CN112783205B - 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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- CN112783205B CN112783205B CN202011621887.8A CN202011621887A CN112783205B CN 112783205 B CN112783205 B CN 112783205B CN 202011621887 A CN202011621887 A CN 202011621887A CN 112783205 B CN112783205 B CN 112783205B
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- 238000005507 spraying Methods 0.000 title claims abstract description 211
- 239000003814 drug Substances 0.000 title claims abstract description 200
- 229940079593 drug Drugs 0.000 title claims abstract description 68
- 239000007921 spray Substances 0.000 claims abstract description 64
- 238000000034 method Methods 0.000 claims abstract description 33
- 238000003860 storage Methods 0.000 claims abstract description 17
- 238000004590 computer program Methods 0.000 claims description 17
- 239000011800 void material Substances 0.000 claims description 13
- 230000008569 process Effects 0.000 abstract description 13
- 230000000694 effects Effects 0.000 abstract description 3
- 239000000575 pesticide Substances 0.000 description 14
- 241000255925 Diptera Species 0.000 description 11
- 238000010586 diagram Methods 0.000 description 8
- 239000002917 insecticide Substances 0.000 description 8
- 230000007246 mechanism Effects 0.000 description 7
- 230000006870 function Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 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
- 230000000749 insecticidal effect Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000002483 medication Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 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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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
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Abstract
The embodiment of the invention provides a medicine spraying method, a device, a storage medium and a processor, belonging 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; image recognition is carried out on the indoor image so as to determine at least one corner position of the indoor area; determining at least one medication spray point and a flight path of the unmanned device based on the at least one corner location; controlling the unmanned device to fly according to the flying route; and spraying the medicine to the medicine spraying point when the unmanned device flies to the medicine spraying point. According to the embodiment of the invention, the unmanned device is used for replacing manual medicine spraying, so that the damage of medicine to a human body in the manual medicine spraying process can be reduced, and meanwhile, 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 the south, the problem of more mosquitoes occurs in most areas due to weather. Therefore, people need to spray medicines to indoor environments such as houses at regular intervals to remove or kill mosquitoes.
Because the indoor environment, compare outdoor environment such as farmland, have characteristics such as barrier more, space are airtight, consequently, to the medicine spraying of indoor environment, compare the medicine spraying of outdoor environment, the spraying degree of difficulty is great, the medicine sprays incomplete problem can appear. In addition, in the prior spraying process, the pesticide is sprayed by adopting a mode of manually spraying the pesticide. However, the artificial spraying inevitably sucks the insecticide, which causes 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 embodiment of 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 medicine spraying method applied to an unmanned apparatus, comprising:
acquiring an indoor image obtained by shooting an indoor area when the unmanned device flies in the indoor area;
image recognition is carried out on the indoor image so as to determine at least one corner position of the indoor area;
determining at least one medication spray point and a flight path of the unmanned device based on the at least one corner location;
controlling the unmanned device to fly according to the flying route;
and spraying the medicine to the medicine spraying point when the unmanned device flies to the medicine spraying point.
In an embodiment of the present invention, the determining at least one drug spray point according to the at least one corner position includes:
determining a void position between the corner positions from the at least one corner position;
setting the corner position as a first spray point and the gap position as a second spray point.
In an embodiment of the present invention, the determining a gap position between the corner positions according to the at least one corner position includes:
according to the at least one corner position, the distance between two adjacent corner positions is uniformly divided into a plurality of distance segments according to the preset number;
the end points of each distance segment, except for the corner locations, are determined as void locations.
In an embodiment of the present invention, when the unmanned device flies to the medicine spraying point, spraying medicine to the medicine spraying point includes:
spraying a first volume of the drug to the first spray point when the unmanned device flies to the first spray point;
spraying a second volume of the drug to the second spray point when the unmanned device flies to the second spray point;
wherein the first volume is greater than the second volume.
In an embodiment of the present invention, when the unmanned device flies to the medicine spraying point, spraying medicine to the medicine spraying point includes:
according to the type of the medicine spraying point, determining the flight sequence of the unmanned device sequentially flying to the medicine spraying point;
and controlling the unmanned device to fly to the medicine spraying point based on the flying sequence, and spraying medicine to the medicine spraying point.
