation. The process of spraying insecticide by the unmanned aerial vehicle is as follows:
first, the user sends a patrol instruction to the drone. After receiving the patrol instruction, the unmanned aerial vehicle patrols and examines the work indoors, utilizes the camera on the unmanned aerial vehicle to shoot indoor image to discern indoor corner position, mark the corner position for key spraying medicine point, space position between two key spraying medicine points is ordinary spraying medicine point. Wherein, the gap between the two objects can be identified through the image, and the gap is set as a common medicine spraying point. And setting a flight route, wherein the flight route can be a flight route along the indoor wall.
Secondly, the user places the insecticide tank on the spraying mechanism and leaves the room to close the door and window.
And thirdly, the user sends a spraying instruction to the unmanned aerial vehicle. And after the unmanned aerial vehicle receives the spraying instruction, starting to execute a spraying task.
And finally, the unmanned aerial vehicle takes off and flies along the planned flight line, decelerates when approaching the pesticide spraying point in the process of flying on the flight line, and adjusts the flying height and the orientation angle to ensure that the angle of the spray head of the pesticide tank body is aligned to the pesticide spraying point to spray pesticide. When reaching the key pesticide spraying point, the sprayed pesticide amount is more than that of the common pesticide spraying point.
Furthermore, it should be noted that the tank in the spraying mechanism may be inclined downwardly after placement so that the spray head may be directed towards the ground.
This application embodiment adopts unmanned aerial vehicle to carry out indoor medicine spraying to avoid the user to suffer the harm of insecticide.
Embodiments of the present invention also provide a processor configured to execute the following drug spraying method:
acquiring an indoor image obtained by shooting an indoor area when the unmanned device flies in the indoor area;
performing image recognition on the indoor image to determine at least one corner position of the indoor area;
determining at least one drug spray point and a flight path of the unmanned device according to the at least one corner position;
controlling the unmanned device to fly according to the flight route;
when the unmanned device flies to the medicine spraying point, medicine is sprayed on the medicine spraying point.
The processor is further configured to perform the following drug spraying method:
determining the gap position between the corner positions according to the at least one corner position;
and setting the corner position as a first spraying point, and setting the gap position as a second spraying point.
The processor is further configured to perform the following drug spraying method:
according to the at least one corner position, equally dividing the distance between two adjacent corner positions into a plurality of distance sections according to a preset number;
and determining the end point of each distance segment except the corner position as the gap position.
The processor is further configured to perform the following drug spraying method:
spraying a first volume of the drug to the first spray point while the unmanned device is flying to the first spray point;
spraying a second volume of the drug to the second spray point while the unmanned device is flying to the second spray point;
wherein the first volume is greater than the second volume.
The processor is further configured to perform the following drug spraying method:
determining a flying sequence of the unmanned device flying to the medicine spraying points in sequence according to the types of the medicine spraying points;
and controlling the unmanned device to fly to the medicine spraying point based on the flying sequence, and spraying the medicine to the medicine spraying point.
The processor is further configured to perform the following drug spraying method:
when the unmanned device sequentially flies to the medicine spraying points, acquiring the position distance between the unmanned device and the medicine spraying points;
when the position distance is greater than or equal to a first preset distance, controlling the unmanned device to fly at a first flying speed;
when the position distance is smaller than a first preset distance, controlling the unmanned device to fly at a second flying speed;
wherein the first airspeed is greater than the second airspeed.
The processor is further configured to perform the following drug spraying method:
when the unmanned device sequentially flies to the medicine spraying point, acquiring the flying height and flying angle of the unmanned device;
and adjusting the flight height and the flight angle of the unmanned device according to the preset flight height and the preset flight angle. .
An embodiment of the present invention further provides a drug spraying apparatus, including:
the image acquisition equipment is used for shooting the indoor area when the unmanned device flies in the indoor area;
the processor described above; and
a spraying device for spraying the medication to the medication spray points under control of the processor.
The embodiment of the invention also provides an unmanned device which comprises the medicine spraying device.
Embodiments of the present invention also provide a storage medium having instructions stored thereon for causing a machine to perform a method of drug spraying as follows:
acquiring an indoor image obtained by shooting an indoor area when the unmanned device flies in the indoor area;
performing image recognition on the indoor image to determine at least one corner position of the indoor area;
determining at least one drug spray point and a flight path of the unmanned device according to the at least one corner position;
controlling the unmanned device to fly according to the flight route;
when the unmanned device flies to the medicine spraying point, medicine is sprayed on the medicine spraying point.
The instructions are also for causing the machine to perform a medication spraying method comprising:
determining the gap position between the corner positions according to the at least one corner position;
and setting the corner position as a first spraying point, and setting the gap position as a second spraying point.
The instructions are also for causing the machine to perform a medication spraying method comprising:
according to the at least one corner position, equally dividing the distance between two adjacent corner positions into a plurality of distance sections according to a preset number;
and determining the end point of each distance segment except the corner position as the gap position.
The instructions are also for causing the machine to perform a medication spraying method comprising:
spraying a first volume of the drug to the first spray point while the unmanned device is flying to the first spray point;
spraying a second volume of the drug to the second spray point while the unmanned device is flying to the second spray point;
wherein the first volume is greater than the second volume.