In an embodiment of the present invention, when the unmanned device flies to the medicine spraying point, spraying medicine to the medicine spraying point includes:
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 flight speed is greater than the second flight speed.
In an embodiment of the present invention, when the unmanned device flies to the medicine spraying point, spraying medicine to the medicine spraying point includes:
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 flight height and the flight angle of the unmanned aerial vehicle 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 methods of spraying a medicament.
A third aspect of the present invention provides a medicament spraying device comprising:
an image acquisition device for photographing an indoor area when the unmanned device flies in the indoor area;
the processor; and
and the spraying equipment is used for spraying the medicine to the medicine spraying points under the control of the processor.
A fourth aspect of the invention provides an unmanned device comprising a medicament spraying device as described above.
A fifth aspect of the present 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, when the unmanned device flies in the indoor area, an indoor image obtained by shooting the indoor area is obtained; image recognition is carried out on the indoor image so as 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 based on the at least one corner location; controlling the unmanned device to fly according to the flying route; when the unmanned device flies to the medicine spraying point, medicine is sprayed to the medicine spraying point. According to the embodiment of the invention, for indoor environments, the unmanned device is used for replacing manual medicine spraying, so that the damage of medicine to human bodies in the manual medicine spraying process can be reduced, and meanwhile, 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 are included to provide a further understanding of 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, without limitation, the embodiments of the invention. In the drawings:
FIG. 1 is a schematic flow chart of a method of spraying a drug according to an embodiment of the present invention;
FIG. 2 is a schematic view of the unmanned device loaded with insecticide tank according to the 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 describes the detailed implementation of the embodiments of the present invention with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.
The embodiment of the invention provides a medicine spraying method, as shown in fig. 1, which comprises the following steps:
step 101: acquiring an indoor image obtained by shooting an indoor area when the unmanned device flies in the indoor area;
step 102: image recognition is carried out on the indoor image so as 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 based on the at least one corner location;
step 104: controlling the unmanned device to fly according to the flying route;
step 105: when the unmanned device flies to the medicine spraying point, medicine is sprayed to the medicine spraying point.
In practical application, the embodiment is applied to indoor environments, such as storage rooms, workshops and the like.
In actual use, the indoor area represents an area where the indoor environment can be moved.
In practical application, the unmanned device can be provided with a shooting device, and the shooting device can be used for shooting indoor images in the flight process of the unmanned device.
In practical application, the photographing device can photograph according to a set time interval, and also can photograph in real time. When shooting is performed at set time intervals, the time intervals may be set according to the needs of the user (for example, shooting is performed every 3 seconds); the photographing may be performed at regular time intervals set at the time of shipment.
When in practical application, the unmanned device can be provided with a distance sensing device, and the distance sensing device is used for sensing the distance between the unmanned device and the obstacle, so that the unmanned device is prevented from colliding with the obstacle in the flight process. The distance sensing device comprises an infrared distance sensing device, a sensing radar and the like.
In actual 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 intelligent system can also be used for automatically determining the flight route and acquiring the shot indoor image. The intelligent system determines the flight route, and can ensure that the unmanned device fully shoots 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 be a common image recognition method, which is not described herein.
In practice, a plurality of types of medicament spray points may be determined based on at least one corner location.
In one embodiment, determining at least one medication spray point based on at least one corner location comprises:
determining a void position near the corner position based on at least one corner position, or determining a void position between two adjacent corner positions based on at least two corner positions;
the corner position is set as a first spray point and the void position is set as a second spray point.
In practical application, the method of image recognition of indoor images can be adopted, and the position where no object is stored or placed between two adjacent corner positions is determined as a gap position.
In addition, for open indoor areas, or indoor areas where sprayed medications do not affect stored or placed objects, in one embodiment, determining the location of the gap between corner locations based on at least one corner location includes:
according to at least one corner position, the distance between two adjacent corner positions is uniformly divided into a plurality of distance segments according to the preset number;
the end points of each distance segment, except for the corner locations, are determined as void locations.
In practical application, the preset number can be set based on user requirements.
In practical application, different doses of medicines can be sprayed on 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 when the unmanned device is flown to the medication spray point comprises:
spraying a first volume of the drug to the first spray point when the unmanned device flies to the first spray point;
spraying a second volume of the drug to a second spray point when the unmanned device flies to the second spray point;
wherein the first volume is greater than the second volume.
The medicine spraying points are divided into a plurality of types, and medicines with different dosages are sprayed on the different types of medicine spraying points, so that grading management can be realized, important areas (such as wall corner positions) are treated (such as spraying medicines with first volumes) in an important way, common areas (such as gap positions) are treated (such as spraying medicines with second volumes) in an ordinary way, and good insecticidal effects are ensured while cost is saved.
In practical application, the order of the medicine spraying points can be determined according to the types of the medicine spraying points, and spraying can be performed based on the order of the medicine spraying points.
In one embodiment, spraying the medication to the medication spray point when the unmanned device is flown to the medication spray point comprises:
according to the types of the medicine spraying points, determining the flight sequence of the unmanned device to the medicine spraying points in sequence;
based on the flight sequence, controlling the unmanned device to fly to the medicine spraying point and spraying medicine to the medicine spraying point.
In practical application, the flight sequence can be that the flight sequentially flies to all the first spraying points and then sequentially flies to all the second spraying points; or sequentially flying to all the second spraying points and then sequentially flying to all the first spraying points; the flight sequence can also be that the first spray points fly to the first N first spray points in sequence and then fly to the first M second spray points in sequence; sequentially flying to the rear N first spraying points, and finally sequentially flying to the rear 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 when the unmanned device is flown 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 the first preset distance, controlling the unmanned device to fly at a second flying speed;
wherein the first flight speed is greater than the second flight speed.
In practical application, the first preset distance can be set according to requirements.
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 a second flying speed), so that the unmanned device can fly to the medicine spraying point more stably, and medicine is sprayed to the medicine spraying point.
During 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 when the unmanned device is flown to the medication spray point comprises:
when the unmanned device sequentially flies to the medicine spraying point, the flying height and the flying angle of the unmanned device are obtained;
and adjusting the flight height and the flight angle of the unmanned aerial vehicle according to the preset flight height and the preset flight angle.
In practical application, the preset flight height and the preset flight angle can be set according to the needs.
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, when the unmanned device flies in the indoor area, an indoor image obtained by shooting the indoor area is obtained; image recognition is carried out on the indoor image so as 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 based on the at least one corner location; controlling the unmanned device to fly according to the flying route; when the unmanned device flies to the medicine spraying point, medicine is sprayed to the medicine spraying point. According to the embodiment of the invention, for indoor environments, the unmanned device is used for replacing manual medicine spraying, so that the damage of medicine to human bodies in the manual medicine spraying process can be reduced, and meanwhile, the spraying efficiency and the spraying effect are improved.
The present invention will be described in further detail with reference to examples of application.
The application embodiment provides a method for performing indoor pesticide spraying work by using an unmanned aerial vehicle. As shown in fig. 2, the unmanned aerial vehicle includes a fuselage 200, a propeller assembly 201, a foot stand 202, and a spray mechanism. The spraying mechanism comprises a driver 203, a clip 205 and a bracket 204. The spraying mechanism may be configured to be detachably secured to the unmanned aerial vehicle fuselage. The height of the foot stand 202 is greater than the height of the stand 204, avoiding contact of the stand 204 with the ground. The driving member 203 includes a mechanism that can extend downward, such as a push rod, and presses the spray head of the insecticide tank 206 when the driving member drives the push rod to move downward, so that the spray head sprays insecticide outward, thereby killing insects. In some embodiments, the driving piece 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 squeeze the spray head of the pesticide tank body, and spraying is achieved. The unmanned aerial vehicle is loaded with a spraying mechanism for placing the pesticide tank body and for pressing down the spray head, and spraying pesticide is performed when the unmanned aerial vehicle flies to a set position. The support is provided with a clamp capable of clamping the insecticide tank body, the clamp can be a section of annular piece, and the clamp has certain elasticity to enable the insecticide 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 unmanned aerial vehicle. After the unmanned aerial vehicle receives the inspection instruction, the inspection work is carried out indoors, the camera on the unmanned aerial vehicle is utilized to shoot indoor images, the indoor corner position is identified, the corner position is calibrated to be a key pesticide spraying point, and the gap position between the two key pesticide spraying points is a common pesticide spraying point. Wherein, can discern the gap between two articles through the image, and set up this gap as the ordinary point of spraying medicine. 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, leaves indoor and closes door and window.