The instructions are also for causing the machine to perform a medication spraying method comprising:
determining a flying sequence of the unmanned device flying to the medicine spraying points in sequence according to the types of the medicine spraying points;
and controlling the unmanned device to fly to the medicine spraying point based on the flying sequence, and spraying the medicine to the medicine spraying point.
The instructions are also for causing the machine to perform a medication spraying method comprising:
when the unmanned device sequentially flies to the medicine spraying points, acquiring the position distance between the unmanned device and the medicine spraying points;
when the position distance is greater than or equal to a first preset distance, controlling the unmanned device to fly at a first flying speed;
when the position distance is smaller than a first preset distance, controlling the unmanned device to fly at a second flying speed;
wherein the first airspeed is greater than the second airspeed.
The instructions are also for causing the machine to perform a medication spraying method comprising:
when the unmanned device sequentially flies to the medicine spraying point, acquiring the flying height and flying angle of the unmanned device;
and adjusting the flight height and the flight angle of the unmanned device according to the preset flight height and the preset flight angle.
Embodiments of the present invention also provide a computer program product comprising a computer program which, when executed by a processor, implements any one of the above-mentioned drug spraying methods.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 3. The computer apparatus includes a processor a01, a network interface a02, a display screen a04, an input device a05, and a memory (not shown in the figure) connected through a system bus. Wherein processor a01 of the computer device is used to provide computing and control capabilities. The memory of the computer device comprises an internal memory a03 and a non-volatile storage medium a 06. The nonvolatile storage medium a06 stores an operating system B01 and a computer program B02. The internal memory a03 provides an environment for the operation of the operating system B01 and the computer program B02 in the nonvolatile storage medium a 06. The network interface a02 of the computer device is used for communication with an external terminal through a network connection. The computer program is executed by the processor a01 to implement a medication spraying method. The display screen a04 of the computer device may be a liquid crystal display screen or an electronic ink display screen, and the input device a05 of the computer device may be a touch layer covered on the display screen, a button, a trackball or a touch pad arranged on a casing of the computer device, or an external keyboard, a touch pad or a mouse.
Those skilled in the art will appreciate that the architecture shown in fig. 3 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the medicine spraying method.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include transitory computer readable media (transmyedia) such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (12)
1. A medicine spraying method is applied to an unmanned device and is characterized by comprising the following steps:
acquiring an indoor image obtained by shooting an indoor area when the unmanned device flies in the indoor area;
performing image recognition on the indoor image to determine at least one corner position of the indoor area;
determining at least one drug spray point and a flight path of the unmanned device according to the at least one corner position;
controlling the unmanned device to fly according to the flight route;
when the unmanned device flies to the medicine spraying point, medicine is sprayed on the medicine spraying point.
2. The method of claim 1, wherein said determining at least one medication spray point based on said at least one corner location comprises:
determining a gap position near the corner position according to the at least one corner position;
and setting the corner position as a first spraying point, and setting the gap position as a second spraying point.
3. The method of claim 2, wherein said determining a location of a gap between said corner locations based on said at least one corner location comprises:
according to the at least one corner position, equally dividing the distance between two adjacent corner positions into a plurality of distance sections according to a preset number;
and determining the end point of each distance segment except the corner position as the gap position.
4. The method of claim 2, wherein spraying the medication to the medication spray point while the drone is in flight to the medication spray point comprises:
spraying a first volume of the drug to the first spray point while the unmanned device is flying to the first spray point;
spraying a second volume of the drug to the second spray point while the unmanned device is flying to the second spray point;
wherein the first volume is greater than the second volume.
5. The method of claim 2, wherein spraying the medication to the medication spray point while the drone is in flight to the medication spray point comprises:
determining a flying sequence of the unmanned device flying to the medicine spraying points in sequence according to the types of the medicine spraying points;
and controlling the unmanned device to fly to the medicine spraying point based on the flying sequence, and spraying the medicine to the medicine spraying point.
6. The method of claim 1, wherein spraying the medication to the medication spray point while the drone is in flight to the medication spray point comprises:
when the unmanned device sequentially flies to the medicine spraying points, acquiring the position distance between the unmanned device and the medicine spraying points;
when the position distance is greater than or equal to a first preset distance, controlling the unmanned device to fly at a first flying speed;
when the position distance is smaller than a first preset distance, controlling the unmanned device to fly at a second flying speed;
wherein the first airspeed is greater than the second airspeed.
7. The method of claim 1, wherein spraying the medication to the medication spray point while the drone is in flight to the medication spray point comprises:
when the unmanned device sequentially flies to the medicine spraying point, acquiring the flying height and flying angle of the unmanned device;
and adjusting the flight height and the flight angle of the unmanned device according to the preset flight height and the preset flight angle.
8. A processor configured to perform the medication spraying method of any of claims 1 to 7.
9. A medication spraying device, comprising:
the image acquisition equipment is used for shooting the indoor area when the unmanned device flies in the indoor area;
the processor of claim 8; and
a spraying device for spraying the medication to the medication spray points under control of the processor.
10. An unmanned apparatus, comprising a drug spraying device according to claim 9.
11. A storage medium having instructions stored thereon for causing a machine to perform a method of spraying a medication according to any of claims 1 to 7.
12. A computer program product comprising a computer program, characterized in that the computer program realizes the medication spraying method according to any one of claims 1 to 7 when executed by a processor.
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