Again, the user sends a spray instruction to the drone. And after the unmanned aerial vehicle receives the spraying instruction, starting to execute the spraying task.
Finally, the unmanned aerial vehicle takes off and flies along the planned route, and in the process of flying on the route, the speed is reduced when approaching to the pesticide spraying point, and the flying height and the orientation angle are adjusted, so that the spraying head angle of the pesticide tank body is aligned to the pesticide spraying point, and pesticide spraying is carried out. When reaching the important spraying point, the spraying dosage is more than that of the common spraying point.
Furthermore, it should be noted that the tank in the spraying mechanism may be tilted downward after placement so that the spray head may be oriented toward the ground.
According to the application embodiment, the unmanned aerial vehicle is adopted for indoor spraying, so that the damage of a user to pesticides is avoided.
The embodiment of the invention also provides a processor configured to execute the following medicine spraying method:
acquiring an indoor image obtained by shooting an indoor area when the unmanned device flies in the indoor area;
image recognition is carried out on the indoor image so as to determine at least one corner position of the indoor area;
determining at least one medication spray point and a flight path of the unmanned device based on the at least one corner location;
controlling the unmanned device to fly according to the flying route;
and spraying the medicine to the medicine spraying point when the unmanned device flies to the medicine spraying point.
The processor is further configured to perform the following medication spraying method:
determining a void position between the corner positions from the at least one corner position;
setting the corner position as a first spray point and the gap position as a second spray point.
The processor is further configured to perform the following medication spraying method:
according to the at least one corner position, the distance between two adjacent corner positions is uniformly divided into a plurality of distance segments according to the preset number;
the end points of each distance segment, except for the corner locations, are determined as void locations.
The processor is further configured to perform the following medication spraying method:
spraying a first volume of the drug to the first spray point when the unmanned device flies to the first spray point;
spraying a second volume of the drug to the second spray point when the unmanned device flies to the second spray point;
wherein the first volume is greater than the second volume.
The processor is further configured to perform the following medication spraying method:
according to the type of the medicine spraying point, determining the flight sequence of the unmanned device sequentially flying to the medicine spraying point;
and controlling the unmanned device to fly to the medicine spraying point based on the flying sequence, and spraying medicine to the medicine spraying point.
The processor is further configured to perform the following medication spraying method:
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 flight speed is greater than the second flight speed.
The processor is further configured to perform the following medication spraying method:
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 flight height and the flight angle of the unmanned aerial vehicle according to the preset flight height and the preset flight angle. .
The embodiment of the invention also provides a medicine spraying device, which comprises:
an image acquisition device for photographing an indoor area when the unmanned device flies in the indoor area;
the processor; and
and the spraying equipment is used for spraying the medicine to the medicine spraying points under the control of the processor.
The embodiment of the invention also provides an unmanned device comprising the medicine spraying device.
The embodiment of the invention also provides a storage medium, wherein the storage medium is stored with instructions for causing a machine to execute the following medicine spraying method:
acquiring an indoor image obtained by shooting an indoor area when the unmanned device flies in the indoor area;
image recognition is carried out on the indoor image so as to determine at least one corner position of the indoor area;
determining at least one medication spray point and a flight path of the unmanned device based on the at least one corner location;
controlling the unmanned device to fly according to the flying route;
and spraying the medicine to the medicine spraying point when the unmanned device flies to the medicine spraying point.
The instructions are also for causing the machine to perform a medication spraying method comprising:
determining a void position between the corner positions from the at least one corner position;
setting the corner position as a first spray point and the gap position as a second spray point.
The instructions are also for causing the machine to perform a medication spraying method comprising:
according to the at least one corner position, the distance between two adjacent corner positions is uniformly divided into a plurality of distance segments according to the preset number;
the end points of each distance segment, except for the corner locations, are determined as void locations.
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 when the unmanned device flies to the first spray point;
spraying a second volume of the drug to the second spray point when the unmanned device flies 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:
according to the type of the medicine spraying point, determining the flight sequence of the unmanned device sequentially flying to the medicine spraying point;
and controlling the unmanned device to fly to the medicine spraying point based on the flying sequence, and spraying 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 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 flight speed is greater than the second flight speed.
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 the flying angle of the unmanned device;
and adjusting the flight height and the flight angle of the unmanned aerial vehicle according to the preset flight height and the preset flight angle.
The embodiments of the present invention also provide a computer program product comprising a computer program which, when executed by a processor, implements any of the above-described medicament spraying methods.
In one embodiment, a computer device is provided, which may be a terminal, and the internal structure of which 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) which are connected through a system bus. Wherein the processor a01 of the computer device is adapted to provide computing and control capabilities. The memory of the computer device includes an internal memory a03 and a nonvolatile storage medium a06. 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 a06. 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 medicament 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, or may be a key, a track ball or a touch pad arranged on a casing of the computer device, or may be an external keyboard, a touch pad or a mouse.
It will be appreciated by those skilled in the art that the structure shown in fig. 3 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than 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 in the memory and capable of running on the processor, wherein the processor executes the program to realize the medicine spraying method.
It will be appreciated by those skilled in the art that 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 flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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 one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash memory (flashRAM). 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 storage media for a computer 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, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transshipment) 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 one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Claims (10)
1. A method of spraying a medication to an unmanned device, comprising:
acquiring an indoor image obtained by shooting an indoor area when the unmanned device flies in the indoor area;
image recognition is carried out on the indoor image so as to determine at least one corner position of the indoor area;
determining at least one medication spray point and a flight path of the unmanned device based on the at least one corner location;
controlling the unmanned device to fly according to the flying route;
spraying a drug to the drug spraying point when the unmanned device flies to the drug spraying point;
the determining at least one medication spray point based on the at least one corner location comprises:
determining a void location proximate to the corner location based on the at least one corner location;
setting the corner position as a first spray point and the gap position as a second spray point;
when the unmanned device flies to the medicine spraying point, spraying medicine to the medicine spraying point comprises the following steps:
spraying a first volume of the drug to the first spray point when the unmanned device flies to the first spray point;
spraying a second volume of the drug to the second spray point when the unmanned device flies to the second spray point;
wherein the first volume is greater than the second volume.
2. The method of claim 1, wherein said determining a void location proximate said corner location based on said at least one corner location comprises:
according to the at least one corner position, the distance between two adjacent corner positions is uniformly divided into a plurality of distance segments according to the preset number;
the end points of each distance segment, except for the corner locations, are determined as void locations.
3. The method of claim 1, wherein spraying the medication to the medication spraying point when the unmanned device flies to the medication spraying point, comprises:
according to the type of the medicine spraying point, determining the flight sequence of the unmanned device sequentially flying to the medicine spraying point;
and controlling the unmanned device to fly to the medicine spraying point based on the flying sequence, and spraying medicine to the medicine spraying point.
4. The method of claim 1, wherein spraying the medication to the medication spraying point when the unmanned device flies to the medication spraying 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 flight speed is greater than the second flight speed.
5. The method of claim 1, wherein spraying the medication to the medication spraying point when the unmanned device flies to the medication spraying 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 flight height and the flight angle of the unmanned aerial vehicle according to the preset flight height and the preset flight angle.
6. A processor configured to perform the method of spraying a medicament according to any one of claims 1 to 5.
7. A medication spraying device, comprising:
an image acquisition device for photographing an indoor area when the unmanned device flies in the indoor area;
the processor of claim 6; and
and the spraying equipment is used for spraying the medicine to the medicine spraying points under the control of the processor.
8. An unmanned device comprising the medicament spraying device according to claim 7.
9. A storage medium having instructions stored thereon for causing a machine to perform the method of spraying a medicament according to any one of claims 1 to 5.
10. A computer program product comprising a computer program, characterized in that the computer program, when executed by a processor, implements the medicament spraying method according to any one of claims 1 to 5.
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